EP3786029B1 - Distance measuring device for a mobile track construction machine - Google Patents
Distance measuring device for a mobile track construction machine Download PDFInfo
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- EP3786029B1 EP3786029B1 EP20188634.8A EP20188634A EP3786029B1 EP 3786029 B1 EP3786029 B1 EP 3786029B1 EP 20188634 A EP20188634 A EP 20188634A EP 3786029 B1 EP3786029 B1 EP 3786029B1
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- movement
- measuring
- distance measuring
- sensor
- distance
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- 238000010276 construction Methods 0.000 title description 11
- 238000011156 evaluation Methods 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 claims 2
- 238000005259 measurement Methods 0.000 description 31
- 238000006073 displacement reaction Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 6
- 241001669679 Eleotris Species 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000699670 Mus sp. Species 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
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Classifications
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- 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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/026—Relative localisation, e.g. using odometer
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B35/00—Applications of measuring apparatus or devices for track-building purposes
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
- E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
- E01B27/13—Packing sleepers, with or without concurrent work on the track
- E01B27/16—Sleeper-tamping machines
- E01B27/17—Sleeper-tamping machines combined with means for lifting, levelling or slewing the track
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B27/00—Placing, renewing, working, cleaning, or taking-up the ballast, with or without concurrent work on the track; Devices therefor; Packing sleepers
- E01B27/12—Packing sleepers, with or without concurrent work on the track; Compacting track-carrying ballast
- E01B27/13—Packing sleepers, with or without concurrent work on the track
- E01B27/16—Sleeper-tamping machines
Definitions
- the invention relates to a distance measuring device for a mobile track construction machine, with a holder on which a measuring wheel that can roll on a rail is arranged, and with an evaluation device for processing a distance measurement signal.
- the invention relates to a method for measuring a distance covered by a track construction machine using a corresponding distance measuring device.
- Distance measuring devices with a measuring wheel for measuring a distance covered by a track construction machine have been known for a long time. They are sufficiently robust for the environmental conditions prevailing in track construction and in most cases provide sufficient accuracy, especially over long distances.
- the AT 316 618 B a cyclically working track tamping machine with a corresponding path measuring device.
- the measuring wheel is connected to a pulse generator in order to record the cyclic advance of the tamping machine from sleeper to sleeper.
- a cyclically operating track tamping machine is also known, in which a measuring wheel rolling on a rail is used. The rotational movement of the measuring wheel is compared with the rotational movement of the drive wheels in order to prevent the drive wheels from slipping.
- the invention is based on the object of improving a displacement measuring device of the type mentioned at the outset in such a way that a more precise displacement measurement can be carried out, in particular over long distances.
- a corresponding measurement method should be specified.
- a first motion sensor is arranged to detect a movement of the measuring wheel relative to the holder and that a second motion sensor is arranged to detect a movement of the holder relative to the rail.
- the measuring wheel is coupled to a rotary encoder. This means that high-resolution path measurements can be carried out and positions along a stretch of track can be approached precisely in order to position the working units of the track construction machine. This is particularly advantageous in the case of automated operation of the track-laying machine.
- the measuring wheel is coupled to a detector for detecting revolutions. It can make sense to use the first motion sensor as a detector. Markings that can be detected by the motion sensor are then attached to the measuring wheel.
- the first movement sensor is advantageously directed at a rolling surface of the measuring wheel. With this arrangement, the measurement results of the two motion sensors match when there is no slip and can be evaluated in a simple manner.
- the holder includes a swivel arm on which the measuring wheel is rotatably mounted.
- An adjustable swivel arm is useful in order to be able to adapt the contact pressure to changing rail conditions.
- a third movement sensor for detecting a movement of the holder relative to the rail is installed at a predetermined distance from the second movement sensor is arranged.
- a gap occurring at a rail joint or a switch then has no effect on the detection of the movement of the bracket relative to the rail.
- the distance between the two sensors is selected in such a way that only one of the sensors can be located over the gap at any one time.
- the respective motion sensor includes a light source, an optical sensor and a digital signal processor.
- Such sensors are sufficiently robust and provide accurate results when detecting short distances.
- these sensors can be arranged without contact, so that no wear occurs.
- the light source is a laser. In this way, the structures of the rail surface and the surface of the measuring wheel are better resolved. This improves the detection of movements on the recordings of the optical sensor.
- the method according to the invention provides that a movement measurement signal from the first movement sensor is continuously compared with a movement measurement signal from the second movement sensor in the evaluation device and that if the movement measurement signals deviate, the displacement measurement signal detected by means of the measuring wheel is corrected.
- the actual measurement of the distance is thus performed using the measuring wheel, with slippage of the measuring wheel being detected using the movement sensors and being compensated for using the evaluation device.
- a measured displacement variable derived from the measured movement signal of the first motion sensor is subtracted from a measured displacement variable derived from the measured movement signal of the second motion sensor, with the differential variable being added to a measured displacement variable detected by means of the measuring wheel.
- This simple evaluation logic can be used when the first movement sensor is directed at the rolling surface of the measuring wheel. If there is no slippage of the measuring wheel, then there is no differential variable.
- the method can be expanded to the effect that a motion measurement signal from this third Motion sensor is combined with the motion measurement signal of the second motion sensor to form a resulting motion measurement signal. Specifically, the movement measurement signal that is recorded before or after a gap is always evaluated.
- the track-laying machine 1 shown is an example of a tamping machine with a lifting/straightening unit 2 and a tamping unit 3.
- the distance measuring device 4 according to the invention is also suitable for other track-laying machines 1 without restrictions, e.g.
- the path measuring device 4 is arranged in front of a front rail carriage 5 of the track construction machine 1 in order to use the detected path information for controlling the machine 1 and its working units 2, 3.
- an evaluation device 6 of the path measuring device 4 is coupled to a control device 7 of the track construction machine 1 .
- a holder 8 comprises, for example, a column 9 which is fastened to the frame 10 of the track construction machine 1 with detachable fastening means.
- a swivel arm 11 is rotatably mounted on the column 9 and is connected to an actuator 12 .
- a measuring wheel 13 is rotatably mounted.
- the measuring wheel 13 has an outer rolling surface 14 with which it rolls on a rail 15 of a track traversed by the track-laying machine 1 during operation.
- a contact force can be predetermined by means of the actuator 12 or a spring, not shown.
- the actuator 12 also serves to put the measuring wheel 13 out of operation.
- the measuring wheel 13 is coupled to a rotary encoder 16, which is designed in particular as an incremental rotary encoder with high resolution.
- the rotary encoder 16 works, for example, with sliding contacts, with photoelectric or with magnetic scanning.
- a path measurement signal generated by means of the measuring wheel 13 and the rotary encoder 16 is transmitted to the evaluation device 6 via a signal line 17 .
- the signal is transmitted analogously or digitally, with a radio link also being useful for potential decoupling in the case of busbars 15 .
- a first movement sensor 18 and a second movement sensor 19 are arranged on the holder 8 in order to detect slippage of the measuring wheel 13 during operation.
- the first motion sensor 18 is directed towards the rolling surface 14 of the measuring wheel 13 and detects the movements of the measuring wheel 13 relative to the holder 8.
- the second motion sensor 19 is directed towards the surface of the rail 15 that is being traveled over and detects the movement of the holder 8 relative to the rail 15.
- the movement measurement signals are transmitted to the evaluation device 6 by means of signal lines 17.
- the movement sensors 18, 19 detect distances that are covered in a specific period of time. Viewed from the measuring wheel 13 , the first movement sensor 18 covers a first distance in relation to the rolling surface 14 . At the same time, the second motion sensor 19 travels a second distance, viewed from the rail 15 . If the measuring wheel 13 does not slip, the two detected distances must match.
- the path measurement signal generated by means of the measuring wheel 13 is corrected.
- a timer in the evaluation device 6 supplies a common reference basis.
- the movement measurement signals initially reflect a distance per unit of time (e.g. millimeters per millisecond). This means that different path measurement variables result during a deviation of the two movement measurement signals.
- the first motion sensor detects a covered distance of one hundred millimeters during a deviation period of one second, while the second motion sensor detects two hundred millimeters.
- the first measured displacement variable is therefore subtracted from the second measured displacement variable in the evaluation device 6 .
- the difference then reflects the slip of the measuring wheel 13 .
- the distance value recorded by means of the measuring wheel 13 is extended by the differential value of one hundred millimeters in order to arrive at the corrected distance value. It makes sense for the evaluation device 6 to include a microcontroller in which the evaluation logic described is set up.
- An expected deviation duration, during which a slip occurs, is so short that a possible drifting of the movement measurement signals can be disregarded.
- a tendency to drift must be taken into account when detecting longer distances, particularly in the case of inexpensive and simply constructed motion sensors 18, 19.
- the path measurement signal detected by means of the measuring wheel 13 and the rotary encoder 16 does not exhibit any drift, which is why the combination of the measurement signals present enables very precise detection of long distances.
- Motion sensors 18, 19 favorable for the present invention have a compact and simple structure and are also used, for example, in computer mice. They preferably include a laser as the light source, an optical sensor with low resolution (16x16 to 30x30 pixels) and a digital signal processor.
- the laser is aimed at the surface against which the movement of the movement sensor 18, 19 is to be detected.
- the optical sensor continuously records a small area of the illuminated surface via a lens.
- the images recorded with a high sampling rate (eg 1500 images per second) are evaluated using the digital signal processor, with movement information being derived from changing image content.
- the measuring wheel 13 favorably has a pattern or a structure on the surface 14 detected by the first movement sensor 18, which supports a reliable detection of movements by means of the sensor 18 of simple construction described.
- markings can be attached to the measuring wheel 13 which can be evaluated by means of the first movement sensor 18 . In this way, the first motion sensor 18 can be used to detect revolutions of the measuring wheel 13 .
- the surface structure of the rail 15 generally has enough irregularities to ensure reliable motion detection. It may be useful to direct the second movement sensor 19 to an area away from a smooth running surface of the rail 15 .
- a third movement sensor 21 is therefore advantageously arranged at a predetermined distance 22 from the second movement sensor 19 . Both sensors 19, 21 are directed towards the rail 15, the distance 22 being chosen such that there is only one sensor 19, 21 above a possible gap 20 at a time.
- one of the movement sensors 19, 21 directed towards the rail 15 always supplies a reliable movement measurement signal.
- the two movement measurement signals are combined in the evaluation device 6 with an OR link to form a resulting movement measurement signal. If both movement measurement signals are present, one of them is further processed as the resulting signal. If a movement measurement signal is interrupted as a result of a gap 10, the other movement measurement signal applies as the resulting signal. In this way, there is always a reliable motion measurement signal relative to the rail 15, which is compared with the motion measurement signal of the first motion sensor 18.
- the use of the third movement sensor 19 is also useful for additional evaluations. For example, an automatic detection of rail joints or switch hearts is possible.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Machines For Laying And Maintaining Railways (AREA)
Description
Die Erfindung betrifft eine Wegmesseinrichtung für eine fahrbare Gleisbaumaschine, mit einer Halterung, an der ein an einer Schiene abrollbares Messrad angeordnet ist, und mit einer Auswerteeinrichtung zur Verarbeitung eines Wegmesssignals. Zudem betrifft die Erfindung ein Verfahren zum Messen einer von einer Gleisbaumaschine zurückgelegten Wegstrecke mittels einer entsprechenden Wegmesseinrichtung.The invention relates to a distance measuring device for a mobile track construction machine, with a holder on which a measuring wheel that can roll on a rail is arranged, and with an evaluation device for processing a distance measurement signal. In addition, the invention relates to a method for measuring a distance covered by a track construction machine using a corresponding distance measuring device.
Wegmesseinrichtungen mit einem Messrad zum Messen einer von einer Gleisbaumaschine zurückgelegten Wegstrecke sind seit langem bekannt. Sie sind ausreichend robust für die im Gleisbau herrschenden Umgebungsbedingungen und liefern in den meisten Fällen eine ausreichende Genauigkeit, insbesondere über längere Wegstrecken hinweg.Distance measuring devices with a measuring wheel for measuring a distance covered by a track construction machine have been known for a long time. They are sufficiently robust for the environmental conditions prevailing in track construction and in most cases provide sufficient accuracy, especially over long distances.
Beispielsweise offenbart die
Aus der
Der Erfindung liegt die Aufgabe zugrunde, eine Wegmesseinrichtung der eingangs genannten Art dahingehend zu verbessern, dass eine genauere Wegmessung insbesondere über weite Wegstrecken hinweg durchführbar ist. Zudem soll ein entsprechendes Messverfahren angegebenen werden.The invention is based on the object of improving a displacement measuring device of the type mentioned at the outset in such a way that a more precise displacement measurement can be carried out, in particular over long distances. In addition, a corresponding measurement method should be specified.
Erfindungsgemäß werden diese Aufgaben gelöst durch die Merkmale der unabhängigen Ansprüche 1 und 8. Abhängige Ansprüche geben vorteilhafte Ausgestaltungen der Erfindung an.According to the invention, these objects are achieved by the features of
Dabei ist vorgesehen, dass ein erster Bewegungssensor zur Erfassung einer Bewegung des Messrades gegenüber der Halterung angeordnet ist und dass ein zweiter Bewegungssensor zur Erfassung einer Bewegung der Halterung gegenüber der Schiene angeordnet ist. Mit dieser Anordnung der Bewegungssensoren wird ein unerwünschter Schlupf des Messrades gegenüber der Schiene sicher erkannt und kompensiert. Bei ungünstigen Bedingungen kann es nämlich vorkommen, dass das Messrad von der Schiene abhebt oder zu rutschen beginnt. Daraus resultieren Messfehler, die mit der vorliegenden Erfindung vermieden werden.It is provided that a first motion sensor is arranged to detect a movement of the measuring wheel relative to the holder and that a second motion sensor is arranged to detect a movement of the holder relative to the rail. With this arrangement of the motion sensors, any undesired slippage of the measuring wheel relative to the rail is reliably detected and compensated for. In unfavorable conditions it can happen that the measuring wheel lifts off the rail or starts to slip. This results in measurement errors that are avoided with the present invention.
In einer bevorzugten Variante ist das Messrad mit einem Drehgeber gekoppelt. Damit sind hochauflösende Wegmessungen durchführbar und Positionen entlang einer Gleisstrecke sind präzise anfahrbar, um Arbeitsaggregate der Gleisbaumaschine in Stellung zu bringen. Das ist insbesondere bei einem automatisierten Betrieb der Gleisbaumaschine von Vorteil. In einer einfacheren Variante ist das Messrad mit einem Detektor zur Erfassung von Umdrehungen gekoppelt. Dabei kann es sinnvoll sein, den ersten Bewegungssensor als Detektor zu nutzen. Am Messrad sind dann vom Bewegungssensor erfassbare Markierungen angebracht.In a preferred variant, the measuring wheel is coupled to a rotary encoder. This means that high-resolution path measurements can be carried out and positions along a stretch of track can be approached precisely in order to position the working units of the track construction machine. This is particularly advantageous in the case of automated operation of the track-laying machine. In a simpler variant, the measuring wheel is coupled to a detector for detecting revolutions. It can make sense to use the first motion sensor as a detector. Markings that can be detected by the motion sensor are then attached to the measuring wheel.
Vorteilhafterweise ist der erste Bewegungssensor auf eine Abrollfläche des Messrades gerichtet. Bei dieser Anordnung stimmen die Messergebnisse der beiden Bewegungssensoren bei fehlendem Schlupf überein und können auf einfache Weise ausgewertet werden.The first movement sensor is advantageously directed at a rolling surface of the measuring wheel. With this arrangement, the measurement results of the two motion sensors match when there is no slip and can be evaluated in a simple manner.
Um einen gleichmäßigen Druck des Messrades auf die Schiene sicherzustellen ist es von Vorteil, wenn die Halterung einen Schwenkarm umfasst, an dem das Messrad drehbar gelagert ist. Sinnvoll ist ein einstellbarer Schwenkarm, um den Auflagedruck an veränderte Schienenverhältnisse anpassen zu können.In order to ensure uniform pressure of the measuring wheel on the rail, it is advantageous if the holder includes a swivel arm on which the measuring wheel is rotatably mounted. An adjustable swivel arm is useful in order to be able to adapt the contact pressure to changing rail conditions.
Eine vorteilhafte Weiterbildung sieht vor, dass in einem vorgegebenen Abstand zum zweiten Bewegungssensor ein dritter Bewegungssensor zur Erfassung einer Bewegung der Halterung gegenüber der Schiene angeordnet ist. Ein bei einem Schienenstoß oder einer Weiche auftretender Spalt hat dann keine Auswirkungen auf die Erfassung der Bewegung der Halterung gegenüber der Schiene. Der Abstand zwischen den beiden Sensoren ist dabei so gewählt, das sich zu jeder Zeit nur einer der Sensoren über dem Spalt befinden kann.An advantageous further development provides that a third movement sensor for detecting a movement of the holder relative to the rail is installed at a predetermined distance from the second movement sensor is arranged. A gap occurring at a rail joint or a switch then has no effect on the detection of the movement of the bracket relative to the rail. The distance between the two sensors is selected in such a way that only one of the sensors can be located over the gap at any one time.
In einer vorteilhaften Ausprägung der Erfindung umfasst der jeweilige Bewegungssensor eine Lichtquelle, einen optischen Sensor und einen Digitalen Signalprozessor. Derartige Sensoren sind ausreichend robust und liefern genaue Ergebnisse beim Erfassen kurzer Wegstrecken. Zudem sind diese Sensoren berührungslos anordenbar, sodass kein Verschleiß auftritt.In an advantageous embodiment of the invention, the respective motion sensor includes a light source, an optical sensor and a digital signal processor. Such sensors are sufficiently robust and provide accurate results when detecting short distances. In addition, these sensors can be arranged without contact, so that no wear occurs.
Dabei ist es sinnvoll, wenn die Lichtquelle ein Laser ist. Auf diese Weise werden die Strukturen der Schienenoberfläche und der Messradoberfläche besser aufgelöst. Das verbessert die Erkennung von Bewegungen auf den Aufnahmen des optischen Sensors.It makes sense here if the light source is a laser. In this way, the structures of the rail surface and the surface of the measuring wheel are better resolved. This improves the detection of movements on the recordings of the optical sensor.
Das erfindungsgemäße Verfahren sieht vor, dass in der Auswerteeinrichtung laufend ein Bewegungsmesssignal des ersten Bewegungssensors mit einem Bewegungsmesssignal des zweiten Bewegungssensors verglichen wird und dass bei einer Abweichung der Bewegungsmesssignale das mittels des Messrades erfasste Wegmesssignal korrigiert wird. Die eigentliche Messung der Wegstrecke erfolgt somit mittels des Messrades, wobei ein Schlupf des Messrades mittels der Bewegungssensoren erkannt und mittels der Auswerteeirichtung kompensiert wird.The method according to the invention provides that a movement measurement signal from the first movement sensor is continuously compared with a movement measurement signal from the second movement sensor in the evaluation device and that if the movement measurement signals deviate, the displacement measurement signal detected by means of the measuring wheel is corrected. The actual measurement of the distance is thus performed using the measuring wheel, with slippage of the measuring wheel being detected using the movement sensors and being compensated for using the evaluation device.
In einer Weiterbildung des Verfahrens wird eine aus dem Bewegungsmesssignal des ersten Bewegungssensors abgeleitete Wegmessgröße von einer aus dem Bewegungsmesssignal des zweiten Bewegungssensors abgeleiteten Wegmessgröße subtrahiert, wobei die Differenzgröße zu einer mittels des Messrades erfassten Wegmessgröße addiert wird. Diese einfache Auswertelogik ist dann anwendbar, wenn der erste Bewegungssensor auf die Abrollfläche des Messrades gerichtet ist. Dann ergibt sich bei fehlendem Schlupf des Messrades keine Differenzgröße.In a further development of the method, a measured displacement variable derived from the measured movement signal of the first motion sensor is subtracted from a measured displacement variable derived from the measured movement signal of the second motion sensor, with the differential variable being added to a measured displacement variable detected by means of the measuring wheel. This simple evaluation logic can be used when the first movement sensor is directed at the rolling surface of the measuring wheel. If there is no slippage of the measuring wheel, then there is no differential variable.
Mit einem dritten Bewegungssensor ist das Verfahren dahingehend erweiterbar, dass ein Bewegungsmesssignal dieses dritten Bewegungssensors mit dem Bewegungsmesssignal des zweiten Bewegungssensors zu einem resultierenden Bewegungsmesssignal zusammengeführt wird. Konkret wird immer jenes Bewegungsmesssignal ausgewertet, das vor oder nach einem Spalt erfasst wird.With a third motion sensor, the method can be expanded to the effect that a motion measurement signal from this third Motion sensor is combined with the motion measurement signal of the second motion sensor to form a resulting motion measurement signal. Specifically, the movement measurement signal that is recorded before or after a gap is always evaluated.
Die Erfindung wird nachfolgend in beispielhafter Weise unter Bezugnahme auf die beigefügten Figuren erläutert. Es zeigen in schematischer Darstellung:
- Fig. 1
- Gleisbaumaschine
- Fig. 2
- Wegmesseinrichtung mit zwei Bewegungssensoren
- Fig. 3
- Wegmesseinrichtung mit drei Bewegungssensoren
- 1
- track construction machine
- 2
- Displacement measuring device with two motion sensors
- 3
- Displacement measuring device with three movement sensors
Die in
Vorteilhafterweise ist die Wegmesseinrichtung 4 vor einem vorderen Schienenfahrwerk 5 der Gleisbaumaschine 1 angeordnet, um die erfassten Weginformationen für die Steuerung der Maschine 1 und deren Arbeitsaggregate 2, 3 zu nutzen. Dazu ist eine Auswerteeinrichtung 6 der Wegmesseinrichtung 4 mit einer Steuerungseinrichtung 7 der Gleisbaumaschine 1 gekoppelt.Advantageously, the
Die Wegmesseinrichtung 4 wird im Detail mit Bezug auf die
Das Messrad 13 weist eine äußere Abrollfläche 14 auf, mit der es im Arbeitseinsatz auf einer Schiene 15 eines von der Gleisbaumaschine 1 befahrenen Gleises abrollt. Dabei ist eine Kontaktkraft mittels des Aktuators 12 oder einer nicht dargestellten Feder vorgebbar. Der Aktuator 12 dient auch dazu, das Messrad 13 außer Betrieb zu stellen.The measuring
Gekoppelt ist das Messrad 13 mit einem Drehgeber 16, der insbesondere als Inkrementaldrehgeber mit hoher Auflösung ausgebildet ist. Der Drehgeber 16 arbeitet beispielsweise mit Schleifkontakten, mit photoelektrischer oder mit magnetischer Abtastung. Ein mittels des Messrades 13 und des Drehgebers 16 erzeugtes Wegmesssignal wird über eine Signalleitung 17 an die Auswerteeinrichtung 6 übertragen. Die Signalübertragung erfolgt analog oder digital, wobei bei Stromschienen 15 zur Potenzialentkopplung auch eine Funkstrecke sinnvoll sein kann.The measuring
Um im Betrieb einen Schlupf des Messrades 13 zu detektieren sind an der Halterung 8 ein erster Bewegungssensor 18 und ein zweiter Bewegungssensor 19 angeordnet. Der erste Bewegungssensor 18 ist auf die Abrollfläche 14 des Messrades 13 gerichtet und erfasst die Bewegungen des Messrades 13 gegenüber der Halterung 8. Der zweite Bewegungssensor 19 ist gegen die befahrene Oberfläche der Schiene 15 gerichtet und erfasst die Bewegung der Halterung 8 gegenüber der Schiene 15. Mittels Signalleitungen 17 erfolgt eine Übertragung der Bewegungsmesssignale auf die Auswerteeinrichtung 6.A
Konkret detektieren die Bewegungssensoren 18, 19 Wegstrecken, die in einer bestimmten Zeitspanne zurückgelegt werden. Vom Messrad 13 aus betrachtet legt der erste Bewegungssensor 18 gegenüber der Abrollfläche 14 eine erste Wegstrecke zurück. Gleichzeitig legt der zweite Bewegungssensor 19 von der Schiene 15 aus betrachtet eine zweite Wegstrecke zurück. Bei fehlendem Schlupf des Messrades 13 müssen die beiden detektierten Wegstrecken übereinstimmen.Specifically, the
Sobald ein Schlupf auftritt, wird das mittels des Messrades 13 erzeugte Wegmesssignal korrigiert. Dazu liefert in der Auswerteeinrichtung 6 ein Zeitgeber eine gemeinsame Bezugsbasis. Die Bewegungsmesssignale geben dabei zunächst eine Wegstrecke pro Zeiteinheit wieder (z.B. Millimeter pro Millisekunde). Somit ergeben sich während einer Abweichung der beiden Bewegungsmesssingale unterschiedliche Wegmessgrößen. Beispielsweise detektiert der erste Bewegungssensor während einer Abweichungsdauer von einer Sekunde eine zurückgelegte Wegstrecke von hundert Millimetern, während der zweite Bewegungssensor zweihundert Millimeter detektiert.As soon as slippage occurs, the path measurement signal generated by means of the measuring
In der Auswerteeinrichtung 6 wird deshalb die erste Wegmessgröße von der zweiten Wegmessgröße subtrahiert. Die Differenz gibt dann den Schlupf des Messrades 13 wider. Im konkreten Beispiel wird der mittels des Messrades 13 erfasste Wegstreckenwert um den Differenzwert von hundert Millimetern verlängert, um auf den korrigierten Wegstreckenwert zu kommen. Sinnvollerweise umfasst die Auswerteeinrichtung 6 einen Mikrocontroller, in dem die beschriebene Auswertungslogik eingerichtet ist.The first measured displacement variable is therefore subtracted from the second measured displacement variable in the
Eine zu erwartende Abweichungsdauer, während der ein Schlupf aufritt, ist dabei so kurz, dass ein mögliches Driften der Bewegungsmesssignale außer Acht gelassen werden kann. Insbesondere bei kostengünstigen und einfach aufgebauten Bewegungssensoren 18, 19 ist bei der Erfassung längerer Wegstrecken eine Driftneigung zu beachten. Das mittels des Messrades 13 und des Drehgebers 16 erfasste Wegmesssignal weist jedoch keine Drift auf, weshalb die Kombination der vorliegenden Messsignale eine sehr genaue Erfassung langer Wegstrecken ermöglicht.An expected deviation duration, during which a slip occurs, is so short that a possible drifting of the movement measurement signals can be disregarded. A tendency to drift must be taken into account when detecting longer distances, particularly in the case of inexpensive and simply constructed
Für die vorliegende Erfindung günstige Bewegungssensoren 18, 19 sind kompakt und einfach aufgebaut und kommen beispielsweise auch in Computermäusen zur Anwendung. Sie umfassen vorzugsweise einen Laser als Lichtquelle, einen optischen Sensor mit geringer Auflösung (16x16 bis 30x30 Pixel) und einen Digitalen Signalprozessor. Der Laser ist auf die Oberfläche gerichtet, gegenüber derer die Bewegung des Bewegungssensors 18, 19 erfasst werden soll. Der optische Sensor nimmt laufend über eine Linse einen kleinen Bereich der beleuchteten Oberfläche auf. Die mit hoher Abtastrate (z.B. 1500 Bilder pro Sekunde) aufgenommenen Bilder werden mittels des Digitalen Signalprozessors ausgewertet, wobei Bewegungsinformationen aus sich ändernden Bildinhalten abgeleitet werden.
Günstigerweise weist das Messrad 13 auf der vom ersten Bewegungssensor 18 erfassten Oberfläche 14 ein Muster oder eine Struktur auf, die ein sicheres Erkennen von Bewegungen mittels des beschriebenen einfach aufgebauten Sensors 18 unterstützt. Zudem können am Messrad 13 Markierungen angebracht sein, die mittels des ersten Bewegungssensors 18 auswertbar sind. Auf diese Weise ist der erste Bewegungssensor 18 zum Detektieren von Umdrehungen des Messrades 13 nutzbar.The measuring
Die Oberflächenstruktur der Schiene 15 weist in der Regel genügend Unregelmäßigkeiten auf, um eine verlässliche Bewegungserkennung sicherzustellen. Eventuell ist es sinnvoll, den zweiten Bewegungssensor 19 auf einen Bereich abseits einer geglätteten Lauffläche der Schiene 15 zu richten.The surface structure of the
Bei nicht verschweißten Schienen 15 tritt bei Schienenstößen gewöhnlich ein Spalt 20 auf. Auch bei Weichen kommt es im Bereich des Weichenherzens zu einer Unterbrechung der Schienen 15. Vorteilhafterweise ist deshalb ein dritter Bewegungssensor 21 in einem vorgegebenen Abstand 22 zum zweiten Bewegungssensor 19 angeordnet. Beide Sensoren 19, 21 sind auf die Schiene 15 gerichtet, wobei der Abstand 22 so gewählt ist, dass sich immer nur ein Sensor 19, 21 über einem möglichen Spalt 20 befindet.With
Bei dieser erweiterten Variante liefert immer einer der auf die Schiene 15 gerichteten Bewegungssensoren 19, 21 ein verlässliches Bewegungsmesssignal. Dabei sind die beiden Bewegungsmesssignale in der Auswerteeinrichtung 6 mit einer Oderverknüpfung zu einem resultierenden Bewegungsmesssignal zusammengeführt. Wenn beide Bewegungsmesssignale vorliegen, wird eines davon als resultierendes Signal weiterverarbeitet. Bei einer Unterbrechung eines Bewegungsmesssignals infolge eines Spalts 10 gilt das andere Bewegungsmesssignal als resultierendes Signal. Auf diese Weise ergibt sich immer ein verlässliches Bewegungsmesssignal gegenüber der Schiene 15, das mit dem Bewegungsmesssignal des ersten Bewegungssensors 18 verglichen wird.In this expanded variant, one of the
Der Einsatz des dritten Bewegungssensors 19 ist zudem für zusätzliche Auswertungen sinnvoll. Beispielsweise ist damit eine automatische Detektion von Schienenstößen oder Weichenherzen möglich.The use of the
Claims (10)
- A distance measuring device (4) for a mobile track maintenance machine (1), having a mounting (8) on which a measuring wheel (13) which can be rolled on a rail (15) is arranged, and having an evaluation device (6) for processing a distance measuring signal, characterised in that a first movement sensor (18) is arranged to detect a movement of the measuring wheel (13) in relation to the mounting (8), and in that a second movement sensor (19) is arranged to detect a movement of the mounting (8) in relation to the rail (15).
- A distance measuring device (4) according to claim 1, characterised in that the measuring wheel (13) is coupled to a rotary encoder (16).
- A distance measuring device (4) according to claim 1 or 2, characterised in that the first movement sensor (18) is directed towards a rolling surface (14) of the measuring wheel (13).
- A distance measuring device (4) according to one of the claims 1 to 3, characterised in that the mounting (8) comprises a swivel arm (11) on which the measuring wheel (13) is rotatably mounted.
- A distance measuring device (4) according to one of the claims 1 to 4, characterised in that a third movement sensor (21) to detect a movement of the mounting (8) in relation to the rail (15) is arranged at a predetermined spacing (22) from the second movement sensor (19).
- A distance measuring device (4) according to one of the claims 1 to 5, characterised in that the respective movement sensor (18, 19, 21) comprises a light source, an optical sensor, and a Digital Signal Processor.
- A distance measuring device (4) according to claim 6, characterised in that the light source is a laser.
- A method for measuring a distance covered by a track maintenance machine (1) by means of a distance measuring device (4) according to one of the claims 1 to 7, characterised in that, in the evaluation device (6), a movement measuring signal of the first movement sensor (18) is continuously compared with a movement measuring signal of the second movement sensor (19), and in that, in the event of a deviation of the movement measuring signals (18, 19), the distance measuring signal detected by means of the measuring wheel (13) is corrected.
- A method according to claim 8, characterised in that a distance measuring variable derived from the movement measuring signal of the first movement sensor (18) is subtracted from a distance measuring variable derived from the movement measuring signal of the second movement sensor (19), and in that the difference variable is added to a distance measuring variable detected by means of the measuring wheel (13).
- A method according to claim 8 or 9, characterised in that a movement measuring signal of a third movement sensor (21) is combined with the movement measuring signal of the second movement sensor (19) to form a resulting movement measuring signal.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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ATA283/2019A AT522453B1 (en) | 2019-08-29 | 2019-08-29 | Distance measuring device for a mobile track construction machine |
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EP3786029A1 EP3786029A1 (en) | 2021-03-03 |
EP3786029B1 true EP3786029B1 (en) | 2022-09-07 |
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EP20188634.8A Active EP3786029B1 (en) | 2019-08-29 | 2020-07-30 | Distance measuring device for a mobile track construction machine |
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EP (1) | EP3786029B1 (en) |
AT (1) | AT522453B1 (en) |
ES (1) | ES2930275T3 (en) |
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Publication number | Priority date | Publication date | Assignee | Title |
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AT316618B (en) | 1969-12-19 | 1974-07-25 | Plasser Bahnbaumasch Franz | Mobile machine for performing track work at intervals |
AT367817B (en) | 1980-10-08 | 1982-08-10 | Plasser Bahnbaumasch Franz | DRIVABLE TRACK CONSTRUCTION MACHINE WITH RAIL TROLLEY AND STEP-BY-STEP WORKING PROCEDURE |
AT391903B (en) * | 1989-01-26 | 1990-12-27 | Plasser Bahnbaumasch Franz | DRIVABLE TRACK MACHINE WITH A DEVICE FOR CONTROLLING THE WORKING POSITION OF YOUR WORKING AGGREGATE OR. -TOOLS |
DE102016200436A1 (en) * | 2016-01-15 | 2017-07-20 | Siemens Aktiengesellschaft | Method and device for automatic calibration of a measuring sensor of a driven axle of a rail vehicle |
DE102016223435A1 (en) * | 2016-11-25 | 2018-05-30 | Siemens Aktiengesellschaft | Distance and speed measurement with the help of image recordings |
CN108572259A (en) * | 2017-03-09 | 2018-09-25 | 华东交通大学 | A kind of novel locomotive speed measuring device |
US10151582B1 (en) * | 2017-12-20 | 2018-12-11 | Laird Technologies, Inc. | Systems and methods for monitoring locomotive wheel size |
-
2019
- 2019-08-29 AT ATA283/2019A patent/AT522453B1/en active
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2020
- 2020-07-30 ES ES20188634T patent/ES2930275T3/en active Active
- 2020-07-30 EP EP20188634.8A patent/EP3786029B1/en active Active
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ES2930275T3 (en) | 2022-12-09 |
AT522453B1 (en) | 2020-11-15 |
EP3786029A1 (en) | 2021-03-03 |
PL3786029T3 (en) | 2023-01-16 |
AT522453A4 (en) | 2020-11-15 |
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