EP4256133A2

EP4256133A2 - Method for automatic autonomous control of a tamping machine

Info

Publication number: EP4256133A2
Application number: EP21819324.1A
Authority: EP
Inventors: Bernhard Lichtberger
Original assignee: HP3 Real GmbH
Current assignee: HP3 Real GmbH
Priority date: 2020-12-02
Filing date: 2021-11-30
Publication date: 2023-10-11
Also published as: AT17436U1; WO2022115891A3; WO2022115891A2

Abstract

The invention relates to a method for automatic autonomous control of a tamping machine (C) for compacting the ballast bed of a track in points (A, B), comprising a device for determining the position of the track laying machine on the track, and comprising position detection of the actuators of the working units (La, Li, Ra, Ri, 16, 18, 19, 20, 22, 23) of the tamping machine (C). In order to automate the method: - point data (ai,j, β, WP, t, L, n) of the point to be machined is first read into a control computer (27) of the tamping machine (C); - the control computer (27) subsequently generates exact positioning instruction data (Pi) for the working units (La, Li, Ra, Ri, 16, 18, 19, 20, 22, 23) at each railway sleeper (ai,j) to be tamped in the point region (1-51); and - the tamping machine (C), depending on its position in the point (A, B) and on the generated positioning instruction data (Pi), actuates these positions with the working units (La, Li, Ra, Ri, 16, 18, 19, 20, 22, 23) associated with each position and carries out the tamping process at the place of the actuated position fully automatically and autonomously.

Description

Method for the automatic autonomous control of a tamping machine

technical field

The invention relates to a method for the automatic autonomous control of a tamping machine for compacting the ballast bed of a track in points with a device for determining the position of the track construction machine in the track and with a position detection of the actuators of the working units of the tamping machine.

Most railway tracks are designed as ballasted tracks. Due to the acting wheel forces of the trains driving over it, the ballast is rounded off, partially broken off and worn away. Irregular settlements occur in the ballast and shifts in the lateral geometry of the points. Due to the settlement of the ballast bed, errors in the longitudinal height, superelevation (in the curve), torsion, track and alignment occur.

Switches are expensive track systems and complex constructions. They allow the lane change between tracks depending on the position of the points. Each time a switch is set, tongue rails are moved and mechanically fixed in the respective end position by a so-called tongue lock. A simple switch costs as much as half a kilometer of free track. The conscientious and precise maintenance of the points is crucial for a long service life.

Switches can be differentiated in terms of their basic shape and their length is precisely limited by the start of the switch (WA) and the end of the switch (WE). The start of the switch is the tangent point of the branch track to the main track. The tangent at the end points of the switch together with the track axis of the main track results in the angle of the switch. The tangent of this angle is given as referred to as a switch inclination. The branch radius with which the branching branch leads away is an important parameter. The branch curve begins at the beginning of the points. The points consist of the switch device, the intermediate rails, the frogs with check rails and the running rails. From the start of the turnout to the end of the turnout, the individual components of the turnout track are fastened to the turnout sleepers. The switch construction forms a fixed structure. A simple frog consists of the frog tip and two wing rails. In order to enter the Zweigast, vehicles have to cross the straight track. It is therefore necessary to interrupt the running edge between the crossing point and the intermediate rail. There is a frog gap where the wheel is not guided by the wheel flange. A wheel control arm is attached to the opposite rail track for guidance, which keeps the wheel on track - but the load is always transferred via the rail track. The two wing rails form the continuation of the intermediate rails. To allow the wheels to pass, they are bent sideways. Depending on the number of running edge interruptions, a distinction is made between single, double and multi-part frogs. Double frogs are installed in crossings and slip points.

The switch device allows the vehicle to change direction in order to enter either the main line or the branch line.

The main components are two cams and two stock rails. Depending on the position, either the stock rail or the switch rail is curved in pairs in order to enable the decisive direction. This is done by the movable tongue parts which, together with the fixed stock rails, allow the different points branches to be driven on depending on their position. At the tip of the tongue, the guides are diverted directly into the stock rail by the tongue resting on the stock rail. The power is transmitted via horizontal non-positive connections between the switch rail and the stock rail (support lugs). Safe operation requires a correct and fixed position of the moving parts of the points. Points used to be set by shifting the control lever and shutting off the Set the switch lock in the desired direction and secure it in its end position. Today, turnouts are primarily mechanically or electrically remote-controlled. In a mechanical signal box, the switching command is passed on to the points via chains and wires. Modern interlockings send commands directly to the points, and the changeover is carried out by electric or electro-hydraulic drives installed on site.

Locks guarantee that the tongue rail is firmly attached to the stock rail. While the tongue rail is in contact with the stock rail on one side, the locking system on the opposite side guarantees the necessary distance for the wheel. The linkages are installed between the sleepers in the intermediate compartment and, together with the drives, represent obstacles for the tamping tools of the switch tamping machine. They are located in the area where the tamping tools should penetrate the ballast bed in order to compact the ballast under the sleepers. These positions must be known so that the equipment is not damaged by the tamping tools. In the collision area, the tamping tools (tamping tines) are swiveled up to the side. In addition, the position of the penetration and the type of tamping, e.g. reverse tamping, must be precisely specified at critical points. On long, high-speed points, multiple actuators are also provided for the tongue. The point drive boxes are located to the side of the track and represent an obstacle for the working tools of the tamping machine. In addition to these obstacles, there are also axle counters, safety devices, etc.

In the junction area, long, continuous sleepers are used (long sleepers) which have an inclined position (half the switch angle).

State of the art

The WO2016/081971 A1 describes a device that the position of

rails, frogs and obstacles in the track and taken away dependently controls the working units of the switch tamping machine. AT518692 A1 discloses a method for the actual detection of routes and their components. The known systems record the actual position of the switch components, the rail and the obstacles. The extent to which the stuffer is supported depends on the function of the measuring devices. With full ballast (newly installed and ballasted points), the function of the measuring systems is severely restricted or they do not work.

The tamping units are separable (split-head tamping units) and laterally displaceable, so that the working tools of the points tamping machine can tamp the points at all points. The tamping tines can be swung up individually to the side. With pure line tamping machines, the rail is gripped at the head with roller tongs and lifted into the geometric target position. In turnouts, it is often not possible to use the roller tongs because of the small distance between the rails and the frog. So that these areas can also be processed, lifting hooks are used. In addition to pure point tamping machines and line tamping machines, there are also universal machines that can be used for both the line area and the point area. From the switch tamping cabin, the machine operator controls the position of the tamping unit, the pick, depending on the conditions he selects the roller tongs or the lifting hook, the position of the lifting hook and the point of attack of the same on the rail head or on the rail foot. The lifting device can be moved in the longitudinal direction of the track. This is necessary if the lifting hook engages the rail foot - this is only possible in the area of the intermediate compartment - or if, for example, the roller tongs or the lifting hook cannot close on the rail head due to an insulated joint. The manual adjustment of the lifting device: the selection of the roller tongs or the lifting hook, positioning of the lifting hook and the point of force application, as well as the displacement of the lifting device in the longitudinal direction of the track takes time. Methods are known that record the rail fastening and thus also the local position of the sleepers and the intermediate compartment. With the help of this device, tamping machines can automatically advance and carry out a tamping cycle.

Turnouts are now precisely pre-assembled in turnout factories and brought to the place of installation. There they are installed (e.g. removed from a wagon with a crane and placed in the intended place). If the switch is delivered in several parts, the parts are placed one behind the other and welded together. There are switch construction plans for the switches in which the switch elements are precisely listed and dimensioned. The sleeper distances, the branch radius, the tangent length, the length of the sleepers and their inclination, the position of the switch rods and drives, the position of the frog and the position and length of the wing rails and check rails, etc. are known from these switch plans. Switches are now drawn using CAD - the switch construction plans are available in electronic form. There are many different types of points such as "simple" points, outside curve and inside curve points, double points or one-sided double points and crossings. The switches are characterized and standardized by a specific designation. Such a designation is EW 60-500-1:12-L-Fz-H.

The preceding letters stand for e.g. "simple switch" (EW); Outer curved points (ABW), inner curved points (IBW), double points (DW), one-sided double points (EinsDW) etc. This is followed by the rail profile: UIC60 (60); S49 (49); S54 (54). The next entry specifies the radius of the branching track in meters: Radius=500m (500). The turnout inclination at the end of the turnout follows (tangent of the turnout angle) 1:12. The next letter stands for the branching direction (left (L) or right (R). This is followed by the type of tongue: spring tongue (Fz), articulated tongue (Gz) etc. The last number in the book indicates the type of sleeper: wooden sleeper (H), hardwood (Hh), steel (St) and concrete (B).

Switch tamping machines specialize in tamping switches (with divisible tamping units - so-called splithead tamping units, additional lifting devices for the branching line, swiveling tines Etc.). Tamping machines are known to work cyclically but also continuously. There are also single-sleeper and multi-sleeper tamping machines.

Multi-sleeper tamping machines tamping several sleepers at once in one working cycle. Tamping units fix the position of a track during a maintenance measure. This is done using tamping tools, so-called tamping picks, which dip into the ballast next to the sleepers and compact the ballast under the sleeper using a linear closing movement that is superimposed by a compaction vibration. Before that, the track grid was brought into the desired position with the help of a lifting and straightening unit. The track panel is held there during the compaction process and thus fixed in the corrected position. As standard, the linear closing movement is overlaid by a hydraulic cylinder and an oscillating amplitude mechanically generated with an eccentric shaft. Newer fully hydraulic tamping drives generate the linear closing movement and vibration at the same time.

With the help of GPS systems installed on tamping machines, the sleepers can be precisely assigned to the number of kilometers of track using the GPS coordinates. Virtual GPS correction data services that send RTK correction data to suitable GPS receivers are known. As a result, only a moving GPS-supported measuring vehicle moving on the track is required. RTK-GPS has the advantage that it can use RTK correction data to determine the absolute location very precisely (approx. 5mm in position and 10-15mm in height). The accuracy in the range of 5-15 mm is precise enough to be able to locate sleepers in the track and other places clearly and precisely. Switches or sleepers can be approached precisely and unambiguously with superstructure machines that are equipped with a GPS (or rtk-GPS) system.

If a turnout is newly laid, it is ballasted up to the top edge of the rail - this makes it impossible to identify the turnout components. The mostly manual adjustment of the working units by the operator is exhausting and reduces the machine performance. In the case of switches, the continuous track is tamped first and then the branching track in a second step. When and where the divided tamping units be deflected and used is left to the stuffer. There is a lack of a precisely specified optimal way of working through work that is adapted to the various switches. How it works is left to the stuffer. The quality of the work done on the switches is therefore dependent on the tamper and can be defective or faulty. The adjusting devices (actuators) of the working units of the tamping machine are equipped with sensors for detecting the position. This allows the precise control of the working units.

Presentation of the invention

The invention is based on the object of specifying a method for the automatic, autonomous control of a points tamping machine which avoids the above-mentioned disadvantages and also allows a tamping of newly laid points that are ballasted up to the upper edge of the rail.

The invention solves the task in that points data for the points to be processed are first read into a control computer of the tamping machine, that the control computer then creates position-accurate positioning instruction data for the working units at each sleeper to be tamped in the point area, that the tamping machine depends on its position in the switch and from the positioning instruction data created, controls these positions with the working units assigned to the respective position and carries out the tamping process at the point of the controlled position fully automatically and autonomously and automatically moves from sleeper to sleeper via an automatic drive-up mechanism until the intended working area has been processed.

Precise positioning instructions for each sleeper area to be tamped are transferred to the control computer of the tamping machine. These include, for example: Twisted position of the tamping units, lateral position of the tamping units, opening width of the individual tamping cylinders, pivoting angle of the tines, tamping pressure, specification of the maximum compaction force, the tamping depth, tamping time, lifting hook or lifting roller, vertical and transverse position for the hook on the rail foot or rail head, extended position of the additional lift, longitudinal position of the lifting and straightening unit, etc.). Depending on the working direction, the position instructions are synchronized with the beginning or end of the points via an odometer or a GPS measurement. The tamping machine is positioned in the switch exactly at the sleeper to be tamped. Depending on the specified positioning instructions, the tamping machine carries out the corresponding settings of the working units fully automatically and autonomously at the position reached in the switch and tamps the corresponding sleeper. It then drives to the next threshold via the automatic drive-up mechanism and repeats the process according to the specifications until the entire intended work area has been processed.

Provision can be made for the positioning instructions created for each sleeper in the switch area to be displayed to an operator on a display device, who may readjust the positioning specifications. Further advantageous developments of the method according to the invention are presented in the dependent claims.

The invention also provides that if there are no switch data other than the standardized designation of the switch or known switch parameters, a large part of the necessary positioning instructions are calculated after they have been entered into the control computer. In the event that a switch plan is available, the data can be entered on the control computer using a switch editor. If there is CAD data then this data is taken over by the control computer and processed accordingly and positioning instructions are derived from it. Since the switches are standardized, the positioning instructions for a large number of switches can be stored on the computer or downloaded from a central database or cloud and selected from a list by the operator before processing a switch.

Brief description of the invention In the drawing, the subject of the invention is shown as an example. Show it

1 shows a schematic plan view of a simple switch,

Fig. 2 is a schematic representation of a section of a switch with an electric drive and

3 shows a diagram of a switch tamping machine.

Ways to carry out the invention

Fig. 1 schematically shows a simple switch with a left-hand branch. The distance between the sleepers ai can vary from sleeper to sleeper, but usually ranges between 58 and 62 cm. The typical sleeper spacing in tracks is 60 cm. The switch comprises a switch beginning WA and a switch end WE. The branching track has a radius R. The switch also has a tangent length t and a total length L (difference between WA and WE). The start and end of the turnout are marked on the turnout. The distance XH is between the switch point WP and frog H. The length of the tangent projected onto the x-coordinate is xt. The switch has an inclination of 1:n. ß is the angle of the inclined sleepers.

If only the standardized designation of the switch is given in the form e.g. EW60-760-1:18-r-Fz-B, then the tangent angle of the simple switch can be read as 1:18, the radius as 760m, the rail as one LIIC60 and that it is a right-hand switch with a spring tongue that lies on concrete sleepers.

If no other information is available, many target positions of the aggregates can be derived from this information. The tamping depth can be calculated by specifying the LIIC60 rail and the concrete sleepers.

For the circuit equation of the branching rail, the following applies: y = -JR ² + x ² The derivative can be equated to the tangent slope. The following then applies:

Solved for x results in:

From this follows for the tangent length:

1 + cos (arc tan — )

If you know the length of the tangent, then the point WP is far away from the start of the switch (WA) t. Depending on the x-coordinate, the course of the inner and outer rail y and the tongue with the inner rail can be calculated using the circle equation and transferred to the control computer as positioning values for the working units. The position of the frog follows from the formula (s mean track width) sx _H = y = s ■ nn

The end of the radius results from the length t+xt. xt can simply be calculated as follows:

1 x _t = t ■ cos(arc tan— )

This allows the control computer to calculate where the radius of the branching rails ends and where the rails continue tangentially straight ahead. With this information, the extended position of the three-point lift in the branching line can be determined and also the positions of the divided units on the left and right depending on the rail position. The inclined position of the long sleepers is calculated from half the point angle:

1 1 ß = - ■ cos(arc tan— )

2 n

This means that the twisting angle is known with which the tamping units must be rotated from the start of the long sleepers. The position of the frog is known and therefore also the position of the wing rails, which allows the appropriate choice of lifting tools (hook below). In the area of the tongue, known distances are used to control the divided tamping units. After the end of the switch there are 5 more long sleepers. The additional lift is used in the area of the long sleepers. After the long sleepers, the rotating frame on which the tamping units are located is turned back to 0°. The check rails are 5 m long and are symmetrically level of the heart. After the end of the switch, there are usually 5 long sleepers. The wing rails extend over 3 sleepers at the frog.

There are four tamping units, two on each side L _a , Li and R _a , Ri, one inner and one outer, which are arranged on horizontal guide columns so that they can be moved laterally. The sleepers are numbered, their exact number in a switch is known. The position of the tamping picks and the position of the tamping units are shown symbolically at sleeper 2. The four aggregates are in their basic position and all tamping tines are in use. At sleeper 29, for example, the left-hand outer tamping unit L _a is pivoted outwards in order to tamp the branching line. The other three are in the normal position. At threshold 37, for example, the right outer unit R _a is in the normal position, the inner right Ri is pivoted slightly inwards because of the check rail, the inner left Li is also slightly pivoted inwards because of the wing rail, while the left outer L _a is pivoted outwards and stuff the branching strand. The supporting unit frame is twisted by the angle ß.

The tamping direction is assumed to be in the direction of the x-axis in the longitudinal direction of the track, the pivoting in the direction of the y-axis. The tamping units have the left or right rail center as a reference axis, the torsion angle of the tamping units refers to the perpendicular to the machine axis, for the main lifting and straightening unit the running edge of the rails and the rail running surface (SOK) are the reference. For the additional lift, the nearer rail of the continuous main line is the reference. Zero displacement means that the aggregates are in a defined position.

Fig. 2 shows a pre-assembled switch piece B as it is transported to the construction site for installation. AR indicates the working direction. This switch piece B shows that not all tamping tools can be used on every sleeper. It mean:

1 ... transmission double linkage 2 ... stock rail

3 ... protruding tongue

4 ... fitting tongue

5 ... electric point machine

6 ... pawl tip closure

7 ... pawl center lock

8 ... side device

9 ... connecting rod

10 ... adjusting rod

11 ... tongue tester rods

12 ... tongue connecting rod

13 ... rail

14 ... threshold

S1 - S3 ... thresholds

In the case of the two sleepers S2, S3 where the electric switch mechanism 5 is installed (on the right in AR), it is not possible to dip between the two sleepers with the tamping tools (marked with dots), the picks in this area must be used when tamping with both halves of the aggregate once at the front and then swiveled up at the back. The gray rectangles represent the tamping picks. On the left side, only sleeper S2 outside L _a can be stuffed regularly and sleeper S3 can only be stuffed from one side in the next step. Because of the distance between the stock rail 2 and the off-lying tongue 3, the inner tamping unit Li must be moved further inwards, while the outer tamping unit L _a can remain in the reference position. In the area of the linkage a sleeper can usually only be tamped from one side, since, for example, there is not enough space between linkage 8 and sleeper S1.

Fig. 3 shows schematically a switch tamping machine C in the working direction AR with the odometer 28, a GPS system 29 and a radio system 30 for wireless communication with a server. The machine 17 rests on two bogies

15 which can be moved on rails 13. 23 are divisible switch tamping units, 22 is the lifting and straightening unit, 24 is an additional lifting device that can also lift in the branching line, 20 shows the lifting hook and the lifting roller. 19 indicates that the entire lifting and straightening unit 22 can be moved in the longitudinal direction of the track with the aid of a drive 18. So that the main lifting cylinder 26 and the additional lifting cylinder 21 are always vertical when working, the linkage device 16 for the lifting cylinder moves synchronously with the displacement 19 of the lifting and straightening device. 25 is the stuffing cabin and 27 is the control computer. Table 1 shows an example of how the positioning instructions for the sleepers to be padded could look like.

Switch: EW60-500-1 :12.5-I-Fz-B - working direction from tip to stump For example, the positioning instructions Pi at the threshold ai=37 would mean (see Fig. 1):

STü ... Shift the left inner tamping unit inwards by 220 mm

STia ... Move the left outer tamping unit outwards by 910 mm

STri ... move the right inner tamping unit inwards by 180 mm

STra ... right outer tamping unit in reference position

Z ... Auxiliary hoist is in use and 1250mm in direction

Branch moved outwards

H ... the lifting hook is in use ß ... The rotating frame with the tamping units is 2.28° against the

twisted clockwise

In addition to these exemplary positioning data, there are also the following

Specify positions:

• Distance of the machine from WA (or WE if working from the stump)

• Elevating caster position vertical and horizontal

• Vertical and horizontal hook position

• Longitudinal displacement of the lifting and straightening unit

• Opening width of the individual auxiliary cylinders of the tamping units

• Swivel angle position of the individual tamping tines

• darning depth

• Type of tamping - reverse tamping - double tamping etc.

Claims

Expectations

1 . Method for the automatic autonomous control of a tamping machine (C) for compacting the ballast bed of a track in points (A, B) with a device for determining the position of the track construction machine in the track and with a position detection of the actuators of the working units (L _a , Li, R _a , Ri, 16, 18, 19, 20, 22, 23) of the tamping machine (C), characterized in that

• first switch data (aij , ß,WP, t, L, n) of the switch to be processed are read into a control computer (27) of the tamping machine (C),

• That the control computer (27) subsequently position-precise positioning instruction data (Pi) for the working units (L _a , Li, R _a , Ri, 16, 18, 19, 20, 22, 23) at each threshold to be stuffed (ai) in Switch area (1 -51 ) created,

• that the tamping machine (C), depending on its position in the switch (A, B) and on the created positioning instruction data (Pi), these positions with the respective position assigned working units (L _a , Li, R _a , Ri, 16, 18, 19, 20, 22, 23) and carries out the tamping process fully automatically and autonomously at the selected position and

• moves automatically from threshold (aij) to threshold (aij) via an automatic advance mechanism until the intended work area has been processed.

2. The method according to claim 1, characterized in that the created positioning instructions (Pi) for each threshold (aij) in the switch area are displayed to an operator on a display device (25, 27), who readjusts the positioning specifications (Pi) if necessary.

3. The method according to claim 1 or 2, characterized in that the switch data (aij, ß, WP, t, L, n) are entered into the control computer (27) in the form of a characteristic switch designation and the The control computer (27) uses this to calculate precise positioning instructions (Pi) for the working units (L _a , Li, R _a , Ri 16, 18, 19, 20, 22, 23).

4. The method according to claim 1 or 2, characterized in that the switch data (au, ß, WP, t, L, n) are entered manually into the control computer (27) using a switch plan (A) and positioning instructions (Pi ) for the working units (L _a , Li, R _a , Ri, 16, 18, 19, 20, 22, 23) can be calculated.

5. The method according to claim 1 or 2, characterized in that the switch data present as CAD switch data (aij, ß, WP, t, L, n) are electronically read into the control computer (27) and position-accurate positioning instructions (Pi) for the working aggregates (L _a , Li, R _a , Ri, 16, 18, 19, 20, 22, 23) are calculated.

6. The method according to claim 1 or 2, characterized in that the positioning instructions (Pi) for specific switch data (ai, ß, WP, t, L, n) are retrieved from a database available to the control computer (27).

7. The method according to claim 6, characterized in that the positioning instructions (Pi) for the switch data (aij, ß, WP, t, L, n) are loaded wirelessly (30) onto the control computer (27) for processing.

8. The method according to any one of claims 1 to 7, characterized in that the GPS position (29) of the tamping machine (C) in the track is used to identify the switch to be processed, after which the positioning instructions (Pi) for this switch from a database can be retrieved.