WO2019149456A1 - Schienenfahrzeug und verfahren zum vermessen einer gleisstrecke - Google Patents
Schienenfahrzeug und verfahren zum vermessen einer gleisstrecke Download PDFInfo
- Publication number
- WO2019149456A1 WO2019149456A1 PCT/EP2019/050013 EP2019050013W WO2019149456A1 WO 2019149456 A1 WO2019149456 A1 WO 2019149456A1 EP 2019050013 W EP2019050013 W EP 2019050013W WO 2019149456 A1 WO2019149456 A1 WO 2019149456A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- measuring
- rail vehicle
- track
- measuring platform
- sensor device
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 12
- 230000009466 transformation Effects 0.000 claims description 7
- 238000011156 evaluation Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
- B61L23/047—Track or rail movements
-
- 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
- E01B35/06—Applications of measuring apparatus or devices for track-building purposes for measuring irregularities in longitudinal direction
Definitions
- the invention relates to a rail vehicle with a vehicle frame that can be moved supported on rail tracks on rails of a track, comprising a first measuring platform with a first Intertial measuring system for detecting a track profile.
- the invention relates to a method for measuring a track section by means of the rail vehicle.
- Measuring devices serve a variety of sensors that detect both the track itself and the track environment. The latter happens for example by means of camera systems, which are arranged on the track measuring vehicle.
- IMU Inertial Measurement Unit
- the invention is based on the object of specifying improvements over the prior art for a rail vehicle and a method of the type mentioned in the introduction. [05] According to the invention, these objects are achieved by the features of
- a second measuring platform is arranged on the rail vehicle, which comprises a second inertial measuring system and at least one sensor device for detecting surface points of a track section.
- the second measuring platform and the second inertial measuring system With the second measuring platform and the second inertial measuring system, the movement of the sensor device in three-dimensional space is detected in a simple manner.
- the measured data acquired with the sensor device can be spatially exactly assigned in this way.
- a computer is arranged directly on the rail vehicle, the measurement data of the inertial measuring systems and the sensor device are supplied and the for the transformation of coordinates of the
- Evaluation arranged, which is set up to compare the coordinates of the surface points in the coordinate system of the first measuring platform with a predetermined clearance profile of the track section.
- Measuring platform is arranged on one of the rail bogies. This allows easy detection of the track course by means of the first inertial measuring system.
- the first measuring platform comprises a measuring frame arranged on wheel axles of the rail chassis, on which the first intertial measuring system is arranged.
- the movements of the first inertial measuring system in three-dimensional space thus remain unaffected by resilient relative movements of the rail chassis.
- Measuring frame at least two position measuring devices for determining the position of the measuring frame relative to the rails of the track are arranged. Thus, the exact position of the measuring frame is continuously compared to the
- the second measuring platform is arranged on an end face of the rail vehicle. In this way, with a few sensors, a wide surrounding area of the rail vehicle can be detected.
- the sensor device comprises a laser scanner for detecting the surface points as a point cloud.
- an aforementioned rail vehicle provides that by means of the first Intertial measuring system of the track course - especially as a movement course of a coordinate system of the first measuring platform - is detected that detects a movement history of the sensor device - in particular as a movement course of a coordinate system of the second measuring platform - by means of the second Interial measuring system is and that by means of the sensor device
- Fig. 1 rail vehicle on a track
- first measuring platform 5 is arranged.
- this first measuring platform 5 comprises a measuring frame 6, which is attached to the axes of the bogie 4 designed as a bogie.
- two position measuring devices 8 may be attached to the first measuring platform 5 in order to detect relative movements of the first measuring platform 5 relative to the rails 7.
- Position measuring device 8 includes, for example, a directed onto the rail 7 laser and a camera for detecting the laser projection.
- a first intertial measuring system 9 is constructed on the first measuring platform 5, which detects a first space curve 10 with respect to an intertial reference system x ', y', z '.
- This first space curve 10 runs at a known distance parallel to a track axis 11, which runs symmetrically between the inner edges of the two rails 8. This determines a relative track course.
- Coordinate system x g , y g , z g of the first measuring platform 5 is along this first space curve ⁇ 0 moved.
- Position measuring devices 8 a space curve detection for each rail 7 of the track ⁇ .
- a second measuring platform 14 is arranged on this second measuring platform 14.
- a second inertial measuring system 15 for detecting a second space curve 16 is attached.
- a coordinate system x s , y s , z s of the second measuring platform 14 is moved along the second space curve 16.
- Position integration are from the measured rate of rotation of the respective inertial measuring system 9, 15, which mitbewegten in the associated
- Coordinate system x g , y g , z g and x s , y s , z s are given, determines the relative position to the inertial reference system x ', y', z '.
- the second measuring platform 14 serves as a carrier of a sensor device 17, which is to be monitored for the detection of surface points P
- Track track 18 is formed. In this case, along the track 18 next to the track 1 different objects such as platforms 19, masts 20, signaling devices 21 and overhead lines 22. By detecting the surface points P is first the location of these objects 19-22 with respect to the coordinate system x s , y s , z s of the second measuring platform 14 determinable.
- the sensor device 17 comprises a plurality of laser scanners, for example two 2D rotation scanners 23 and two 2D scanner scanners 24. With a known travel speed of the rail vehicle 2, this results in
- Measurement result a three-dimensional point cloud. Their resolution is by adjusting the sampling rates of the scanner 23, 24 and the
- Coordinate system x g , y g , z g the first measuring platform 5 transferred, the inertial reference system x ', y', z 'serves as a common basis.
- the rail vehicle 2 is shown in Fig. 3 in a plan view and is located in a curve entrance of the track ⁇ 8.
- the 2D rotation scanners 23 keys during a
- the detected surface points P correspond to a profile of the track environment.
- This point cloud is supplemented with surface points P, which are detected by means of the 2D fan scanner 24.
- the 2D fan scanner 24 are directed to areas that lie in a visible shadow of the 2D rotation scanner 23.
- the two inertial measuring systems 9, ⁇ 5 record different space curves ⁇ 0, ⁇ 6.
- the pivoting of the area located in front of the front rail chassis 4 vehicle area causes a significant deviation.
- the two space curves ⁇ 0, ⁇ 6 are superimposed as seen from above, wherein origin points 0 g , 0 s of the two co-moving coordinate systems x g , y g , z g and x s , y s , z s by means of the known distance A and the driving speed are synchronized.
- the transformed coordinates x ⁇ , y ⁇ of the respective surface point P indicate the position with respect to the track course or the track axis ⁇ .
- Coordinate system x g , y g , z g of the first measuring platform 5 is equal to zero.
- the y-coordinates and z-coordinates of these surface points P are compared with limit values of a clearance gauge to be maintained. It makes sense, the zero point 0 g of the coordinate system x g , y g , z g of the first
- Measuring platform 5 to move to the track axis ⁇ because standardized clearance specification also refer to the track axis ⁇ .
- a gauge overlap occurs when a surface point P is within the specified gauge.
- the corresponding y-coordinate or z-coordinate is then less than a predetermined one
- Gauge limit To avoid the risk of a collision, clearance limits are displayed in a control center. An immediate display in an output device 26 of the rail vehicle 2 is useful. Conveniently, the computer 25 as
- output data are generated that link position data of an object 19-22 that violates the light space with a kilometer of the controlled track section 18.
- a path measuring device 27 or a GNSS receiver is arranged on the rail vehicle 2.
- a fixed point measuring device attached to the rail vehicle 2 makes sense in order to determine an absolute position with respect to fixed points located next to the track 1.
- the present invention thus comprises redundant systems for determining the track profile.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Machines For Laying And Maintaining Railways (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
Claims
Priority Applications (11)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020541973A JP7247206B2 (ja) | 2018-02-02 | 2019-01-02 | 鉄道車両および軌道区間を検測する方法 |
CN201980007338.0A CN111587202B (zh) | 2018-02-02 | 2019-01-02 | 钢轨车辆和用于测量轨道区段的方法 |
US16/966,555 US11912317B2 (en) | 2018-02-02 | 2019-01-02 | Rail vehicle and method for surveying a track section |
BR112020012799-0A BR112020012799B1 (pt) | 2018-02-02 | 2019-01-02 | Veículo ferroviário e método para inspeção de uma seção de via por meio de um veículo ferroviário |
CA3087478A CA3087478A1 (en) | 2018-02-02 | 2019-01-02 | Rail vehicle and method for surveying a track section |
KR1020207017095A KR20200111673A (ko) | 2018-02-02 | 2019-01-02 | 철도 차량 및 트랙 섹션을 측정하는 방법 |
EA202000159A EA039709B1 (ru) | 2018-02-02 | 2019-01-02 | Рельсовое транспортное средство и способ измерения участка рельсового пути |
ES19700195T ES2945477T3 (es) | 2018-02-02 | 2019-01-02 | Vehículo ferroviario y procedimiento para medir un tramo de vía férrea |
PL19700195.1T PL3746346T3 (pl) | 2018-02-02 | 2019-01-02 | Pojazd szynowy i sposób pomiaru odcinka toru |
AU2019216197A AU2019216197B2 (en) | 2018-02-02 | 2019-01-02 | Rail vehicle and method for surveying a track section |
EP19700195.1A EP3746346B1 (de) | 2018-02-02 | 2019-01-02 | Schienenfahrzeug und verfahren zum vermessen einer gleisstrecke |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA29/2018 | 2018-02-02 | ||
ATA29/2018A AT520526B1 (de) | 2018-02-02 | 2018-02-02 | Schienenfahrzeug und Verfahren zum Vermessen einer Gleisstrecke |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019149456A1 true WO2019149456A1 (de) | 2019-08-08 |
Family
ID=65010770
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2019/050013 WO2019149456A1 (de) | 2018-02-02 | 2019-01-02 | Schienenfahrzeug und verfahren zum vermessen einer gleisstrecke |
Country Status (12)
Country | Link |
---|---|
US (1) | US11912317B2 (de) |
EP (1) | EP3746346B1 (de) |
JP (1) | JP7247206B2 (de) |
KR (1) | KR20200111673A (de) |
CN (1) | CN111587202B (de) |
AT (1) | AT520526B1 (de) |
AU (1) | AU2019216197B2 (de) |
CA (1) | CA3087478A1 (de) |
EA (1) | EA039709B1 (de) |
ES (1) | ES2945477T3 (de) |
PL (1) | PL3746346T3 (de) |
WO (1) | WO2019149456A1 (de) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2022122918A1 (de) * | 2020-12-11 | 2022-06-16 | Siemens Mobility Austria Gmbh | Fahrwerk für ein schienenfahrzeug |
AT525018A1 (de) * | 2021-05-12 | 2022-11-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | System und Verfahren zur Oberflächenerfassung einer Gleisstrecke |
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 (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT519263B1 (de) * | 2016-12-19 | 2018-05-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Gleismessfahrzeug und Verfahren zum Erfassen einer Gleisgeometrie eines Gleises |
AT520526B1 (de) * | 2018-02-02 | 2019-05-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Schienenfahrzeug und Verfahren zum Vermessen einer Gleisstrecke |
CN114485511A (zh) * | 2020-10-27 | 2022-05-13 | 湖南中车智行科技有限公司 | 一种车辆限界宽度的测量方法及装置 |
CN112678023B (zh) * | 2021-01-04 | 2022-08-30 | 天津路安工程咨询有限公司 | 一种轨道交通限界检测装置以及检测方法 |
AT17971U1 (de) | 2022-05-24 | 2023-09-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Schienenfahrzeug und Verfahren zur Erfassung von Gleislagedaten |
CN115451826B (zh) * | 2022-08-10 | 2023-05-30 | 西南交通大学 | 一种接触网几何参数的摄影测量方法及装置 |
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-
2018
- 2018-02-02 AT ATA29/2018A patent/AT520526B1/de active
-
2019
- 2019-01-02 KR KR1020207017095A patent/KR20200111673A/ko not_active Application Discontinuation
- 2019-01-02 WO PCT/EP2019/050013 patent/WO2019149456A1/de unknown
- 2019-01-02 US US16/966,555 patent/US11912317B2/en active Active
- 2019-01-02 EP EP19700195.1A patent/EP3746346B1/de active Active
- 2019-01-02 EA EA202000159A patent/EA039709B1/ru unknown
- 2019-01-02 PL PL19700195.1T patent/PL3746346T3/pl unknown
- 2019-01-02 AU AU2019216197A patent/AU2019216197B2/en active Active
- 2019-01-02 ES ES19700195T patent/ES2945477T3/es active Active
- 2019-01-02 JP JP2020541973A patent/JP7247206B2/ja active Active
- 2019-01-02 CA CA3087478A patent/CA3087478A1/en active Pending
- 2019-01-02 CN CN201980007338.0A patent/CN111587202B/zh active Active
Patent Citations (3)
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DE19532104C1 (de) * | 1995-08-30 | 1997-01-16 | Daimler Benz Ag | Verfahren und Vorrichtung zur Bestimmung der Position wenigstens einer Stelle eines spurgeführten Fahrzeugs |
GB2403861A (en) * | 2003-07-11 | 2005-01-12 | Omnicom Engineering Ltd | Laser scanning surveying and measurement system |
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Cited By (5)
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 |
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 |
WO2022122918A1 (de) * | 2020-12-11 | 2022-06-16 | Siemens Mobility Austria Gmbh | Fahrwerk für ein schienenfahrzeug |
AT525018A1 (de) * | 2021-05-12 | 2022-11-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | System und Verfahren zur Oberflächenerfassung einer Gleisstrecke |
Also Published As
Publication number | Publication date |
---|---|
US11912317B2 (en) | 2024-02-27 |
JP2021512813A (ja) | 2021-05-20 |
CN111587202B (zh) | 2023-07-18 |
BR112020012799A2 (pt) | 2020-11-24 |
EP3746346B1 (de) | 2023-03-08 |
PL3746346T3 (pl) | 2023-07-10 |
ES2945477T3 (es) | 2023-07-03 |
CN111587202A (zh) | 2020-08-25 |
AU2019216197A1 (en) | 2020-07-02 |
AT520526B1 (de) | 2019-05-15 |
JP7247206B2 (ja) | 2023-03-28 |
AT520526A4 (de) | 2019-05-15 |
EP3746346A1 (de) | 2020-12-09 |
US20200361502A1 (en) | 2020-11-19 |
EA039709B1 (ru) | 2022-03-03 |
AU2019216197B2 (en) | 2024-04-11 |
EA202000159A1 (ru) | 2020-11-30 |
KR20200111673A (ko) | 2020-09-29 |
CA3087478A1 (en) | 2019-08-08 |
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