EP3973104B1 - Engin de pose de voie et procédé pour bourrer une voie ferrée - Google Patents

Engin de pose de voie et procédé pour bourrer une voie ferrée

Info

Publication number
EP3973104B1
EP3973104B1 EP20721205.1A EP20721205A EP3973104B1 EP 3973104 B1 EP3973104 B1 EP 3973104B1 EP 20721205 A EP20721205 A EP 20721205A EP 3973104 B1 EP3973104 B1 EP 3973104B1
Authority
EP
European Patent Office
Prior art keywords
track
tamping
image
recorded
camera
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.)
Active
Application number
EP20721205.1A
Other languages
German (de)
English (en)
Other versions
EP3973104C0 (fr
EP3973104A1 (fr
Inventor
Samuel WOLLANEK
Johannes MAX-THEURER
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.)
Plasser und Theurer Export Von Bahnbaumaschinen GmbH
Original Assignee
Plasser und Theurer Export Von Bahnbaumaschinen GmbH
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 Plasser und Theurer Export Von Bahnbaumaschinen GmbH filed Critical Plasser und Theurer Export Von Bahnbaumaschinen GmbH
Publication of EP3973104A1 publication Critical patent/EP3973104A1/fr
Application granted granted Critical
Publication of EP3973104C0 publication Critical patent/EP3973104C0/fr
Publication of EP3973104B1 publication Critical patent/EP3973104B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B2203/00—Devices for working the railway-superstructure
    • E01B2203/10—Track-lifting or-lining devices or methods
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B2203/00—Devices for working the railway-superstructure
    • E01B2203/12—Tamping devices
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B2203/00—Devices for working the railway-superstructure
    • E01B2203/16—Guiding or measuring means, e.g. for alignment, canting, stepwise propagation
    • 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

Definitions

  • the invention relates to a track construction machine for tamping a track which has sleepers laid in a ballast bed with rails attached thereto, comprising a machine frame movable on rail bogies and a tamping unit comprising tamping tools that can be lowered into the ballast bed, vibrated, and adjusted relative to one another, wherein a camera for transmitting real-time images to an output device is arranged in one working direction in front of the tamping unit.
  • the invention also relates to a method for operating the track construction machine.
  • a track construction machine of this type is known, equipped with an assistance system for remotely controlling tamping operations.
  • a camera is directed at the machine's working units to transmit real-time images to a display device in the operator's cab. This eliminates the need for a separate operator's cab with a view of the working units.
  • the camera's field of view largely corresponds to the view of an operator in such a cab.
  • the invention is based on the objectives of improving the real-time recording capabilities for the remote control of the tamping unit of a track construction machine of the type mentioned above. Furthermore, an improved method for operating such a track construction machine is to be provided.
  • a first camera system is positioned in front of the tamping unit in the direction of travel to capture a first surface area of the track as a first image section.
  • a second camera system is positioned behind the tamping unit in the direction of travel to capture a second surface area of the track as a second image section.
  • the captured image sections partially overlap, and the output device is configured to display the image sections in a merged image.
  • This video system provides the operator with unobstructed, real-time images of the track beneath the tamping unit. Areas of the track obscured by components of the tamping unit within the field of view of the front camera system are captured in the field of view of the rear camera system. Conversely, the front camera system captures areas that are obscured by the rear camera system.
  • the position of the tamping unit within the merged image is also known through the geometric relationships of the mounting points and orientations of the camera systems and the tamping unit.
  • the output device thus provides the operator with a comprehensive representation of the track section currently to be tamped in relation to the current position of the tamping unit. With this real-time information, the tamping unit can be efficiently positioned remotely over a specific sleeper, and a tamping cycle can be carried out.
  • a further development of this solution involves mounting the tamping unit so that it can be moved relative to the camera systems by means of displacement drives, and setting up the output device to display the current position of the tamping unit.
  • the displacement movements of the displacement drives are continuously recorded and evaluated. This includes, for example, displacements of the tamping unit in the working direction or perpendicular to it, as well as rotations of the tamping unit around a vertical axis.
  • the camera systems have camera axes oriented obliquely downwards, with a computer unit provided for rectifying the captured image sections.
  • the angled camera axes allow for the capture of larger image sections without any obscured areas.
  • the resulting distortion correction ensures that the combined image provides a realistic overall view of the track from a top-down perspective.
  • a further improvement involves each camera system comprising at least two cameras arranged side-by-side in a transverse direction of the machine to capture partial image sections.
  • the image sections captured by the two adjacent cameras must overlap, and the output device must be configured to combine all these partial image sections.
  • additional image content without obscured areas is available, thus increasing the information content of the combined image.
  • camera lenses with longer focal lengths can be used, reducing the effort required to avoid distortion errors.
  • a lighting device with downward-directed light beams for generating a light marking is arranged in the detected surface areas of the track. This light marking is visible in the combined image and provides the operator with additional position information.
  • the camera systems To avoid negatively impacting image quality due to direct sunlight, it is advisable for the camera systems to be configured to detect infrared light and for at least one infrared light source to illuminate the track surface areas to be captured.
  • An infrared light source is also used for any light marking that may be generated.
  • An advantageous enhancement involves placing a sensor device for detecting threshold positions in the working direction in front of the first camera system.
  • a sensor system provides the operator with additional assistance when remotely operating the tamping unit.
  • the output device is coupled with the sensor device in order to display the detected threshold positions in the To display the merged image.
  • the depicted thresholds are outlined with a digital marker. This increases safety when positioning the tamping unit.
  • At least one additional camera is positioned laterally next to the tamping unit to capture the current height position of the tamping tools. This also allows for remote control of the tamping tools' penetration depth into the ballast bed.
  • the operator is shown the merged image in real time via the output device, whereby the tamping unit is positioned relative to the track using the merged image.
  • the tamping tools can be easily positioned above each sleeper compartment.
  • the current position of the tamping unit is recorded, and the resulting penetration points of the tamping tools are displayed in the combined image.
  • sensors and a computer unit determine the current positions of tamping picks located at the lower ends of the tamping tools relative to the track and display them in the combined image. This is particularly useful for movable or rotatable tamping units and when using pivoting tamping picks. This allows the operator to see in real time where the tamping picks would penetrate the ballast during a lowering operation.
  • a further improvement to the process involves creating a light marking on the detected surface areas of the track using a lighting device.
  • a marking can, for example, indicate the current position of the tamping unit.
  • Positioning the tamping unit over a sleeper is facilitated when a sensor system detects sleeper positions as the track-laying machine moves forward, and when these positions are displayed to the operator in a combined image.
  • This enrichment of real-time information enables safe operation even in poor lighting conditions.
  • the sleepers in the image are marked with a colored outline.
  • an assistance system predefines tamping positions and displays these suggested positions to the operator in a combined image.
  • the tamping unit is then positioned by aligning the current positions of the tamping tools with the suggested positions.
  • the track construction machine 1 shown is a tamping machine and comprises a machine frame 3 that can be moved on rail chassis 2.
  • a tamping unit 4 is arranged on the machine frame 3.
  • the tamping machine is used to process a track 5 in which rails 7, fastened to sleepers 6, are laid in a ballast bed 8.
  • the track construction machine 1 can also have additional functions.
  • the machine 1 includes a cleaning device for cleaning the ballast or a stabilization unit for stabilizing the track.
  • the track grid consisting of sleepers 6 and rails 7, is lifted into a target position by means of a lifting/aligning unit 9 and a measuring system 10, and, if necessary, shifted laterally.
  • vibrating tamping tools 11 with tamping picks 12 arranged at their lower ends are inserted into the ballast bed 8.
  • the inserted tamping picks 12 are aligned with each other and thereby compact the ballast below the raised sleepers 6.
  • a first camera system 14 is arranged upstream of the tamping unit 4, and a second camera system 15 is arranged downstream of the tamping unit 4.
  • the camera systems 14 and 15 are coupled to an output unit 16, which is housed in a cabin 17 of the track construction machine 1.
  • This cabin 17 also contains an operating unit 18 with controls for remotely operating the tamping unit 4.
  • various drives of the units 4 and 9, as well as a drive system of the track construction machine 1 can be operated via a machine control 19.
  • a sensor device 20 for detecting sleeper positions is optionally arranged.
  • This sensor device 20 includes, for example, a rotary laser scanner 21 for detecting surface contours and eddy current sensors 22 for detecting rail fastenings. By combining the sensor signals, the position of each threshold 6 can be precisely determined.
  • Figure 1 shows an exemplary arrangement of camera systems 14 and 15.
  • the first camera system 14 captures a first surface area 23 of track 5 as a first image section 24, 25 ( Fig. 4
  • the second camera system 15 captures a second surface area 26 of track 5 as a second image section 27, 28. It is essential that the image sections 24, 25, 27, 28 partially overlap, so that they partially show the same image content.
  • image sections 24, 25, 27, and 28 are combined to form an image 29 of track 5 located below the tamping unit 4.
  • This combination of image sections 24, 25, 27, and 28 into a complete image 29 is also called stitching. Since this involves the output of real-time images, an operator is able to control the tamping unit 4 based on the combined image 29.
  • a sufficiently high frame rate is specified to capture the dynamics of the tamping process.
  • FIG. 5 The merged figure 29 of the in is displayed in a monitor window of output device 16.
  • Fig. 4 The depicted image sections 24, 25, 27, 28. Each surface area 24, 26 is assigned two sub-image sections 24, 25 and 27, 28, respectively.
  • the respective camera system 14, 15 for capturing the partial image sections 24, 25 and 27, 28 in a machine transverse direction comprises two cameras 30 arranged side by side. For lossless stitching, the partial image sections 24, 25 and 27, 28 of the respective camera system 14, 15 overlap.
  • each camera or camera system 14, 15, for example, includes its own computing unit. Also, a The common computing unit in the output device 16 can be used for rectification of the image sections 24, 25, 27, 28.
  • video cameras 30 with HD resolution and a high depth of field are used.
  • the video data is processed in real time and displayed as a merged image 29 in the output device 16. With efficient compression of the video data, it can be saved for documentation of the work processes without much effort.
  • Remote control of the tamping unit 4 is facilitated by the provision of a lighting device 32 that generates light markings 33 within the detected surface areas 23, 26 using downward-directed light beams. It is advantageous if the light markings 33 form a lighting pattern.
  • the light beams of the lighting device 32 are advantageously aligned along an axis of symmetry 34 of the tamping unit 4. This provides the operator with additional information when the axis of symmetry 34 is located above a threshold 6.
  • the light markings 33 can be used for stitching the image sections 24, 25, 27, 28.
  • Parallel-beam LEDs for example, can be used as the light source for the lighting device 32.
  • the detected sleeper positions are also known.
  • the relative position of the tamping unit 4 with respect to the detected sleepers 6 is determined by the known geometric relationship between the arrangement of the sensor device 20 and the arrangement of the tamping unit 4 on the machine frame 3.
  • the positions of the sleepers 6 are displayed in the combined figure 29 with markers 35. In this way, the operator can recognize the current position of the tamping unit 4 with respect to the sleepers 6 even if they are partially covered by ballast.
  • the dispensing device 16 is coupled with an assistance system for specifying tamping positions in order to implement the suggested tamping positions in the to display the merged Figure 29.
  • the sensor device detects 20 obstacles in the track, and the assistance system suggests correspondingly adjusted tamping positions to the operator.
  • the merged Figure 29 displays the penetration points 36 of the tamping picks 12 into the ballast bed 8 that currently result from the position of the tamping unit 4. These displayed penetration points 36 are then, if necessary, aligned with suggested tamping positions.
  • Output device 16 is sensibly configured to display additional information. As in Fig. 5 For example, track data 37 is displayed next to the sleepers 6. In another window, status data 38 of the tamping unit 4 and other components of the track construction machine 1 are shown. These additions to the display provide the operator with a comprehensive overview and enable a rapid response to malfunctions.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Claims (15)

  1. Machine de pose de voie (1) pour le bourrage d'une voie ferrée (5), qui présente des traverses (6) logées dans un lit de ballast (8) avec des rails (7) fixés sur elles, avec un châssis de machine (3) pouvant être déplacé sur des mécanismes de roulement ferroviaires (2) et avec un module de bourrage (4) qui comprend des outils de bourrage (11) pouvant être abaissés dans le lit de ballast (8), pouvant être mis en vibration et pouvant être adjoints l'un à l'autre, dans laquelle une caméra (30) pour la transmission d'enregistrements en temps réel à un dispositif d'affichage (16) est disposée avant le module de bourrage (4) dans un sens de travail (13), caractérisée en ce qu'un premier système de caméra (14) est disposé avant le module de bourrage (4) dans le sens de travail (13) pour détecter une première région superficielle (23) de la voie ferrée (5) en tant que première section d'image (24, 25), qu'un second système de caméra (15) est disposé après le module de bourrage (4) dans le sens de travail (13) pour détecter une seconde région superficielle (26) de la voie ferrée (5) en tant que seconde section d'image (27, 28), que les systèmes de caméra (14, 15) sont orientés l'un par rapport à l'autre de telle sorte que les sections d'image détectées (24, 25, 27, 28) se chevauchent partiellement, et que le dispositif d'affichage (16) comprend une fenêtre de moniteur et est configuré pour l'affichage des sections d'image (24, 25, 27, 28) dans une représentation réunie par assemblage.
  2. Machine de pose de voie (1) selon la revendication 1, caractérisée en ce que le module de bourrage (4) est disposé de manière à pouvoir être coulissé au moyen d'entraînements coulissants par rapport aux systèmes de caméra (14, 15) et que le dispositif d'affichage (16) est configuré pour l'affichage d'une position actuelle du module de bourrage (4).
  3. Machine de pose de voie (1) selon la revendication 1 ou 2, caractérisée en ce que les systèmes de caméra (14, 15) présentent des axes de caméra (31) orientés en biais vers le bas et qu'un calculateur est configuré pour la rectification des sections d'image détectées (24, 25, 27, 28).
  4. Machine de pose de voie (1) selon une des revendications 1 à 3, caractérisée en ce que chaque système de caméra (14, 15) comprend au moins deux caméras (30) disposées côte à côte dans une direction transversale de machine pour la détection de sections d'image partielles (24, 25, 27, 28), que les sections d'image partielles (24, 25, 27, 28) des deux caméras (30) disposées côte à côte se chevauchent et que le dispositif d'affichage (16) est configuré pour la réunion de toutes les sections d'image partielles (24, 25, 27, 28).
  5. Machine de pose de voie (1) selon une des revendications 1 à 4, caractérisée en ce qu'un dispositif d'éclairage (32) avec des rayons lumineux dirigés vers le bas est disposé pour la génération d'un marquage lumineux (33), notamment sous forme d'un modèle d'éclairage, dans les régions superficielles détectées (23, 26) de la voie ferrée (5).
  6. Machine de pose de voie (1) selon une des revendications 1 à 5, caractérisée en ce que les systèmes de caméra (14, 15) sont configurés pour la détection de lumière infrarouge et qu'au moins une source de lumière infrarouge est disposée pour l'éclairage des régions superficielles à détecter (23, 26) de la voie ferrée (5).
  7. Machine de pose de voie (1) selon une des revendications 1 à 6, caractérisée en ce qu'un dispositif de capteur (20) pour la détection de positions de traverse est disposé avant le premier système de caméra (14) dans le sens de travail (13) et que le dispositif d'affichage (16) est notamment couplé au dispositif de capteur (20) pour afficher les positions de traverse détectées dans la représentation réunie (29).
  8. Machine de pose de voie (1) selon une des revendications 1 à 7, caractérisée en ce qu'au moins une caméra (30) est disposée latéralement à côté du module de bourrage (4) pour une détection d'une position en hauteur des outils de bourrage (11).
  9. Procédé d'exploitation d'une machine de pose de voie (1) selon une des revendications 1 à 8, caractérisé en ce que la représentation réunie (29) est affichée en temps réel à un opérateur au moyen du dispositif d'affichage (16) et que le module de bourrage (4) est positionné par rapport à la voie ferrée (5) en utilisant la représentation réunie (29).
  10. Procédé selon la revendication 9, caractérisé en ce qu'une position actuelle du module de bourrage (4) est détectée et que des points de pénétration (36) des outils de bourrage (11) en résultant sont affichés dans la représentation réunie (29).
  11. Procédé selon la revendication 9 ou 10, caractérisé en ce qu'un marquage lumineux (33) est généré sur les régions superficielles détectées (23, 26) de la voie ferrée (5) au moyen d'un dispositif d'éclairage (32).
  12. Procédé selon la revendication 11, caractérisé en ce qu'un modèle d'éclairage est généré au moyen du dispositif d'éclairage (32) et que le sections d'image (24, 25, 27, 28) sont réunies par une mise en correspondance du modèle d'éclairage.
  13. Procédé selon une des revendications 9 à 12, caractérisé en ce qu'une représentation tridimensionnelle des régions superficielles détectées (23, 26) de la voie ferrée (5) est calculée à partir de données d'image détectées des systèmes de caméra (14, 15).
  14. Procédé selon une des revendications 9 à 13, caractérisé en ce que des positions de traverse sont détectées lors d'un déplacement vers l'avant de la machine de pose de voie (1) au moyen d'un dispositif de capteur (20) et que les positions de traverse sont affichées à l'opérateur dans la représentation réunie (29).
  15. Procédé selon une des revendications 9 à 14, caractérisé en ce que des positions de bourrage sont prédéfinies au moyen d'un système d'assistance et que les positions de bourrage proposées sont affichées à l'opérateur dans la représentation réunie (29).
EP20721205.1A 2019-05-23 2020-04-23 Engin de pose de voie et procédé pour bourrer une voie ferrée Active EP3973104B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA194/2019A AT522455B1 (de) 2019-05-23 2019-05-23 Gleisbaumaschine und Verfahren zum Stopfen eines Gleises
PCT/EP2020/061271 WO2020233934A1 (fr) 2019-05-23 2020-04-23 Engin de pose de voie et procédé pour bourrer une voie ferrée

Publications (3)

Publication Number Publication Date
EP3973104A1 EP3973104A1 (fr) 2022-03-30
EP3973104C0 EP3973104C0 (fr) 2025-11-19
EP3973104B1 true EP3973104B1 (fr) 2025-11-19

Family

ID=70456773

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20721205.1A Active EP3973104B1 (fr) 2019-05-23 2020-04-23 Engin de pose de voie et procédé pour bourrer une voie ferrée

Country Status (11)

Country Link
US (1) US12442140B2 (fr)
EP (1) EP3973104B1 (fr)
JP (1) JP7680964B2 (fr)
CN (1) CN113853462B (fr)
AT (1) AT522455B1 (fr)
AU (1) AU2020280667B2 (fr)
BR (1) BR112021023504A2 (fr)
CA (1) CA3135554A1 (fr)
EA (1) EA202100251A1 (fr)
WO (1) WO2020233934A1 (fr)
ZA (1) ZA202107773B (fr)

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AT525332B1 (de) * 2021-08-04 2025-10-15 Hp3 Real Gmbh Verfahren zur Berichtigung des Seitenabstandes und des Höhenabstandes einer Bahnsteigkante zur Gleisachse
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AT528557A1 (de) 2024-07-22 2026-02-15 Hp3 Real Gmbh Verfahren zur Fernsteuerung von mehreren gleichzeitig arbeitenden gleisfahrbaren Instandhaltungsmaschinen

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AU2020280667B2 (en) 2025-05-22
AU2020280667A1 (en) 2021-10-28
EP3973104C0 (fr) 2025-11-19
US20220186444A1 (en) 2022-06-16
EA202100251A1 (ru) 2022-03-14
AT522455A4 (de) 2020-11-15
AT522455B1 (de) 2020-11-15
CN113853462B (zh) 2024-07-12
EP3973104A1 (fr) 2022-03-30
ZA202107773B (en) 2023-11-29
JP7680964B2 (ja) 2025-05-21
BR112021023504A2 (pt) 2022-01-18
JP2022534699A (ja) 2022-08-03
CA3135554A1 (fr) 2020-11-26
CN113853462A (zh) 2021-12-28
WO2020233934A1 (fr) 2020-11-26
US12442140B2 (en) 2025-10-14

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