EP3160820B1 - Dispositif et procédé pour déterminer au moins une propriété d'une voie pour un véhicule ferroviaire et véhicule ferroviaire - Google Patents

Dispositif et procédé pour déterminer au moins une propriété d'une voie pour un véhicule ferroviaire et véhicule ferroviaire Download PDF

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Publication number
EP3160820B1
EP3160820B1 EP15714458.5A EP15714458A EP3160820B1 EP 3160820 B1 EP3160820 B1 EP 3160820B1 EP 15714458 A EP15714458 A EP 15714458A EP 3160820 B1 EP3160820 B1 EP 3160820B1
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EP
European Patent Office
Prior art keywords
rail vehicle
profile
track
rail
vehicle
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
EP15714458.5A
Other languages
German (de)
English (en)
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EP3160820A1 (fr
Inventor
Christian TELKE
Matthias Harter
Gero Zechel
Michael Beitelschmidt
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.)
Alstom Transportation Germany GmbH
Original Assignee
Bombardier Transportation 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 Bombardier Transportation GmbH filed Critical Bombardier Transportation GmbH
Priority to PL15714458T priority Critical patent/PL3160820T3/pl
Publication of EP3160820A1 publication Critical patent/EP3160820A1/fr
Application granted granted Critical
Publication of EP3160820B1 publication Critical patent/EP3160820B1/fr
Active legal-status Critical Current
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Classifications

    • 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
    • B61L23/045—Rail wear
    • 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
    • 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
    • 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

Definitions

  • the invention relates to a method and a device for determining at least one property of a track for a rail vehicle and a rail vehicle.
  • Determining a track position may also be desirable, e.g. Locate positions of objects or obstacles along the track relative to the track position.
  • a track layer may in particular be provided by a track center, e.g. be given in the form of a center line between the rails of a track, but also by a center line of a rail of the track.
  • the track position may hereby be a reference line e.g. for a detection of a clear space relative to the track position. For example, dimensions of a tunnel passage relative to the track position, in particular a height and / or a width of the tunnel, can be detected.
  • the GB 2403861 A discloses a system for monitoring and measuring positions of objects along a monitoring path.
  • the system is mounted on a vehicle that travels along the route to be monitored.
  • the system includes a scanner and a data analyzer.
  • the scanner is fixedly mounted on the rail vehicle and is designed as a so-called 3D scanner, wherein a laser beam is rotated continuously through 360 °.
  • the EP 1544572 A2 discloses a device for non-contact detection of distances to objects next to a track system.
  • the device comprises a reference position measuring unit, which has a first laser line generator and a first area camera, which are aligned in the direction of a first rail. Furthermore, the reference position measuring unit is equipped with a second laser line generator and a second area camera, which are in the direction of the second rail are aligned. This reference position measuring unit is fixedly attached to the rail vehicle.
  • the DE 19801311 A1 discloses a rail-mounted maintenance machine. This can use for detecting a rail cross profile, a measuring device having, for example, laser heads.
  • the DE 4238034 C1 discloses a method for inspecting, non-contact scanning of the immediate surroundings of a track track with respect to certain measurement criteria.
  • a radially rotating measuring beam is emitted and the reflecting signals of this measuring beam are received, processed and stored in the area of the transmitter and / or signals emitted by the surroundings.
  • the location and the position of the transmitter / receiver unit with respect to an earth-fixed coordinate system or reference point are additionally measured synchronously by means of a navigation system arranged on the measuring vehicle, and the same data is determined therefrom.
  • An exemplary imaging system includes a high speed camera and an evaluation unit configured to analyze images from the camera and to detect geometric variations in the structure.
  • the WO 2005/108676 A1 discloses an optical inspection equipment mounted on an underside of a rail vehicle body and supported by the chassis.
  • the equipment is supported by variable length damping, which includes linear actuators so that the equipment can be moved horizontally or vertically and be subject to roll.
  • the WO 2014/007496 A1 discloses a system for monitoring a lane wherein dynamic characteristics of a train traveling along rails and data for monitoring railway equipment are synchronized with a predetermined travel distance. Further disclosed is a repeated accumulation and processing of data with a monitoring device including a laser generator is installed on the train, comprises a camera for generating 3D coordinates and a vibration meter.
  • the technical problem arises of providing an apparatus and a method for determining at least one property of a track for a rail vehicle as well as a rail vehicle, which allow a reliable and accurate determination of at least one property of the track.
  • a device for determining at least one property of a track for a rail vehicle is proposed.
  • the term determination here also includes the term detection.
  • a feature of the track may be a feature of a track of the track or both rails of the track.
  • the device can also serve for rail measurement.
  • a characteristic of the track may be wear of the track, e.g. can be determined by comparing an actual profile of the track with a desired profile of the track. Another property may be a gauge of the track. Another characteristic may be a track cant, e.g. may designate a relative height difference between a surface of a first rail and a surface of another rail of the track. Another property may be a radius of curvature of the track or a vertical curvature. Another property may be a gradient of the track through which e.g. a slope or a slope of the track can be represented. Another property may be a track layout, e.g. a position of a track center or a centerline of the track.
  • the property may also be a rail profile, in particular a rail cross profile.
  • the at least one property can be a geometric property of the track or a further property that can be determined as a function of at least one geometric property.
  • the device comprises at least one profile detection device for detecting a profile of at least one rail of the track.
  • a profile may in this case, as explained in more detail below, in particular be a two-dimensional profile.
  • the profile may be e.g. represent an outer contour of the rail.
  • the profile is preferably a transverse profile of the rail, wherein the transverse profile is detected in a plane that is perpendicular to a longitudinal axis of the rail.
  • the profile detection device may in particular be an optical profile detection device.
  • the profile detection device can enable a contactless detection of the profile.
  • the device comprises at least one positioning device, wherein the at least one profile detection device is movable by the positioning device, in particular relative to the rail vehicle.
  • the positioning device may in particular comprise a stationary part and a part of the positioning device that is movable relative to the stationary part.
  • the profile detection device can be on or at the positioning device, in particular on or on the moving part, be attached.
  • the profile detection device can be detachably or permanently attached to the positioning device.
  • a position and / or orientation of the profile detection device relative to the positioning device can be changed or unchangeable.
  • the positioning device in particular the stationary part, can be fastened to the rail vehicle, in particular to a railcar body of the rail vehicle, more particularly on an underside of the rail vehicle.
  • the positioning device in particular the stationary part, have at least one fastening means.
  • the positioning device may in this case preferably be fastened to the rail vehicle such that the at least one profile detection device is movable with a desired, in particular rectilinear, movement along a trajectory which is oriented parallel to a vehicle transverse axis of the rail vehicle.
  • the at least one profile detection device is movable by the positioning device along a predetermined, in particular straight, trajectory.
  • the profile detection device is movable by the positioning device or a plurality of positioning devices along a plurality of, in particular straight, trajectories.
  • an orientation of the profile detection device by the positioning device or at least one further positioning device is variable.
  • the positioning device may in this case comprise at least one means for generating drive energy.
  • the means may be, for example, an electric motor, in particular a stepper motor or a DC motor or a synchronous motor or an asynchronous motor.
  • the positioning device may comprise at least one movement control means.
  • the device may comprise at least one guide means for guiding the movement of the profile detection device along a, in particular rectilinear, trajectory.
  • the guide means may for example be a bearing device or include such.
  • the guide means may in particular enable a linear guide.
  • the bearing device for example, a sliding guide, a rolling guide, a rail guide, a Enable waveguide.
  • the positioning device can also comprise a means for transmitting drive energy.
  • the positioning device may comprise at least one cable, wherein drive energy from the means for generating drive energy to the movable part can be transmitted via the cable.
  • the positioning device may e.g. be designed as a linear unit, wherein the term linear unit comprises the stationary part, the movable part and the means for generating and / or transmission of drive energy.
  • the profile detection device can have a detection region, in particular a two-dimensional detection region, wherein a profile of objects which are located in the detection region is detected by the profile detection device.
  • profile data can be generated that represent or encode the profile of an item.
  • the positioning device and / or the profile detection device can be arranged relative to the rail vehicle or fastened to it in such a way that the detection area covers at least a partial area below the rail vehicle.
  • a central detection direction or detection axis of the detection area can be oriented parallel to a vertical axis of the rail vehicle.
  • the movable part can be arranged for this purpose in the vertical direction below the stationary part.
  • the vertical direction may in this case be oriented parallel to a vehicle vertical axis.
  • the vertical direction may be oriented from bottom to top when oriented from a vehicle floor to a vehicle roof.
  • the vertical direction may also be oriented counter to a direction of gravitational force.
  • a carriage of the movable part is arranged in the vertical direction below a means for guiding movement.
  • the means to Motion control can in this case be attached to the rail vehicle, in particular on the underside.
  • the profile detection device can be attached directly or indirectly to the carriage. In this way, a distance between the profile detection device and a rail of the track can be reduced in an advantageous manner, which is particularly advantageous for vehicles with high-lying floors.
  • a carriage of the movable part is arranged in the longitudinal direction in front of or behind the stationary part, in particular in front of or behind a means for guiding movement.
  • a desired distance between the profile detection device and a rail of the track can be ensured, which is particularly advantageous for vehicles with low floors.
  • the longitudinal direction may in this case be oriented parallel to a vehicle longitudinal axis.
  • the longitudinal direction can be oriented from the rear to the front, if it is oriented from a vehicle rear to a vehicle front.
  • the vehicle transverse axis explained above can be oriented perpendicular to the vehicle longitudinal axis and perpendicular to the vehicle vertical axis.
  • the mobility of the profile detection device by the at least one positioning device advantageously allows a position and / or orientation of the profile detection device, in particular by the positioning device, to be changed during or after a change in a relative position of the rail vehicle to the track Track, in particular a rail, further in the detection range of the profile detection device. For example, if the rail vehicle travels through a curve and, as a result, changes the relative position between the profile detection device and a track of the rail, a position of the profile detection device can be changed or tracked such that the rail remains in the detection area, in particular do not leave this. This can be achieved in particular by the previously explained movement parallel to a vehicle transverse axis.
  • a layer may designate a position and / or orientation.
  • the device comprises at least one image capture device.
  • the image capture device can also be attached to the positioning device, in particular to a movable part of the positioning device.
  • the at least one image capture device can also be movable by the positioning device, for example along a, in particular straight, trajectory.
  • the image capture device can be detachably or permanently attached to the positioning device. Also, a position and / or orientation of the image capture device relative to the positioning device can be unchangeable or changeable.
  • the image acquisition device can also have a detection range.
  • the image capture devices By means of the image capture devices, objects that are in the detection area can be imaged. Thus, therefore, images or image data of these objects can be generated.
  • the positioning device and / or the image capture device can be arranged relative to the rail vehicle, in particular be attached to this, that the detection range of the image capture device an area below the Rail vehicle can capture.
  • a central detection direction or detection axis of the detection range of the image acquisition device can also be oriented parallel to a vertical axis of the rail vehicle.
  • the profile acquisition device and the image acquisition device can preferably be arranged relative to one another such that the acquisition regions overlap at least partially.
  • a relative position and / or orientation of the image capture device to the profile acquisition device and thus also a relative position and / or orientation of their detection ranges to each other may be previously known or determinable.
  • a coordinate system of the image acquisition device and a coordinate system of the profile acquisition device can be registered with each other.
  • a position and / or orientation of a coordinate system of the profile acquisition device relative to a coordinate system of the positioning device can be known or determinable.
  • a position and / or orientation of a coordinate system of the image capture device can be known or determinable relative to the coordinate system of the positioning device.
  • the position and / or orientation of the coordinate systems of the image capture device for profile acquisition device is also known or determinable.
  • a redundant optical and thus non-contact detection of the property of the track For example, a detection of the at least one property, in particular of the profile of the rail, by the profile detection device by environmental conditions, for example by leaves on the rail, be disturbed.
  • the at least one property can be determined as a function of images generated by the image capture device.
  • an accuracy of the determination of the property of the track in particular an accuracy of the determination of the spatial position of a track, can be improved by the evaluation of the images generated by the imaging device.
  • images taken by the Imaging device can be generated, edges of the rail are detected.
  • profile data generated by the profile detection device these edges of the rail can be detected.
  • one position of these edges relative to the coordinate system of the positioning device can be determined. If these relative positions deviate from each other by more than a predetermined amount, then for example only the position determined from the profile data or only the position determined from image data can be used to determine the at least one property of the track.
  • a fused property, in particular position can be determined as a function of the respectively determined properties, in particular the relative positions explained above.
  • a fused property can be determined by averaging or weighted averaging.
  • a fused layer can be determined by appropriate estimation methods, for example by a Kalman filter method. Of course, other methods of fusion are conceivable.
  • an accuracy in determining the at least one property of the track increases in an advantageous manner.
  • the device comprises at least one position determining device for determining an absolute position and / or orientation of the rail vehicle.
  • the absolute position may hereby designate a position in a global reference coordinate system.
  • the absolute orientation here may designate an orientation in the global reference coordinate system.
  • the position determination device can be designed, for example, as an inertial sensor (INS).
  • INS inertial sensor
  • the position determination device can also be designed as a GNNS sensor.
  • the rail vehicle may have a vehicle coordinate system.
  • the proposed position determination device can determine a position and / or orientation of this vehicle coordinate system relative to the global reference coordinate system.
  • the rail vehicle and thus also the profile data or image data generated by the profile acquisition device and / or the image acquisition device can advantageously be located in the global reference coordinate system.
  • a relative position and / or orientation of the coordinate system of the positioning device relative to the vehicle coordinate system can be known or determinable.
  • the device may comprise a further position determining device for determining the position and / or orientation of the positioning device, in particular also the profile acquisition device and / or the image acquisition device, relative to the vehicle coordinate system.
  • the profile data generated by the profile acquisition device and / or the image data generated by the image acquisition device can be assigned to a specific position in the global reference coordinate system. This simplifies a subsequent evaluation and assignment of this profile data or image data, e.g. to a certain section of the route.
  • the device comprises at least one further position determination device for determining a position and / or orientation of the positioning device and / or profile detection device and / or the image detection device relative to the rail vehicle.
  • the further position determination device makes it possible to determine the relative position and / or orientation of the positioning device and / or the profile acquisition device and / or the image acquisition device relative to the rail vehicle, in particular relative to a vehicle coordinate system of the rail vehicle.
  • the device may comprise at least one distance detection device for detecting a distance of the profile detection device and / or the positioning device and / or the image detection device from a reference point or a reference section of the rail vehicle.
  • the at least one distance detection device may e.g. be designed as an optical distance sensor.
  • the distance detection device may also be designed as Seilzugwegaufêt Anlagen thanks to the positioning device.
  • a relative position and / or orientation of the profile detection device and / or image capture device is relative to one Coordinate system of the positioning known or determinable.
  • the at least one further position determining device can serve to determine a position and / or orientation of the positioning device relative to the rail vehicle.
  • the device may comprise at least one memory device, wherein the profile data generated by the profile acquisition device and / or the image data generated by the image capture device and optionally information on a spatial position and / or orientation of this data in one of the previously described coordinate systems can be stored.
  • the profile detection device is designed as a two-dimensional profile detection device.
  • it is by the temporal arrangement of the detected properties in the global coordinate system, a three-dimensional profile generated by the profile detection device. So it is e.g. it is possible to generate three-dimensional profile data from two-dimensional profile data which were generated at different, in particular successive points in time.
  • the profile detection device can be arranged on the rail vehicle such that the two-dimensional profile is arranged in a plane perpendicular to a vehicle longitudinal axis.
  • the two-dimensional profile detection device is designed as a laser scanner. This results in an advantageous manner, a particularly simple and reliable detection of the profile.
  • the device comprises at least one illumination device.
  • the illumination device can likewise be movable by the positioning device.
  • the illumination device can be attached to the positioning device, for example, be fastened detachably or permanently.
  • a position and / or orientation of the illumination device relative to the positioning device can be changed or unchangeable.
  • the illumination device may in this case be arranged, for example, on the positioning device, in particular on the movable part of the positioning device, that the Lighting device illuminates at least a portion of the previously described detection ranges of the profile detection device or the image capture device.
  • the device comprises at least one means for beam guidance and / or beam shaping.
  • the means for beam guidance and / or beam shaping serves in particular for guiding and / or shaping a light beam emitted and / or to be received by the profile detection device, in particular a laser beam emitted and / or to be received.
  • the means for beam guidance and / or beam shaping can in this case be attached to the positioning device, in particular to the movable part of the positioning device, e.g. detachable or unsolvable.
  • a position and / or orientation of the means for beam guidance and / or beam shaping relative to the positioning and thus also a beam direction can be changed.
  • the spatial position and / or orientation of the detection range of the profile detection device can be changed by the means for beam guidance and / or beam shaping.
  • a space of the proposed device can be minimized because the profile detection device is not necessarily to be arranged on the positioning that the detection area is already aligned in this position and / or orientation of the profile detection device that the at least one Track of the track is detectable. Rather, by the means for beam guidance and / or beam shaping a spatial position and / or orientation of the detection range can be changed, whereby e.g. a height of the device in the vertical direction below the rail vehicle can be reduced.
  • Is / are the position (s) or the orientation (s) of the profile detection device and / or the image sensing device and / or the means for beam guidance / beam shaping and / or the at least one illumination device relative to the positioning changeable, so a change manually, for example by manual Actuation by operating personnel, or actorgechem done.
  • the position and / or orientation relative to the positioning device before operation of the device according to the invention in particular before a driving operation of the rail vehicle, manually adjusted, the position and / or orientation remains unchanged during operation.
  • This relates in particular to the setting of a position and / or orientation of the profile acquisition device, the image capture device and the illumination device.
  • the position and / or orientation can also be changed during the operation of the device, in particular during a driving operation of the rail vehicle, in particular be changed in an actuator-supported manner.
  • This relates in particular to the position and / or orientation of the means for beam guidance and / or beam shaping.
  • a system for determining at least one property of a track comprises at least two proposed devices, wherein each device may be designed according to one of the previously explained embodiments.
  • the system can also be used to determine a track position.
  • the devices can be arranged relative to one another such that detection regions of the profile detection devices of the two devices do not overlap.
  • the devices can be arranged on a rail vehicle such that a first rail of a track for the rail vehicle can be detected by the profile detection device of a first device and a further rail of the track by the profile detection device of a further device.
  • the devices can be arranged with a, in particular variable, distance from each other on the rail vehicle, wherein the distance along a vehicle transverse direction is measured.
  • the devices may be arranged along a straight line parallel to the vehicle transverse direction spaced from each other. This allows, in particular, a track-independent detection of a track position.
  • a guide of the movement of the profile detection devices of both devices by a common guide means or by mutually different guide means.
  • the rail vehicle comprises at least one device according to one of the previously described embodiments.
  • the device is attached to the rail vehicle.
  • the device is attached to a car body of the rail vehicle, in particular on an underside of the car body.
  • a stationary part of the positioning device may be fastened to the rail vehicle, wherein a movable part in this case is movable relative to the stationary part and thus to the rail vehicle.
  • the device may be attached to the rail vehicle such that the profile detection device is movable parallel to a vehicle transverse axis, in particular along a straight trajectory parallel to the vehicle transverse axis.
  • the rail vehicle comprises two devices, wherein each device may be designed according to one of the previously described embodiments.
  • a first device is arranged on the rail vehicle such that at least one property of a first rail of a track can be determined by the first device, wherein a further device is arranged on the rail vehicle such that at least one property of another rail of the track through the other Device is determinable.
  • the first device can be arranged on the rail vehicle such that a profile of the first rail can be detected by the profile detection device of the first device.
  • the further device can be arranged on the rail vehicle such that a profile of the further rail can be detected by the profile detection device of the further device.
  • a position and / or orientation of the track center can be determined in a simple manner, in particular if a relative position and / or orientation of both positioning devices or both profile detection devices and / or image acquisition devices to each other, for example in the vehicle coordinate system known or are determinable.
  • the position and / or orientation of the track center may then be determined and stored relative to a vehicle coordinate system or relative to a global reference coordinate system, as previously explained.
  • a profile detection device detects a profile of at least one rail of the track.
  • the at least one profile detection device is moved before and / or during and / or after the detection of the profile by a positioning device.
  • the profile detection device can be moved by the positioning device relative to the rail vehicle, in particular parallel to a vehicle transverse axis of the rail vehicle.
  • the profile detection device is moved along a predetermined, in particular rectilinear, trajectory.
  • the proposed method is in this case in particular by a device according to one of the embodiments described above feasible. Furthermore, a position and / or orientation of the generated profile data relative to a coordinate system of the positioning device or relative to a vehicle coordinate system or relative to a global reference coordinate system can be determined. Furthermore, the profile data and possibly the associated information relating to the position and / or orientation can be stored in one of the aforementioned coordinate systems.
  • the profile data can be evaluated in such a way that at least one of the properties of the track explained in the introduction is determined. Also, a check of the property by adjusting the inventively determined property with a predetermined desired property done.
  • the particular property or a deviation, in particular an undesired deviation can be displayed to a driver and / or maintenance personnel via a display device, for example.
  • the device may comprise at least one communication device, for example a wireless or wired communication device.
  • This can e.g. serve for transmitting the profile data, information on the position and / or orientation and / or other information.
  • the device already comprises an evaluation device, which is designed to determine the at least one property. In this case, the specific property and possibly an undesired deviation can also be transmitted via the communication device.
  • Fig. 1 is a schematic representation of a device 1 according to the invention shown.
  • the apparatus 1 comprises a profile detection device embodied as a two-dimensional laser scanner 2 for detecting a transverse profile of a rail 3 of a track for a rail vehicle 4.
  • a detection area 5 of the laser scanner 2 is shown schematically.
  • the device 1 comprises an image detection device embodied as a camera 6. Also shown schematically is a detection area 7 of the camera 6.
  • the device 1 further comprises two trained lighting devices 8, wherein also schematically lighting areas 9 of the lighting devices 8 are shown.
  • a mirror 13 for guiding the light beams emitted and to be received by the laser scanner 2. Also, the mirror 13 is arranged on the movable part 11 b, in particular in the housing 12.
  • the mirror 13 in this case forms the previously described means for beam guidance and / or beam shaping.
  • the mirror 13 can in this case in particular be displaceable, that is to say be movable with one or more translational movements, and be rotatable, that is to say be movable with one or more rotational movements.
  • the device 1 comprises a distance sensor 10.
  • the device 1 further comprises a positioning device 11.
  • the positioning device 11 comprises a stationary part 11a and a movable part 11b movable relative to the stationary part 11a.
  • the movable part 11b may be fixed to the stationary part 11a via a movable carriage.
  • the movable part 11b comprises or has a housing 12.
  • the movable part 11b may further include a support means.
  • the housing 12 may also be referred to as a carrier housing.
  • the laser scanner 2 the camera 6, the lighting devices 8 and the distance sensor 10 is arranged on the movable part 11b, in particular within the housing 12, the laser scanner 2, the camera 6, the lighting devices 8 and the distance sensor 10 is arranged.
  • an arrangement of the distance sensor 10 outside of the carrier housing 12 is conceivable. In this case, at least a part of the distance sensor 10 may be arranged outside an outer wall of the carrier housing 12.
  • the housing 12 may in this case have corresponding openings, in particular on an underside of the housing 12, in order to enable the detection and / or illumination of a rail 3 out of the housing 12, that is to say from an internal volume of the housing 12.
  • the laser scanner 2 and the camera 6 are attached to the positioning device 11 in such a way that the detection regions 5, 7 overlap and respectively encompass the rail 3.
  • the lighting devices 8 are in this case arranged on the positioning device 11, that the illumination areas 9 also overlap with the detection areas 5, 7 and thus illuminate the rail 3.
  • a coordinate system of the positioning device 11 which e.g. can be arranged fixed relative to the movable part 11 b.
  • a position and / or orientation of the laser scanner 2, the camera 6 and the illumination devices 8 relative to the coordinate system of the positioning device 11 can be adjustable in this case.
  • a desired position and / or orientation can be set in time before an operation of the device 1, in particular before a driving operation of the rail vehicle 4, wherein during operation of the device 1, this position and / or orientation remains unchanged.
  • the position and / or orientation of the mirror 13 relative to the coordinate system of the positioning device 11 may be variable, in particular actuator-assisted changeable. In this case, a change may in particular also take place during operation of the device 1, in particular during driving operation of the rail vehicle 4, in particular during operation of the laser scanner 2.
  • the fixed part 11a of the positioning device 11 may, for example, comprise parts of a linear drive, in particular a stepping motor for driving the movable part 11b. Furthermore, the positioning device may comprise or form guide means for linear guidance of the movable part 11b relative to the stationary part 11a. Thus, a linear drive is provided by the positioning device 11.
  • the positioning device 11 in particular the stationary part 11a, is fastened to a vehicle body 14, in particular to an underside of the vehicle body 14, of the rail vehicle 4.
  • a vehicle coordinate system wherein a vehicle transverse direction yf and a vehicle vertical direction zf is shown.
  • a vehicle longitudinal direction xf (see Fig. 3 ) is in Fig. 1 Oriented orthogonal to the drawing plane and oriented to a viewer.
  • the positioning device 11 is in this case designed and arranged on the rail vehicle 4, that the movable part 11b, in particular the laser scanner 2, along a rectilinear trajectory is movable, wherein the rectilinear trajectory is oriented parallel to the vehicle transverse direction yf.
  • the vehicle longitudinal direction xf can be oriented parallel to a roll axis of the rail vehicle 4
  • the vehicle transverse direction yf can be oriented parallel to a vehicle pitch axis of the rail vehicle 4
  • the vehicle vertical direction zf can be oriented parallel to a vehicle yaw axis of the rail vehicle 4.
  • the distance sensor 10 detects a distance of the movable part 11b from a reference portion of the rail vehicle 4, in particular a portion of the car body 14. This can be a position and / or orientation of the positioning 11, in particular of the movable part 11b, and thus a position and orientation of the Laser scanner 2, the camera 6 and the other parts of the device 1, are detected relative to the vehicle coordinate system.
  • the distance sensor 10 or another, not shown, distance sensor may alternatively or cumulatively a distance between the two in Fig. 2 illustrated devices 1a, 1b, in particular a distance between the movable parts 11b of the positioning device 11 of the two devices 1a, 1b detect.
  • the device 1 comprises a position determining device of the rail vehicle 4 designed as an inertial unit 16.
  • This device makes it possible to determine a position and / or orientation of the rail vehicle 4 in a global reference coordinate system (not illustrated). This in turn makes it possible to determine the position of the laser scanner 2, the camera 6 and the other parts of the device 1 and in particular the profile data generated by the laser scanner 2 and the image data generated by the camera 6 relative to the global reference coordinate system.
  • the carrier housing 12 can be moved translationally by a not fully shown linear unit to track the housing 11 and thus the laser scanner 2 and the camera 6 to the rail profile moving relative to the vehicle body 14.
  • the carrier housing 12 may in this case be part of the linear unit or attached to a part, in particular the movable part 11b, of the linear unit.
  • a position and / or orientation of the detection area 5 can be changed.
  • different distances between the car body 14, the housing 12 and the upper edge of the rail 3, for example in different rail vehicles 4, can be taken into account in an advantageous manner.
  • an embodiment is conceivable in which the laser scanner 2 is oriented such that the rail 3 is directly, ie without mirror 13, in the detection range 5 of the laser scanner 2.
  • the images or image data generated by the image acquisition device embodied as a camera 6 can hereby be processed with known image processing algorithms.
  • an orientation of the movable part 11b of the positioning device 11 relative to the rail 3 can be image-based, ie determined by evaluating the image data.
  • a misdetection or function of the laser scanner 2 can be detected.
  • FIG. 2 is a schematic front view of a rail vehicle 4 with two devices 1a, 1b shown, with the sake of clarity, only the positioning means 11 and in particular their stationary parts 11a and movable parts 11b are shown.
  • the in Fig. 2 illustrated devices 1 as in Fig. 1 illustrated device 1 may be formed.
  • the devices 1a, 1b are in this case arranged along a vehicle transverse direction yf on opposite sides of the car body 14 of the rail vehicle 4.
  • wheels 17 of the rail vehicle 4 which run on rails 3.
  • the wheels 17 can in this case on a bogie 18 (see Fig. 3 ) of the rail vehicle 4. If the rail vehicle 4 travels a curve, at least the relative position between a car body 14 of the rail vehicle 4 and the tracks 3 changes.
  • the laser scanners 2 and the camera 6 of the respective devices 1 can be moved by the positioning devices 11 such that the rails 3 remain in the detection areas 5, 7 or are moved into them again.
  • first device 1a for detecting a first rail 3a and a further device 1b for detecting a further rail 3b.
  • inertial unit 16 for the global referencing of a vehicle coordinate system and thus also the position and orientation of the laser scanner 2, the cameras 6 and the profile data and image data generated thereby.
  • the detection of the profiles of both the first rail 3a and the further rail 3b further enables the detection of a position and / or orientation of a track center, in particular a center line between the tracks 3.
  • This track center or center line can be used as a reference point or reference line for a light measurement serve by other systems.
  • the position and orientation of the track center can also be determined relative to the global reference coordinate system according to the preceding embodiments and optionally stored.
  • Fig. 3 is a schematic side view of a rail vehicle 4 shown with a device 1 according to the invention. It is shown that wheels 17 are arranged on a bogie 18. The wheels 17 run on rails 3.
  • a device 1 according to the invention On an underside 15 of a car body 14 of the rail vehicle 4 is a device 1 according to the invention with a positioning device 11, which has a stationary part 11a and a movable part 11b arranged.
  • the device 1 can in this case like the in Fig. 1 be described device 1 is formed.
  • a vehicle longitudinal direction xf is also shown.
  • the device 1 for detecting the available clear space around the rail vehicle 4.
  • the device 1 enables the determination of a track center and thus the determination of the information about the available clear space relative to this track center.
  • the device 1 can also be referred to as a track position detection system, wherein it is connected to a car body of any road, subway or full-train can be attached.
  • the proposed device 1 allows the determination or detection of a track, a radius, a track center, a vertical curvature and a gradient of the rail or the track. Furthermore, a rail profile and its quality can be determined.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Machines For Laying And Maintaining Railways (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Claims (10)

  1. Dispositif de détermination d'au moins une propriété d'une voie pour un véhicule ferroviaire (4), dans lequel le dispositif (1, 1a, 1b) comporte au moins un dispositif de détection de profil pour la détection d'un profil d'au moins un rail (3, 3a, 3b) de la voie,
    caractérisé en ce que
    le dispositif (1, 1a, 1b) comporte au moins un dispositif de positionnement (11),
    dans lequel l'au moins un dispositif de détection de profil peut être déplacé par le dispositif de positionnement (11) avec un déplacement rectiligne le long d'une trajectoire qui est orientée parallèlement à un axe transversal de véhicule du véhicule ferroviaire (4).
  2. Dispositif selon la revendication 1, caractérisé en ce que le dispositif (1) comporte au moins un dispositif de détection d'image.
  3. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif (1, 1a, 1b) comporte au moins un dispositif de détermination de position pour la détermination d'une position absolue et/ou orientation du véhicule ferroviaire (4).
  4. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif (1, 1a, 1b) comporte au moins un autre dispositif de détermination de position pour la détermination d'une position et/ou orientation du dispositif de positionnement (11) et/ou du dispositif de détection de profil par rapport au véhicule ferroviaire (4).
  5. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif de détection de profil est réalisé en tant que dispositif de détection de profil à deux dimensions.
  6. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif (1, 1a, 1b) comporte au moins un dispositif d'éclairage.
  7. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif (1, 1a, 1b) comporte au moins un moyen pour le guidage de faisceau et/ou la formation de faisceau.
  8. Véhicule ferroviaire comprenant au moins un dispositif (1) selon l'une des revendications 1 à 7, dans lequel le dispositif (1, 1a, 1b) est fixé au niveau du véhicule ferroviaire (4).
  9. Véhicule ferroviaire selon la revendication 8, caractérisé en ce que le véhicule ferroviaire comporte deux dispositifs (1a, 1b) selon l'une des revendications 1 à 7, dans lequel un premier dispositif (1a) est agencé au niveau du véhicule ferroviaire (4) de telle manière qu'au moins une propriété d'un premier rail (3a) d'une voie puisse être déterminée par le premier dispositif (la), dans lequel un autre dispositif (1b) est agencé au niveau du véhicule ferroviaire (4) de telle manière qu'au moins une propriété d'un autre rail (3b) de la voie puisse être déterminée par l'autre dispositif (1b).
  10. Procédé de détermination d'au moins une propriété d'une voie pour un véhicule ferroviaire (4), dans lequel un dispositif de détection de profil détecte un profil d'au moins un rail (3, 3a, 3b) de la voie,
    caractérisé en ce que
    l'au moins un dispositif de détection de profil est déplacé avant et/ou pendant et/ou après la détection du profil par un dispositif de positionnement (11) avec un déplacement rectiligne le long d'une trajectoire qui est orientée parallèlement à un axe transversal de véhicule du véhicule ferroviaire (4).
EP15714458.5A 2014-06-25 2015-03-31 Dispositif et procédé pour déterminer au moins une propriété d'une voie pour un véhicule ferroviaire et véhicule ferroviaire Active EP3160820B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL15714458T PL3160820T3 (pl) 2014-06-25 2015-03-31 Urządzenie i sposób określania co najmniej jednej właściwości toru dla pojazdu szynowego oraz pojazd szynowy

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014212232.5A DE102014212232A1 (de) 2014-06-25 2014-06-25 Vorrichtung und Verfahren zur Bestimmung mindestens einer Eigenschaft eines Gleises für ein Schienenfahrzeug sowie Schienenfahrzeug
PCT/EP2015/056971 WO2015197206A1 (fr) 2014-06-25 2015-03-31 Dispositif et procédé pour déterminer au moins une propriété d'une voie pour un véhicule ferroviaire et véhicule ferroviaire

Publications (2)

Publication Number Publication Date
EP3160820A1 EP3160820A1 (fr) 2017-05-03
EP3160820B1 true EP3160820B1 (fr) 2019-11-27

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EP (1) EP3160820B1 (fr)
CN (1) CN107074255B (fr)
DE (1) DE102014212232A1 (fr)
ES (1) ES2773314T3 (fr)
PL (1) PL3160820T3 (fr)
WO (1) WO2015197206A1 (fr)

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RU2680927C1 (ru) * 2018-02-07 2019-02-28 Открытое акционерное общество "Радиоавионика" Способ диагностики рельсового пути и синхронизации результатов измерений
DE202019102407U1 (de) 2019-04-29 2019-05-16 PRZEDSIEBIORSTWO USŁUGOWO TECHNICZNE GRAW Sp. z o. o. Einrichtung zum Vermessen von Schienenparametern, insbesondere von Eisenbahnschienen
CN110143218B (zh) * 2019-06-27 2020-07-31 合肥工业大学 一种高铁道岔直线度和扭曲角度检测方法及其检测装置
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Also Published As

Publication number Publication date
ES2773314T3 (es) 2020-07-10
WO2015197206A1 (fr) 2015-12-30
EP3160820A1 (fr) 2017-05-03
PL3160820T3 (pl) 2020-05-18
DE102014212232A1 (de) 2015-12-31
CN107074255B (zh) 2020-02-21
CN107074255A (zh) 2017-08-18

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