Method for automatic autonomous control of a tamping machine

Abstract

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

Description

Technical area

[0001] The invention relates to a method for the automatic autonomous control of a tamping machine for compacting the ballast bed of a track in switches with a device for determining a GPS position of the track construction machine in the track, namely with a GPS or RTK-GPS system for the precise and unambiguous approach to switches or sleepers, and with a position detection of the actuators of the working units of the tamping machine when tamping newly laid switches that have been ballasted up to the top edge of the rail.

[0002] Most railway tracks are constructed with ballasted track. The wheel forces exerted by trains passing over them cause the ballast to become rounded, partially broken off, and worn away. This results in irregular settlements in the ballast and shifts in the lateral geometry of the turnout. Settlement of the ballast bed causes errors in the longitudinal height, superelevation (in curves), twist, gauge, and alignment.

[0003] Turnouts are expensive track systems and complex structures. They allow the track to change direction depending on the position of the turnout. With each turnout operation, switch rails are moved and mechanically locked in their respective end positions by a so-called switch lock. A simple turnout costs as much as half a kilometer of open track. Conscientious and precise switch maintenance is crucial for a long service life.

[0004] Turnouts can be differentiated according to their basic shape, and their length is precisely defined by the turnout start (WA) and turnout end (WE). The turnout start is the tangent point of the branch track to the main track. The tangent at the turnout end points and the track axis of the main track determine the angle of the turnout. The tangent of this angle is called the turnout inclination. The branch radius with which the branching line leads away is an important parameter. The branch track curve begins at the turnout start. The turnout consists of the switch device, the intermediate rails, the crossings with check rails, and the running rails. From the turnout start to the turnout end, the individual components of the turnout track are attached to the turnout sleepers. The turnout construction forms a fixed structure. A simple crossing consists of the crossing point and two wing rails.To enter the double-track crossing, vehicles must cross the straight track. Therefore, the running edge between the frog tip and the intermediate rail must be interrupted. This creates a frog gap where the wheel is not guided by the wheel flange. For guidance, a check rail is attached to the opposite track to keep the wheel in track - but the load is always transferred via the track. The two wing rails form a continuation of the intermediate rails. To allow the wheels to pass through, they are bent laterally. Depending on the number of running edge interruptions, a distinction is made between single, double, and multi-part frogs. Double frogs are installed in crossings and crossing switches.

[0005] The tongue device allows the vehicle to change direction in order to enter either the main line or the branch line. The main components are two tongues and two stock rails. In pairs, either the stock rail or the tongue rail are curved, depending on their position, to enable the decisive direction to be determined. This is achieved by the movable tongue parts, which, together with the fixed stock rails, allow travel on the various switch branches depending on their position. At the tip of the tongue, the guide forces are diverted directly into the stock rail as the tongue rests against the stock rail. The force is transmitted via horizontal force-locking connections between the tongue rail and stock rail (support lugs). Safe operation requires the correct and fixed position of the movable parts of the switch.In the past, switches were set in the desired direction and secured in their final position by moving the control lever and locking the switch lock. Today, switches are primarily controlled mechanically or remotely. In a mechanical interlocking system, the setting command is transmitted to the switch via chains and wires. Modern interlocking systems send commands directly to the switch, and the switching is carried out by on-site electric or electro-hydraulic drives.

[0006] Locks ensure that the tongue rail rests firmly on the stock rail. While on one side the tongue rail rests against the stock rail, the locking system on the opposite side ensures the necessary distance for the wheel. The end position of the switch is established via adjusting rods and the associated locking modules and is monitored by end position detectors. The adjusting rods are mounted between the sleepers in the intermediate compartment and, together with the drives, represent obstacles for the tamping tools of the switch tamping machine. They are located in the area where the tamping tools are to penetrate the ballast bed in order to compact the ballast under the sleepers. These positions must be known so that the equipment is not damaged by the tamping tools. In the collision area, the tamping tools (tamping picks) are swung upwards to the side. In addition, the position of the penetration and the type of tamping, e.g.Reverse tamping must be precisely specified. Long high-speed turnouts also feature multiple actuators for the switch tongue. The switch drive boxes are located to the side of the track and pose an obstacle to the tamping machine's working tools. In addition to these obstacles, there are also axle counters, safety devices, etc.

[0007] In the branch area, long continuous sleepers are used (long sleepers) which have an incline (half the switch angle). State of the art

[0008] WO2016 / 081971 A1 describes a device that detects the position of the rails, the frog, and obstacles on the track and controls the working units of the turnout tamping machine based on this. AT518692 A1 describes a method for detecting the actual position of trackways and their components. The known systems detect the actual position of the turnout components, the rail, and obstacles. The extent to which the tamper is supported depends on the function of the measuring devices. With full ballast (newly installed and ballasted turnouts), the function of the measuring systems is severely limited or even non-functional.

[0009] DE 3 923 733 A1 and CN 211 142 667 U1 describe a similar method for the automatic autonomous control of a tamping machine in switches.

[0010] To ensure that the switch tamping machine's working tools can tame the switch at all points, the tamping units are divisible (split-head tamping units) and can be moved laterally. Due to the slanted long sleepers, they can also be rotated. The tamping picks can be individually swung up to the side. In pure line tamping machines, the rail is gripped at the head with rolling tongs and lifted into the desired geometric position. In switches, the use of rolling tongs is often not possible due to the small distance between the rails and the frog. Lifting hooks are used to ensure that these points can also be worked on. In addition to pure switch tamping machines and line tamping machines, there are also universal machines that can be used for both line and switch areas.From the switch tamping cabin, the machine operator controls the position of the tamping unit and the pick. Depending on the conditions, they select the roller tongs or lifting hook, the position of the lifting hook, and its point of application on the rail head or rail foot. The lifting device can be moved lengthwise along the track. This is necessary if the lifting hook engages the rail foot - this is only possible in the area of ​​the intermediate rail - or if an insulated joint, for example, prevents the roller tongs or lifting hook from closing on the rail head. Manual adjustment of the lifting device: selecting the roller tongs or lifting hook, positioning the lifting hook and the force application point, as well as moving the lifting device lengthwise along the track takes time. Known methods are available that record the rail fastening and thus also the location of the sleepers and intermediate rails.With the help of this device, tamping machines can move forward automatically and perform a tamping cycle.

[0011] Today, turnouts are precisely pre-assembled in turnout factories and transported to the installation site ready for installation. There, they are installed (e.g., removed from a wagon by a crane and placed in the designated location). If the turnout is delivered in several parts, the parts are placed one behind the other and welded together. Turnouts are accompanied by turnout design plans in which the turnout elements are precisely recorded and dimensioned. These turnout plans specify the sleeper spacing, the branch radius, the tangent length, the length of the sleepers and their inclination, the position of the turnout rods and drives, the position of the frog, the position and length of the wing rails and check rails, etc. Turnouts are now designed using CAD, and the turnout design plans are available electronically. There are various types of turnouts, including "single" turnouts, outside-curve and inside-curve turnouts, double turnouts, single-ended double turnouts, and crossings.The switches are characterized and standardized by a specific designation. One such designation is EW 60-500-1:12-L-Fz-H.

[0012] The preceding letters stand for, for example, "single switch" (EW); outside curved switch (ABW), inside curved switch (IBW), double switch (DW), single-ended double switch (EinsDW), etc. This is followed by the rail profile: UIC60 (60); S49 (49); S54 (54). The next number indicates the radius of the branching track in meters: radius = 500m (500). This is followed by the switch gradient at the switch end (tangent of the switch angle): 1:12. The next letter indicates the branching direction (left (L) or right (R). This is followed by the type of switch: spring switch (Fz), articulated switch (Gz), etc. The last letter indicates the sleeper type: wooden sleeper (H), hardwood (Hh), steel (St), and concrete (B).

[0013] Turnout tamping machines are specialized for tamping turnouts (with divisible tamping units - so-called split-head tamping units, additional lifting devices for the branching track, pivoting picks, etc.). Tamping machines are known for cyclical and continuous operation. There are also single-sleeper and multi-sleeper tamping machines. Multi-sleeper tamping machines tame several sleepers at once in a single work cycle. Tamping units fix the position of a track during maintenance work. This is done using tamping tools, so-called tamping picks, which plunge into the ballast next to the sleepers and compact the ballast beneath the sleeper using a linear closing movement superimposed by a compaction vibration. The track panel is previously brought into the desired position using a lifting and straightening unit. There, the track panel is held during the compaction process and thus fixed in the corrected position.Typically, the linear closing movement is superimposed by a hydraulic cylinder and a vibration amplitude mechanically generated by an eccentric shaft. Newer fully hydraulic tamping drives generate the linear closing movement and vibration simultaneously.

[0014] With the help of GPS systems installed on tamping machines, a precise assignment of sleepers to track kilometers can be made using GPS coordinates. Virtual GPS correction data services are well known, which send RTK correction data to suitable GPS receivers. This requires only a moving, GPS-supported measuring vehicle moving along the track. RTK-GPS has the advantage that, with the help of RTK correction data, it can determine the absolute location very precisely (approximately 5 mm in position and 10-15 mm in height). The accuracy in the range of 5-15 mm is precise enough to locate sleepers on the track and other locations clearly and precisely. Turnouts or sleepers can be precisely and unambiguously approached using track machines equipped with a GPS (or RTK-GPS) system.

[0015] When a switch is newly laid, it is ballasted up to the top of the rail - this makes it impossible to identify the switch components. The adjustment of the working units, which is usually carried out manually by the operator, is strenuous and reduces the machine's performance. With switches, the through rail line is tamped first and the branching rail line in a second operation. When and where the split tamping units are deflected and used is left to the tamper. There is no precisely defined, optimal working method for the tamping work that is adapted to the various switches. The working method is left to the tamper. The quality of the tamping of the switches therefore depends on the tamper and can be deficient or faulty. The adjustment devices (actuators) of the tamping machine's working units are equipped with sensors to record their position. This allows the working units to be controlled precisely. Description of the invention

[0016] The invention is based on the object of specifying a method for the automatic autonomous control of a switch tamping machine which avoids the disadvantages mentioned above and also allows the tamping of newly laid switches which have been ballasted up to the top of the rail.

[0017] The invention solves the stated problem by the features of claim 1, namely, inter alia, by using the GPS position of the tamping machine on the track to identify a switch to be worked on, after which the positioning instructions for working units for this switch are retrieved from a database, firstly, switch data of the switch to be worked on are read into a control computer of the tamping machine, that the control computer subsequently creates positionally accurate data of the positioning instructions for the working units on each sleeper to be tamped in the switch area,that the tamping machine, depending on its position in the switch and the data generated from the positioning instructions, controls these positions with the working units assigned to the respective position and carries out the tamping process at the location of the controlled position fully automatically and autonomously, moving automatically from sleeper to sleeper via an automatic advance system until the intended working area has been processed.

[0018] Precise positioning instructions for each sleeper section to be tamped are transmitted to the tamping machine's control computer. These include, for example, the rotational position of the tamping units, the lateral position of the tamping units, the opening width of the individual tamping cylinders, the pivot angle of the picks, tamping pressure, the maximum compaction force, the tamping depth, the tamping time, the lifting hook or lifting roller, the vertical and transverse position of the hook on the rail foot or rail head, the extension position of the auxiliary lifting device, the longitudinal position of the lifting and straightening unit, etc. Using an odometer or a GPS measurement, the positioning instructions are synchronized with the switch start or end, depending on the working direction. The tamping machine is positioned in the switch precisely at the sleeper to be tamped.At the position reached in the switch, the tamping machine automatically and autonomously adjusts the appropriate working units according to the specified positioning instructions and tamps the corresponding sleeper. It then advances to the next sleeper using the automatic advance system and repeats the process according to the specifications until the entire intended work area has been completed.

[0019] It can be provided that the generated positioning instructions for each sleeper in the switch area are displayed on a display device to an operator, who can then readjust the positioning specifications if necessary. Further advantageous developments of the method according to the invention are presented in the subclaims.

[0020] The invention also provides that if no other switch data is available other than the standardized designation of the switch or known switch parameters, a large portion of the necessary positioning instructions can be calculated after these are entered into the control computer. If a switch plan is available, the data can be entered into the control computer via a switch editor. If CAD data is available, this data is imported by the control computer and processed accordingly, and positioning instructions are derived from it. Since the switches are standardized, the positioning instructions for a large number of switches can be saved on the computer or downloaded from a central database or cloud and selected by the operator from a list before editing a switch. Brief description of the invention

[0021] The drawing shows an example of the subject matter of the invention. Fig. 1 is a schematic plan view of a simple switch, Fig. 2 is a schematic representation of a section of a switch with electric drive and Fig. 3 is a diagram of a switch tamping machine. Ways to implement the invention

[0022] Fig. 1 shows a schematic of a simple turnout with a left-hand branch. The distance between the sleepers ai,j can vary from sleeper to sleeper, usually in a range between 58 and 62 cm. The typical sleeper spacing in tracks is 60 cm. The turnout comprises a turnout start WA and a turnout end WE. The branching track has a radius R. The turnout also has a tangent length t and a total length L (difference between WA and WE). The turnout start and end are marked in the turnout. The distance xH is between the turnout point WP and the crossing H. The length of the tangent projected onto the x-coordinate is xt. The turnout has an inclination of 1:n. β is the angle of the slanted sleepers.

[0023] If only the standardized designation of the switch is given in the form e.g. EW60-760-1:18-r-Fz-B, then the tangent angle of the simple switch can be read as 1:18, the radius as 760m, the rail as a UIC60 and that it is a right-branching switch with a spring tongue that lies on concrete sleepers.

[0024] If no other information is available, many target positions of the units can be derived from this information. Using the UIC60 rail and concrete sleepers, the tamping depth can be calculated.

[0025] The following applies to the circular equation of the branching rail: y = R 2 + x 2

[0026] The derivative can be equated to the slope of the tangent. The following then applies: y ′ = x R 2 + x 2 = 1 n = 1 18 = x 760 2 + x 2

[0027] Solving for x gives: x = R n 2 − 1

[0028] This gives the tangent length: t = x 1 + cos arc tan 1 n

[0029] If the tangent length is known, then the point WP is far away from the switch start (WA) t. Depending on the x-coordinate, the course of the inner and outer rail y and the tongue with the inner rail can be calculated using the circle equation and used as positioning values ​​for the working units at the

[0030] The position of the frog is determined from the formula (s mean track width) x H = s 1 n = s ⋅ n

[0031] The end of the radius is determined by the length t+xt . xt can be easily calculated as follows: x t = t ⋅ cos arc tan 1 n

[0032] This allows the control computer to calculate where the radius of the branching rails ends and where the rails continue tangentially straight ahead. With this information, the extension position of the three-point lifting system in the branching line can be determined, as well as the positions of the split units on the left and right depending on the rail position. The inclination of the long sleepers is calculated from half the switch angle as follows: β = 1 2 ⋅ cos arc tan 1 n

[0033] This means that the angle of rotation with which the tamping units must be rotated from the start of the long sleepers is known. The position of the frog is known and so is the position of the wing rails, which allows the appropriate selection of the lifting equipment (hook below). In the area of ​​the tongue, known distances are used to control the split tamping units. After the end of the switch there are five more long sleepers. In the area of ​​the long sleepers the additional lifting is used. After the long sleepers the rotating frame on which the tamping units are located is turned back to 0°. The check rails are 5 m long and are located symmetrically at the height of the frog. After the end of the switch there are usually five more long sleepers. The wing rails extend over three sleepers at the frog.

[0034] There are four tamping units, two on each side L a , L i and R a , R i , one inner and one outer, which are arranged so that they can be moved sideways on horizontal guide columns. The sleepers are numbered and their exact number in a switch is known. The position of the tamping picks and the position of the tamping units are shown symbolically for sleeper 2. The four units are in their basic position and all tamping picks are in use. On sleeper 29, for example, the left outer tamping unit L a is swung outwards to tampe the branching line. The other three are in the normal position. On sleeper 37, for example, the right outer unit R a is in the normal position, the inner right R i is swung slightly inwards because of the check rail, the inner left L i is also swung slightly inwards because of the wing rail, while the left outer L a is swung outwards and tampes the branching line.The supporting unit frame is angled . β twisted.

[0035] The tamping direction is assumed to be along the x-axis in the longitudinal direction of the track, and the deflections are assumed to be along the y-axis. The tamping units have the left or right rail center as their reference axis. The tamping unit's angle of rotation is perpendicular to the machine axis. For the main lifting and straightening unit, the running edge of the rails and the rail running surface (SOK) are the reference. For the additional lifting unit, the nearest rail of the continuous main line is the reference. Zero displacement means that the units are in a defined position.

[0036] Fig. 2 shows a pre-assembled switch section B being transported to the construction site for installation. AR indicates the working direction. This switch section B illustrates that not all tamping tools can be used on every sleeper. The following symbols mean: 1Transmission double rod 2Stock rail 3Remote tongue 4Adjacent tongue 5Electric point drive 6Push button lock 7Push button center lock 8Adjusting device 9Connecting rod 10Setting rod 11Tone tester rods 12Tone connecting rod 13Rail 14Sleeper S1 - S3Sleepers

[0037] In the case of the two sleepers S2 and S3 where the electric point drive 5 is installed (on the right in AR), the tamping tools cannot be inserted between the two sleepers (shown in dotted lines). The picks in this area must be swung up once at the front and then at the back on both unit halves when tamping. The grey rectangles represent the tamping picks. On the left-hand side, only the outer sleeper S2 L a can be tamped normally, and sleeper S3 can only be tamped from one side in the next step. Due to the distance between the stock rail 2 and the adjacent tongue 3, the inner tamping unit L i must be moved further inwards, while the outer tamping unit L a can remain in the reference position. In the area of ​​the rods, a sleeper can usually only be tamped from one side, as, for example, the space between rods 8 and sleeper S1 is not sufficient.

[0038] Fig. 3 shows a schematic of a switch tamping machine C in the working direction AR with the odometer 28, a GPS system 29 and a radio system 30 for wireless communication with a server. The machine 17 rests on two bogies 15 that can be moved on rails 13. 23 are divisible switch tamping units, 22 is the lifting and straightening unit, 24 is an additional lifting device that can lift in the branching track, 20 shows the lifting hook and the lifting roller. 19 indicates that the entire lifting and straightening unit 22 can be moved in the longitudinal direction of the track with the help of a drive 18. To ensure that the main lifting cylinders 26 and the additional lifting cylinders 21 are always vertical during operation, the linkage device 16 for the lifting cylinders moves synchronously with the movement 19 of the lifting and straightening device. 25 is the tamping cabin and 27 is the control computer.

[0039] Table 1 shows an example of what the positioning instructions for the sleepers to be tamped could look like.

[0040] Switch: EW60-500-1:12.5-I-Fz-B - Working direction from tip to butt P i / a i ST li ST la ST ri STra Z Rolle Haken β ... 1 0 0 0 0 - 1 - 0 ... ... ... ... ... ... ... ... ... ... ... 29 0 -850 0 0 -750 1 - 0 ... ... ... ... ... ... ... ... ... ... 37 220 -910 -180 0 -1250 - 1 -2,28° ... ... ... ... ... ... ... ... ... ...

[0041] For example, the positioning instructions P i at the threshold ai =37 would mean (see Fig. 1 ): ST li Move the left inner tamping unit inwards by 220 mm ST la Move the left outer tamping unit outwards by 910 mm ST ri Move the right inner tamping unit inwards by 180 mm ST ra Move the right outer tamping unit in reference position ZAdditional lifting unit is in use and moved outwards by 1250 mm towards the branch HThe lifting hook is in use βThe rotating frame with the tamping units is rotated counterclockwise by 2.28°

[0042] In addition to these exemplary positioning data, the following positions must also be specified: Distance of the machine from WA (or WE if working from the butt) Lifting roller position vertically and horizontally Hook position vertically and horizontally Longitudinal displacement of the lifting and straightening unit Opening width of the individual auxiliary cylinders of the tamping units Swivel angle position of the individual tamping tines Tamping depth Tamping type - reverse tamping - double tamping etc.

Claims

1. Method for automatic autonomous control of a tamping machine (C) when tamping newly laid switches ballasted to the top of the rail, for compacting the ballast bedding of a track in switches (A, B) with a device for determining a GPS position (29) of the track maintenance machine in the track , namely with a GPS or RTK-GPS system for the precise and unambiguous approach of switches or sleepers , and with a position detection of the actuators of the working units (La, Li , Ra , Ri , 16, 18, 19, 20, 22, 23) of the tamping machine, whereby firstly switch data (ai,,j, β, WP, t, L, n) of the switch to be processed are read into a control computer (27) of the tamping machine (C), whereby the GPS position (29) of the tamping machine (C) in the track is used to identify a switch to be processed, after which positioning instructions (Pi ) for working units (La, Li , Ra , Ri , 16, 18, 19, 20, 22, 23) for this switch are retrieved from a database , wherein the control computer (27) subsequently generates position-accurate data of the positioning instructions (Pi) for the working units (La, Li , Ra , Ri , 16, 18, 19, 20, 22, 23) at each sleeper (ai,j) to be tamped in the switch area (1-51), wherein the tamping machine (C), depending on its position in the switch (A, B) and on the created data of the positioning instructions (Pi ), moves to these positions with working units (La, Li , Ra, Ri , 16, 18, 19, 20, 22, 23) assigned to the respective position and carries out the tamping process fully automatically and autonomously at the location of the respective position, and wherein with the aid of the GPS or RTK-GPS system installed on the tamping machine (C), an exact assignment of the sleepers to the track kilometer is made via the GPS coordinates, and the tamping machine (C) moves automatically from sleeper (ai,j) to sleeper (ai,j) via an automatic advance mechanism until the intended working area has been processed.

2. Method according to claim 1, characterized in that the positioning instructions (Pi ) created for each sleeper (ai,j ) in the switch area are displayed (25, 27) to an operator on a display device, who readjusts the positioning instructions if necessary.

3. Method according to claim 1 or 2, characterized in that the switch data (ai,,j, β, WP, t, L, n) are entered into the control computer (27) in the form of a characteristic switch designation and the control computer (27) uses this to calculate the position-accurate positioning instructions (Pi ) for the working units (La, Li , Ra , Ri , 16, 18, 19, 20, 22, 23).

4. Method according to claim 1 or 2, characterized in that the switch data (ai,,j, β, WP, t, L, n) are entered manually into the control computer (27) on the basis of a switch plan (A) and the position-accurate positioning instructions (Pi ) for the working units (La, Li , Ra , Ri , 16, 18, 19, 20, 22, 23) are calculated therefrom.

5. Method according to claim 1 or 2, characterized in that the switches data (ai,,j, β, WP, t, L, n), available as CAD switch data, are electronically read into the control computer (27) and the positioning instructions (Pi ) for the working units (La , Li , Ra , Ri , 16, 18, 19, 20, 22, 23) are calculated therefrom.

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

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

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