Cinematic track marking control

Abstract

for kinematic track marking control, which is characterized by the fact that, based on the primarily simultaneous recording with IMU and laser scanner from a track-guided vehicle or trolley, the quality of the reference point field is assessed on the basis of a "wandering" measurement evaluation via chords in plan and / or elevation to determine whether point changes in spatial position have occurred.

Description

Technical area

[0001] The invention relates to the control of track marking points (GVP) with regard to position changes by means of a recording system and subsequent evaluation, assessment and, if necessary, redetermination of the coordinates of the GVP. State of the art

[0002] The absolute track position describes the spatial position of the tracks and switches with reference to reference points (see DIN EN 13231-1:2013-07 No. 3.7).

[0003] The absolute track position of the railways is defined in plan, gradient and superelevation by geometric elements (straight lines, circular arcs, transition curves), with the start and end points of each element having coordinates in a geodetic reference system.

[0004] The reference points are used for staking out and recording the tracks and switches and also have coordinates in the geodetic reference system. The GVPs serve as reference points. They constitute the fixed point field as defined by DIN 18710-1:2010-09.

[0005] GVP are usually marketed on the masts of the overhead line systems with bolts (e.g. 12 mm diameter, 40 mm length) (see Fig. 1). The coordinates of these bolts are known. The overhead line masts are spaced 50–70 meters apart along the length of the track. On double-track lines, the overhead line masts are located on both sides of the track. According to this mast arrangement, the overhead line masts are also spaced 50–70 meters apart along the track, on one or both sides.

[0006] Changes in the position of the masts, e.g., due to tilt or settlement in the subsoil, lead to a change in the position of the GVP. The known fixed point coordinates then no longer match the local GVP marking. If this difference is unknown, the position changes of the bolt are transferred to the track in the same dimension. This leads to errors in the track layout or survey. It is therefore necessary, and as is common practice in geodesy, to check the position of the GVP fixed point field from time to time and, if changes occur, to determine new target coordinates for the GVP.

[0007] The inspection of the fixed point field (GVP) is usually carried out using conventional tachymetric surveying equipment. This requires the work of surveying crews in the hazardous area of ​​the railway facilities and also requires safety measures in accordance with occupational health and safety regulations. This is disadvantageous in terms of the risks to employees, the effort required for surveying crews, the cost of safety services, the limited time windows for track access (railway operational priority), and the volume of implementation.

[0008] The scope of the audit is to monitor all GVPs in a specific section of the route. This is the only way to detect and re-coordinate any changes to GVPs. Description of the invention

[0009] The invention is based on the recording method from a track-guided railway vehicle, which means that no entry into the danger zone of the railway facilities is required during the recording.

[0010] The recording is carried out using a multi-sensor system (MSS) as defined in DIN 18709-2:2020-03. The measuring devices are an inertial measurement unit (IMU) and one or more laser scanners. Additional measuring devices can be carried along.

[0011] For recording, the MSS is mounted on a railway vehicle. The laser scanner(s) are aligned so that they can record the GVP (1) while moving. Recording is performed at the vehicle's speed, preferably V = 80 km / h. If necessary, the GVP (1) may need to be signaled by additional targets so that they can be detected in the laser scanner images.

[0012] During the recording, the trajectory (DIN 18709-1:2020-03) is recorded using the IMU and the point clouds of the surroundings are recorded using the laser scanner(s).

[0013] The evaluation of the measurement run is carried out in the following steps - Relation of the point clouds from the laser scanner image to the trajectory taking into account the lever arm calibrations - Detection of the GVP (1) in the point clouds

[0014] The evaluation is carried out as a target-actual comparison of the gauge F (10) from the existing (reference coordinates) with the gauge f (20) from the coordinates recorded in the current reference system of the trajectory.

[0015] Accordingly Fig. 2 Using the reference coordinates, the coordinate of point M is projected onto the chord between points A and E. The pitch is F (10).

[0016] In the MSS data, the recorded point m is projected onto the chord between the recorded points a and e. The reference system of the trajectory can be chosen arbitrarily (global or local).

[0017] The difference Δ = F - f is the benchmark for assessing the changes in the masts AM-E. The analysis is carried out for both the position and the height.

[0018] The analysis of the stitch size differences Δi is carried out “wandering” over the recording area in a three-point jump (“MSS wandering tendon”) with the tendons 1-2-A / a and 2-A / aM / m and A / aM / mE / e and M / mE / e-3 and E / e-3-4 etc.

[0019] The individual tendons can have different numbers of reference points (GVP) on both sides, but at least one reference point (GVP (1)), for example: 1 - 2 - A / a - M / m

[0020] If changes are detected for GVP (1) that exceed the permitted tolerances, the coordinates of these reference points are re-determined by - Transformation of the recording system (e.g. ame) to the reference system (e.g. AME) - local re-measurement of the modified and previously detected GVP (1)

[0021] Alternatively, the MSS can also be guided using a manually pushed trolley system, whereby the suitability is to be assessed in particular based on the duration of the drift during the recording time and the increased field effort. List of abbreviations DIN German Standard EN European Standard GVP track marking point IMU Inertial Measurement Unit MSS multi-sensor system V speed List of reference symbols 1 GVP - track marking point / bolt 10 Gauge F 20 gauge f QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited non-patent literature

[0000] DIN EN 13231-1:2013-07

[0002]

Claims

[1] for the kinematic track marking control, the characterized by is that the quality of the reference point field is assessed from the primarily simultaneous recording with IMU and laser scanner from a track-guided vehicle or trolley on the basis of a "wandering" gauge evaluation via chords in plan and / or elevation to determine whether point changes in the spatial position have occurred. [2] for the kinematic track marking control according to claim 1, wherein the evaluation is carried out via local coordinates from the IMU / laser scanner recording and the given coordinates of the GVP (1). [3] for the kinematic track marking control according to claim 1 or 2 in that the evaluation can be carried out one-dimensionally (height), two-dimensionally (position) or three-dimensionally (spatial position). [4] for the kinematic track marking control according to claims 1, 2 and 3 in that the evaluations are additionally supplemented by target / actual comparisons for the distances between opposite GVP (1) in the case of two-sided GVP recording or are evaluated alone. [5] for the re-determination of coordinates of reference points (GVP) with the images shown under claim 1. [6] for the kinematic track marking control according to claims 1, 2, 3, 4 and 5 in that the chords can extend over a different number of reference points (GVP), with at least one point A / a and E / e, and 1 to n points M / m.

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