Track-building machine and method for tamping a track

Abstract

Track-building machine (1) for tamping a ballast bed (8) of a track (5), having a machine frame (3) which can move on rail bogies (2) and having a tamping unit (4) which comprises tamping tools (11) which can be lowered into the ballast bed (8), can be caused to vibrate and can be adjusted relative to one another, wherein a camera (30) for transmitting real-time recordings to an output device (16) is arranged in a working direction (13) upstream of the tamping unit (4). In the working direction (13) upstream of the tamping unit (4) there is arranged a first camera system (14) in order to capture a first surface region (23) of the track (5) as a first image detail (24, 25). In the working direction (13) downstream of the tamping unit (4) there is additionally arranged a second camera system (15) in order to capture a second surface region (26) of the track (5) as a second image detail (27, 28), wherein the captured image details (24, 25, 27, 28) partially overlap and wherein the output device (16) is designed to output the image details (24, 25, 27, 28) in a combined image.

Description

field of technology

[0001] 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. State of the art

[0002] WO 2018 / 206214 A1 discloses a track construction machine of this type, 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 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. Description of the invention

[0003] 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.

[0004] According to the invention, these problems are solved by the features of claims 1 and 9. Advantageous further developments of the invention result from the dependent claims.

[0005] In this setup, 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 arrangement of video systems 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 geometric relationships of the mounting points and the orientations of the camera systems and the tamping unit also provide information about the position of the tamping unit in the combined image. The output device thus provides the operator with a comprehensive image of the track section currently being 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.

[0006] 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. For this purpose, 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.

[0007] In an advantageous embodiment of the invention, the camera systems have camera axes oriented obliquely downwards, and a computer unit is provided for rectifying the captured image sections. The oblique camera axes allow for the capture of larger image sections without obscuring any areas. The rectification performed results in a realistic overall representation of the track in a top view when the images are combined.

[0008] 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. With this arrangement, additional image content without obscured areas is available, thus increasing the information content of the combined image. Furthermore, camera lenses with longer focal lengths can be used, reducing the effort required to avoid distortion errors.

[0009] In a further development of the invention, a lighting device with downward-directed light beams for generating a light marking, in particular in the form of a lighting pattern, 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.

[0010] 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.

[0011] An advantageous enhancement involves placing a sensor device for detecting threshold positions in the working direction in front of the first camera system. Such a sensor system provides the operator with additional assistance when remotely operating the tamping unit.

[0012] It is advantageous if the output device is coupled with the sensor device to display the detected threshold positions in the merged image. For example, the depicted thresholds are outlined with a digital marker. This increases the accuracy when positioning the tamping unit.

[0013] Advantageously, 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.

[0014] In the inventive method for operating the track construction machine, 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. By displaying the track in a top view, the tamping tools can be easily positioned above each sleeper compartment.

[0015] In a further advantageous development of the method, the current position of the tamping unit is recorded, and the resulting penetration points of the tamping tools are displayed in the combined image. Advantageously, 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.

[0016] A further improvement to the process involves creating a light marking on the detected surface areas of the track using a lighting device. Such a marking can, for example, indicate the current position of the tamping unit.

[0017] Furthermore, it is advantageous if a lighting pattern is generated using the lighting equipment and if the image sections are merged by matching this lighting pattern. This allows for easy stitching of the image sections.

[0018] Further possibilities are offered by an advantageous process extension in which a three-dimensional representation of the captured surface areas of the track is calculated from the image data acquired by the camera systems. This allows a real-time, three-dimensional model of the track to be displayed via the output device, including depth information for the ballast bed, sleepers, and rails.

[0019] 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. For example, the sleepers in the image are marked with a colored outline.

[0020] Additional operator relief is achieved when 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. Brief description of the drawings

[0021] The invention is explained below by way of example with reference to the accompanying figures. These show, in schematic representation: Fig. 1 Track laying machine Fig. 2 Tamping unit and camera systems above a track in a side view Fig. 3 Arrangement according to Fig. 2 In a cross-section through the track Fig. 4 Top view of the track with captured surface areas Fig. 5 Output device Fig. 6 Multi-sleeper tamping unit in a side view Description of the embodiments

[0022] The in Fig. 1 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. For example, the machine 1 includes a cleaning device for cleaning the ballast or a stabilization unit for stabilizing the track.

[0023] During a tamping operation, 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. To fix this position, 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.

[0024] In a working direction 13, 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. Specifically, 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.

[0025] In the working direction 13 in front of the first camera system 14, 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 sleeper 6 can be precisely determined.

[0026] In the Figuren 2 and 3 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.

[0027] In output unit 16, 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.

[0028] 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. As in Fig. 3 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.

[0029] To minimize the obstruction of track 5 by components of the tamping unit 4, it is advantageous if the cameras 30 have camera axes 31 oriented obliquely downwards ( Fig. 2 The resulting distortion of image sections 24, 25, 27, 28 is corrected by a computer unit. For example, each camera or camera system 14, 15 includes its own computer unit. A shared computer unit in the output device 16 can also be used to correct image sections 24, 25, 27, 28.

[0030] For example, 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.

[0031] 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. Furthermore, 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.

[0032] With the sensor device 20 present, 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. By coupling with the output device 16, 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.

[0033] The operator requirements are further reduced if the output device 16 is coupled with an assistance system for specifying tamping positions, in order to display the suggested tamping positions in the combined figure 29. For example, obstacles in the track are detected by means of the sensor device 20, and the assistance system suggests correspondingly adjusted tamping positions to the operator. In any case, it is advantageous if the combined figure 29 displays the current penetration points 36 of the tamping picks 12 into the ballast bed 8, resulting from the position of the tamping unit 4. These displayed penetration points 36 are then, if necessary, aligned with suggested tamping positions.

[0034] 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.

[0035] In the case of a multi-sill tamping unit 39 for the simultaneous tamping of several sleepers 6, it is advantageous if additional cameras 30 are arranged between the individual unit units 40 ( Fig. 6 In this way, additional partial image sections 24, 25, 27, 28 are available to generate a merged image 29 of the track 5 located below the multi-sleeper tamping unit 39. In addition, a lighting device 32 is arranged above each unit 40 to mark the corresponding axis of symmetry 34.

Claims

1. Track maintenance machine (1) for tamping a track (5) having sleepers (6) supported in a ballast bed (8) with rails (7) fitted to the same, with a machine frame (3) that is mobile on on-track undercarriages (2) and with a tamping unit (4) which comprises tamping tools (11) to be lowered into the ballast bed (8) and set to vibrate and to be squeezed towards one another, wherein a camera (30) for transmitting real-time images to an output means (16) is arranged upstream of the tamping unit (3) in a working direction (13), characterised in that a first camera system (14) is arranged upstream of the tamping unit (4) in the working direction (13) for recording a first surface area (23) of the track (5) as a first image section (24, 25), that a second camera system (15) is arranged downstream from the tamping unit (4) in the working direction (13) for recording a second surface area (26) of the track (5) as a second image section (27, 28), that the camera systems (14, 15) are aligned to each other by this means, that the recorded image sections (24, 25, 27, 28) partly overlap, and that the output means (16) comprising a monitor window and is equipped for providing the image sections (24, 25, 27, 28) in a merged image by means of stitching.

2. Track maintenance machine (1) according to claim 1, characterised in that the tamping unit (4) is arranged for displacement relative to the camera systems (14, 15) by means of displacement drives and that the output means (16) is equipped for displaying a current position of the tamping unit (4).

3. Track maintenance machine (1) according to claim 1 or 2, characterised in that the camera systems (14, 15) have diagonally downwards aligned camera axes (31) and that a computer unit is set up for rectifying the distortion of the recorded image sections (24, 25, 27, 28).

4. Track maintenance machine (1) according to one of the claims 1 to 3, characterised in that each camera system (14, 15) comprises at least two cameras (30) arranged next to each other in a transverse machine direction for recording part image sections (24, 25, 27, 28), that the part image sections (24, 25, 27, 28) of the two cameras (30) arranged next to each other overlap, and that the output means (16) is equipped for merging all part image sections (24, 25, 27, 28).

5. Track maintenance machine (1) according to one of the claims 1 to 4, characterised in that a lighting means (32) with downwardly directed light beams for generating a light marking (33), in particular in the form of a lighting pattern, is arranged in the recorded surface areas (23, 26) of the track (5).

6. Track maintenance machine (1) according to one of the claims 1 to 5, characterised in that the camera systems (14, 15) are equipped for recording infrared light and that at least one infrared light source is arranged for lighting the surface areas (23, 26) of the track (5) to be recorded.

7. Track maintenance machine (1) according to one of the claims 1 to 6, characterised in that a sensor means (20) for recording sleeper positions is arranged upstream of the first camera system (14) in working direction (13), and that the output means (16) in particular is coupled with the sensor means (20) for displaying the recorded sleeper positions in the merged image (29).

8. Track maintenance machine (1) according to one of the claims 1 to 7, characterised in that at least one camera (30) is arranged laterally next to the tamping unit (4) for recording a vertical position of the tamping tools (11).

9. Method for operating a track maintenance machine (1) according to one of the claims 1 to 8, characterised in that the merged image (29) is displayed to an operator in real time with the aid of the output means (16) and that the tamping unit (4) is positioned relative to the track (5) using the merged image (29).

10. Method according to claim 9, characterised in that a current position of the tamping unit (4) is recorded and that penetration points (36) of the tamping tools (11) resulting from this are displayed in the merged image (29).

11. Method according to claim 9 or 10, characterised in that a light marking (33) is generated on the recorded surface areas (23, 26) of the track (5) with the aid of a lighting means (32).

12. Method according to claim 11, characterised in that a lighting pattern is generated with the aid of the lighting means (32) and that the image sections (24, 25, 27, 28) are merged by matching the lighting pattern.

13. Method according to one of the claims 9 to 12, characterised in that a three-dimensional illustration of the recorded surface areas (23, 26) of the track (5) is calculated from recorded image data of the camera systems (14, 15).

14. Method according to one of the claims 9 to 13, characterised in that sleeper positions are recorded with the aid of a sensor means (20) during a forward movement of the track maintenance machine (1) and that the sleeper positions are displayed to the operator in the merged image (29).

15. Method according to one of the claims 9 to 14, characterised in that tamping positions are stipulated by means of an assistance system and that the suggested tamping positions are displayed to the operator in the merged image (29).

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