Method for determining the arrangement of a track object, in particular a track structure component, measuring device and system

Abstract

A method for determining the arrangement (p, φ) of a track object (3, 4), in particular a track structure component (3, 4), comprises the following steps: detecting a measurement signal that correlates with the arrangement (p, φ) of the track object (3, 4), and determining the arrangement (p, φ) of the track object (3, 4) based on the measurement signal, wherein the detection of the measurement signal comprises the detection of radar radiation. A measurement device (2) for determining the arrangement (p, φ) of a track object (3, 4), in particular a track structure component (3, 4), comprises a sensor device (16) for detecting a measurement signal that correlates with the arrangement (p, φ) of the track object (3, 4), and an evaluation device (17) for determining the arrangement (p, φ) of the track object (3, 4) based on the measurement signal, wherein the sensor device (16) is designed to detect radar radiation. The invention also relates to a system (1) having such a measurement device (2) and having at least one track processing unit (5).

Description

[0001] Method for determining the arrangement of a track object, in particular a track structure component, measuring device and system

[0002] The invention relates to a method and a measuring device for determining the arrangement of a track object, in particular a track structure component. Furthermore, the invention relates to a system comprising such a measuring device.

[0003] AT 519739 A4 discloses a method for controlling a track construction machine. A sensor device detects the position data of track objects, in particular track sleepers and rails, and of obstacles. The sensor device can comprise a laser scanner or a camera for this purpose. The reliability and precision with which the position data of the track objects can be detected depends on the nature of the object to be detected and its surroundings.

[0004] It is an object of the invention to provide an improved method for determining the arrangement of a track object, in particular a track structure component, which is particularly robust and precise with regard to the measurement results.

[0005] This object is achieved by a method having the features of claim 1. It has been recognized that the arrangement of a track object, in particular a track structure component, can be determined particularly robustly and precisely if the detection of a measurement signal correlating with the arrangement of the track object comprises the detection of radar radiation. Radar radiation, in particular in contrast to visible light, penetrates the track, in particular the track floor, in particular the ballast bed. The radar radiation is reflected at interfaces, in particular at the surface of the track object. The radar radiation therefore enables the detection of track objects with a direct line of sight as well as track objects with no direct line of sight, in particular which are obscured, in particular which are obscured by an opaque object.For example, track objects can be detected in the area of ​​a track floor that are arranged on a surface of the track floor and / or are arranged at least partially below, in particular completely below, a surface of the track floor, in particular a ballast bed. This advantageously ensures that the track object can be determined reliably and robustly, in particular independently of the nature of the track object to be detected and / or its surroundings, in particular independently of whether there is a direct line of sight to the track object. For example, the arrangement of a track object can be reliably determined even if it is obscured by an obstacle, such as vegetation and / or dirt and / or another track object. The determination of the arrangement of the track object based on the measurement signal acquired by detecting radar radiation can, in particular, be carried out in a contactless manner.The alignment of the track object can be determined essentially independently of the track object's material. The method is therefore particularly robust, particularly resistant to interference, and precise in terms of operation and measurement results.

[0006] A track object is understood to be an object, in particular a component, of the track. The track object can comprise a track structure component and / or a signaling element and / or a beacon and / or an actuator, in particular for setting points, and / or a track crossing. The track object is preferably arranged in the region of the track floor, in particular on the surface of the track floor and / or penetrating the track floor at least in sections and / or below the surface of the track floor. The detected measurement signal preferably correlates with the arrangement of the track structure component, in particular on the track floor.

[0007] The arrangement of an object is understood to mean its position and / or its orientation. The arrangement of the track object can be determined in a global coordinate system. Preferably, the arrangement of the track object is determined in a local coordinate system, in particular relative to a local coordinate system of the track, in particular of a section of the track, and / or relative to a measuring coordinate system, in particular of a measuring device for carrying out the method, and / or relative to a carriage for traveling on the track, in particular on which the measuring device is arranged, and / or relative to a track processing unit, which is in particular arranged on the carriage.

[0008] Radar radiation is preferably understood to mean electromagnetic radiation with a frequency in a range from 1 MHz to 5000 MHz, in particular from 100 MHz to 4000 MHz, in particular from 200 MHz to 2000 MHz, in particular from 400 MHz to 1000 MHz, in particular from 600 MHz to 800 MHz. The radar radiation is preferably electromagnetic radiation of the L-band. This advantageously achieves a high penetration depth, in particular into the track surface, and / or a high measurement resolution. Such radar radiation is particularly suitable for penetrating the track surface, in particular the ballast bed of the track. The radar radiation can preferably be detected up to a penetration depth in a range from 0.1 m to 50 m, in particular from 0.3 m to 25 m, in particular from 1 m to 10 m, in particular from 2 m to 5 m.

[0009] The measurement signal correlating with the arrangement of the track object is preferably acquired by means of a ground-penetrating radar, in particular by means of a multi-channel ground-penetrating radar.

[0010] The determination of the arrangement of the track object is preferably carried out on the basis of measurement signals which are generated due to radar radiation which is emitted, in particular re-radiated, in particular reflected, from a surface of the track, in particular the track floor, and / or from an area behind the surface, in particular below the surface, of the track, in particular the track floor.

[0011] The measurement signal is preferably detected at at least one, in particular a single, measurement position. A receiving unit, in particular a receiving antenna for detecting the radar radiation, can be arranged at the at least one measurement position.

[0012] Based on the measurement signal, in particular based on the arrangement of the track object, in particular multiple track objects, the number, in particular the total number, of track objects present in a specific track section can be determined. A count of the track objects, in particular track sleepers, along a given track section can be performed.

[0013] The detection of the measurement signal and / or the determination of the arrangement of the track object is preferably carried out continuously, in particular with a measurement rate of at least 0.1 Hz, in particular at least 0.5 Hz, in particular at least 1 Hz, in particular at least 2 Hz, in particular at least 5 Hz, in particular at least 10 Hz, in particular at least 50 Hz, and / or a maximum of 1 MHz, in particular a maximum of 1 kHz.

[0014] The measurement signal is preferably acquired during the displacement of the at least one measurement position, in particular across the track surface, in particular along the longitudinal direction of the rail, in particular during the displacement of the at least one measurement position coupled to the carriage along the longitudinal direction of the rail. The measurement signal is preferably acquired repeatedly along the longitudinal direction of the rail. The measurement signals preferably correlate with, in particular two-dimensional, information about the condition of the measurement object, in particular the track surface, in a measurement area spanned between a measurement direction, in particular a main detection direction, and the longitudinal direction of the rail. In particular, the measurement signals correspond to the condition of the track surface in a section along the longitudinal direction of the rail and along the main detection direction.

[0015] The arrangement of the track object is preferably determined offline, in particular independently of a network connection, in particular locally by means of the measuring device. Alternatively, the arrangement of the track object can be determined online, in particular by means of a data center, which is in particular located remotely from the measuring device. The measurement signal can be transmitted to the network, in particular to the data center, via a cable or wirelessly, in particular by radio, in particular by means of a mobile radio network. Obstacles can be detected based on the arrangement of the track object. The track object can be identified as an obstacle, in particular depending on its arrangement in a clearance profile of the track, in particular in a clearance profile of the traveling carriage and / or in a processing space of a processing unit.

[0016] A method according to claim 2 ensures the determination of the arrangement of the track object in a particularly robust and reliable manner. Preferably, the detection of the measurement signal comprises the detection of the track surface. The track surface preferably comprises the track rails and / or the track sleepers and / or the ballast bed and / or other track objects arranged in the region of the track surface. The condition of the track surface can vary at different positions along the track. The condition of the track surface can vary over time. In particular, a surface of the track surface can have vegetation and / or be covered with dirt. In particular, before the ballast bed is compacted, new track ballast can be added to the track surface, with a corresponding influence on the surface of the track surface.By detecting the radar radiation from the track surface, the position of the track object can be determined reliably and robustly, particularly with resistance to interference from changes in the track surface. The detection of the measurement signal preferably comprises detecting the radar radiation from the track surface, in particular from the ballast bed, with the detected radar radiation preferably penetrating a surface of the ballast bed.

[0017] According to one aspect of the invention, radar radiation, in particular primary radiation, is radiated into the track floor, in particular at an angle of maximum 45°, in particular maximum 30°, in particular maximum 10°, in particular maximum 5°, to a vertical direction and / or to a surface normal of the track floor.

[0018] According to one aspect of the invention, the radar radiation is emitted by means of a transmitting unit. The transmitting unit and the receiving unit can each have independent antennas or the same antenna for transmitting and / or receiving the radar radiation. In particular, the transmitting unit and the receiving unit can be designed separately, in particular arranged in separate housings, or combined into a single unit, in particular integrally formed.

[0019] A method according to claim 3 ensures the determination of the arrangement of the track object in a particularly robust and reliable manner. The track structure component preferably comprises a track support plate and / or the track rail and / or the track sleeper, in particular it consists thereof. The track structure component is preferably a component of the track floor. Such track structure components are only inadequately detectable using conventional methods due to their surface, which changes over position and / or time, and / or due to their arrangement at least partially, in particular completely, beneath a surface of the track floor. Because the radar radiation can reliably penetrate to the track structure component, the arrangement of the track structure component can be determined particularly robustly and reliably.

[0020] A method according to claim 4 can be carried out particularly reliably and efficiently. The determination of the arrangement of the track object can be carried out reliably even though the track object, in particular the track sleeper, is at least partially, in particular completely, covered with track ballast. The radar radiation penetrates the track ballast at least partially and is reflected by the track object, so that the measurement signal correlating with the arrangement of the track object can be reliably detected. In particular, the radar radiation reflected by the track object is reflected back from the track ballast covering the track object. The reflected radar radiation is detected. This advantageously ensures that track ballast does not first have to be removed from the track object before the method can be carried out.In particular, new track ballast can be applied to the track surface before the process is carried out on the track surface covered with the new track ballast.

[0021] A method according to claim 5 ensures particularly reliable and efficient track maintenance. A track maintenance step is understood to be a process in which the track and / or the track surroundings are maintained. The track maintenance step can comprise establishing and / or loosening a connection between the track sleepers and the track rails, in particular a screw connection and / or a nail connection, and / or separating a track structural component, in particular a track rail, and / or grinding a track structural component, in particular the track rail, and / or filling the track floor, in particular with concrete and / or with track ballast. The control can comprise a closed-loop control process, in particular with looping back a controlled variable.The control can be fully automated or semi-automatic, in particular only after a user input required to enable the track processing step, in particular a user confirmation, and / or manually by a user based on information correlating with the arrangement of the track object. Preferably, the information correlating with the arrangement of the track object is visualized, in particular output to an operator. The control preferably comprises controlling the arrangement, in particular the position and / or orientation of a track processing unit, in particular relative to the track. For example, controlling the track processing step can comprise arranging the track processing unit relative to the track, in particular the track object, in particular the track sleepers and / or the track rails.In particular, the sleeper spacing required for arranging the track processing unit can be determined, in particular calibrated, based on the specific arrangement of the track object.

[0022] A method according to claim 6 ensures the compaction of the ballast bed of the track in a particularly reliable and efficient manner. The track processing unit preferably comprises a tamping unit and / or a lifting and straightening unit. The tamping unit can have several, in particular at least two, in particular at least three, in particular at least four, in particular at least six, in particular at least eight tamping units. The tamping units preferably comprise at least two, in particular at least four, tamping picks for penetrating the ballast bed. The lifting and straightening unit can be designed to displace the track rails, in particular the track sleepers attached thereto, in the vertical direction and / or in the transverse rail direction. Before the ballast bed is compacted by means of the tamping unit, new track ballast can be spread onto the track surface.The sleepers are often covered, at least in sections, by the track ballast. Using radar radiation, the measurement signal correlating with the position of the track object can still be reliably and precisely recorded.

[0023] According to one aspect of the invention, the at least one track processing unit, in particular the tamping unit, can be arranged, in particular positioned and / or aligned, relative to the carriage and / or the track by means of a unit positioning unit. In particular, the tamping units can be arranged independently of one another by means of the unit positioning unit.

[0024] A method according to claim 7 can be used particularly flexibly. The arrangement of the track object is preferably determined in real time. This enables a track processing step to be controlled flexibly based on the determined arrangement of the track object. In particular, the arrangement of the track object can be determined using a measuring device which is arranged on the same carriage as the at least one track processing unit. The arrangement of the track object is preferably determined at a time interval of a maximum of 120 s, in particular a maximum of 90 s, in particular a maximum of 60 s, in particular a maximum of 20 s, in particular a maximum of 10 s, in particular a maximum of 5 s, in particular a maximum of 2 s, in particular a maximum of 1 s, in particular a maximum of 0.1 s, in particular a maximum of 0.01 s, after the measurement signal has been detected.The arrangement of the measurement object is preferably determined locally, in particular by means of a central control device, which is preferably also arranged on the carriage. This allows the track processing step to be controlled based on the determined arrangement of the track object and thus in a particularly reliable, precise, and safe manner. A method according to claim 8 ensures that the arrangement of the track object is determined in a particularly reliable manner and with high accuracy. The measurement signal is preferably acquired at at least two, in particular at least three, in particular at least four, in particular at least five, in particular at least seven, in particular at least nine, and / or a maximum of 20, in particular a maximum of 10, measurement positions. At each measurement position, at least one, in particular a single, receiving antenna is preferably provided for receiving the radar radiation.The at least two measuring positions can be arranged at an angle, in particular an acute angle, of at least 45°, in particular at least 60°, in particular at least 75°, in particular at least 85°, in particular 90°, to the longitudinal direction of the rail, in particular in a horizontal direction. Preferably, the measurement signals acquired at the at least two measuring positions result in redundant information. Due to the redundancy, the arrangement of the track object can be determined particularly reliably, in particular even if the measurement signal acquired at at least one measuring position is invalid.

[0025] According to one aspect of the invention, the measurement signal is checked to determine whether it sufficiently correlates with the arrangement of the track object. For example, the measurement signals acquired at at least two measurement positions can be compared with each other. A plausibility parameter correlating with the quality of the measurement signal can be determined. The plausibility parameter is preferably compared with a threshold value. If the plausibility parameter of the measurement signal reaches the threshold value, the measurement signal can be discarded. Such a method ensures the determination of the arrangement of the track object in a particularly reliable and robust manner.

[0026] A method according to claim 9 can be used particularly flexibly. Different track objects can have different signatures, in particular radar signatures. The individual signature of different track objects is preferably previously known, in particular stored on a memory unit, for example on the memory unit of the central control device. To identify the track object based on the signature of the detected measurement signal, a comparison can be made between the previously known signatures of different track objects and the signature of the detected measurement signal. If the signature of the detected measurement signal matches one of the previously known signatures of the track objects, in particular substantially, the detected track object is identified.In particular, the type of track object can be identified, in particular whether it is a track sleeper or a track rail or a track support plate or a beacon or a track signal, and / or a dimension of the track object and / or the material of the track object, in particular whether the track object comprises concrete and / or wood, in particular whether it is made of concrete and / or wood, and / or a condition of the track object, in particular a state of wear. The track object can be identified exclusively based on the measurement signal detected by the radar radiation and / or based on a measurement signal from at least one other sensor, for example, an inductive sensor.

[0027] A method according to claim 10 ensures the determination of the arrangement of the track object in a particularly reliable and robust manner. Preferably, the detection of the measurement signal and / or the track processing, in particular the control of the track processing step, takes place in the switch section. In the area of ​​a switch section, an irregular arrangement of track objects can occur, in particular track sleepers and / or track signals and / or beacons. Reliable detection of the track object is therefore particularly important in the area of ​​switch sections. The switch section is preferably understood to be a section of the track which, starting from a switch frog, extends in particular along the longitudinal direction of the rail in a range of up to 50 m, in particular up to 30 m, in particular up to 20 m, in particular up to 10 m.

[0028] A method according to claim 11 ensures the determination of the arrangement of the track object with particularly high measurement accuracy. The detected radar radiation is preferably caused by the emitted radar radiation. The detected radar radiation can be a reflection of the emitted radar radiation, in particular a reflection from the track object and / or from the surroundings of the track object. The emitted wavelength spectrum preferably comprises at least 2, in particular at least 3, in particular at least 4, and / or a maximum of 10, in particular a maximum of 6, frequencies with a local maximum of the power density of the radar radiation. A bandwidth of the emitted radar radiation, in particular a 3 dB bandwidth, is preferably in a range from 100 MHz to 5000 MHz, in particular from 200 MHz to 4000 MHz, in particular from 400 MHz to 2000 MHz, in particular from 500 MHz to 1000 MHz.High frequencies ensure improved spatial resolution of the measurement signal, particularly a more precise determination of the location of the track object. Lower frequencies ensure a high penetration depth, especially into the track floor, allowing even concealed, particularly deep-lying, track objects to be reliably detected. Preferably, radar radiation of different wavelengths is emitted into the track floor, particularly to generate detectable reflected radar radiation. Emitting radar radiation of different wavelengths advantageously ensures that the required measurement depth can be reliably achieved, allowing for a particularly high measurement resolution.

[0029] A method according to claim 12 ensures a particularly detailed determination of the arrangement of the track object. The position of the track object is preferably determined along the longitudinal rail direction and / or in a vertical direction and / or along a transverse rail direction, in particular in a global coordinate system and / or in a local coordinate system, in particular in a measuring coordinate system, in particular in a coordinate system of a vehicle on which the measuring device is arranged. The orientation of the track object preferably comprises the orientation of the track object about a vertical axis and / or about the longitudinal rail direction and / or about the transverse rail direction. As a result, the position of the track object, in particular of the track sleeper and / or the track rail, can be detected particularly comprehensively. In particular, the position of the track object in space, in particular an inclined position of the track sleeper and / or the track rail, can be detected.A track processing step can be controlled particularly precisely based on the position and / or orientation of the track object. A further object of the invention is to provide an improved measuring device for determining the arrangement of a track object, in particular a track structure component, which is particularly robust in operation and provides precise measurement results.

[0030] This object is achieved by a measuring device having the features of claim 13. The advantages of the measuring device correspond to the advantages of the method described above. In particular, the measuring device can be further developed with at least one of the features described above in connection with the method.

[0031] The measuring device preferably has a sensor device for detecting a measurement signal correlating with the arrangement of the track object. The sensor device can have at least one sensor module for detecting the measurement signal at the at least one measuring position. The sensor device preferably has at least two, in particular at least three, in particular at least four, in particular at least five, in particular at least seven, in particular at least nine, and / or a maximum of twenty, in particular a maximum of ten, sensor modules. The respective sensor module can have a receiving unit for detecting the radar radiation and / or a transmitting unit for emitting the radar radiation. The sensor device is preferably designed to detect the radar radiation from the track floor and / or to emit the radar radiation into the track floor. A main detection direction for the radar radiation is preferably vertically oriented.

[0032] The measuring device preferably has an evaluation device for determining the arrangement of the track object based on the measurement signal. The evaluation device can form a unit with the sensor device or be designed separately from it and have a signal connection thereto. The evaluation device preferably comprises an electronic computing unit, in particular a processor, for processing the measurement signal, in particular for determining the arrangement based on the measurement signal. The measurement signal and / or the arrangement of the track object are preferably available as electronically processable, in particular analog and / or digital, information. The track object preferably comprises a track structural component, in particular a track rail and / or a track sleeper.

[0033] A measuring device according to claim 14 is particularly flexible in its use. The carriage is preferably a rail carriage, in particular a multi-way carriage for traveling on rails and roads. The carriage can have a traction motor and / or a traction control system for controlling the traction motor, or it can be designed without a drive. The sensor devices and / or the evaluation devices are preferably mounted on the carriage.

[0034] The measuring device can have a central control device and / or a supply device for providing electrical power. The central control device and / or the supply device are preferably attached to the carriage. The central control device can be connected to the evaluation device and / or the drive control in a signal-transmitting manner. The supply device can be designed to supply the sensor device and / or the evaluation device and / or the central control device with electrical energy. A further object of the invention is to provide an improved system that is particularly flexible in use and robust and economical in operation.

[0035] This object is achieved by a system having the features of claim 15. The advantages of the system correspond to the advantages of the method and / or measuring device described above. The system is preferably further developed with at least one of the features described above in connection with the method and / or measuring device.

[0036] The system comprises the measuring device described above and at least one track processing unit for processing the track. The at least one track processing unit can comprise a tamping unit and / or a lifting unit and / or a straightening unit and / or a lifting and straightening unit and / or a screwing unit and / or a welding unit and / or a grinding unit, in particular a cut-off unit, and / or a nailing unit.

[0037] According to one aspect of the invention, the central control device is designed to control the at least one track processing unit, in particular the arrangement, in particular the positioning and / or the orientation, of the at least one track processing unit based on the determined arrangement of the track object. In particular, the central control device can be designed for the fully automated control of the track processing unit. Alternatively, in particular according to the above description, the central control device can be designed to support the manual control of the track processing unit, in particular to output supporting information about the arrangement of the track object to the operator.The central control device can be designed to ensure semi-automated control of the track maintenance unit, which requires operator confirmation, particularly as a release to execute each individual track maintenance step or a group of track maintenance steps. The operator is relieved of some of the workload by the at least partially automated control. The operator can perform their function as a control authority particularly reliably. The system ensures track maintenance in a particularly reliable, robust, and safe manner.

[0038] Further features, details, and advantages of the invention will become apparent from the following description of an embodiment with reference to the figures. They show:

[0039] Fig. 1 is a schematic representation of a system with a measuring device for determining the arrangement of a track object, in particular a track structure component, and at least one track processing unit for processing the track,

[0040] Fig. 2 is a schematic representation of the system in Fig. 1, wherein the measuring device comprises a sensor device for detecting a measurement signal correlating with the arrangement of the track object and an evaluation device for determining the arrangement of the track object based on the measurement signal,

[0041] Fig. 3 is a schematic representation of the sensor device of the system in Fig. 1, wherein the sensor device has a plurality of receiving units spaced apart from one another in a horizontal direction oblique to the longitudinal direction of the rail,

[0042] Fig. 4 is a schematic representation of a radargram that can be detected with the sensor device of the system in Fig. 1, or

[0043] Fig. 5 is a schematic representation of several radargrams that can be detected by the receiving units in Fig. 3.

[0044] An embodiment of a system 1 with a measuring device 2 and a method for determining the arrangement p, cp of a track object 3, 4, in particular of a track structure component 3, 4, is described with reference to Fig. 1 to Fig. 5.

[0045] The system 1 comprises at least one track processing unit 5 for processing the track 6. The at least one track processing unit 5 is designed as a tamping unit 5 for compacting track ballast 7 of the track 6. A ballast bed 8 of the track 6 comprises the track ballast 7. The system 1 preferably has a track processing unit 5 (not shown in Fig. 1) in the form of a lifting and straightening unit for lifting and aligning track rails 4 and the sleepers 3 connected thereto.

[0046] The track ballast 7, the sleepers 3 resting thereon, and the track rails 4 attached to the sleepers 3 are part of the track 6. A carriage 10 is arranged on the track rails 4. The carriage 10 has a drive device 11 with a drive control 12 and at least one drive motor 13. The drive control 12 is designed to control the at least one drive motor 13 and, for this purpose, is in signal communication with it. The carriage 10 is designed to displace the system 1, in particular the measuring device 2 and the track processing unit 5, along a travel direction 14, in particular parallel to a longitudinal rail direction 15.

[0047] Figure 1 shows a Cartesian coordinate system. An x-direction points in the direction of travel 14. A z-direction points vertically upwards. A y-direction is oriented horizontally and perpendicular to the longitudinal rail direction 15. The x-direction, the y-direction, and the z-direction form a right-hand system.

[0048] The measuring device 2 comprises a sensor device 16 for detecting a measurement signal correlating with the arrangement p, cp of a track object 3, 4, and an evaluation device 17 for determining the arrangement p, cp of the track object 3, 4 based on the measurement signal. The sensor device 16 and the evaluation device 17 are mounted on the carriage 10. The evaluation device 17 is in signal communication with the sensor device 16.

[0049] An aggregate control device 18 is designed to control the at least one track processing aggregate 5, in particular the tamping aggregate 5 and / or the lifting and straightening aggregate.

[0050] The measuring device 2 comprises a displacement sensor 19 for detecting the position of the measuring device 2 on the track 6, in particular along the longitudinal rail direction 15. The displacement sensor 19 is in signal communication with a travel evaluation device 20. The measuring device 2 has an inductive sensor 21. An inductance evaluation device 22 is in signal communication with the inductive sensor 21.

[0051] A central control device 23 is in signal connection with the evaluation device 17, the aggregate control device 18, the driving evaluation device 20, the inductance evaluation device 22 and the driving control 12. The central control device 23 has a user interface 24, an electronic computing unit 25, in particular a processor for processing digital information, and a storage unit 26, in particular an electronic storage unit.

[0052] The user interface 24 comprises an input unit (not shown) for inputting information by a user and / or an output unit for outputting information to the user. The input unit may comprise a keyboard. The output unit preferably comprises a screen. The user interface 24 may, in particular, have a touch-sensitive screen.

[0053] The tamping unit 5 comprises four tamping units 27. Each of the tamping units 27 comprises a vibration drive 28, a vertical drive 29 and at least two tamping picks 30 for penetrating the track ballast 7.

[0054] Preferably, the tamping unit 5, in particular the tamping units 27, can be arranged, in particular positioned and / or aligned, relative to the carriage 10 and / or to the track 6 by means of a unit positioning unit (not shown). The inductive sensor 21 comprises four inductance measuring units 31 for detecting metallic connecting elements, in particular for fastening the track rails 4 to the track sleepers 3, in particular rail clamps, on both sides of the respective track rail 4.

[0055] The position sensor 19 is a speed sensor for detecting the speed of a rail wheel 32. The rail wheel 32 can be a component of a bogie 33.

[0056] The sensor device 16 is shown in further detail in Fig. 3. A horizontally oriented rail transverse direction 34 is oriented perpendicular to the rail longitudinal direction 15, in particular parallel to the y-direction. An upper side of the track sleepers 3 defines a rail support plane 35. A travel plane 36 is defined by an upper side of the track rails 4.

[0057] The track ballast 7 covers the track sleepers 3, in particular in a plan view, at least in sections, in particular completely.

[0058] The sensor device 16 comprises a plurality of, in particular at least two, in particular at least four, in particular seven, sensor modules 37. Each of the sensor modules 37 comprises a transmitting unit and a receiving unit. The transmitting unit and the receiving unit can have individual transmitting antennas and receiving antennas and / or a common transmitting and receiving antenna. In particular, the transmitting unit and the receiving unit can be combined into a single unit, in particular formed integrally. A receiving plane of the sensor device 16, in particular an underside of the sensor modules 37, determines a sensor plane 38. The sensor plane 38 is arranged at a vertical sensor distance h above the driving plane 36. The vertical sensor distance h is preferably in a range from 5 mm to 500 mm, in particular from 10 mm to 300 mm, in particular from 5 mm to 200 mm.A measuring distance ys between two adjacent sensor modules 37, in particular between central measuring axes 39 of adjacent sensor modules 37, is preferably in a range of 250 mm to 1 m, in particular from 300 mm to 750 mm, in particular from 400 mm to 600 mm.

[0059] The sensor device 16 is designed to detect radar radiation. In particular, the sensor modules 37 are designed to detect radar radiation. The receiving units are designed to receive the radar radiation, and the transmitting units are designed to transmit the radar radiation. In particular, the sensor device 16, in particular the respective sensor module 37, in particular the transmitting unit, is designed to emit radar radiation at different wavelengths.

[0060] The sensor device 16 is preferably designed to detect radar radiation in a wavelength range from 1 MHz to 5000 MHz, in particular from 50 MHz to 4000 MHz, in particular from 400 MHz to 2000 MHz, in particular from 750 MHz to 1500 MHz. The sensor device can be designed to emit radar radiation that lies in the same frequency range. The sensor device is preferably designed to emit and / or detect radar radiation with a bandwidth of at least 100 MHz, in particular at least 300 MHz, in particular at least 600 MHz, in particular at least 1 GHz. The bandwidth is preferably a 3 dB bandwidth. The sensor device 16, in particular the at least one sensor module 37, has a main detection direction 41. The main detection direction 41 is oriented substantially vertically, in particular parallel to a respective central measuring axis 39.

[0061] The operation of the system 1, the measuring device 2 and the method for determining the arrangement p, cp of a track object 3, 4 is as follows:

[0062] The system 1, in particular the carriage 10, is arranged on the track 6. The measuring device, in particular the sensor device 16, and the at least one track processing unit 5 are located in a transport arrangement.

[0063] The carriage 10 is moved by means of the traction motor 13 controlled by the traction control 12 into a section of the track 6 to be measured and / or processed.

[0064] The measuring device, in particular the sensor device 16, is relocated into a measuring arrangement. A positioning unit 42 is controlled by the central control device 23 for relocating the sensor device 16, in particular also the inductive sensor 21, between the transport arrangement and the measuring arrangement, in particular in the vertical direction. In the measuring arrangement, the vertical sensor distance h between the sensor plane 38 and the travel plane 36 is approximately 100 mm. Track processing is started. By means of a ballast spreading device (not shown), track ballast 7 is spread on the ballast bed 8, in particular in a plan view, to the side of the rails 4, in the area and between the track sleepers 3. The ballast spreading device can be arranged on the carriage 10. Alternatively, the ballast spreading device can be arranged on a carriage traveling ahead of the system 1.

[0065] By means of a control command of the drive control 12, the drive motor 13 is controlled to move the carriage 10 along the longitudinal direction 15 of the rail.

[0066] The displacement sensor 19 records a measurement signal that correlates with the travel distance and the travel speed. Based on this measurement signal, the travel distance and the travel speed are determined by the travel evaluation device 20.

[0067] The sensor device 16 detects a measurement signal correlating with the arrangement p, cp of the track objects 3, 4. For this purpose, the transmitting units of the sensor modules 37 emit radar radiation of different wavelengths, particularly in a range from 400 MHz to 2000 MHz, in the main detection direction 41, particularly vertically downward, into the track floor 43. The sensor modules 37, particularly the detection units, detect radar radiation caused by the emitted radar radiation and reflected by the track floor 43.

[0068] The respective sensor modules 37 are ground-penetrating radar modules. The sensor device is a multi-channel ground-penetrating radar. Figure 4 shows the measurement signal from one of the sensor modules 37 of the sensor device 16 over the track x, along the longitudinal rail direction 15. The vertical axis indicates the propagation time ts of the detected radar radiation. The respective gray value corresponds to the amplitude of the detected radar radiation. In other words, the radar radiation is continuously determined along the track x, with the respective amplitude of the radar radiation being recorded for different propagation times ts. The amplitude is shown in Figure 4 as an example of a gray value over the track and for a specified propagation time range, in particular from 0 ns to 65 ns.

[0069] Based on the resulting pattern of the measurement signal, the arrangement p, cp of a track object 3, 4 can be deduced. The position p of the track sleepers 3, in particular along the longitudinal rail direction 15, is marked by a cross in the radargram shown in Fig. 4.

[0070] Fig. 5 shows several radargrams by way of example, the underlying measurement signals of which are recorded by means of the plurality of sensor modules 37. In contrast to the sensor device 16 shown in Figs. 2 and 3 with seven sensor modules 37, the total of 13 radargrams shown in Fig. 5 were recorded with a sensor device having 13 sensor modules 37.

[0071] The evaluation of the measurement signal, in particular the respective measurement signal of the plurality of sensor modules 37, is carried out by means of the evaluation device 17. The arrangement p, cp of the track object 3, 4 is determined based on the measurement signal by means of the evaluation device 17. The arrangement p, cp comprises the position p and the orientation cp of the track object 3, 4, in particular of the track sleeper 3 and / or the track rail 4. In particular, the position of the track object 3, 4 along the rail longitudinal direction 15 and / or along the vertical direction z and / or along the rail transverse direction 34 is determined by means of the evaluation device 17. Determining the orientation cp of the track object 3, 4 preferably comprises determining the orientation cp about the vertical direction z and / or about the rail longitudinal direction 15.

[0072] The arrangement p, cp of the track object 3, 4, in particular of the track rails 4 and / or the track sleepers 3, is preferably determined continuously. A time interval Δt between determining the arrangement p, cp of the track object 3, 4 and detecting the measurement signal is preferably a maximum of 120 s, in particular a maximum of 60 s, in particular a maximum of 30 s, in particular a maximum of 10 s, in particular a maximum of 1 s, in particular 0.1 s.

[0073] The orientation of the track objects 3, 4 is preferably determined based on the multiple pieces of position information relating to the track object 3, 4, in particular in different detection positions, in particular in detection positions spaced apart along the rail transverse direction 34. The orientation cp of the track object 3, 4 can be determined based on at least two measurement signals acquired at spaced apart positions along the rail transverse direction 34 and / or along the rail longitudinal direction 15.

[0074] The multiple measurement signals recorded at spaced-apart measurement positions along the transverse rail direction 34 result in partially redundant information about the arrangement p, cp of the track object 3, 4. Invalid measurement signals are eliminated using a plausibility check. This can be done by checking whether the respective measurement signal meets a specified plausibility threshold for its admissibility.

[0075] The inductive sensor 21 detects metallic connecting elements, in particular the rail clamps. Based on the measurement signal generated by the inductive sensor 21, the position of the connecting elements and thus the position of the track sleepers 3 can be determined. The multiple inductive measuring units 31, which are positioned spaced apart from one another along the transverse rail direction 34, ensure the determination of the orientation of the track object 3, 4, in accordance with the above description. The arrangement p, cp of the track object 3, 4 is determined using the inductance-output evaluation device 22.

[0076] The central control device 23 receives the arrangement p, cp of the track object 3, 4 from the evaluation device 17, in particular from the inductance evaluation device 22. Furthermore, the central control device 23 receives the position x of the system 1, in particular of the carriage 10, on the track 6, in particular along the rail longitudinal direction 15.

[0077] The arrangement p, cp of the track object 3, 4 is preferably determined relative to the system 1, in particular to the carriage 10.

[0078] The track processing unit 5 preferably has a unit sensor device (not shown) for detecting a measurement signal correlating with the position of the track processing unit 5, in particular the respective tamping unit 27. Based on the measurement signal of the unit sensor device, the arrangement of the track processing unit 5, in particular the respective tamping unit 27, in particular relative to the system 1, in particular relative to the carriage 10, is determined by means of the unit control device 18.

[0079] Based on the arrangement p, cp of the track object 3, 4, in particular relative to the carriage 10, and based on the arrangement of the track processing unit 5, in particular of the respective tamping unit 27, in particular to the carriage 10, the arrangement of the track processing unit 5, in particular of the respective tamping unit 27 relative to the track object 3, 4, in particular to the track sleepers 3, is determined, in particular by means of the central control device 23.

[0080] A track processing step is controlled based on the arrangement of the track processing unit 5, in particular the respective tamping unit 27, relative to the system 1, in particular to the carriage 10, in particular by means of the central control device 23. For this purpose, the track processing unit 5, in particular the respective tamping unit 27, is arranged on the track 6, in particular relative to the carriage 10, in such a way that a collision of the tamping unit 5, in particular the respective tamping unit 27, in particular the tamping pick 30, with the track object 3, 4, in particular with the track sleepers 3, is reliably prevented.

[0081] By means of a signal from the central control device 23, the arrangement, in particular the position and / or orientation, of the track processing unit 5, in particular of the respective tamping unit 27, relative to the track 6, in particular to the track rails 4 and / or to the track sleepers 3, is controlled. The control of the arrangement of the track processing unit 5 can be fully automated. Alternatively, information about a desired arrangement of the track processing unit 5 can be output to the operator, in particular via the user interface 24. The operator can use this information to manually control the arrangement of the track processing unit 5, in particular of the respective tamping unit 27.

[0082] According to a further alternative, the positioning of the track processing unit 5 relative to the track 6 can be carried out semi-automatically. Preferably, information about the determined, in particular the calculated, target position of the track processing unit 5 is output to the operator, in particular via the user interface 24. The operator can be prompted to confirm, in particular to authorize, that the processing unit 5 may be relocated, in particular otherwise automatically, to the determined target position.

[0083] In general, information about the current arrangement of the track processing unit 5 and / or the desired arrangement can be output to the operator, in particular via the user interface 24. The operator can monitor the arrangement and / or the desired arrangement of the track processing unit 5. In particular, the operator can interrupt the track processing, in particular the positioning of the track processing unit 5, at any time, especially if they fear a collision. The operator thus essentially functions as a monitoring entity. The fact that the positioning of the track processing unit 5 relative to the track 6 is essentially automated relieves the operator of some of the workload. The operator can thus perform their function as a monitoring entity even more reliably.

[0084] The sensor device 16, in particular the inductive sensor 21, are arranged in front of the track processing unit 5 in the direction of travel 14. Thus, the arrangement p, cp of the respective track object 3, 4 can be determined before the track processing unit 5 has reached the position of the track object 3, 4. The time interval Δt between the detection of the measurement signal and the determination of the arrangement p, cp of the track object 3, 4 is preferably a maximum of 120 s, in particular a maximum of 60 s, in particular a maximum of 10 s, in particular a maximum of 1 s, in particular a maximum of 0.1 s. This advantageously ensures that the arrangement of the track processing unit 5 relative to the track object 3, 4, in particular the target arrangement, can be determined in good time before the processing unit 5 has reached the position p of the respective track object 3, 4, in particular in real time.

[0085] Because the detection of the measurement signal includes the detection of radar radiation, the measurement signal can be detected particularly robustly, precisely, and with resistance to interference. The detection of the measurement signal takes place without contact. A high measurement resolution can be achieved, in particular, when radar radiation of different wavelengths is detected. Because the sensor device 16 is designed to detect radar radiation, in particular as a ground-penetrating radar, an area below the surface of the track floor 43 can be detected. This makes it possible to detect track objects 3, 4 which are arranged at least partially, in particular completely, below the track floor 43. Ballast placed on the track, which covers the track object 3, 4, in particular the track sleepers 3, at least partially from above, can be penetrated by the radar radiation.Thus, track objects 3, 4 located below the surface of the track floor 43 can be reliably detected and their arrangement p, cp determined. The preferred design of the sensor device 16 as a multi-channel ground-penetrating radar advantageously ensures that redundant information about the arrangement p, cp of the track objects 3, 4 is available. This further increases the reliability and robustness of the measurement signal acquisition.

[0086] The reliability and robustness of the measurement signal acquisition is further increased by detecting the arrangement p, cp of the track object 3, 4, in particular the track sleepers 3, by means of the inductive sensor 21. A comparison between the measurement signals detected by the sensor device 16 and the inductive sensor 21 and / or the arrangement p, cp determined by the evaluation device 17 and the inductance evaluation device 22, in particular by means of the central control device 23, ensures the determination of the arrangement p, cp of the track object 3, 4 in a particularly reliable and precise manner.

[0087] The arrangement p, cp of the track object 3, 4 is preferably determined in the area of ​​switches (not shown) of track 6. In the area of ​​switches, the arrangement p, cp of the track objects 3, 4, in particular the distance between track sleepers 3 and / or their alignment, is typically not constant, in particular irregular. Determining the arrangement p, cp of the track object 3, 4 reliably ensures a precise arrangement p, cp of the track processing unit 5 and prevents a collision of the track processing unit 5 with the track object 3, 4.

[0088] Preferably, the track object 3, 4 is identified based on a signature of the measurement signal. Preferably, individual signatures can be recorded for different track objects 3, 4. The individual signatures can be stored in a database, in particular in the storage unit 26. By comparing the previously known individual signature with the signature of the measurement signal of the track object 3, 4, conclusions can be drawn about the condition of the track object 3, 4. The condition preferably includes the type, dimensions, material and / or condition, in particular the quality condition, in particular the wear condition, of the track object 3, 4. For example, the material of the track object 3, 4 can be determined based on the signature of the measurement signal and / or the wear condition of the track object 3, 4 can be decided about the necessity of maintenance work on the track object 3, 4.

[0089] The system 1 described above, in particular the measuring device

[0090] 2, and the method ensure that the arrangement p, cp of the track object 3, 4, in particular of track rails 4 and / or track sleepers

[0091] 3, can be determined contactlessly, material-independently, robustly, in particular interference-resistant, and precisely, in particular with a high measurement resolution. In particular, the determination of the arrangement p, cp of track objects 3, 4, in particular of track structure components 3, 4, which are arranged below the surface of the track floor 43, is made possible. As a result, the processing of the track 6, in particular by means of a track processing unit 5, in particular by means of at least one tamping unit 27, can be carried out particularly reliably and without interference. The arrangement p, cp of a track processing unit 5 in the track 6, in particular relative to the track objects 3, 4, can be carried out at least partially automated, in particular fully automated. An operator of the system 1 can be relieved. Collisions between the processing unit 5 and the track object 3, 4 are thus particularly reliably avoided.

Claims

Patent claims 1. Method for determining the arrangement (p, cp) of a track object (3, 4), in particular a track structure component (3, 4), comprising the steps: 1.1 Detecting a measurement signal correlating with the arrangement (p, cp) of the track object (3, 4), and 1.2 Determining the arrangement (p, cp) of the track object (3, 4) based on the measurement signal, characterized in that 1.3 the detection of the measurement signal includes the detection of radar radiation.

2. Method according to claim 1, characterized in that the detected measurement signal correlates with the arrangement (p, cp) of the track object (3, 4) in the region of a track floor (43).

3. Method according to claim 1 or 2, characterized in that the detected measurement signal correlates with the arrangement (p, cp) of a track sleeper (3) and / or a track rail (4).

4. Method according to one of the preceding claims, characterized in that when the measuring signal is detected, the track object (3, 4) is covered with track ballast (7) lying thereon.

5. Method according to one of the preceding claims, characterized by controlling a track processing step based on the arrangement (p, cp) of the track object (3, 4). Method according to claim 5, characterized in that the track processing step comprises compacting a ballast bed (8). Method according to one of the preceding claims, characterized in that the determination of the arrangement (p, cp) of the track object (3, 4) takes place at a time interval (Δt) of a maximum of 120 s after the detection of the measurement signal. Method according to one of the preceding claims, characterized in that the detection of the measurement signal takes place at at least two measurement positions which are spaced apart from one another in a horizontal direction obliquely to a rail longitudinal direction (15). Method according to one of the preceding claims, characterized by identifying the track object (3, 4) based on a signature of the measurement signal. Method according to one of the preceding claims, characterized in that the detection of the measurement signal takes place in a switch section of the track (6).Method according to one of the preceding claims, characterized by emitting radar radiation of different wavelengths. Method according to one of the preceding claims, characterized in that determining the arrangement (p, cp) of the track object (3, 4) comprises determining the position (p) and the orientation (cp) of the track object (3, 4). Measuring device (2) for determining the arrangement (p, cp) of a track object (3, 4), in particular a track structure component (3, 4), comprising 13.1 a sensor device (16) for detecting a measurement signal correlating with the arrangement (p, cp) of the track object (3, 4), 13.2 an evaluation device (17) for determining the arrangement (p, cp) of the track object (3, 4) based on the measurement signal, characterized in that 13.3 the sensor device (16) is designed to detect radar radiation. Measuring device (2) according to claim 13, characterized by a carriage (10) for traveling along a track (6), on which the sensor device (16) and / or the evaluation device (17) are arranged. System (1), comprising 15.1 a measuring device (2) according to claim 13 or 14, and 15.2 at least one track processing unit (5).

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