Method and localisation device for position determination in a rail transport system, method and measuring device for position-related detection of track-measurement information in the rail transport system and system

Abstract

A method for position determination in a rail transport system (4), comprises the steps of: detecting localisation information (24.1, 24.2, 24.3) describing the surroundings of a localisation position (25.1, 25.2, 25.3) on a track (5), identifying a reference dataset (18.1, 18.2, 18.3) by comparing the localisation information (24.1, 24.2, 24.3) with reference data (18) comprising a plurality of reference datasets (18.1, 18.2, 18.3) each with reference information (19.1, 19.2, 19.3) describing the surroundings of a reference position (20.1, 20.2, 20.3) on the track (5), and determining the localisation position (25.1, 25.2, 25.3) on the basis of the reference position (20.1, 20.2, 20.3) of the identified reference dataset (18.1, 18.2, 18.3). A localisation device (3a, 3b) for position determination in the rail transport system (4). A method and a measuring device for position-related detection of track measurement information in the rail transport system (4). A system comprising the measurement device and the localisation device (3a, 3b).

Description

[0001] Method and localization device for position determination in a rail transport system, method and measuring device for position-related acquisition of track measurement information in the rail transport system and system

[0002] The invention relates to a method and a localization device for determining positions in a rail transport system. Furthermore, the invention relates to a method and a measuring device for position-related acquisition of track measurement information in a rail transport system. The invention further relates to a system with such a localization device and such a measuring device.

[0003] WO 2022 / 117352 A1 discloses a method for operating a rail system, according to which track measurement information in the form of a degree of compaction of a track bed is recorded, and the associated measurement position is determined. Known options for determining positions in a rail system have often proven to be insufficiently precise and unreliable, particularly in areas with impaired or missing satellite navigation signals, for example, in a covered area, an underpass, a tunnel, or generally in underground rail systems. However, precise position determination is required, particularly in connection with construction and maintenance work on the track. Position measuring devices such as tape measures are often used for this purpose. These are time-consuming, labor-intensive, and costly, as well as error-prone.

[0004] It is an object of the invention to provide an improved method for determining the position in a rail transport system, which method can be carried out particularly economically and reliably leads to precise results.

[0005] This object is achieved by a method having the features of claim 1. It has been recognized that a localization position in a rail transport system can be determined particularly economically, reliably, and precisely if reference data is used for this purpose, which has a plurality of reference data sets, each with reference information describing the surroundings of a reference position on the track, in particular if a reference data set is identified from this reference data using localization information, and if the localization position is determined using the reference position of the identified reference data set. The localization information can be detected by detecting the surroundings of the localization position on the track.A reference data set is identified, for example, in particular identified as belonging to the localization position, if features of the acquired localization information correlate with features of the reference data set compared with it. For example, the localization information and the reference information of the identified reference data set can each describe the same at least one object, in particular the same objects and / or essentially the same arrangement on the track and / or essentially the same arrangement relative to one another. Capturing the surroundings and using reference data whose reference information describes the surroundings ensures particularly precise, highly reliable positioning. Complex manual positioning, in particular using a tape measure, can be avoided.Position determination can be carried out in particular at locations outside the reception range of satellite navigation signals, for example in a covered area, in an underpass, in a tunnel and / or in the area of ​​an underground section of the rail transport system.

[0006] The localization information can be acquired using sensors. The acquired localization information preferably correlates with a particularly perceptible property of the environment, in particular of an object, in particular a stationary object, in the environment, for example with the shape and / or arrangement, in particular the position and / or orientation, of the object. The localization information is also referred to as localization environment information.

[0007] The environment can comprise at least one track object, in particular an infrastructure component, in particular a track sleeper and / or a track rail and / or a bridge component and / or a power pole and / or a track signal and / or a track kilometer sign and / or a track environment object, in particular a landscape object and / or a plant, in particular a tree, and / or a rock formation. The localization information preferably correlates with a perceptible appearance, in particular the geometry of the at least one track object and / or the at least one track environment object.

[0008] A localization data set can contain the localization position and the localization information. The reference data set can contain the reference position and the reference information. The reference information is also referred to as reference environment information. The localization position and / or the reference position can be assigned to a global coordinate system and / or a local coordinate system of the rail transport system. Preferably, the localization position and / or the reference position are specified as a relative position to the detected environment, in particular to the at least one stationary object, and / or in a coordinate system of the rail transport system.

[0009] The identification of the reference data set is preferably automated, in particular by means of an evaluation device, in particular comprising a processor for processing digital signals. The reference data is preferably stored on a computer-readable medium that is in signal-transmitting communication with the evaluation device.

[0010] The localization information can be acquired without contact. For example, the localization information is acquired by detecting the distance between the localization position and the at least one object in the environment, in particular to generate a three-dimensional image of the environment. The localization information can be acquired using an acoustic signal, in particular an ultrasonic signal.

[0011] To identify the reference data set, the localization information and / or the reference information of the respective reference data set can be evaluated using an image seeding method, in particular to determine the localization position and / or the reference position relative to at least one object in the environment with which the localization information and / or the reference information correlates, in particular which is mapped based on the localization information and / or the reference information. Preferably, a relative position between the localization position and / or the reference position and the respective object is determined using a triangulation method.

[0012] The determination of the localization position based on the reference position of the identified reference data set is preferably carried out on the basis of correspondingly determined relative positions of the localization position and / or the reference position relative to the at least one object of the track environment.

[0013] A method according to claim 2 is particularly economical to implement and ensures precise results. The optical detection of at least one object in the environment can be carried out, for example, using a camera, in particular a black and white camera and / or a color camera. Such cameras are inexpensive to purchase and have a high measurement resolution. For example, the camera can be a full HD camera.

[0014] A method according to claim 3 ensures particularly precise position determination, in particular with a high degree of robustness with respect to the timeliness of the reference data. The at least one track structure component and / or the at least one track marking are stationary objects in the track environment that can be detected particularly reliably and whose appearance generally does not change over a longer period of time. The detection of the localization information is preferably the detection, in particular optical, of the at least one track structure component and / or the at least one track marking. The track marking can comprise a track kilometer marking and / or a hectometer symbol and / or a marking, in particular a permanent survey point, and / or a track signal.The track marking may have an identification means, in particular for the unambiguous identification of the track marking, for example a sequence of numbers and / or a barcode and / or a matrix code.

[0015] A method according to claim 4 is economically feasible and ensures high measurement resolution. The laser scanner preferably has a measurement angle of at least 90°, in particular at least 180°, in particular at least 270°, in particular at least 360°. The laser scanner preferably emits electromagnetic radiation in the non-visible range, in particular in the infrared range. The laser scanner can be a 2D laser scanner and / or a 3D laser scanner. Such a laser scanner reliably captures localization information, particularly in poor visibility conditions, especially in fog and / or in the absence of light, especially at night.

[0016] A method according to claim 5 ensures position determination in a particularly reliable and efficient manner. The auxiliary localization position can be determined by means of a mobile radio signal, in particular an LTE signal, and / or by means of a satellite navigation signal, in particular a GNSS signal and / or a GPS signal and / or a Glonass signal and / or a Galileo signal and / or a Beidou signal. For this purpose, a mobile radio module and / or a satellite navigation module can be provided, which is in signal-transmitting connection, in particular, with the evaluation device. The auxiliary localization position preferably correlates at least approximately, in particular with a measurement accuracy of at least 20 m, in particular at least 10 m, in particular at least 5 m, in particular at least 2 m, and / or a maximum of 0.1 m, in particular a maximum of 1 m, in particular a maximum of 5 m, in particular a maximum of 10 m, with the localization position.

[0017] Preferably, reference data sets are preselected based on the auxiliary localization position. The auxiliary localization position can be compared with the reference position of the respective reference data set. Preferably, those reference data sets are preselected whose reference position lies in an environment, in particular within a predetermined maximum distance, from the auxiliary localization position. The reference data set can be identified by comparing the localization information with correspondingly preselected reference data. This advantageously ensures that a smaller amount of information needs to be compared to identify the reference data set. This makes the method particularly time-efficient and less error-prone.The predetermined distance between the auxiliary localization position and the respective reference position of the preselected reference data sets is preferably a maximum of 100 m, in particular a maximum of 50 m, in particular a maximum of 10 m, and / or at least 1 m, in particular at least 5 m, in particular at least 10 m.

[0018] A method according to claim 6 ensures precise and efficient navigation in the rail transport system. The localization position is preferably changed to reach a target area, in particular a target position, in particular in the direction of the target area and / or based on the previously determined localization position, in particular based on a comparison of the target area, in particular the target position, with the localization position. The localization position can be changed continuously during the acquisition of the localization information and / or stepwise, wherein the localization position is not changed during the acquisition of the localization information. A new localization position is determined, on the basis of which a new change in the localization position can be determined to reach the target area.

[0019] The target area, in particular the target position, can be an area to be processed in the rail transport system, in particular on the track, and / or an area of ​​the rail transport system in which a measurement or maintenance measure is to be carried out.

[0020] The repeated determination of the localization position preferably takes place at a time interval of a maximum of 120 s, in particular a maximum of 10 s, in particular a maximum of 1 s, in particular a maximum of 0.1 s, and / or at a time interval of at least 0.001 s, in particular at least 0.01 s, in particular at least 0.1 s. In particular, the repeated determination of the localization position can take place continuously, in particular in real time.

[0021] A method according to claim 7 ensures particularly efficient orientation of a user in the rail transport system. In particular, the localization position can be output at the user interface independently of the output of the position-related track information. The track information can be track measurement information, in particular information recorded by measurement, in particular on the track, in particular regarding the quality condition of the track, for example a condition, in particular a degree of soiling and / or moisture penetration, in particular a moisture distribution, and / or silting, in particular a silting position and / or extent, and / or clay formation, in particular a clay formation position and / or extent, and / or a composition, in particular the presence of foreign bodies, in particular with regard to their size and arrangement, and / or layer boundaries, in particular their arrangement,in particular between the ballast bed and the subsoil and / or a subgrade protective layer, and / or a degree of compaction of the track bed and / or a surface condition of the track rails, and / or track operation information, for example regarding a regularly performed maintenance measure and / or regarding a reported defect, in particular a defect in the overhead line and / or a track signal and / or a track structural component, and / or regarding a track construction measure. The evaluation of the track information can be carried out manually by a user on the basis of measured signals or partially automated, in particular computer-assisted, or preferably fully automated, in particular computer-assisted. The position-related track information can be assigned to a specific area of ​​the track, in particular a position, in particular the target position,Outputting position-related track information at the user interface facilitates user orientation and navigation in the rail transport system.

[0022] The user interface can be designed for visual, acoustic, and / or haptic output of information. The user interface preferably comprises a screen, in particular a touch-sensitive screen, and / or a loudspeaker. A method according to claim 8 ensures the orientation of a user in the rail transport system in a particularly efficient manner. The track information is preferably superimposed on a camera image of the surroundings. The track information is preferably output using an augmented reality method. The image of the surroundings, in particular the perceivable surroundings, in particular the camera image, can be a stored image, in particular a still image and / or a live image.

[0023] Alternatively, the position-related track information can be displayed overlaid on the user's perceptual field, particularly by being displayed in the user's field of vision. For this purpose, a head-up display and / or augmented reality glasses can be used, for example.

[0024] A method according to claim 9 ensures the implementation of maintenance measures in a particularly efficient manner. Track measurement information can thereby be localized particularly reliably and time-efficiently. For example, a measurement position can be efficiently and reliably localized at which a maintenance measure is required and / or at which a determination, in particular a renewed determination, of the quality status of the track traffic system is necessary. For example, the position can be localized at which track bed processing, in particular track bed cleaning and / or track bed compaction, and / or repair of the track rails and / or track sleepers and / or an overhead line, must be carried out.The invention is further based on the object of creating an improved localization device for determining positions in a rail transport system, which is particularly economical in operation and reliably leads to precise results.

[0025] This object is achieved by a localization device having the features of claim 10. The advantages of the localization device correspond to the advantages of the method described above. Preferably, the localization device is further developed with at least one of the features described above in connection with the method.

[0026] The environment detection device preferably comprises at least one sensor for detecting the environment, in particular an optical sensor, in particular a camera, and / or a distance sensor, in particular an ultrasonic sensor and / or a laser scanner.

[0027] The computer-readable medium is preferably a memory for digital information. The computer-readable medium can be connected to an interface, in particular a wired and / or wireless interface, for data exchange, in particular for sending and / or receiving the reference data. The interface can comprise a mobile radio module for wirelessly transmitting the reference data.

[0028] The evaluation device preferably comprises a computing unit for processing digital information, in particular a processor. The evaluation device can be signal-connected to the environment detection device and to the computer-readable medium. A computer program product for executing the method described above is preferably stored on the evaluation device and / or on the computer-readable medium.

[0029] A localization device according to claim 11 ensures the orientation of a user in the rail transport system in a particularly reliable and efficient manner. The user interface can have a screen, in particular a touch-sensitive screen, and / or a loudspeaker. The user interface can be designed to output and / or input information. Preferably, the localization device, in particular the user interface and / or the evaluation device and / or the computer-readable medium and / or the environment detection device, is a component of a track vehicle and / or a portable device, in particular a tablet PC and / or a mobile phone.

[0030] The localization device preferably comprises a carriage for traveling along a track, in particular along the track rails. The localization device allows the carriage to be positioned particularly precisely along the track. Units for track maintenance and / or measuring instruments for determining the track's condition are preferably mounted in the carriage.

[0031] The localization device is preferably a component of a portable device, in particular a tablet PC and / or a mobile phone. The localization device can be a component of a track vehicle, in particular a track maintenance vehicle, in particular a track construction machine. The invention is further based on the object of creating an improved method for position-related acquisition of track information in a rail transport system, which method is particularly economical to implement and reliably provides precise results.

[0032] This object is achieved by a method having the features of claim 12. The advantages of the method correspond to the advantages of the method and the localization device described above. The method can be further developed with at least one of the features described above in connection with the method and the localization device.

[0033] The track information can be recorded using a sensor, in particular automatically. The track information can include information that is perceptible to a user and / or information that is not perceptible by a user, not perceptible without aids and / or not perceptible without intervention in the track, in particular destructive intervention in the track. The track information can relate to the quality status of the rail transport system, in particular of the track, in particular of an overhead line and / or the ballast bed and / or the track rails. For example, the track information can correlate with a signal from a ground-penetrating radar, in particular for recording the condition, in particular the degree of contamination and / or the compaction state, of the track bed, and / or correlate with the surface condition of a running surface of the track rails.The measurement environment information can be acquired according to the localization information, in particular by means of a camera and / or a laser scanner.

[0034] Preferably, measurement data are determined which comprise a plurality of measurement data sets.

[0035] Determining the measurement data set of the measurement position, the measurement environment information and the track measurement information advantageously ensures that the measurement position at which the track measurement information was recorded can be reliably, precisely and efficiently retrieved, for example for carrying out track construction measures based on the recorded track measurement information.

[0036] A method according to claim 13 ensures the operation of the rail transport system in a particularly reliable manner. The continuous recording of the measurement data sets, in particular the track measurement information together with the measurement position and the measurement environment information, along the track advantageously ensures that comprehensive information about the quality status of the rail transport system can be provided. Based on this measurement data, the maintenance of the rail transport system can be carried out efficiently and reliably.

[0037] The invention is further based on the object of providing an improved measuring device for position-related acquisition of track measurement information in a rail transport system, which is particularly economical in operation and reliably provides precisely retrievable track measurement information. This object is achieved by a measuring device having the features of claim 14. The advantages of the measuring device correspond to the advantages of the methods described above and the localization device described above. The measuring device can be further developed with at least one of the features described above in connection with the methods, in particular the method for position-related acquisition of track measurement information, and / or in connection with the localization device.

[0038] The environment detection device can be designed according to the environment detection device of the localization device.

[0039] The measurement environment information acquisition device may be configured to acquire the track measurement information described above.

[0040] Preferably, the reference data are generated based on the measurement data; in particular, the reference data correspond to the measurement data. At least one reference data set is preferably generated based on a measurement data set; in particular, the at least one reference data set corresponds to a measurement data set.

[0041] A measuring device according to claim 15 is particularly economical in operation. The carriage can be designed without a motor, in particular as a trailer, and / or with a traction motor. The measuring device is preferably designed to automatically acquire the track measurement information. For this purpose, a control unit for automatically moving the carriage along the track can be provided. The measuring device can be a component of a portable device, in particular a portable measuring device. The measuring device is preferably a component of a track vehicle, in particular a track measuring vehicle.

[0042] A further object of the invention is to provide an improved system which is particularly economical in operation.

[0043] This object is achieved by a system having the features of claim 16. The advantages of the system correspond to the advantages of the methods, localization device, and measuring device described above. The system is preferably further developed with at least one of the features described above in connection with the methods and / or the localization device and / or the measuring device.

[0044] The measuring device records track measurement information in a position-based manner. The localization device allows the measurement position of the position-based track measurement information to be reliably retrieved, particularly for the purpose of performing track maintenance and / or maintenance measures.

[0045] Preferably, the system has at least one track marking that supports the acquisition of the localization information describing the environment and / or the measurement environment information. The track marking can have visually perceptible information, in particular a symbol and / or a barcode and / or a matrix code, in particular for uniquely identifying the track marking. The track marking is in particular detectable by sensors. The information of the track marking can include position data, in particular the position of the marking, in particular in the rail transport system and / or in a global coordinate system.

[0046] The invention further relates to a computer-readable medium with at least one data set comprising a position on the track, in particular the reference position and / or the measurement position, and information correlating with the environment of the position, in particular the measurement environment information and / or the reference information. The advantages of the computer-readable medium correspond to the advantages of the above-described methods, the localization device, and / or the rail transport system. The computer-readable medium is preferably further developed with at least one of the features described above in connection with the methods, the localization device, and / or the measurement device. The data set preferably corresponds to the measurement data set and / or the reference data set. The computer-readable medium can comprise data, in particular the measurement data and / or the reference data.

[0047] 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:

[0048] Fig. 1 is a schematic representation of a first and a second localization device in a rail transport system, wherein the respective localization device comprises an environment detection device, a computer-readable medium with reference data and an evaluation device for identifying a reference data set, Fig. 2 is a schematic representation of the first localization device, comprising an environment detection device, a computer-readable medium and an evaluation device,

[0049] Fig. 3 is a schematic representation of the first localization device with a user interface designed as a screen on which position-related track information is output as a function of the determined localization position and by superimposing localization information describing the environment,

[0050] Fig. 4 is a schematic representation of the first localization device with the user interface designed as a screen on which the position-related track information is output as a function of the determined localization position and by superimposing an image of the perceivable environment,

[0051] Fig. 5 is a schematic representation of a measuring device in the rail transport system, wherein the measuring device has a measurement information acquisition device for acquiring track measurement information and an environment acquisition device for acquiring measurement environment information, or Fig. 6 is a schematic representation of the first localization device, via whose user interface the position-related track information is output by superimposing an image of the perceivable environment and wherein the measuring device is shown in the environment when acquiring the track measurement information.

[0052] With reference to Fig. 1 to Fig. 5, a system 1 with a measuring device 2 and a localization device 3a, 3b is described.

[0053] The system 1 is designed for use in a rail transport system 4. The rail transport system 4 comprises a track 5 with a track superstructure 6. The track superstructure 6 comprises a track bed 7, track sleepers 8, and track rails 9. The rail transport system 4 further comprises an overhead line 10 with masts 11, a suspension cable 12, a contact wire 13, and hangers 14 between the suspension cable 12 and the contact wire 13.

[0054] The section of the rail transport system 4 shown in Fig. 1 requires maintenance. The overhead line 10 has a defective hanger 14a. The track bed 7 has a track bed section 7a with defects, in particular with cavities, silting, contaminants, and / or an insufficient degree of compaction.

[0055] The localization devices 3a, 3b each comprise an environment detection device 15a, 15b, a computer-readable medium 16a, 16b, and an evaluation device 17a, 17b. The computer-readable medium 16a, 16b comprises reference data 18 with a plurality of reference data sets 18.1, 18.2, 18.3. The respective reference data set 18.1, 18.2, 18.3 comprises a piece of reference information 19.1, 19.2, 19.3, a reference position 20.1, 20.2, 20.3 associated with the respective reference information 19.1, 19.2, 19.3, and a piece of track information 21.1, 21.2, 21.3 associated with the respective reference position 20.1, 20.2, 20.3. The respective track information 21.1, 21.2, 21.3 can have track measurement information 22.1, 22.2, 22.3 and / or track operation information 23.1, 23.2, 23.3.

[0056] The evaluation device 17a, 17b is configured to identify a reference data set 18.2 by comparing localization information 24 with the reference data 18. Furthermore, the evaluation device 17a, 17b is configured to determine a localization position 25 based on the reference position 20.2 of the identified reference data set 18.2. For this purpose, the evaluation device 17a, 17b comprises a processor for processing digital information.

[0057] The environment detection device 15a, 15b has at least one camera 26a, 26b. The environment detection device 15b of the second localization device 3b further comprises a laser scanner 27b.

[0058] The respective localization device 3a, 3b comprises a satellite navigation module 28a, 28b, in particular a GPS module, and / or a mobile radio module 29a, 29b, in particular an LTE module.

[0059] The localization device 3a comprises a user interface 30 with a screen, in particular a touch-sensitive screen.

[0060] The second localization device 3b is a component of a track-laying machine 31a. The track-laying machine 31a further comprises a carriage 31 for traveling on track rails 9 and a track-laying unit 32, in particular a tamping unit for compacting the track bed 7. Alternatively or additionally, the carriage 31 can have a cleaning unit for cleaning the track bed 7. For moving along the track 5, the carriage 31 has a traction motor 33.

[0061] The measuring device 2 is described in further detail with reference to Fig. 5 and Fig. 6. The measuring device 2 comprises an environment detection device 15c with a camera 26c and a laser scanner 27c. The environment detection device 15c essentially corresponds to the environment detection device 15b of the second localization device 3b. The measuring device 2 further comprises a measurement information detection device 34. The measurement information detection device 34 is designed to detect the track measurement information 22.1, 22.2, 22.3. The respective track measurement information 22.1, 22.2, 22.3 is determined at a respective measurement position.

[0062] The measuring device 2 comprises an evaluation device 17c for processing the acquired data and a computer-readable medium 16c for storing the data. The measuring device 2 can have a satellite navigation module 28c and / or a mobile radio module 29c.

[0063] The measurement information acquisition device 34 includes a ground-penetrating radar 35 for detecting the condition of the track surface. The ground-penetrating radar 35 is designed as a multi-offset ground-penetrating radar.

[0064] The measuring device 2 comprises a carriage 31 for traveling on the track 5 and a traction motor 33 for moving the carriage 31 along the track 5. The system 1 comprises at least one track marking 36 in the vicinity of the track 5. The at least one track marking 36 is designed in particular to ensure reliable detection by means of the surroundings detection device 15a, 15b, 15c.

[0065] The functioning of the methods, the localization device 3a, 3b, the measuring device 2 and the system 1 is as follows:

[0066] The localization device 3a is designed as a portable computer, in particular a tablet PC. Reference data 18 is stored on the computer-readable medium 16a, in particular comprising the track measurement information 22.2 relating to the trackbed section 7a with insufficient ballast density. Furthermore, the reference data 18 includes the track operation information 23.3 relating to the defective trailer 14a.

[0067] The localization device 3a is used by maintenance personnel 37 to determine the position of the track bed section 7a or the defective hanger 14a. The localization device 3a is located in a first localization position 25.1.

[0068] The first localization position 25.1 is approximately determined using the satellite navigation module 28a. Based on the signal from the satellite navigation module 28a, it is evident that the first localization device 3a is located in the immediate vicinity of the track bed section 7a to be repaired. Due to measurement tolerances, it is not possible to precisely determine where the defective track bed section 7a is located, in particular under which of the sleepers 8 the track bed 7 must be compacted and / or in which area cavities must be filled and / or the track bed 7 must be cleaned.

[0069] By means of the environment detection device 15a, in particular by means of the camera 26a, the environment of the first localization position

[0070] 25.1 descriptive localization information 24 is recorded. The localization information 24 is a camera image of the surroundings, in particular of at least one track structure component, in particular of the mast 11, of the track marking 36 and / or of a natural stationary object, in particular of the landscape and / or of plants 38.

[0071] A reference data set associated with the first localization position 25.1

[0072] 18.1 is identified. For this purpose, the first localization information 24.1 is compared with the reference information 19.1, 19.2, 19.3 of the reference data 18 by means of the evaluation device 17a. Based on matches between the first localization information 24.1 and the associated reference information 19.1, in particular based on matches between corresponding features of compared camera images, the reference information associated with the first localization position 25.1

[0073] 19.1 and thus the corresponding reference data set 18.1 is determined. Using the reference data set 18.1, the corresponding reference position 20.1 is determined. Using the reference position 20.1, the localization position 25.1 can be precisely determined.

[0074] The first localization position 25.1 is determined in particular based on the orientation of the localization device 3a, in particular the environment detection device 15a, in particular the camera 26a, when recording the localization information 24.1, in particular the camera image. The localization position 25.1 can be determined in particular based on several of the reference information items 19.1, 19.2, 19.3 and the associated reference positions 20.1, 20.2, 20.3, in particular by means of a triangulation method.

[0075] For example, image seeding is performed with respect to the first localization information 24.1 to identify individual objects 11, 36, 38 in the vicinity of track 5. Similarly, image recognition can be performed with respect to the reference information 19.1, 19.2, 19.3. A relative position of the localization device 3a can be determined with respect to the objects 11, 36, 38. Similarly, a relative position between the associated reference position 20.1, 20.2, 20.3 and the respective object 11, 36, 38 can be determined from the respective reference information 19.1, 19.2, 19.3. Based on the relative position between the localization position 25.1 and the objects 11, 36, 38 and the relative position between the objects 11, 36, 38 and the respective reference position 20.1, 20.2, 20.3, it is possible to precisely determine the localization position 25.1 in which the localization information 24.1 was recorded.

[0076] The first localization information 24.1, in particular the camera image, is output on the user interface 30, in particular on the screen. This image of the perceivable environment output via the user interface 30 is overlaid with the track information 21.2, 21.3. Figure 6 schematically shows an overlay of the image of the perceivable environment with the position-related track measurement information 22.2, which includes the defective track bed section 7a. Furthermore, the defective trailer 14a is identified by a corresponding information symbol 39 superimposed on the image of the perceivable environment. For easier orientation in the rail transport system 4, in particular the distance x in the longitudinal rail direction between the first localization position 25.1 and the reference position 20.2 of the track bed section 7a to be processed can be displayed.

[0077] Based on the determined localization position 25.1, in particular with respect to the position of the track section 7a to be repaired, in particular with respect to the reference position 20.2, and / or with respect to the defective hanger 14a, in particular with respect to the reference position 20.3, the localization position can be changed. In particular, the maintenance personnel 37 can navigate in the direction of the track component 7a, 14a to be repaired.

[0078] At the changed localization position 25.2, new localization information 24.2 describing the environment is recorded. The associated reference data set 18.2 is identified, as described above, by comparing the new localization information 24.2 with the reference data 18. The new localization position 25.2 is determined based on the reference position 20.2, which corresponds to the identified reference data set.

[0079] 18.2. From the assignment of the track measurement information 22.2 belonging to the defective track bed section 7a to the reference position

[0080] 20.2 shows that the localization device 3a, in particular the maintenance personnel 27, is precisely positioned on the track bed section 7a to be worked on. In particular, the maintenance personnel 37 is located at the sleeper 8 below which the insufficiently compacted and / or the track bed section 7a to be cleaned is located. In this target area 7a, the maintenance personnel 37 performs track bed compaction, in particular void filling, and / or track bed cleaning. For this purpose, a manual tamping unit 40 can be used, for example.

[0081] When moving between the first localization position 25.1 and the second localization position 25.2, the acquisition of new localization information 24.1, 24.2, 24.3 takes place continuously, in particular with a frequency of at least 1 Hz and / or a maximum of 1 kHz, in particular 20 Hz.

[0082] The second localization device 3b is a component of the track maintenance machine 31a. By means of the localization device 3b, the track maintenance machine 31a can be precisely positioned at the localization information 24.2, 24.3 or the reference position 20.2, 20.3 that is assigned to the respective track information 21.2, 21.3, in particular the track measurement information 22.2 regarding the insufficiently compacted and / or contaminated track bed section 7a or the track operation information 23.3 regarding the defective hanger 14a.

[0083] The movement of the carriage 31 into the target area, in particular to the desired localization position 25.2, 25.3 or to the desired reference position 20.2, 20.3, can be carried out based on a control command from a driver and / or completely automatically.

[0084] One difference from the first localization device 3a is that the second localization device 3b has the environment detection device 15b with the laser scanner 27b. Figure 3 shows a user interface 30, on whose screen an image of the environment is displayed. The image shown was captured by the laser scanner 27b and the display is based on a point cloud recorded by the laser scanner 27b. The display of the image of the environment is superimposed on track operation information 23.4 relating to a defective cable suspension of a power pole. The image is superimposed with a colorization, which can be generated automatically or obtained from localization information 24.1, 24.2, 24.3 from the camera 26b.

[0085] The image of the environment can be based on the respective localization information 24.1, 24.2, 24.3 and / or on a combination of the localization information 24.1, 24.2, 24.3 and the reference information

[0086] 19.1, 19.2, 19.3. This advantageously ensures that, particularly when using the laser scanner 27b, the localization information that can be detected at the respective localization position 25.1, 25.2, 25.3

[0087] 24.1, 24.2, 24.3 may be supplemented by previous records for a more complete picture of the environment, in particular using reference information 19.1, 19.2, 19.3.

[0088] In the representation shown in Fig. 3, the track information 21.4 is again output using an information symbol 39. The track operating information 23.4 regarding the defective suspension can thus be recognized particularly easily and reliably by an operator.

[0089] In Fig. 4, the user interface 30 is shown with the image of the surroundings superimposed by the track operating information 23.4, which is generated as a camera image by the camera 26b. Additionally, the image of the perceivable surroundings is superimposed with a graphic representation of the distance x from the second localization device 3b to the localization position 25.4, which is assigned to the defective one, in the longitudinal direction of the rail.

[0090] The position-related acquisition of track measurement information 22.1, 22.2, 22.3 in the rail transport system 4 is described with reference to Figs. 5 and 6. The environment detection device 15c of the measuring device 2 corresponds to the environment detection device 15b of the second localization device 3b. To process the acquired data, the measuring device 2 has the evaluation device 17c. The acquired data is stored on the computer-readable medium 16c.

[0091] The measurement information acquisition device 34, designed as a ground-penetrating radar, detects the degree of compaction, in particular cavities, and / or the degree of contamination of the track bed 7 along the longitudinal direction of the rail, in particular between the track rails 9, in particular substantially across the entire width of the track sleepers 8. The position at which the respective track measurement information 22.1, 22.2, 22.3 is acquired is also referred to as the measurement position 41.1, 41.2.

[0092] At the respective measuring position 41.1, 41.2, measurement environment information 42.1, 42.2 describing the environment is recorded by means of the environment recording device 15c.

[0093] Using the satellite navigation module 28c, the measurement position 41.1, 41.2 is approximately determined in a global coordinate system. From this, the arrangement of the respective measurement position 41.1, 41.2 in the global coordinate system can be deduced. The respective measurement position 41.1, 41.2, the associated measurement environment information 42.1, 42.2, and the associated track measurement information 22.1, 22.2 are stored on the computer-readable medium 16c. The measurement environment information 42.1, 42.2 and track measurement information 22.1, 22.2 stored at each measurement position 41.1, 41.2 each form a measurement data set. The multiple measurement data sets form measurement data. The measurement data, in particular the measurement data sets, serve as reference data 18, in particular as reference data sets 18.1, 18.2 for the method for determining the position in the rail transport system 4.

[0094] Fig. 6 shows how the recorded measurement data are used as reference data 18 for determining the localization position 25.1, 25.2, 25.3, in particular for the position-related visualization of the insufficiently compacted and / or contaminated track bed section 7a.

[0095] By means of the respective mobile radio module 29a, 29b, 29c, reference data 18, in particular track information 21.1, 21.2, 21.3, can be received wirelessly at the localization device 3a, 3b and / or sent from the measuring device 2, in particular directly between the measuring device 2 and the localization device 3a, 3b and / or via a central computing system.

[0096] The respective mobile radio module 29a, 29b, 29c can be used, in particular supporting the respective satellite navigation module 28a, 28b, 28c, to approximately determine the localization position 25.1, 25.2, 25.3 and / or the measurement position 41.1, 41.2.

[0097] The method for determining the position in the rail transport system 4, in particular the localization device 3a, 3b designed for this purpose, ensures particularly precise position determination, in particular with a measurement tolerance of a maximum of 1 m, in particular a maximum of 0.1 m, in particular a maximum of 0.01 m. Position determination is made possible in particular in areas where satellite navigation is not possible, for example, in a tunnel. This enables particularly precise manual and / or automated navigation in the rail transport system 4.

[0098] The method for position-related acquisition of track measurement information 22.1, 22.2, 22.3 in the rail transport system 4 ensures the storage of track measurement information 22.1, 22.2, 22.3 together with precise information about the associated measurement position 41.1, 41.2 based on the measurement environment information 42.1, 42.2 describing the surroundings. This ensures that the location of the acquired track measurement information 22.1, 22.2, 22.3 can be reliably and time-efficiently retrieved, in particular for carrying out maintenance measures at the respective measurement position 41.1, 41.2.

[0099] The system 1 with the measuring device 2 and the localization device 3a, 3b combines the advantages of the position-related recording of track measurement information 22.1, 22.2, 22.3 and the thus fundamentally created possibility for precise retrieval of the associated measurement position 41.1, 41.2, with a precise position determination, in particular an accurate navigation, in the rail transport system 4 based on the recorded reference data 18.

[0100] Precise position determination ensures improved navigation within the rail transport system 4. Target areas can be reached in a time-efficient manner. Due to the precise knowledge of the position of a track section 7a to be worked on, the work section can be reduced to the section actually required. This makes track work and / or maintenance of the rail transport system 4 particularly time- and cost-efficient. The activities performed can be documented, particularly position-related, and thus traceable. A rail transport system 4 operated using this method is particularly safe in operation.

Claims

Patent claims 1. Method for determining the position in a rail transport system (4), comprising the steps: 1.1 Acquiring localization information (24.1, 24.2, 24.3) describing the surroundings of a localization position (25.1, 25.2, 25.3) on a track (5), 1.2 Identifying a reference data set (18.1, 18.2, 18.3) by comparing the localization information (24.1, 24.2, 24.3) with reference data (18), comprising a plurality of reference data sets (18.1, 18.2, 18.3), each with a reference information item (19.1, 19.2, 19.3) describing the surroundings of a reference position (20.1, 20.2, 20.3) on the track (5), 1.3 Determining the localization position (25.1, 25.2, 25.3) based on the reference position (20.1, 20.2, 20.3) of the identified reference data set (18.1, 18.2, 18.3).

2. Method according to claim 1, characterized in that the detection of the localization information (24.1, 24.2, 24.3) comprises the optical detection of at least one object (8, 9, 10, 11, 36, 38) in the vicinity of the localization position (25.1, 25.2, 25.3).

3. Method according to claim 1 or 2, characterized in that the detection of the localization information (24.1, 24.2, 24.3) comprises the detection of at least one object designed as a track structure component (8, 9, 10, 11) and / or as a track marking (36).

4. Method according to one of the preceding claims, characterized in that the acquisition of the localization information (24.1, 24.2, 24.3) by means of a camera (26a, 26b, 26c) and / or by means of a laser scanner (27b, 27c).

5. Method according to one of the preceding claims, characterized in that the identification of the reference data set (18.1, 18.2, 18.3) is carried out on the basis of an auxiliary localization position which at least approximately correlates with the localization position (25.1, 25.2, 25.3).

6. Method according to one of the preceding claims, characterized by changing the first localization position (25.1) and determining the changed localization position (25.2, 25.3) 7. Method according to one of the preceding claims, characterized by outputting position-related track information (21.1, 21.2, 21.3) at a user interface (30) as a function of the determined localization position (25.1, 25.2, 25.3).

8. Method according to claim 7, characterized in that the output of the track information (21.1, 21.2, 21.3) is carried out by superimposing an image of the surroundings with the track information (21.1, 21.2, 21.3).

9. Method according to claim 7 or 8, characterized in that the output of the track information (21.1, 21.2, 21.3) comprises the output of track measurement information (22.1, 22.2, 22.3).

10. Localization device (3a, 3b) for determining the position in a rail transport system (4), comprising 10.1 an environment detection device (15a, 15b, 15c) for detecting the environment of a localization position (25.1, 25.2, 25.3) on a track (5) describing localization information (24.1, 24.2, 24.3), 10.2 a computer-readable medium (16a, 16b, 16c) with reference data (18), comprising a plurality of reference data sets (18.1, 18.2, 18.3) each having a reference information item (19.1, 19.2, 19.3) describing the surroundings of a reference position (20.1, 20.2, 20.3) on the track (5), and 10.3 an evaluation device (17a, 17b, 17c) for identifying a reference data set (18.1, 18.2, 18.3) by comparing the localization information (24.1, 24.2, 24.3) with the reference data (18) and for determining the localization position (25.1, 25.2, 25.3) based on the reference position (20.1, 20.2, 20.3) of the identified reference data set (18.1, 18.2, 18.3).

11. Localization device (3a, 3b) according to claim 10, characterized by a user interface (30) for outputting position-related track information (21.1, 21.2, 21.3) to the rail transport system (4) as a function of the determined localization position (25.1, 25.2, 25.3).

12. Method for position-related acquisition of track measurement information (22.1, 22.2, 22.3) in a rail transport system (4), comprising the steps: 12.1 Recording the track measurement information (22.1, 22.2, 22.3) at a Measuring position (41.1, 41.2, 41.3) on a track (5), 12.2 Acquiring measurement environment information (42.1, 42.2, 42.3) describing the environment of the measurement position (41.1, 41.2, 41.3), and 12.3 Determining a measurement data set based on the measurement environment information (42.1, 42.2, 41.3), the measurement position (41.1, 41.2, 41.3) and the track measurement information (22.1, 22.2, 22.3).

13. Method according to claim 12, characterized by continuously recording the track measurement information (22.1, 22.2, 22.3) at different measurement positions (41.1, 41.2, 41.3) along the track (5) for determining measurement data with a plurality of measurement data sets.

14. Measuring device (2) for position-related recording of track measurement information (22.1, 22.2, 22.3) in a rail transport system (4), comprising: 14.1 a measurement information acquisition device (34) for acquiring track measurement information (22.1, 22.2, 22.3) at a measurement position (41.1, 41.2, 41.3) on a track (5), and 14.2 an environment detection device (15c) for detecting measurement environment information (42.1, 42.2, 42.3) describing the environment of the measuring position (41.1, 41.2, 41.3).

15. Measuring device (2) according to claim 14, characterized by a carriage (31) for traveling on track rails (9), on which the measurement information detection device (34) and / or the environment detection device (15c) are mounted.

16. System (1), comprising a measuring device (2) according to one of claims 14 or 15, and a localization device (3a, 3b) according to one of claims 10 or 11.

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