Method for determining a reference position of a reference object in a track environment, measuring device and system

Abstract

A method for determining a reference position (2.1, 2.2, 2.3) of a reference object (3.1, 3.2, 3.3) in a track environment (4) comprises the steps of: generating measurement data by detecting the track environment (4), evaluating the measurement data by identifying the reference object (3.1, 3.2, 3.3) in the track environment (4) and determining the reference position (2.1, 2.2, 2.3) of the reference object (3.1, 3.2, 3.3) on the basis of the measurement data, the track environment (4) being detected by detecting radar radiation (5). A measuring device for determining a reference position (2.1, 2.2, 2.3) of a reference object (3.1, 3.2, 3.3) in a track environment (4) and a system (1) comprising such a measuring device (6).

Description

[0001] Method for determining a reference position of a reference object in a track environment, measuring device and system

[0002] The invention relates to a method for determining a reference position of a reference object in a track environment. Furthermore, the invention relates to a measuring device for determining a reference position of a reference object in a track environment. The invention also relates to a system comprising such a measuring device.

[0003] WO 2017 / 178093 A1 discloses a method and a measuring system for detecting a fixed point next to a track. The fixed point, marked by an optical recognition pattern, is detected using a stereo camera system. Image capture is sensitive to changing lighting conditions, weather influences such as fog or rain, and contamination, particularly in dusty environments.

[0004] It is an object of the invention to provide an improved method for determining a reference position of a reference object in a track environment, which method is particularly flexible in use and robust in operation, and ensures particularly precise measurement results.

[0005] This problem is solved by a method having the features of claim 1. It was recognized that the reference position of a reference object in the track environment can be determined particularly robustly, flexibly, and precisely using measurement data generated by detecting radar radiation. Radar radiation penetrates fog and rain essentially unaffected. Fluctuations in natural radar radiation on the measurement data generated in this way are essentially negligible. The method reliably ensures particularly precise measurement results. Furthermore, radar sensors for detecting radar radiation are insensitive to contamination, especially dust. The method is therefore particularly suitable for use in dirty, especially dusty, environments, such as a track construction site, particularly during track bed compaction.Furthermore, the method can be applied equally during the day and at night, as well as in open terrain and / or in at least partially enclosed areas, particularly underground, such as a tunnel. This makes the method particularly flexible in use and cost-effective.

[0006] The reference position is understood to be a position of the reference object, in particular in a global or local coordinate system. The local coordinate system can be a measuring coordinate system of a measuring device for executing the method and / or a coordinate system that is fixed with respect to a track carriage, in particular movable along the track, and / or a coordinate system fixed with respect to a section of the track. The global coordinate system can be a geographical coordinate system, in particular a coordinate system for land surveying.

[0007] The track environment is understood to be the area which, in particular laterally, borders on the track rails, in particular the track grid, in particular the clearance profile of the trackway, and / or which extends above the ground surface, in particular the track floor. The measurement data are preferably generated by recording the lateral track environment. The lateral track environment is understood to be the lateral environment of the track, in particular with regard to the longitudinal extent of the track. The lateral track environment is preferably understood to be the area which extends laterally to the track rails, in particular the track grid, in particular the clearance profile of the trackway, and / or which extends at a lateral distance of at least 0.5 m from at least one of the above objects or areas.

[0008] The radar radiation is preferably detected from a transverse track direction or from a direction with at least one directional component oriented parallel to the transverse track direction. The transverse track direction is oriented horizontally and perpendicular to the longitudinal track direction. The detected radar radiation preferably forms an angle of at least 45°, in particular at least 60°, in particular at least 75°, in particular at least 85°, with a vertically downward direction. The radar radiation is preferably detected at least partially, in particular substantially, in particular completely, from a horizontal direction. Generating the measurement data can comprise detecting the lateral, upper, lower, front and / or rear track environment. The reference object is arranged at least partially, in particular completely, in the track environment. The track environment can be detected on one side or both sides of the track.

[0009] The measurement data can be correlated with a specific radar signature of the reference object. To identify the reference object based on the measurement data, the specific radar signature of the reference object can be identified, in particular by comparing it with radar signatures of known reference objects. The reference position of the reference object can be determined based on the time of flight of the radar radiation and / or by triangulation.

[0010] The measurement data can be an image of the track surroundings of the reference object. The detected radar radiation can be radar radiation at least partially reflected by the reference object.

[0011] The radar radiation can be detected by a sensor device for detecting the radar radiation fixed in place. Alternatively, the sensor device can be moved while detecting the radar radiation, in particular continuously and / or step by step. For example, the sensor device can be attached to a carriage moving along the track, in particular on the track rails.

[0012] The method is preferably carried out, in particular entirely, on the ground, in particular on the track. In particular, the detection and / or emission of the radar radiation takes place on the ground, in particular on or in the track. The sensor device and / or a transmitting device, in particular the measuring device, is preferably arranged on the ground, in particular on or in the track.

[0013] The reference position is preferably determined, especially initially, in the local coordinate system, especially the measurement coordinate system. This reference position can be determined as the relative position of the reference object to a measurement position of the measuring device. If the measurement position is known, the global position of the reference object can be determined based on the reference position, especially in a global coordinate system. The global position of the measuring system can be detected, for example, using known navigation methods, especially using a GPS and / or a GNSS method.

[0014] Based on the reference position, the measurement position of the measuring device and / or the position of a track carriage equipped with the measuring device and / or the track on which the measuring device is arranged can be determined, in particular alternatively, in the global coordinate system. The global position of the reference object is preferably known, in particular stored in a memory unit of the measuring device. Based on the global position of the reference object and the determined reference position, in particular the relative position, the corresponding position, for example of the measuring device, can be determined in the global coordinate system.

[0015] The detected radar radiation preferably has a frequency in the range from 0.5 GHz to 500 GHz, in particular from 1 GHz to 100 GHz, in particular from 5 GHz to 80 GHz.

[0016] Positioning is possible regardless of weather conditions, the time of day, and / or the availability of a satellite navigation signal. For example, positioning can be performed accurately even underground, at night, in fog, during heavy rain, and / or in dusty track construction sites.

[0017] Preferably, additional measurement data are acquired in the form of optical radiation, in particular camera images. This allows the accuracy of the method to be further increased, particularly under sufficient visibility conditions. A method according to claim 2 is particularly flexible in use and robust. By means of the radar radiation, natural objects of the vegetation and / or the earth's surface, such as trees or rocks, can be used as reference objects. Special structural precautions, in particular markings, can be omitted. In this way, a high local density of surveying support points in the form of reference objects can be achieved in an economical manner. Artificial reference objects can be infrastructure objects, such as special land surveying points, in particular markings, in particular having a measuring bolt, with or without a measuring marking.Artificial reference objects can also be infrastructure objects, in particular track infrastructure objects, such as bridge elements and / or platform elements, in particular platform edges and / or tunnel entrances and / or track masts and / or track signals and / or noise protection elements and / or level crossings.

[0018] A method according to claim 3 leads to particularly precise measurement results. A signal reflector, in particular a radar reflector, can be particularly reliably detected as a reference object when evaluating the measurement data; in particular, its radar signature can be reliably identified. The radar reflector is preferably a triple mirror. The radar reflector can be pyramid-shaped or truncated pyramid-shaped. The triple mirror preferably has an opening at the intersection point of its mirrors. It can therefore be essentially truncated pyramid-shaped. This makes position determination robust against manufacturing tolerances.

[0019] A method according to claim 4 is particularly robust and leads to precise measurement results. The detected radar radiation is preferably caused by the radar radiation emitted at the at least one transmission position. In particular, the detected radar radiation is a reflection of the emitted radar radiation. As a result, the measurement method is largely independent of external influences and the measurement data can be evaluated with particularly high contrast and reliably. The radiation of the radar radiation at the at least one transmission position can be directed, with a specific main radiation direction, or non-directed. Preferably, in the directed radiation of the radar radiation, at least 60%, in particular at least 80%, in particular at least 90%, of the radiation power is emitted into a circular cone-shaped area with an aperture angle of a maximum of 45°, in particular a maximum of 30°, in particular a maximum of 10°.

[0020] Alternatively, measurement data can be generated using only natural radar radiation. A suitable sensor device for this purpose is also known as passive radar.

[0021] A distance between the reference object and the measuring device can be detected by time-of-flight measurement, in particular when the radar radiation is emitted at a single transmitting position, and / or by detecting the radar radiation at different detection and / or transmitting positions, in particular simultaneously or with a time delay.

[0022] A method according to claim 5 can be carried out in a time-efficient manner and leads to particularly precise measurement results. By emitting the radar radiation from a plurality of radar transmitters, in particular those positioned at a distance from one another, additional information about the track environment can be acquired, in particular a three-dimensional image of the track environment. The radar transmitters are preferably arranged along a line, in particular a straight line, and / or in a grid pattern and / or at equidistant intervals. The grid-shaped arrangement preferably comprises at least 2x2, in particular at least 3x3, in particular at least 4x4, in particular at least 10x10 radar transmitters.

[0023] The radar radiation can be detected with a single or multiple radar sensors. Preferably, the antennas of the at least one radar sensor and the at least one radar transmitter are identical. The number of radar transmitters and radar sensors can be identical.

[0024] A method according to one of claims 6 or 7 is particularly economical in operation and leads to precise measurement results. The phased array antenna is also referred to as a phased-control group antenna. In such a transmitting device, several radar transmitters can be combined in a linear arrangement or in a matrix arrangement. By means of the phased array antenna, an effective main radiation direction of the radar radiation can be electronically adjusted. The main beam direction can be changed, in particular stepwise, for scanning the track area. A corresponding change in the main beam direction by means of a phased array antenna is also referred to as electronic beam steering. In principle, mechanical beam steering, by moving the at least one radar sensor, is also possible. Electronic beam steering has the advantage of being very robust in operation and, in particular, low-maintenance.

[0025] A method according to claim 8 can be implemented particularly economically. The natural radar radiation can be detected exclusively or in addition to the actively generated radar radiation. By detecting exclusively natural radar radiation, radar transmitters and the energy used to operate them can be completely eliminated. A method according to claim 9 can be implemented in a time-efficient manner and ensures high measurement resolution. The plurality of radar sensors can be arranged corresponding to the plurality of radar transmitters, in particular along a line, in particular a straight line, and / or in a grid arrangement, in particular with at least 2x2, in particular at least 3x3, in particular at least 4x4, in particular at least 10x10 radar sensors. The plurality of radar sensors ensure detection of the distance of the reference object from the measuring device by triangulation.

[0026] A method according to claim 10 ensures the reliable detection of the reference object. Because the measurement data form an image of the three-dimensional geometry of the track environment, the at least one reference object, in particular its specific radar signature, can be particularly reliably detected based on the measurement data. The three-dimensional geometry of the track environment is preferably detected by beam sweeping and / or displacing the at least one radar sensor. In particular, the three-dimensional geometry of the track environment can be generated by stepwise scanning of the track environment with the radar beam. The measurement data can be represented in the form of a three-dimensional point cloud.

[0027] A method according to claim 11 ensures reliable detection of the reference object and precise determination of the reference position. The radar radiation penetrates solid bodies, at least partially, particularly when their frequency is in a range from 1 GHz to 100 GHz. The degree of reflection depends on the material composition of the track object. Thus, the material composition of the track environment, in particular of the reference object, can be deduced from the measurement data. This makes it particularly reliable to identify the specific radar signature of a particular reference object. For example, the measurement data can be used to identify whether the reference object contains one of the materials concrete and / or wood and / or steel, in particular whether it is made of these materials.

[0028] A method according to claim 12 can be implemented particularly flexibly. For example, the position of the reference object in a global coordinate system can be determined by a user as the reference position, in particular by means of a portable position detection device. Upon subsequent detection of the reference object, the global position of the measuring device and / or the track can be deduced using this information and the reference position detected as the relative position between the measuring device and the reference object. The manually determined reference position can be stored, for example, in a memory unit of the measuring device and / or a central memory unit of a central computing system.

[0029] A further object of the invention is to provide an improved measuring device for determining a reference position of a reference object in a track environment, which is particularly robust in operation and provides particularly precise measurement results.

[0030] This object is achieved by a measuring device having the features of claim 13. The advantages of the measuring device preferably correspond to the advantages of the method described above. The measuring device is preferably further developed with at least one of the features described above in connection with the method. The sensor device can have at least one radar sensor, in particular a single radar sensor or multiple radar sensors. The radar sensors are preferably designed to detect radar radiation in the frequency range described above and / or arranged according to the above description.

[0031] The measuring device can have a transmitting device for emitting the radar radiation, in particular with at least one, in particular a single or multiple, radar transmitters. The transmitting device is preferably designed according to the above description, in particular as a phased array antenna.

[0032] The evaluation device may comprise an electronic processing unit for processing digital data, in particular the measurement data, in particular a processor. The evaluation device is preferably in signal communication with the sensor device and / or the transmitting device.

[0033] Preferably, the evaluation device comprises a storage unit with information stored thereon relating to one or more reference objects, in particular with data that correlate with the specific radar signature of the at least one reference object and / or with position data, in particular with regard to the global position of the at least one reference object.

[0034] A computer program product for executing the method described above can be stored on the memory unit of the evaluation device. A measuring device according to claim 14 is particularly flexible and economical to use. The track carriage can have a traction motor and / or be designed as a multi-path vehicle.

[0035] Preferably, at least one track maintenance device, in particular a track tamping unit and / or a lifting and straightening unit, is mounted on the track carriage. The measuring device is preferably a component of a track maintenance device, in particular a track construction machine. Because the measuring device is particularly robust in operation, it is particularly suitable for use in the polluted environment of a track construction site.

[0036] A further object of the invention is to provide an improved system which is particularly robust in operation and provides particularly precise measurement results.

[0037] This object is achieved by a system having the features of claim 15. The advantages of the system preferably correspond to the advantages of the method and / or measuring device described above. The system can be further developed with at least one of the features described above in connection with the method and / or the measuring device.

[0038] The at least one radar reflector is preferably a triple mirror. The triple mirror can be attached to the reference object. The arrangement of the reference position means that the radar reflector is arranged near the reference position, in particular at a known distance therefrom. Further features, details, and advantages of the invention will become apparent from the following description of several exemplary embodiments with reference to the figures. They show:

[0039] Fig. 1 A schematic representation of a system with a

[0040] Measuring device for determining a reference position of a reference object in a track environment by means of radar radiation in a side view,

[0041] Fig. 2 is a schematic representation of the system in Fig. 1 in a front view, wherein the measuring device comprises a track carriage with a transmitting device arranged thereon for radiating the radar radiation into the track environment,

[0042] Fig. 3 is a schematic representation of the system in Fig. 1 in a plan view, showing the measuring device in different measuring positions along the track,

[0043] Fig. 4A is a schematic representation of the transmitting device of the

[0044] System in Fig. 1, where several radar transmitters are arranged in a grid and in the same transmission plane,

[0045] Fig. 4B shows a transmitting device according to a further embodiment, wherein all of the plurality of radar transmitters are arranged in a grid and on a curved surface, Fig. 4C shows a transmitting device according to a further embodiment, wherein all of the plurality of radar transmitters are arranged on a straight line, or

[0046] Fig. 4D shows a transmitting device according to a further embodiment, wherein all of the plurality of radar transmitters are arranged on a curved line.

[0047] A first embodiment of a system 1 and a method for determining a reference position 2.1, 2.2, 2.3 of a reference object 3.1, 3.2, 3.3 in a track environment 4 by means of radar radiation 5 is described with reference to Fig. 1 to Fig. 4A.

[0048] The system 1 comprises a measuring device 6 and at least one signal reflector 7. The signal reflector 7 is preferably designed as a radar reflector, in particular as a triple mirror. For particularly precise detection of the reference position 3.1, the triple mirror can be designed to be tip-free, in particular having a hole 7.1 in the region of an intersection point of its mirrors 7.2. The system can have at least one marking 8, in particular in the form of a permanently installed survey point. The marking 8 can be designed as a concrete base. The marking 8 preferably comprises a measuring bolt 8.1.

[0049] The track environment 4 comprises artificial reference objects 3.1, 3.2, in particular the signal reflector 7 and the marking 8, and natural reference objects 3.3, in particular objects of natural vegetation, for example a tree 9. Further reference objects that can be used include, for example, artificial reference objects, in particular infrastructure objects such as a track mast 10, an overhead line 11, a bridge, a noise barrier, a platform, in particular a platform edge, and / or natural reference objects, such as the topology of the earth's surface, in particular a hill and / or a rock, and / or a river.

[0050] The measuring device 6 comprises a carriage 12, in particular a track carriage. The measuring device 1 preferably further comprises a track processing device 13 for performing track work, in particular for compacting a track bed 14 and / or for aligning a track 15. The track bed 14 preferably consists of track ballast. The track 15 comprises track rails 16 and track sleepers 17. The track processing device 13 can comprise a track tamping unit 18 and / or a lifting and straightening unit (not shown).

[0051] The measuring device 6 comprises a sensor device 19 for generating measurement data by detecting the lateral track environment 4. The sensor device 19 is designed to detect the radar radiation 5. For this purpose, the sensor device 19 comprises a plurality of radar sensors 20.

[0052] The measuring device 6 has a transmitting device 21.1 for emitting the radar radiation 5 into the track environment 4 at at least one transmitting position. For emitting the radar radiation 5, the transmitting device comprises a plurality of radar transmitters 22 arranged in a grid and in a single transmitting plane 23. The radar transmitters 22 are preferably arranged in a 4x4 array. In particular, the transmitting device 21.1 can be designed as a phased array antenna. A phased array antenna enables electronic beam pivoting. In a neutral position, a main beam direction 24 of the radar radiation 5 is preferably oriented horizontally and in the transverse track direction or perpendicular to the transmitting plane 23. The main beam direction 24 is preferably electronically pivotable about a first axis 25 and a second axis 26 perpendicular thereto.

[0053] Main radiation directions 24i,i, 24i,2, 24i,3, which are pivoted relative to one another by different angles α about the horizontal, first axis 25, are shown in Fig. 2. Main radiation directions 24i,i, 242,i, 243,i, which are pivoted relative to one another by different angles β about the vertical, second axis 26, are shown in Fig. 3. The transmitting device 21.1 is thus designed for raster-like scanning of the lateral track environment 4 in the horizontal and vertical directions.

[0054] The radar radiation 5 reflected by the track environment 4, in particular the reference objects 3.1, 3.2, 3.3, is detected by the sensor device 19. Preferably, the sensor device 19 and the transmitting device 21.1 are designed as a structural unit, in particular arranged in the same housing.

[0055] Preferably, the sensor device 19 comprises a plurality of radar sensors 20. The number of radar sensors 20 can correspond to the number of radar transmitters 22. In particular, these can each use the same radar antenna to transmit and receive the radar radiation 5.

[0056] The measuring device 6 has an evaluation device 27 for evaluating the measurement data generated by detecting the track environment 4. The evaluation device 27 is designed to identify the at least one reference object 3.1, 3.2, 3.3 based on the measurement data and to determine the associated reference position 2.1, 2.2, 2.3 based on the measurement data. For this purpose, the evaluation device 27 is in signal communication with the sensor device 19.

[0057] The measuring device 6 preferably has a storage unit 28 for storing the measurement data and / or the respectively determined reference position 2.1, 2.2, 2.3. The storage unit 28 can be attached to the carriage 12. Alternatively or additionally, the evaluation device 27 can be signal-connected to a central storage unit (not shown). The signal connection is preferably a radio connection, in particular a mobile radio connection, in particular an LTE connection. The measuring device can have a corresponding radio module 29 for this purpose.

[0058] The measuring device 6 may comprise a satellite navigation device 30, which preferably comprises a GPS module and / or a GNSS module.

[0059] The measuring device 6 can have an optical sensor 31, in particular a camera, in particular a stereo camera, for optically detecting the, in particular lateral, track environment 4.

[0060] The measuring device 6 can also have a laser scanner 32 for detecting the, in particular lateral, track environment 4.

[0061] Preferably, the measuring device 6, in particular the sensor device 19 and / or the transmitting device 21.1 and / or the evaluation device 27 and / or the storage unit 28 and / or the radio module 29 and / or the satellite navigation device 30 and / or the optical sensor 31 and / or the laser scanner 32, and / or the track processing device 13, in particular the at least one track tamping unit 18, are attached to the carriage 12. The carriage 12 preferably has a traction motor 33 for displacing the carriage 12 along the track 15. The carriage 12 can be designed as a pure track carriage or as a road-rail vehicle for traveling on track rails 16 and roads.

[0062] The measuring device 6 can have a user interface (not shown) for manually entering at least one reference position 2.1, 2.2, 2.3.

[0063] The functioning of the method, the system 1 or the measuring device 6 is as follows:

[0064] The measuring device 6 is arranged on the track 15, in particular, the carriage 12 is arranged on the track rails. By means of the traction motor 33, the measuring device 6 is moved to a desired section of the track 15 where the method is to be carried out. The measuring device 1 is located in a first measuring position 34.1.

[0065] The sensor device 19 and the transmitting device 21.1 are activated. The transmitting device 21.1 emits the radar radiation 5 via the plurality of radar transmitters 22 into the lateral track environment 4, in particular in the first main beam direction 24i,i . To generate the measurement data, the radar radiation 5 reflected from the track environment 4 is detected by the sensor device 19. The main beam direction 24 is electronically changed by the transmitting device 21.1, in particular pivoted about the vertical second axis 26. The radar radiation 5 is emitted in the next main beam direction 242,1. The reflected radar radiation 5 is again detected by the sensor device 19. The pivoting of the main beam direction 24 subsequently takes place in predetermined angular steps ß about the vertical second axis 26. The respective angular step ß can be 0.1°.Overall, the main beam direction 24 can be pivoted about the second axis 26 by a maximum of 120°, in particular a maximum of 90°, in particular 60°.

[0066] Likewise, the main beam direction 24 is pivoted about the horizontal, first axis 25, in particular successively by an angular step a of, for example, 0.1°. Preferably, the pivoting movement is performed by a single angular step a about the first axis 25 after each complete sweep of the pivoting movement about the second axis 26. Overall, the main beam direction 24 can be pivoted about the first axis 25 by a maximum of 120°, in particular a maximum of 90°, in particular 60°. This allows the track surroundings 4 to be captured in a grid-like manner.

[0067] The reference object 3.1, in particular the signal reflector 7, reflects the emitted radar radiation 5. The reflected radar radiation 5 is detected by the sensor device 19. The detected measurement data includes information about the three-dimensional geometry of the track environment 4. The measurement data can preferably be represented as a three-dimensional point cloud. Due to the dependence of the reflectance of the radar radiation 5 on the material composition of the respective reference object 3.1, 3.2, 3.3, the measurement data can also contain information about the material composition of the track environment 4. The measurement data is evaluated by the evaluation device 27. The evaluation for detecting the reference object 3.1 in the track environment 4 can be carried out using known pattern recognition methods, in particular image recognition.

[0068] The evaluation device 27 determines the direction in which the reference object 3.1 is located relative to the measuring device 6. The distance of the reference object 3.1 can be determined based on the time of flight of the radar radiation and / or by triangulation.

[0069] Due to their outstanding reflection properties, signal reflectors 7 can be identified and located particularly reliably using the measurement data.

[0070] The first reference position 2.1 of the reference object 3.1 can be determined as a local reference position, in particular as a relative position to the measuring position 34.1.

[0071] Preferably, the global position of the reference object 3.1, 3.2, 3.3 is known, for example, because the reference object is a marker or a signal reflector 7 arranged thereon. The global position of other reference objects 3.3, in particular natural reference objects 3.3, is initially unknown. The first measurement position 34.1 is determined in a global coordinate system using the satellite navigation device 30. Based on the first measurement position 34.1 and the first reference position 2.1 determined as a relative position, the global position of the reference object 3.3 can be deduced. Thus, the global positions of initially unknown reference objects 3.3 can be determined. The global positions 3.1, 3.2, 3.3 are or will preferably be stored in the storage unit 28 and / or in the central storage unit.

[0072] The detection of the track environment 4 preferably takes place at further measuring positions 34.2, 34.3 along the track 15, in particular during a continuous movement of the measuring device 6, in particular of the carriage 12, along the track 15 and / or when the measuring device 6 is at a standstill. The detection of the track environment 4 at the multiple measuring positions 34.1, 34.2, 34.3 ensures that the same reference object 3.1 can be detected from multiple directions and / or that a plurality of the reference objects 3.1, 3.2, 3.3 can be detected along the track 15, whereby the precision of the method can be increased.

[0073] The respective reference position 2.1, 2.2, 2.3, as the relative position of the reference object 3.1, 3.2, 3.3 to the respective measuring position 34.1, 34.2, 34.3, provides precise information about the arrangement, in particular the position and / or orientation of the measuring device 6, in particular of the underlying track 15, with respect to the reference object 3.1, 3.2, 3.3. This allows deviations in the arrangement of the track 15 to be detected and / or a rearrangement of the track 15 to be carried out in accordance with a desired arrangement. If the position of the reference object 3.1, 3.2, 3.3 is known in the global coordinate system, in particular stored in the storage unit 28, the arrangement of the measuring device 6, in particular of the underlying track 15, in the global coordinate system can be deduced from the reference position 2.1, 2.2, 2.3 determined as the relative position. Determining the reference positions 2.1, 2.2, 2.3 of the reference objects 3.1, 3.2, 3.3 thus also enables precise position determination in a reference coordinate system, in particular in the global coordinate system.

[0074] By means of the track maintenance device 13, in particular by means of the track tamping unit 18 and / or the lifting and straightening unit (not shown), a track construction measure, in particular the compaction of the track bed 14 and / or the rearrangement of the track grid, can be carried out precisely at the desired position. In particular, the deviation of the actual arrangement of the track grid from its desired arrangement can be determined based on the determined reference positions 2.1, 2.2, 2.3.

[0075] The method, the system 1 and the measuring device 6 ensure precise orientation in the area of ​​a track 15, in particular with respect to the lateral track environment 4. Because the track environment 4 is detected by means of the radar radiation 5, the at least one reference object 3.1, 3.2, 3.3 can be detected particularly reliably and identified based on the generated measurement data. The method is particularly robust against meteorological influences and can be reliably carried out even in heavy fog, rain or changing solar radiation. The maintenance of the radar transmitters 22 and the radar sensors 23 is particularly low-cost, as they are insensitive to contamination, in particular dust. Consequently, the method, the system 1 and the measuring device 6 are particularly suitable for applications in dusty environments, for example in the area of ​​track construction work, in particular in the area of ​​track bed compaction. With reference to Fig.4B, 4C, and 4D describe further embodiments of transmitting devices 21.2, 21.3, and 21.4. The transmitting devices 21.2, 21.3, and 21.4 are compatible with the measuring device 6.

[0076] The transmitting device 21.2 shown in Fig. 4B has a plurality of radar transmitters 22, with all of the radar transmitters 22 being arranged in a grid pattern and on a curved surface 35, in particular a cylindrical surface. This allows the radiation direction of the radar radiation 5 to be influenced, in particular the measuring range and / or the measurement resolution. Otherwise, the transmitting device 21.2 corresponds to the transmitting device 21.1 described above.

[0077] With reference to Fig. 4C, a transmitting device 21.3 is described in which several radar transmitters 22 are arranged equidistant from one another along a straight line 36. A corresponding transmitting device 21.3 can be manufactured particularly economically. If the line 36 is aligned obliquely to the longitudinal extension of the track 15, a three-dimensional geometry of the track environment 4 can be acquired by displacing the measuring device 6 along the track 15, in particular according to the functionality of a line scanner.

[0078] With reference to Fig. 4D, a transmitting device 21.4 is described in which several radar transmitters 22 are arranged along a curved line 37, in particular equidistant from one another. The arrangement of the radar transmitters 22 along the curved line 37 can influence the measuring range and / or the measuring resolution. Otherwise, the transmitting device 21.4 corresponds to the transmitting device 21.3 described above.

Claims

Patent claims 1. Method for determining a reference position (2.1, 2.2, 2.3) of a reference object (3.1, 3.2, 3.3) in a track environment (4), comprising the steps: 1.1 Generating measurement data by recording the track environment (4), 1.2 Evaluation of the measurement data to detect the reference object (3.1, 3.2, 3.3) in the track environment (4), 1.3 Determining the reference position (2.1, 2.2, 2.3) of the reference object (3.1, 3.2, 3.3) based on the measurement data, characterized in that 1.4 the detection of the track environment (4) is carried out by detecting radar radiation (5).

2. Method according to claim 1, characterized in that when evaluating the measurement data, an artificial reference object (3.1, 3.2), in particular an infrastructure object, and / or a natural reference object (3.3), in particular an object of vegetation and / or the earth's surface, is recognized.

3. Method according to claim 2, characterized in that a radar reflector (7) is detected during the evaluation of the measurement data.

4. Method according to one of the preceding claims, characterized by emitting radar radiation (5) at at least one transmitting position into the track environment (4), wherein the radar radiation (5) reflected by the track environment (4) is detected.

5. Method according to claim 4, characterized in that the radar radiation (5) is emitted by means of several radar transmitters (22).

6. Method according to claim 4 or 5, characterized in that the radar radiation (5) is emitted by means of a phased array antenna (21.1, 21.2, 21.3, 21.4).

7. Method according to one of claims 4 to 6, characterized by changing a main beam direction (24) of the radar radiation (5).

8. Method according to one of the preceding claims, characterized by generating the measurement data by detecting natural radar radiation (5).

9. Method according to one of the preceding claims, characterized in that the radar radiation (5) is detected by means of several radar sensors (20) spaced apart from one another.

10. Method according to one of the preceding claims, characterized in that the detection of the track environment (4) comprises the detection of information about the three-dimensional geometry of the track environment (4).

11. Method according to one of the preceding claims, characterized in that the detection of the track environment (4) comprises the detection of information about the material composition of the track environment (4).

12. Method according to one of the preceding claims, characterized by manual determination of at least one reference position (2.1, 2.2, 2.3) by a user.

13. Measuring device (6) for determining a reference position (2.1, 2.2, 2.3) of a reference object (3.1, 3.2, 3.3) in a track environment (4), comprising 13.1 a sensor device (19) for generating measurement data by detecting the track environment (4), and 13.2 an evaluation device (27) for detecting at least one reference object (3.1, 3.2, 3.3) of the track environment (4) based on the measurement data and for determining the reference position (2.1, 2.2, 2.3) of the reference object (3.1, 3.2, 3.3) based on the measurement data, characterized in that 13.3 the sensor device (19) has at least one radar sensor (20) for detecting the track environment (4) by detecting radar radiation (5).

14. Measuring device (6) according to claim 13, characterized by a track carriage (12) for traveling on the track (15), to which the sensor device (19) is attached.

15. System (1), comprising 15.1 a measuring device (6) according to one of claims 13 or 14, at least one radar reflector (7) at the reference position

Images