Control and operation system for working on a track using a track laying machine

Abstract

The present invention relates to a control and operating system for working a track (4) with a track-laying machine (1), the system comprising at least one machine frame (2) movable on a track carriage (3), the machine frame (2) comprising working implements (A, 9, 10, 11, 12) and a sensor and measuring system (13) for determining the positional data of the working implements (A, 9, 10, 11, 12) and for identifying objects on the track (4), in particular sleepers (6), rails (5) and possibly obstacles, as well as an arrangement of elements consisting of the working implements (A, 9, 10, 11, 12) and a camera (14) for optically identifying the working area. It is envisaged here that an operating station (15) is installed inside or outside the track-laying machine (1) without a view to the individual working devices (A, 9, 10, 11, 12), and the operating station (15) is provided with a display device (16) for virtual operation, control and / or monitoring of the track-laying machine (1), thereby achieving greater flexibility at the work site and scalability of the control / operating means, along with improved safety and ergonomics at the work station.

Description

Technical Field

[0001] The present invention relates to a control and operation system for working on a track using a track laying machine, the system comprising at least one machine frame movable on a track trolley, the machine frame comprising a working device and a sensor and measurement system for determining the attitude data of the working device and for identifying track objects, in particular sleepers, rails, and optionally obstacles, and further comprising an array element consisting of cameras for optically identifying the working device and the working area. Furthermore, the present invention relates to a method for operating the system.

Background Art

[0002] A general multiple tamping machine is understood to be a track laying machine used for tamping both straight track sections and turnout sections. In order to be usable in the latter application area, special structural forms of working units and additional devices are also required. The labor involved in operating and controlling such machines is extremely large, and in addition to large-scale training, corresponding proficiency and training are also required.

[0003] Such track laying machines usually consist of two driver's cabs and two working cabs. Therefore, the operator area means two spatially separated work stations for operating the respective units and devices. Due to the complexity and structure of the machine, the operator is not always provided with a view of various work areas, and in some cases may only be provided with a limited view. The operators have to communicate with each other via an intercom due to the two separate working cabs.

[0004] In order to obtain the best possible visibility even when visibility is limited in the work process, it is necessary to position the work booth in the immediate vicinity of the work unit. This leads to a limited structural space and forces acceptance of a cramped and ergonomically poor working situation that further increases the risk of incorrect operation for the operator. This also includes highly dangerous booth access, since these booths are also placed on some of the interlinked machinery. If the risk of being caught increases, access is only possible when the machine and the working device are in a stopped state. Due to the dense arrangement of the booths in such a work area, the operator is also exposed to high physical stress due to continuous acceleration processes, vibrations, and shocks.

[0005] Austrian Patent Application Publication No. 519739 describes a method for controlling a track laying machine, especially for a switch or a universal multiple tie tamper, where attitude data of track objects (sleepers, rails, obstacles) are captured using a sensor device. A camera is oriented towards the working unit of the machine to transmit real-time images to the display device of the operation booth. Further, the working position of the working unit is determined by the sensor device and is also displayed on the display device, so that the working position of the working unit can be changed via operating elements before the work process is even carried out.

SUMMARY OF THE INVENTION

PROBLEM TO BE SOLVED BY THE INVENTION

[0006] The problem underlying the present invention is to provide a higher flexibility at the work site, an expandability of the control / operation means, and improved support for the operating personnel compared to the prior art for a track laying machine of the type described at the beginning. Further, a significant improvement in safety and ergonomics at the work station should be achieved. Furthermore, a method for working on a track implemented using the present system is provided.

MEANS FOR SOLVING THE PROBLEM

[0007] According to the present invention, these problems are solved by the system according to claim 1 and the method according to claim 10. The dependent claims relate to preferred embodiments of the present invention.

[0008] Here, an operation station with a poor view of each working device is installed at a location inside or outside the track laying machine, and it is assumed that the operation station is equipped with a display device for virtual operation, control, and / or monitoring of the track laying machine. The arrangement of the operation station that does not depend on the visual line of sight of the operator to each working device and the working area clearly provides a wide spatiality and / or the use of a booth as a working station for the machine operator. By means of more improved design means, a significant improvement in the comfort and ergonomics of the working station is brought about, thereby reducing the risk of incorrect operation by the operator. Under the classical arrangement as a component of the track laying machine itself, for the operating personnel, here, in almost all mechanical deformation forms, safe access to the working station outside the danger area is guaranteed.

[0009] Under the comprehensive concept of the working device, not only complex units such as a tamping unit for tamping the track and a compressing unit for compressing the ballast superstructure, but also simple devices such as a lifting hook or a scraper blade for ballast material distribution, as well as conveying and driving devices, are considered.

[0010] In a further development form, it is assumed that the operation station includes a display device installed to display video / image recording and / or additional information for operator assistance. Thereby, the operator can take advantage of the line of sight to the working device and the working area by real-time recording. Optionally, a selection can be made between different views and depictions. In addition, for the operator, assistance information about the currently used working device is displayed respectively. These are graphic markings such as obstacles in the working area, possible movement paths of the working device and tools, limit values for the working process, warnings, instructions, and various types of overlays.

[0011] In one embodiment, it is assumed that the display device is composed of at least one industrial panel, a flat screen monitor, and / or a video projector. Preferably, here, an industrial panel or a flat screen monitor is used. This is because they provide good image reproduction regardless of environmental conditions such as direct sunlight / daylight that may have an impact or reflections in some cases. The video projector is also used as a display device when space requirements at the operation station, the desired flexibility in the spatially diverse usage, or only temporary use for starting work are necessary.

[0012] Here, preferably, the display device is configured via an industrial panel and / or a flat screen monitor with a touch screen function for operator input. Such input means, in the case of a display device placed within reach near the operation station, provides the operator with an additional and intuitive selection and / or input of values and / or predefined commands in addition to other operating elements. Therefore, for example, confirmation of instructions, setting of machine parameters, selection of a virtual working area, etc. are performed.

[0013] Preferably, the operating station is provided with seats for two machine operators in addition to a plurality of operating elements. From larger track-laying machines to large-scale overhaul and maintenance trains, full operation based on high functionality requires multiple operators. Therefore, it is operated from different working devices without relying on the selected seats. This means that the same work process can be operated from only one seat, only the other seat, or both seats together. Furthermore, this configuration of the operating station provides special advantages in the training and training mode for new operators. Parallel support intervention by a second operator in the work process would be an example. The intercom for communication between workers, which was once required based on separate work booths on track-laying machines, is no longer necessary. Concentrating multiple seats and operating elements in only one operating station is also excellent in terms of saving manufacturing costs. Also, the costly wiring work between mutually separated operator stations is eliminated, achieving significant material savings. Similarly, it also makes sense to centrally install core components of IT such as computer systems, computing and control units in the same place.

[0014] As a further solution, it is assumed that the operating station is provided with a seat for one machine operator in addition to a plurality of operating elements. If the type of machine or limited operating locations are required, only one seat is available. In other cases, two or more operator stations each having only one seat are operated at different locations.

[0015] In a significant development form, a camera for optically identifying the working device and the working area is coupled to the computing unit, and the computing unit is further coupled to the machine control unit using a higher-level computer system.

[0016] This enables the capture of a wider image / video section without unclear areas or areas with poor visibility. Here, individual camera images are distorted corrected or compiled to provide a realistic overall depiction of the working device and / or the working area.

[0017] Furthermore, preferably, the camera for optical identification is configured as a so-called 3D camera. Using a 3D camera, the size and position in space of the object are captured. Thereby, as assistance or an alternative to sensors and measurement systems, the track position and / or obstacles in the working area are determined. The recordings of the 3D camera can be integrated into a 3D model, a so-called digital twin, which enables the operator to select their own viewing point and change it at any time during operation.

[0018] Embodiments for information and data exchange for the control, operation, and monitoring of the track laying machine between the operating station and the upper computer system include a secure transmission form, in particular a VPN tunnel via a VPN router. For secure and protected remote access to the machine, preferably, a stable connection using a VPN tunnel is selected. In particular, this is useful in the case of an operating station of a system center located away from the track laying machine.

[0019] In the method according to the invention for operating the system, the track laying machine is virtually operated, controlled, and / or monitored via the operating station. This enables one or more operators to fully control and monitor the track laying machine with all its working devices and the working area. The installation of the operating station is possible at any location.

[0020] In a further developed form of the method, at the operating station, after the video / image recording has been captured by the camera, a depiction of the working device that has been edited, corrected, and distortion-corrected via the computing unit is displayed via the display device. Thereby, the operator receives a realistic imaging related to the respective working situation, including both the working device and the working area in the field of view. By this form of processing the video / image recording, the ability to better perceive depth information is achieved.

[0021] Preferably, at the operating station, the video / image recording of the camera is displayed in real time via the display device. This enables quick identification and response when controlling and monitoring the working process.

[0022] In a further embodiment of the method, at the operating station, additional information, instructions, and / or warnings for the ongoing working process are assumed to be inserted via the display device for operator assistance in text form, symbol form, and / or any kind of graphically processed depiction. This supplementation of real-time information provides additional assistance to the operator during the ongoing working process and significantly reduces the probability of incorrect operation of the machine. These insertions can, for example, highlight critical machine and process parameters or mark special locations in the imaged working area where manual intervention or confirmation by the operator is required.

[0023] In one embodiment, more preferably, the attitude data captured by the sensor and the measurement system is evaluated by a higher-level computer system, compared with the set value, and the fully automated drive control of the working device is implemented by an algorithm via the machine control unit. Different actual values are required according to the type of the machine and each working device. This may be various information regarding the position, attitude, or state of the working device, or may be parameters of the working process, and is compared with the stored target values. In a fully automated operation, after evaluating the data, the algorithm directly drives and controls the working device without the assistance of the operator. When an abnormality such as an obstacle in the working area is identified by the system or the parameter limit value is reached, the working process is immediately stopped and the machine is brought to a stop state.

[0024] In a development form, the attitude data captured by the sensor and the measurement system is evaluated by a higher-level computer system, compared with the set value, and the subsequent working steps of the working device are depicted in text format and / or graphic format on the display device by an algorithm, and are implemented only after confirmation and / or modification by the operator of the machine control unit by the corresponding drive control of the working device. Thereby, it becomes possible to inspect the suspended working process and the required working position without losing the advantage of the automated drive control of the working unit. In this way, the operator can perform corrective intervention as necessary.

[0025] Hereinafter, the present invention will be exemplarily described with reference to the accompanying drawings.

Brief Description of the Drawings

[0026]

Figure 1

Figure 2

Figure 3

Embodiments for Carrying Out the Invention

[0027] The track laying machine 1 shown in FIG. 1 shows the prior art of a track ramming machine that operates discontinuously to ram the track 4. The track generally means the whole consisting of the rail 5, the sleeper 6, the superstructure, the ballast, the turnout part, the overhead line, and the signal device. In the present invention, in addition to the ballast superstructure, it is also related to a second deformed form of the superstructure configuration, namely, the so-called slab track, in relation to various track laying machines.

[0028] Alternatively to the example shown in FIG. 1, in a continuously operating track ramming machine, the vehicle frame is supported on the track carriage 3, and the movable satellite includes the machine frame 2. The operator's booths 7 are arranged on both end faces respectively. In a simple deformed form of the present track laying machine 1, an operation booth 8 having a view of the working device A arranged adjustably with respect to the machine frame 2 is provided. Nevertheless, all the working devices A and the working areas cannot be completely seen through by the operator in the operation booth 8. As the working area, an area is defined where each of the working devices 9, 10, 11, 12 can freely operate their postures and positions.

[0029] The illustrated embodiment of the machine includes, as working device A, a rotatable and displaceable unit suspension 9, a ramming unit 10, a lift and correction unit 11, and an additional lift unit 12 for branch processing. In the case of larger track-laying machines or large-scale track renovation / restoration trains, in addition to further working devices, additional operator booths are also used. A simple arrangement of cameras 14 is installed in the area of working device A, and thus also on the front end face (right end face in the drawing depiction) as seen in the working direction of the track-laying machine 1. By using these cameras 14, the working area and a limited portion of the track 4 are captured and transmitted to the operator booth 8. The integrated sensors and measurement system 13, on the one hand, captures the geometry of the track and also all objects on the track 4, in particular the rails 5, sleepers 6, and any obstacles that may be present in the working area. The operating parameters and the posture position of the working device A are also determined via the sensors and measurement system 13.

[0030] In FIG. 2, the operator booth 8 arranged in the area of the working device A in FIG. 1 is omitted. The mechanical equipment related to the working device A is configured identically to the track-laying machine 1 in FIG. 1. Due to the omission of the operator booth 8, here a safe and comfortable operating station 15 for the operator is installed in the protected internal area of the track-laying machine 1. Around this operating station 15, in particular, a display device 16, a seat 17, and operating elements 18 are arranged so that they can be ergonomically used or operated by the operator. In the case of larger track-laying machines, this operating station 15 can also be provided with two or more seats 17. An extended arrangement consisting of a plurality of cameras 14 images all the working areas and both end faces of the track-laying machine 1 and transmits these video / image data to a centrally arranged computing unit 19. Similarly, the machine control unit 20 and the upper computer system 21 are also centrally arranged there.

[0031] In FIG. 3, the block diagram of the system configuration describes the interaction of system components. Starting from the operation station 15, preferably, the operator is provided with the touch screen input function of the display device 16. In this case, not only the display device 16 but also the operation elements 18 at the operation station 15 are coupled to the machine control unit 20 for input of control and operation commands. The configuration of the operation elements 18 is diverse, and here, a multi-axis joystick-like input device, switches, buttons, touch elements, and / or a keyboard can be used. Video / image data obtained from the plurality of cameras 14 is transmitted to the display device 16 almost in real time as unprocessed or processed (e.g., edited and distortion-corrected) video information according to the operator's settings. These cameras 14 may be configured as so-called HDR (High Dynamic Range) cameras or xHDR cameras according to the requirements in many countries where direct sunlight is particularly strong. This structural method can compensate for large luminance differences in the image area to be captured better than the human eye. As a result, imaging with a large amount of information and sufficient contrast is achieved.

[0032] The components of the sensor and measurement system 13 are coupled to the machine control unit 20 and are also coupled to a higher-level computer system 21 that processes and evaluates all the information received for the ongoing work process by an algorithm. For the drive control and monitoring of the working device A, these are coupled to the machine control unit 20, where the drive control is directly performed by the operator via the operation elements 18 in the manual mode or directly by the machine control unit 20 and / or the higher-level computer system 21 in the automated mode. Both the calculation unit 19 and the machine control unit 20 are directly connected to the higher-level computer system 21 as the topmost instances, respectively.

[0033] Supplementarily to the real-time recording, information (e.g., warnings, graphically processed depictions) regarding the ongoing or pending work processes inserted via the display device 16 as operator assistance originates from the upper computer system 21. There, data and signals (e.g., identified obstacles) input by the camera 14 and the sensor and measurement system 13 are processed. The result of this evaluation is output to the display device 16 via the computing unit 19, where it is superimposed and displayed for the operator as a corresponding image or video overlay.

[0034] In the case of the operation station 15 arranged outside the track-laying machine 1, all information and data streams necessary for operation, control, and display are captured at the client 22 and coupled bidirectionally to the upper computer system 21 of the track-laying machine 1 via the data connection 24. This coupling is preferably effected via a secure VPN tunnel connection between two transmission units 23.

Claims

1. A control and operation system for working on a track (4) using a track laying machine (1), comprising at least one machine frame (2) movable on a track carriage (3), the machine frame (2) comprising a working device (A, 9, 10, 11, 12) and a sensor and measurement system (13) for determining the attitude data of the working device (A, 9, 10, 11, 12) and identifying an object on the track (4), and further comprising an array element consisting of a camera (14) for optically identifying the working device (A, 9, 10, 11, 12) and the working area. In the system, an operation station (15) is installed at a location inside or outside the track laying machine (1), independent of the visual field of the operator in the working area and without a view of each working device (A, 9, 10, 11, 12), and the operation station (15) is characterized by comprising a display device (16) for virtual operation, control, and / or monitoring of the track laying machine (1).

2. The system according to claim 1, wherein the operation station (15) comprises a display device (16) installed for displaying video / image recording and / or additional information for operator assistance.

3. The system according to claim 2, wherein the display device (16) is composed of at least one industrial panel, flat screen monitor, and / or video projector.

4. The system according to claim 3, wherein the display device (16) is configured via an industrial panel and / or flat screen monitor with a touch screen function for operator input.

5. The system according to any one of claims 1 to 4, wherein the operation station (15) is provided with a seat (17) for two machine operators in addition to a plurality of operation elements (18).

6. The system according to any one of claims 1 to 4, wherein the operation station (15) is provided with a seat (17) for one machine operator in addition to a plurality of operation elements (18).

7. The working devices (A, 9, 10, 11, 12) and the camera (14) for optically identifying the working area are coupled to a computing unit (19), which is in turn coupled to a machine control unit (20) using a higher-level computer system (21). The system according to any one of claims 1 to 6.

8. The camera (14) for optically identifying is configured as a so-called 3D camera. The system according to any one of claims 1 to 7.

9. For information exchange and data exchange for control, operation, and monitoring of the track-laying machine (1) between the operating station (15) and the higher-level computer system (21), a VPN tunnel via a VPN router is installed. The system according to claim 7.

10. A method for operating the system according to any one of claims 1 to 9, characterized in that The track-laying machine (1) is virtually operated, controlled, and / or monitored via an operating station (15). A method.

11. At the operating station (15), after a video / image recording is captured by the camera (14), a depiction of the working devices (A, 9, 10, 11, 12) that is compiled, corrected, and distortion-corrected via the computing unit (19) is displayed via a display device (16). The method according to claim 10.

12. At the operating station (15), the video / image recording of the camera (14) is displayed in real time via the display device (16). The method according to claim 10 or 11.

13. At the operating station (15), additional information, instructions, and / or warnings for the current working process are inserted via the display device (16) for operator assistance in text form, symbol form, and / or any kind of graphically processed depiction. The method according to any one of claims 10 to 12.

14. Regarding the attitude data captured by the sensor and measurement system (13), evaluation is performed by a higher-level computer system (21), compared with set values, and fully automated drive control of the working devices (A, 9, 10, 11, 12) is carried out by an algorithm via the machine control unit (20). The method according to any one of claims 10 to 13.

15. The upper computer system (21) evaluates and compares with the set value the posture data captured by the sensor and the measurement system (13). By an algorithm, the subsequent working steps of the working device (A, 9, 10, 11, 12) are depicted in text form and / or graphic form on the display device (16), and are only implemented by the corresponding drive control of the working device (A, 9, 10, 11, 12) after confirmation and / or modification by the operator of the machine control unit (20). The method according to any one of claims 10 to 13.

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