Control computer for generating commands for carrying out a control method for a machine for treating a rail by means of a tool, and method

Abstract

The invention relates to a method for controlling a positioning process of a tool for treating a rail.

Description

[0001] Method for controlling a tamping machine

[0002] The invention relates to a control computer according to the preamble of independent claim 1 or independent claim 2 or independent claim 3 or independent claim 4.

[0003] The invention relates to a control computer for generating commands for carrying out a method for machining a track with a tool.

[0004] The control computer can be located outside the machine and communicate with another control computer located inside the machine. The additional control computer can be a PLC (programmable logic controller).

[0005] The control computer can be located in the machine.

[0006] The invention disclosed here may be directed exclusively to the creation of commands of a control program for processing the track. This invention may include the execution of the processing of the track.

[0007] The invention relates in particular to a control computer for generating commands for carrying out a tamping process for compacting a ballast bed of a track with a tamping unit comprising a tamping pick and / or a lifting tool as a tool.

[0008] A track construction machine according to the prior art comprises a tool position measuring device for detecting the position of a tool. Determining the tool position can comprise determining the position of the track construction machine. A person skilled in the art is able to select a device and method from the multitude of devices and methods for determining the aforementioned positions which allows a sufficiently accurate determination of the tool position. The tool can be, for example and thus not restrictively, a tamping unit comprising a tamping pick or a lifting tool or an additional lifting device or a front-end compactor or a track stabilizer or a sweeping brush or a noise barrier or a ballast plough. The track can be worked with the tool and thus its properties can be changed.

[0009] The object of the invention is to position the tool in the track, particularly in the switch, or to provide a suggestion for such a positioning so that the tool can machine the track at that position. The tool must always be positioned for the subsequent machining operation in such a way that the work process can begin after the tool has been positioned, i.e., without further repositioning of the tool and without damaging the track.

[0010] When using a tamping pick as a tool, one of the tasks is to position the tamping pick as part of the tamping unit over an area that may need to be tamped, so that the tamping process can be carried out in this area.

[0011] According to the current state of the art, the positioning of a tool on the track can be done manually. The positioning of a tool such as a tamping pick can be facilitated by displaying relevant areas on a screen.

[0012] The invention disclosed here aims to provide a method for positioning the tool based on data and / or measured values. This task does not preclude manual intervention in the positioning process.

[0013] The international patent application WO2022115891A2 describes the positioning of the tamping unit and thus also a tamping pick "on the sleeper", where the term "on" defines a position of the working unit touching the sleeper. Such a positioning of the tamping pick would lead to a destruction of the sleeper, which is why the method cannot be regarded as a solution to the present technical problem. The invention discussed below, however, is based, among other things, on a positioning of the above-defined tool on the ballast bed to be tamped. WO2022115891A2 states in claim 1 the switch data aij (sleeper spacing), beta (switch angle), WP (switch point), t (tangent length), L (switch length) and n (inclination of the

[0014] Switch), which switch data do not provide sufficient information about possible positioning of the tool. The parameters mentioned in WO2022115891A2 require at least information about the width of the sleepers in order to be able to determine the empty spaces. Furthermore, WO2022115891A2 lacks information about cables and other infrastructure.

[0015] CN211142667 describes the determination of the movement of a tool on the basis of a switch plan created in advance or a switch diagram created in this way. The automatically generated translations of the original Chinese text differ on this point. By definition, a switch plan or a schematic representation of a switch (cf. graphic switch - switch (railway) - Wikipedia available at https: / / de.wikipedia.org / wiki / Weiche_%28Bahn%29# / media / Datei:Gr af ik_weiche.png) does not contain sufficient information about the ballast bed areas to be tamped, nor sufficient information for positioning a tool such as a tamping pick on the track immediately before carrying out work with the tool. In particular, there is no indication that this switch plan takes into account changes in the switch that are relevant for positioning and driving the tamping pick into the ballast bed area.The above-mentioned documents WO2022115891A2 and CN211142667 do not offer satisfactory solutions for positioning a tool such as a tamping pick. The methods described in these documents carry the risk of damaging track objects.

[0016] From this, the technical task of the invention disclosed here is derived, namely the positioning and the subsequent processing process in the track.

[0017] The invention discussed here solves this technical problem through four approaches. It is fundamentally conceivable that the approaches could be implemented independently of one another or in any combination. At least two of the four approaches can be combined.

[0018] Claim 1 defines a first approach to a solution.

[0019] The second approach to the solution is defined by the second claim.

[0020] The first approach is characterized by track data, or more generally, data about the track or, more specifically, about the switch, as input data. The track data, or more generally, the data, defines first areas in which the tool can be positioned, and / or second areas in which the tool may not be positioned. Positioning the tool in a second area, for example, can lead to damage to an object.

[0021] The second approach is characterized by machine parameters or, in general, by data describing the movement to be carried out by machine parts as input data. A machine can comprise several drive units for moving one or more mechanical levers. The mechanical levers can be mechanically coupled to move the tool from one position to another, so that the position of a tool is changed by actuating a drive unit. The machine parameters can describe at what point in time or at what position of the machine or tool which drive unit is actuated to move the tool to the second position to be reached.

[0022] A person skilled in the art can combine the first and second approaches. A combination can be such that the tool is positioned according to the first and second approaches, with the tool only being positioned in an area if the first and second approaches produce the same or a similar result. A similar result can be present, for example, if the aforementioned approaches result in a permissible or inadmissible positioning in an area with a probability above a defined limit.

[0023] The track data can be stored in a database. The track data can be the result of a recording of the track using sensors and the processing of the sensor data generated by these sensors, for example, using methods based on artificial intelligence.

[0024] The track data or the machine parameters can be included in the invention as sole input values ​​or as input values ​​in combination with other input values, such as input values ​​created by a person.

[0025] The following is defined for the first approach and the second approach.

[0026] A void or free space on a track is defined as the area of ​​the track in which a tool can be positioned immediately before work is carried out with the tool without damaging track elements such as rails, sleepers, cables or other infrastructure devices. The void can, for example, be the space between the rails in which a tool can be moved. The void can, for example, be the space between sleepers as track elements, which space may be fully or partially filled with ballast and into which space a tamping pick is inserted as a tool.

[0027] The track data includes geometric parameters describing these empty spaces for the positioning of the tool, such as the tamping pick, as an indication of a possible tamping area of ​​the track's ballast bed or for the lifting tool. A position to be reached lies within an empty space.

[0028] A tamping pick is driven into the ballast bed. The position of the tamping pick can be within the ballast bed to be tamped or on the surface of the ballast bed.

[0029] The track data can be provided, for example, as vector data, area specifications, or CAD data. This track data may include a description of empty spaces, which are located in a coordinate system. Preferably, the tool position can also be located in a coordinate system.

[0030] The track data may also include an analog description.

[0031] In the opposite sense to the description of empty spaces as first areas, the track data can also or alternatively include a description of objects as obstacles and thus second areas. A description of objects as obstacles can include information about the type of object and its location.

[0032] The track data may include an indication of a free space and an obstacle, which obstacle reduces the free space.

[0033] The track data may also include geometric parameters relating to voids or obstacles that have changed since the planning data was determined. For example, the changed voids or obstacles of another track, in particular another switch, may be considered the changed voids of the track or switch. For example, the other switch with the changed voids or obstacles is considered a reference switch, assuming that the switch undergoes similar changes as the other switch.

[0034] The track data may include the sensor data and / or plan data and / or pickup quantity and / or default data and / or processing quantity and / or configuration data or suggested quantity described below.

[0035] Preferably, a first region, a second region, and the motion vector are defined by a vector specification. If the vector specifications refer to different reference systems, a person skilled in the art can convert a vector specification from one reference system to the other reference system.

[0036] Changes to the first and / or second sections of the track, which are stored in another database, can also be imported. Changes in the empty spaces can be caused by shifts in track elements such as sleepers, rails, and cables. An example of this is shown below.

[0037] Changes in the empty spaces may be caused by additional elements such as additional sleepers, additional rails, additional cables, etc. being added to the track.

[0038] The changed voids can be taken into account in such a way that the voids are taken into account less a statistical change range.

[0039] The empty space can exclude track installations that have been created since the geometric parameters were determined and are stored in a separate database in addition to the database containing the geometric parameters. The aforementioned track data includes not only the geometric parameters of the track, in particular the switch for the tamping pick, but also an indication of the possible tamping area, taking into account changes that commonly occur or have occurred since the geometric parameters were determined.

[0040] After positioning the tamping pick, the rail is aligned using a lifting alignment tool during tamping of a track. To carry out the process, geometric parameters are required, according to which parameters or parameters the rail is aligned with the lifting alignment tool.

[0041] The aforementioned track data may also include parameters for the tamping process. The switch parameters may include the insertion force, vibration, etc., with which the tamping pick is inserted into a ballast area below the first position.

[0042] Bringing the tool to the position to be reached can include determining the tool position in time intervals (at several points in time) and / or path intervals (at several locations) from the first process step until the tool is arranged in the position to be reached.

[0043] The position of a tool can be determined using a sensor, in particular a position sensor or an image sensor. The image sensor generates image data of the track, including the tool if present, from which image data the tool's position relative to the track and / or the machine and / or another reference point is determined.

[0044] The first motion vector and / or the second motion vector can be represented as a vector of a coordinate system. The motion vectors describe the required movement from a determined tool position to a position to be reached and are calculable as such. If the determined workpiece position and the track data are in different

[0045] coordinate systems, the user can perform a transformation between the coordinate systems.

[0046] A tool can only be moved through empty spaces as its first areas. The motion vectors preferably extend through empty spaces. The motion vectors can be determined such that the motion vectors extend through the empty spaces. The empty spaces are preferably defined as vectors. The motion vectors are chosen such that they extend through the empty spaces.

[0047] A track maintenance machine comprises at least one drive unit for moving the tool. Moving the tool may involve moving the machine.

[0048] The motion vector can comprise a binary representation of the activation of at least one drive unit over a predetermined period of time. Such control can be implemented using a PLC (programmable logic controller) according to the state of the art.

[0049] The motion vector describes the required movement of the tool from a determined position to the desired position, at which the track will be machined with the tool. The motion vector can also include an indication of a rotation of the tool.

[0050] The tool can comprise several tool elements that can be adjusted relative to one another. The motion vector can be used to position the tool elements relative to one another as the tool moves from the determined position to the position to be reached.

[0051] At the desired position, the tamping process is then carried out, for example, with a tamping pick or assisted by a lifting tool by aligning the rail. The first and second approaches essentially concern the positioning of the aforementioned tools and the execution of the tamping process and / or the alignment of the rail.

[0052] The machine parameters can also include the penetration force and vibration with which the tamping pick is introduced into the ballast area below the second position to be reached.

[0053] The first approach can be interpreted as the track data described above being located in a coordinate system describing the track or, in particular, the switch. The tool position is determined using this coordinate system of the track or, in particular, the switch. A first motion vector is calculated from the tool position and the position to be reached, which position is described by the track data or, in particular, the track data.

[0054] The second solution can be characterized in that, after locating the tamping machine with the coordinate system describing the track or, in particular, the switch, the tool is positioned with a coordinate system fixed on the tamping machine using the machine parameters.

[0055] The third approach is defined by the third claim. The fourth approach, which is similar to the third approach, is defined by the fourth claim.

[0056] The third approach is based on the determination of object data describing a track object and / or the processing of this data.

[0057] The fourth approach is based on the determination of data about areas , in particular about processing areas , and the processing of this data .

[0058] The third approach and the fourth approach can be combined.

[0059] The third approach is characterized by

[0060] - in a first method step, the control computer determines the tool position by means of the tool position measuring device or the control computer receives the tool position by an input, and

[0061] - in a second method step, a sensor device connected to the control computer creates sensor data about the track at or in the area of ​​the tool position, in which sensor data the control computer, using artificial intelligence methods, recognizes sensor track objects, which sensor track objects the control computer recognizes as first sensor track objects, which first sensor track objects can be processed with the tool, and, if appropriate, as second sensor track objects, which second sensor track objects cannot be processed with the tool,

[0062] - in a second method step, the control computer loads plan data about the track at or in an area of ​​the tool position from a database, which plan data comprise first plan track objects to be processed and possibly second plan track objects not to be processed, and the control computer creates a recording set as a union of the first sensor track objects and the first plan track objects,

[0063] - in a third process step, the control computer loads from a database of predefined data describing the first predefined track objects to be processed and, if applicable, second predefined track objects not to be processed at or in the area of ​​the tool position and creates a processing quantity as a difference quantity from the first predefined track objects and the recording quantity,

[0064] - in a fourth method step, the control computer loads from the database configuration data describing first configuration track objects, which first configuration track objects the tamping machine can process due to their properties, and optionally second configuration track objects, which second configuration track objects the tamping machine cannot process due to their properties, and the control computer creates a suggested set as the union of the second sensor track objects and the second planned track objects and / or a difference set from the first default track objects 208 and the first sensor track objects or the first planned track objects or the acceptance set and / or an intersection of the processing set or the second sensor track objects or the second planned track objects or the inverted acceptance set and the first configuration track objects,which proposal quantity includes an indication of the first track objects to be machined and, if applicable, of the second track objects not to be machined at or in the area of ​​the tool position.

[0065] The fourth approach is characterized by

[0066] - in a first method step, the control computer determines the tool position by means of the tool position measuring device or the control computer receives the tool position by an input, and

[0067] - in a second method step, a sensor device connected to the control computer creates sensor data about the track at or in an area of ​​the tool position, in which sensor data the control computer, using artificial intelligence methods, recognizes sensor processing areas, which sensor processing areas the control computer recognizes as first sensor processing areas, which first sensor processing areas can be processed with the tool, and optionally as second sensor processing areas, which second sensor processing areas cannot be processed with the tool,

[0068] - in a second process step, the control computer

[0069] Loads plan data about the track in the area of ​​the tool position from a database, which plan data include first plan processing areas to be processed and possibly second plan processing areas not to be processed, and the control computer creates a recording set as a union of the first sensor processing areas and the first plan processing areas,

[0070] - in a third method step, the control computer loads from a database of predefined data describing first predefined processing areas to be processed and, if appropriate, second predefined processing areas not to be processed and creates a processing area set as a difference set of the first predefined processing areas and the recording set,

[0071] - in a fifth method step, the control computer determines from a database configuration data describing first configuration processing areas, which first configuration processing areas the tamping machine can process due to its properties, and optionally second configuration processing areas, which second configuration processing areas the tamping machine cannot process due to its properties,loads and the control computer creates a suggested set as the union of the second sensor processing areas and the second plan processing areas and / or a difference set from the first default processing areas and the first sensor processing areas or the first plan processing areas or the recording set and / or an intersection of the processing area set or the second sensor track objects or the second plan track objects or the inverted recording set and the first configuration processing areas, which suggested set includes an indication of first areas to be processed and, if applicable, of second areas not to be processed at or in the area of ​​the tool position. The third approach and the fourth approach differ in the point,that the control computer generally recognizes track objects or areas and processes them. The result from the third and fourth approaches can be compared. This comparison can also include the procedural step of suggesting the positioning of the tool only if the third and fourth approaches produce the same or, applying the above definition, a similar result.

[0072] The first method step concerns determining the tool position. The tool position is determined in this and the other method steps of the invention using methods according to the prior art. In the following steps, an area around this tool position, preferably exclusively this area, is considered. The data processed in the further method steps, such as sensor data, planning data, default data, and configuration data, relate to this area, including the tool position.

[0073] In a second method step, the sensor device records the condition of the track during implementation of the invention as sensor data. The sensor data can thus describe the condition of the track being machined by the tool. The quality of the sensor data, i.e., the quantity of the first sensor track objects detected that are not to be machined, is subject to the properties of the sensor.

[0074] The sensor data describe first sensor track objects which must not be machined with the tool, and optionally second sensor track objects which may be machined with the tool. The invention can comprise analyzing the sensor data using methods based on artificial intelligence, so that first sensor track objects, second sensor track objects and optionally further objects are detected in the sensor data. According to the prior art, such methods for detecting objects based on artificial intelligence are based on comparing image data with a database. Essentially, objects in the image are compared with reference objects stored in a database, with an object in the image being recognized as a reference object, optionally by determining a similarity.

[0075] The database of reference objects can be expanded to include additional reference objects.

[0076] The sensor data may include a vectorial representation of the mentioned track objects.

[0077] The planning data describe the track at a point in time prior to the time of implementation of the invention. The planning data thus relate to a point in time prior to the sensor data. The planning data can be specified by a plan for the track to be constructed or repaired.

[0078] Analogous to the sensor data, the plan data includes first plan track objects that may not be processed with the tool, and, if applicable, second plan track objects that may be processed with the tool. The plan data can include a vectorial description of the plan track objects.

[0079] The planning data can describe the condition of a track before its construction. The planning data for a track can contain an error such that the track is not constructed as defined in the planning data, and no further planning data is created that describes the actual design of the track.

[0080] In summary, there may be discrepancies between, on the one hand, the determined sensor data and / or the determined plan data and, on the other hand, the existing track.

[0081] A combination of sensor data and planning data, in

[0082] The particular first sensor track objects and the first plan track objects according to set theory create a recording set in which the first objects covered by the sensor data and the plan data that are not to be processed are recorded. The summation is based on the principle of caution, i.e. the first objects that are not to be processed have a higher rank than the second objects that are to be processed. The person skilled in the art can formulate the aforementioned rank mathematically by applying weighting factors.

[0083] If no planning data is available, the intake quantity is calculated only from the sensor data.

[0084] The term “recorded quantity” is chosen because by combining the sensor data and the plan data, in particular the first sensor track objects and the first plan track objects, the condition of the track determined in the form of sensor data and the condition of the track recorded in the form of plan data are recorded.

[0085] The third method step involves considering the specified data. The specified data are instructions in the form of data that the railway operator also created before the time the invention was implemented. The specified data originates from a source different from the sensor data and the planning data.

[0086] The default data includes first default track objects, which first default track objects are to be processed with the tool, and second default track objects, which second default track objects are not to be processed. The default data can include a vector description of the track objects.

[0087] A difference set between the specification data, which includes at least the first specification track objects to be processed according to the railway operator's specifications, and the recorded set, which recorded set describes at least the track objects not to be processed from sensor data and plan data, can be understood as the set of track objects that may need to be processed and the set of track objects to be processed according to the specifications. The processing set, as the aforementioned difference set, includes at least an indication of the first track objects that can be processed (on the basis of the sensor data and the plan data) and should also be processed (on the basis of the specification data).

[0088] It remains to be checked whether the existing machine is actually capable of processing the track objects defined in the processing set, which is checked in the fourth process step.

[0089] In the fourth method step, the configuration data are loaded, comprising at least first configuration track objects, which first objects the machine can process based on their nature, their spatial arrangement, etc. The formation of an intersection of the processing set, comprising at least first objects that can be processed (from sensor data and planning data) and which should be processed (from default data), with the configuration data provides a suggestion set, comprising at least the track objects to be processed, and the configuration data leads to the creation of a suggestion set. The suggestion set can include a vectorial description of the objects.

[0090] The configuration data can be predefined or executable machine parameters.

[0091] The suggested quantity can be displayed to the machine operator on a monitor. The fourth approach differs from the third in that it considers areas, rather than objects. The above description of the objects applies analogously to the areas under consideration. The fourth approach, based on the consideration of areas, is discussed in the figure description.

[0092] The person skilled in the art is able to combine the descriptions of the third and fourth approaches. The third and fourth approaches consider the sensor data, planning data, default data, and configuration data. It is common practice for a person skilled in the art to omit the associated process step if individual data is not available.

[0093] In the event that no sensor data or plan data is available, a difference set is created from the specified data with the existing data from the sensor data and the plan data.

[0094] In the event that no default data is available, an intersection of sensor data and / or plan data and the configuration data is formed.

[0095] If no configuration data is available, the fourth step is omitted.

[0096] The expert is able to combine two approaches from the four approaches described above.

[0097] The control computer according to the invention can be characterized in that the control computer compares the first movement vector and the second movement vector, and / or the control computer compares a first position to be reached and a second position to be reached and / or the control computer compares first objects of the suggested set and first areas of the suggested set and the control computer outputs an alarm signal in the event of a difference between the movement vectors or the positions to be reached or between the first objects and first areas that exceeds a limit value.

[0098] The above-mentioned independent solution approaches are compared by comparing the motion vectors and / or the position to be reached. The motion vectors and the positions to be reached are mutually verified. A difference between the first and second positions to be reached may be caused by the use of different coordinate systems and / or by the track data and machine parameters as different input parameters.

[0099] The method includes determining the tool position and processing data in the area around the tool position. The specification of objects may include a range specification across the extent of the object. This may be achieved simply by displaying an object on a screen.

[0100] A specification of a range can include a specification of an object. This makes a first object of the suggested set comparable with a first range of the suggested set or with a position to be reached. For example, the first objects and / or the first ranges of the suggested sets and / or a position to be reached can be superimposed on a screen.

[0101] A difference exceeding a limit may require user intervention.

[0102] The control computer according to the invention can be characterized in that the control computer determines a machine position and / or a workpiece position by detecting a threshold or thresholds.

[0103] Determining the tool position can include determining the machine position of the machine. The machine position can also be determined additionally. In a preferred variant of the invention, the machine position is determined by first objects or second objects, such as, for example, by detecting a sleeper. The machine position can be determined using a coordinate system describing the track or by detecting an object such as a sleeper. The tool position can be located by means of a coordinate system attached to the machine.

[0104] The control computer can be connected to an image sensor and / or a tactile sensor for detecting one or more thresholds.

[0105] The control computer according to the invention can be characterized in that the control computer

[0106] - the created positioning instruction data or

[0107] - the suggested set of objects or

[0108] - the suggested quantity of the areas is displayed, preferably for each threshold, on a display device, the control computer granting a user the authority to change the positioning instruction data or the suggested quantities via an input unit.

[0109] The creation of positioning instructions described above is a process based on data stored in a database and / or data acquired by a sensor, which can be executed by the control computer. However, the machine operator should be given the opportunity to intervene in the creation of the positioning instructions or suggested quantities.

[0110] Quantity ranges can be defined within which the suggested quantities can be changed by the machine operator. Furthermore, ranges can be defined within which the operator can change the positioning instructions. The extent of the changes made by the operator can be essentially limited.

[0111] The control computer according to the invention can be characterized in that the track data or the positioning instructions or the machine parameters or the specified track objects or the specified areas are entered into the control computer in the form of a characteristic track designation, in particular a switch designation, wherein the track data and the positioning instructions or the machine parameters or the specified track objects or the specified areas and the characteristic track designations or switch designations are linked to one another in a database.

[0112] The control computer according to the invention can be characterized in that the track data or the machine parameters are entered into the control computer by the user via an input unit.

[0113] The following procedure can be performed using the control computer described above.

[0114] The invention disclosed here also relates to a method for controlling a machine for processing track. The method according to the invention can be carried out by means of a control computer as described above. Analogous to the four proposed solutions for devices mentioned above, the invention comprises four proposed solutions for separate implementation of methods. A person skilled in the art can carry out the described proposed solutions for methods together.

[0115] The proposed solutions of the method according to the invention are defined by claims 8 to 10. The method according to the invention can be characterized in that the control computer

[0116] - the created positioning instruction data or

[0117] - the proposed set of track objects or

[0118] - the suggested quantity of the areas is displayed on a display device, wherein the control computer authorises a user to change the positioning instruction data, if necessary within a position area, or the suggested quantity via an input unit.

[0119] The suggested set may comprise a plurality of first track objects or a plurality of second track objects or a plurality of first track areas or second track areas. The user may select a number of track objects or track areas from the set of first track objects or second track objects or from the set of first track areas or second track areas.

[0120] The user can add additional track objects or additional track sections to the suggested set. The user can change first track objects to second track objects or vice versa. The user can change first track objects to second track objects or vice versa.

[0121] The method according to the invention can be characterized in that the track data or the positioning instructions or the machine parameters or the target track objects or the target measuring ranges are entered into the control computer in the form of a characteristic track designation, in particular a switch designation, wherein the track data of a track designated by a characteristic track designation, or the machine parameters for a track designated by a characteristic track designation, in particular a switch designated by a characteristic switch designation, and the characteristic switch designation are linked to one another in a database.

[0122] The above description is based on the recognition of first areas in which the tool can be positioned, and / or second areas where the tool cannot be positioned. It is within the usual practice of the skilled person to identify obstacles as second areas instead of, for example, empty spaces as first areas. This explicit, in particular, provides guidance for an equivalent implementation of the method described above.

[0123] The above-mentioned results of the individual solution approaches are to be understood as target values. The method according to the invention can also include comparing the target values ​​with the actual values.

[0124] The method according to the invention can comprise determining, in one method step, the actually reached position of the tool. In a further method step, the position to be reached and the reached position or the suggested quantity are compared.

[0125] A record of these positions can be created.

[0126] A machine-readable code of the position to be reached can be stored in a database. This machine-readable code can be compared with a machine-readable code of the position actually reached. The protocol can include information about any differences between the machine-readable codes.

[0127] The protocol may include information about the cause of the position difference, such as manual adjustment of the tamping unit by the machine operator. A difference between the positions can be used to further train artificial intelligence-based methods, such as area or track object recognition.

[0128] In one method step, an actually processed first track object and / or an actually unprocessed second track object can be determined. In a further method step, the first track object determined according to the above description is compared with the actually processed first track object, or the second track object determined according to the above description is compared with the actually unprocessed second track object.

[0129] Likewise, a method can determine an actually processed first area and / or an actually unprocessed second area. In a further method step, the first area and / or second area determined according to the solution approach described above is compared with the actually processed first area or with the actually unprocessed second area.

[0130] The first and second track objects, as well as the first and second areas, can be recorded by scanning the track using a sensor and analyzing the resulting sensor data. The entire object or parts of it, or a marking on the object, such as a sleeper marking, can be recorded.

[0131] A difference between the above-mentioned areas and / or objects may be recorded in a log. The log may also include an indication of changes or user input.

[0132] The invention is further explained with reference to the following embodiments shown in the figures:

[0133] Fig. 1 illustrates the first approach and the second approach of the invention.

[0134] Fig. 2 illustrates the third and fourth approaches of the invention. Fig. 3 illustrates the third approach of the invention.

[0135] Fig. 4 illustrates the third approach of the invention.

[0136] Fig. 5 illustrates a further embodiment of the method according to the invention.

[0137] The embodiments shown in the figures merely illustrate possible embodiments. It should be noted at this point that the invention is not limited to these specifically illustrated embodiments, but rather combinations of the individual embodiments with one another and a combination of an embodiment with the general description given above are also possible. These further possible combinations do not need to be explicitly mentioned, since these further possible combinations are within the skill of the person skilled in this technical field based on the teaching of technical action based on the invention in question.

[0138] The scope of protection is determined by the claims. However, the description and the drawings must be used to interpret the claims. Individual features or combinations of features from the various embodiments shown and described may represent independent inventive solutions. The problem underlying the independent inventive solutions can be derived from the description.

[0139] In the figures, the following elements are identified by the preceding reference symbols:

[0140] 1 gravel bed

[0141] 2 tracks

[0142] 3 tools

[0143] 4 darning picks

[0144] 5 Lifting tool

[0145] 6 white space

[0146] 7 first position to be reached

[0147] 8 second position to be reached 9 first coordinate reference system

[0148] 10 second coordinate reference system

[0149] 100 sensor data

[0150] 101 first sensor processing area

[0151] 102 second sensor processing area

[0152] 201 first sensor track object

[0153] 202 second sensor track object

[0154] 103 Planning data

[0155] 104 first plan processing area

[0156] 105 second plan processing area

[0157] 204 first plan track object

[0158] 205 second plan track object

[0159] 106 intake

[0160] 107 default data

[0161] 108 first default processing quantity

[0162] 109 second default processing quantity

[0163] 208 first default track object

[0164] 209 second default track object

[0165] 110 machining area quantity

[0166] 111 Configuration data

[0167] 112 first configuration editing area

[0168] 113 second configuration editing area

[0169] 212 first configuration track object

[0170] 213 second configuration track object

[0171] 114 Suggested quantity

[0172] 115 first area

[0173] 116 second area

[0174] 215 first object

[0175] 216 second object

[0176] Figure 1 shows the arrangement of a tamping machine immediately before the tamping process. The tools 3 are positioned at the desired positions 7, 8.

[0177] The following method can be carried out with the control computer according to the invention. The tamping machine comprises the units and devices mentioned below so that the described method can be carried out. The control computer is coupled to a position measuring device for detecting the position of a machine position of the tamping machine on the track and to a tool position measuring device for detecting the position of a tool position of at least one tool 3. The respectively measured position data are transmitted to the control computer via a data connection.

[0178] A tamping machine according to the prior art includes a tamping pick 4 or a lifting tool 5 as possible examples of a tool. A tamping pick 4 is driven into the ballast bed 1 to compact the ballast bed 1. By means of the lifting tool 5, the rails are moved from an actual position to a desired position. The invention is also applicable to the control of other tools.

[0179] The invention disclosed here addresses the technical problem of bringing a tool 3 into a position 7, 8 to be reached, from which the tamping and / or straightening process can be carried out starting from this position 7, 8. The invention proposes several solutions for this purpose, which can be implemented separately or together.

[0180] The first proposed solution provides that in a first method step the control computer of the tamping machine reads track data of the track to be processed from a first database, which track data comprise geometric parameters about empty spaces 7 for the positioning of the tamping pick 4 and an indication of a possible tamping area of ​​the ballast bedding area 1 of the track or for the lifting tool 5 geometric track parameters.

[0181] The term "empty space 7" is defined above. The track data may include the data mentioned in the context of the disclosure of the invention, such as sensor data and / or plan data and / or default data and / or configuration data.

[0182] The track data are preferably geometric data, which data are located by a first coordinate system 9. The first coordinate system 9 is encompassed by a point on the track or the terrain.

[0183] The first method step also includes the control computer determining the tool position using the tool position measuring device and, if necessary, the machine position using the machine position measuring device.

[0184] The tool position can be determined via GPS tracking or another state-of-the-art method. The tool position can be recorded using a sensor.

[0185] A tool is positioned via a drive unit. The position of the tool is determined, for example, and thus not exclusively, by the position of the mechanical device.

[0186] Advantageously, the tool position and the machine position are located on the track. The location on the track is performed using the first coordinate system 9.

[0187] In a second process step, the control computer creates positioning instruction data for the tool before the track is processed with the tool. For example, a tamping pick is positioned as a tool above the ballast bed area to be tamped, and each positioning instruction data describes a first position to be reached by the tool (immediately) before tamping the ballast bed area.

[0188] The control computer calculates a difference between the determined tool position and the position command data and, from the determined difference, a first motion vector of the tool. The first motion vector is located, for example, in the first coordinate system. The first motion vector can describe a displacement and a rotation of the tool.

[0189] In a third method step, the control computer outputs a command stored in a database to a tool drive unit for moving the tool 3 to the first position 7 to be reached of the tool 3 in accordance with the first movement vector, whereupon the tool or the tamping machine is moved by the respective drive unit following the first movement vector to the first position 7 to be reached. The invention can comprise that the machine position and / or the tool position are continuously determined during the movement to the position 7, wherein a location is determined using the first coordinate system 9.

[0190] The tool can be moved by moving the tool alone or by moving the machine and thus the tool.

[0191] In a fourth step, the track is processed with the tool at position 7. The tamping pick 4 performs the tamping process at position 7, or the lifting and straightening tool 5 straightens the track at position 7, thus assisting the tamping process.

[0192] The first approach is also based on database-controlled tool positioning, with possible positioning ranges or positions stored in the database. Advantageously, the track data and the location of the machine position and the tool position are related exclusively to the first coordinate system 9.

[0193] The second proposed solution is characterized in that, in a first method step, the control computer determines the tool position using the tool position measuring device and, if necessary, the machine position using the machine position measuring device. These locations are determined using the first coordinate system 9.

[0194] The control computer of the tamping machine reads machine parameters for processing the track at the determined tool position, such as tamping the track to be processed, from a second database. These machine parameters include a second movement vector of the tool and, if applicable, of the tamping machine from the determined tool position or from the determined machine position to a second position to be reached by the tool before tamping the ballast bed area. The machine parameters describe movements of the tool or the machine, which movements are located by the first coordinate system 9 and / or by the second coordinate system 10.

[0195] The second proposed solution provides for the tool 3 to be moved to the second position 8 to be reached under database control. The location of the tool 3 during the execution of the movement according to the second motion vector is determined by the second coordinate system 10. The machine parameters or the second motion vector and the determined tool position are linked in a database.

[0196] In a second method step, the control computer outputs a command stored in a database to a tool drive unit or to a machine drive unit for moving the tool or the tamping machine to the second position to be reached of the tool or the tamping machine in accordance with the second movement vector, whereupon the tool or the tamping machine is moved by the respective drive unit to the second position to be reached.

[0197] In a third step, the tool performs the work on the track. In the example discussed here, the tamping pick performs the tamping process at position 7, or the lifting and alignment tool aligns the track at that position, thus supporting the tamping process.

[0198] The second proposed solution is characterized by the fact that the positioning of the tool is database-controlled, with the required movement of the tool and the machine at a position of the tamping machine and / or the tool being stored in the database by the machine drive unit or the tool drive unit. The required movement at the determined tool position is stored in the database by the second motion vector.

[0199] The solution approaches differ in that, on the one hand, they are based on parameters regarding possible positions or position ranges, and, on the other hand, on machine parameters. Different input data can create different output data, in this case, ultimately different positions. The invention also includes comparing the output data of the different solution approaches.

[0200] The second motion vector can be located in the first coordinate system 9 or in a second coordinate system 10. The second coordinate system 10 is fixed to a point on the machine, so that the machine parameters describe or cause the movement of the tool 3 with respect to a reference point on the machine. Since the machine position is located via the first coordinate system 9, a conversion of the second motion vector into the first coordinate system 9 is possible.

[0201] The invention can provide that the position of the tool 3 in the second coordinate system 10 is measured in time intervals and / or path intervals until the second position 8 is reached.

[0202] The second solution approach can be characterized by the fact that on the one hand the machine is located in the first coordinate system 9 and on the other hand the tool 3 is located in the second coordinate system 10.

[0203] The invention can be characterized in that the first movement vector and the second movement vector are compared and / or at least a first position to be reached and a second position to be reached are compared and in the event of a difference between the movement vectors or the positions to be reached that exceeds a limit value, an alarm signal is emitted.

[0204] Figure 2 illustrates the third proposed solution (object-based control of the machine) at the top and the fourth proposed solution (area-based control of the machine) at the bottom of the inventive method, which can be carried out with the inventive control computer. The control computer for carrying out the inventive method is arranged in the tamping machine. A person skilled in the art can combine the methods shown as separate methods in Figure 2, for example, to achieve greater accuracy.

[0205] The control computer is coupled to a tool position measuring device for detecting the position of a tool. In a first method step, the tool position is determined using the tool position measuring device. A geometric area around the tool position is then defined. This two-dimensional or three-dimensional area can be defined by a distance from the workpiece position.

[0206] Determining the tool position, and in particular the area around the tool position, can have the technical effect of allowing the aforementioned area around the workpiece position to be selected from an area defined by the track. Advantageously, only the data of the selected area is processed.

[0207] As an alternative or in addition to determining the tool position with the tool position measuring device, the tool position can also be entered by a user. For example, the user can specify a threshold as the tool position, and the vectorial value of the tool position can be calculated from this value if the threshold is located in a coordinate system.

[0208] This area is represented by a grid in Figure 2. The grid shown in Figure 2 can represent the arrangement of objects and / or areas.

[0209] Basically, the location of the workpiece and the selection of the area are carried out using state-of-the-art methods.

[0210] In a second method step, a sensor device connected to the control computer acquires sensor data 100 about the track in an area close to the tool position. The sensor data can be acquired using a grid, such as the one shown in Figure 2. Such a grid allows for easy location of the data and simple processing of the data, as described below. Figure 2 shows a grid with rectangles or squares.

[0211] The grid division, in particular the size and / or shape of the rectangles and / or squares, can be adapted to the shape and / or size of the areas or objects, as is the case in Figure 3 described below.

[0212] The grid division can also be rigid. If a grid box is partially occupied by a first area and a second area, or by a first track object and a second track object, the box is considered, in accordance with the caution mentioned several times here, to be occupied by a first object or a first area.

[0213] The control computer detects first sensor track objects 201 and, if appropriate, second sensor track objects 202 using state-of-the-art pattern recognition methods.

[0214] Within the scope of the disclosure of the invention, the first sensor track objects 201 are defined as track objects determined via the sensor data 100, which track objects cannot be machined with the tool or may not be machined. The first sensor track objects 201 are marked by a dot in the grid of Figure 2.

[0215] Within the scope of the disclosure of the invention, the second sensor track objects 202 are defined as geometric regions, which regions can be machined with the tool and thus whose properties can be changed. The second sensor track objects 202 are entered as empty boxes in the grid of Figure 2; only selected second sensor track objects 202 are provided with a reference symbol.

[0216] Pattern recognition according to current teaching provides that an object is recognized as a first object or as a second object with a calculable probability. The invention may include a defined probability threshold. An object is only included as a second object if the probability with which the object is recognized as a second object is higher than the probability threshold. The invention may include the user manually defining objects in the sensor data 100.

[0217] Alternatively or additionally, the control computer detects first sensor processing areas 101 and, if appropriate, second sensor processing areas 102 using pattern recognition methods according to the prior art. Within the scope of the disclosure of the invention, the first sensor processing areas 101 are defined as geometric areas determined via the sensor data 100, which areas cannot be machined or must not be machined with the tool. The first sensor processing areas 101 are marked by a dot in the grid of Figure 2.

[0218] Within the scope of the disclosure of the invention, the second sensor processing areas 102 are defined as geometric areas that can be machined with the tool and thus whose properties can be changed. The second sensor processing areas 102 are entered as empty boxes in the grid of Figure 2; only selected second sensor processing areas 102 are provided with a reference symbol.

[0219] Pattern recognition according to current teaching provides that an area is recognized as a first area or as a second area with a calculable probability. The invention may include a defined probability threshold. A area is only included as a second area if the probability with which the area is recognized as a second area is higher than the probability threshold. The invention may provide that the user manually defines areas in the sensor data 100.

[0220] The sensor data 100 thus describe, on the basis of the determined sensor data, which track objects (first sensor track objects 202) or track areas (first sensor processing areas 101) may not be processed and which track objects (second sensor track objects 203) or track areas (second sensor processing areas 102) may be processed. Such a description of the track corresponds to the description of the track customary in the railway industry. In a second method step, the control computer loads

[0221] Plan data 103 in the area of ​​the tool position from a database.

[0222] In an object-based control of the method (according to claim 3), the plan data 103 describes first plan track objects 204 and second track objects 205 in the area, for example, in an original state, i.e., as the track was originally constructed. The plan data 103 includes first plan track objects 204 that are not to be processed and second plan track objects 205 that can be processed.

[0223] In an area-based control of the method (according to claim 4), the planning data 103 describe first planning processing areas 104 or second processing areas 105 in the area, for example, in an original state, i.e., as the track was originally constructed. The planning data 103 comprise first planning processing areas 104 that are not to be processed or editable second planning processing areas 105.

[0224] The planning data is therefore subject to no or only negligible errors, especially since it is assumed that the track was constructed as planned. The planning data 103 thus describes, on the basis of the planned track, which track objects (first plan track objects 204) or track areas may not be processed (first plan processing areas 104) and which track objects (second plan track objects 205) or track areas may be processed (second plan processing areas 105). This description corresponds to the usual description in the railway industry.

[0225] The planning data 103 thus divides areas of the track, analogous to the sensor data 100, into objects or areas that are not to be processed and objects or areas that may be processed. In an object-based control of the method, the second method step comprises the unification of the set of the first sensor track objects 201 and the first planning track objects 204 according to set theory, creating a recording set 106. In an area-based control of the method, the second method step comprises the unification of the set of the first sensor track objects 201 and the first planning track objects 204, also according to set theory, creating a recording set 106. The recording set 106 is entered in Figure 2 as the result of this unification.

[0226] The term "recording quantity" is chosen here because this quantity records the properties of the track as a data quantity.

[0227] It can be assumed, for example, that the sensor data 100 is not subject to any measurement error. Nevertheless, the plan data 103, in contrast to the sensor data 100, indicates the middle box in the top row as a track object 201 that is not to be processed, or rather, as an area that is not to be processed, since the track has clearly undergone a change. By combining sensor data 100 and plan data 103 as described above in the sense of set theory, it is achieved that areas that are not to be processed are included in the method as such with a high degree of probability. The invention described here is based on the principle of caution.

[0228] For example, a first plan processing area 104 that is not to be processed and is recorded in the plan data 104 can experience a shift and appear in the sensor data 100 as the first sensor processing area 101 at a changed location (cf. the middle box in the top row in the plan data 103 and the left box in the top row in the sensor data 100). The method according to the invention takes both states into account in order to achieve the highest level of security. Such a shift is possible due to the first sensor

[0229] Track object 201 and the first plan track object 204 can be observed.

[0230] The railway operator usually also specifies which track objects should or should not be processed. The railway operator's specifications may also include where or in which area something should or should not be processed.

[0231] In a third method step, in an object-based control, the control computer loads from a database default data 107, first default track objects 208 to be comprehensively processed, and possibly second default track objects 209 not to be processed. In an area-based control of the method, the control computer loads default data 107, first default processing areas 108 to be comprehensively processed, and possibly second default processing areas 109 not to be processed.

[0232] In Figure 2, in the default data 107, those track objects or those areas of the grid that are to be processed are marked with a circle. The circle thus marks the first default track objects 209 or the first default processing areas 109. The second default track objects 210 or the second default processing areas 110 are shown as empty boxes. The latter objects or areas are not to be processed according to the railway operator's specifications.

[0233] The specification data 107 can, for example, take into account instructions on the processing of the track, which are stored in databases in an internal database of the railway operator after the track has been built. The specification data 107 can include specifications on the processing of the track, which specifications can be derived from further sensor data and thus not from the sensor data 100. A processing area set 110 is created as a difference set from the first specification track objects 208 or from the first specification processing areas 108 and the quantity sum 106. The formation of the difference set as a processing area set 110 results in the example shown in Figure 2 that of the set of empty boxes in the recording set 106, only two boxes of the track objects 208 or the processing area set 110 are to be processed. These boxes of the processing area set 110 are each marked by a triangle.

[0234] In the invention disclosed in this document, no different technical effect is achieved depending on whether the difference set is determined from the input quantity 106 and the default data 107 or the difference set is determined from the default data 107 and the input quantity 106 (reverse order). Following current teaching, no negative sets are formed in set theory. Only absolute values ​​of the sets are always considered.

[0235] Furthermore, the characteristics of the machine used, particularly its configuration, must be considered. Essentially, it is important to consider which objects or areas of the grid the machine can process based on its configuration. This occurs in the fifth process step.

[0236] In the fifth method step, in an object-controlled method, the control computer loads configuration data 111 from a database describing first configuration track objects 212, which first configuration processing areas 212 the machine can process due to their properties, and optionally second configuration track objects 213, which second configuration track objects 213 the tamping machine cannot process due to their properties. In an area-controlled method, the control computer loads configuration data 111 from a database describing first configuration processing areas 112, which first configuration processing areas 112 the machine can process due to their properties, and optionally second configuration processing areas 113, which second configuration processing areas 113 the tamping machine cannot process due to its properties.

[0237] A machine can be designed so that only certain objects or areas can be machined with the tool. For example, the machine data can indicate that a machine for tamping a track comprising two rails and sleepers is not suitable for tamping a track near a switch. For example, when tamping a track near a switch, larger working areas are required.

[0238] A machine has second configuration objects 213 or second configuration processing areas 113, which objects or areas can be processed with the tool. For example, the tool cannot be brought into such an area. It is also conceivable that no raw material such as replacement rails or ballast can be brought into such an area. In any case, processing of the track in this area is not possible due to the properties of the machine or due to the selected configuration of the machine at the time the method according to the invention is carried out.

[0239] The first configuration track objects 212 and the first configuration processing areas 112 are marked in the grid by a square and the reference symbol . The second configuration track objects 212 and the second configuration processing areas 113 are marked by an empty box in the grid and partially by the reference symbol . Using set theory, a proposal set 114 is calculated as an intersection of the processing set 110 and the first configuration track objects 212 or the first

[0240] Configuration- Editing areas 112 created.

[0241] In an object-based control of the method, the suggested set 114 includes an indication of the first track objects 216 to be processed and / or the second track objects 217 not to be processed, preferably at or in the area of ​​the tool position. In an area-based control of the method, the suggested set 114 includes an indication of the first areas 115 to be processed and / or the second areas 116 not to be processed, preferably at or in the area of ​​the tool position.

[0242] The first objects 215 defined by determining the suggested set 114 are marked by a diamond in the respective box of the grid and by the reference symbol. Likewise, the first regions 115 are marked by a diamond in a box of the grid and by the reference symbol. The second objects 216 and the second regions 116 created according to the suggested set 114 are marked by empty boxes in the grid and, in some cases, by the reference symbol.The first objects 215 proposed for processing and the second objects 216 not proposed for processing as well as the first areas 115 and the areas 116 not proposed for processing are the result of a development of the proposal, which proposal takes into account the recorded actual situation in the form of the sensor data 100 and the target situation in the form of the plan data 103 and the specification data 107 in conjunction with the possible situation in the form of the configuration data 111 of the machine.

[0243] When working on the track, and in particular on a switch, it is always important to ensure that no track elements such as rails, sleepers, cables, etc. are damaged. The method according to the invention takes this cautionary measure into account because the sensor data 100, the planning data 103, and the default data 107 are taken into account. Thus, data that can originate from different sources and be created at different times is taken into account.

[0244] The above description mentions several databases from which data such as sensor data 100, plan data 103, default data 107, and configuration data 111 are loaded. The different databases can be different sources with data from different acquisition times.

[0245] The method according to the invention, schematically illustrated in Figure 2, is fundamentally applicable to all forms of track processing. A tamping process, which includes, among other things, driving in the tamping pick, is one possible application of the method according to the invention, which application is illustrated in Figure 3.

[0246] Figure 3 shows a schematic of a track. Area-based control of the method is discussed based on Figure 3. However, an area can be formed by a track object, so the following description is also applicable to object-based control of the method.

[0247] In a first process step, the tool position of the tool is determined. In subsequent process steps, data about this tool position and / or in an area around this tool position are processed. Preferably, only the data about this tool position and the area around this tool position are determined.

[0248] Alternatively or in addition to the above-described determination of the tool position, the tool position can also be entered by a user. The invention disclosed here is based on methods for determining a position on a track.

[0249] The schematic representation of the track is the result of the determination of sensor data 100 of the track. State-of-the-art methods are known which detect track objects using pattern recognition or edge detection methods.

[0250] The sensor data 100 comprise an indication of the second sensor processing areas 102 as spaces between the sleepers 200, 201, 202, into which spaces as second sensor processing areas 102 the tamping pick 7 of a tamping machine as an example of a tool for compacting a ballast bed 6 can be introduced.

[0251] The sensor data 100 further includes the rails 203, 204 and the sleepers 200, 201, 202 as first sensor processing areas 101 that are not to be compacted, into which first sensor processing areas 101 the tamping pick 7 cannot be driven under any circumstances. Driving the tamping pick 7 into the first sensor processing areas 101 would result in the destruction of the sleeper 200, 201, 202 or the rails 203, 204.

[0252] The sensor data 100 further includes an area 205, not further defined here, as the first sensor processing area 101. For example, a cable can be arranged in the area 205.

[0253] The second method step comprises loading the sensor data 100 and determining the sensor processing areas 101, 102.

[0254] The sensor data 100 generated by a measurement are combined with planning data 103 using set theory. In the planning data 103, the sleepers 200, 201, 202, the rails 203, 204, and in particular, the area 205 are identified as the first planning processing areas 104.

[0255] In particular, a partial area of ​​the gap between the thresholds 200, 201 is identified in the plan data 103 as a second plan processing area 105 to be processed, while the aforementioned gap is identified in the sensor data 100 as a first sensor processing area 101 not to be processed. Furthermore, such a contradiction exists between the sensor data 100 and the plan data 103 in a partial area between the thresholds 201, 202.

[0256] There is therefore uncertainty as to how the spaces between the sleepers 200, 201, 202 located to the right of the rail 204 in the direction of travel 206 are to be treated. The combination of the sensor data 100 and the plan data 103, in particular of the first sensor processing areas 101 and the first plan processing areas 104, proposed in the method according to the invention reflects the principle of caution, according to which principle a tamping pick 7, as an example of a tool, must always be positioned so that no track elements are destroyed. A combination of the sensor data 100 and the plan data 103 according to the teachings of set theory leads to the result that - following the principle of caution - both spaces to the right of the rail 204 are regarded as first processing areas 101, 104 that are not to be processed.Following the use of the symbols in Figure 2, both gaps are marked with a dot as areas not to be processed. In the interests of advantageous, efficient implementation of the method, the method according to the invention does not determine which track elements are actually present in the gaps mentioned.

[0257] The third method step comprises loading the plan data 103 and combining the sensor data 100 with the plan data 103.

[0258] A railway operator can provide specifications as to where and how the track should be worked. With regard to the application example discussed here, the railway operator can specify in which areas of the track a tamping pick 7 can be inserted. This information can take into account changes to the track since the track was built, changes which cannot be determined using the sensor data 100 or are not available as planning data 103. In the interests of advantageous, efficient implementation of the method, the specification data 107 do not have to include any information as to which track elements are present. In order to carry out the method according to the invention, it is sufficient which areas or here partial areas of the grid are first specification processing areas 108 and, if applicable, second specification processing areas 109.

[0259] In Figure 3, the areas to be machined as the first predefined machining areas 109, in particular the intermediate spaces, are marked with a circle and the reference symbol . Furthermore, the second predefined machining areas 108, which are not to be machined, are marked by empty spaces and, in some cases, with the reference symbol .

[0260] The third method step comprises forming a difference set according to the theory of set theory from the first specified processing areas 108 and the receiving set 106. This creates a processing area set 110. In the representation of the processing area set 110, the first areas to be processed are marked by a triangle. The second areas not to be processed are marked as empty spaces.

[0261] It must also be checked whether the machine used or the configuration of the machine is capable of carrying out work in the areas defined in the processing area set 110, i.e. in the application discussed here, of inserting the tamping pick into the spaces indicated by the triangle.

[0262] In a fourth method step, the control computer loads configuration data 111. The configuration data 111 describe the areas into which the machine can drive the tamping pick. This can be restricted by the configuration of the machine. The configuration data 111 comprise first configuration processing areas 112, in which first configuration processing areas 112 the machine can position the tamping pick 7 as an example of a tool and into which first configuration processing areas 112 the machine can drive the tamping pick 7 as an example of a tool. In addition or alternatively to this, the configuration data 111 comprise second configuration processing areas 113, in which second configuration processing areas 113 the machine cannot position the tamping pick 7 and into which second configuration processing areas 113 the machine can drive the tamping pick 7.The first configuration processing areas 113 in Figure 3 are marked by a square and the reference symbol .

[0263] In this method step, an intersection is created according to the theory of set theory between the processing area set 110 and the configuration data 111, whereby a suggested set 114 is created. The suggested set 114 comprises first areas 115, in which first areas 115 the tamping pick 7 is to be positioned and into which first areas 115 the tamping pick 7 can be driven. In addition or alternatively to this, second areas 116 can be defined, in which second areas 116 the tamping pick is not to be positioned and consequently into which second area 116 the tamping pick 7 is not to be driven.

[0264] The suggested set 114 is characterized by the fact that data with different creation periods are taken into account, especially since it can be assumed that the sensor data 100, the planned data 103, and the specified data 107 relate to or reflect different time periods. The suggested set 114 also takes into account the capabilities of the machine or the current configuration of the machine.

[0265] The suggested quantity can be displayed. A selection or all of the data from the various input data can be displayed. A selection or all of the data from the sensor data, planning data, default data, configuration data and / or a quantity created according to set theory such as the intake quantity, processing quantity or suggested quantity can be displayed in different layers. The display is preferably on a monitor, whereby the different layers can be shown in different colors. An image of the track can also be shown as a layer.

[0266] The application example in Figure 3 is based on the use of a grid defined by the sleepers 200, 201, 202 and the rails 203, 204, especially since the grid mentioned is sufficient for the discussion of the grid according to the invention. Other grids may also be used by those skilled in the art. A grid may, for example, be defined by combining several pixels.

[0267] The above application example deals with the positioning of a tamping pick 7. Several tamping picks 7 can also be positioned, in particular on the opposite sides of a sleeper 200, 201, 202.

[0268] According to current teaching, a protocol of the work performed is created. The invention may include comparing the protocol with the proposed data 114.

[0269] In particular, the invention may comprise that a machine-readable code of the proposal set 114 and a machine-readable code of the protocol are each created according to the same methods and the machine-readable codes are compared.

[0270] In the above description of the fourth proposed solution, the second sensor processing areas 102, the second plan processing areas 105, the second default processing areas 109, and the second configuration processing areas 113 are not taken into account in the aforementioned steps according to set theory. However, a person skilled in the art can use this second data to check the results according to set theory.

[0271] The above description is based on the fact that the first sensor track objects 201 and the first plan track objects 204 define track objects that are not to be processed. It is also conceivable for a person skilled in the art that the first sensor track objects and the first plan track objects describe track objects that are to be processed.

[0272] The above description is largely based on the fact that the first default track objects 208 describe track objects to be processed. It is also conceivable for a person skilled in the art that the first default track objects describe track objects that are not to be processed.

[0273] The above description is largely based on the fact that the first configuration track objects 212 describe track objects that may be editable. It is also conceivable that the first configuration track objects may describe track objects that cannot be edited.

[0274] In the cases described above, the set theory procedural steps leading up to the creation of the suggested set would have to be adapted accordingly. The same applies to the sensor processing areas and plan processing areas.

[0275] Figure 4 corresponds to Figure 3 except for the following differences.

[0276] The default data 109 comprise two second default processing sets 109. This results in a processing set 110 with two triangles marked by a triangle. A comparison of the processing set 110 with the configuration data 112 shows that processing a field 217 with the machine is not possible. The overlay can be carried out, for example, such that the configuration data 112 are subtracted from the processing set 110, with only "positive" sets being considered. The suggested set 114 can comprise a further first area 115', which further first area 115' borders the non-machinable area.

[0277] Figure 5 illustrates a further embodiment of the method according to the invention, which further embodiment can also be carried out independently of the above description.

[0278] The method according to the invention as described above provides, for example, the suggested set 114 shown in Figure 5 with the first areas 115 to be processed. Figure 5 includes, in particular, the suggested set 114 shown in the bottom right of Figure 3.

[0279] The suggested quantity 114 is to be understood as an indication of an area or a position in which area or at which position a positioning of the tool is suggested.

[0280] As explained above, it is possible to determine the position of a tool by moving machine elements such as mechanical levers. This position determination is preferably carried out using sensors that determine the relative movement of machine elements. For example, the change in the length of a lever or the position of one lever relative to another can be determined.

[0281] In particular, according to the above principle, the position of the tool relative to the track vehicle can be determined, and the track vehicle can be located within the track. From the determination of the position of the tool relative to the track vehicle and the location of the track vehicle within the track, the position of the tool within the track can be calculated, for example, using a coordinate transformation.

[0282] The track vehicle can be located by counting sleepers or by positioning it at a fixed point. It is also possible to determine the tool and / or the track vehicle using GPS or a similar system.

[0283] The determined position of the tool can be a vector value. The tool position can be determined at multiple points in time. In particular, the tool position to be reached can be determined. Figure 5 shows a position to be reached as the determined position 220 by way of example.

[0284] The range 115 defined by the suggested quantity 114 or the position (not shown in Figure 5) can be compared with the determined position 220. To support the further discussion, Figure 5 shows a deviation between the determined position 220 and the first range 115.

[0285] The deviation may be due to user intervention. When determining the first area 115 using artificial intelligence, the determined deviation can be used to train the artificial intelligence.

[0286] The first area 115 and the determined position 220 can be in the form of a machine-readable code and documented in a protocol on the processing of the track.

[0287] A comparison of machine-readable codes has the advantage that the positions are compared in a way that is resistant to changes.

[0288] As mentioned above, the track data can also include machine parameters, which are included in the method illustrated in Figure 5 as target machine parameters. Furthermore, actual machine parameters can be measured during track processing. The method can include comparing the target machine parameters and the actual machine parameters.

[0289] Machine-readable codes of the machine parameters can be created and compared. A comparison of a code stored in a database for a target machine parameter and a created code for an actual machine parameter is secure against manipulation.

[0290] The target values ​​of the machine parameters can be compared with the actual values ​​of the machine parameters. For example, values ​​describing the machining energy can be compared. A difference between the values ​​of the machine parameters determined at different times can be regarded as a measure of a change in the track. The above description of Figure 5 mentions the comparison of target values ​​and actual values ​​with regard to the position of the tool. In addition to the positions, other settings such as rotations can also be compared according to the same principle.

Claims

Patent claims 1 . Control computer for generating commands for carrying out a method for controlling a machine for machining a track ( 2 ), in particular in a switch with a tool, which machine comprises a tool position measuring device for detecting the position of a tool position of at least one tool ( 3 ), characterized in that - in a first method step, the control computer determines the tool position by means of the tool position measuring device or the control computer receives the tool position by an input, and - the control computer reads track data of the track to be processed from a database, which track data include geometric parameters about free spaces ( 6 ) of the track, - in a second method step, the control computer creates positioning instruction data for the tool adjacent to a processing area, which positioning instruction data each describe a first position (7) of the tool (3) to be reached before processing the track, wherein the control computer determines a difference between the determined tool position and the position instruction data and calculates a first movement vector of the tool (3) from the determined difference, which first movement vector extends exclusively through the free spaces (6), and -- in a third method step , the control computer issues a command to a drive unit for moving the tool ( 3 ) to the first position ( 7 ) to be reached in accordance with the first movement vector , whereupon the tool ( 3 ) is moved by the respective drive unit following the first movement vector to the first position to be reached . Position ( 7 ) is moved and - in a fourth step, the track of position (7) is machined with the tool.

2. Control computer for generating commands for carrying out a method for controlling a machine for machining a track (2), in particular in a switch with a tool, which machine comprises a tool position measuring device for detecting the position of a tool position of at least one tool (3), characterized in that - in a first method step, the control computer determines the tool position by means of the tool position measuring device or the control computer receives the tool position by an input, and the control computer of the machine inputs machine parameters from a database for machining the track with the tool at or in an area to the tool position, which machine parameters comprise a second movement vector of the tool (3) from the tool position to a second position (8) to be reached of the tool (3) before machining the track with the tool or machine settings for implementing the second movement vector, and - in a second method step , the control computer issues a command to a drive unit for moving the tool ( 3 ) to the second position ( 8 ) to be reached in accordance with the second movement vector , whereupon the tool ( 3 ) is moved by the drive unit to the second position ( 8 ) to be reached and - in a third work step the track of position ( 7 ) is machined with the tool. 3 . Control computer for generating commands for carrying out a method for controlling a machine for working a track ( 2 ), in particular in a switch with a Tool, which machine comprises a tool position measuring device for detecting a tool position of at least one tool ( 3 ), characterized in that - in a first method step, the control computer determines the tool position by means of the tool position measuring device or the control computer receives the tool position by an input, and - in a second method step, a sensor device connected to the control computer creates sensor data about the track at or in the area of the tool position, in which sensor data the control computer recognizes sensor track objects, which sensor track objects the control computer recognizes as first sensor track objects, which first sensor track objects can be processed with the tool, and optionally as second sensor track objects, which second sensor track objects cannot be processed with the tool, - in a second method step, the control computer loads, if necessary, plan data about the track at or in an area of the tool position from a database, which plan data comprise first plan track objects to be processed and, if necessary, second plan track objects not to be processed, and the control computer creates a recording set as a union of the first sensor track objects and, if necessary, the first plan track objects, - in a third process step, the control computer loads from a database of predefined data describing the first predefined track objects to be processed and, if applicable, second predefined track objects not to be processed at or in the area of the tool position and creates a processing quantity as a difference quantity from the first predefined track objects and the recording quantity, - in a fourth method step, the control computer loads from the database configuration data describing first configuration track objects, which first configuration track objects the tamping machine can process due to their properties, and optionally second configuration track objects, which second configuration track objects the tamping machine cannot process due to their properties, and the control computer creates a suggested set as an intersection of the processing set and the first configuration track objects, which suggested set includes an indication of first track objects to be processed and optionally of second track objects not to be processed at or in the area of the tool position.

4. Control computer for generating commands for carrying out a method for controlling a machine for machining a track (2), in particular in a switch with a tool, which machine comprises a tool position measuring device for detecting the position of a tool position of at least one tool (3), characterized in that - in a first method step, the control computer determines the tool position by means of the tool position measuring device or the control computer receives the tool position by an input, and - in a second method step, a sensor device connected to the control computer creates sensor data about the track at or in an area of the tool position, in which sensor data the control computer recognizes sensor processing areas, which sensor processing areas the control computer recognizes as first sensor processing areas, which first sensor processing areas can be processed with the tool, and optionally as second sensor processing areas, which second sensor processing areas are not machineable with the tool, detects - in a second method step, the control computer loads plan data about the track in the area of the tool position from a database, which plan data comprise first plan processing areas to be processed and possibly second plan processing areas not to be processed, and the control computer creates a recording set as a union of the first sensor processing areas and the first plan processing areas, - in a third method step, the control computer loads from a database of predefined data describing first predefined processing areas to be processed and, if appropriate, second predefined processing areas not to be processed and creates a processing area set as a difference set of the first predefined processing areas and the recording set, - in a fourth method step, the control computer loads configuration data from a database describing first configuration processing areas, which first configuration processing areas the tamping machine can process due to their properties, and optionally second configuration processing areas, which second configuration processing areas the tamping machine cannot process due to their properties, and the control computer creates a suggested set as an intersection of the processing area set and the first configuration processing areas, which suggested set includes an indication of first areas to be processed and optionally of second areas not to be processed at or in the area of the tool position.

5. Control computer according to two of claims 1 to 4, characterized in that the control computer the first movement vector and the second Movement vector and / or at least a first position to be reached and a second position to be reached and / or a suggested set of first objects and a suggested set of second areas are compared, and if the difference between the movement vectors or the positions to be reached exceeds a limit value, an alarm signal is issued.

6. Control computer according to one of claims 1 to 5, characterized in that the control computer - the created positioning instruction data or - the proposed set of track objects or - the suggested quantity of the areas is displayed on a display device, wherein the control computer authorises a user to change the positioning instruction data, if necessary within a position area, or the suggested quantity via an input unit. 7 . Control computer according to one of claims 1 to 6, characterized in that the track data or the positioning instructions or the machine parameters or the target track objects or the target measuring ranges are entered into the control computer in the form of a characteristic track designation, in particular switch designation, wherein the track data of a or the machine parameters for a track designated by a characteristic track designation and the characteristic track designation, in particular the track data of a or the machine parameters for a switch identified by a characteristic switch designation and the characteristic switch designation are linked together in a database.

8. Method for controlling a machine for machining a track (2), in particular in a switch with a tool, which machine comprises a tool position measuring device for detecting the position of a tool position of at least one tool (3), characterized in that - in a first method step, a control computer determines the tool position by means of the tool position measuring device or the tool position is entered by a user, and - the control computer reads track data of the track to be processed from a database, which track data include geometric parameters about free spaces ( 6 ), - in a second method step, the control computer creates positioning instruction data for the tool adjacent to an area to be machined, which positioning instruction data each describe a first position (7) of the tool (3) to be reached before machining the track, wherein the control computer determines a difference between the determined tool position and the position instruction data and calculates a first movement vector of the tool (3) from the determined difference, which first movement vector extends exclusively through the free spaces (6), and - in a third method step, the control computer issues a command to a drive unit for moving the tool (3) to the first position (7) to be reached according to the first movement vector, whereupon the tool (3) is moved by the respective drive unit to the first motion vector following the first to be reached Position ( 7 ) is moved and - in a fourth step, the track of position (7) is machined with the tool.

9. Control computer for carrying out a method for controlling a machine for machining a track (2), in particular in a switch with a tool, which machine comprises a tool position measuring device for detecting the position of a tool position of at least one tool (3), characterized in that - in a first method step, a control computer determines the tool position by means of the tool position measuring device or the tool position is entered by a user, and the control computer reads in machine parameters for machining the track with the tool at or in an area to the tool position from a database, which machine parameters comprise a second movement vector of the tool (3) from the determined tool position to a second position (8) to be reached of the tool (3) before machining the track with the tool or machine settings for implementing the second movement vector, and - in a second method step , the control computer issues a command to a drive unit for moving the tool ( 3 ) to the second position ( 8 ) to be reached in accordance with the second movement vector , whereupon the tool ( 3 ) is moved by the drive unit to the second position ( 8 ) to be reached and - in a third work step the track of position ( 7 ) is machined with the tool. 10 . Method for controlling a machine for machining a track ( 2 ), in particular in a switch with a tool, which machine has a tool position measuring device for a Position detection of a tool position of at least one tool ( 3 ) , characterized in that - in a first method step, the control computer determines the tool position by means of the tool position measuring device or the tool position is entered by a user, and - in a second method step, a sensor device connected to the control computer creates sensor data about the track at or in the area of the tool position, in which sensor data the control computer recognizes sensor track objects, which sensor track objects the control computer recognizes as first sensor track objects, which first sensor track objects can be processed with the tool, and optionally as second sensor track objects, which second sensor track objects cannot be processed with the tool, - in a second method step, the control computer loads plan data about the track at or in an area of the tool position from a database, which plan data include first plan track objects to be processed and possibly second plan track objects not to be processed, and the control computer creates a recording set of the first sensor track objects and the first plan track objects, - in a third process step, the control computer loads from a database of predefined data describing the first predefined track objects to be processed and, if applicable, second predefined track objects not to be processed at or in the area of the tool position and creates a processing set as an intersection of the receiving set and the first predefined track objects, - in a fourth step, the control computer from the database configuration data describing first configuration track objects, which first configuration track objects the Tamping machine can process due to its properties, and if necessary second configuration track objects, which second configuration track objects the tamping machine cannot process due to its properties, loads and creates a suggestion set as an intersection of the processing set and the first configuration track objects, which suggestion set includes an indication of first track objects to be processed and if necessary of second track objects not to be processed at or in the area of the tool position.

11. Method for controlling a machine for machining a track (2), in particular in a switch with a tool, which machine comprises a tool position measuring device for detecting the position of a tool position of at least one tool (3), characterized in that - in a first method step, the control computer determines the tool position by means of the tool position measuring device or the tool position is entered by a user, and - in a second method step, a sensor device connected to the control computer creates sensor data about the track at or in an area of the tool position, in which sensor data the control computer recognizes sensor processing areas, which sensor processing areas the control computer recognizes as first sensor processing areas, which first sensor processing areas can be processed with the tool, and optionally as second sensor processing areas, which second sensor processing areas cannot be processed with the tool, - in a second process step, the control computer Plan data about the track in the area of the tool position from a database loads which plan data first plan processing areas to be processed and possibly second plan processing areas not to be processed, and the control computer creates a recording quantity of the first sensor processing area and the first plan processing areas, - in a third process step, the control computer loads from a database of predefined data describing first predefined processing areas to be processed and, if applicable, second predefined processing areas not to be processed and creates a processing area set as an intersection of the recording set and the first predefined processing areas, - in a fifth method step, the control computer loads configuration data from a database describing first configuration processing areas, which first configuration processing areas the tamping machine can process due to their properties, and optionally second configuration processing areas, which second configuration processing areas the tamping machine cannot process due to its properties, and the control computer creates a proposal set as an intersection of the processing area set and the first configuration processing area data, which proposal set includes an indication of first areas to be processed and optionally of second areas not to be processed at or in the area of the tool position. 12 . Method according to one of claims 8 to 11, characterized in that the first motion vector and the second motion vector are compared and / or at least a first position to be reached and a second position to be reached and / or the proposed set of the first objects and the proposed set of the first areas are compared and if the difference between the movement vectors or the positions to be reached exceeds a limit value, an alarm signal is issued. 13 . Method according to one of claims 8 to 12 , characterized in that the control computer - the created positioning instruction data or - the proposed set of track objects or - the suggested quantity of the areas is displayed on a display device, wherein the control computer authorises a user to change the positioning instruction data, if necessary within a position area, or the suggested quantity via an input unit.

14. Method according to one of claims 8 to 13, characterized in that the track data or the positioning instructions or the machine parameters or the target track objects or the target measuring ranges are entered into the control computer in the form of a characteristic track designation, in particular a switch designation, wherein the track data of a track designated by a characteristic track designation and the machine parameters for a track designated by a characteristic track designation and the characteristic track designation are linked to one another in a database. 15 . Method according to one of claims 1 to 14, characterized in that in a method step an actually reached position and / or an actually processed first track object and / or an actually unprocessed second track object and / or an actually processed first area and / or an actually unprocessed second area is determined, and in a further method step the position to be reached and the position reached or the first track objects and the actually processed first track objects or the second track objects and the actually unprocessed second track objects or the first areas and the actually processed first areas or the second areas and the actually unprocessed second areas are compared.

Images