Fully automatically operating track-building machine for tamping a track formed from rails and sleepers

Abstract

The invention relates to a fully automatically operating track-building machine (2) for tamping a track formed from rails (16) and sleepers (9), comprising: a machine frame supported on rail bogies (12); a track lifting-levelling unit (13) having tamping units (1); a position-determining device determining the position of the track-building machine in the track; and a control computer (41) integrated into a wireless network (36). In order to create advantageous working conditions, it is proposed that a manual control device (24) is integrated into the wireless network (36) for transmitting and receiving event data, that a means for determining the relative position of the track-building machine and the manual control device (24) is provided, that the manual control device is equipped with a marking device for marking event points in the track, and that the control computer (41) calculates working instructions for the track-building machine (2) from the marking and the relative position at a marking time point.

Description

[0001] FULLY AUTOMATIC TRACK CONSTRUCTION MACHINE FOR TAMPING A TRACK MADE OF RAILS AND SLEEPERS

[0002] Technical area

[0003] The invention relates to a fully automatic, and optionally autonomous, track construction machine for tamping a track formed from rails and sleepers, with a machine frame supported on rail bogies, with a track lifting and straightening unit with tamping units, with a position determining device determining the position of the track construction machine in the track and with a control computer which is integrated into a wireless network.

[0004] State of the art

[0005] There are a variety of track maintenance machines used for track maintenance. These include tamping machines, which correct the track alignment of ballasted tracks, and grading machines, which level and shift ballast according to specified ballast profiles. Other common machines include milling, planing, rotary planing, and grinding machines, dynamic track stabilizers, overhead line vehicles, electronic track measuring vehicles, flash butt welding machines, ballast cleaning, and formation improvement machines.

[0006] Tamping machines are machines that correct the track alignment. With the help of a track lifting and straightening unit, the track panel is raised and laterally aligned until the difference between the specified target position and the actual position is zero. The track panel is then secured in this position by compacting the ballast beneath the sleepers using a tamping unit. The lifting and straightening of the track panel is achieved using hydraulic lifting and straightening cylinders with proportional or servo controls. The tamping tools of such track maintenance machines must precisely insert themselves into the gap between the sleepers to prevent destruction and damage to the sleepers.

[0007] Tamping machines can be automated to fully detect the position of the sleepers and automatically advance, correct the track position, and fix it by tamping the ballast. For example, WO2016 / 081971 A1 describes an automatic control system for a tamping machine's lifting and leveling unit. Such a control system is an essential feature for a tamping machine to operate automatically.

[0008] According to the teaching of WO2016 / 081971 A1, it is known to measure a switch during processing and to independently and automatically adjust and control tamping units and the lifting-straightening unit. W02020191420A1 discloses a ballast leveler in which working units such as the side plough and center plough are controlled automatically. These known devices all aim to control the machines fully automatically. This is an essential prerequisite for autonomously operating machines. Qualified machine operators are expensive and rare, which is why the development of machines that can operate fully automatically and autonomously is of great importance.

[0009] Various optical methods are known for monitoring and controlling such autonomous machines, for example using laser scanners, video cameras or inductive sensors, which can detect the position of the rails and rail fastenings. This enables the precise automatic positioning of the tamping tools during the approach. Tamping machines typically measure the approach path using odometers. However, these have a slippage, which is why they must be precisely synchronized (10 cm) at key curve points (transition from a straight line to a transition curve or transition from a transition curve to a full curve, etc.), as otherwise the path error accumulates. On the real track, there are obstacles that require some of the tools, such as tamping picks, to be swiveled out of the way, the tamping units must be moved laterally or must not be lowered, or units must be raised to avoid an obstacle (sweeping brush). Some of these obstacles are detected automatically.However, there are obstacles, such as cables embedded in the ballast, that are not automatically detected. Railroad crossings or transitions to and from bridges require special working methods. These transitions cannot be detected by the machine, or can only be detected too late. This also applies to other track maintenance machines, such as ballast levelers. These also have working units (side plow, center plow, and sweeping brush) that must avoid obstacles.

[0010] Obstacles include beacons, hot box detectors, signal contacts, cables, etc. In practice, the position of obstacles on the track is marked by personnel ahead using paint on the sleepers. As the tamper approaches this position, they control the working units based on the marked obstacle. A conventional tamping machine has at least two operators. One works in the front cabin, in the direction of travel, where the track position computer is installed. They enter correction values ​​and synchronize the machine to key curve points. They give the tamper, the second operator, instructions via radio, for example, when the machine approaches a level crossing.

[0011] RTKGNSS systems (Real time kinematic global navigation satellite system) are used to determine the exact position of the track construction machine on the track, which allows the positioning of the track construction machine on the track to within a few mm (AT523717A4).

[0012] Description of the invention

[0013] The invention is based on the task of enabling fully automatic, autonomous operation of the machine with only one supervisor. This supervisor should be able to be located either outside the machine or on top of it. The supervisor should be able to detect incidents in front of the track-laying machine in the direction of travel, such as obstacles, switches, etc., and transmit their position to the track-laying machine.

[0014] The invention achieves the stated object in that a hand-held control unit is integrated into the wireless network for transmitting and receiving event data, in that a means for determining the relative position of the track construction machine and the hand-held control unit is provided, in that the hand-held control unit is equipped with a marking device for marking event locations in the track, and in that the control computer calculates work instructions for the track construction machine from the marking and the relative position at a marking time.

[0015] A supervisor communicates with the machine via a radio link using a handheld control unit with a screen that they carry with them. Suitable means are provided to determine the relative position between the handheld control unit and the track maintenance machine. For this purpose, both can be equipped with absolute position measuring devices, such as GPS, or an exact distance measurement between the track maintenance machine and the handheld control unit is provided. When the supervisor moves along the track and finds themselves at an incident location, particularly at the location of an obstacle, they enter a corresponding marker to identify the location or obstacle. The marker data is transmitted to the control computer along with the relative position or the exact distance of the handheld control unit from the track maintenance machine.The machine processes this information via the control computer and reacts with appropriate control movements of the working units when the track maintenance machine is located at the marked location with its working units. Precise localization is achieved, for example, via the transmitted distance and the measured right-of-way or via GPS data.

[0016] The handheld control unit can have control elements for marking event locations, especially obstacles, and, if necessary, measure the distance to the event location. The control computer can determine the position of the event location on the track based on the relative position and distance.

[0017] The connection must be designed to be secure so that the machine does not move uncontrollably on the track due to a malfunction or loss of the radio connection.

[0018] The control computer preferably checks whether the radio connection to the supervisor is working. This is done via a handshake process. If there is no feedback for a specified period of time (e.g. 10 seconds), the track maintenance machine comes to a standstill and informs the control center. The handheld control unit can also have an emergency stop function or a dead man's function. If this is not activated within a recurring period of time, thereby demonstrating the supervisor's readiness to act, the machine also comes to a standstill and informs the control center. Work safety is ensured by safety devices (e.g. light curtains) on the work units (such as tamping units). If the secured area is violated, the machine shuts down immediately.

[0019] The advantages of the invention arise from the elimination of the operating crew and the elimination of the necessary work of manually marking obstacles on the track in front of the machine. Another advantage is that the supervisor no longer requires in-depth knowledge of the machine's functions. A further advantage arises from the elimination of necessary work cabins (elimination of operator seats, control panels, etc.), as well as the installation and reduction of human-machine interfaces (control elements, touch panels, video cameras, etc.) for work. This results in significant savings in investment and labor costs.

[0020] Various methods are suitable for precisely determining the relative position between the track maintenance machine and the handheld control unit. These include, for example, laser distance meters, lidar devices, and the use of Bluetooth devices (or Wi-Fi signals) to measure distance based on signal attenuation over distance or the timing of emitted and returned pulses. If the supervisor carries a smartphone or tablet, satellite location determination is also available if the machine is equipped with GNSS. Common smartphones and tablets are equipped with GNSS functions. They are also suitable for Bluetooth or Wi-Fi applications. For this purpose, smartphone and tablet applications can be provided that calculate and determine the distances of objects in the image using the video image and additional functions. To determine the inclination above the incident location, the handheld control unit can be equipped with an inclination sensor.

[0021] In addition to the handheld control unit, the supervisor can be equipped with another mobile device (smartphone or tablet) to mark problem areas, obstacles, or generally any point of interest on the track. All functions can also be combined in a single device. The tablet or smartphone has Wi-Fi or Bluetooth (with a version that supports direction finding). Using an application on the smartphone or tablet, the location of a specific obstacle or area can be marked, and the information can be transmitted to the machine in real time, for example via Wi-Fi. The distance to the machine can be transmitted with the required accuracy via radio direction finding. Bluetooth LE (BLE) signals, Wi-Fi signals, or UWB (UWB Ultra Wide Band) signals, for example, are suitable for radio direction finding (signal strength measurement and direction measurement).For example, a Bluetooth transmitter (BLE beacon) can be located on the track maintenance machine within direct line of sight of the handheld control unit. The handheld control unit, or possibly a tablet or smartphone, continuously determines the relative position to the track maintenance machine (distance and direction vector) and transmits this data along with the markings to the track maintenance machine. The track maintenance machine can use this data to derive a vector to mark the upcoming obstacle. If the supervisor carries an RTKGNSS antenna with receiver and such a system is also installed on the construction machine, the supervisor can transmit the precise satellite coordinates of the obstacle to the machine via GNSS. If the location and type of obstacle are known, the machine automatically raises the ballast brush or individual tamping picks at the obstacle and lowers them again after the obstacle.

[0022] The mobile hand control unit in front of the track construction machine has network access to the machine via a WLAN access point on the machine with the antenna aligned in the working direction.

[0023] Lidar devices mounted at the front and rear of the machine can monitor the danger zone immediately in front of and behind the machine. If this area is breached, for example, by a person entering the danger zone, the machine shuts down and notifies the supervisor and a central control center.

[0024] The area of ​​the tamping units can also be monitored by the machine using lidar devices mounted to the left and right of the track maintenance machine. If this area is breached, for example, by a person entering the danger zone, the machine shuts down and notifies the supervisor and a central control center.

[0025] Brief description of the invention

[0026] The drawings illustrate the subject matter of the invention by way of example.

[0027] Fig. 1 Tamping machine in side view,

[0028] Fig. 2 Hand control unit in top view and

[0029] Fig. 3 shows a communication scheme between a hand control unit held by a supervisor on the track and the track tree machine.

[0030] Ways to implement the invention

[0031] Fig. 1 schematically shows a track maintenance machine 2 operating fully automatically and autonomously in the working direction W for tamping a track formed by rails 16 and sleepers 9, comprising a machine frame supported on rail bogies 12, a track lifting and straightening unit 13 with tamping units 1, a position-determining device determining the position of the track maintenance machine on the track, and a control computer 41 integrated into a wireless network 36. A handheld control unit 24 is integrated into the wireless network 36 for transmitting and receiving event data. A means for determining the relative position of the track maintenance machine and the handheld control unit 24 is provided. The handheld control unit is equipped with a marking device for marking event locations on the track. The control computer 41 calculates work instructions for the track maintenance machine 2 from the marking and relative position at a marking time.

[0032] The track-laying machine 2 can be moved along the rails 16, which are mounted on sleepers 9, by means of the rail bogies 12. A tamping unit 1 comprises tamping tines 8, tamping arms 7, and a mounting bracket 6.

[0033] The track maintenance machine 2 has a control and measuring system required to measure the current track position. It consists of three measuring carriages 10, 11. The machine has a drive 5, a work cabin 14, and two driver cabins 17. The machine control system communicates with the manual control unit 24 via the control computer 41. The lifting and straightening unit 13 has lifting cylinders 3 and straightening cylinders 4. The machine is supplied with GNSS (GNSS Global Navigation Satellite System) coordinates via a satellite antenna 18 and a satellite receiver. The machine is equipped with WLAN with antenna 19 (WLAN Wireless Local Area Network) and, for example, a Bluetooth beacon transmitter 20. The area in front of and behind the machine is automatically scanned for obstacles or people stepping onto the track via a lidar scanner 38. If a person is detected within a danger zone, the machine automatically stops and informs the control center.The area around the work units is monitored by a light curtain 39, mounted on the left and right of the machine using lidar scanners. If the secured area is entered, the machine or unit is shut down. Fig. 2 shows a handheld control unit 24 with a touch display 22, which communicates with the autonomous track construction machine 2 via a satellite antenna or WLAN antenna 21 and WLAN transmitter / receiver 30, or via a Bluetooth antenna 23 and, if applicable, a Bluetooth transmitter / receiver 31. Via the WLAN 21, screen images 22 for possible operation of the machine by the supervisor located outside the machine can be transmitted from the track construction machine 2 to the handheld control unit 24 and its display 22. The handheld control unit 24 has a control computer 32. The track construction machine 2 can be shut down using an emergency stop button 25. Via a life button 29, which the supervisor has to press within a certain period of time (e.g.1 minute), the control system of the track construction machine 2 recognizes that the supervisor is still able to act and active. If the button is not pressed within the specified period of time, the track construction machine 2 switches off and brakes. The control center is automatically notified. If the radio connection (WLAN) is interrupted, the track construction machine 2 also switches off, brakes, and informs the control center. The hand-held control unit 24 sends an active message to the track construction machine 2 at regular intervals and confirms receipt. If this cycle is interrupted for a certain period of time, the machine switches off, brakes, and informs the control center. If necessary, the operator can make certain settings (assistance) using the yoke switch 26. The marking device includes an obstacle switch 28 with which a specific obstacle in the machine's track can be marked.Using buttons 27, an extensive obstacle on the track or a specific area on the track requiring special treatment can be marked. If buttons 27, 28 are pressed, the type of obstacle and its length and height on the track (inside or outside of the rail, above / below the top of the rail), for example, could be displayed on screen 22 from a list, and this information could be transmitted to machine 2. For this purpose, the supervisor positions themselves exactly at the position of the obstacle in the longitudinal direction of the track and then presses the corresponding button 27, 28. Via Bluetooth 23, for example, the exact distance between the handheld control unit 24 and the track maintenance machine 2 is determined. This allows the track maintenance machine to automatically control the work units (1, 13) appropriately (via the distance measuring wheel (odometer) mounted on the track maintenance machine). For example, if an inductive magnet is not dismantled, a sweeping brush can be automatically raised in the corresponding area.If a cable is indicated which runs transversely in the intermediate compartment between the sleepers, then the tamping units are not used in this area, or the supervisor adjusts the position of the units from the outside using the operating elements 26, for example, so precisely that the cable is not damaged by the tamping picks during diving.

[0034] Fig. 3 shows the front cabin 17 with control computer 41, Bluetooth (BLE Beacon) connection 37 to the handheld control unit 24 and wireless network 36, if necessary a WLAN connection to the handheld control unit 24. The front measuring carriage 10 is usually used to synchronize the machine. Determined distances Di, DSi+1, DEi+1, Di+2 etc. ideally refer to the distance between the measuring carriage 10 and an observed obstacle on the track. The supervisor moves, for example, in front of the machine in the working direction W on the track. If he is located at the position of an obstacle, for example a cable 33 running transversely in the intermediate compartment, then the distance Di, for example, is determined via Bluetooth and transmitted to the machine 2 and processed there. When the tamping units reach this point, the machine automatically influences the operation of the working units.For an extended obstacle 34, start DSi+1 and end DEi+1 are marked and transmitted analogously to machine 2.

[0035] Instead of marking via the handheld control unit 24, the marking can also be entered via a smartphone 40 and a program running on it. The Bluetooth function of the smartphone 40 can be used for marking. This eliminates the need to set up a Bluetooth device on the handheld control unit. The program on the smartphone allows the type, location, and height of the obstacle to be selected. In addition to obstacles, the supervisor can also enter the exact location of synchronization points (main curve points, mast positions, etc.) to compensate for odometer slippage.

[0036] Of course, the rear cabin in the west direction of travel can also be equipped with a Bluetooth beacon or Wi-Fi transmitter / receiver. In this case, the supervisor can use a standard device (fixed-point measuring device) to measure the absolute position relative to the fixed points on the masts behind the track maintenance machine. The current height and distance values ​​measured by the supervisor, as well as the mast position at which the measurement was taken, are transmitted to the track maintenance machine. The control computer compares the recorded actual data with the target data on the corresponding mast, and its control system automatically corrects to compensate for any trend.

[0037] The type, distance Di to track maintenance machine 2, and height of obstacles on track 33, 34, 35 can be transmitted to track maintenance machine 2 via the wireless network. Track maintenance machine 2 can have functions that react accordingly to the marked obstacles on the track and, once the corresponding position Di is reached, control the work units in such a way that damage to the marked obstacles is avoided.

Claims

Patent claims 1. A fully automatic track construction machine (2) for tamping a track formed from rails (16) and sleepers (9), comprising a machine frame supported on rail bogies (12), a track lifting and straightening unit (13) with tamping units (1), a position-determining device determining the position of the track construction machine (2) in the track, and a control computer (41) integrated into a wireless network (36), characterized in that a hand-held control unit (24) is integrated into the wireless network (36) for transmitting and receiving event data, that a means for determining the relative position of the track construction machine and the hand-held control unit (24) is provided, that the hand-held control unit (24) is provided with a marking device for marking event locations (33, 34,35) in the track and that the control computer (41) calculates work instructions for the track construction machine (2) from the marking and the relative position at a marking time.

2. Autonomously operating track construction machine (2) according to claim 1, characterized in that the manual control device (24) has an emergency stop function (25).

3. Autonomously operating track construction machine (2) according to claim 1 or 2, characterized in that the manual control device (24) has a dead man function (29).

4. Autonomously operating track construction machine (2) according to one of claims 1 to 3, characterized in that the hand control device (24) has a display (22) via which machine functions can be displayed and controlled.

5. Autonomously operating track construction machine (2) according to one of claims 1 to 4, characterized in that the hand control device (24) has Control elements (26) for controlling track construction machine functions.

6. Autonomously operating track construction machine (2) according to one of claims 1 to 5, characterized in that the hand-held control device (24) has operating elements (28, 27) for marking event locations, in particular obstacles (33, 34, 35), that the hand-held control device measures the distance to the event location and the control computer (41) determines the position of the event location in the track from the relative position and distance.

7. Autonomously operating track construction machine (2) according to one of claims 1 to 6, characterized in that the hand-held control device (24) is a smartphone (40) or a tablet equipped with a device for measuring the distance to the event location, optionally a 3D camera and / or an inclination sensor.

8. Autonomously operating track construction machine (2) according to one of claims 1 to 7, characterized in that Lidar devices (39) for monitoring the danger area are provided at least in the area of ​​the tamping units to the left and right of the track construction machine (2).

9. Autonomously operating track construction machine (2) according to one of claims 1 to 8, characterized in that Lidar devices (38) are provided for monitoring the danger area in front of and behind the track construction machine (2).

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