Method for operating a tamping machine and system for carrying out the method

Abstract

The invention relates to a method for operating a tamping machine (1), which travels along a track (2) and comprises a tamping unit (9) which can be adjusted relative to a machine frame (23) and which has tamping tines (10) that can be displaced relative to one another, wherein position data of track sleepers (3) are captured before a tamping operation. Prior to each tamping operation, a permissible maximum displacement path (smax) is specified for each tamping tine (10) by means of a computing unit (44) depending on a current position of the tamping unit (9) relative to the track sleeper (3) to be currently tamped. This specification of a permissible maximum displacement path (smax) for each tamping tine (10) ensures that the displacement operation achieves the greatest possible effectiveness, and damage to the sleeper and / or the respective tamping tine (10) and to the ballast is reliably avoided.

Description

[0001] Method for operating a tamping machine

[0002] The invention relates to a method for operating a tamping machine that travels along a track and comprises a tamping unit adjustable relative to a machine frame with tamping picks that can be adjusted relative to each other, wherein positional data of track sleepers are recorded before a tamping process. The invention also relates to a system for carrying out the method.

[0003] Tamping machines have long been known and are used to create or repair a predetermined track alignment on a track bed consisting of sleepers and rails mounted on them. In operation, the tamping machine travels along the track to be tamped, with a lifting and aligning unit raising a section of the track bed located between two rail carriages. A tamping unit positioned behind the lifting and aligning unit fixes the track in the predetermined position. During this process, vibrating tamping picks penetrate the ballast bed to a predetermined depth on both sides of a sleeper to be tamped. This is followed by a repositioning action in which the opposing tamping picks are moved towards each other, pushing ballast into a cavity created beneath the sleeper by the lifting action.The pressure of the vibrating tamping picks on the displaced ballast is maintained briefly to compact the ballast grains. Typically, an operator sets the tamping pressure and duration based on experience. A method for operating such a tamping machine is known, for example, from WO 2018 / 206214 A1. The tamping machine includes a sensor array for detecting the position of track objects, particularly sleepers and rails, as well as obstacles. This enables automated positioning of the tamping unit above the sleeper to be tamped.

[0004] The invention is based on the objective of improving a method of the type mentioned above in such a way that packing operations can be carried out reliably in different situations. A further objective of the invention is to provide a corresponding system.

[0005] These problems are solved by the features of independent claims 1 and 11. Dependent claims specify advantageous embodiments of the invention.

[0006] According to the invention, before each tamping operation, a maximum permissible approach path is specified for each tamping pick by a processing unit, depending on the current position of the tamping unit relative to the track sleeper currently being tamped. A tamping operation begins with the positioning of the tamping unit above the track sleeper to be tamped by moving the tamping machine or a tamping satellite along the track. It can happen that the tamping unit is not positioned exactly above the track sleeper. In this case, a plane of symmetry of the opposing tamping picks does not align with a center plane of the track sleeper. This offset results in one of the opposing tamping picks penetrating the ballast bed closer to the track sleeper than the other tamping pick.Without the method according to the invention, contact between a tamping pick and the lower edge of the track sleeper being tamped can occur during the tamping process. Such a collision may cause damage to the tamping pick and the track sleeper. In the case of a newly laid track with rail fastenings that are not yet properly tightened, contact with one of the tamping picks can also lead to a change in the position of the track sleeper. Even tightly tightened rail fastenings can cause a change in the position of a track sleeper if the contact forces with a tamping pick are sufficiently high. In conventional tamping processes, further reasons for undesirable contact between the tamping pick and the track sleeper can be excessive tamping pressure or an excessively long tamping time. Tamping units with an asymmetrical design can also lead to the aforementioned problems.

[0007] The inventive method is particularly useful for tamping operations in turnouts and crossings with inclined track sleepers. In these situations, it is not always possible to position all tamping unit segments, which can be lowered separately, precisely over an inclined track sleeper. The method is also advantageous for tamping units used to simultaneously tamp several track sleepers. Minor irregularities in the sleeper spacing can prevent all tamping unit segments from being positioned precisely over their respective assigned track sleepers.

[0008] By specifying a permissible maximum approach path for each tamping pick according to the invention, the tamping process achieves maximum efficiency and reliably prevents damage to the track sleeper and / or the respective tamping pick, as well as to the ballast. This individual approach path limitation of each tamping pick results in high process reliability and effective displacement of the ballast under the respective track sleeper. Without this measure according to the invention, the tamping process would only end after a predetermined approach time or after reaching a predetermined ballast compaction level.

[0009] To determine the maximum permissible tamping distance, the prevailing geometric conditions are recorded and / or a calculation is performed based on previously recorded and known information before the tamping process begins. This includes, in particular, the relative position of the tamping unit to the track sleeper, including the angle around a vertical axis that the tamping unit makes relative to the track sleeper. Further information includes geometric data of the tamping unit and the track sleeper, the lifting of the track grid by the lifting and aligning unit, and the immersion depth of the tamping picks in the ballast bed.

[0010] In the simplest case, the position data of the track sleepers are pre-programmed into the processing unit via an input device or loaded from memory. For example, an operator in a lead car records the respective sleeper position using a button while traveling forward. In another variant, the known geometric data for a turnout to be tamped are stored using a turnout type identifier. Preferably, the position data is acquired using a sensor device that is arranged on the tamping machine itself, on a separate rail vehicle, or on another measuring device.

[0011] In an advantageous further development, a potential contact point with the track sleeper currently being tamped is determined for each tamping pick, whereby the permissible maximum approach distance is calculated by specifying a safety distance. The aforementioned information is used to determine the respective potential contact point. For example, geometric data of the tamping unit and the track sleepers of the track being worked on are stored in a storage device coupled to the processing unit. The relative position of the tamping unit to the track sleeper can also be recorded beforehand and stored in the storage device or recorded in real time and provided to the processing unit. The lifting height and the immersion depth are predefined values ​​that are known before the tamping process and supplied to the processing unit.For example, a so-called control computer, which is set up to control the tamping machine for correcting the track geometry, reports a current lifting value to the processing unit. In addition, a measuring system mounted on the tamping machine with measuring strings or optical measuring devices records the actual lifting that has taken place.

[0012] Preferably, the safety distance is adjustable via an input device, allowing for rapid responses to changing situations. For example, the safety distance is increased if the geometry of the track sleepers currently to be tamped is not clearly known. Completely ballasted track sleepers can also make it difficult to determine their exact position and spacing. In such cases, increasing the safety distance can be beneficial. For instance, an operator selects a safety level using the input device, and the processing unit derives a value for the safety distance from this. However, it is also possible that the 24014

[0013] 6

[0014] The operator directly specifies the safety distance, for example by entering a millimeter value.

[0015] In an improved version, the safety distance is automatically determined or adjusted. For example, the recorded position data of the track sleepers is used for a computational evaluation, from which a detection accuracy class is determined. The safety distance is then determined or adjusted depending on this detection accuracy class. Preferably, the sensor system detects and evaluates installations within the track. For example, cables arranged along a track sleeper are detected. In this case, the safety distance is automatically increased.

[0016] In a simple embodiment of the invention, sleeper spacing is determined, whereby, in particular, an average value for the distance of the sleeper currently to be tamped to the preceding sleeper is determined based on the spacing of the most recently tamped sleepers. With this method, the position of the current sleeper relative to the tamping unit is estimated based on the preceding tamping operations. It is assumed that the current sleeper spacing corresponds approximately to the average of the preceding sleeper spacings. Further information, such as the geometry of the tamping unit, is taken from the storage device and provided by the control computer, the machine's own measuring system, and other control and measuring systems.

[0017] Advantageously, the position of each track sleeper is determined using metallic rail fastenings 24014.

[0018] 7. For this purpose, metal detectors, in particular eddy current sensors, are arranged on each side of the tamping machine. As the tamping machine moves forward, the detectors record the changes in distance to the rail fastenings, with a maximum measurement signal indicating the exact position of each rail fastening. The sleeper spacing is derived from the detection times, the travel speed, and the distance traveled. Due to the detection on both sides, the inclination of the track sleepers can also be determined. This allows for a very precise determination of the respective sleeper position, even with track sleepers that are largely ballasted, making a small safety margin sufficient.

[0019] In a further improvement, the position of each track sleeper is recorded using a ground-penetrating radar system. This ensures that the sleeper position is recorded even when the sleepers are completely ballasted. A method for determining the position of track sleepers using ground-penetrating radar is described, for example, in AT 526491 Allenbart. This method also allows the determination of the respective sleeper width and depth, whereby the sampling rate and radiation frequency must be specified accordingly.

[0020] Another advantageous embodiment of the invention utilizes cameras arranged on the tamping machine, whereby the position of the respective track sleeper is derived from camera images of the track surface. Image analysis is performed in an evaluation unit using pattern recognition software, such as that described in AT 518692 All of Fenbart. These evaluation units are preferably 24014.

[0021] 8 and the computing unit is integrated into an industrial computer arranged on the stuffing machine.

[0022] Additionally or alternatively, the position of each track sleeper is determined using line-cut sensors. Preferably, one such sensor is arranged on the tamping machine for each side of the track. The respective line-cut sensor projects a laser line onto the track surface with the track sleepers and the ballast between them. The resulting profile is captured and evaluated using a camera. In particular, the edges of the track sleepers are used to determine the respective sleeper position and width.

[0023] An advantageous improvement utilizes several different sensors, whereby the position of each track sleeper is determined by fusing sensor information from these various sensors. For example, a lidar system for laser scanning the track surface is mounted on the front of the tamping machine. In shaded areas, line-cut sensors are used, for instance. Camera images supplement the surface information. The result of the combined evaluation of the sensor signals is a three-dimensional point cloud with color information from the camera images. The surfaces and edges of the track sleepers are also captured in this point cloud, from which the position and width of each sleeper can be derived. A corresponding sensor evaluation is disclosed in AT 519739 A4.

[0024] Another useful addition is the import of track sleeper location data from a database. For example, the respective sleeper position, the 24014

[0025] The respective threshold spacing and threshold type are provided in data from the infrastructure operator. A file containing the corresponding geometry data is loaded into the control computer of the tamping machine and is available for controlling the tamping unit.

[0026] The system according to the invention for carrying out one of the described methods comprises a tamping machine having a tamping unit with adjustable tamping picks, and an input device and / or a sensor device for detecting the position of track sleepers, wherein the input device and / or the sensor device is coupled to a computing unit and wherein the computing unit is configured to specify a permissible maximum adjustment range for each tamping pick before a tamping operation, depending on the current position of the tamping unit relative to the track sleeper currently being tamped. In this way, it is ensured in every situation that no collision of the respective tamping pick with the track sleeper occurs.

[0027] Advantageously, the input device, which may be used to detect the position of the track sleepers, is also designed to input a safety distance between the track sleeper currently being tamped and the respective tamping pick at the end of the permissible maximum approach. This allows the operator to adjust the safety distance to the prevailing conditions. In a further training program, the safety distance is automatically adjusted based on a defect quality class.

[0028] In a preferred further development of the system, the sensor device includes detectors for determining the position of metallic 24014

[0029] 10

[0030] Rail fastenings. This allows the respective sleeper position to be determined based on the established position of the rail fastenings.

[0031] Additionally or alternatively, the sensor system includes a ground-penetrating radar device, which makes it possible to detect the position of the track sleepers even when they are ballasted.

[0032] In an improved version, the sensor system comprises several different sensors, with an evaluation unit for sensor fusion. This allows the position and shape of the track sleepers to be determined under different conditions, as the properties of the different sensors complement each other and yield a more accurate overall result.

[0033] The invention is explained below by way of example with reference to the accompanying figures. These show, in schematic representation:

[0034] Fig. 1 Tamping machine on a track

[0035] Fig. 2 Switch with packing points

[0036] Fig. 3 Stuffing unit in a side view

[0037] Fig. 4 Filling unit in a front view

[0038] Fig. 5 Tamping pick in a gravel bed

[0039] In operation, the tamping machine 1 shown in Fig. 1 travels cyclically along a track 2 from track sleeper 3 to track sleeper 3. The track grid, formed from the track sleepers 3 and the rails 4 attached to them and supported in a ballast bed 5, is lifted into a predetermined position between rail bogies 6 by means of a lifting and aligning unit 7 and laterally 24014

[0040] 11 directed. A tamping unit 9 arranged behind the lifting and aligning unit 7 with respect to a working direction 8 serves to fix the track grid in the target position.

[0041] The tamping unit comprises 9 opposing tamping picks 10, which, during a tamping operation, are subjected to vibration and plunge into the ballast bed 5 on both sides of the track sleeper 3 currently being tamped. As soon as a predetermined immersion depth t is reached, or shortly before, an adjustment process begins in which the tamping picks 10 are moved towards each other. During this process, the tamping picks 10, with pick plates 11 formed at their lower ends, first push ballast grains into a cavity created by the lifting process beneath the corresponding track sleeper 3. After this ballast filling, the actual compaction of the ballast bed for the track sleeper 3 begins. The vibration of the tamping picks 10 continues to be transmitted to the ballast grains, whereby the ballast grains thus mobilized are compacted into a denser structure by the application of an adjustment pressure.

[0042] According to the invention, it is provided that for the adjustment movement of the respective stuffing pick 10 a permissible maximum adjustment path s max is specified. As a rule, the filling of the cavity and the compaction of the gravel layer will be completed before the respective tamping pick 10 reaches the assigned permissible maximum extension path s. max reached. However, it can also happen that the permissible maximum extension path s max This occurs before the desired filling and compaction are complete. A notification is then sent, and the tamping process is repeated at the same location. This ensures a high-quality tamping result without the risk of collisions between 24014

[0043] 12 to accept the respective tamping pick 10 and the track sleeper 3.

[0044] Fig. 2 shows an exemplary turnout in a top view. At the beginning and end of a through track 12, as well as at the end of a diverging track 13, the track sleepers 3 are aligned orthogonally to the rails 4. Between them, inclined track sleepers 3 are arranged as connecting elements between the two tracks 12 and 13. Tamping points 14, at which the tamping picks 10 are to penetrate the ballast 5, are adapted to the respective position of the track sleepers 3. These tamping points 14 are shown by way of example for two track sleepers 3.

[0045] To position the tamping picks 10 above the respective predetermined tamping points 14, the tamping machine 1 is first moved along the track 4 until a central plane 15 of the tamping unit 9 aligns with a plane of symmetry 16 of the track sleeper 3 currently to be tamped. In the case of a continuously operating tamping machine 1 (not shown), only one tamping satellite with the tamping unit 9 is moved from track sleeper 3 to track sleeper 3, while the rest of the machine moves continuously forward.

[0046] The tamping unit 9 comprises several tamping unit segments 17 arranged side by side, each of which includes separately retractable tool carriers 19 in a respective unit frame 18, with tamping tools 20 pivotably mounted thereon. The tamping picks 10 are arranged at the lower ends of the tamping tools 20. Each tamping unit segment 17 can be laterally adjusted on transverse guides 21 via the associated unit frame 18.

[0047] 13 so that the respective tamping pick 10 can be positioned at a predetermined distance to the associated rail 4.

[0048] The transverse guides 21 are arranged on a common rotating device 22. This allows the tamping unit 9 to be rotated about a vertical axis 24 relative to a machine frame 23. In this way, the tamping picks 10 can be aligned with the inclined track sleepers 3.

[0049] To specify the tamping points 14, the tamping machine 1 includes a sensor device 25 for determining the position of the track sleepers 3. In another embodiment, the tamping machine 1 is a component of a system 26, wherein the sensor device 25 is mounted separately, for example on another rail vehicle. The position data of the track sleepers 3, as recorded, are then transmitted to the tamping machine 1 via a data network.

[0050] In particular, the sensor device 25 comprises a lidar system (light detection and ranging system) 27 for scanning the track surface and its surroundings. A rotating laser scans the surface at a predetermined sampling rate, with each detected point being stored with coordinates in a predetermined coordinate system xyz. Preferably, a coordinate origin is located on a track axis 28 between the two rails 4. For example, a stationary coordinate system xyz with an origin at the beginning of a turnout is chosen (Fig. 2). In another variant, the coordinate system xyz moves with the tamping machine 1, with the origin being assigned, for example, to a track measuring car 29 at the rear end of the tamping machine 1 (Fig. 1). An x-axis is aligned in the longitudinal direction of the track 4. The travel path of the tamping machine 1 is measured along this x-axis. In the horizontal track plane, the z-axis runs perpendicular to the x-axis.The y-axis is oriented downwards. Both the position of the track sleepers 3 and the position of the tamping picks 10 are determined in this common coordinate system xyz. The coordinates of the tamping picks 10 can also first be recorded in a separate coordinate system and then transformed into the common coordinate system xyz. For this purpose, various sensors 30, 33, 34 are arranged on the tamping unit 9 to detect the current position of the tamping picks 10. For example, a displacement sensor 30 is arranged to detect the height position of the tool carrier 19. Additionally, or alternatively, a displacement sensor 30 is assigned to a height adjustment drive 31 for adjusting the height of the tool carrier 19. The position detection of the tamping tools 20 with the tamping picks 10 relative to the tool carrier 19 is also preferably carried out by means of displacement measuring sensors 30, which are assigned to auxiliary drives 32 for pivoting the tamping tools 20.Angle encoders 33 can also be arranged to detect the respective swivel movement. An acceleration sensor 34, which is arranged on the tool carrier 19 or on each of the tamping tools 20, is also suitable for position detection. Further position sensors are assigned to a respective actuator 35 for laterally displacing the associated tamping unit segment 17 and to the rotary device 22.

[0051] In another embodiment, the position of the tamping picks 10 is detected by a camera system 36, in particular by a stereo camera. For example, optical markers 20 are arranged on the tamping tools. In the camera images, these markers are represented by a 15

[0052] Pattern recognition software detected and used to calculate the respective darning pick position.

[0053] Preferably, the sensor device 25 for detecting the sleeper positions includes additional line-cut sensors 37, which are directed at shadowed areas of the lidar system 27. Laser distance meters can also be used instead of line-cut sensors 37. These continuously measure a distance to the track surface and thus detect a respective sleeper edge or rail fastening. In addition, a camera 36 is directed at the track. Camera images of the track 2 are evaluated with pattern recognition software, whereby detected track sleepers 3 are located in the xyz coordinate system. Metal detectors 38 for detecting rail fastenings 39 and / or a ground-penetrating radar device are used to determine the position of ballasted track sleepers 3.

[0054] 40 arranged. The recorded position data of the track sleepers 3 include at least sleeper spacing a and preferably sleeper widths b and sleeper heights hx. Via the immersion depth t, which starts from a rail top edge

[0055] By measuring 41, and using a predetermined rail height h2, the positions of the lower edges of the sleepers 42 can be determined. In addition, the sensor device 25 detects installations in track 2. For example, safety caps mounted on track sleepers 3 can be identified by video analysis. If necessary, these safety caps are removed before tamping.

[0056] An evaluation unit 43 evaluates the sensor data and determines the current position data of the tamping unit 1 and the position data of the track sleepers 3. Based on this position data, a processing unit 44 calculates the permissible 24014 for each tamping pick 10 before each tamping operation.

[0057] 16 maximum positioning distance s max For this purpose, the geometric and kinematic properties of the tamping unit 1 are stored in the computing unit 44. Preferably, corresponding geometric data are stored in a storage device 45 coupled to the computing unit 44. This applies in particular to the tamping tools 20 with relevant dimensions and positional parameters, for example, a lower lever length 1 and a distance d from pivot axes 46 about which the tamping tools 20 can pivot relative to the tool carrier 19. In addition, a travel distance of the tamping machine 1 and thus an x-coordinate of the tamping unit 9 is recorded by means of a displacement measuring device 47.

[0058] The storage device 45 and / or a system database also contains, in particular, geometric data for various track sleeper types. An operator 49 can select the current track sleeper type via an input device 48. Based on an assigned type identifier, the corresponding geometric data, in particular the sleeper width b and the sleeper height hx, are supplied to the processing unit 44.

[0059] Based on the position data of the tamping tools 20 with the tamping picks 10 and the track sleeper 3 currently to be tamped, the processing unit 44 calculates a distance D for each tamping pick 10 between the immersed tamping pick 10 and a potential contact point P with the associated lower edge of the sleeper 42. This respective distance D is shown in Fig. 5 as the radius of a dashed circle.

[0060] Preferably, a safety distance A is specified starting from the respective potential contact point P, which is given in 24014

[0061] 17

[0062] Fig. 5 also shows the radius of a circle with the respective potential contact point P as its center. This safety distance A can be adjusted to changing situations, particularly by means of the input device 48. The difference between the calculated distance D and the safety distance A gives the permissible maximum clearance s. max .

[0063] If, as in Fig. 3 and Fig. 5, the center plane 15 of the tamping unit 1 or of the respective tamping unit segment 17 and the plane of symmetry 16 of the track sleeper 3 do not align, different values ​​result for the calculated distance D and the permissible maximum adjustment path s for each of the opposing tamping picks 10. max .

[0064] This situation can arise for various reasons. For example, the track sleepers 3 may have uneven sleeper spacing a. Maintaining a uniform cyclical forward movement of the tamping unit 1 then results in an offset V between the two planes 15, 16. Uneven sleeper spacing a can also lead to such an offset V with asymmetrically designed tamping units 1 intended for the simultaneous tamping of several track sleepers 3. Another reason could be an inclined track sleeper 3 and insufficient rotation of the tamping unit 1.

[0065] An offset V may also occur when tamping double sleepers if only one tamping tool 20 is used to enlarge the opening width before the tamping process. The specification of the required opening width of the tamping picks 10 is crucial to prevent a collision 24014 during a single insertion.

[0066] 18 occurs between tamping pick 10 and track sleeper 3. The detection and position determination of the double sleeper is carried out as previously described by means of the sensor device 25.

[0067] The respective permissible maximum extension path s maxBefore the tamping process is completed, a control device 50 of the tamping unit 1 is supplied with a value. The actuating drives 32 are then controlled taking this value into account. The actual actuating stroke of the respective tamping pick 10 is continuously detected, for example, by means of the angle encoder 33, taking into account the geometric and kinematic conditions, and compared with the permissible maximum actuating stroke s. maxlimited. Preferably, a vibration amplitude of the tamping tools 20 generated by a vibration drive 51 is taken into account. For example, the vibration drive 51 comprises an eccentric shaft on which the auxiliary drives 32 are mounted. A rotary movement of the eccentric shaft is transmitted via the auxiliary drives 32 into a vibration of the tamping tools 20. In another embodiment, a fully hydraulic drive is used for both the auxiliary movement and the vibration movement. In this embodiment, hydraulic cylinders are controlled by a servo or proportional valve in such a way that the vibration movement is superimposed on the auxiliary movement.

[0068] The filling process itself is carried out with the intended pressure and a predetermined filling time, which is intended to achieve sufficient void filling and compaction of the gravel layer. The filling time can also automatically adjust to a detected filling condition. However, if the filling path exceeds the permissible 24014 before the predetermined filling time is reached.

[0069] 19 maximum placement distance s max Once the target is reached, the positioning process of the affected tamping pick 10 is stopped. If necessary, the opposite tamping pick 10 continues its positioning movement, so that overall a tamping result with the desired gravel filling and compaction is achieved.

Claims

Patent claims 1. Method for operating a tamping machine (1) which travels along a track (2) and comprises a tamping unit (9) adjustable relative to a machine frame (23) with tamping picks (10) that can be adjusted relative to each other, wherein position data of track sleepers (3) are recorded before a tamping operation, characterized in that, before each tamping operation, a permissible maximum adjustment path (s) is determined for each tamping pick (10) by means of a computing unit (44) depending on the current position of the tamping unit (9) relative to the track sleeper (3) currently to be tamped. max ) is specified.

2. Method according to claim 1, characterized in that for each tamping pick (10) a potential contact point (P) with the track sleeper (3) currently to be tamped is determined and that the permissible maximum approach path (s max ) is calculated by specifying a safety distance (A).

3. Method according to claim 2, characterized in that the safety distance (A) is adjustable by means of an input device (48).

4. Method according to one of claims 1 to 3, characterized in that sleeper distances (a) are determined and in particular an average value for the distance (a) of the sleeper (3) currently to be tamped to the preceding sleeper (3) is specified from the distances of the last tamped track sleepers (3).

5. Method according to one of claims 1 to 4, characterized in that the position of the respective track sleeper (3) is recorded using metallic rail fastenings (39).

6. Method according to one of claims 1 to 5, characterized in that the position of the respective track sleeper (3) is detected by means of a ground radar device (40).

7. Method according to one of claims 1 to 6, characterized in that the position of the respective track sleeper (3) is derived from camera images.

8. Method according to one of claims 1 to 7, characterized in that the position of the respective track sleeper (3) is determined using line intersection sensors (37).

9. Method according to one of claims 1 to 8, characterized in that the position of the respective track sleeper (3) is determined by a fusion of sensory information from different sensors (27, 36).

10. Method according to one of claims 1 to 9, characterized in that position data of the track sleepers (3) are taken from a database.

11. System (26) for carrying out a method according to one of claims 1 to 10, comprising a tamping machine (1) comprising a tamping unit (9) with adjustable tamping picks (10), and comprising an input device (48) and / or a sensor device (25) for detecting the position of track sleepers (3), characterized in that the input device (48) and / or the sensor device (25) is coupled to a computing unit (44) and that the computing unit (44) is configured to provide a Packing process for each packing pick (10) depending on 22 a current position of the tamping unit (9) relative to the track sleeper (3) currently to be tamped a permissible maximum approach path (s max ) to specify.

12. System (26) according to claim 11, characterized in that an input device (48) for inputting a safety distance (A) between the track sleeper (3) currently to be tamped and the respective tamping pick (10) at the end of the permissible maximum approach path (s max ) is arranged.

13. System (26) according to claim 11 or 12, characterized in that the sensor device (25) includes detectors (38) for determining the position of metallic rail fastenings (39) includes.

14. System (26) according to one of claims 11 to 13, characterized in that the sensor device (25) comprises a ground radar device (40).

15. System (26) according to one of claims 11 to 14, characterized in that the sensor device (25) comprises several different sensors (27, 36) and that an evaluation device (43) is provided for sensor fusion.

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