• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a method for determining the actual position of a track (5) relative to a fixed point (15) positioned in a lateral vicinity of the track (5) by means of a detection device (10) movable on the track (5), the position of the track Fixed point (15) to the track (5) is measured. In this case, the detection device (1 0) along the track (5) is moved, by means of a on the detection device (1 0) arranged stereo camera system (17) continuously image pairs of the lateral environment of the track (5) are recorded, said means of a in an evaluation (20) pattern search is searched in the image pairs of the fixed point (15) is searched and wherein the detected fixed point (15) by evaluating at least one image pair, the position of the fixed point (15) relative to the track (5). In this way, the possibility is provided to measure fixed points (15) when passing, wherein the design of the fixed point (15) is not bound to a specific shape.
    公开号:AT518579A1
    申请号:T199/2016
    申请日:2016-04-15
    公开日:2017-11-15
    发明作者:
    申请人:Plasser & Theurer Export Von Bahnbaumaschinen Gmbh；
    IPC主号:
    专利说明:

    description
    Method and measuring system for detecting a fixed point next to a track
    Technical Field [01] The invention relates to a method for determining the actual position of a track relative to a fixed point positioned in a lateral vicinity of the track by means of a detection device movable on the track, wherein the position of the fixed point to the track is measured. In addition, the invention relates to a measuring system for carrying out the method.
    PRIOR ART [02] A track bedded in gravel is influenced by driving and by weather conditions in its local situation. For checking a current track position and especially before repair work, measurements are therefore carried out regularly by means of a specially provided measuring carriage or by means of a track-laying machine.
    [03] Known measuring methods use fixed points located next to the track, which are attached to fixed devices such as electric masts. In general, a fixed point is set as the top of a Vermarkungsbolzens. The location of each fixed point to the track is documented in directories. Thus, a target position is determined for the track, especially for circular and transition arches and inclination fractures. Often intermediate points are also arranged between main points.
    [04] EP 0 511 191 A2 discloses a device for measuring the distance between a track and a fixed point. The device is moved to a position in front of a fixed point and by means of a riflescope a distance measuring laser sensor is aligned with the fixed point.
    [05] In AT 514502 A1 a method for determining a track target position by means of a fixed point is disclosed, wherein each fixed point is connected to a scanning aid and the track environment is permanently scanned with a rotating laser. From a recorded point cloud the
    With the aid of the sampling aid, the position of the assigned fixed point with respect to the track is calculated.
    Summary of the invention [06] The invention is based on the object of developing methods known from the prior art. In addition, a correspondingly improved measuring system must be specified.
    [07] According to the invention this object is achieved by a method according to claim 1 and a measuring system according to claim 11. Dependent claims indicate advantageous embodiments of the invention.
    [08] In this case, the detection device is moved along the track, whereby image pairs of the lateral surroundings of the track are continuously recorded by means of a stereo camera system arranged on the detection device, whereby the reference point is searched for in the image pairs by means of a pattern recognition carried out in an evaluation device, and wherein at fixed point by evaluating at least one image pair, the position of the fixed point with respect to the track is determined.
    [09] In this way, the possibility is created to measure fixed points as it passes, whereby the design of the fixed point is not bound to a specific shape. Also a two-dimensional marked fixed point can be seen with this method. In addition, the wide detection range of the stereo camera system ensures fixed-point detection even at high speeds because the lateral environment is consistently displayed.
    In a development of the method, it is provided that the position of the detection device is continuously detected by means of an inertial measuring unit relative to a stationary reference system and that a resulting drift is corrected by means of the determined position of the fixed point. Such a self-calibrating measuring method is suitable for automated measurement of the track with high accuracy.
    [11] In addition, it is advantageous if an elevation position of the detection device is measured and included in the position determination of the fixed point. A usual in curves track cant is thus taken into account in a simple manner and has no effect on the result of determining the position of the fixed point.
    A further advantageous embodiment provides that an identifier attached next to the fixed point is recorded and evaluated. In this way, the recognized fixed point can be immediately assigned to a directory entry based on the identifier and can be linked to stored data.
    [13] In order to increase the accuracy of the method, it makes sense to record image pairs of the fixed point during a passage past several recording positions and to evaluate the position of the fixed point in relation to the track in several image pairs. For the further data processing thus several position data of the fixed point are available.
    In this case, a common coordinate system is advantageously specified in which the coordinates of a plurality of recording positions are determined, wherein the position coordinates of the fixed point determined in the respective recording position are transformed into the common coordinate system. The then existing redundant position data of the fixed point are combined to form a result.
    [15] This is done in a simple manner by calculating an averaged coordinate value for the position specification of the fixed point for each axis of the common coordinate system from a plurality of transformed coordinate values. Weighted averaging can hide erroneous evaluations.
    A further improvement of the method provides that the detection device is moved on the rails of the track by means of flange wheels and that while the flange wheels are pressed laterally against the rails. This ensures that the position of the detection device relative to the rails is clearly defined. For the evaluation of the position of the fixed point, a reference system is predetermined, whose origin lies in a flange contact point of the pressed detection device.
    [17] In another embodiment, the position of the detection device with respect to a rail is continuously measured by means of a measuring device. Thus, the detection device can be arranged on a rail chassis of a measuring carriage or a track-laying machine whose position relative to the rail is not clearly determined. As a reference system for determining the position of the fixed point, a coordinate system with a clearly defined flange contact point serves as the origin also in this case. In this case, the position of the fixed point determined by the detection device relative to the track is corrected with the detected measured values of the measuring device.
    For a high quality of the image data, it is advantageous if the lateral environment of the track is illuminated by means of an infrared headlight and if the image pairs are recorded by means of an infrared filter.
    [19] A measuring system according to the invention for carrying out one of the said methods comprised a fixed point positioned in a lateral vicinity of the track and a detection device movable on the track for measuring the position of the fixed point to the track. In this case, a stereo camera system for recording image pairs of the lateral surroundings of the track is arranged on the detection device, wherein the stereo camera system is connected to an evaluation device which determines based on at least one pair of images, the position of the fixed point with respect to the track.
    [20] A development of the measuring system provides that an inertial measuring unit is arranged on the detection device. This serves to continuously determine the location of the detection device relative to a stationary reference system and can also be used to measure an elevation.
    [21] In addition, it is advantageously provided that the detection device is designed as a component of a railway construction machine or a measuring carriage. The detection device is attached, for example via a driven suspension to a machine frame and lowered to the track as needed. Otherwise, the detection device remains in a raised position, so that the flange wheels are not subject to wear. Alternatively, the detection device is mounted with a measuring device for continuously measuring the distance to the rail directly to a rail chassis of the railway construction machine or the measuring truck. In this way, higher working speeds can be realized.
    It makes sense if the railway construction machine or the measuring carriage includes a transducer for measuring a distance traveled on the track. As a transducer either a separate measuring wheel is provided or a wheel of a chassis of the railway construction machine or the measuring carriage is equipped with a rotary encoder.
    In order to ensure reliable detection of the fixed point even under difficult conditions, it is advantageous if the fixed point has redundant elements.
    Brief Description of the Drawings [24] The invention will now be described by way of example with reference to the accompanying drawings. In a schematic representation:
    1 measuring carriage with detecting device in side view FIG. 2 sectional view of the measuring carriage with detecting device FIG. 3 fixed point with redundant element FIG. 4 Detecting device in three receiving positions
    DESCRIPTION OF THE EMBODIMENTS [25] The measuring carriage 1 comprises a carriage body 3 constructed on a machine frame 2, which is supported on two running gears 4. By means of these trolleys 4, the measuring carriage 1 on a track 5 can be moved. The track 5 consists of two mounted on sleepers 6 rails 7 and is mounted in a ballast bed 8.
    [26] A detection device 10 is attached to the machine frame 2 by means of a movable suspension 9. For a measuring process is the
    Detection device 10, as shown, lowered onto the track 5. When transferring it is pulled up and locked.
    [27] Seen in the direction of travel 11, a measuring transducer designed as a measuring transducer 12 is mounted on the front of the measuring carriage 1 to detect a distance traveled. Alternatively, a wheel of a chassis 4 with a transducer 12 (Distance Measurement Indicator DMI) can be equipped. The transducer 12 outputs pulses that represent fractions of the wheel revolutions.
    [28] In the illustrated embodiment, the detection device 10 comprises wheel flange rollers 13, which are pressed laterally against the rails 7 by means of a pressure device 14. In this case, a coordinate system with three axes x, y, z is specified for the evaluation of the position of a fixed point 15 as a reference system, the origin 16 in the flange contact point of the left front wheel flange 13 (seen in the direction of travel 11). By pressing the side of the flange roller 13 against the rail 7, this point 16 is always well defined.
    In another embodiment, the detection device 10 is mounted on a chassis 4 (shown in dashed lines on the front chassis 4 in FIG. 1) and oscillates sinusoidally with respect to the rail 7 transversely to the direction of travel 11. The origin 16 of a reference system is a defined flange contact point. This is usually assumed to be the intersection of the inner rail contour with a horizontal line running 14 mm below the upper edge of the rail. With such an arrangement higher working speeds can be realized compared to a design with pressed flange wheels.
    At the detection device 10 or on the chassis 4, a measuring device is arranged, which continuously measures the movement of the detection device 10 relative to a rail 7. For example, this is an optical gauge measurement system (OGMS). A measured relative displacement of the detection device 10 with respect to the defined rail contact point is included in the position calculation of the detected fixed point 15.
    Conveniently, the distance traveled to be documented is also related to the coordinate system with the flange support point as origin 16. A value measured by the displacement transducer 12 is thereby reduced by a constant distance Δχ between displacement transducer 12 and the origin of coordinates 16.
    [32] A stereo camera system 17 is arranged as the image-receiving component of the detection device 10. This comprises two cameras 18 aligned with each other exactly, wherein an axis of symmetry of the stereo camera system 17 advantageously extends through the origin of coordinates 16. Specifically, the optical axes 19 of the two cameras 18 are aligned parallel to one another in the direction of the lateral surroundings of the track 5.
    [33] The method according to the invention uses the stereo camera system 17 to continuously record image pairs from the lateral environment while passing by. For evaluating the image pairs, the stereo camera system 17 is connected to an evaluation device 20. This is, for example, an industrial computer, which is set up especially for this purpose.
    In the evaluation device 20, an automated pattern recognition process takes place in order to detect a fixed point 15 in the recorded image pairs. For such matching algorithms are known, which provide reliable results in real time. The fixed point 15 is usually positioned as Vermarkungsbolzen 21 to a fixed device 22 adjacent to the track 5, for example on a power pole.
    To avoid interference by sunlight or lighting body, it makes sense if the detected lateral environment of the track 4 is illuminated by means of an infrared headlamp 23. The cameras 18 are then provided with infrared filters to filter the light from other sources.
    [36] For a reliable detection of the fixed point 15, it is also helpful if it is equipped with redundant elements, as shown in Fig. 3. In the middle of the geometric figure, the Vermarkungsbolzen 21 is in a front view. The position of the fixed point 15 is determined by the center of the visible end face of the Vermarkungsbolzens 21. Redundant elements are provided on a panel 24 at the base of the marker stud 21. In the present example, the vertices of the squares form redundant reference points for the position of the fixed point 15. Even if dirt or plants cover parts of the panel 24, sufficient reference points are generally retained for an evaluation.
    [37] As soon as the fixed point 15 has been recognized in a pair of images, the evaluation of position information of the fixed point 15 by means of photogrammetry takes place in a next method step. This results in a two-image evaluation based on the parallaxes and a known base distance between the cameras 18. Again, algorithms are known that allow an evaluation in real time.
    Usually a determination of coordinates in a camera-internal frame of reference and then a transformation to the given coordinate system. In FIG. 2, as a result, the y-coordinate yp and the z-coordinate zp of the fixed point 15 are shown. If the track 5 has an elevation, this is to be considered in the calculation of the coordinates yp, zp. The elevation is advantageously determined by means of an inertial measurement unit 25 (IMU) which is attached to the detection device 10.
    [39] In order to increase the accuracy of this evaluation step, a high resolution of the cameras 18 makes sense. In addition, short shutter speeds should be selected, this specification depending on the driving speed of the detection device 10. This also affects the frame rate of the cameras 18. At a speed of 80 km / h, attempts with frame rates of 140 image pairs per second have given very good results.
    [40] As shown in FIG. 4, a plurality of image pairs of the fixed point 15 are recorded and evaluated during a passage past. Thus, a plurality of position information data from different receiving positions 26, 27, 28 are known for the fixed point 15. An increase in accuracy results in a combination of these
    Location information data by transformation to a common coordinate system.
    Such a transformation of the z-coordinate of the fixed point 15 will be explained with reference to the coordinates x'i, z'i, z'2, X32, Z32, z'3, x'3 shown in FIG. At this time, for example, the wheel flange supporting point of the left front wheel flange roller 13 at the time of the illustrated middle photographing position 27 is set as the origin 16 of the common coordinate system. The x-coordinate of the fixed point 15 is equal to zero here.
    [42] In order to transform the z-coordinate z'3 of the fixed point 15 with respect to the next recording position 28 onto the common coordinate system, it is first necessary to determine the position of the recording position 28 with respect to this coordinate system. This is done, for example, by means of the inertial measuring unit 25 and results in a corresponding x-coordinate X32 and a z-coordinate Z32. If the track 5 has a slope or elevation ramp, there is also a corresponding y-value.
    [43] If one considers the coordinates as vectors, then the following relation results as transformed z-coordinate zt3 of the fixed point 15: zt3 = X32 + Z32 + z ^
    In the evaluation device 20, a corresponding algorithm for coordinate transformation is set up. Also for the z-coordinate z'1 of the fixed point 15 with respect to the previous recording position 26 results in a transformed z-coordinate.
    [44] By averaging all transformed z-coordinates to, Zt3 and the z-coordinate z'2 recorded in the common coordinate system, an exact z-coordinate zp of the fixed point 15 is obtained. due to a pixel jump, dirt particles or lack of lighting, are compensated in this way. In practice, far more than 3 image pairs of the fixed point 15 are recorded with a high frame rate, as a result of which a sufficient number of position data is available for averaging.
    [45] In an optional further method step, the detected position of the fixed point 15 is used in order to measure the position determined by means of the inertial measuring unit 25 and the
    Position transducer 12 continuously determined position of the measuring carriage 1 to balance. Concretely, the position of the measuring carriage 1 relative to a stationary reference system is determined at the beginning of a measuring run. The inertial measuring unit 25 and the displacement transducer 12 detect the relative changes in position of the measuring carriage 1 starting from this original position, with a drift occurring according to experience.
    Since a fixed point 15 also represents a stationary reference point, this drift is determined and eliminated by the automated measurement of the fixed point 15 during the measurement run. Usually, a plurality of fixed points 15 are attached along a measuring path, so that accurate position data of the measuring carriage 1 are present as a result of recurring adjustment over the entire measuring path.
    [47] The same procedure is used for track-laying machines, such as Stuffing provided. Here is a survey of the actual position of the track 5, before it is brought by lifting, straightening and Unterstopfen in its desired position.
    权利要求:
    Claims (15)
    [1]
    claims
    1. A method for determining the actual position of a track (5) relative to a fixed point (15) positioned in a lateral vicinity of the track (5) by means of a detection device (10) movable on the track (5), wherein the position of the fixed point ( 15) is measured to the track (5), characterized in that the detection device (10) along the track (5) is moved, that thereby by means of a detection device (10) arranged stereo camera system (17) continuously pairs of images of the lateral environment of the track (5), that by means of a pattern recognition performed in an evaluation device (20) in the image pairs of the fixed point (15) is searched and that when recognized fixed point (15) by evaluating at least one image pair, the position of the fixed point (15) relative to the track (5) is determined.
    [2]
    2. The method according to claim 1, characterized in that by means of an inertial measuring unit (25) continuously detects the position of the detection device (10) relative to a stationary reference system and that a resulting drift is corrected by means of the determined position of the fixed point (15).
    [3]
    3. The method according to claim 1 or 2, characterized in that a Überhöhungslage the detection device (10) measured and included in the position determination of the fixed point (15).
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that a next to the fixed point (15) attached identifier is recorded and evaluated.
    [5]
    5. The method according to any one of claims 1 to 4, characterized in that during a passage of several recording positions (26, 27, 28) of image pairs of the fixed point (15) are recorded and that in several image pairs, the position of the fixed point (15) opposite the track (5) is evaluated.
    [6]
    6. The method according to claim 5, characterized in that a common coordinate system is specified, in which the coordinates (X32, Z32) of a plurality of recording positions (26, 27, 28) are determined and that in the respective recording position (26, 27, 28 ) determined position coordinates (x'1, z'1, z'2, x'3, z'3) of the fixed point (15) are transformed into the common coordinate system.
    [7]
    7. The method according to claim 6, characterized in that for the position specification of the fixed point (15) for each axis (x, y, z) of the common coordinate system of a plurality of transformed coordinate values (x'1, z'1, z'2, x ' 3, z'3) an averaged coordinate value (zp, yp) is calculated.
    [8]
    8. The method according to any one of claims 1 to 7, characterized in that the detection device (10) on the rails (7) of the track (5) by means of flange wheels (13) is moved and that while the flange wheels (13) laterally to the rails (7) are pressed.
    [9]
    9. The method according to any one of claims 1 to 7, characterized in that by means of a measuring device continuously the position of the detection device (10) relative to a rail (7) is measured.
    [10]
    10. The method according to any one of claims 1 to 9, characterized in that the lateral environment of the track (5) by means of an infrared headlamp (23) is illuminated and that the image pairs are recorded by means of an infrared filter.
    [11]
    11. Measuring system for carrying out a method according to one of claims 1 to 10, comprising a in a lateral environment of the track (5) positioned fixed point (15) and on the track (5) movable detection device (10) for measuring the position of the fixed point (15) to the track (5), characterized in that on the detection device (10) a stereo camera system (17) for receiving image pairs of the lateral environment of the track (5) is arranged, that the stereo camera system (17) with a = evaluation ( 20), which determines the position of the fixed point (15) relative to the track (5) on the basis of at least one image pair.
    [12]
    12. Measuring system according to claim 11, characterized in that an inertial measuring unit (25) is arranged on the detection device (10).
    [13]
    13. Measuring system according to claim 11 or 12, characterized in that the detection device (10) as a component of a railway construction machine or a measuring carriage (1) is formed.
    [14]
    14. Measuring system according to claim 13, characterized in that the railway construction machine or the measuring carriage (1) comprises a position transducer (12) for measuring a distance traveled on the track (5).
    [15]
    15. Measuring system according to one of claims 11 to 14, characterized in that the fixed point (15) has redundant elements.
    类似技术:
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    同族专利:
    公开号 | 公开日
    PL3442849T3|2020-07-13|
    US20190031217A1|2019-01-31|
    WO2017178093A1|2017-10-19|
    EP3442849A1|2019-02-20|
    CN108778889A|2018-11-09|
    CN108778889B|2021-08-27|
    US10589763B2|2020-03-17|
    AT518579B1|2019-03-15|
    ES2774734T3|2020-07-22|
    EP3442849B1|2020-01-01|
    DK3442849T3|2020-03-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0511191A2|1991-04-24|1992-10-28|Franz Plasser Bahnbaumaschinen-Industriegesellschaft m.b.H.|System to measure the position of a rail track with respect to a fixed point|
    DE4222333A1|1991-07-12|1993-01-14|Plasser Bahnbaumasch Franz|METHOD FOR DETERMINING THE DEVIATIONS OF THE ACTUAL LOCATION OF A TRACK SECTION|
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    AT514502B1|2013-07-10|2015-04-15|Plasser & Theurer Export Von Bahnbaumaschinen Gmbh|Method for determining a track target position|WO2021037476A1|2019-08-29|2021-03-04|Plasser & Theurer Export Von Bahnbaumaschinen Gesellschaft M.B.H.|Method and measuring vehicle for determining an actual position of a track|
    WO2021121854A1|2019-12-16|2021-06-24|Plasser & Theurer Export Von Bahnbaumaschinen Gesellschaft M.B.H.|Method and monitoring system for determining a position of a rail vehicle|DE10220175C1|2002-05-06|2003-04-17|Db Netz Ag|Rail track flexure measuring method determines vertical and horizontal positions of track rails at loaded and load-free points|
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    CN102358325B|2011-06-29|2014-02-26|株洲时代电子技术有限公司|Orbital parameter measurement device and method based on absolute coordinate measurement reference system|
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    CN103419812B|2013-09-04|2015-09-30|中国人民解放军国防科学技术大学|A kind of method of rail subgrade settlement measurement based on shooting and satellite and IMU|
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    GB2542115B|2015-09-03|2017-11-15|Rail Vision Europe Ltd|Rail track asset survey system|US10774478B2|2015-12-17|2020-09-15|Siemens Mobility Pty Ltd.|Railway track displacement measurement system and method for proactive maintenance|
    CN111319658B|2018-12-14|2021-06-08|株洲中车时代电气股份有限公司|Vehicle benchmarking method and system, electronic equipment and storage medium|
    CN111114593B|2019-12-18|2021-01-01|中铁电气化局集团有限公司|Subway train autonomous positioning device, system and method based on multivariate information fusion|
    法律状态:
    2021-12-15| PC| Change of the owner|Owner name: TRACK MACHINES CONNECTED GESELLSCHAFT M.B.H., AT Effective date: 20211108 |
    优先权:
    申请号 | 申请日 | 专利标题
    ATA199/2016A|AT518579B1|2016-04-15|2016-04-15|Method and measuring system for detecting a fixed point next to a track|ATA199/2016A| AT518579B1|2016-04-15|2016-04-15|Method and measuring system for detecting a fixed point next to a track|
    CN201780017853.8A| CN108778889B|2016-04-15|2017-03-20|Method and measuring system for detecting a fixed point beside a track|
    PL17712412T| PL3442849T3|2016-04-15|2017-03-20|Method and measuring system for sensing a fixed point next to a track|
    EP17712412.0A| EP3442849B1|2016-04-15|2017-03-20|Method and measuring system for sensing a fixed point next to a track|
    PCT/EP2017/000351| WO2017178093A1|2016-04-15|2017-03-20|Method and measuring system for sensing a fixed point next to a track|
    ES17712412T| ES2774734T3|2016-04-15|2017-03-20|Procedure and measurement system for the detection of a fixed point next to a track|
    US16/083,047| US10589763B2|2016-04-15|2017-03-20|Method and measuring system for registering a fixed point adjacent a track|
    DK17712412.0T| DK3442849T3|2016-04-15|2017-03-20|METHOD AND MEASUREMENT SYSTEM FOR DETECTING A FIX POINT AT THE SIDE OF A TRACK|
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