• 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 track-laying improvement method by means of a track-mounted tamping machine (6) having a three-point work measuring system with three measuring carriages (A, B, C) and a chord (9) stretched between them, with a stuffing unit (5), with a lifting-straightening unit ( 8) for tracks and in particular with an odometer proposed. The position of the track after the correction work of the tamping machine (6) is recorded with a measuring system. In order to reduce the aiming error, it is proposed that a computer (R) calculates the difference between a given track collage (1) and an actual position recorded with the measuring system, a residual error (Kh), and that the position of the rear chord end on the rear measuring carriage ( C) of the track tamping machine (6) of the three-point work measuring system is continuously corrected so that the rear end of the tendon is guided on the measuring carriage (C) on the track collage (1).
    公开号:AT520894A1
    申请号:T50051/2018
    申请日:2018-01-22
    公开日:2019-08-15
    发明作者:Bernhard Lichtberger Dr
    申请人:Hp3 Real Gmbh；
    IPC主号:
    专利说明:

    The invention relates to a method for improving the three-point method which is used for track position improvement by track tamping machines.
    Most tracks for the railway are executed as gravel superstructure. The sleepers lie in the gravel. Due to the effective wheel forces of the overlying trains irregular settlement in the ballast and shifts of the lateral position geometry of the track caused. The subsidence of the ballast bed causes errors in the longitudinal height, the elevation (in the arc) and the leveling. If certain comfort limits or safety limits of these geometric parameters are exceeded, maintenance work will be carried out. A tamping machine improves the track geometry, which was degraded by the load on the trains. For this purpose, the track is lifted by electrohydraulically controlled lifting straightening in the track reference position and directed and fixed in this position by compacting (plugging) of the ballast below the thresholds.
    To guide the correction tools of the superstructure machine mainly measuring and control systems are used according to the three-point method. Practice shows that while the track layouts are improved, the theoretically possible improvements are far from being achieved. The track position errors are typically only reduced between 30-50%. The shape and position of the track position error is usually retained, only the amplitudes of the errors are reduced.
    So that the track after such track geometry improvement work can be released again for the train operation, the railway superstructure machines are equipped with so-called acceptance measuring systems and a pick-up recorder. This pickup recorder records the remaining errors. For the clearance specified tolerances of the track position errors are to fall below.
    The smaller the residual errors after maintenance work, the lower the interacting forces between the wheel and the rail through the trains, the slower the track geometry deteriorates again and the longer the durability of the track position. It is therefore desirable to bring the track geometry as possible to the desired position, because then considerable costs and effort can be saved.
    To correct track errors, various track-laying procedures have emerged. On the one hand, there are relative procedures that only smooth the track situation and, on the other hand, absolute procedures. The latter have largely prevailed in modern railways. In the absolute methods, the track layers are corrected according to specified target geometries. The desired geometries of the railway tracks are available as track plans and can be used after entering a search of the overhead machine for the calculation of systematic errors with knowledge of the behavior of the measuring systems. If the absolute correction values for the front end of the machine measuring device are known, then the front end of the machine measuring device is guided on the desired track geometry and the rear end on the already corrected track. At the workplace, the straightening and lifting process is carried out. The position of the tamping machine in the track longitudinal axis is determined with an odometer. This method is called a three-point method.
    A disadvantage of the current application of the three-point method, which is contrary to the theoretically expected improvement in the track position, the unsatisfactory reduction of the track position error by only about 30-50%. With this deficient function of the three-point method, the expense and cost saving potential which would result from a better application is not exhausted. The reason for this deficient function is that the rear chord end is not guided exactly on the desired track geometry, but has residual errors which are fed back into the system. These errors are caused by irregular subsidence of the track after lifting and by springing back the track after straightening, as well as by the feedback of these errors in the control loop. The resulting settlements depend on the gravel height and the gravel condition, the rebound of the track from the straightening forces, the properties of the rail fastening and the behavior of the track itself. The endless welded track has a compressive stress at high rail temperatures (from about T> 20 ° C) and at low temperatures (from about T <20 ° C) on a tensile stress. After straightening, it may therefore come due to these internal stresses to a rebound or rebound of the track.
    At the start of work and at the end of work with a top-mounted machine, elevations or corrections of the lateral position must not be abruptly carried out or left lying, but the values must be built up or dismantled successively (ramping up and down). As a result, however, the real track error is only partially resolved in these transition pieces. During and after the construction of the ramp, it can be assumed that the rear chord end is located on a faulty track. Ramping up and down by the machine operator is intuitive and experience-based and as a result is not really predictable and objectively assessable. Via the acceptance measurement record, the operator of the machine recognizes the magnitude of the errors that remain. By means of adjustable correction values he tries to counteract upsetting errors. But since between work position and acceptance measurement position are about 10-15m, the intermediate already processed track can not be influenced. The corrections of the operator are, so to speak, a prediction of the operator how the error will develop. He is dependent on his intuition and experience.
    The invention is therefore based on the object of specifying a method which improves the effect of the three-point method so that a reduction of the track position error with more than 30-50% is possible. Intuitive and experience-based settings of correction values by the operator and the associated error susceptibility should be avoided. The arrival and departure at the beginning and end of the work should be able to automatically in a further consequence such that the rear chord end is selectively guided to the desired position to prevent feedback in the control loop.
    The invention achieves the stated object by the fact that a computer calculates the difference between a predetermined track collage and an actual position recorded with the measuring system, a residual error, and that the position of the rear chord end on the measuring carriage of the three-point working measuring system is continuously corrected such that the rear chord end on rear measuring carriage of the tamping machine is guided on the track collage.
    The rear end of the tendon on the rear measuring carriage of the tamping machine is mathematically and electronically, so virtually, performed on the track target position and not as usual on the remaining residual errors on the rear measuring car. The fact that in the previous application of the three-point method, although the front chord point electronically on the track target position can be performed, but not the rear chord point on the remaining track errors, there is a feedback system. The rear chord point runs on the track errors and thus adversely affects the correction result.
    The (rear) measuring carriage of the tamping machine is preferably associated with an inertial measuring system which records the position of the track after the correction work of the tamping machine. However, the determination of the residual error of the track after the stuffing work could alternatively or additionally be done by extrapolation from the measurements of a subsequent take-off point measurement system with three measuring carriages and a chord stretched between them.
    The invention solves the fully automatic starting and stopping by the fact that the position of the rear chord end of the rear measuring carriage of the tamping machine for forming an initial ramp is automatically out of a zero correction at the start of work so to track collapse out, that the necessary track corrections are built continuously and that the location of the chord end on the front measuring carriage of the tamping machine for forming an end ramp is automatically guided from the track collage to a zero correction at the end of work, that the necessary track corrections are continuously reduced.
    The rear end of the tendon is led over a calculated ramp to the desired position of the track. Preferably, an inertial measuring system is constructed on the measuring carriage of the rear tendon end which measures the residual error. With the help of this inventively so determined measurement error, the position of the rear tendon end is corrected and performed on the track target position. This avoids the feedback and the resulting track position errors of the system.
    The inertial measuring system is built on a measuring carriage with two wheelsets which are rotatable to each other. An odometer is connected to the measuring trolley which measures the distance covered by the measuring trolley on the track. The measuring carriage is pressed laterally against the reference rail during the measurement. The inertial measuring system measures the tangent of the track direction and the longitudinal inclination, as well as the transverse inclination of the measuring carriage on the track (the superelevation). In e.g. equidistant steps (typically 0.25, 0.5 or 1m - even a quasi-continuous recording is possible because of the high measuring rates of the inertial measuring system), the measurement data of the inertial measuring system are stored at a corresponding point. In addition to the data of the inertial measuring system, the exact, arched length (or the "track-km") is stored for each measuring point. During work, the track of the measuring trolley in space is calculated from the absolute angle differences to the north-based coordinate system of the recorded values of the inertial measuring system for each measuring point (roll, yaw and pitch angle). The differences of this measured actual track track with the target
    Track track results in the absolute track position error.
    Instead of the inertial measuring system, the residual errors can also be calculated from the measured values of a trailing three-point reduction system. By means of digital filters, an approximated inverse transfer function of the chord measurement can be formed (see, for example, DE 103 37 976 B4), applied to the measured values and thus calculated back to the actual error course. From the course of this error curve is then extrapolated to the track error and thus determines the residual error at the rear end of the working chord on the rear test car. The extrapolation may e.g. calculated using a sine function or a higher order polynomial according to the least squares method.
    The advantages of the invention lie in the improved track position and the resulting longer durability thereof. Thus, the cycle between necessary maintenance work can be significantly extended, which saves considerable costs. On the other hand, it should be mentioned as an advantage that the operator is significantly relieved by the automatic startup and shutdown as well as the elimination of the correction input during work. Another advantage is the guaranteed automatically achieved higher track position quality and the elimination of the human error factor.
    In the drawing, the subject invention is exemplified schematically. Show it
    1 is a schematic side view of a tamping machine,
    2 shows diagrams showing the situation in a known three-point measuring system and the system according to the invention with INS unit,
    3 representation of the three-point method in the ideal case of a non-remaining track position error,
    4 shows the three-point method with a remaining track position error with feedback into the system,
    Fig. 5 Typical course of track position errors before and after the correction by a tamping machine,
    6 is a schematic diagram for describing the automatically controlled initial ramp,
    Fig. 7 Schematic representation for the description of the automatically controlled end ramp.
    Fig. 1 shows a track tamping machine for carrying out a method according to the invention. To the track tamping machine 6, a trailer 7 is coupled. The track tamping machine 6 is equipped with a stuffing unit 5. With a lifting-RichtAggregat 8 a to be corrected in terms of its location in a ballast track 11 is lifted and directed to the desired track position. Under the track tamping machine 6 is a three-point work measuring system with three measuring carriages A, B, C and a tensioned tendon between them 9, z. B. a steel tendon provided. When measuring carriage B, a sensor M measures the deflection of the chord 9 in the height and lateral directions. The chord 9 has the length l and is divided into the chord sections a and b, between which the measuring carriage B is arranged.
    For acceptance measurement, a take-off tendon 10 between measuring carriages E and C can be tensioned on the trailer 7. With the measuring carriage D, the deflection in height and direction is again measured by means of sensor M. The length of the picking chord is 1 'and this has the chord portions a' and b '. fi shows the residual error at the position of the measuring carriage D when measured with the tensioning arm 10 tensioned between measuring carriages E and C. In this case, since the absolute residual error can not be measured directly, the determination of the residual error of the track Kh after the stuffing work by extrapolation made from the measurements.
    In the preferred embodiment according to the invention with an inertial measuring system INS, the measuring carriages E and D are omitted. The inertial measuring system INS records the position of the track after the correcting work of the tamping machine. Instead of the measuring carriage C (with one axle), a 4-wheel INS measuring vehicle INS is set up. Kh is general for the residual error. Kh (INS) stands for the residual error determined with the inertial measuring system INS.
    2 shows in the upper diagram schematically the measured residual error f as a function of the arc length s in embodiments of acceptance measuring systems with a three-point chord, ie the measuring carriage C, D, E. The chord 10 is tensioned between the measuring carriages E and C. During the work of the track tamping machine (6) traveling along the track, the last residual error measured on the measuring carriage D is thus measured. That is, between the rear chord end of the measuring carriage C and the measured residual error on the measuring carriage D is a distance of length b '. These are usually between 5-8 m, depending on the design of the measuring systems. This means that between the recorded on the measuring carriage D residual error, which is shown on the pickup recorder, and the current residual error on the measuring carriage C is not yet recorded, but already faulty lying, the length of the b '. If the operator wants to correct the actual residual error on measuring carriage C, then he must extrapolate its presumed size from the recorded error form. This is difficult and the accuracy of the correction depends on the experience and intuition of the operator.
    In the middle diagram of FIG. 2, this is indicated by the dashed line between measuring carriages D and C. The operator extrapolates this dashed line from the past curve and corrects the position of the rear chord end of the measuring carriage C with the assumed correction value Kh (C).
    The lower diagram in FIG. 2 shows the conditions in the embodiment according to the invention with an inertial measuring system INS. A calculator (R) calculates a residual error (Kh) from the difference between a given track collage (1) and an actual position recorded with the measuring system and continuously corrects the position of the rear chord end on the trolley C of the three-point workstation such that the rear chord end of the trolley C is guided on the track collage 1. If the inertial measuring system INS at the rear measuring carriage C of the three-point work measuring system of the track tamping machine 6 is constructed with the measuring carriages A, B and C, the residual error can be determined directly by comparing the inertial measuring system measurements with the track target position 1. The position of the rear chord end of the measuring carriage C can thus be performed by the correction value Kh (n) directly on the track setpoint 1. Guidance of position of the back tendon end at
    Measuring carriage C on the track target position 1 is preferably carried out in the computer R virtually, but could also be done directly on the measuring carriage C by means of a suitable actuator mechanically.
    Fig. 3 shows schematically the ideal operation of a three-point measuring system. Sketched are the track nominal position 1 and the faulty track actual position 2. By means of a pre-measurement, the deviations Kv between the desired position and the actual position were determined and transferred to the computer R of the tamping machine 6. As a result, the computer R can perform a tendon end virtually by compensation calculation on the track desired position on the measuring carriage C. Real is the chord point, however, on the faulty actual track point C '. The other end of the tendon on the measuring carriage A is located on the already corrected, here ideally represented, in the faultless track 1. From the known track setpoint geometry calculates the calculator R the target rail arrow height fs (for the transverse direction of the track) or track nominal longitudinal height ( for the uplift of the track). fa is the measured arrow or longitudinal height. The he-be-straightening unit 8 of the machine now corrects the track so that the measured actual arrow height fa or actual longitudinal height corresponds to the calculated setpoint value fs and is thereby brought to track setpoint position 1. The track is thus corrected by the value Kf. Theoretically, the system works without errors.
    Fig. 4 shows the real operation of a three-point work measurement system schematically. In contrast, however, to the ideal system (FIG. 3), the trailing end of the trailing arm on the measuring carriage A is not on the track nominal position 1, but travels around the residual error Kh (point A "). Because of this faulty position of the tendon to the measuring carriage A ", B", C made an incorrect correction of the track position. Thus remains at the lifting-straightening point or the measuring carriage B, B "a residual error F back because too large actual arrow height or actual longitudinal height is determined by the residual error Kh back. It is precisely these errors that are avoided with the method according to the invention.
    Fig. 5 shows the schematic course of a track error Lh before the plug 12 (solid line) and after the plug 13 (dotted line). Typically, the error wavelength is in the range of 10-15m. Depending on the line speed, the amplitudes of the error are between 2 and 5 mm. As can be seen from the diagram, working through with a top-mounted machine according to the prior art only brings about an improvement in the track errors by approximately 3050% with a similar error course.
    6 schematically illustrates the calculation and the course of an automatic guidance of the initial ramp 14. The ramp is formed by pulling a straight line with the ramp length Lra from the starting point S to the zero line during the track error Kv0. The position of the rear end of the tendon C is automatically led to form an initial ramp Ira from a zero correction at work start S to the track collapse 1 that the necessary track corrections Kv (s) are built up to the ramp after a certain distance continuously. So that the straightening and lifting values begin slowly rising and no sudden correction is initiated, the trailing end of the tendon (tendon sections a, b with the chord length l = a + b) on the measuring carriage C (virtual) is guided so that the Measuring trolley B slowly rises and falls according to the set ramp. At the starting point, the setpoint at the rectification point B is indicated with zero, that is, zero correction. In order for the setpoint to be zero at B, the rear end of the chord must be calculated by the computer R at the value Kh. The rear chord end C is guided on the curve Kh (n-a) as the work progresses. n is the respective position of the correction point B. If e.g. the tendon in the marked position on the measuring carriages A ', B', C 'then the correction value Kh (n-a) of the rear tendon end C' is calculated so that the position of the lifting straightening system B 'is guided exactly on the ramp straight line. The track is corrected by the value Kfn so that it lies on the ramp line. At the end of the ramp, e.g. the correction Kfe performed. During further work, as in the three-point method, the rear chord end C and the front chord end A are guided on the target track line (in this case the zero line). After the end of the ramp, according to the invention, the rear tendon end residual error-corrected (Kh (INS)) is continued with the aid of the inertial measuring system INS.
    Computationally, the rear chord end C is to be guided on the following curve:
    7 schematically illustrates the calculation and the course of the automatic guidance of the end ramp 17. The position of the chord end on the measuring carriage A is automatically guided from the track collation 1 to a zero correction at the end of work Kv (n + b), in order to form an end ramp Irre. that the necessary track corrections Kv (s) are continuously reduced over a certain distance. The ramp is formed by pulling from the starting point S from the zero line to the track error KvE a straight line with the ramp length Lre. In order for the straightening and lifting values to be reduced slowly, the front end A of the tendon (tendon sections a, b with the chord length l = a + b) is guided so that the straightening and lifting values resulting at B decrease slowly according to the ramp. At the starting point S of the end ramp 17, the front and the rear chord end is at zero. If the tendon is e.g. in the position on the measuring carriages A ', B', C 'then the front end of tendon on the line Kv (n + b) must lie so that B' comes to rest on the ramp line 17. At the end of the ramp (also at the end of work) B '' is directly on the track error KvE, the rear chord end C '' on the zero line and the front chord end A '' on the line Kv (LRE + b) and there is no lifting -or. Straightening process more. The track was continuously transferred from the last exactly corrected track position S via the ramp course 17 to the at the end of the ramp track error KvE.
    Computationally, the front tendon end A is to be guided on the following curve:
    The residual error correction of the rear tendon end C by the inertial measuring system INS ends at the beginning of the ramp S, since otherwise the desired adaptation curve
    (acts like a residual error for the inertial measuring system INS) would be corrected by the inertial measuring system INS.
    The curves shown for the ramps are here shown schematically for the correction of the lateral position of the track. For the track surveys, the procedure is analogous.
    权利要求:
    Claims (5)
    [1]
    claims
    1. A method for track position improvement by a track-mounted tamping machine (6) with a three-point work measurement system with three measuring carriages (A, B, C) and a tensioned tendon (9), with a tamping unit (5), with a lifting-straightening unit (8 ) for tracks and in particular with an odometer, wherein the position of the track after the correction work of the tamping machine (6) is recorded with a measuring system, characterized in that a computer (R) the difference between a predetermined track collage (1) and one with the The position of the rear end of the tendon (C) of the track tamping machine (6) of the three-point working system is continuously corrected so that the rear end of the tendon on the measuring carriage (C) on the track collage (1 ) to be led.
    [2]
    2. Method according to claim 1, characterized in that the position of the rear chord end on the measuring carriage (C) for forming an initial ramp (Ira) is automatically guided from a zero correction at the start of work to the track collage (1) (Kh (na)), that the necessary track corrections (Kv (s)) are built up continuously.
    [3]
    3. The method according to claim 1 or 2, characterized in that the position of the chord end of the measuring carriage (A) for forming an end ramp (IRRE) is guided so automatically from the track collage (1) to a zero correction at the end of work (Kv (n + b )) that the necessary track corrections (Kv (s)) are continuously reduced.
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that the measuring carriage (C) an inertial measuring system (INS) is assigned, which records the position of the track after the correction work of the tamping machine.
    [5]
    5. The method according to any one of claims 1 to 3, characterized in that the determination of the residual error of the track (Kh <n>) after the stuffing work by extrapolation from the measurements of a subsequent Abnahmmedreipunktmesssystems with three measuring carriages (C, D, E) and a between tensed tendon (10) takes place.
    类似技术:
    公开号 | 公开日 | 专利标题
    EP2957674B1|2017-10-11|Method for operating a movable superstructure machine on a railway track
    DE2840916C2|1989-02-02|
    DE1817894A1|1973-05-24|TRACK POT MACHINE
    AT520894A1|2019-08-15|Method for improving track position by means of a track-drivable track tamping machine
    CH626415A5|1981-11-13|
    EP1817463B1|2008-09-03|Method for correcting height defects in a track
    DE3904179C2|1997-09-25|Mobile track tamping, lifting and straightening machine for lifting and / or moving a track sideways in the turnout and crossing area
    DD209865A5|1984-05-23|TOOL ASSEMBLY FOR SUPPORTING, LEVELING AND SIDING A JOINT
    EP0952254B1|2003-11-19|Correction method for the position of a railway track
    EP0726360B1|1999-02-24|Method and machine for tamping and stabilizing a railway track
    DE3227724A1|1983-06-30|MOBILE TRACK CORRECTION MACHINE WITH MEASUREMENT REFERENCE SYSTEM
    EP0652325B1|1999-05-19|Railroad maintenance machine for correcting the position of the track
    EP1028193A1|2000-08-16|Correction method for the position of a railway track
    DE1708651C3|1979-03-22|Method and device for the lateral alignment of tracks
    DE2602162C2|1984-08-30|Reference system arrangement for track construction machines
    DE2418368C3|1979-11-29|Method and machine for tamping and leveling a track
    AT521263B1|2019-12-15|Individual troubleshooting procedure
    DE2418318A1|1975-04-03|METHOD AND DEVICE FOR CORRECTING THE ALTITUDE, IN PARTICULAR THE JOINTS OF A TRACK
    WO2012041439A1|2012-04-05|Tamping machine
    DE3820656C2|1997-08-07|Device and method for correcting the position of a track frame that can be cast on a longitudinal concrete belt
    WO2017076994A1|2017-05-11|Method and track-building machine for renewing sleepers of a track formed from rails and the sleepers
    AT235885B|1964-09-25|Method for aligning, in particular lifting, tracks
    AT203041B|1959-04-25|Device for the local lifting of tracks
    DE1658336A1|1970-10-22|Track straightening machine
    DE1216341B|1966-05-12|Method for aligning tracks progressively in the track direction, in particular track curves, and device for carrying out this method
    同族专利:
    公开号 | 公开日
    US20200347557A1|2020-11-05|
    WO2019140467A1|2019-07-25|
    EP3743561A1|2020-12-02|
    AT520894B1|2021-01-15|
    CN111566286A|2020-08-21|
    JP2021510778A|2021-04-30|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    WO2008125168A1|2007-04-12|2008-10-23|Franz Plasser Bahnbaumaschinen-Industriegesellschaft M.B.H.|Method and machine for lowering a track|
    AT401398B|1990-02-06|1996-08-26|Plasser Bahnbaumasch Franz|CONTINUOUSLY TRAVELABLE TRACKING MACHINE FOR COMPRESSING THE GRAVEL BED|
    DK0952254T3|1998-03-27|2004-03-15|Plasser Bahnbaumasch Franz|Method for track position correction|
    EP1543439A1|2002-09-24|2005-06-22|DB Netz Aktiengesellschaft|Reconstruction of original signals from relative measurements|
    AU2004325170B2|2004-11-22|2010-02-04|Franz Plasser Bahnbaumaschinen- Industriegesellschaft Mbh|Method for correcting height defects in a track|
    AT514718B1|2013-09-11|2015-06-15|Plasser & Theurer Export Von Bahnbaumaschinen Gmbh|Method for correcting a track|
    EP2957674B1|2014-06-18|2017-10-11|HP3 Real GmbH|Method for operating a movable superstructure machine on a railway track|
    AT516278B1|2014-10-22|2016-04-15|System 7 Railsupport Gmbh|Method for measuring and displaying the track geometry of a track system|FR3108636A1|2020-03-26|2021-10-01|Colas Rail|Method for calculating a skidding or lifting of a railway track during a tamping-skidding-lifting by a tamper, a suitable tamper|
    AT523627B1|2020-09-16|2021-10-15|Plasser & Theurer Export Von Bahnbaumaschinen Gmbh|Method and system for determining a target track course for a position correction|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50051/2018A|AT520894B1|2018-01-22|2018-01-22|Process for improving the track position using a track tamping machine|ATA50051/2018A| AT520894B1|2018-01-22|2018-01-22|Process for improving the track position using a track tamping machine|
    JP2020533258A| JP2021510778A|2018-01-22|2019-01-17|A method for improving the track position by a track tamping machine capable of traveling on a track|
    US16/960,471| US20200347557A1|2018-01-22|2019-01-17|Method for track position improvement by means of a track-movable track-tamping machine|
    PCT/AT2019/050005| WO2019140467A1|2018-01-22|2019-01-17|Method for track position improvement by means of a track-movable track-tamping machine|
    EP19701953.2A| EP3743561A1|2018-01-22|2019-01-17|Method for track position improvement by means of a track-movable track-tamping machine|
    CN201980007374.7A| CN111566286A|2018-01-22|2019-01-17|Method for improving the position of a track by means of a track tamping machine that can be driven on a track|
    [返回顶部]