• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    Apparatus for the measurement of one-way geometric parameters based on gnss observations. The present invention relates to an apparatus for the measurement of one-way geometric parameters. The apparatus comprises: guidance and alignment means engageable on both sides of a single rail of the track to maintain the apparatus on top of the rail; rolling means for moving on the rail; motor means for actuating the rolling means; a level sensor that measures some parameters of inclination; and a gnss sensor to obtain the coordinates of certain observed positions. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2613767A1
    申请号:ES201531710
    申请日:2015-11-25
    公开日:2017-05-25
    发明作者:Alonso SÁNCHEZ RÍOS；Francisco CHÁVEZ DE LA O；Alfonso GONZÁLEZ GONZÁLEZ；David RODRÍGUEZ SALGADO
    申请人:Universidad de Extremadura；
    IPC主号:
    专利说明:

    APPARATUS FOR THE MEASUREMENT OF GEOMETRIC PARAMETERS OF A ROAD BASED ON GNSS OBSERVATIONS DESCRIPTION
     5
    Object of the invention
    The present invention has application in the technical sector of the construction and auscultation of tracks, such as railways, more specifically in the support devices for the measurement of geometric parameters, by means of an autonomous vehicle that allows observations without the need of any kind. of additional infrastructure. 10
    Background of the invention
    Currently, the auscultation and measurement of the geometric parameters of the tracks are usual operations carried out on the railway lines to guarantee certain safety conditions, both in the construction phases of the railway infrastructure and in the subsequent maintenance operations of the same 15, that allow the vehicles to circulate on them at the speed foreseen in the route. These safety conditions are directly related to the maintenance of the geometric characteristics of the path over time and the early detection of structural deformations.
     twenty
    The railway administrations usually follow maintenance programs and periodic control of the tracks to restore the original geometric and quality parameters of the project. For this, it is necessary to measure the variations of the absolute positions of each lane with respect to its theoretical position which, together with the measurements of the track widths, and longitudinal and transverse leveling, constitute the starting data for a batter machine 25 to restore the original positions of each lane.

    Advances in this field have been in the direction of increasing automation and speed in data recording, leading to the emergence of large-scale mechanical traction meters and recorders, suitable for large lengths and for the exclusive use of the Railway Administrations.

    Another solution of smaller size are the so-called track cars, more manageable and of low weight (about 20 Kg), which are usually formed by a central frame in which a set of sensors are housed, with which the data that is measured is measured. define the geometry of the track. They adapt to a large part of the usual work of final quality control of the track mounted on ballast and to the work of mounting the track on plate. Its main drawbacks are its high price, the complicated handling of the equipment and data processing and that it is not operative in intermediate works of construction of new roads, or in many cases economically profitable in the registration of data of existing road, except for Very specialized companies. In addition, the vehicle moves on the two rails of the track by means of the force that a field operator transmits manually.
     10
    Measuring vehicles and track cars coexist with traditional solutions, in which, to measure the deformations of the lanes, instruments and methods of classical geodesy are used, supported by methods consisting of the calculation of the curvature of the lanes through the measurement data of the arrows on a string at consecutive points. They are slow and very laborious methods that require a high qualification of 15 operators.

    Therefore, the work related to the construction and measurement of railways usually has three very different scenarios, as previously mentioned: the first, fully automated, based on the use of mechanical traction measuring vehicles and 20 whose use is limited in practice to Railway Administrations; the second, in which the so-called carriages are used, whose use is usually exclusive to specialized companies that have made a significant initial economic investment and trained their personnel in the use of this instrumentation; Although it has important advantages in terms of the precision obtained in the three-dimensional coordinates 25 of the measured points, they have some important disadvantages, such as the need for field operators to manually carry out the traction; Finally, the third scenario consists in the use of instruments and methods of topography and classical geodesy, with which precision similar to those of the second scenario is achieved, but with a more intense and continuous field work on site; much slower than the previous ones, 30 although the economic investment in instrumentation (width rule, fleas handles, ...) is the smallest of the three scenarios.

    For these reasons, the state of the art would welcome solutions that would lighten these works in which a large part of small Topography and Geomatics companies involved in the realization of engineering, quality control and technical assistance projects are involved. building. An autonomous and flexible device that can reduce the intervention of operators, easy to transport and handle, easy to use without the need for any additional infrastructure or highly qualified personnel to reverse comfort and competitiveness, but without disregarding obtaining 5 the precisions required in these works.

    Description of the invention
    The present invention solves the aforementioned problems by a small autonomous vehicle, which can be coupled to a single rail of a track, for example a railway track and move without direct intervention of any operator or need for pickets or external references that facilitate Staking work.

    For this, an apparatus is presented for measuring geometric parameters of a path characterized in that it comprises:
    - guide and alignment means attachable on both sides of a single rail of the track to keep the apparatus on the top of the rail;
    - rolling means for its movement on the rail;
    - motor means for driving the rolling means;
    - a level sensor that measures an inclination parameter; twenty
    - a GNSS sensor

    The GNSS sensor can be configured, according to one of the embodiments of the invention, to obtain three-dimensional coordinate data at different points of the path preset by a user. 25

    It is contemplated, in one of the embodiments of the invention, that the GNSS sensor is a sensor adapted for use with GPS, GLONASS, GALILEO, DEIDOU or any other navigation system, with wireless connectivity to transmit the data obtained even in real time . 30

    Alternatively, the data obtained by the GNSS sensor can be stored in memory and subsequently processed.

    Optionally, it is contemplated in one of the embodiments of the invention, that the apparatus has a sidebar attachable to a second rail of the track that stabilizes the apparatus. In this way, the device bar is coupled to both tracks of the track and achieves superior stability in the case of observation with wind or other conditions that advise it (very sharp curves, need to raise the height of the receiver by attaching a support 5 of greater height, etc. The bar, once the apparatus is coupled to the rails, is perpendicular to said rails in their preferred embodiment.

    The guiding and alignment means, according to one of the embodiments of the invention, comprise: at least two guides perpendicular to the longitudinal axis of the rail, where each 10 of said guides comprises at its end two additional sections: a first inclined section towards the inside of the rail, with an inclination around 45º with respect to the vertical one, in which a bearing system (21) with an axis perpendicular to that of said first section is fixed, which is adjusted by pressure to the curved part which joins the lower part of the rail head with the upper part of the soul of said rail, by means of an adjustable spring with 15 screws (22); and a second section, following the first section perpendicular to the longitudinal axis of the rail and therefore, parallel to the vertical, where said second section comprises at its lower end a wheel inserted and configured to support and roll on one side of the rail; and also means of displacement that move the two guides laterally to engage the rail. Said displacement means may consist, for example, of a screw or a double threaded screw to allow each of the guides to move in opposite directions.

    The motor means of the present invention, according to one of the particular embodiments, comprise a servo motor that regulates the turning rate of the motor means 25 and which advantageously allows determining the distance to which the apparatus travels.

    Additionally, the present invention may comprise fixing means that fix the displacement means to the structure of the apparatus, blocking any movement with respect to its horizontal axis. 30

    Optionally, the present invention may also incorporate retention means arranged between the guides that prevent the rotational movement of said guides. Advantageously, it is achieved that the guides are blocked when they are crossed by the retention means, such as two rods. 35

    According to one of the embodiments of the present invention, it is contemplated to locate a distance sensor on one of its sides of the apparatus to detect the distance between the rail through which the apparatus travels and a second rail of the track. The distance sensor can be for example an ultrasonic sensor, a laser sensor or any other similar device.

    A communication module for receiving control instructions sent by a user from a mobile device through a communications interface is contemplated in one of the embodiments of the invention. For example, the communication module may be a WiFi card, a 3G, 4G connection module or any other type of wireless communication.

    A memory module configured to store all measurements made by any of the sensors is contemplated in one of the embodiments of the invention. 15 Advantageously, the subsequent processing of said measurements can be carried out by recovering the data stored in the memory module in a computer or processor.

    The apparatus of the present invention can be, according to one of the embodiments, an autonomous vehicle that does not need any operator to move along the road. You can make your trips through a previous programming or by following in real time the instructions you receive through the communications module.

    Advantageously, the apparatus of the present invention travels along a single rail of the railway track, firmly coupled by means of the guiding means. 25
    The reduced dimensions and low weight of the autonomous vehicle of the present invention allow great stability thanks to a very low center of gravity, which allows it to advance along the rail driven by a small, low-consumption engine. Advantageously, it can be easily handled and transported, changing the rail if necessary, or saving a section of non-operational track. 30

    Description of the drawings

    To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example 35 of practical realization thereof, a set of drawings is accompanied as an integral part of said description. where for illustrative and non-limiting purposes, the following has been represented:

    Figure 1 shows a scheme according to one of the embodiments of the invention, 5 showing an embodiment of the autonomous vehicle.
    Figure 2.- Shows an elevation view of a vehicle coupled on a rail according to one of the embodiments of the invention.
    Figure 3.- Shows a plan view of a vehicle coupled on a rail according to one of the embodiments of the invention. 10
    Figure 4.- Shows a 3-dimensional view of one of the embodiments of the invention that includes a stabilizing element.


    DETAILED DESCRIPTION OF THE INVENTION

    What is defined in this detailed description is provided to help a thorough understanding of the invention. Accordingly, people moderately skilled in the art will recognize that variations, changes and modifications of the embodiments described herein are possible without departing from the scope of the invention. 20 In addition, the description of functions and elements well known in the state of the art is omitted for clarity and conciseness.

    Of course, the embodiments of the invention can be implemented in a wide variety of architectural platforms, protocols, devices and systems, so that the 25 specific designs and implementations presented in this document are provided solely for purposes of illustration and understanding, and never to limit aspects of the invention.

    The present invention discloses an apparatus, method and system for auscultating routes in a flexible, simple and economical way. Specifically, one of the embodiments, as shown in Figure 1, refers to a small autonomous and light vehicle that supports a geodetic GNSS receiver (1). The vehicle travels the track (2) autonomously, moved by its own engine and remotely controlled by the user thanks to a specific application implemented in a mobile device that communicates wirelessly with the vehicle, for example through a WiFi communication between the mobile device and the corresponding WiFi card installed in the vehicle. As the route is traveled, the GPS coordinates register the XYZ coordinates directly (in real time) in the internal memory of the receiver and connect for example via GSM / GPRS to the available GNSS positioning networks, such as those offered by the Autonomous communities, or work in the post-process, achieving greater precision in the measured coordinates. 5

    One of its most advantageous applications refers to the data collection of existing roads for rectification projects of its layout, since they can even be executed without the existence of staking bases in a coordinate system or any other additional infrastructure. Only 10 existing GNSS positioning networks should be supported.

    The trajectory that the autonomous vehicle follows is completely linked to the monitoring of one of the rail tracks, detecting the variations of the absolute positions of each lane with respect to its theoretical position by means of observations 15 provided by the GNSS receiver. In this way, very high precision is offered for all the processes that are carried out on said lane, since a reliable data record is obtained as the vehicle moves on the railway. This advance can also be carried out autonomously and programmed without the need for continuous supervision by an operator. twenty

    It is contemplated in one of the embodiments, an autonomous vehicle of reduced dimensions and of low weight, characteristics that allow working directly on a single railway rail and facilitate its transport in a simple way due to the lower weight and volume than the known systems of the state of the art . At the same time, its remote control implies an improved ease of use and maneuverability, as it does not require movement by traction of an operator once the vehicle is placed in its initial position.

    The vehicle movement is preferably carried out by motor means. Specifically, in one of the embodiments, a small engine is contemplated that drives the vehicle and makes it possible to move along one of the track rails the distance stipulated by the user at any time. Preferably, motors of the servo-motor type are used, which allow the rotation rate to be adjusted and thus adjust the distance to be moved at any time. In this way the use of bolts or pickets as a reference is dispensable, since the vehicle will move exactly the number of indicator meters by the user, normally coinciding with the kilometric points of the construction project. For example, a suitable motor for the present invention is a "Servo high torque HD1501MG 17Kg" that allows a torque at 6V of 17kg / cm, sufficient to move the vehicle on the track.
     5
    As for the control tasks both hardware and software of the autonomous vehicle, they are contemplated in one of the embodiments of the invention, which are carried out by means of free tools such as the range of sensors and plates Arduino and RaspBerry Pi, allowing the control of sensors through the hardware and its management through the software. On the other hand, certain software is necessary to manage the vehicle efficiently and its movement controlled by the track, data collection from the associated sensors, and wireless communication with the user's mobile device. This software management, movement control and sending and receiving orders can be carried out, for example, by another hardware device that can accommodate, according to one of the embodiments, a software control module in the autonomous vehicle. The programming of the software necessary for the control of each of the sensors and motor of the vehicle can be carried out, for example, using an API such as that of Arduino prepared for it.

    Figures 2 and 3 represent two elevational and plan views respectively of one of the possible embodiments of the present invention, where an autonomous vehicle 20 can be observed that detects through its movement the variations of the absolute positions of a rail with respect to Your theoretical position. Said vehicle comprises, according to this particular embodiment, a structure formed by two modules A (11) and B (16) and which are aligned by cylindrical axes (15) fixed in module B, which can be for example a housing , a base or a block that supports the rest of the elements. This structure, in its module B (16), is mounted on rolling means, which can be for example 4 driving wheels (12) as shown in the figures, although they could be varied in number or replaced by other types of bearings or cylinders that would fulfill the same function. These wheels rest on the upper part of the rail of the railway track and allow the vehicle to move along the rail when exerting a certain driving force. Motor means, not shown in the figure, such as a servo motor, can be used to generate the power necessary to move the vehicle, said power being transmitted by a power transmission system between said motor means and the rolling means. The vehicle includes in its instrumental structure for data collection, in this case a geodetic GNSS receiver (3), for the measurement of three-dimensional coordinates of the 35 points that define the geometry of the track. In addition, in this embodiment, it has a level sensor or an inclination sensor, not shown in the figure, fixed in the structure of the vehicle to correct the coordinates in the case of paths with cant and longitudinal slope. The data generated by the different sensors of the vehicle are collected in a storage module included in it, for later processing by means of a computer application.

    In addition, the present invention may include an alignment and fixation system (SAF) that adjusts mechanically and continuously to the rail. Specifically, said system allows an alignment of the vehicle with respect to the rail regardless of the typology and dimensions 10 of the rail, including those that could result from weather changes, wear of the rail itself, etc. Said system consists of guiding means which, according to the particular embodiment represented in Figures 2 and 3, can comprise, for example, a screw thread (13), or several depending on the number of vertical axes used, which joins the modules A (11) and B (16) of the structure, said screw being located inside the structure of module A (11) and with its respective B-threaded (16) is the one that regulates the adjustment mechanism. Having a thread allows movement in the horizontal direction and opposite direction to the vertical guides (12). The drive mechanism (14) for the SAF is coupled at its outer end, with which the rotational movement of the screw is generated. Said drive system can be carried out with or 20 without a damping system. At each lower end of the parts A (11) and B (16), guides are extended perpendicular to the longitudinal axis, being joined to the structure A (11) and B (16) respectively, moving in a horizontal direction along the screw (13) and allow to make the necessary adjustment for the alignment and fixing system depending on the dimensions of the rail. For greater precision in the adjustment and alignment, the vertical guides include a bearing system (21 and 22) and wheels (17) in their inclined section, respectively, as shown in Figures 2 and 3 which are they adjust to the soul and lower inclined section of the rail profile and serve as an alignment system as well as to the vehicle. The displacement of the vertical guides by the screw screw drive brings the adjustable bearing system (21 and 22) and the wheels (17) away from the core of the rail or track and the lower inclined section, allowing adjustment and fixation at any track width. On the inside of the module B (16) a guide system (15) is attached to the structure of the module, which allows adjustment and alignment with the module A (11). This guide system (15) allows the movement in the horizontal direction but in turn prevents the rotational movement of the 35 modules A (11) and B (16). The distribution of weights in the SAF system is such that it preferably causes a center of mass and therefore of very low gravity, which generates a minimum moment of inertia and favors the stability of the vehicle.

    The alignment and steering system makes it possible to counteract the overturning moment that 5 supposes to support the weight of the structure and the own weight of the GNSS receiver that incorporates the invention to perform the measurement. For the adequate collection of information by the GNSS receiver, it is necessary that said device be raised with respect to the element that is in contact with the track (alignment and steering system), by incorporating a pull at a variable height; and consequently the center of mass of the support structure set 10 of the GNSS receiver and of the GNSS receiver itself, is sufficiently above the track so that the alignment and steering system must counteract the lateral (horizontal) forces that occur by such requirement of the design of the invention. To do this, in addition to the wheels whose axis is vertical and that rest on the core of the metal profile that constitutes the track, two wheels [21] have been incorporated facing 15 both sides of the track profile that form an angle of approximately 45º regarding the vertical and that they also support on the track. It should be noted that as many sets of two wheels can be established, both those with vertical axle and 45 ° wheels, as necessary in relation to the length of the alignment and steering system of the invention. The wheels that form 45º with the vertical, in addition to pressing the profile of the track by the pressure exerted in the tightening of elements A [11] and B [16]; they also exert greater pressure and support by the action of a spring system [22] that incorporates. With this system of springs a continuous contact is guaranteed on the profile of the track, avoiding take-offs due to the irregularities of the profile or the speed at which the invention can move along the track, so that a continuous contact is ensured that 25 prevents rotation with respect to the vertical of the invention due to lateral forces and the elevated position of the center of mass, and consequently an erroneous measurement occurs.

    The present invention includes, in one of its embodiments, a distance sensor based on ultrasound or any other type, for measuring the track width. According to the embodiment of Figures 2 and 3, the ultrasonic sensor (19) is located on one side of the structure, obviously oriented towards the other rail of the track. For example, an HC-SR04 ultrasound sensor can be used, which allows the distance between lanes to be measured with pinpoint accuracy. However, to increase the accuracy of the 35 measurements, the use of the ultrasonic sensor could be complemented by a width ruler.

    The structure of the vehicle can be used to house the hardware and sensors of the vehicle that allow control of the vehicle. A certain space (20) is necessary for components 5 such as the motor, hardware, sensors and other electronic components and the corresponding connection means.

    The energy needed to power the autonomous vehicle can come from an autonomous power source, such as an electric battery, a battery, solar panel or similar, implemented in the autonomous vehicle structure itself.

    Figure 4 represents a 3-dimensional view of one of the embodiments of the vehicle that includes a stabilizer and anti-swinging element. Specifically, there is a side bar (40) configured to be coupled to a second rail (41) of the track to stabilize the vehicle. The vehicle is thus coupled to both track rails and achieves superior stability. It can be seen how the bar is perpendicular to said rails in its preferred embodiment, since structurally it provides greater advantages, although in other embodiments it could take alternative orientations, resort to several bars or several support points in either of the two ways. twenty

    Any of the embodiments shown in the different figures, have a particular morphology and design that differentiate the present invention from any other of the existing solutions in the state of the art. It is much simpler and lighter than current cars, which allows it to circulate on a single rail thanks to the structural features discussed above. As an example, a typical equipment for one of the embodiments of the present invention is made up of a very light inclination sensor and linear sensor, of just a few grams and dimensions of the order of a few centimeters, a GNSS sensor and some other elements auxiliary but also very light. These characteristics make the apparatus of the present invention very suitable not only for recording data for the maintenance and quality control of the roads, but also for the works of preliminary road rectification projects and, above all, for the works of construction assistance, as it is much more versatile, lightweight and adaptable to the circumstances of work in intermediate stages, where there are hardly any reference elements. 35

    The GNSS sensor moves in solidarity with the vehicle automatically, according to the instructions sent by the operator who manages the device, and in this way the X, Y, Z coordinates of each observed point are obtained. Depending on the work to be done, different applications of the present invention arise in the measurement tasks:
    On the one hand, the geometric parameters of the track can be measured for quality control. To do this, proceed to make a single pass in the low thread (left lane) with the vehicle. The necessary data are taken to define the position and track height with the same precision as a measuring car of those already known, but with a much simpler and cheaper solution. The other two parameters (track and cant width), 10 although they can also be registered only by this vehicle (with the data provided by the distance sensor and the tilt sensor), in the case of requiring greater measurement accuracy of the track width, the use of the invention could be complemented with that of a width ruler. Recently it has been possible to verify that the accuracies achieved with these equipments are equal to those of 15-track measuring cars, at the cost of lower performance of the field work, but perfectly valid when it is necessary to take data in sections of medium lengths, that advise against the use of the measuring car because of its high cost and efficiency.

    On the other hand, if you want to take preliminary data for an existing 20-way rectification project, a single pass is made with the vehicle placed on one of the lanes, thus obtaining all the geometric parameters: position and track height, as well as track width and cant, with sufficient precision for these works.

    In the case of construction works, stakeouts normally refer to a lane, and this one serves as a reference to place the second. Therefore, only one pass through one of the rails is necessary.

    In all cases, the present invention manifests a series of advantages over the already known solutions of the state of the art, among which are for example the minimum disbursement in topographic equipment necessary to operate with an autonomous vehicle such as that of the present invention. , since any additional element can be completely dispensed with. In addition, the proposed vehicle is very low cost, since the components it uses are basic.
    It is possible to greatly optimize the measurement projects and automate the processes, 35 with the consequent saving of personnel and unnecessary energy expenses, since all the control can be carried out by a single operator.

     The flexibility with which the work can be done is enormous. The characteristics of the present invention make the field work tremendously comfortable and allow the operator to move the vehicle from one road to another, repeat a section or transport the equipment easily. Even, the intervention of the operator can be reduced to only schedule the observations and control the proper functioning of the devices.
    Data recording is done in a completely digital environment from the vehicle of the invention itself, in contrast to the widely used manual registration methods among the low cost alternatives.

    Therefore the present invention turns out to be a low cost product, of course much lower than the systems currently used for in-situ data collection in construction activity, which increases the performance and comfort of the works in which It is applied without prejudice to the results. In addition, for its use, staff training needs are absolutely minimal.

    As examples of specific applications of the present invention, for example, the work of rectification and remodeling of existing tracks or, on the other hand, the implementation of new railway lines can be mentioned.

    For the works of rectification and remodeling of existing roads, it is based on the coordinates of a network of bases calculated in the official coordinate system, from which a measurement of the local situation of the road is carried out, both in plan and in 25 raised. To do this, the coordinates of marking points on the track are taken, in addition to other required points; subsequently, with the obtained coordinates, the parameters of the plan layout (singular points, radii of curves, transition curves and their lengths, etc.) and elevation (slopes, vertical agreements, etc.) are calculated; Finally, with these data, the horizontal and vertical displacements (ripados, risers and 30 recesses) are calculated, which, by means of a batting machine, would have to be applied to the existing track to adapt it to the projected situation. In this case, the present invention is applied precisely in the phase of data collection of the three-dimensional coordinates of the points on the rails and in the final verification phase of the work executed.
     35
    As for the work on the implementation of new railway lines, it is based on the existence of a network of bases calculated in the official coordinate system and that the data on the position of the lanes both in plan and elevation are defined in the documents of the construction project itself. In this case, it is necessary to carry out a stakeout by coordinates, usually indirect by means of auxiliary pickets, placed 5 at a distance between 2.5 and 3 m from the axis of the track, which will serve as a reference to the track machinery to correctly position the lanes It should be noted that the tracks are not placed in their final position at one time, but that their alignment and leveling is done by a batter in three repeated sequences and always referring to the planimetric and altimetric data provided by the pickets. In this case, the invention can be used to check in each phase the state in which the track is in relation to its geometric position without the need for pickets, thus lightening the work of the operators of the batting machine, especially when, by the circumstances of the works themselves, some sections of picket alignments disappear on the ground, since these are not necessary for the operation of the present invention. fifteen

    Finally, after the completion and reception of the works, we proceed to reference the absolute positions of the road to permanent bolts or marking points embedded in the catenary posts (we must take into account that at this point, the pickets have disappeared), in order to be able to reproduce at all times the position of each lane, 20 both in plan and in elevation, for future road maintenance operations. In this case, the invention has an immediate use, since its advance can be programmed so that it makes controlled stops in front of these points; Once the coordinates of the same have been obtained and compared with those of the project, being able to calculate the displacements necessary to bring the rails to their original position without the need to perform measurements 25 auxiliary to the bolts, only the three-dimensional coordinates of the original project would be worked on.
    权利要求:
    Claims (15)
    [1]

    1.- Apparatus for measuring geometric parameters of a path characterized by comprising: 5
    - guide and alignment means attachable on both sides of a single rail of the track to keep the apparatus on the top of the rail;
    - rolling means for its movement on the rail;
    - motor means for driving the rolling means;
    - a level sensor that measures an inclination parameter; 10
    - a GNSS sensor.
    [2]
    2. Apparatus according to claim 1 wherein the GNSS sensor is configured to obtain three-dimensional coordinate data at different points of the path preset by a user.
    [3]
    3. Apparatus according to any of the preceding claims wherein the GNSS sensor is a sensor adapted for use with GPS, GLONASS, GALILEO, DEIDOU or any other navigation system, with wireless connectivity to transmit the data obtained.
    [4]
    4. Apparatus according to any of the preceding claims which further comprises a sidebar attachable to a second rail of the track that stabilizes the apparatus. twenty
    [5]
    5. Apparatus according to any of the preceding claims wherein the guidance and alignment means comprise:
    - at least two guides perpendicular to the longitudinal axis of the rail, where each of said guides comprises at its lower end a wheel inserted in said guide and configured to support and roll on one side of the rail; 25
    - means of displacement that move the two guides laterally to engage the rail.
    [6]
    6. Apparatus according to claim 5 wherein the lower end of the guides comprises two sections: a first section inclined inwards approximately 45 degrees; and a second section, following the first section, perpendicular to the longitudinal axis 30 of the rail; wherein said first section additionally comprises a bearing system (21) disposed along an axis perpendicular to said first section, where the bearing system is adjustable by pressure to the curved part that joins the head of the rail with the soul of said rail by an adjustable spring with a screw (22).
    [7]
    7. Apparatus according to any of claims 5.6, wherein the displacement means comprise a screw thread.
    [8]
    8. Apparatus according to any of claims 5-7, further comprising fixing means that fix the means of displacement to the structure of the apparatus, blocking any movement with respect to its horizontal axis.
    [9]
    9. Apparatus according to any of claims 5-8, further comprising retaining means arranged between the guides that prevent the rotational movement of said guides.
    [10]
    10. Apparatus according to any of the preceding claims which further comprises a distance sensor located on one of its sides that detects the distance between the rail through which the apparatus travels and a second rail of the track.
    [11]
    11. Apparatus according to any of the preceding claims, further comprising a communications module configured to receive control instructions sent by a user from a mobile device through a communications interface.
    [12]
    12. Apparatus according to any of the preceding claims wherein the motor means comprise a servo motor that regulates the rotation rate of the motor means and determines the distance at which to move the apparatus.
    [13]
    13. Apparatus according to any of the preceding claims which further comprises a memory module configured to store all measurements made by any of the sensors.
    [14]
    14. Apparatus according to any of the preceding claims wherein the communication module is a WiFi card, a 3G communication module or a 4G communication module.
    [15]
    15. Apparatus according to any of the preceding claims wherein the apparatus is an autonomous vehicle.
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