• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    A measuring device and a tamping tine is disclosed, configured to be used in maintaining rail road ballast by ballast tamping. The measuring device is configured to be installed within the volume of the tamping tine, and the measuring device comprises at least one sensor providing sensor data configured to be used for calculating elasticity of the rail road ballast. Further, a method for maintaining rail road ballast by ballast tamping is disclosed. Sensor data provided by at least one sensor disposed within the volume of at least one tamping tine is obtained and a ballast elasticity value of the rail road ballast based on the sensor data is calculated.
    公开号:FI20175454A1
    申请号:FI20175454
    申请日:2017-05-19
    公开日:2018-11-20
    发明作者:Michael Nikonchuk；Vladimir Arteev；Kirill Nikonchuk
    申请人:West Ter Oy；
    IPC主号:
    专利说明:

    Method, device for measuring ballast elasticity
    Field
    The present invention relates to a measuring device, a tamping tine, a method and a computer program product to be used in the process of maintenance of 5 railroad ballast. More particularly, the measuring device, the tamping tine, the method and the computer program is provided for measuring ballast elasticity.
    Background
    A ballast is material that is used to provide stability to a structure. In railways terminology, ballast is a supporting structure for rails and sleepers. Typical 10 ballast layer comprises crushed stone, and the purpose of the ballast layer is to support the sleepers and allow some adjustment of their position, while allowing free drainage. Fig. 1 illustrates an exemplary railway structure. Rails 10 are attached on a row of sleepers 20, that lie on the ballast layer 30. Typical thickness of the ballast layer 30 is around of 400 mm. The ballast layer 30 is 15 formed into a defined structure which has shoulders 35 on both sides of the pair of rails, and a layer of ballast material underneath. The ballast layer 30 may be laid on top of a sub ballast layer 40, which may comprise various layers of material. Typical thickness of the sub ballast layer 40 is in the order of 200 to 300 mm. The entire track and ballast structure lies on a track 20 foundation comprising a subgrade on top of a subsoil or natural ground. While load caused by freight or high speed trains is intense, it gradually affects all layers of the ballast structure so that they settle and lose elasticity.
    Ballast elasticity is an important parameter for maintaining stability of rail geometry. Even distribution of ballast elasticity ensures even settlement of 25 track under rail traffic origin load. Fig. 2 illustrates settlement of ballast and ground below as a function of cumulative rail traffic. Subgrade and sub ballast typically settle very slowly compared to the topmost ballast layer. Maintenance of the ballast layer is called tamping, which is a process of packing the track ballast stiffer and evenly under the railroad sleepers, and
    20175454 prh 19 -05- 2017 simultaneously ensuring that the geometry of the track rails and the ballast is maintained. Tamping makes the tracks more durable. Evenly distributed ballast elasticity helps in decreasing track maintenance cost. Tamping of a very high-speed track may be performed monthly. Due to such high frequency 5 for need for ballast and geometry maintenance, and due to need to carry the maintenance work primarily by night, ballast and geometry maintenance represent a significant share of total railway maintenance budget over lifetime. Cost of tamping 1 km of track ballast may rise to level of 30 k€.
    Figures 3a to 3d illustrate a tamping process performed by an exemplary 10 tamping unit 50. The tamping units (also called as workheads) 50 travel on the track 10 to be maintained on a tamping machine. Typically, there is a pair of tamping units working together for tamping the ballast simultaneously on left and rights sides of the rail. A tamping machine may comprise two or more tamping units 50, which may simultaneously work on two or more sleepers. 15 The tamping unit 50 is stopped over a sleeper 20 to be tamped as in Fig. 3a.
    The tamping unit 50 comprises at least two tamping tines 55. Tamping tines 55 are typically arranged in pairs for enabling tamping action on both sides of the sleeper 20. For performing tamping on the main width of the track structure, more than one pairs of tamping tines 55 may be needed. A typical 20 tamping machine comprises 8 pairs of tines per sleeper. One or more levelling units (not shown) lift, level and align the track 10 to a first pre-determined height Ah compared to the original height of the track before lifting, and position the rails as illustrated in Fig. 3b. This predetermined height Ah may be called a lifting value, since it indicates the amount of vertical lifting of the 25 sleeper that needs to be achieved by the tamping process. A void 21 is created under the sleeper 20 by the levelling. Tamping tines 55 enter the ballast layer 30 and stop at a first predetermined depth dl as illustrated in Fig. 3c. Cylinder assemblies 57 of the tamping unit 50 perform a squeezing action and compact the ballast 30 in the void 21 under the sleeper 20 so that the ballast layer 30 30 becomes even and fit to carry the sleepers as intended. This final part of the tamping action is illustrated in figure 3d.
    20175454 prh 19 -05- 2017
    The tamping process may vary. Two main types of known types of tamping processes are continuous tamping and switch tamping.
    In the continuous tamping, speed of the tamping vehicle traveling along the track is essentially constant. The tamping unit is attached to a subframe, which allows the tamping vehicle to continuously move forward while the tamping unit periodically works on the ballast in each location for a limited period of time. The period is limited by the speed of the tamping vehicle and the length of the subframe in the direction of the speed. The period between starting the tamping 10 in two consecutive positions of the tamping unit may be called the tamping period. The tamping period comprises a squeezing period, during which the tamping tines attached to the tamping unit squeeze the ballast. The tamping unit is then moved forward within the subframe to a new location over the track, after which a new tamping period is started for that new location. Speed of the 15 tamping vehicle may be slightly adjusted for controlling length of the tamping cycle. A slower tamping vehicle speed extends the tamping cycle, while faster tamping vehicle speed decreases the length of the tamping cycle.
    In the switch tamping, the entire tamping vehicle stops each time for the duration of the squeezing cycle. This allows for instance double or even triple the 20 squeezing cycles if needed.
    The figure 4 shows a photograph of exemplary tamping tines 55. Tamping tines 55 are typically elongated, essentially solid metal objects that are removably attachable to the tamping unit arms, so that for example defective or worn-out tamping tines can be replaced. Main parts of a tamping tine 55 are a shaft 55b, 25 a shank 55d and a tamping plate 55a, which may also be called a paddle or a tamping tip. A tamping plate 55a of a tamping tine 55 is typically shaped as a plate, but it may take various shapes while configured to enter the ballast material and to effectively move the ballast for example by pushing and/or vibrating the ballast material for the squeezing action. The tamping plate 55a 30 may be an essentially flattened portion of the tamping tine 55, that is disposed
    20175454 prh 19 -05- 2017 in the end of the shaft 55b of the tamping tine 55 that is away from the shank 55d. A rim 55c may be disposed between the shaft 55b and the shank 55d. The rim 55c may be configured to facilitate proper installation of the tamping tine 55. The shaft 55b and the plate 55a may be called as the lower part of the tamping tine 55, since these typically point downwards when the tamping tine 55 is installed in a tamping machine in an essentially vertical position. Likewise, the shank 55d may be called as the upper part of the tamping tine 55, since it typically points upwards towards the tamping machine. The shank 55d of the tamping tine 55 is configured for coupling the tamping tine 55 towards the 10 tamping unit arms. The rim 55c may divide the tamping tine 55 to the shank 55d part used for coupling the tamping tine 55 with the tamping machine and to the shaft 55b part into which the tamping plate 55a is attached.
    Various parameters of the ballast may be measured for ensuring that the ballast under the track is fit for the purpose and for detecting need for ballast 15 maintenance. Ballast density, expressed as kg/m3 is a traditional measure used for characterizing the ballast. However, while the ballast typically consists of stones with irregular shape, ballast density is not very accurate parameter for ballast supporting quality. Ballast elasticity, expressed for example in kN/mm is more important parameter indicating capability of the 20 ballast to maintain rail geometry stability.
    Description of the related art
    Various methods are known to measure ballast parameters. Rail maintenance vehicles are known to include both devices working on the ballast and devices for measuring ballast parameters.
    US patent 4040292 discloses an apparatus for indicating the density of a mass of course particles, such as track ballast, by using immersion of a measurement tool capable of penetrating into the mass.
    20175454 prh 19 -05- 2017
    US patent 4393691 discloses a rail vehicle that has a measurement unit comprising a pressure plate for determining physical parameters of the subgrade.
    Summary
    An object is to provide apparatuses, a method and a computer program product for measuring ballast elasticity during tamping the ballast. The objects of the present invention are achieved with a measuring device according to the characterizing portion of claim 1. The measuring device is configured to be installed in a tamping tine according to claim 7. The objects of the present 10 invention are further achieved with a method according to the characterizing portion of claim 8. The method may be performed by a computer program product according to claim 17.
    The preferred embodiments of the invention are disclosed in the dependent claims.
    According to a first aspect, a measuring device to be used in maintaining rail road ballast by ballast tamping is provided. The measuring device comprises at least one sensor providing sensor data. The measuring device is configured to calculate at least one elasticity value of the rail road ballast based on the sensor data, and the measuring device is configured to be installed within the volume 20 of a tamping tine.
    According to a second aspect, the measuring device is configured to obtain the sensor data at least during a ballast squeezing action performed with the tamping tine.
    According to a third aspect, the at least one sensor comprises an acceleration 25 sensor and the sensor data comprises acceleration data.
    According to a fourth aspect, the measuring device further comprises a processor for pre-processing the sensor data and a short range wireless transmitter configured to transmit at least one of the sensor data and the pre-processed
    20175454 prh 19 -05- 2017 sensor data. The measuring device further comprises an electrical energy source configured to provide energy at least for the sensor, the processor and the short range wireless transmitter.
    According to a fifth aspect, the measuring device further comprisesan elongated body configured to be installed in an installation slot in the volume of the tamping tine. The sensor is disposed at or near a first end of the elongated body, wherein the first end is configured to be disposed within the installation slot towards the lower part of the tamping tine that is configured to immerse into the ballast. The short range wireless transmitter and the processor are disposed 10 at or near the second end of the elongated body, wherein the second end is configured to be disposed within the installation slot towards the upper part of the tamping tine that is configured be coupled to a tamping machine arm. The elongated body is configured to electrically couple the at least one sensor, the processor and the short range wireless transmitter.
    According to a sixth aspect, the measuring device further comprises an antenna coupled to the short range wireless transmitter for transmitting at least one of the sensor data and the pre-processed sensor data.
    According to another aspect, a tamping tine for maintaining rail road ballast by ballast tamping is provided. The tamping tine is configured to comprise at least 20 one installation slot within the volume of the tamping tine. The at least installation slot is configured for installation of a measurement device according to any of the above aspects 1 to 6.
    According to a first method aspect, a method for maintaining rail road ballast by ballast tamping is provided. The method comprises obtaining sensor data 25 provided by at least one sensor disposed within the volume of at least one tamping tine and calculating at least one ballast elasticity value of the rail road ballast based on the sensor data.
    According to a second method aspect, the method comprises obtaining the sensor data from the at least one sensor during at least one of: the time of the
    20175454 prh 19 -05- 2017 tamping tine entering the ballast, and a ballast squeezing action performed with the at least one tamping tine during a ballast squeezing period.
    According to a third method aspect, the at least one sensor is an acceleration sensor and the sensor data comprises acceleration data.
    According to a fourth method aspect, the method further comprises preprocessing the sensor data for obtaining pre-processed sensor data.
    According to a fifth method aspect, the method further comprises receiving at a processing device at least one of the sensor data and the pre-processed sensor data transmitted over a short range wireless interface for further processing the 10 sensor data.
    According to a fifth method aspect, the method further comprises obtaining a target ballast elasticity value, comparing the target ballast elasticity value with the at least one calculated ballast elasticity value, and controlling the ballast tamping based on results of the comparison.
    According to a sixth method aspect, the method further comprises obtaining geolocation data defining geolocation of a tamping machine comprising the at least one tamping tine, and obtaining the target ballast elasticity value in the geographical location of the tamping machine.
    According to a seventh method aspect, the controlling the ballast tamping 20 comprises at least one of adjusting a squeezing force generated by the tamping unit, adjusting length of a ballast tamping cycle if the at least one calculated elasticity value does not meet the target ballast elasticity value, repeating the ballast tamping cycle if the calculated elasticity value does not meet the target ballast elasticity value, and stopping the ballast tamping cycle in response to the 25 received sensor data meeting the predefined acceleration value.
    According to an eighth method aspect, the method further comprises at least one of obtaining a previous elasticity value in the geographical location stored during a previous ballast maintenance, obtaining maintenance data stored
    20175454 prh 19 -05- 2017 during a previous ballast maintenance, obtaining a temperature value, obtaining a humidity value, and obtaining a lifting value indicating amount of vertical lifting of a rail on top of the ballast to be maintained. The method further obtaining the target ballast elasticity value in the geographical location in dependence of at 5 least one of the previous elasticity value, the maintenance data, the temperature value, the humidity value and the lifting value.
    According to a ninth method aspect, the method further comprises collecting statistics of the rail road ballast at this geographical location based on the calculated ballast elasticity value at the geographical location.
    According to another aspect, a computer program product for controlling maintaining of rail road ballast by tamping is provided. The computer program product is configured to perform the method according to any of the above method aspects 1 to 9.
    The present invention is based on the idea of inserting one or more sensors 15 within the volume of the ballast working tamping tine and collecting sensor data for determining ballast elasticity from one or more sensor equipped tamping tines during the process of ballast tamping. Ballast elasticity information may be combined with further measurement data obtained from other data sources. The invention enables obtaining precise data on ballast elasticity. In addition, control 20 of length of a squeezing period needed to achieve a wanted target elasticity and/or a real-time control of squeezing force used in the tamping may be achieved, which enables producing wanted elasticity for the tamped rail road ballast as a result of the optimized tamping process. The ballast elasticity information at different geographical locations is beneficially collected for 25 statistics, reporting and /or for a subsequent use.
    Brief description of the drawings
    In the following the invention will be described in greater detail, in connection with preferred embodiments, with reference to the attached drawings, in which
    Figure 1 illustrates an exemplary railway structure.
    20175454 prh 19 -05- 2017
    Figure 2 illustrates ballast and ground settling as a function of cumulative rail traffic.
    Figures 3a to 3d illustrate the process of ballast tamping.
    Figure 4 shows some exemplary tamping tines.
    Figure 5 illustrates an exemplary tamping tine with a measurement device.
    Figure 6 illustrates a cross-section of another tamping tine with a measurement device.
    Figure 7 illustrates measurement results obtained by a measurement device.
    Figure 8 illustrates system for controlling maintenance of ballast.
    Figure 9 illustrates an exemplary process of real-time control of ballast squeezing.
    Figure 10 illustrates a first exemplary process of controlling the ballast squeezing.
    Figure 11 illustrates a second exemplary process of controlling the ballast 15 squeezing.
    Detailed description
    The term processor refers to an electronic device configured to process data. A processor may be a microprocessor or an ASIC. A processor preferably comprises 20 internal memory.
    Figure 5 illustrates a first example of an improved tamping tine 55 according to the present invention. The tamping tine 55 comprises a measuring device 60 inserted within the volume of the tamping tine. The measuring device 60 preferably comprises at least one sensor 61. The sensor 61 may be an 25 accelerometer for sensing acceleration of the tamping tine 55. The at least one sensor 61 may comprise a MEMS sensor, such as a capacitive acceleration sensor or a piezoelectric acceleration sensor. The at least one sensor 61 may comprise a geophone. The at least one sensor 61 in the measuring device 60 may comprise two or more different acceleration sensors which are configured to detect 30 acceleration in different frequency ranges. The measuring device 60 may
    20175454 prh 19 -05- 2017 comprise a processor 63 for pre-processing obtained sensor data. The measuring device 60 may comprise a transmitter 62 that is configured to transmit wirelessly the detected or pre-processed sensor data over a low energy wireless transmission protocol. Any suitable wireless transmission protocols may be 5 utilized, such as Bluetooth Low Energy (BLE) or ZigBee, for example. Wireless transmission is preferable, since the measuring device 60 is installed in a moving tamping tine 55 that enters the ballast material during part of a tamping cycle. For enabling wireless transmission, an antenna is needed (not shown). The antenna is electrically coupled with the transmitter 62. The tamping tine 55 also 10 preferably includes an electrical energy source 64 providing the necessary energy for operating the one or more sensors 61, the transmitter 62 and the optional processor 63. The electrical energy source 64 may comprise a battery, and/or a device that transforms kinetic energy into electrical energy. For example, the electrical energy source 64 may harvest vibration energy and store 15 the harvested energy in the battery. This way the battery size may be reduced while ensuring sufficient energy source for operating the measuring device 60 over the entire life time of the tamping tine 55.
    The measuring device 60 is preferably disposed within the volume of the tamping tine 55. At least one installation slot 67 may be drilled to the tamping tine 55 for 20 installing the measuring device body 65 within the volume of the tamping tine
    55. The installation slot 67 for the device body 65 is preferably essentially aligned with a longitudinal axis of the elongated tamping tine 55. The installation slot cross section may have any suitable geometrical form. The installation slot 67 may also be tilted in view of a longitudinal axis of the tamping tine 55. One or 25 more installation slots 67 for installing the measuring device 60 may be created in the shaft 55b and shank 55d parts of a standard tamping tine 55 available at the market. The installation slot 67 may even enter the volume of the tamping plate 55a. Preferably, the installation slots 67 are drilled starting from the upper end of the shank 55d, which installation slots 67 allow inserting the measuring 30 device 60 and the electrical energy source 64 within the volume of the tamping tine 55.
    20175454 prh 19 -05- 2017
    A body 65 of the measuring device 60 may comprise an elongated printed circuit board onto which the sensor device 61, the transmitter 62, the processor 63 may be installed. The body 65 may also provide connection between the transmitter and the antenna. The body 65 may provide electrical coupling of the electronic and electrical components of the measuring device 60. The transmitter 62 and the processor 63 are preferably disposed within the volume of the shank 55d of the tine 55 and coupled to the body 65 at or near the upper end of the body 65. With the upper end of the body 65 we refer to the end that is configured to be disposed towards the upper part of the tamping tine 55. The electrical energy source 64 may be disposed in the same installation slot with the measuring device body 65, or it may be disposed in a second installation slot drilled in the upper end of the shank 55d. An electrical connection is provided between the electrical energy source 64 and the measuring device body 65. The shape of the measuring device 60 may be characterized as an elongated stick having a 5 to
    10 mm diameter or a 5 to 10 mm wide cross section, when the at least one sensor 61, processor 63 and the energy source 64 have been installed at the body 65. The longitudinal axis of the measuring device body 65 may be essentially aligned with a longitudinal axis of the tamping tine 55. In an alternative embodiment, the plane of the measuring device body 65 may at least partially be disposed in a position perpendicular to the longitudinal axis of the tamping tine 55 for example in the shank 55d part of the tine for allowing installation of the processor 63 and/or the transmitter 62 on the top surface of the perpendicularly disposed part of the measuring device body 65 facing towards the upper end of the tamping tine 55.
    The sensor device 61 is preferably disposed in the lower parts of the tamping tine 55, for instance near the lower end of the shaft 55b that is away from the rim 55c or even within the volume of the tamping plate 55a. The sensor device is preferably coupled to the measuring device body 65 in or near the lower end of the body 65. With the lower end of the body 65 we refer to the end that is configured to be disposed towards the lower part of the tamping tine 55.
    20175454 prh 19 -05- 2017
    In order to ensure that the tamping tines 55 fulfill the requirements of strength for standing the mechanical stress caused by the tamping process, the lateral dimension of the installation slots in the shaft 55b and rim 55c parts of the tamping tine 55 volume should be made small compared to the diameter of shaft 5 55b the tamping tine 55. The lateral dimension of the installation slot under the rim 55c and in the shaft 55b shall be clearly smaller than the diameter of the shaft 55b of the tamping tine 55. The installation slot may be for instance a 5*10 mm quadrilateral, in which case the strength of a standard tamping tine 55 is only reduced by 0.1% according to calculations. In other words, the strength of the tamping tine 55 remains essentially intact despite the installation slot. The main tension point resides under the rim 55c. For example, the diameter or other maximum lateral dimension of the installation slot for the body 65 of the measuring device 60 preferably may not exceed 10 % of the minimum diameter of the parts of the shaft 55b of the tamping tine into which the installation slot is disposed. Further, if at least one part of the installation slot is formed as a shallow hole disposed at the upper end of the tamping tine 55, for example a hole that is no more than 20 mm deep and no more than 40 mm wide, the cross section of the shallow hole part of the installation slot may extend to up to 3040 % of the minimum cross section of the shank 55d in the upper end of the tine
    55. The horizontal dimensions of a shallow hole part of the installation slot are preferably clearly smaller than the vertical dimensions of the same. This kind of arrangement may be especially beneficial, if the measuring device body 65 comprises at least one part which is configured to be disposed at the shallow hole towards the top of the tamping tine 55 in a position that is essentially perpendicular with a longitudinal axis of the tamping tine 55. A shallow hole part of the installation slot is preferably configured for housing at least one part of the measuring device body configured to be oriented perpendicular to an axis of the tamping tine. By limiting the maximum dimensions compared to the diameter of the tamping tine 55, it may be ensured that the strength of the tamping tine 55 is not unnecessarily reduced or compromised by the installation slot. The shape and the lateral dimensions of the installation slot may vary over the length of the installation slot. In other words, a cross section area of an
    20175454 prh 19 -05- 2017 installation slot traveling longitudinally through a major part of the tamping tine 55 should be less than 1% of the shaft 55c cross section area, and less than 10% of the shank 55d cross section area when the main longitudinal axis of the installation slot is essentially aligned with a longitudinal axis of the tamping tine.
    The cross section area of a shallow installation hole placed at the upper end of the shank 55d may should be less than 30-40% of the cross section area of the shank 55d.
    Figure 6 illustrates a cross-section of another exemplary tamping tine 55. The measuring device 60 is installed in an installation slot 67 drilled in the volume of 10 the of the tamping tine 55, the installation slot 67 extending over the entire length of the measuring device 60. The installation slot 67 travels through the shank 55d, the rim 55b and, in this exemplary embodiment, over half of the length of the shaft 55b. This example shows how the lateral dimensions of the installation slot may vary: the installation slot 67 is largest towards the upper 15 end of the tine 55, allowing room for installing the transmitter 62 and the processor 63. In this example, the installation slot 67 is smaller when it travels along the shank 55d and passes the rim 55c. Further, this example shows that the installation slot may be made even narrower in the shaft 55b. However, the installation slot 67 needs to have sufficient lateral dimensions for allowing 20 installation of the sensor 61 and the measuring device body 65 through the installation slot 67. The sensor device 61 is preferably electrically coupled by the body 65 of the measuring device 60 to the processor 63 and the transmitter 62.
    The sensor device 61 is preferably disposed as low as practically possible, taking into account the mechanical strength of the tamping tine. This ensures bigger 25 vibration amplitudes at the sensor device 61, and facilitates extraction of vibration caused by ballast elasticity off the total detected vibration and acoustic noise. The sensor device 61 may be disposed even within the parts of the tamping tine 55 which are configured to enter the ballast, but may also reside above the expected ballast top surface during the squeezing period.
    At least one connector 66 may be provided, which enables for example coupling the measuring device 60 to an external electrical energy source for charging the
    20175454 prh 19 -05- 2017 battery of the electrical energy source 64. The at least one connector may also provide access towards the processor 63 for example for accessing and downloading raw or preprocessed acceleration sensor data from the internal memory of the processor 63. The need for including a connector 66 in the 5 tamping tine for enabling testing of the measuring device 60 may be defined based on expected use and/or lifetime required for the tamping tine 55. Testing capability may be preferred, if the lifetime of a non-intensively used measuring device 60 equipped tamping tine 55 is expected to be more one year, but testing capability provided by a connector 66 may be omitted, if the expected lifetime is 10 less than a year.
    The connector 66 is preferably disposed in an open slot created in the shaft 55b below the rim 55c, so that it is not subject to forces caused towards the outer surface of the shank 55d when attached to the tamping unit arm. The open slot may be considered as a part of the installation slot that reaches the surface of 15 the tamping tine. The open slot may comprise a hole drilled through the surface of the shaft 55b all the way to the installation slot. The bottom of the open slot is preferably recessed below the outer surface of the shaft 55b so that the at least one connector may reside in its entirety below the outer surface of the shaft 55b. The open slot and thus the connector 66 is preferably disposed in the upper part of the shaft 55b, but below the rim 55c. The position of the open slot and the connector 66 in the shaft 55b near the rim 55c ensures that the connector is not likely to enter in the ballast material during any phase of a tamping cycle. Thus, the position of the connector 66 is preferably more than the first predefined depth dl from the lower tip of the tamping tine 55. Contact with ballast material during the squeezing cycle could easily harm the connector 66 or a rubber or plastic cap protecting the connector 66. In an alternative embodiment, the connector is omitted, but only an antenna is provided for wireless data transmission. In another alternative embodiment, the installation slot does not comprise an open slot.
    The installation slot and/or the open slot is preferably closed with a rubber or plastic cover for environmentally protecting the connector 66 and the antenna.
    20175454 prh 19 -05- 2017
    In an alternative embodiment, the connector 66 is provided in an open slot that is created at the upper part of the shank 55d. In such case, the tamping unit arm may require an access hole in it to provide access towards the open slot and thus towards the connector without uninstalling the tamping tine. Location of the 5 access hole shall in such case be such, that it is co-located with the open slot.
    Location of the access hole should in such case be agreed with the tamping machine manufacturer.
    The processor 63 and the wireless transmitter 62 are preferably disposed within the installation slot 67 near the upper end of the tamping tine 55, within the 10 shank 55d part. Antennas coupled to the wireless transmitter 62 for transmitting and/or receiving data are preferably disposed in the open slot. The placing the antennas in the open slot within the upper part of the tamping tine 55 facilitates reliable wireless communications towards a processing device carried by the tamping machine and reduces risk of harming the antennas by contact with the 15 ballast material. In an alternative embodiment, the antennas are disposed in the installation slot 67 near the upper end of the tamping tine 55, where they are as close to the wireless transceiver of the tamping machine as possible.
    The upper end of the installation slot 67 may have greater lateral dimensions than parts of the installation slot 67 along the shaft 55b below the rim 55c. An 20 electrical energy source 64 for the measurement device 60 is preferably installed within a slot or slot disposed in the shank 55d, facing towards the upper end of the tamping tine 55. The electrical energy source 64 may be disposed in the same installation slot 67 with the measuring device 60, or it may be disposed in another installation slot 67. The upper end of the installation slot 67 facing up 25 towards the upper end of the shank 55d is preferably covered with a rubber cap or cover, that is fixed with a screw or glue (not shown). The body 65 of the measuring device 60 is preferably wrapped in material isolating the device from excess vibration. For example, the measuring device 60, excluding the tip of the measuring device 60 comprising the sensor device 61 itself, may be wrapped 30 with silicone gel.
    20175454 prh 19 -05- 2017
    Figure 7 illustrates exemplary sensed acceleration by a measuring device during a tamping cycle TampC. Acceleration information at the measuring device is essentially real-time data, and the measuring device processor 63 may perform relatively simple calculation operations in essentially real-time based on this 5 data. Further, a controller may perform essentially real-time controlling of the tamping process based on the raw or pre-processed sensor data provided by the measuring device. For example, the essentially real-time controlling may be based on elasticity values calculated based on the acceleration data. With essentially real time, we refer to processing and/or control operations which 10 occur with a time delay of maximum 50 to 100 milliseconds. For example, the measuring device processor 63 may acquire acceleration in the X- Y- and/or Zaxis directions, compare acceleration while the tamping tine 55 is in the air, select vibration linked with the ballast (by amplitude and FFT), compare each half wave of measured acceleration with the preceding one, calculate 15 acceleration defined by ballast resistance, calculate elasticity based on the measured acceleration, send data to transmitter and/or store raw data or preprocessed data in an internal memory. Pre-processing data in the measuring device processor 63 facilitates reducing the amount of data that needs to be transmitted over the wireless interface. For example, the essential data may 20 comprise 3-5 different numerical values and time stamp. An example of preprocessing performed by the measuring device processor 63 is calculation of one or more elasticity values.
    Tamping process is a cyclic process, where moving periods and tamping periods alternate. During a moving period, the tamping machine is moved to a new 25 location over a new set of railroad sleepers. This moving typically occurs in the direction of the rails. As explained above, the tamping unit may be carried by a tamping vehicle, and the tamping process may be continuous or switched, depending on the movement of the tamping vehicle. During the squeezing cycle SqC, the tamping unit is essentially stationary in the longitudinal direction of the 30 rails. During the squeezing cycle SqC part of the tamping cycle TampC, the tamping tines work on the ballast material by entering the ballast and squeezing
    20175454 prh 19 -05- 2017 the ballast as illustrated in Figures 3c and 3d. The penetration force needed for the tamping tine to enter the ballast may be measured in the beginning of the squeezing cycle SqC. In the end part of the squeezing cycle SqC a sensing period SP may be defined, during which the sensed acceleration of the tamping tine 5 may be used for calculation of ballast elasticity, while the squeezing process (squeezing action) is still ongoing. Alternatively, the sensing period SP may cover any part of the squeezing cycle SqC or the entire squeezing cycle SqC.
    The results of the sensed acceleration and calculated elasticity may be used for controlling the length of the squeezing period in essentially real time. The 10 squeezing action may be stopped based on the calculated elasticity values, and the squeezing period may be prolonged, if the elasticity values calculated on basis of the acceleration measurements indicate that the ballast has not yet reached the wanted elasticity state or will not reach the wanted elasticity during the initially defined squeezing period. An example of a simple, essentially real 15 time controlling of the operation of the tamping machine is control of a squeezing cylinder valve based on a measured acceleration value or a calculated elasticity value.
    Figure 8 illustrates a system configured for processing of data obtained by the measuring device. Sensor measurement results, in other words sensor data 20 and/or pre-processed sensor data, obtained by the measuring device 60 are communicated wirelessly by the short range wireless transmitter over a short range wireless interface towards a processing device 80 carried by the tamping vehicle 82. The processing device 80 comprises or is coupled to a receiver configured to receive wireless transmission from the short range wireless 25 transmitter over the short range wireless interface. This transmission may comprise just uplink data transmission from the measuring device 60 towards the processing device 80, or it may comprise two-way communication according to a transmission protocol used in the short range wireless interface. The processing device 80 may comprise one or more computers. The processing 30 device 80 is configured for both real-time controlling the ballast maintenance process based on the obtained acceleration and/or elasticity data, and for post
    20175454 prh 19 -05- 2017 processing the real-time acceleration and/or elasticity data obtained by the measuring device 60. The acceleration and/or elasticity data, either in the form provided by the measuring device 60 or in form received as a result of postprocessing the acceleration and/or elasticity data at the processing device 80 5 may further be communicated to a server device 85. Communication between the processing device 80 and the server device 85 may use any suitable communication network. Preferably, the communication between the processing device 80 and the server device 85 over a telecommunication network is wireless, utilizing any suitable telecommunication network technology. For 10 example, a wireless 2G, 3G, 4G or 5G cellular network connection may be utilized, as well as a wireless LAN network connection without limiting to these.
    The processing device 80 is accordingly equipped with or coupled to communication equipment for communicating over the telecommunication network.
    The processing device 80 is configured to perform more complicated calculations than the processor 63 of the measuring device, and it may combine further data received from other types of sensors and measurement devices for improved control and data analysis. For example, the processing device 80 may collect data from various sources for setting a target elasticity value in the current 20 location by combining geolocation information and other parameters affecting the elasticity of the ballast in the current geolocation.
    Acceleration sensor data received from one or more measuring devices 60 may be used both for controlling the squeezing cycle SqC in real time, and for collecting data for statistics and/or for any other subsequent use.
    When sensor data is used for real-time control of the squeezing cycle, results of measurements are used for controlling action of the tamping machine by the processing device 80, possibly together with further parameter values. The processing device 80 may control for example squeezing force during the squeezing period, and/or length of the squeezing period by detecting when the 30 ballast has reached the target elasticity or by estimating when the ballast will
    20175454 prh 19 -05- 2017 reach the target elasticity if the squeezing period is extended or repeated. The length of the squeezing period may be based in comparing the received sensor data with at least one predetermined threshold value. The predetermined threshold value may comprise elasticity values. If the at least one predetermined 5 threshold value is not met, the squeezing period may be extended. On the other hand, if a predetermined threshold value is met or is estimated to be met prior to original planned end time of the squeezing period, the squeezing action may be terminated earlier. The squeezing force may be controlled by adjusting hydraulic oil pressure in a squeezing cylinder of the tamping machine. The 10 processing device 80 may also control vertical position of the tamping unit and tines, and define the first predetermined depth dl for achieving wanted elasticity value with the tamping action.
    The processing device may receive geolocation data from a geolocation sensor 81, such as a GPS or GLONASS receiver or like. Geolocation data preferably 15 indicates location of the tamping machine along the railroad track. Geolocation data may be used for both as input data for controlling the tamping process and as output data for collecting information about the state of the ballast and for example for collecting results of the tamping for reporting, and also short and/or long term statistics on the ballast maintenance. Collected data may be utilized 20 as input for a subsequent ballast maintenance in the same location. For example, the collected elasticity data may be utilized for predefining ballast machine settings in a subsequent maintenance. Combining geolocation data with additional information, for example grade of the ballast, measured temperature and humidity of the ballast and/or the environment received by the processing 25 device 80 from other data sources may be used to define current and target elasticity of the ballast at a certain location. Defining current and target elasticity of the ballast may be based on calculations performed by any of the processor 63, the processing device 80 and the server device 85. Setting the target elasticity value of the ballast may be also based on a table lookup or a 30 combination of calculations and table lookup.
    20175454 prh 19 -05- 2017
    In a preferred embodiment, the measuring device processor 63 calculates instantaneous elasticity based on the measured acceleration data using equation:
    C= Ao-Bo*Aacc
    Where Aacc stands for acceleration amplitude, A0=Q0/Y0 and B0=M/Y0. Qo represents amplitude of tine vibration force, Yo represents the vibration amplitude and M represents the tamping tine's vibration mass. This calculated instantaneous elasticity value may be sent to the processing device 80, which may use the instantaneous elasticity value for controlling the tamping process 10 and/or for predicting ballast elasticity at the end of the currently ongoing squeezing cycle.
    Performing the instantaneous elasticity calculations at the measuring device processor 63 enables beneficially reducing the amount of data to be transmitted from the measuring device towards the processing device 80.
    Elasticity versus time values are calculated by the processing device 80 using non-homogenous second-order differential equations using constant coefficients:
    MY+BY'+CY=Q(t), where Y stands for a coordinate along rails, Y' stands for speed and Y for 20 acceleration, t stands for time, constant M represents the tamping tine's mass (dynamic part of the mass), C represents a matrix of elasticity coefficients, and B represents a matrix of damping coefficients. Q represents a matrix of two opposite tines forces. These calculations may be performed right after squeezing cycle to get real elasticity values around the tamping tine during its movement.
    The processing device 80 may further collect other parameters to improve the controlling and/or the predicting. Various sensors may be utilized which provide further data and parameters to the processing device 80. Pressure at hydraulic equipment moving the tamping tines, causing the squeezing and vibration force, may be detected by pressure sensors. Vertical position and speed of the tamping
    20175454 prh 19 -05- 2017 unit and tamping tines thereof may be detected by proximity sensors. Vibration of tamping unit may be detected with various types of vibration sensors. Speed of the tamping vehicle may be also measured and used as a parameter. At least part or all measured parameters may be collected at the processing device 80 5 carried by the tamping vehicle 82, but information may further be sent wirelessly to the server device 85 using any known long range wireless transmission method, such as cellular data transmission using 3G, 4G or 5G transmission protocols, or wireless LAN.
    Acceleration data illustrated in Figure 7 may be processed by the measuring 10 device processor 63, the processing device 80 and the server device 85. Data processing combines both predictive behavior of the tines acceleration according to Newton's Law and comparison of acceleration data with preset calibration values. Processing may be performed during different stages of the squeezing cycle and the squeezing period. Acceleration data may be processed by any one 15 of the above processing appliances for obtaining for example standard deviation of the acceleration, Fast Fourier transform (FFT) of the acceleration (Y), tine's speed (Y') and tine's travel distance (Y). Geometry of the tamping tines shall be considered in the calculations. Therefore, calibration data is dependent on the geometry of the tamping tines. Calibration data may be provided in form of one 20 or more calibration coefficient matrixes. The measuring device processor 63 is preferably configured for pre-processing sensor data. Pre-processing beneficially enables reducing the amount of data to be transmitted over the short range wireless interface.
    Some of the real-time calculations for real-time controlling of the tamping 25 process may be performed by the measuring device processor 63. Some delay is introduced in the acceleration data and/or calculated elasticity values when pre-processed by the measuring device processor 63 and sent to the processing device 80 using wireless transmission, and further delay is introduced in communication between the processing device 80 and the server device 85. 30 However, delays for sending raw acceleration data and/or calculated (preprocessed) elasticity values towards the processing device 80 are relatively
    20175454 prh 19 -05- 2017 small, so that the acceleration data and the calculated elasticity values may also be used by the processing device 80 to control the tamping process essentially in real time. Post processing of the acceleration data and/or elasticity data and combining it with other collected data for example for obtaining longer term 5 statistics and input data for defining elasticity target values during the next ballast maintenance is preferably performed by the processing device 80 or the server device 85, which are expected to have higher processing capacity and more memory capacity than the tiny measuring device processor 63. Post processing the acceleration data and/or elasticity values may comprise 10 calculating a predicted elasticity at the end of the squeezing cycle based on acquired acceleration data and/or elasticity values acquired during a sensing period, which may be shorter than the squeezing cycle. The predicted elasticity value at the end of the squeezing cycle may be utilized for controlling the length of the squeezing cycle.
    Length of the squeezing cycle may be controlled directly. This is particularly beneficial when switched tamping process is used, and as a consequence, the length of the stop of the tamping vehicle for the duration of the squeezing period may be changed accordingly.
    In a continuous tamping process, the length of the squeezing cycle may be 20 controlled indirectly by adjusting the speed of the tamping vehicle. While the tamping vehicle speed may not be freely selectable, it may sometimes occur that the squeezing cycle is too short for achieving the target elasticity. Prediction algorithms used for predicting target elasticity in the end of the squeezing cycle play an important role in defining the suitable tamping vehicle speed in a 25 continuous tamping process. Further, sufficiency of ballast, in other words amount of available ballast to be squeezed under the sleeper is another important parameter for predicting the resulting ballast elasticity in both types of tamping process.
    Figure 9 illustrates an exemplary embodiment for a process of real-time 30 controlling of the tamping process, especially controlling the length of a
    20175454 prh 19 -05- 2017 squeezing cycle of the tamping process. In phase 90, the tamping tines are lowered down by the tamping unit so that the tamping tines immerse into the ballast layer. Acceleration data may be obtained in the early part of the squeezing cycle in phase 91. The tamping unit then starts moving the tamping 5 tines in order to perform squeezing of the ballast in phase 92. Sensor data is further obtained during the squeezing action in phase 93, and at least one predicted elasticity value in the end of the planned squeezing period is calculated in phase 94 based on at least one of the sensor data and pre-processed sensor data. Calculation of the predicted elasticity value may be based on first 10 calculating the instantaneous elasticity value and then estimating the amount of change of the elasticity value during the remainder of the squeezing period. The squeezing force and/or the squeezing period length may be adjusted in phase 95 based on the predicted elasticity value, so that the loop characterized by steps 92-95 repeats until the expected elasticity in the end of the squeezing process 15 reaches a wanted value. Due to inertia of the tamping machine and delays in the controlling process, the squeezing action may continue for a while after the controller decides that the squeezing period may be stopped, as illustrated with phase 96. In the end of the squeezing period, the tamping tines are extracted from the ballast in phase 97.
    An exemplary acceleration data measured by the sensing device is illustrated by the chart disposed on the right side of the flow chart. As the chart illustrates, the amplitude of sensed acceleration signal first decreases, while the tamping tine is immersed deeper in the ballast. During the squeezing action, the acceleration signal amplitude slowly decreases. The derivative of this decrease is fairly 25 steady, and elasticity is directly dependent on the acceleration. Therefore, the slope of the change in the acceleration amplitude and thus also in the elasticity may be extrapolated for predicting the elasticity value at the end of the squeezing cycle before the squeezing period actually ends. A predicted elasticity value may be calculated from an instantaneous elasticity value by predicting the 30 expected change in elasticity during the remainder of the ongoing squeezing period. Depending on steepness the measured slope of the change of the
    20175454 prh 19 -05- 2017 instantaneous elasticity during the squeezing action, squeezing cycle may be kept in the predefined value, or the squeezing cycle may be adjusted to longer (when the measured slope is gentle), or shorter (when the measured slope is steep).
    Figure 10 illustrates a first exemplary process of controlling the ballast squeezing especially in case the tamping process is continuous, and the length of the squeezing period cannot be directly adjusted.
    In case continuous tamping process is used, it is occasionally possible, that the result of an individual tamping cycle does not meet the set target elasticity 10 values. However, the speed of the tamping vehicle may be adjusted in order to improve the gained ballast elasticity value in a subsequent squeezing period performed in a new location.
    Preferably before starting the squeezing cycle, geolocation data is obtained in phase 105. In addition to the geolocation, the processing device 80 may collect 15 at least one further piece of further data and/or parameter values as illustrated with phased 105a to 105e, that may be used to define a target elasticity in the current geographical location. The collected data may comprise one or more of elasticity values achieved during the previous ballast maintenance in the same geolocation, other maintenance data stored during the previous ballast 20 maintenance in the same geolocation, current humidity data, current temperature data and a lifting value (Ah) indicating the amount of vertical lifting of the rail to be performed. Collecting the at least one piece of additional data and/or parameter values in phases 105a to 105e may be performed by the processing device 80 in any order.
    Preferably, the geolocation data defines geographical location of the tamping vehicle. Based on the geolocation and one or more of the optional data values obtained in phases 105a to 105e, a target elasticity value is defined for the ballast in phase 106 at this specific geolocation.
    20175454 prh 19 -05- 2017
    The ballast is squeezed during the squeezing period in phase 101 and sensor data is obtained by the measuring device in phase 102. A predicted elasticity value is calculated in phase 103. Calculation of the predicted elasticity value may be based on the raw sensor data or on the pre-processed sensor data. The pre5 processed sensor data may comprise at least one calculated instantaneous elasticity value. The target elasticity definition phase 106 may be defined at any time during the tamping cycle, but defining the target elasticity value is preferably performed at latest when the predicted elasticity is calculated in the phase 103 so that the target elasticity value is available for a comparison in 10 phase 104. In phase 104, the predicted elasticity value and the target elasticity value are compared. If the target elasticity is not expected to be met, the squeezing cycle may be adjusted in phase 107 for any subsequent squeezing periods for example by adjusting the speed of the tamping vehicle. The resulting elasticity value at the end of the current squeezing cycle may be stored in phase 15 110 disregarding the result of the comparison. This result elasticity value may be used for example for understanding the achieved rail dynamic behavior and for collecting statistical data of the performed ballast maintenance for example to be used as input data for setting the target elasticity values and/or a preset squeezing period length in a subsequent ballast maintenance at a later time.
    Acceleration data may be obtained during the entire squeezing cycle. The squeezing force may be adjusted based on the obtained acceleration data as illustrated above in relation to figure 9 simultaneously with the process illustrated in figure 10.
    Figure 11 illustrates a second exemplary process of controlling the ballast 25 squeezing especially in case the tamping process is a switched tamping process, and the length of the squeezing period can be directly adjusted. Adjusting each squeezing period essentially real time ensures that the target elasticity is always achieved, as long as there is a sufficient amount of ballast material to be worked on.
    The tamping unit is quite a heavy device, and it has non-zero reaction times. Also, tamping unit arms have big inertia, so that they do not stop immediately.
    20175454 prh 19 -05- 2017
    Therefore, decision to stop or prolong squeezing should preferably be made 0,1
    - 0,3 seconds before the end of the squeezing cycle SqC. The squeezing cycle SqC may last about 1 to 2 seconds. Controlling of the squeezing period length for optimizing the squeezing cycle should take into account both the reaction 5 times of the tamping unit and the inertia of the heavy equipment.
    In this example, the geolocation data is obtained in phase 105 similarly to that illustrated already in figure 10. One or more further pieces of data may be obtained in the optional phases 105a to 105e, which may be performed in any order. A target elasticity value in the current geolocation is defined in phase 106 10 based on the geolocation and the other obtained pieces of data. The selection of data used for defining the target elasticity may be varied without departing from the scope. Optionality of each of the phases 105a and 105e is illustrated by using dashed lines.
    The tines are immersed into the ballast in phase 110 and the ballast squeezing 15 is started, which goes during the squeezing period on as illustrated by phase
    111. Sensor data is obtained with the measuring device at phase 112 at least during the squeezing period. A predicted elasticity value is calculated in phase 113 based on the obtained sensor data. Calculation of the predicted elasticity value may be based on the raw sensor data or on the pre-processed sensor data.
    The pre-processed sensor data may comprise at least one calculated instantaneous elasticity value. The predicted ballast elasticity at the end of the squeezing cycle is compared to the target elasticity value in phase 117. If the calculated predicted ballast elasticity value meets the set target elasticity value, squeezing cycle is ended in phase 115, and the tamping tines are lifted out from 25 the ballast. If the calculated ballast elasticity does not meet the target elasticity value, ballast squeezing is continued in order to achieve the target elasticity value.
    There are at least two alternatives of how the squeezing may be continued if the target elasticity value is not achieved. These are both illustrated in figure 10. The 30 squeezing process may be adjusted as illustrated in figure 9, by adjusting at least one of the length of the squeezing period and the squeezing force. This option A is illustrated with the looping arrow for alternative NO(A). Alternatively, a squeezing period may be repeated in its entirety. This option is illustrated with phase 115 and with the looping arrow for alternative NO(B). In this option B, the 5 current squeezing cycle is first ended and a decision to repeat the squeezing cycle is made, and thereafter the tines are immersed again in the ballast at the same geolocation in phase 110 for repeating the tamping process. When the target elasticity value is met at the end of the squeezing cycle after at least one squeezing cycle has been performed, the squeezing process in this geolocation 10 is ended in phase 116, and the tamping machine may move to the next geolocation. The resulting elasticity at the end of the final squeezing cycle may be stored in phase 110.
    The processing device 80 may be configured to control the tamping cycle and especially the squeezing cycle. Preferably, the resulting ballast elasticity value 15 achieved by the squeezing action is calculated based on acceleration data obtained during a sensing period SP that occurs in the end of the squeezing period.
    It is apparent to a person skilled in the art that as technology advanced, the basic idea of the invention can be implemented in various ways. The 20 invention and its embodiments are therefore not restricted to the above examples, but they may vary within the scope of the claims.
    权利要求:
    Claims (18)
    [1] Claims
    1. A measuring device to be used in maintaining rail road ballast by ballast tamping, characterized in that the measuring device 5 comprises at least one sensor providing sensor data, and the measuring device is configured to calculate at least one elasticity value of the rail road ballast based on the sensor data, and the measuring device is configured to be installed within the volume of a tamping tine.
    [2] 2. The measuring device according to claim 1, where in the measuring device is configured to obtain the sensor data at least during a ballast squeezing action performed with the tamping tine.
    [3] 3. The measuring device according to any of claims 1 to 2, wherein the at least one sensor comprises an acceleration sensor and the sensor data comprises acceleration data.
    [4] 4. The measuring device according to any of claims 1 to 3, wherein the measuring device further comprises:
    - a processor for pre-processing the sensor data;
    - a short range wireless transmitter configured to transmit at least one of the sensor data and the pre-processed sensor data; and
    20175454 prh 19 -05- 2017
    - an electrical energy source configured to provide energy at least for the sensor, the processor and the short range wireless transmitter.
    [5] 5. The measuring device according to claim 4, wherein the measuring 25 device further comprises:
    - an elongated body configured to be installed in an installation slot in the volume of the tamping tine, wherein
    - the sensor is disposed at or near a first end of the elongated body, wherein the first end is configured to be 30 disposed within the installation slot towards the lower part
    20175454 prh 19 -05- 2017 of the tamping tine that is configured to immerse into the ballast,
    - the short range wireless transmitter and the processor are disposed at or near the second end of the elongated body, 5 wherein the second end is configured to be disposed within the installation slot towards the upper part of the tamping tine that is configured be coupled to a tamping machine arm, wherein the elongated body is configured to electrically couple 10 the at least one sensor, the processor and the short range wireless transmitter.
    [6] 6. The measuring device according to any of claims 4 to 5, further comprising
    - an antenna coupled to the short range wireless transmitter for
    15 transmitting at least one of the sensor data and the preprocessed sensor data.
    [7] 7. A tamping tine for maintaining rail road ballast by ballast tamping, characterized in that the tamping tine is configured to comprise at least one installation slot within the volume of the tamping tine,
    20 wherein the at least installation slot is configured for installation of a measurement device according to any of claims 1 to 6.
    [8] 8. A method for maintaining rail road ballast by ballast tamping, characterized in that the method comprises:
    - obtaining sensor data provided by at least one sensor disposed
    25 within the volume of at least one tamping tine;
    and
    - calculating at least one ballast elasticity value of the rail road ballast based on the sensor data.
    [9] 9. The method according to claim 8, wherein the method comprises:
    30 - obtaining the sensor data from the at least one sensor during at least one of
    - the time of the tamping tine entering the ballast; and
    - a ballast squeezing action performed with the at least one tamping tine during a ballast squeezing period.
    [10] 10. The method according to any of claims 8 to 9, wherein the at least
    5 one sensor is an acceleration sensor and the sensor data comprises acceleration data.
    [11] 11. The method according to any of claims 8 to 10, wherein the method further comprises pre-processing the sensor data for obtaining preprocessed sensor data.
    20175454 prh 19 -05- 2017
    [12] 12. The method according to any of claims 8 to 11, wherein the method further comprises receiving at a processing device at least one of the sensor data and the pre-processed sensor data transmitted over a short range wireless interface for further processing the sensor data.
    [13] 13. The method according to any of claims 8 to 12, wherein the method further comprises:
    - obtaining a target ballast elasticity value;
    - comparing the target ballast elasticity value with the at least one calculated ballast elasticity value; and
    - controlling the ballast tamping based on results of the comparison.
    [14] 14. The method according to claim 13, wherein the method further comprises:
    - obtaining geolocation data defining geolocation of a tamping machine comprising the at least one tamping tine; and
    - obtaining the target ballast elasticity value in the geographical location of the tamping machine.
    [15] 15. The method according to any of claims 13 to 14, wherein the controlling the ballast tamping comprises at least one of:
    20175454 prh 19 -05- 2017
    - adjusting a squeezing force generated by the tamping unit;
    - adjusting length of a ballast tamping cycle if the at least one calculated elasticity value does not meet the target ballast elasticity value;
    5 - repeating the ballast tamping cycle if the calculated elasticity value does not meet the target ballast elasticity value; and
    - stopping the ballast tamping cycle in response to the received sensor data meeting the predefined acceleration value.
    [16] 16. The method according to claim 14, further comprising at least one
    10 of:
    - obtaining a previous elasticity value in the geographical location stored during a previous ballast maintenance;
    - obtaining maintenance data stored during a previous ballast maintenance;
    15 - obtaining a temperature value;
    - obtaining a humidity value; and
    - obtaining a lifting value indicating amount of vertical lifting of a rail on top of the ballast to be maintained;
    and
    20 - obtaining the target ballast elasticity value in the geographical location in dependence of at least one of the previous elasticity value, the maintenance data, the temperature value, the humidity value and the lifting value.
    [17] 17. The method according to any of claims 8 to 16, wherein the method
    25 further comprises:
    - collecting statistics of the rail road ballast at this geographical location based on the calculated ballast elasticity value at the geographical location.
    [18] 18. A computer program product for controlling maintaining of rail road ballast by tamping, characterized in that the computer program product is configured to perform the method according to any of claims 8 to 17.
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    FI127934B|2019-05-31|
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