TWI691699B - Detection device and detection method - Google Patents

Abstract

The detection device detects the angular velocity acting on the beam member when two beams with a predetermined length are separated from each other by a predetermined distance to the rail and moves on the rail, and calculates the detected The product of the angular velocity and the distance between the two points, which is the distance between the contact points of the two rollers, is used as the track irregularity of the point among the two contact points.

Description

Detection device and detection method

The invention relates to a technology for detecting track irregularities.

In order to make railway vehicles drive safely and comfortably, it is necessary to maintain and manage and keep the railway tracks in good condition from time to time. For this reason, the detection of rail irregularities and rail irregularities is indispensable.

As a detection method for track irregularity, a difference method and an inertial measurement method are known. Using a differential detection device, for example, pressing a beam of 1 to 3 meters (m) as a reference against the rail, measuring the relative displacement of the center point of the beam and the rail by using a displacement meter to detect irregularities in the height and direction of travel . A detection device using an inertial measurement method, such as that described in Patent Document 1, calculates the irregularities in the height and the direction of travel by integrating the acceleration with a second-order integration of the acceleration detected by an accelerometer installed in the axle box or the vehicle body The detection track is irregular.

[Prior Technical Literature] [Patent Literature]

Patent Document 1: Japanese Patent Laid-Open No. 2009-300398.

In order to keep the orbital state good, it is necessary to grasp the orbital state in as wide a wavelength band as possible. The detection gain in the measurement wavelength band is preferably larger between the short wavelength component and the long wavelength component. The short-wavelength component here refers to a component of a wavelength shorter than one-half of the chord length in the sine method; the long-wavelength component refers to a component of a wavelength longer than one-half of the chord length.

However, the above-mentioned conventional detection methods have the following problems.

First, in the difference method, when the detection gain of the measurement wavelength band is compared with the short-wavelength component and the long-wavelength component, the maximum value of the detection magnification of the short-wavelength component becomes a fixed value. For example, in the primary difference method and the secondary difference method, the magnification is 2.0. Therefore, in order to grasp the irregularities of short wavelengths while measuring track irregularities, it is necessary to perform processing by a filter circuit in order to increase the detection gain of short wavelengths to a necessary level, which increases the processing load of the device.

In the inertial measurement method, as described above, since the waveform is obtained by second-order integration of the acceleration, the detection gain in the measurement wavelength band becomes 1.0. Therefore, in order to grasp the irregularities of short wavelengths while measuring track irregularities, it is necessary to perform high-pass filter (High-pass filter) circuit processing in order to increase the detection gain of short wavelengths to the required level, so that the processing load of the device Will get bigger.

In one embodiment of the present invention, it is desirable to provide a technology that can suppress the processing load and can grasp the state of short-wavelength irregularities while measuring track irregularities.

A detection device according to an embodiment of the present invention detects irregularities in the track on which a vehicle travels.

The detection device is provided with a beam member, a detection part and a calculation part.

The beam member has a predetermined length.

The detection unit detects the angular velocity acting on the beam member when the beam member contacts the track at two contact points separated by a predetermined distance from each other and moves on the track at the same time.

The calculation part calculates the product of the angular velocity detected by the detection part and the distance between the two points as the distance between the two contact points as the track irregularity of the point among the two contact points.

According to the present invention, in the detection gain for measuring the wavelength band, the short wavelength component of the wavelength component shorter than the length of the beam member does not become smaller than the difference method. Therefore, there is no need to pass through a high-pass filter to increase the detection gain of a short wavelength, and the processing load of the device does not increase. And if you want to emphasize the long wavelength component, you only need to pass the low-pass filter (Low-pass filter) processing, the processing load of the device is small. Furthermore, it is possible to control the processing load and measure track irregularities, and at the same time to grasp the unevenness of short wavelengths.

The detection method of the present invention is to detect the irregularity of the track on which the vehicle is traveling.

The detection method is to detect the angular velocity acting on the beam member when the beam members having a predetermined length are contacted to the aforementioned track at two contact points separated by a predetermined distance from each other and move on the track at the same time, and Calculate the product of the detected angular velocity and the distance between the two points as the distance between the two contact points as the track irregularity of the point between the two contact points.

According to the present invention, in the detection gain for measuring the wavelength band, the short wavelength component of the wavelength component shorter than the length of the beam member does not become smaller than the difference method. Therefore, there is no need to pass through a high-pass filter to increase the detection gain of a short wavelength, and the processing load of the device does not increase. And if you want to emphasize the long-wavelength component, you only need to pass the low-pass filter, and the processing load of the device is small. Furthermore, it is possible to control the processing load and measure track irregularities, and at the same time to grasp the unevenness of short wavelengths.

1‧‧‧Detection device

11, 12‧‧‧beam member

11A, 12C‧‧‧Central Department

11B, 11C, 12A, 12B ‧‧‧ end

13‧‧‧Connector

14, 15, 16‧‧‧‧

17‧‧‧ Grip

18‧‧‧Gas damper

19A‧‧‧potentiometer

19B‧‧‧inclinometer

20‧‧‧rotary encoder

21, 22 ‧‧‧ Gyroscope sensor

23‧‧‧ Processing Department

23A‧‧‧Wire

A, B‧‧‧ measuring point

L‧‧‧Distance between 2 points

R1, R2‧‧‧rail

y ₁ , y ₂ ‧‧‧ height dimension

y ₁ ', y _2' ‧‧‧ inclined

θ ‧‧‧ Angle

ω ‧‧‧Angular velocity

FIG. 1 is a schematic configuration diagram showing a detection device.

Fig. 2 is a schematic configuration diagram showing a detection device.

FIG. 3 is an explanatory diagram for explaining a method of detecting track irregularities by a detection device.

FIG. 4 is an explanatory diagram illustrating a method of detecting track irregularities by a detection device.

The following describes embodiments of the present invention based on the drawings.

(1. Composition)

The detection device 1 detects irregularities in the track on which the vehicle is traveling. As shown in FIGS. 1 and 2, the detection device 1 includes: two beam members 11 and 12; a joint 13 connecting two beam members 11 and 12; and three rollers 14, 15, and 16 ; Grip 17; gas damper (gas damper) 18; potentiometer (potentiometer) 19A; inclinometer 19B; rotary encoder (rotary encoder) 20; gyro sensor (gyro sensor) 21, 22; and processing Department 23.

The beam members 11, 12 are rod-shaped members having a predetermined length. The beam member 11 is arranged along the longitudinal direction of the rails R1 and R2, and the beam member 12 is arranged along the horizontal direction perpendicular to the longitudinal direction of the rails R1 and R2.

The joint 13 connects the center portion 11A of the beam member 11 and the end portion 12A of the beam member 12.

The roller 14 is attached to the end 11B of the beam member 11. The roller 14 is in contact with the tread of the rail R1 and is configured to be able to travel. The roller 15 is attached to the end 11C of the beam member 11. The roller 15 is in contact with the tread of the rail R1 and is configured to be able to travel. The roller 16 is attached to the end 12B of the beam member 12. The roller 16 is in contact with the tread of the rail R2 and is configured to be able to travel. When the detection device 1 detects the irregularity of the rail R1, the rollers 14 and 15 are brought into contact with the rail R1, and the roller 16 is brought into contact with Railroad track R2.

The grip 17 is attached to the beam member 12. The grip portion 17 has a rod shape that is easy for the operator to grip.

The gas damper 18 is installed at the end 12B. The gas damper 18 absorbs the shock generated when the distance between the central portion 11A and the end portion 12B changes.

The potentiometer 19A is installed at the end 12B. The potentiometer 19A detects the distance between the central portion 11A and the end portion 12B.

The inclinometer 19B is installed at the central portion 12C of the beam member 12, and the installation position may not necessarily be the central portion 12C. The inclinometer 19B detects the inclination angle from the horizontal plane of the beam member 12 in order to measure the height difference between the left and right rails.

The rotary encoder 20 is installed on the roller 15. The rotary encoder 20 detects the rotation angle of the roller 15.

The gyro sensors 21 and 22 are provided in the central portion 11A. The installation position may not necessarily be the central portion 11A. The gyroscope sensor 21 is a single-axis gyroscope, and the amount of change in the pitch angle of the beam member 11 is detected through the gyroscope sensor 21. Therefore, the gyro sensor 21 detects the pitch angular velocity of the beam member 11 as the angular velocity around the pitch axis when the rollers 14 and 15 contact the rail R1 and move the beam member 11 on the rail R1. The gyroscope sensor 22 is a single-axis gyroscope, and the amount of change in the yaw angle of the beam member 11 is detected through the gyroscope sensor 22. Therefore, the gyro sensor 22 detects when the rollers 14 and 15 contact the rail R1 and move the beam member 11 on the rail R1 The beam measuring member 11 serves as an angular velocity around the yaw axis. The gyroscope sensors 21 and 22 are examples of the detection unit.

The processing unit 23 is mainly composed of a conventional microcomputer having a CPU (Central Processing Unit) and a memory. Semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, etc. The various functions of the processing unit 23 are realized by the CPU executing a program stored in a non-transferable physical recording medium. In this example, the memory serves as a non-transferable physical recording medium for storing programs. By executing this program, the method corresponding to the program is also executed. In addition, the number of microcomputers constituting the processing unit 23 may be one or plural. In addition, a part or all of the functions performed by the processing unit 23 may be constituted by hardware such as one or a plurality of ICs. The processing unit 23 is an example of the calculation unit.

The processing unit 23 is configured as a movable type. The processing unit 23 is connected to the potentiometer 19A, the inclinometer 19B, the rotary encoder 20, and the gyro sensors 21 and 22 via an electric wire 23A. The processing unit 23 can obtain signals output from the potentiometer 19A, the inclinometer 19B, the rotary encoder 20, and the gyro sensors 21 and 22 via the wire 23A. Moreover, it may be configured to acquire signals wirelessly from the potentiometer 19A, the inclinometer 19B, the rotary encoder 20, and the gyro sensors 21 and 22, and the processing unit 23 may also be configured to be provided on the beam member 12.

The processing unit 23 uses the rotation angle of the roller 15 output from the rotary encoder 20 Degree, the distance traveled by the detection device 1 on the rails R1, R2 and the current position of the detection device 1 are calculated.

The processing unit 23 calculates the unevenness G _{1 of the} rail R1. That is, the processing unit 23 calculates the product of the pitch angular velocity ω ₁ around the pitch axis of the beam member 11 output by the gyro sensor 21 and the distance L between two points as the distance between the rollers 14 and 15 as the roller The unevenness of the midpoint between 14 and 15 is G ₁ . To calculate the unevenness G _{1 of the} rail R1, the following formula (1) is used. The processing unit 23 calculates the direction irregularity G _{2 of the} rail R1. That is, the processing unit 23 calculates the product of the yaw angular velocity ω ₂ around the yaw axis of the beam member 11 output by the gyro sensor 22 and the distance L between two points which is the distance between the rollers 14 and 15 The direction irregularity G _{2 which} is the midpoint of the rollers 14 and 15. The calculation system of the direction irregularity G ₂ of the rail R1 uses the following formula (2).

G ₁ = Lω ₁ (1)

G ₂ = Lω ₂ (2)

The above formulas (1) and (2) are derived using the following formula (3). This is explained below using FIG. 3. Figure 3 shows the distance from the detection start point as the horizontal axis, and the height dimension from the reference plane to the top surface of the rail as the vertical axis. Here, the difference G of the inclination of the measuring point 2 points is expressed by the following formula (3).

y ₁ is the height dimension of the measuring point A from the rail setting surface to the top surface of the rail head.

y ₂ is the height dimension of the measuring point B from the rail installation surface to the top surface of the rail head.

y ₁ ' is the inclination of the beam member at measuring point A.

y ₂ ' is the inclination of the beam member at measuring point B.

L is the distance between two measuring points.

θ is the angle between the horizontal line and the beam member.

ω is generated at the angular velocity of the beam member.

The difference G between the inclination of the two measuring points is equivalent to the track irregularity of the midpoint between the two measuring points. In this way, a gyroscope sensor is provided on the beam member of the measurement reference, so that the pitch angular velocity or yaw angular velocity output by the gyroscope sensor when the beam member moves on the rail is multiplied by the distance between the two measurement points L is used to obtain the amount of unevenness in the height or the amount of unevenness in the direction between the two measurement points.

FIG. 4 is a graph showing the characteristics of detection gain by each detection method. The graph uses the spatial frequency as the horizontal axis and the detection magnification as the vertical axis. According to this detection method, the detection gain of short wavelength is higher than that of the conventional detection method, and the output waveform can be used to grasp the state of short-wave unevenness.

When the detection device 1 detects the irregularity of the rail R2, the rollers 14 and 15 abut on the rail R2, and the roller 16 abuts on the rail R1. The processing unit 23 calculates the unevenness G _{1 of the} rail R2 using the angular velocity ω ₁ of the beam member 11 output from the gyro sensor 21. The calculation formula of the unevenness G ₁ of the rail R2 uses the above formula (1). The processing unit 23 uses the angular velocity ω ₂ of the beam member 11 output from the gyro sensor 22 to calculate the direction irregularity G _{2 of the} rail R2. The calculation method of the direction irregularity G ₂ of the rail R2 uses the above formula (2).

In addition, the above equations (1) and (2) are used when the measurement speed v of the detection device 1 is fixed when the measurement track is irregular. When the measurement speed v fluctuates, the following equations (4) and (5) are used.

G ₁ = Lω ₁ / v (4)

G ₂ = Lω ₂ / v (5)

(2. Effect)

According to the embodiment detailed above, in the case where the beam member 11 having a predetermined length is contacted to the rail R1 by two rollers 14, 15 separated from each other by a predetermined distance, and the beam member 11 is moved on the rail R1 , Detect the angular velocity acting on the beam member 11, calculate the product of the detected angular velocity and the distance between the two points as the distance between the contact points of the two rollers 14, 15 as the track irregularity of the middle point of the two contact points the amount. Therefore, in the detection gain of the measurement wavelength band, the short wavelength component of the wavelength component shorter than the length of the beam member 11 is not as small as the difference method. Therefore, it is not necessary to perform processing by a high-pass filter in order to increase the detection gain of a short wavelength. The set processing load will not increase. And if you want to emphasize the long wavelength component, you only need to perform the processing by the low-pass filter, and the processing load of the device is small. Furthermore, it is possible to control the processing load and measure track irregularities, and at the same time to grasp the unevenness of short wavelengths.

(3. Other embodiments)

The embodiments of the present invention have been described above, but the present invention is not limited to the above-mentioned embodiments, and can be implemented in various modifications.

(1) The plural functions of one constituent element in the above-described embodiment can be realized by plural constituent elements, and the one function of one constituent element can also be realized by plural constituent elements. In addition, the plural functions of the plural constituent elements can be realized by one constituent element, and the one function realized by the plural constituent elements can also be realized by one constituent element. In addition, a part of the configuration of the above embodiment may be omitted. In addition, at least one part of the configuration of the above-mentioned embodiment may be added to or replaced with the configuration of other above-mentioned embodiments. In addition, all the aspects containing the technical idea specified only by the words described in the patent application scope are embodiments of the present invention.

(2) In addition to the above-mentioned detection device 1, a system using the detection device as a constituent element, a computer that functions as a processing unit 23 of the detection device 1, a semiconductor memory in which the program is recorded, etc. may be used. Various forms of transferred physical recording media, detection methods, etc. implement the present invention.

1‧‧‧Detection device

11, 12‧‧‧beam member

11A, 12C‧‧‧Central Department

11B, 11C, 12A, 12B ‧‧‧ end

13‧‧‧Connector

14, 15, 16‧‧‧‧

17‧‧‧ Grip

18‧‧‧Gas damper

19A‧‧‧potentiometer

19B‧‧‧inclinometer

20‧‧‧rotary encoder

21, 22 ‧‧‧ Gyroscope sensor

23‧‧‧ Processing Department

23A‧‧‧Wire

L‧‧‧Distance between 2 points

R1, R2‧‧‧rail

Claims (6)

A detection device for detecting irregular track of a vehicle running track, the detection device is provided with: a beam member with a predetermined length; a detection part is arranged to arrange the beam member along the longitudinal direction of a track and Detecting the angular velocity acting on the beam member when two contact points separated from each other by a predetermined distance touch the aforementioned track and move on the aforementioned track at the same time; and the calculation section calculates the The product of the angular velocity detected by the measuring part and the distance between the two points between the two contact points is used as the track irregularity of the point between the two contact points. The detection device according to claim 1, wherein the detection section detects the pitch angular velocity of the beam member as the angular velocity around the pitch axis as the angular velocity; as the track irregularity, the calculation section calculates and detects The product of the aforementioned pitch angular velocity and the distance between the aforementioned two points is used as the unevenness of the point among the aforementioned two contact points. The detection device as recited in claim 1, wherein the detection section detects the yaw angular velocity of the beam member as the angular velocity around the yaw axis as the angular velocity; and the calculation section as the track irregularity The product of the measured yaw angular velocity and the distance between the two points is used as the direction irregularity of the point among the two contact points. A detection method for detecting irregular track of a vehicle traveling track. The detection method is to arrange beam members with a predetermined length along the long side of a track and are separated at two contact points separated by a predetermined distance from each other When contacting the aforementioned one track and moving on the aforementioned one track at the same time, detect the angular velocity acting on the beam member; calculate the detected angular velocity and the distance between the two points as the distance between the two contact points The product is the amount of track irregularity at the point among the aforementioned two contact points. The detection method described in claim 4, wherein the angular velocity of the beam member as the angular velocity around the pitch axis is detected as the angular velocity; as the track irregularity, the detected angular velocity between the pitch and the two points are calculated The product of the distance is used as the unevenness of the middle of the two contact points. The detection method described in claim 4, wherein the yaw angular velocity of the beam member as the angular velocity around the yaw axis is detected as the angular velocity; as the track irregularity, the detected yaw angular velocity and the foregoing are calculated The product of the distance between the two points is used as the direction irregularity of the point among the aforementioned two contact points.

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