JP2007038784A - Detection of track maintenance facility data and inspection device - Google Patents

Detection of track maintenance facility data and inspection device Download PDF

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JP2007038784A
JP2007038784A JP2005224084A JP2005224084A JP2007038784A JP 2007038784 A JP2007038784 A JP 2007038784A JP 2005224084 A JP2005224084 A JP 2005224084A JP 2005224084 A JP2005224084 A JP 2005224084A JP 2007038784 A JP2007038784 A JP 2007038784A
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facility data
vehicle
maintenance facility
track maintenance
inspection
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JP4619890B2 (en
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Yutaka Umehara
裕 梅原
Ikuo Shimada
育男 嶋田
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Hitachi Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a device and a means for obtaining track maintenance facility data by traveling of an inspection-measuring car to inspect existing track maintenance facility data based on the obtained data. <P>SOLUTION: This device is provided with measuring equipment, such as a camera, on a forefront car, a rearmost car, or the like, of an organized inspection-measuring car, and a speed generator installed in an axle or a main electric motor shaft. Also, this device inspects the track maintenance facility data by storing/processing signals obtained from respective devices by the traveling of the inspection-measuring car, and by comparing the obtained data to the existing track maintenance data. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、検測車の走行によりデジタルＡＴＣ(Automatic Train Control)車上装置に必要な路線の曲線、分岐、勾配などの情報を有する保線設備データを取得する装置、さらにそのデータを用いて以前の保線設備データを検査する装置に関するものである。   The present invention is a device for acquiring track maintenance facility data having information such as a curve, a branch, and a slope of a route required for a digital ATC (Automatic Train Control) on-board device by traveling of an inspection vehicle, and further using the data previously It is related with the apparatus which test | inspects track maintenance equipment data.

従来、振り子方式の鉄道車両の車体傾斜制御では、路線のどこに曲線があるのかなどの情報（軌道データ）が不可欠であり、特許文献１には、この車体傾斜制御に用いる軌道データを簡便にかつ信頼性を高く収集する装置が記載されている。   Conventionally, in the vehicle body tilt control of a pendulum type railway vehicle, information (track data) such as where the curve is located is indispensable. Patent Document 1 discloses the track data used for the vehicle body tilt control simply and An apparatus that collects with high reliability is described.

図５に、特許文献１に記載された軌道形状データ収集装置の概略図を示す。
この装置では、車両を支える台車にジャイロスコープが装架されており、曲線のカント量は、走行中に計測した台車枠のロール角速度を積分してロール角信号に変換し、その信号に軌間寸法を掛けることにより算出し、また、曲線の曲率は、走行中に計測した台車枠のヨー角速度とその時の走行速度から算出して、曲線のカント量（外側車線と内側車線の高低差）と曲線の曲率を求めている。
特開平７−６５０３８号公報 FIG. 5 shows a schematic diagram of the trajectory shape data collection device described in Patent Document 1.
In this device, a gyroscope is mounted on the carriage that supports the vehicle, and the cant amount of the curve integrates the roll angular velocity of the carriage frame measured during travel and converts it into a roll angle signal. The curvature of the curve is calculated from the yaw angular velocity of the bogie frame measured during travel and the travel speed at that time, and the cant amount of the curve (the difference in height between the outer lane and the inner lane) and the curve Seeking curvature.
JP-A-7-65038

デジタルＡＴＣ車上装置に必要な保線設備データを作成するには、路線の曲線や分岐、勾配などの情報が必要である。しかし、特許文献１に記載された装置では、車体傾斜制御のために必要な情報である曲率とカント量のデータしか得ることができない。また、上記装置では、ジャイロスコープが車両を支える台車に直接装架されていて、台車の振動が激しく、得られた位置や形状信号を波形修正することが必要であって、デジタルＡＴＣ車上装置に必要な保線設備データを容易に取得することができない。   In order to create track maintenance facility data required for the digital ATC on-board device, information such as curve, branch, and gradient of the route is required. However, the apparatus described in Patent Document 1 can only obtain curvature and cant data, which are information necessary for vehicle body tilt control. In the above apparatus, since the gyroscope is directly mounted on the carriage supporting the vehicle, the carriage vibration is intense, and it is necessary to correct the waveform of the obtained position and shape signal. It is not possible to easily obtain the track maintenance facility data required for the operation.

そこで、本発明では、検測車の走行により保線設備データを得ることのできる装置およびその方法を提案し、さらにそのデータから以前の保線設備データを検査する装置および方法を提案することを目的とする。   Therefore, the present invention proposes an apparatus and method for obtaining track maintenance facility data by running a test vehicle, and further proposes an apparatus and method for inspecting previous track maintenance facility data from the data. To do.

本発明は、検測車の先頭または最後尾等にカメラ等の計測器を備えて走行路線をモニタリングすることにより、曲線情報、分岐情報及び勾配情報を得る装置を提供する。これにより検測車の走行のみで保線設備データを得ることを可能とし、また、得られたデータにより保線設備データの検査を可能とする。   The present invention provides an apparatus for obtaining curve information, branching information, and gradient information by providing a measuring instrument such as a camera at the head or tail of a test vehicle and monitoring a traveling route. As a result, track maintenance facility data can be obtained only by running the inspection vehicle, and track maintenance facility data can be inspected based on the obtained data.

検測車の走行により、曲線情報だけでなく、分岐情報も含めた保線設備データの取得が可能となることで、分岐情報を測量する手間が省ける。さらに、得られたデータと比較することにより、以前の保線設備データが検査可能となることで、データの信頼性を向上させ、不具合の早期発見が可能となる。   By traveling the inspection vehicle, it is possible to acquire track maintenance facility data including not only curve information but also branch information, thereby saving the trouble of surveying branch information. Furthermore, by comparing with the obtained data, the previous track maintenance facility data can be inspected, thereby improving the reliability of the data and enabling early detection of defects.

本発明では、検測車の走行のみで保線設備データを得るという目的を、以下の実施例の方法で実現した。以下、図面を参照して、本発明の実施例を説明する。   In the present invention, the object of obtaining track maintenance facility data only by running the inspection vehicle is realized by the method of the following embodiment. Embodiments of the present invention will be described below with reference to the drawings.

図１は本装置の実施例１の概要を示すものである。本装置は、検測車１の先頭、最後尾、もしくはその両方にカメラ２を備え、また車軸や主電動機軸に取り付けた速度発電機３を備えており、これらの装置からの信号を記録・処理して、保線設備データ４を検出する。   FIG. 1 shows an outline of the first embodiment of the present apparatus. This device is equipped with a camera 2 at the head, tail or both of the inspection vehicle 1 and a speed generator 3 attached to the axle or main motor shaft, and records signals from these devices. The track maintenance facility data 4 is detected by processing.

なお、保線設備データ４とは、線路の曲線、分岐、勾配などの情報を有するデータで、デジタルＡＴＣ車上装置に必要な情報である。   The track maintenance facility data 4 is data having information such as a curve, a branch, and a slope of the track, and is necessary information for the digital ATC on-board device.

検測車１のカメラ２により通過する（した）路線形状をモニタリングすることで、その画像における左右の軌道の位置関係より曲線、分岐等の情報を検出する。以下にその例を示す（図２参照）。
図２（ａ）は直線軌道を示す。
図２（ｂ）は、軌道の中心が画面中央より右になった場合を示しており、右への曲線を示す。軌道の中心が画面中央より左になった場合には、左への曲線を示す。
図２（ｃ）は、軌道が分かれた場合を示しており、分岐点を示す。
図２（ｄ）は、軌道間隔が直線軌道の場合よりも広がった場合を示しており、勾配の変化点（下り）を示す。軌道間隔が狭まった場合には、勾配の変化点（上り）を示す。 By monitoring the shape of the route that is passed by the camera 2 of the inspection vehicle 1, information such as curves and branches is detected from the positional relationship between the left and right trajectories in the image. An example is shown below (see FIG. 2).
FIG. 2A shows a straight track.
FIG. 2B shows a case where the center of the trajectory is on the right side of the screen center, and shows a curve to the right. If the center of the trajectory is to the left of the center of the screen, a curve to the left is shown.
FIG. 2 (c) shows a case where the trajectory is divided and shows a branch point.
FIG. 2D shows a case where the trajectory interval is wider than that in the case of a straight trajectory, and shows the change point (down) of the gradient. When the orbit interval is narrowed, the slope change point (up) is indicated.

これらの状態において、事前に求めた校正値を適応することにより、曲率半径を求める。なお、これらの曲線や分岐が、線区の基準点からどれくらいの距離で開始し、どれくらい続くのかについても同時に記録する。各瞬間における基準点からの移動距離や走行速度は、車軸や主電動機軸に取り付けた速度発電機３の出力と車輪の直径から算出する。
さらに、線路に沿って設置されている自動列車停止装置の地上子６などから得る地点検地信号などにより補正を行ってデータの精度を高め、曲率半径や分岐点のデータに合わせる。 In these states, the curvature radius is obtained by applying the calibration value obtained in advance. It is also recorded at the same time how far and how long these curves and branches start from the line segment reference point. The movement distance and traveling speed from the reference point at each moment are calculated from the output of the speed generator 3 attached to the axle and the main motor shaft and the diameter of the wheel.
Furthermore, the accuracy of the data is increased by correction based on the ground inspection signal obtained from the ground element 6 of the automatic train stopping device installed along the track, and the data is adjusted to the data of the curvature radius and the branch point.

以上のようにして得られたデータは、まず曲率半径のデータや分岐点のデータにそれぞれ分離し平均化処理を行う。これらのデータを以前からある保線設備データの各々のデータと重ね合せにより比較する。そして、検査手段５で、測定したデータと以前からの保線設備データとの間に差が大きい個所のみを摘出する。   The data obtained as described above is first separated into curvature radius data and branch point data, and averaged. These data are compared with each of the existing track maintenance facility data by superposition. Then, the inspection means 5 extracts only the portions where there is a large difference between the measured data and the previous track maintenance facility data.

実施例２は、ＧＰＳ（Ｇｌｏｂａｌ Ｐｏｓｉｔｉｏｎｉｎｇ Ｓｙｓｔｅｍ）システムによる編成を利用した測定装置である。図３に本装置の概要を示す。
本装置は、実施例１のカメラに代えて、ＧＰＳシステム１２を用いて路線の曲線や分岐点のデータを得るものである。本装置の特徴は、検測車の編成における先頭と最後尾、若しくは編成の各車両にＧＰＳシステム１２があることである。 The second embodiment is a measuring device that uses organization by a GPS (Global Positioning System) system. FIG. 3 shows an outline of this apparatus.
This apparatus obtains route curve and branch point data using the GPS system 12 instead of the camera of the first embodiment. The feature of this apparatus is that there is a GPS system 12 in each vehicle in the head and tail or in the train of the inspection vehicle.

各車両の位置をＧＰＳシステム１２により求め、車上ＬＡＮ(Local Area Network)１３を使用して各車両の情報を収集し、曲率半径算出装置１４で、編成における車両の位置関係から曲率半径を算出する。この装置では分岐点や勾配情報を得ることは難しいが、装置の構成は実施例１よりも簡易である。
分岐に関する情報は、ＧＰＳシステムを搭載した検測車による測定を繰り返して分岐した路線での位置情報を得ることにより収集が可能であり、また、勾配情報については、地表の高低差を検知できる高性能のＧＰＳシステムを採用することにより得ることができるほか、上記実施例１のカメラを用いた計測器と併用することにより、デジタルＡＴＣ車上装置に必要な保線設備データを得ることが可能である。 The position of each vehicle is obtained by the GPS system 12, information on each vehicle is collected using an on-vehicle LAN (Local Area Network) 13, and the curvature radius calculation device 14 calculates the curvature radius from the positional relationship of the vehicle in knitting. To do. Although it is difficult to obtain branching point and gradient information with this apparatus, the configuration of the apparatus is simpler than that of the first embodiment.
Information related to bifurcation can be collected by repeatedly measuring with a GPS vehicle equipped with a GPS vehicle to obtain position information on the branched line, and for gradient information, it is possible to detect height differences on the ground surface. It can be obtained by adopting a GPS system of performance, and by using it together with a measuring instrument using the camera of the first embodiment, it is possible to obtain track maintenance facility data necessary for the digital ATC on-board device. .

実施例３は、光による編成を利用した測定装置である。
本装置は、実施例１のカメラに代えて、光による編成を利用した路線の曲線や分岐点のデータを得るものである。 The third embodiment is a measuring apparatus using knitting by light.
In this apparatus, instead of the camera of the first embodiment, data on a curve or a branch point of a route using light knitting is obtained.

図４は、本装置の概要を示すものである。本装置の特徴は、検測車１の編成における先頭と最後尾、若しくは異なる車両の屋根上に照射装置２２と受光装置２３およびそれらの傾斜角を測定するためのジャイロスコープと傾斜計があることである。   FIG. 4 shows an outline of the present apparatus. The feature of this apparatus is that there are a gyroscope and an inclinometer for measuring the irradiation device 22 and the light receiving device 23 and their inclination angles on the head and tail of the inspection vehicle 1 or on the roof of different vehicles. It is.

照射装置からの光２４を常に受光装置が受けるようにそれぞれの装置が自動的に向きを変更し、編成が平面直線上に並んだ時の照射装置と受光装置の位置（車両中心線２５）からの移動量θをジャイロスコープと傾斜計を用いて計測し、曲率半径や勾配量を算出する装置である。この装置では分岐点を得ることは難しいが、曲率半径とともに勾配量も得ることが可能である。
分岐に関する情報は、照射装置２２と受光装置２３を搭載した検測車による測定を繰り返して分岐した路線での位置情報を得ることにより収集が可能であり、また、上記実施例１のカメラを用いた計測器と併用することにより、デジタルＡＴＣ車上装置に必要な保線設備データを得ることが可能である。 Each device automatically changes its direction so that the light receiving device always receives the light 24 from the irradiation device, and from the position of the irradiation device and the light receiving device (vehicle center line 25) when the knitting is arranged on a plane straight line. Is a device that measures the radius of curvature and the amount of gradient by measuring the amount of movement θ using a gyroscope and an inclinometer. Although it is difficult to obtain a branch point with this apparatus, it is possible to obtain a gradient amount as well as a radius of curvature.
Information about branching can be collected by obtaining position information on a branched route by repeating measurement by an inspection vehicle equipped with the irradiation device 22 and the light receiving device 23, and using the camera of the first embodiment. By using it together with the measuring instrument, it is possible to obtain maintenance facility data necessary for the digital ATC on-board device.

保線設備データの検出および検査装置全体の構成を示した説明図である。（実施例１）It is explanatory drawing which showed the structure of the detection and inspection apparatus whole of track maintenance equipment data. Example 1 モニタリング画像の判定方法を示した説明図である。（実施例１）It is explanatory drawing which showed the determination method of the monitoring image. Example 1 ＧＰＳシステムを利用した装置の概要図である。（実施例２）It is a schematic diagram of an apparatus using a GPS system. (Example 2) 光による編成を利用した装置の概要図である。（実施例３）It is a schematic diagram of an apparatus using organization by light. (Example 3) 従来例の軌道形状データ収集装置の概略図である。It is the schematic of the track shape data collection apparatus of a prior art example.

符号の説明Explanation of symbols

１ 検測車
２ カメラ
３ 速度発電機
４ 保安設備データ
５ 検査手段
６ 地上子
１２ ＧＰＳシステム
１３ 車上ＬＡＮ
１４ 曲率半径算出装置
２２ 照射装置
２３ 受光装置
２４ 光
２５ 車両中心線 DESCRIPTION OF SYMBOLS 1 Inspection vehicle 2 Camera 3 Speed generator 4 Security equipment data 5 Inspection means 6 Ground unit 12 GPS system 13 On-vehicle LAN
14 Curvature radius calculation device 22 Irradiation device 23 Light receiving device 24 Light 25 Vehicle center line

Claims (5)

検測車に取り付けられて走行路線をモニタリングすることにより、保線設備データを検出する計測器と、前記計測器により検出された保線設備データと既に収集された保線設備データとを比較して、保線設備データの差が大きい路線の箇所を摘出する検査手段とを備えた保線設備データの検出および検査装置。   By monitoring the traveling route attached to the inspection vehicle, the measuring device for detecting the maintenance facility data is compared with the maintenance facility data detected by the measuring device and the already collected maintenance facility data. An apparatus for detecting and inspecting track maintenance facility data, comprising inspection means for extracting a portion of a route having a large difference in facility data. 前記計測器が、前記検測車の編成における先頭、最後尾、もしくはその両方に取り付けられたカメラを備えており、
前記カメラにより、路線形状をモニタリングして得られた画像の左右の軌道の位置関係により、路線形状の曲線情報、分岐情報、及び勾配情報を含む保線設備データを検出することを特徴とする請求項１記載の保線設備データの検出および検査装置。 The measuring instrument comprises a camera attached to the head, tail or both in the organization of the inspection vehicle;
The track maintenance facility data including curve information, branch information, and gradient information of the route shape is detected from the positional relationship between the left and right trajectories of the image obtained by monitoring the route shape by the camera. The track maintenance facility data detection and inspection device according to 1. 前記計測器が、前記検測車の編成における先頭と最後尾、若しくは編成された各車両に取り付けられたＧＰＳシステムを備えており、
前記ＧＰＳシステムにより各車両の位置を求め、車上ＬＡＮを使用して各車両の位置情報を収集し、各車両の位置関係から曲率半径を算出して、路線形状の曲線情報を含む保線設備データを検出することを特徴とする請求項１記載の保線設備データの検出および検査装置。 The measuring instrument comprises a GPS system attached to the head and tail of the inspection vehicle knitting, or each knitted vehicle,
The position of each vehicle is obtained by the GPS system, the position information of each vehicle is collected using the on-vehicle LAN, the radius of curvature is calculated from the positional relationship of each vehicle, and the track maintenance facility data including the curve information of the route shape The track maintenance facility data detection and inspection device according to claim 1, wherein the track maintenance facility data is detected. 前記計測器が、前記検測車の編成における先頭と最後尾、若しくは異なる車両の屋根上に取り付けられた照射装置と受光装置を備えており、
前記照射装置からの光を常に前記受光装置が受けるようにそれぞれの装置が自動的に向きを変更し、車両の編成が平面直線上に並んだ時の照射装置と受光装置の位置からの移動量により、曲率半径及び勾配量を算出して、路線形状の曲線情報及び勾配情報を含む保線設備データを検出することを特徴とする請求項１記載の保線設備データの検出および検査装置。 The measuring instrument includes an irradiation device and a light receiving device that are attached to the head and tail of the inspection vehicle organization, or on the roof of a different vehicle,
The amount of movement from the position of the irradiation device and the light receiving device when each device automatically changes its direction so that the light receiving device always receives the light from the irradiation device and the knitting of the vehicle is aligned on a plane straight line 2. The apparatus for detecting and inspecting track maintenance facility data according to claim 1, wherein the track radius information and the slope amount are calculated to detect track maintenance facility data including curve information and gradient information of the route shape. 前記計測器が、前記検測車の車軸や主電動機軸に取り付けた速度発電機及び自動列車停止装置の地上子から地点検知信号を受信する受信器を備えていることを特徴とする請求項２乃至請求項４記載の保線設備データの検出および検査装置。   The said measuring device is provided with the receiver which receives a point detection signal from the ground element of the speed generator attached to the axle shaft and the main motor shaft of the said inspection vehicle, and an automatic train stop apparatus. The apparatus for detecting and inspecting track facility data according to claim 4.
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KR101222518B1 (en) 2011-02-28 2013-01-15 대구도시철도공사 Marker coil test unit for ato
CN106990786A (en) * 2017-05-12 2017-07-28 中南大学 The tracking method of intelligent carriage

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JP5951266B2 (en) 2012-01-27 2016-07-13 三菱重工業株式会社 Gradient information acquisition method, gradient information storage method, gradient information acquisition apparatus and program

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CN106990786A (en) * 2017-05-12 2017-07-28 中南大学 The tracking method of intelligent carriage

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