JP2007245916A - Simple traveling passage measurement system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a simple traveling passage measurement system capable of easily performing detection/measurement of a track by a simple method. <P>SOLUTION: As shown in Fig. 1, the traveling passage measurement system 1 is provided with a GPS receiver 10 for receiving an electric wave from a satellite mounted on a vehicle at measurement and outputting speed information of the vehicle; an oscillation sensor 20 for outputting oscillation information of the vehicle; and PC 30 for performing various operations. The PC 30 receives the speed information and the oscillation information, time axis/distance axis-converts the oscillation information on the time axis and calculates the sampled oscillation information on the distance axis. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a track inspection system for inspecting / measuring (detecting) a track (traveling road) such as a railway track or an expressway, and more particularly to a simple traveling path measuring system capable of track inspection by a simple method.

Conventionally, in order to improve passenger ride comfort, railroad tracks have been regularly operated with inspection vehicles equipped with dedicated equipment for track inspections, and track repairs are performed based on the acquired data. Planning and construction are being carried out.
In addition, when a crew member or passenger reports a train shake, the person in charge adds to the operating train at any time, performs measurements of vehicle vibration acceleration, speed information, position information, etc., and identifies the place where the train is shaken Has also been done.

For example, Patent Document 1 below discloses a technique for specifying in a short time a place where train shaking exceeds a reference value using a GPS device.
JP 2004-98878 A

A method of using a GPS device for calculating the position information of the railway vehicle is disclosed in Patent Document 2 below.
JP 2005-186651 A

  According to the inspection vehicle described above, it is possible to accurately perform the track inspection, but the operation of the inspection vehicle is carried out regularly according to the schedule, and the passengers and passengers report upsets. Even if there is, it is difficult to operate the inspection vehicle suddenly. Thus, the inspection vehicle cannot quickly respond to the request for the trajectory inspection.

  Moreover, if it is a method of the indication to the said patent document 1, the fluctuation of a train can be measured by loading a GPS apparatus and a data processor in a business train. In Patent Document 2, the time when the gull value exceeds the reference value is calculated from the fluctuation data (gull value (maximum acceleration)) acquired at equal time intervals, and the reference position information determined on the orbit is determined. It is disclosed that the location where the gull value exceeds the reference value is specified based on time information, position information, and train speed information from the GPS device.

  However, in Patent Document 1, in order to specify the location where the gull value exceeds the reference value, information such as coordinate values (longitude / latitude) obtained from GPS and reference position information stored in the database is also essential. It cannot be said that the place where the train is shaken easily can be identified. In Patent Document 2, the gull value on the time axis and the location where the gull value exceeds the reference value can only be grasped, and the fluctuation data at each position on the line cannot be grasped. Further, Patent Document 2 does not have a detailed description on how to specify the location where the gull value exceeds the reference value from the fluctuation data of the time sampling.

  The present invention has been made to solve such a problem, and an object of the present invention is to provide a simple travel path measurement system that can easily perform track inspection using a simple method.

  In order to solve the above-described problem, a travel path measurement system according to the present invention includes a GPS receiver and a vibration sensor mounted on a vehicle at the time of measurement, and a travel path measurement system that performs travel path measurement using GPS. The GPS receiver is a GPS receiver that receives radio waves from a satellite and outputs speed information of the vehicle, and the motion sensor is a motion sensor that outputs motion information of the vehicle, the speed sensor It further comprises a computer that receives the information and the shaking information, converts the shaking information on the time axis into a time axis and a distance axis, and calculates the shaking information sampled on the distance axis.

  Further, the traveling road measuring method according to the present invention is a traveling road measuring method for measuring a traveling road using GPS based on outputs from a GPS receiver and a vibration sensor mounted on a vehicle at the time of measurement, The step of sampling on the time axis the vehicle motion information obtained from the motion sensor, and the position for sampling the motion information on the distance axis at predetermined distance intervals based on the vehicle speed information obtained from the GPS receiver. Calculating the fluctuation information corresponding to the sampling position on the distance axis out of the fluctuation information sampled on the time axis, and sampling the extracted fluctuation information on the distance axis. And a step of generating shaking information that is assigned to a position and subjected to time axis / distance axis conversion.

  In addition, the traveling path measurement program according to the present invention causes a computer having a calculation unit and a storage unit to perform a traveling path measurement process based on outputs from a GPS receiver and a motion sensor mounted on a vehicle at the time of measurement. A travel path measurement program, based on vehicle motion information obtained from the motion sensor, generating motion information sampled on the time axis, and based on vehicle speed information obtained from the GPS receiver, Calculating a position at which the shaking information is sampled on the distance axis at a predetermined distance interval, and extracting shaking information corresponding to the sampling position on the distance axis from the shaking information sampled on the time axis. Assigns the extracted shaking information to each sampling position on the distance axis, and the shaking information converted in time axis and distance axis Characterized in that to execute the steps of forming, to the computer.

  According to the simple road measurement system according to the present invention, it is possible to obtain vehicle motion information sampled on the distance axis by a simple method. In the case of the shake information on the distance axis, the road information and the point position are clear, and the management work of the road can be smoothly performed.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present embodiment, a simple road measurement system that performs track inspection of a railway track will be described. FIG. 1 is a diagram illustrating a schematic configuration of a simple travel path measurement system 1.

As shown in the figure, the simple road measurement system 1 is a GPS (Global
Positioning System (Global Positioning System) includes a receiver 10, an acceleration sensor 20, and a notebook personal computer (PC) 30 connected to these devices. These devices are small and portable, and in the present embodiment, these devices are brought into the railway vehicle 100 and installed.

  The GPS receiver 10 has calculation means for performing various calculations, and has a function of receiving a radio signal transmitted from a navigation satellite every second and outputting vehicle speed data at each time. . Specifically, accurate time information and orbit information of the satellite are transmitted from the navigation satellite every second. The GPS receiver 10 receives these pieces of information from a plurality of satellites, and calculates the distance to each satellite, thereby grasping the position of the GPS receiver 10 itself, that is, the position of the railway vehicle 100. If the position is grasped every second, the moving speed of the railway vehicle can be obtained.

  The acceleration sensor 20 sequentially measures the acceleration data of the railway vehicle at a predetermined time and outputs it as vibration information (sway information). The sampling frequency of the acceleration sensor 20 is 409.6 [Hz]. Note that the travel path measurement system of the present embodiment is intended to detect vehicle shake caused by a track deviation or the like, so that the vibration information of the measurement result reflects the influence of acceleration due to acceleration / deceleration of the train. Designed not to receive. In this embodiment, the acceleration sensor 20 outputs acceleration data in all directions. However, on the PC 30 side, which will be described later, components in the direction perpendicular to the traveling direction of the train (components in the vertical direction of the train and in the direction parallel to the sleepers). ) Is designed to take into account only. The frequency and timing of measurement / data output of the GPS receiver 10 and the acceleration sensor 20 can be changed as appropriate.

  The PC 30 includes a CPU as a calculation means for performing various calculations, a memory and a hard disk as storage means for storing various information, and a liquid crystal display as a display means for displaying various information.

  The simplified road measurement system according to the present embodiment having such a configuration is the railcar 100 calculated by the GPS receiver 10 after digitally sampling vibration information acquired from the acceleration sensor 20 on the time axis sequentially. Based on the velocity information, time axis / distance axis conversion is performed, and vibration information sampled on the distance axis is obtained. In this way, if the vibration information is sampled on the distance axis, it is possible to easily collate the position of the point where the vibration occurred.

  Next, the flow of processing when performing time axis / distance axis conversion using the simple travel path measurement system 1 will be described with reference to FIGS. 2 and 3. FIG. 2 is a flowchart showing the flow of processing when performing travel path measurement. FIG. 3 is a diagram conceptually showing the correlation between the values in this processing. In the present embodiment, vibration information on the time axis (upper axis in FIG. 3) with a sampling frequency of 409.6 [Hz] is sampled at approximately 1 m intervals on the distance axis (lower axis in FIG. 3). The time axis and distance axis are converted to However, the number of samplings on the distance axis in FIG. 3 is displayed by thinning out in order to simplify the display.

  Of the following processes, the processes performed in the PC 30 are executed by the calculation means in the PC 30 based on a program stored in the storage means.

  First, in step 1 (S1), speed information v (t) [km / h] is calculated based on time information and orbit information received by the GPS receiver 10 from the navigation satellite. As described above, since information is transmitted from the navigation satellite every second, the GPS receiver 10 calculates the speed of the vehicle each time information is received, and sequentially transmits it to the PC 30 together with time information. The PC 30 sequentially stores the received speed information and time information in the storage means. At this time, the PC 30 synchronizes the time of the internal clock with the received time. The GPS navigation satellite clock is equipped with an atomic clock that is accurate in time. If the time of the PC 30 is synchronized with the time from the satellite, the PC 30 can always perform processing based on the accurate time. It is possible to improve the accuracy of time axis / distance axis conversion processing described later.

Next, in S < ^b > 2, the acceleration sensor 20 sequentially transmits vibration information a (t) [m / s ² ] to the PC 30. As the time at this time, the time of the clock in the PC 30 synchronized with the time information from the navigation satellite is used. The PC 30 sequentially stores the received vibration information in the storage unit. Note that S1 and S2 are processes performed in parallel, and the PC 30 receives speed information and time from the GPS receiver 10 every second and 409.6 times per second, vibration information from the acceleration sensor 20. Receive.

  Subsequently, in the following steps, the calculation means of the PC 30 performs processing for calculating vibration information sampled on the distance axis from the speed information and vibration information stored in the storage means. In addition, the timing which performs the following processes can be changed suitably, for example, may be performed whenever speed information and vibration information are acquired from the GPS receiver 10 and the acceleration sensor 20, or may be performed on a trajectory to be measured. After all the speed information and vibration information are acquired, they may be processed together.

First, in S3, based on the speed information v (t) stored in the storage means, the cumulative travel distance S (t + 1) [ m] is calculated. The cumulative travel distance S (t) is obtained by time integration of the speed v (t) obtained up to time t. In addition, the cumulative travel distance S is calculated up to the first decimal place, and the second decimal place is rounded off.
S (t + 1) = S (t) + v (t + 1) * 1000/3600 (1)

Next, in S4, the section travel distance D (t) [m] of the time t to t + 1 section (one second section) is obtained by the following equation (2). In FIG. 3, the distance from the point at time t to the point at time t + 1 on the distance axis. The section distance D is calculated up to the first decimal place, and the second decimal place is rounded off.
D (t) = S (t + 1) −S (t) (2)

Subsequently, in S5, the number of samples N (t) on the distance axis in the section from time t to t + 1 is obtained by the following equation (3). The function “Int” is a function for obtaining an integer by truncating the decimal part. Here, the number of samples N indicates the number of samples of vibration information arranged in the section from time t to t + 1 after sampling conversion on the distance axis.
N (t) = Int (D (t)) + 1 (3)

Next, in S6, the division pitch number P (t) in the section from time t to t + 1 is obtained by the following equation (4). Here, Ns is a sampling frequency of vibration information, and as described above, in this embodiment, Ns = 409.6 [Hz]. This number of divided pitches indicates the interval of vibration information sampling positions within the interval from time t to t + 1 (approximately 1 m when converted to distance as described above), and vibration information on the time axis for each P (t). Is extracted and sampled on the distance axis.
P (t) = Int (Ns / D (t)) (4)

  Then, it progresses to S7 and calculates | requires the sampling position on the distance axis of the vibration information in the time t-t + 1 area. In the following description, N (t) sampling positions on the distance axis in the period from time t to t + 1 are defined as Qn (t) [m], respectively. Here, n indicates the nth sampling position in each section, and is a natural number of 1 ≦ n ≦ N (t).

In S7, first, the fraction DL (t) [m] below the decimal point of the accumulated travel distance S (t) at time t is obtained by the following equation (5).
DL (t) = S (t) -Int (S (t)) (5)

  This DL (t) is the position of the cumulative travel distance S (t) from the last sampling position on the distance axis (Qn (t-1) on the distance axis in FIG. 3) of the vibration information in the time interval t-1 to t. The distance to is shown. Here, since the position 1 m behind the last sampling position in the time t-1 to t section becomes the first sampling position on the distance axis in the time t to t + 1 section, from the position of the cumulative travel distance S (t). The position advanced by 1-DL (t) [m] (phase difference) on the distance axis is the first sampling position in the period from time t to t + 1. That is, Q1 (t) = S (t) + (1-DL (t)).

  Further, since the sampling position on the second and subsequent distance axes in the same section is a position advanced by 1 m, Q2 (t) = Q1 (t) +1, Q3 (t) = Q2 (t) +1,. Qn (t) = Qn-1 (t) +1.

  Subsequently, the process proceeds to S8, and vibration information assigned to the sampling position on the distance axis obtained in S7 is extracted from the vibration information measured on the time axis at the sampling frequency 409.6 [Hz].

  First, vibration information to be assigned to Q1 (t) is obtained by multiplying the phase difference 1-DL (t) by the number of division pitches P (t) and rounding down the decimal point, that is, Int (P (t) × ( 1-DL (t))). In this calculation, the number of sampling pitches on the time axis corresponding to the length of the phase difference 1-DL (t) is obtained based on the divided pitch number P (t) corresponding to a distance of 1 m. Of the vibration information on the time axis in the period from time t to t + 1, the vibration information of the number of pitches obtained is the vibration information at the sampling position Q1 (t) on the distance axis.

  For Q2 (t) to Qn (t), the divided pitch number P (t) is sequentially added to the pitch number of Q1 (t), and vibration information on the time axis of each pitch number is obtained. It can be assigned as vibration information at each sampling position on the distance axis.

  By executing the processing procedure described above by the computing means of the PC 30, the vibration information acquired on the time axis can be converted into vibration information on the distance axis by converting the time axis / distance axis.

  Next, the processing procedure will be described by taking specific numerical values as an example. FIG. 4 is a diagram for explaining processing of time axis / distance axis conversion based on specific numerical values. In the following, description will be made sequentially corresponding to the steps described above. In this specific example, time t = 12: 40: 31, speed v (t−1) = 24 [km / h], v ( t) = 28, v (t + 1) = 32, cumulative travel distance S (t) = 10,006.6 [m], and sampling frequency Ns = 409.6 [Hz].

  First, in S3, the cumulative travel distance S (t + 1) = 10,014.3 [m] is obtained by substituting the numerical values described above into the above equation (1). Subsequently, in S4, the value of S (t + 1) is substituted into the above equation (2) to obtain the section distance D (t) = 7.7 [m] from the time t to t + 1 section. Next, in S5, the value of D (t) is substituted into the above equation (3), and the number of samples of vibration information N (t) = 8 [pieces] on the time axis from time t to t + 1 is obtained. As a result, it can be seen that, on the time axis, predetermined 8 samples are allocated as vibration information on the distance axis among the vibration information of 410 (Int (409.6)) samples.

  Subsequently, in S6, the value of D (t) is similarly substituted into the above equation (4) to obtain the division pitch number P (t) = 53 [pieces]. As shown in FIG. 4, on the distance axis, the vibration information sampling position is obtained by extracting every 53 pieces of vibration information samples on the time axis.

  Next, in S7, the value of S (t) is substituted into the above equation (5), and the fraction DL (t) = 0.6 [m] below the decimal point of the value of the cumulative travel distance S (t) is obtained. This represents the distance from the last sampling position Qn (t-1) to the position of S (t) in the time interval t-1 to t. Since the interval between the sampling positions of the vibration information on the distance axis is about 1 m, the distance from the position S (t) to the first sampling position Q1 (t) in the section from time t to t + 1 is 1−0.6 = 0.4. It is obtained from [m]. Therefore, the value of Q1 (t) is obtained as Q1 (t) = S (t) + 0.4 = 10,007 [m]. Further, Q2, Q3,... Can be obtained by sequentially adding 1 m.

  Subsequently, in S8, 21 [pieces] are obtained by substituting the values of P (t) and DL (t) into Int (P (t) × (1-DL (t))), and the time Of the vibration information on the time axis in the interval t to t + 1, the 21st vibration information is assigned as vibration information in Q1 (t) on the distance axis. In addition, for Q2, Q3,..., The vibration information with the division pitch number 53 is sequentially assigned as vibration information on the distance axis.

  As described above, according to the simplified travel path measurement system according to the present embodiment described in detail, vibration information sampled on the distance axis by the system having a simple configuration of the GPS receiver, the acceleration sensor, and the PC, that is, the travel path measurement. Data can be obtained. If it is such a simple system, it is possible to carry out the travel route measurement easily by installing it in a business train as needed.

In particular, in the case of a railway vehicle, taking out the speed signal of the installed speedometer is time-consuming and may affect the operation of the vehicle. According to this system, the speed signal of the speedometer Without taking out the vehicle, it is possible to measure the travel route as a system independent of the train operation equipment using GPS.
In addition, since the track information and the point position are clear if the travel route measurement data is converted on the distance axis obtained by the simple track search system according to the present embodiment, the track management work can be performed smoothly. Is possible.

  The embodiment of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention. For example, in the present embodiment, in order to inspect and measure the railroad rail track, an example in which a railroad vehicle is equipped with the simple travel path measurement system according to the present invention has been described as an example. Therefore, the present invention may be applied to any equipment that is required to perform track inspection such as a monorail or a trolley bus.

  In the above embodiment, the GPS receiver 10, the acceleration sensor 20, and the PC 30 are mounted on the vehicle in a wired connection state. However, if the GPS receiver 10 and the acceleration sensor 20 are mounted on the vehicle, the PC 30 is used. May be installed outside the vehicle and configured to transmit information from the GPS receiver 10 or the like to the PC 30 by radio or the like. In addition, a storage device for storing information output from the GPS receiver 10 and the acceleration sensor 20 is mounted on the vehicle, and after the vehicle is measured to measure various data, the data in the storage device is transferred to the PC. May be configured to perform data processing for inspection.

  In this embodiment, the GPS receiver is configured to output speed information every second. However, the present invention is not limited to this, and the speed from the GPS receiver can be changed by changing the GPS standard. If information can be output at intervals shorter than one second, distance axis / time axis conversion can be performed with higher accuracy. On the other hand, when the speed of the vehicle is slow, etc., even if speed information is output from the GPS receiver at intervals of one second, the speed information actually used for processing is thinned out on the PC side and selected as appropriate. Alternatively, the period for outputting the speed information from the GPS receiver may be longer than one second.

  In the present embodiment, when the vibration information sample is converted from the time axis sampling to the distance axis sampling, it is sampled at an interval of about 1 m on the distance axis. It is not limited to this, and sampling on the distance axis may be appropriately performed at predetermined distance intervals according to the environment such as the speed of the vehicle.

  Further, in the present embodiment, the speed information acquisition cycle and the vibration information sampling interval on the distance axis are configured to be constant in all sections, but of course, the present invention is not limited to such a configuration. Depending on the measurement environment, the period and interval in a predetermined section may be changed. However, in order to unify the accuracy of data in all sections, it is preferable to make these constant in all sections.

  In the present embodiment, acceleration information (acceleration sensor) is used as the shake information. However, the present invention is not limited to this. For example, vehicle displacement information (displacement sensor) in a direction orthogonal to the traveling direction of the vehicle is used. You may make it employ | adopt as shaking information.

FIG. 1 is a diagram showing a schematic configuration of a simple travel path measurement system according to an embodiment of the present invention. FIG. 2 is a flowchart showing the flow of processing when performing travel path measurement according to the embodiment of the present invention. FIG. 3 is a diagram conceptually showing the correlation between the values in the processing when the travel route measurement according to the embodiment of the present invention is performed. FIG. 4 is a diagram for explaining the time axis / distance axis conversion processing according to the embodiment of the present invention based on specific numerical values.

1 Simple road measurement system 10 GPS receiver 20 Acceleration sensor 30 PC

Claims (6)

In a travel path measurement system that includes a GPS receiver and a vibration sensor mounted on a vehicle at the time of measurement and performs travel path measurement using GPS,
The GPS receiver is a GPS receiver that receives radio waves from a satellite and outputs speed information of the vehicle,
The motion sensor is a motion sensor that outputs motion information of the vehicle,
The vehicle further comprises a computer that receives the speed information and the shaking information, converts the shaking information on the time axis to a time axis and a distance axis, and calculates the shaking information sampled on the distance axis. Road measurement system. The GPS receiver is a GPS receiver that receives time information from a satellite and outputs the time information together with the speed information,
The travel path measurement system according to claim 1, wherein the computer performs processing so as to synchronize the time of the computer with the time information.   The computer samples and converts the shaking information at a predetermined distance interval on the distance axis, and based on the speed information, from among the shaking information on the time axis to each sampling position on the distance axis. The travel path measurement system according to claim 1 or 2, wherein the time axis / distance axis conversion is performed by extracting corresponding motion information.   The travel path measurement system according to claim 3, wherein the computer specifies a sampling position on the distance axis by using a sampling period of shaking information output from the shaking sensor. A road measurement method for measuring a road using GPS based on outputs from a GPS receiver and a vibration sensor mounted on the vehicle at the time of measurement,
Sampling vehicle motion information obtained from the motion sensor on a time axis;
Calculating a position at which the shaking information is sampled on a distance axis at a predetermined distance interval based on vehicle speed information obtained from the GPS receiver;
Extracting the shaking information corresponding to the sampling position on the distance axis from the shaking information sampled on the time axis;
Assigning the extracted shaking information to each sampling position on the distance axis, and generating time-distance-axis converted shaking information;
A traveling road measuring method comprising: A travel path measurement program for causing a computer having a calculation means and a storage means to perform travel path measurement processing based on outputs from a GPS receiver and a vibration sensor mounted on a vehicle at the time of measurement,
Generating motion information sampled on the time axis based on vehicle motion information obtained from the motion sensor;
Calculating a position for sampling the shaking information on a distance axis at a predetermined distance interval based on vehicle speed information obtained from the GPS receiver;
Extracting the shaking information corresponding to the sampling position on the distance axis from the shaking information sampled on the time axis;
A program for causing the computer to execute the step of assigning the extracted shaking information to each sampling position on the distance axis and generating the shaking information subjected to time axis / distance axis conversion.

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