JP2011153981A5 - - Google Patents

Description

Joint Gap amount Oite the trajectory deviation measurement of the step is large monorail, there is a need to achieve to and improved and accuracy that speed measurement in the running state of the Kensokusha both. In order to meet this demand, it is essential to simplify the mechanism. The measurement using a non-contact sensor has the advantage of simplifying the mechanism because the measurement carriage frame part to which the measurement wheel is attached is unnecessary, but in the measurement without the measurement wheel using the non-contact sensor, the concrete track is directly Since it is necessary to measure the surface as a target, there is a lot of noise in the measurement signal due to the unevenness of the concrete track surface, and when measuring in the running state, especially when the traveling speed is increased, the measurement error at the step is There is a growing problem. Therefore, a highly accurate monorail track deviation measurement considering a step in the running state of the inspection vehicle has not yet reached a practical level.
For example, the measurement method disclosed in Patent Document 1 is sometimes portable and is not a technique for measuring while traveling. On the other hand, in the measurement method of Patent Document 2, the inspection in the running state is possible, but the monorail track deviation measurement and the inspection are different in equipment used and the properties of the measurement items are also different. Therefore, even if such a system is used for the measurement of the track deviation of the monorail, the problem of measurement error at the step is not solved. As a result, it is difficult to apply the measurement to the track deviation of the monorail track in the traveling state including the measurement of the step.
Moreover, the measuring apparatus of patent document 3 is a thing about the track girder of the straddle-type monorail under construction, and is not the track deviation measurement of the monorail with respect to the vehicle travel after construction.

Figure 1 is a sectional explanatory view showing a relationship between traction type orbital test Hakakuruma and concrete track to which the trajectory deviation measurement method of the seat-shaped monorail straddled of the present invention. 2 (a) is a side explanatory view of the arrangement of the non-contact sensor head for non-contact sensor head height mounted and as a truck towing shaped orbit test Hakakuruma, FIG. 2 (b), the plane described FIG. FIG. 3 is a block diagram of a data recording / processing apparatus that performs median filter processing on each measurement value in the orbital deviation measuring apparatus. FIG. 4 is a flowchart of the trajectory error measurement by the data recording / processing device. FIG. 5 is an explanatory diagram regarding the elimination of the error factor of the step portion by the median filter processing.

As shown in FIG. 3, the internal configuration of each of the digital sensor amplifiers 11 a to 11 f includes control 111, filter processing 112, and D / A conversion (D / A) 113 processing blocks. The received digital value detection signal (displacement signal) is calculated as a moving average value in the filter processing block 112, the measured distance is calculated from the moving average value, and the calculated value is converted into an analog signal in the D / A 113 block. To the interface 12.
The processing block of the control 111 causes the block of the filter processing 112 to perform the moving average process at a preset sampling number for calculating the moving average value. Thereby, noise in the received detection signal (displacement signal) is removed. Note that the moving average here may be somewhat affected by a sudden and sudden noise component, so it is preferable to stop the number of samplings so that the output is stabilized.
In addition to the moving average process, a low-pass filter, a high-pass filter, and the like can be selected as the block of the filter process 112. Here, the moving average process is performed to stabilize the data.
Filtering 112 number data moving average of taking the average value of the block of (sampling number), the external noise in height for the non-contact sensor head 8a, 8b, 8c and the non-contact sensor head 8 d for GO, 8e, from the output of 8f In order to eliminate sudden noise due to a step or the like, it is determined in relation to the traveling speed. Specifically, the travel distance width is about 3 to 5 samples for the displacement signal obtained from each sensor head according to the travel state.
In addition, when the measurement value is sampled in synchronization with a distance pulse described later, this corresponds to a travel distance of about 1 pulse / 2 mm, which corresponds to a width of about 6 mm to 10 mm as the travel distance. To do.

The data recording / processing device 14 includes an MPU 141, a memory 142, an A / D conversion circuit (A / D) 143, and an external storage device (HDD) 144, which are connected via a bus. The memory 142 stores a measurement data collection program 142a, a 200 mm sample data extraction program 142b, a median filter processing program 142c, a 4m measurement string trajectory error calculation program 142d, a travel distance calculation program 142e, and the like, and a work area 142d is provided. ing.
Each analog data (each distance measurement signal value) from each digital sensor amplifier 11 taken into the data recording / processing device 14 via the interface 12 is A / D converted by the A / D 143 and converted into a digital signal. The The digital value to each sensor head corresponds directly or through MPU141 measurements to a measurement target (the traveling road and track side) detected by the six respective sensor heads receives the MPU141 workspaces have 142f of the memory 142 To be recorded.
When the data recording / processing device 14 receives the output signal (distance pulse) of the distance pulse generator 9 installed on the traveling wheel 2a, the MPU 14 calls and executes the traveling distance calculation program 142e, and the traveling distance up to the present time. The calculation process is performed.
The distance pulse of the distance pulse generator 9 can be selectively set in the range of 200 pulses to 2,500 pulses / rotation. Usually, it is used at about 1000 pulses per rotation. Thereby, the distance pulse generator 9 generates according to the travel distance at about 1 pulse / 2 mm.

Hereinafter, the trajectory error measurement process by the data recording / processing device 14 will be described with reference to the flowchart of FIG.
When the data recording / processing device 14 starts data recording, the MPU 141 calls and executes the measurement data collection program 142a. By executing this program, the MPU 141 acquires the measurement values (measurement distances to the measurement targets) of each of the six sensor heads converted into digital signals from the interface 12 (step 101) and records them in the work area 142f of the memory 142. (Step 102). Then, it is determined whether the measurement data of a predetermined quantitative required median filtering process is recorded in the memory for the measurement distance to the measurement target for each six of each sensor head (step 103). If the determination is NO, the process proceeds to step 110. If it is determined whether measurement is in progress, the process returns to step 101, and the collection of measurement data and recording in the memory are repeated.

When the YES is determined in step 103, MPU 141 is then the median filter processing program 142c to execute the recall. As a result, the median filter process is performed on the data of each sensor head indicating the measurement distance to the measurement target recorded in the work area 142f, and the measured values subjected to the median filter process are stored in the work area of the memory. (Step 104).
Here, the median filter processing means that, as described above, the center position of the values sorted and sorted in ascending order using as many units of measurement data as possible selected within a certain range in the travel distance. it was a measure adopted value, the data consisting of the measured values of the center position by going data value is one not one sequentially shifted in constant width in the travel distance range measurements for each sensor head The filtering process obtained as
Thereby, sudden singularity data and high frequency noise data are removed. For the range of a certain width in the travel distance, the actual concrete is measured and the optimum value is set.

In this way, the sampling data included in the five are sorted in ascending order, and the median value in the width is sequentially selected while moving the width. Sequentially, while shifting the width of a predetermined number of samplings, the data is shifted to data collected after one sampling, and each median value is detected as a measurement distance at the width center position. This removes singular values from concrete from the measured values. The selected median value is a measured value (measurement distance to the measurement target) at the central position of the width.
Each measurement data of each sensor head subjected to the median filter processing is sequentially recorded in the work area 142f of the memory 142 together with the travel distance.
Note that the continuous median filter processing is performed when the measurement value (measurement distance to the measurement target) is awaited, and the previous measurement data is left as much as the processing width, in the above example, for 5 samples. The next data processing is started for the five samplings, and continuous processing is performed.

Next, the MPU 141 calls and executes the 200 mm sample data extraction program 142b, and determines from the travel distance whether or not the measurement vehicle has traveled 200 mm from the start of the previous median filter processing (step 105). .
Thus, by using a 200mm sample data extraction program 142b, if you 200mm travel, it can be a certain amount taking measurements data MED IA Ann filtering process for each 200mm travel.
If the determination here is NO, the process proceeds to step 110. If it is determined whether measurement is in progress, the process returns to step 101 to repeat data collection and memory recording. As a result, the median filter process is sequentially repeated on the data of the measurement distance to the measurement target obtained continuously.
When the determination in step 105 is YES, the MPU 141 calls and executes the 4m string trajectory error calculation program 142d. By executing the 4m-string trajectory deviation calculation program 142d, the height deviation of the recess 6a of the traveling path 6 and the deviation of the trajectory side face 6c can be calculated every 200 mm.

If the determination in step 105 is YES when the median filter processing for the travel distance of 200 mm is completed for the measurement data of each sensor head , the MPU 141 calls and executes the 4m measurement string trajectory error calculation program 142d.
When the median filtered measurement data (measurement displacement data) is recorded in the work area 142f for a certain amount, here, the travel distance of 200 mm, the median filtered measurement value data is transferred from the work area 142f. (Step 106), and then the current travel distance is stored in the work area 142f of the memory (step 107). Based on the data of each measurement value and the current travel distance, the trajectory error of the 4m measurement string is obtained. High / low and street madness are calculated (step 108).

Claims (11)

In the method of measuring the track deviation of concrete tracks,
The inspection vehicle travels on a concrete track and irradiates the track of the track with the measurement light of the first distance detector provided on the inspection vehicle, and measures the distance to the road without contact. Then, the value of the measurement signal of the first distance detector is converted into a digital value by an A / D conversion circuit as a measured value, and the measured value of the digital value is removed to remove irregularities on the concrete surface. A data processing device provided in the inspection vehicle performs median filter processing in units of a plurality of the measurement values corresponding to a predetermined travel distance, and the data processing is performed based on the measurement values obtained by the median filter processing. A method for measuring a track deviation of a concrete track, wherein the device calculates the amount of the track error of the track. Further, a second distance detector is provided in the measurement vehicle, the measurement light of the second distance detector is irradiated on the side surface of the track, and the distance to the side surface is measured in a non-contact manner. It is converted into a digital value by a second distance values for each measurement signal of the detector to the measured value a / D converter circuit, the track deviation measuring method of concrete track of claim 1 wherein performing said median filtering. The inspection vehicle is a monorail vehicle that travels on the concrete track, and the first and second distance detectors each have a beam spot projection type laser displacement sensor, and the laser displacement sensor orbit of concrete track according to claim 2, wherein calculating respective distances from said travel path and each of the displacement amount displaced amount detecting respective to the side surface of the side track to the side of the traveling path and the trajectory by Crazy measurement method. The monorail vehicle is a straddle-type monorail vehicle, and the first distance is such that a measurement string having a predetermined length is formed on a line of the travel path by the laser displacement sensor of the first distance detector. detector 3 Tai設 vignetting, the second distance detector as the second of the measuring chord of the laser displacement sensor by the predetermined length along the side of the track of the distance the detector is formed There 3 Tai設 vignetting, the first and second distance detectors, and a said laser displacement sensor and the distance calculation circuit, wherein the laser displacement sensor is designed to output the displacement as a digital value the distance calculating circuit, each of the measurement distance to the side surface of the traveling path and the side track a moving average processing on the basis of the digital value of the displacement amount calculated as a digital value, these digital each measurement distance Trajectory deviation measurement method of concrete track according to claim 3, wherein for generating each said measured distance analog values the value is converted D / A.   The method of measuring a track error of a concrete track according to claim 4, wherein the straddle-type monorail vehicle is a straddle-type cart pulled by a motor car. In the method of measuring the track deviation of concrete tracks,
The inspection vehicle travels on a concrete track, irradiates the side of the track with the measuring light of the distance detector provided on the inspection vehicle, measures the distance to this side in a non-contact manner, and detects the distance Data provided in the inspection vehicle for the measured value of the digital value in order to remove the irregularities on the concrete surface by converting the value of the measurement signal of the vessel into a digital value by the A / D conversion circuit as the measured value In the processing device, median filter processing is performed in units of a plurality of the measurement values corresponding to a predetermined travel distance, and the data processing device performs a trajectory deviation amount of the trajectory based on the measurement values obtained by the median filter processing. This is a method for measuring the deviation of a concrete track. In the track error measuring device for concrete track,
A first distance detector that is provided on the inspection vehicle and irradiates the traveling path of the concrete track on which the inspection vehicle travels to measure the distance to the traveling path in a non-contact manner;
An A / D conversion circuit for A / D converting the measurement signal value of the first distance detector as a measurement value;
Median filter processing is performed on the measured value of the digital value provided in the inspection vehicle and converted into a digital value by the A / D conversion circuit, and the trajectory is based on the measured value obtained by the median filter processing. And a data processing device that calculates the amount of trajectory deviation
Wherein the data processing device, a plurality of the said median filtering process trajectory deviation measurement device rows as the Hare concrete track the measurements as a unit corresponding to a predetermined travel distance width in order to remove the irregularities of a concrete surface.   Further, a second distance detector is provided in the measurement vehicle, the measurement light of the second distance detector is irradiated on the side surface of the track, and the distance to the side surface is measured in a non-contact manner. The track deviation measuring device for a concrete track according to claim 7, wherein a value of each measurement signal of the second distance detector is converted into a digital value by an A / D conversion circuit as a measured value, and the median filter processing is performed. The inspection vehicle is a monorail vehicle that travels on the concrete track, and the first and second distance detectors each have a beam spot projection type laser displacement sensor, and the laser displacement sensor orbit of concrete track according to claim 8, wherein calculating respective distances from said travel path and each of the displacement amount displaced amount detecting respective to the side surface of the side track to the side of the traveling path and the trajectory by Crazy measuring device. The monorail vehicle is a straddle-type monorail vehicle, and the first distance is such that a measurement string having a predetermined length is formed on a line of the travel path by the laser displacement sensor of the first distance detector. detector 3 Tai設 vignetting, the second distance detector as the second of the measuring chord of the laser displacement sensor by the predetermined length along the side of the track of the distance the detector is formed There 3 Tai設 vignetting, the first and second distance detectors, and a said laser displacement sensor and the distance calculation circuit, wherein the laser displacement sensor is designed to output the displacement as a digital value the distance calculating circuit, each of the measurement distance to the side surface of the traveling path and the side track a moving average processing on the basis of the digital value of the displacement amount calculated as a digital value, these digital each measurement distance Value D / A converter to track deviation measuring apparatus of the concrete track of claim 9, wherein for generating each said measured distance of an analog value. In the track error measuring device for concrete track,
A distance detector that is provided in the inspection vehicle and irradiates the side surface of the concrete track on which the inspection vehicle travels to measure the distance to the traveling path in a non-contact manner;
An A / D conversion circuit for A / D converting the measurement signal value of the distance detector as a measurement value;
A median filter process is performed on a measurement value of the measurement signal of the digital value provided in the inspection vehicle and converted into a digital value by the A / D conversion circuit, and based on the measurement value obtained by the median filter process A data processing device for calculating the amount of trajectory deviation of the trajectory,
Wherein the data processing device, a plurality of the said median filtering process trajectory deviation measurement device rows as the Hare concrete track the measurements as a unit corresponding to a predetermined travel distance width in order to remove the irregularities of a concrete surface.

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