JP2014199208A - Track inspection method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow detection of foreign matter on glass surfaces being a light emission surface and a light reception surface of a two-dimensional sensor.SOLUTION: Two-dimensional sensors 1a and 1b emit and receive light through glass plates 2a and 2b provided on their front surfaces. States of the glass surfaces provided on the front surfaces of the two-dimensional sensors are detected on the basis of profile data of a track acquired by using the two-dimensional sensors. If foreign matter or dirt is deposited on the glass surfaces, the profile data has lacking or missing parts. If a reflecting material such as a water drop is deposited on the glass surfaces, pseudo data occurs in a part of the profile data. Variation of the profile data like this is successively detected, and an abnormal state of the glass surfaces is detected in accordance with the variation of the profile data.

Description

  The present invention relates to a trajectory inspection method and apparatus for measuring the shape of an orbital head surface, and more particularly to a trajectory inspection method and apparatus for measuring the shape of an orbital head top surface by irradiating the trajectory with a laser displacement meter.

  In order to ensure the safety of train operation, the track inspection device inspects rail displacement such as vertical and horizontal displacements that occur on the rail surface due to warping of railroads and falling of sleepers. As such a track inspection device, Patent Document 1 discloses a device that measures the position of a rail by irradiating the rail with measurement light from a laser displacement meter disposed in the track inspection vehicle.

JP 2009-276270 A

  In the trajectory inspection device described in Patent Document 1, first and second two-dimensional sensors are attached to a sensor support member. The sensor support member is further attached to a moving table of the linear moving mechanism. As a result, the first and second two-dimensional sensors irradiate measurement light having the corners of the track (rail) head surface as the measurement center, respectively, from both sides of the rail toward the head surface of the rail. At this time, by moving the sensor support member, a two-dimensional measurement signal indicating displacement from a predetermined reference position with the corner portion of the rail head surface as the measurement center is obtained from the two-dimensional sensors on both sides.

  In such a trajectory inspection device, glass or the like is used for the light emitting surface and the light receiving surface of the two-dimensional sensor used for measurement. During inspection work, dirt such as raindrops and dust may adhere to the glass surface. In such a case, the irradiation light or the reflected light from the two-dimensional sensor is blocked, and a measurement error and a data defect may occur, and the rail displacement may not be correctly measured. Further, the occurrence of such a measurement error or data defect can be recognized for the first time by performing a comparison process with the previous data after the measurement measurement. Therefore, when a measurement error or a data failure occurs, remeasurement must be performed, and a lot of time is required for the measurement.

  The present invention has been made in view of the above points, and an object of the present invention is to provide a trajectory measurement method and apparatus capable of detecting a foreign substance on a glass surface that serves as a light emitting surface and a light receiving surface of a two-dimensional sensor. To do.

The first feature of the trajectory inspection method according to the present invention is that the trajectory profile is obtained by using at least two two-dimensional sensor means provided at spaced positions with the two corners of the trajectory head as the measurement center. The object is to acquire data and detect the state of the glass surface provided on the front surface of the two-dimensional sensor based on the acquired profile data.
In this case, the state of the glass surface is detected based on the profile data of the trajectory acquired using a two-dimensional sensor. That is, the two-dimensional sensor means emits and receives light through a glass plate provided on the front surface thereof. Therefore, if foreign matter or dirt adheres to the glass surface, a missing part or a missing part exists in a part of the profile data. In addition, if a reflecting object such as a water droplet is attached to the glass surface, pseudo data is generated in a part of the profile data. Therefore, the change in profile data is sequentially detected, and the abnormal state of the glass surface is detected accordingly. Thus, when an abnormal state of the glass surface is detected, notification (notification) can be made promptly, the glass surface can be cleaned more quickly, and re-measurement can be performed.

  According to a second feature of the trajectory inspection method according to the present invention, in the trajectory inspection method according to the first feature, the height of the orbital head surface is calculated based on the profile data, and the glass surface is measured. It is to detect the state. In this method, the height of the orbital head surface is calculated based on the profile data of the orbit acquired using a two-dimensional sensor, and the state of the glass surface is detected.

  A third feature of the trajectory inspection method according to the present invention is the trajectory inspection method according to the second feature, wherein a height of the orbital head surface in the profile data is calculated, and the orbital head surface is calculated. If there is a location larger than a predetermined value in the profile data with respect to the height of the track, it is determined that water droplets are attached to the glass surface, and the profile data is compared with the height of the orbital head surface. When there is a portion smaller than the predetermined value, it is determined that a foreign substance such as dirt is attached to the glass surface. This is because when a change in profile data is sequentially detected, if the profile data has a location larger than the predetermined value, that is, pseudo data, or a location smaller than the predetermined value, that is, a missing or missing portion. According to the case, it is determined that an abnormal state of the glass surface, that is, water droplets on the glass surface or foreign matters such as dirt adhere to the glass surface.

  The first feature of the trajectory inspection device according to the present invention is that at least two two-dimensional sensor means provided at spaced apart positions with the two corners of the orbital head as the measurement center, and the two-dimensional sensor means. Profile data acquisition means for acquiring profile data of the trajectory based on a measurement signal output from the sensor, and provided on the front surface of the two-dimensional sensor means based on the profile data measured by the two-dimensional sensor means A glass surface state detecting means for detecting the state of the glass surface. This is an invention of a trajectory inspection device corresponding to the trajectory inspection method described in the first feature.

  A second feature of the trajectory inspection device according to the present invention is a trajectory height calculation means for calculating the height of the trajectory head surface based on the profile data in the trajectory inspection device according to the first feature. It is in having. This is an invention of a trajectory inspection device corresponding to the trajectory inspection method described in the second feature.

  A third feature of the trajectory inspection device according to the present invention is the trajectory inspection device according to the second feature, wherein the glass surface state detection means is calculated by the trajectory height calculation means. If there is a portion where the profile data is greater than a predetermined value with respect to the height of the surface, it is determined that water droplets are attached to the glass surface, and the profile data is determined with respect to the height of the orbital head surface. In the case where there is a place where is smaller than a predetermined value, it is determined that foreign matters such as dirt are adhered to the glass surface. This is an invention of a trajectory inspection device corresponding to the trajectory inspection method described in the third feature.

  According to the present invention, there is an effect that it is possible to easily detect the foreign matter on the glass surface serving as the light emitting surface and the light receiving surface of the two-dimensional sensor.

It is a block diagram which shows the structure of the control apparatus which processes the two-dimensional sensor mounted in the track | orbit inspection vehicle which concerns on embodiment to which this invention is applied, and its data. It is a figure which shows the arrangement | sequence of the data which converted the data sampled with a two-dimensional sensor into profile data. It is profile data when a rail shape is measured by a two-dimensional sensor, and is a diagram showing an example when dirt or water droplets exist on a glass surface. It is a figure which shows an example of the first half part of the processing flow which the rail height calculation and glass surface dirt determination part of FIG. 1 performs. It is a figure which shows an example of the latter half part of the processing flow which the rail height calculation and glass surface dirt determination part of FIG. 1 performs.

  FIG. 1 is a block diagram showing a configuration of a two-dimensional sensor mounted on a track inspection vehicle according to an embodiment to which the present invention is applied and a control device that processes the data. In FIG. 1, the two-dimensional sensors 1a and 1b are views seen from the rail traveling direction. FIG. 2 is a diagram showing an arrangement of data obtained by converting data sampled by the two-dimensional sensors 1a and 1b into profile data.

  In FIG. 1, two-dimensional sensors 1a and 1b are sensors for sampling profile shapes of rails 3 and creating profile data. The two-dimensional sensors 1a and 1b are installed to be inclined at a predetermined angle with respect to the horizontal direction in order to sample the side surface 3a of the rail 3. The two-dimensional sensors 1a and 1b are housed in an outer box for dustproofing and dripproofing. Glass plates 2a and 2b are provided on the optical paths of the two-dimensional sensors 1a and 1b, and the outer box has a sealed structure. The two-dimensional sensors 1a and 1b are provided at positions separated from each other so that both corners of the head surface 3b of the rail 3 as a track are the measurement centers. Two or more two-dimensional sensors 1a and 1b may be used. The rail 3 to be inspected and measured is laid on the ground via sleepers.

  The two-dimensional sensors 1 a and 1 b output the detected two-dimensional measurement signal to the data input board 4. The data input board 4 outputs the two-dimensional measurement signals taken from the two-dimensional sensors 1a and 1b to the data sampling unit 5 as time series data. The data sampling unit 5 samples the data taken in time series via the data input board 4 and outputs the sampled data to the profile data acquisition unit 6. The profile data acquisition unit 6 is arranged in position data with the sampling start position as the origin and acquires profile data. The profile data acquisition unit 6 performs a smoothing process to remove noise components caused by the two-dimensional sensors 1a and 1b.

  The profile data correction unit 7 performs rotation matrix calculation to correct the sensor attachment angle and scale conversion of the two-dimensional sensors 1a and 1b, and performs processing as one synthesized profile data as shown in FIG. This profile data is height data Y (n). The rail height calculation / glass surface contamination determination unit 8 uses the continuity and value of profile data for determination, and determines the contamination of the glass surfaces of the glass plates 2a and 2b according to the shape acquisition state of the rail head surface 3b. Further, the rail height calculation / glass surface contamination determination unit 8 calculates the height of the rail head surface 3b. The track displacement calculation unit 9 performs track calculation using the rail height and creates a measurement value of the track inspection device.

  The profile data shown in FIG. 2 is configured by sampling at a constant interval timing such as a distance pulse. One profile data is created by one sampling. In the profile data, height data are arranged at regular intervals, and the number of data is the width. The Y-axis direction indicates the height, the X-axis direction indicates the number of data, and the entire cross-sectional shape of the rail is indicated.

  FIG. 3 is a diagram showing an example of profile data when the rail shape is measured by a two-dimensional sensor, and when dirt or water droplets are present on the glass surface. FIG. 3A shows an example of profile data in which the glass surfaces of the glass plates 2a and 2b of the two-dimensional sensors 1a and 1b are normal. The profile data in FIG. 3A shows the rail head surface 3b in which the portion corresponding to the rail head surface 3b exceeds the threshold value Yt and the height data is continuously arranged along the width direction. The profile data in FIG. 3B indicates what is determined to be abnormal.

  In the profile data of FIG. 3B, the portion where the rail head surface portion exceeds the threshold value Yt appears intermittently. This is because dirt and foreign matter are present on the glass surfaces of the glass plates 2a and 2b of the two-dimensional sensors 1a and 1b, thereby reducing the amount of light during light projection or light reception. This appears as missing portions or missing portions 32, 33, and 34 of the profile data height data as shown in FIG. In this way, when the height data missing portion or the missing portions 32, 33, 34 are generated in the profile data, it means that dirt or foreign matter is present on the glass surfaces of the glass plates 2a, 2b of the two-dimensional sensors 1a, 1b. It is thought that it has adhered.

  In the profile data of FIG. 3C, most of the height data are arranged below the threshold value Yt, and the light amount at the time of light projection or light reception is completely blocked, or the sensor itself is out of order. It is considered that data cannot be obtained. In the profile data of FIG. 3 (D), there are places where the data of the threshold value Yt or more are arranged, but the difference between the continuous height data is large. This is thought to be caused by reflections such as water droplets on the glass surfaces of the glass plates 2a and 2b of the two-dimensional sensors 1a and 1b, and the pseudo data 35 and 36 being generated due to the influence.

  4 and 5 are diagrams illustrating an example of a processing flow executed by the rail height calculation / glass surface contamination determination unit in FIG. 1. FIG. 4 shows the first half of the processing flow, and FIG. 5 shows the second half of the processing flow. In the processing flow of the rail height calculation / glass surface contamination determination unit shown in FIG. 4, the rail head surface is detected and its height is obtained. What is obtained by this processing flow is the rail displacement height Rh. In this processing flow, it is simultaneously determined based on the profile data whether the glass surface contamination is in any of the states shown in FIGS.

  First, in steps S101 to S104, each variable register is initialized. That is, in step S101, a numerical value “3” is set in the determination register. The determination register indicates which state in FIG. 3 the profile data is in. The numerical value “0” indicates that it is in the state of FIG. 3A, and the numerical value “1” indicates that in FIG. 3B. The numerical value “2” indicates the state of FIG. 3D, and the numerical value “3” indicates the state of FIG. 3C. The counter register is reset to “0” in step S102, the height register H in step S103, and the maximum height register Hm in step S104.

  In step S105, the processing of each step up to step S121 is repeatedly executed for the 0th data to the last data of the profile data. In step S106, it is determined whether or not the i-th height Y (i) of the profile data exceeds the threshold Yt. If it exceeds (yes), the process proceeds to the next step S107, and does not exceed (no). If so, the process jumps to step S121 via the connection terminal C. Since this threshold value Yt is set near the lower end of the side surface 3a of the rail 3, it is determined that the rail 3 is within the detection range of the two-dimensional sensors 1a and 1b when the height Y (i) exceeds the threshold value Yt. it can. Further, when the height Y (i) exceeds the threshold value Yt, it can be determined which state is shown in FIG. 3 (A), FIG. 3 (B), or FIG. 3 (D). . If the height Y (i) has not exceeded the threshold value Yt, the glass surface has no dirt height data, or there is no data output due to a sensor failure, that is, the state shown in FIG. 3C. This means that the value of the determination register remains the default value “3”.

  In step S107, it is determined whether or not the height Y (i) is larger than the value (H + A) obtained by adding the predetermined value A to the height register H. If the height Y (i) is larger (yes), the process proceeds to step S116. In the case of (no), the process proceeds to the next step S108. In step S108, it is determined whether or not the height Y (i) is smaller than a value (HA) obtained by subtracting the predetermined value A from the height register H. If the height Y (i) is smaller (yes), the process proceeds to step S118. If it is more (no), the process proceeds to the next step S109. That is, in steps S107 and S108, it is determined whether or not the height Y (i) is within a range of ± the predetermined value A of the height H. Here, the predetermined value A indicates a difference between adjacent height data, and is set to about 2 [mm] considering that the rail head surface is substantially horizontal. This value is an example, and other values may be used.

  In step S109, it is determined yes in step S106, and both are determined to be no in step S107 and step S108. That is, the height Y (i) of the profile data is within the range of ± the predetermined value A of the height H. Since it is determined that there is a continuous portion with a substantially constant value, the counter register is incremented by “+1”. Therefore, the value of the counter register is increased when the height Y (i) of the profile data is continuously arranged near the height H. In step S110, it is determined whether or not the value of the height Y (i) is larger than the value stored in the height register H. If the value is larger (yes), the process proceeds to the next step S112, and below ( If no), the process proceeds to step S111.

  In step S111, since it is determined that the value of the height Y (i) is larger than the value stored in the height register H, the value of the height register H is replaced with the current height Y (i). In step S112, it is determined whether or not the value of the counter register is larger than the predetermined value B. If the value is larger (yes), the process proceeds to the next step S120. If the value is equal to or smaller than the predetermined value B (no), the process proceeds to step S113. move on. Here, when it is determined that the value of the counter register is larger than the predetermined value B, there is a portion where the height Y (i) of the profile data continues at a constant value, and the rail head surface 3b is This means that it was detected and the height H was almost obtained. Note that the predetermined value B is a width on the profile data and a value for determining that the rail head surface is captured. When the width on the profile data is “1000”, the value of the predetermined value B is set to “1/5”, which is “200”.

  In step S113, it is determined whether or not the value stored in the current height register H is larger than the stored value in the maximum height register Hm. If the value is larger (yes), the process proceeds to the next step S115. In the case of (no) below, the process proceeds to step S120. In step S115, the value stored in the maximum height register Hm is replaced with the value stored in the current height register H. Thus, the maximum value in the range of ± predetermined value A of the height H is stored in the maximum height register Hm.

  The determination of “yes” in both step S106 and step S108 means that the height Y (i) of the profile data is greater than the height H + A. Accordingly, in step S116, it is determined whether or not the value of the counter register is larger than the predetermined value B. If it is larger (yes), the process proceeds to the next step S117, and if it is equal to or smaller than the predetermined value B (no), step S120. Proceed to In step S117, when the rail head surface 3b is substantially detected, it is determined that the height Y (i) is larger than the height H + A, that is, the pseudo data 35 and 36 as shown in FIG. Therefore, “2” is stored in the determination register, and the process proceeds to step S121 via the connection terminal C.

  In step S118, it is determined whether or not the value of the counter register is larger than the predetermined value B. If it is larger (yes), the process proceeds to the next step S119, and if it is equal to or smaller than the predetermined value B (no), the process proceeds to step S120. . In step S119, when the rail head surface 3b is substantially detected, the height Y (i) is sufficiently smaller than the height HA, that is, the height data as shown in FIG. 3B is missing. Since it is determined that the part or missing part 32, 33, 34 has occurred, “1” is stored in the determination register, and the process proceeds to step S121 via the connection terminal C. In step S120, the process returns to step S105, and the above processing is performed on all profile data.

  In step S121, step S122, and step S123, it is determined whether the determination register is “0”, “1”, or “2”. If the determination register is “0”, the process proceeds to step S124. If the determination register is “1”, the process proceeds to step S125. If the determination register is “2”, the process proceeds to step S126. In step S124, since the determination register is “0”, it means that the rail head surface 3b has been detected normally, and the sensor value is displayed as normal. Accordingly, the user can recognize that the sensor is normal and the height detection is normally performed.

  In step S125, since the determination register is “1”, the rail head surface 3b can be detected. However, discontinuous portions are generated in the height data as shown in FIG. It can be determined that an influence or an abnormality in light projection / reception has started to appear, and an abnormality in the sensor value is displayed. By this display, the user can quickly know that a foreign substance such as dirt is attached to the glass surface, and can quickly clean the glass surface. In step S126, since the determination register is “2”, the rail head surface 3b can be detected, but pseudo data 35 and 36 as shown in FIG. It can be determined that water droplets or the like are attached to the glass surface, and an abnormality of the sensor value is displayed. By this display, the user can quickly know that water droplets or the like are attached to the glass surface, and can quickly clean the glass surface.

  In step S127, it is determined that the rail head surface 3b cannot be detected at all, and a position where a certain number of height data continues is not found, and a sensor value abnormality and height detection impossible are displayed. By this display, the user can quickly know the abnormality of the sensor and the detection processing circuit system, and can perform quick remeasurement. In this case, the rail displacement height is not detected. In step S128, the value of the maximum height register Hm is stored as the rail displacement height Rh. In this embodiment, after step S125 and step S126, step S128 is executed, and the rail displacement height Rh measured so far is stored in the maximum height register Hm. However, the process of step S128 may not be executed.

In the above-described embodiment, when “2” is stored in the determination register in step S117, or “1” is stored in the determination register in step S118, the process jumps to step S121 to perform the processing up to the end of the profile data. However, data processing may be performed so that a determination register is associated with all of the profile data so that it can be recognized where “1” or “2” is determined. If the height of the rail to be measured is known in advance, the determination whether or not the i-th height Y (i) of the profile data in step S106 exceeds the threshold Yt is omitted. The height may be set as a variable in advance, and a predetermined value A may be set for the rail height. In the above-described embodiment, the case where “1” or “2” is stored in the determination register has been described, but some abnormality occurs on the glass surface without performing such a determination of “1” or “2”. You may just show that you did.

DESCRIPTION OF SYMBOLS 1a, 1b ... Dimension sensor 2a, 2b ... Glass plate 3 ... Rail 32, 33, 34 ... Missing part or missing part 35 ... Pseudo data 3a ... Side surface 3b ... Rail head surface 4 ... Data input board 5 ... Data sampling part 6 ... Profile data acquisition unit 7 ... Profile data correction unit 8 ... Rail height calculation / glass surface state determination unit 9 ... Orbital displacement calculation unit

Claims (6)

  The profile data of the trajectory is acquired using at least two two-dimensional sensor means provided at spaced positions such that both corners of the trajectory head surface are the measurement center, and based on the acquired profile data, A trajectory inspection method characterized by detecting a state of a glass surface provided in front of the two-dimensional sensor.   The trajectory inspection method according to claim 1, wherein a height of the orbital head surface is calculated based on the profile data, and a state of the glass surface is detected.   3. The trajectory inspection method according to claim 2, wherein a height of the orbital head surface in the profile data is calculated, and a portion of the profile data that is larger than a predetermined value with respect to the height of the orbital head surface is calculated. If it exists, it is determined that water droplets are attached to the glass surface. If the profile data has a portion smaller than a predetermined value with respect to the height of the orbital head surface, the glass surface is soiled. A trajectory inspection method characterized in that it is determined that a foreign substance such as a foreign substance has adhered. At least two two-dimensional sensor means provided at spaced apart positions with the two corners of the orbital head as the measurement center;
Profile data acquisition means for acquiring profile data of the trajectory based on a measurement signal output from the two-dimensional sensor means;
A glass surface state detecting means for detecting the state of the glass surface provided on the front surface of the two-dimensional sensor means based on the profile data measured by the two-dimensional sensor means. Inspection equipment.   5. The trajectory inspection device according to claim 4, further comprising trajectory height calculation means for calculating a height of the trajectory head surface based on the profile data.   5. The trajectory inspection and measurement apparatus according to claim 4, wherein the glass surface state detecting means is a portion of the profile data that is larger than a predetermined value with respect to the height of the orbital head surface calculated by the orbital height calculating means. If there is a portion smaller than a predetermined value in the profile data with respect to the height of the orbital head surface, it is determined that water droplets are attached to the glass surface. A trajectory inspection device characterized by judging that foreign matters such as dirt are adhered.

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