JP2021181730A - Track inspection device - Google Patents

Abstract

To provide a track inspection device capable of greatly reducing labor and time related to inspection work of an amount of deviation of a track.SOLUTION: In the L-shaped body structure 21 on which a prism 30 for collimating by a surveying instrument is mounted, magnets are built into a horizontal plate 26 facing a railhead top surface and a vertical plate 27 facing the railhead top surface, respectively. A partial coordinate group of a section distance is extracted at a predetermined pitch from a whole coordinate group consisting of three-dimensional coordinates of a reference rail acquired by the surveying instrument. Regression lines are calculated by the least square method for the X coordinate groups, the Y coordinate groups, and the Z coordinate groups in the extracted partial coordinate groups. Each intercept value which is an intersection point between each regression line and the vertical axis is calculated to generate a representative coordinate of the partial coordinate group. Then, a calibration coordinate line of the reference rail is generated by connecting all the representative coordinates.SELECTED DRAWING: Figure 2

Description

The present invention relates to an orbital inspection device, and more particularly to an orbital inspection device capable of significantly reducing the labor and time required for the inspection work of the amount of deviation of the orbit.

The track of a train receives various loads related to the running, acceleration, deceleration, sudden stop, etc. of the train every day. When the load exceeds the elastic limit value of the trajectory, the trajectory begins to undergo plastic deformation in the left-right direction or the up-down direction. Deformation of the track makes the train run unstable and uncomfortable to ride, and in the worst case, the train can derail.

Therefore, the person who maintains and manages the orbit needs to quantitatively check the deformation of the orbit. The deformation of the track is the amount of deviation of the track, specifically (1) deviation: undulations (unevenness) in the longitudinal direction of the side surface of the rail, and generally, a thread having a length of 10 m is stretched on the side surface of the rail. The difference between the horizontal distance between the rail and the thread in the central part and the basic dimension is taken as the amount of deviation. (2) High / low deviation: A swell (unevenness) in the direction along the top surface of the rail. Generally, a thread having a length of 10 m is stretched on the top surface of the rail and the vertical distance between the rail and the thread at the center thereof. The difference from the basic dimensions is the amount of deviation. (3) Gauge deviation: The difference between the gauge dimension and the basic dimension is generally used as the gauge deviation amount. (4) Level deviation: The difference in height between the left and right rails per the basic dimension of the gauge, and generally the difference from the basic dimension is the level deviation amount. (5) Flatness deviation: The amount of deviation of the orbit with respect to the plane is expressed by the algebraic difference of the level deviation of two points under a certain interval, and the difference from the basic dimension is defined as the amount of flatness deviation.

In particular, the horizontal distance of the deviation as described above or the vertical distance of the deviation of the height is measured by the amount of the 10m string ruler, and the inspection is performed by two workers putting both ends of the 10m thread on the rail by hand and another one. This is done by a human worker measuring the distance from the center of the thread to the rail with a ruler.

Further, there is also known an orbital inspection device that automatically measures the amount of orbital deviation by an optical range measuring device (total station) (see, for example, Patent Document 1). In this track inspection device, two L-shaped structures including a roller that rotates on the top surface of the rail and a roller that rotates on the side surface of the rail are connected by a connecting plate material, and a moving carriage that forms a T shape as a whole is used. It is configured. Two mobile trolleys are required for track inspection. That is, the first mobile trolley is provided with a total station having an automatic tracking function, while the second mobile trolley has two target mirrors (prisms) that receive the ranging light from the total station and the inclination of the connecting member. Two tilt sensors to measure are given. Each prism of the second moving carriage is attached to the L-shaped structure so as to be located on the track.

The inspection is performed by the worker alternately moving the first mobile trolley and the second mobile trolley relative to each other. First, the total station of the first mobile trolley collimates the prism of the second mobile trolley, while the second mobile trolley moves away from the first mobile trolley and stops at a predetermined position. Next, with the second mobile trolley stopped, the total station of the first mobile trolley collimates the other prism of the second mobile trolley, and the first mobile trolley approaches the second mobile trolley to a predetermined position. Stop. The three-dimensional coordinates of the target mirror obtained in this way are transmitted to the computer, converted into the three-dimensional coordinates of the orbit by the computer, and the amount of deviation of the orbit is calculated based on the three-dimensional coordinates of the orbit. There is.

Japanese Unexamined Patent Publication No. 2016-205558

Since the orbital inspection device described in Patent Document 1 has a total weight of more than 60 kg, it is not easy to attach / detach it to / from the orbit. Therefore, it is necessary to close the track when carrying out inspection work.

Further, since the length of the connecting member connecting the L-shaped structure engaged with each rail is constant, it is necessary to prepare a device individually for the standard gauge and the narrow gauge having a shorter gauge than the standard gauge.

On the other hand, the conventional inspection work using thread tension is easy to measure, but since it is performed by three workers, the measurement value includes the thread tension (slack) and human error due to human visual measurement. There's a problem. Furthermore, the worker needs to hit the ruler at a right angle to the thread, and there is a problem that some skill and experience are required for the measurement. In addition, a lot of time is required for measurement, and there is a problem in workability.

Therefore, the present invention has been made in view of the above-mentioned problems of the prior art, and an object of the present invention is that it can be easily attached to and detached from the orbit, and the labor and time required for the inspection work of the amount of deviation of the orbit are greatly increased. It is an object of the present invention to provide an orbital inspection device capable of reducing the number of orbital inspections.

The orbital inspection device according to the present invention for achieving the above object rotatably supports a first roller (22) that abuts on the crown surface of the orbit and a second roller (23) that abuts on the head side surface of the orbit. The moving carriage (20) composed of the L-shaped structure (21), the prism (30) attached to the L-shaped structure (21), and the prism (30) are irradiated with the ranging light (10a) to orbit. Orbit based on the whole coordinate group (U, U') consisting of the distance measuring device (10) for measuring the coordinates of the above and the coordinates (X, Y, Z) of the orbit obtained from the distance measuring device (10). A trajectory inspection device including a calculation device (40) for calculating the amount of deviation of the above, wherein the calculation device (40) has a predetermined section distance (d) with respect to the overall coordinate group (U, U'). Then, a partial coordinate group (Di, Di') is extracted at a predetermined pitch (d / 2), and a calibration straight line (Lxi, Lyi, Lzi) is obtained for each coordinate component of the partial coordinate group (Di, Di'). , The representative coordinates (Xi, Yi, Zi) of all the partial coordinate groups (Di, Di') are obtained based on the calibration straight line (Lxi, Lyi, Lzi), and the representative coordinates (Xi, Yi, Zi) are obtained. It is characterized in that a calibration coordinate line (L2) in which is sequentially connected is generated.

In the above configuration, the calibration straight line (Lxi, Lyi, Lzi) is obtained from the partial coordinate group (Di, Di') extracted from the total coordinate group (U, U') to obtain the partial coordinate group (Di, Di'). It is possible to minimize the measurement error included in') and, by extension, the measurement error included in the overall coordinate group (U, U'). Therefore, by sequentially connecting the representative coordinates (Xi, Yi, Zi) obtained from the above partial coordinate group (Di, Di'), the distance (about km) from the starting point and the kilometer thereof are about the orbit to be measured. The coordinates of the orbit in the above can be accurately represented by the calibration coordinate line (L2).

The second feature of the orbital inspection device according to the present invention is that the arithmetic unit (40) decomposes the partial coordinate group (Di, Di') into each component coordinate group (Dxi, Dyi, Dzi). For each component coordinate group (Dxi, Dyi, Dzi), the calibration straight line (Lxi, Lyi, Lzi) is obtained on a two-dimensional plane whose vertical axis is the coordinate value and the horizontal axis is the section distance (d), and the calibration straight line is obtained. The vertical axis component on (Lxi, Lyi, Lzi) is to be the coordinate component of the representative coordinates (Xi, Yi, Zi).

In the above configuration, each component coordinate group (Dxi, Dyi, Dzi) is included in the partial coordinate group (Di, Di') by obtaining a calibration straight line (Lxi, Lyi, Lzi) on the two-dimensional plane. The measurement error, and thus the measurement error included in the whole coordinate group (U, U'), can be minimized. In addition, by adopting, for example, the intercept value on the vertical axis as a point on the calibration straight line, the calculation process for calculating the representative coordinates (Xi, Yi, Zi) is simplified.

A third feature of the orbital inspection device according to the present invention is that the arithmetic unit (40) obtains the calibration straight line (Lxi, Lyi, Lzi) by the least squares method.

With the above configuration, calibration lines (Lxi, Lyi, Lzi) for each component coordinate group (Dxi, DIY, Dzi) can be easily obtained.

The fourth feature of the trajectory inspection device according to the present invention is that the arithmetic unit (40) has a reference point (Ci) corresponding to a multiple of the reference distance from the start point (C1) on the calibration coordinate line (L2). It is set on the calibration coordinate line (L2).

In the above configuration, coordinate information can be added to each reference point (Ci) indicating a reference (about a kilometer) of the length (distance) of the orbit from the start point (C1). This makes it possible to measure the amount of orbital deviation by the reference distance or a virtual chord length that is a multiple thereof.

The fifth feature of the orbital inspection device according to the present invention is that the arithmetic unit (40) has a spherical surface (Si) having the reference point (Ci) as a center point and having the reference distance as a radius, and the calibration coordinates. _{The intersection (Ci + 1} ) with the line (L2) is set as the next reference point.

_{In the above configuration, the reference point (Ci + 1} ) at the intersection (Ci + 1) between the spherical surface (Si) and the calibration coordinate line (L2) is a reference point (C1) at a distance corresponding to a multiple of the reference distance from the start point (C1) on the calibration coordinate line (L2). Ci) can be easily set.

The sixth feature of the orbital inspection device according to the present invention is that the arithmetic unit (40) has a perpendicular line (Hi) extending from the reference point (Ci) on the calibration coordinate line (L2) for another orbit. The intersection (Ci') intersecting with the calibration coordinate line (L2') is set as a corresponding point (Ci') paired with the reference point (Ci).

In the above configuration, the amount of orbital deviation can be easily calculated based on the reference point (Ci) and the corresponding point (Ci').

The seventh feature of the track inspection device according to the present invention is that the L-shaped structure (21) of the mobile carriage (20) has magnets on each portion (26, 27) facing the top surface and the side surface of the track. Is built-in.

In the above configuration, when the first roller (22) tries to be displaced in the lateral direction, it is braked by the magnet of the portion (27) facing the head surface, while the second roller (23) tries to be displaced in the vertical direction. If this is the case, the brake will be applied by the magnet at the portion (26) facing the crown surface. In this way, the magnets at the two parts (26, 27) act to brake the rolling or pitching of the moving carriage (20). Therefore, the coordinate value of the prism (30) and the coordinate value of the orbit have a one-to-one correspondence.

The eighth feature of the track inspection device according to the present invention is that the mobile carriage (20) is provided with a tilt sensor.

In the above configuration, the coordinates (X, Y, Z) of the orbit can be accurately obtained from the coordinates of the prism (30) even when the orbit is tilted.

A ninth feature of the track inspection device according to the present invention is that the distance measuring device (10) is installed outside the track and the moving carriage (20) travels on one track.

In the above configuration, since the distance measuring device (10) is installed outside the track, the weight of the mobile carriage (20) can be reduced to such an extent that the operator can easily attach / detach it by himself / herself. Moreover, since the measurement is performed for each rail, the measurement work can be performed without closing the rail. Furthermore, measurement work can be performed on either standard gauge or narrow gauge.

According to the orbital inspection device of the present invention, it is possible to significantly reduce the labor and time required for the inspection work of the amount of deviation of the orbit, and to significantly reduce the human error included in the measured value.

It is explanatory drawing which shows the structure of the track inspection apparatus which concerns on one Embodiment of this invention. It is a perspective view of a moving trolley. It is explanatory drawing which shows the state which the mobile trolley is attached to a rail. It is a flow chart which shows the procedure of data measurement by a track inspection apparatus. It is explanatory drawing which shows the reference coordinate system of the track inspection apparatus. It is a flow chart which shows the processing method of the straight line approximation about the whole coordinate group of a rail. It is explanatory drawing which shows each whole coordinate group of a reference rail or a relative rail. It is explanatory drawing which shows each measurement coordinate line of a reference rail or a relative rail. It is explanatory drawing which shows the process of extracting a partial coordinate group from a whole coordinate group. It is explanatory drawing which shows the process of calculating the representative coordinate from a partial coordinate group. It is explanatory drawing which shows the process of generating the representative coordinate group from the whole coordinate group. It is explanatory drawing which shows the process of setting a point located in a multiple of a reference distance from a measurement start point on a calibration coordinate line. It is explanatory drawing which shows the process of calculating the deviation amount of an orbit based on a calibration coordinate line.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 3 are explanatory views showing an orbital inspection device 100 according to an embodiment of the present invention. Note that FIG. 1 shows the configuration of the track inspection device 100, FIG. 2 shows a perspective view of the mobile carriage 20, and FIG. 3 shows a state in which the mobile carriage 20 is mounted on the track (hereinafter referred to as “rail”). There is.

In this track inspection device 100, when a worker runs a mobile trolley 20 mounted on one of the rails, a surveying instrument 10 installed outside the rail automatically uses a prism 30 fixed on the mobile trolley 20. Tracking, acquisition of distance / angle information between surveying instrument 10 and prism 30, and acquisition of 3D coordinates (X, Y, Z) of rail station in real time from the acquired distance / angle information. The amount of deviation of the rail at an arbitrary chord length is measured from the three-dimensional coordinate data obtained. Therefore, it is possible for a worker to inspect the deviation amount (gauge, height, street, level, flatness) of all five rails by running the moving carriage 20 on one rail at a time across both rails. can. Further, the mobile carriage 20 is lightweight so that it can be easily attached / detached to / from the rail, and is configured to be in close contact with the rail without being separated from the rail during traveling. In this way, the track inspection device 100 is configured to be able to accurately measure the amount of rail deviation (gauge, height, street, level, flatness) in a short time with a minimum number of people (manpower). ing.

As a configuration for that purpose, a surveying instrument 10 that measures the three-dimensional coordinates of the prism 30, a mobile carriage 20 that travels on one rail while supporting the prism 30, a prism 30 that serves as a target mirror of the surveying instrument 10, and a surveying instrument. It is provided with a computer 40 that calculates the amount of orbital deviation based on the three-dimensional coordinate data of the prism 30 acquired by the machine 10. Each configuration will be described below.

The surveying instrument 10 is mounted by a precision tripod 11 at an arbitrary position outside the rail where the prism 30 can be captured. The surveying instrument 10 has a function of automatically setting a reference coordinate system. Therefore, when the worker turns on the power of the surveying instrument 10, the surveying instrument 10 automatically performs leveling and is in a measurable state.

Further, the surveying instrument 10 has an automatic tracking function for automatically tracking the prism 30 for measurement. Therefore, when the worker activates the measurement program stored in the computer 40 and presses the measurement start button on the display screen of the measurement program, the surveying instrument 10 obtains the distance / angle information from the prism 30. Measure automatically.

Further, the surveying instrument 10 has a wireless communication function such as Wi-Fi (registered trademark) or Bluetooth (registered trademark). Therefore, the distance / angle information between the surveying instrument 10 and the prism 30 measured by the surveying instrument 10 is transmitted to the computer 40 in real time via, for example, Wi-Fi (registered trademark).

The distance / angle information between the surveying instrument 10 and the prism 30 transmitted to the computer 40 is converted into three-dimensional coordinates (X, Y, Z) related to the rail station. The converted three-dimensional coordinates (X, Y, Z) are subjected to predetermined data processing, and the amount of deviation of the rail (gauge, height, street, level, flatness) is measured. This data processing will be described later with reference to FIGS. 6 to 13.

As shown in FIG. 2, the mobile carriage 20 has an L-shaped structure 21 that supports the first roller 22 and the second roller 23 and fixes the prism 30, and four third wheels that rotate in contact with the top surface of the rail. 1 roller 22, 4 second rollers 23 that rotate in contact with the side surface of the rail head, a handle 24 for the worker to carry the main body, and a push for the worker to push and run the moving carriage 20. It is composed of a rod 25.

The L-shaped structure 21 has a horizontal plate 26 that rotatably accommodates the first roller 22 and has a built-in magnet for closely contacting the first roller 22 without being separated from the rail, and is attached orthogonally to the horizontal plate 26 and separated from the rail. It has a vertical plate 27 with a built-in magnet for close contact without separating.

The first roller 22 is provided in a direction in which the axis is orthogonal to the longitudinal direction of the horizontal plate 26. On the other hand, the second roller 23 is provided orthogonal to the horizontal plate 26 at a position where the axis corresponds to the first roller 22. As the first roller 22, for example, a silicon roller made of silicon can be used. As the second roller 23, for example, a urethane roller made of urethane can be used. In short, the rollers need only be made of insulating material.

As shown in FIG. 3, an insulating plate 26a is attached to a portion of the horizontal plate 26 in which the magnet is built and facing the rail in order to prevent a short circuit between the lines due to the horizontal plate 26. ing. As shown in FIG. 2, the insulating plate 26a is also attached to a surface of the horizontal plate 26 that does not face the rail. This is to prevent the magnetic force of the magnet from acting on the other side that does not face the rail (so that the magnetic force lines do not leak to the other side that does not face the rail).

Returning to FIG. 3, an insulating plate 27a is attached to the portion of the vertical plate 27 in which the magnet is built and facing the rail in order to prevent a short circuit between the lines due to the vertical plate 27. ing. Further, the insulating plate 27a is also attached to the surface of the vertical plate 27 that does not face the rail. Further, a spacer 27b is attached between the vertical plate 27 and the insulating plate 27a so that the gap between the vertical plate 27 and the rail becomes smaller.

The first roller 22 suppresses fluctuations in the vertical direction (vertical direction) by the magnetic force of the magnet built in the horizontal plate 26, and at the same time, the magnetic force lines of the magnet built in the vertical plate 27 suppress the fluctuation in the horizontal direction (horizontal direction). Fluctuations with respect to the direction) will be suppressed. Similarly, the second roller 23 is suppressed in the horizontal direction (horizontal direction) by the magnetic force lines of the magnet built in the vertical plate 27, and at the same time, is vertical by the magnetic force of the magnet built in the horizontal plate 26. Fluctuations in the direction (vertical direction) will be suppressed.

Therefore, while the moving carriage 20 is traveling on the rail, the first roller 22 is in close contact with the top surface of the rail, and the second roller 23 is in close contact with the side surface of the rail head. As a result, the three-dimensional coordinates of the prism 30 and the three-dimensional coordinates of the rail station have a one-to-one correspondence. The rail station in this embodiment is set at the intersection of the tangent line T1 on the top surface of the rail and the tangent line T2 on the side surface of the rail head.

Returning to FIG. 2, a knob 28 for fixing the prism 30 is provided on the side surface of the horizontal plate 26 in the longitudinal direction. A male screw portion is formed on the foot portion (male screw portion) of the knob 28, and by rotating the knob 28 clockwise, the foot portion (male screw portion) of the knob 28 becomes the foot portion (female screw portion) of the prism 30. The prism 30 is screwed and fixed on the horizontal plate 26.

On the other hand, on the side surface of the horizontal plate 26 in the short side direction, spherical convex portions 26b with which the push rod 25 is engaged are provided on both side surfaces. The lower end 25a of the push rod 25 is formed with a spherical concave portion (not shown) that fits into the spherical convex portion 26b.

As the prism 30, for example, a 360 ° prism can be used.

The computer 40 receives the distance / angle information transmitted from the surveying instrument 10, calculates the three-dimensional coordinates (X, Y, Z) related to the rail station, and performs a predetermined arithmetic process based on the three-dimensional coordinates. Run. This arithmetic processing will be described later with reference to FIGS. 6 to 13. The computer 40 is preferably a portable information terminal such as a tablet or a notebook computer. The data processing for the three-dimensional coordinate data of the rail measured by the surveying instrument 10 will be described below.

FIG. 4 is a flow chart showing a procedure for data measurement by the track inspection device 100.

First, in step S0, the surveying instrument 10 is installed. The installation location may be any location outside the rail where the prism 40 mounted on the mobile carriage 20 can be collimated.

In step S1, the moving trolley 20 is attached to the reference rail. When the worker places the first roller 22 on the top surface of the rail, the first roller 22 comes into contact with the top surface of the rail due to the magnetic force of the magnet built in the horizontal plate 26. On the other hand, the second roller 23 abuts on the side surface of the rail head due to the magnetic force of the magnet built in the vertical plate 27. For convenience of explanation, one of the two rails to be inspected is referred to as a "reference rail" and the other is referred to as a "relative rail". The "reference rail" means a rail on which a reference point (start point of a perpendicular line) indicating a distance (length) from the start point is set. The "relative rail" is a point corresponding to a reference point of a reference rail, and means a rail on which an intersection point where perpendicular lines extending from the reference point intersect is set. The measurement will start on the reference rail and then on the relative rail.

Next, in step S2, the surveying instrument 10 and the computer 40 are started. When the worker turns on the power of the surveying instrument 10, the surveying instrument 10 automatically adjusts the level and becomes in a measurable state. Further, when the worker turns on the power of the computer 40, the operating system (OS) of the computer 40 is started. The worker launches a measurement program.

Next, in step S3, the search start button and the measurement start button of the measurement program are pressed. When the worker presses the search start button, the surveying instrument 10 starts automatic tracking. When the worker presses the measurement start button, the surveying instrument 10 automatically tracks the prism 30 mounted on the moving carriage 20 and starts measuring the distance / angle data between the surveying instrument 10 and the prism 30.

Next, in step S4, the moving carriage 20 is moved along the reference rail. When the worker moves along the reference rail, the surveying instrument 10 acquires distance / angle data for a predetermined section of the reference rail. The acquired distance / angle data is converted into three-dimensional coordinates on the computer 40.

Next, in step S5, the measurement stop button of the measurement program is pressed. When the worker presses the measurement stop button, the acquisition of the distance / angle data for the reference rail is stopped.

Next, in step S6, the moving carriage 20 is transferred to the relative rail. The worker transfers the moving trolley 20 from the reference rail to the relative rail. Since the mobile carriage 20 weighs about 1 kg and is further provided with a handle 24, the rails can be easily transferred to each other.

Next, in step S7, the measurement start button of the measurement program is pressed. This is the same as step S3. If the surveying instrument 10 has lost the prism 30, the search is automatically started.

Next, in step S8, the moving carriage 20 is moved in the opposite direction along the relative rails. When the worker moves in the opposite direction along the relative rail, the surveying instrument 10 acquires the distance / angle data for a predetermined section of the relative rail.

In step S9, the measurement stop button of the measurement program is pressed. When the worker presses the measurement stop button, the acquisition of distance / angle data for the relative rail is stopped.

As shown in steps S0 to S9 above, the distance / angle data acquired by the surveying instrument 10 is transmitted to the computer 40 via Wi-Fi (registered trademark) and converted into three-dimensional coordinates on the computer 40. NS. The converted three-dimensional coordinates are stored in the storage device of the computer 40. The conversion from polar coordinates to three-dimensional coordinates will be described later with reference to FIG.

As shown in FIG. 5, the surveying instrument 10 has a center point (also called an “instrument point”, which corresponds to the origin of the measurement coordinate system) IP, and the measurement results are from the surveying instrument 10 to the prism 30. The linear distance S, the horizontal angle θ formed by the horizontal distance HD to the horizontal plane of the straight distance S and the N axis, and the vertical angle φ formed by the linear distance S (irradiation direction of the range-finding light 10a) and the H axis are acquired. In this case, the relative coordinates (N, E, H) of the prism 30 with respect to the center point IP are uniquely calculated as follows.
Equation 1: N = HD × cosθ = S × cos (φ−π / 2) × cosθ = S × sinφ × cosθ
Equation 2: E = HD × sinθ = S × cos (φ−π / 2) × sinθ = S × sinφ × sinθ
Equation 3: H = S × sin (φ−π / 2) = S × cos φ
In the measurement coordinate system of the surveying instrument 10, the north direction (hereinafter referred to as "N axis") is one reference axis in the horizontal plane (ground plane), and the east direction (hereinafter referred to as "E axis") is the other in the horizontal plane. The vertical direction (hereinafter referred to as “H axis”) passing through the center point IP of the surveying instrument 10 is used as the reference axis in the height direction. Therefore, a desired XYZ 3-axis Cartesian coordinate system can be set by performing an operation such as translation or rotation on the NEH 3-axis Cartesian coordinate system.

All the stored total coordinates (set of three-dimensional coordinates) are linearly approximated by a predetermined data processing method. The processing method of linear approximation for the whole coordinate group of the rail will be described below.

FIG. 6 is a flow chart showing a processing method of linear approximation for the entire coordinate group of the rail.

First, in step S0', the entire coordinate group U, U'of the reference rail and the relative rail is acquired. As shown in FIG. 7, the computer 40 reads out the three-dimensional coordinates of the reference rail or the relative rail acquired in step S4 or S8 from the storage device in chronological order, and the whole coordinate group U, for the reference rail or the relative rail. Generate U'. The black circles (●) shown in FIG. 7 represent the three-dimensional coordinates of the reference rail or the relative rail.

Next, in step S1', the measurement coordinate lines L1 and L1'are generated from the total coordinate groups U and U'of the reference rail and the relative rail. As shown in FIG. 8, the computer 40 generates measurement coordinate lines L1 and L1'that connect the acquired three-dimensional coordinates in chronological order. The computer 40 calculates the distance between the three-dimensional coordinates and adds the total of the distances to the three-dimensional coordinate information as the kilometer information.

Next, in step S2', a predetermined i-part coordinate group Di, Di'is extracted at a predetermined pitch from the whole coordinate group U, U'to which the kilometer information is added. As shown in FIG. 9, the i-th partial coordinate group Di (i = 1, 2, ...) Is the starting point Ai (m) (i = 1, 2) in the whole coordinate group U of the reference rail. , ...) Means a collection of three-dimensional coordinates existing within a predetermined kilometer d (m), for example, about 0.5 m kilometer (m). Further, the pitch of dividing the i-th partial coordinate group Di from across the coordinate group U, A _{i + 1} and Ai as the head of kilometers of the i part coordinate group Di, as the (i + 1) -th head of kilometers portions coordinate group D _{i + 1} It means the difference (= _{Ai + 1} −Ai) from the above, and in the present embodiment, it is, for example, 1/2 (= 0.25 m) of the section distance d.

Further, the "kilometer (m)" referred to here means the distance from the start point (A2) of the measurement coordinate line L1 obtained by sequentially connecting the three-dimensional coordinates. The above applies to relative rails as it is.

Next, in step S3', the representative coordinates Pi (Xi, Yi, Zi) of the i-th partial coordinate group Di are calculated. As shown in FIG. 10, the representative coordinates Pi (Xi, Yi, Zi) of the i-th partial coordinate group Di are the coordinates included in the i-th partial coordinate group Di, and the partial coordinate group Dxi, Dyi, for each coordinate component. It is divided into Dzi, and a regression line is calculated for each partial coordinate group. The regression line can be calculated by the least squares method on a two-dimensional plane having a coordinate value on the vertical axis and a kilometer (m) on the horizontal axis.

Then, the X-intercept value which is the intersection of the regression line Lxi and the vertical axis for the i-part X coordinate group Dxi is set as the X-coordinate Xi of the i-part coordinate group Di. Similarly, the Y-intercept value at the intersection of the regression line Lyi and the vertical axis for the i-part Y-coordinate group Dyi is defined as the Y-coordinate Yi of the i-part Y-coordinate group Di. Similarly, the Z-intercept value at the intersection of the regression line Lzi and the vertical axis for the i-part Z-coordinate group Dzi is defined as the Z-coordinate Zi of the i-part Z-coordinate group Di.

Then, by calculating the representative coordinates Pi (Xi, Yi, Zi) (i = 1, 2, ...) For all the i-th partial coordinate groups Di (i = 1, 2, ...), the reference is obtained. A new set of coordinates will be generated for the rail. The above applies to relative rails as it is.

Summarizing the above, as shown in FIG. 11A, the operator moves the moving trolley 20 along the reference rail while the automatic tracking mode of the surveying instrument 10 is on, so that the reference rail can be moved. An overall coordinate group U composed of three-dimensional coordinates is obtained.

As shown in FIG. 11B, the computer 40 calculates the distance between the three-dimensional coordinates by connecting the three-dimensional coordinates in chronological order. The computer 40 adds the total distance to the three-dimensional coordinate information as kilometer information. Further, the computer 40 transfers the i-th partial coordinate group Di (i = 1, 2, ...) From the entire coordinate group U of the reference rail at a section distance of 0.5 m from the measurement start point and a pitch of 0.25 m. Extract.

As shown in FIG. 11 (c), the computer 40 decomposes the extracted i-part coordinate group Di into coordinate groups Dxi, Dyi, and Dzi for each coordinate component, and decomposes the X coordinate group Dxi and Y coordinate groups. The regression lines Lxi, Lyi, and Lzi are calculated by the minimum square method for the Dyi and the Z coordinate group Dzi, respectively. The computer 40 calculates the representative coordinates Pi (Xi, Yi, Zi) of the i-part coordinate group Di by calculating each intercept value which is the intersection of each regression line Lxi, Ly, Lzi and the vertical axis. The black circles (●) represent the three-dimensional coordinates of the reference rail, and the white circles (◯) represent the representative coordinates Pi (Xi, Yi, Zi) of the i-part coordinate group Di. The computer 40 calculates the representative coordinates P1, P2, ... For all the i-th partial coordinate groups Di (i = 1, 2, ...).

As shown in FIG. 11 (d), the computer 40 generates the representative coordinate group V for the reference rail consisting of the representative coordinates P1, P2, P3, ... By erasing the entire coordinate group U of the reference rail. do. The computer 40 generates a representative coordinate group V'from the whole coordinate group U'of the relative rail by carrying out the same process as the above process.

Returning to FIG. 6 again, in step S4', the calibration coordinate line L2 is generated. As shown in FIG. 12A, the computer 40 connects the representative coordinates P1, P2, ... Of all the i-th partial coordinate groups Di (i = 1, 2, ...) In order to the reference rail. Generates the calibration coordinate line L2 for.

Next, in step S5', a point on the calibration coordinate line L2 located at a multiple of a predetermined distance from the measurement start point is obtained. As shown in FIG. 12A, the computer 40 is an intersection of a sphere and a calibration coordinate line L2 whose radius is the distance from P1 to the next P2 centered on the first point P1 on the calibration coordinate line L2. A spherical surface S1 having a radius of 1 m is generated with the point C1 corresponding to the first center. Next, the computer 40 generates a spherical surface S2 having a radius of 1 m around the intersection C2 between the spherical surface S1 and the calibration coordinate line L2. Next, the computer 40 generates a spherical surface S3 having a radius of 1 m around the intersection C3 between the spherical surface S2 and the calibration coordinate line L2. Next, the computer 40 generates a spherical surface S4 having a radius of 1 m centered on the intersection C4 between the spherical surface S3 and the calibration coordinate line L2. Hereinafter, in the same manner, the computer generates a spherical surface Si (i = 5, 6, ...) On the calibration coordinate line L2. The black circle (●) in the figure represents the intersection Ci of the spherical Si having a radius of 1 m and the calibration coordinate line L2. The white circle (◯) in the figure represents the representative coordinate Pi of the i-th partial coordinate group Di. The last point is obtained as the intersection of the sphere and the calibration coordinate line L2 whose radius is the distance from the "center point of the last sphere" to the last point.

As the radius of the spherical Si, for example, 1/2 of the chord length used in the thread tensioning method can be adopted. Therefore, when the chord length is 2 m, 1 m can be adopted as the radius of the spherical surface. Further, the center Ci of the spherical surface Si can be defined as the intersection of the calibration coordinate line L2 and the immediately preceding spherical surface Si _-1.

Therefore, the intersection Ci (i = 1, 2, ...) Is a point on the calibration coordinate line L2, and the length of the line segment connecting the _{intersection Ci and the intersection Ci + 1 is equal to 1 m.}

Returning to FIG. 6 again, in step S6', the distance reference line L3 is generated. As shown in FIG. 12B, the intersection C2 is a point on the calibration coordinate line L2 located at a distance of 1 m from the start point C1. Similarly, the intersection C3 is a point on the calibration coordinate line L2 located at a distance of twice 1 m from the start point C1. Similarly, the intersection C4 is a point on the calibration coordinate line L2 located at a distance of 3 times 1 m from the start point C1. In this way, the intersection Ci (i = 1, 2, ...) Is a reference point indicating a reference (about a kilometer) for the length (distance) of the orbit from the start point C1. Therefore, the computer 40 generates the distance reference line L3 by connecting the intersections Ci (i = 1, 2, ...) In order. Further, the computer 40 adds the kilometer information together with the coordinate information to the intersection Ci (i = 1, 2, ...). Hereinafter, these intersections Ci (i = 1, 2, ...) Will be referred to as distance reference points.

In step S7', the gauge, level, street, and height are obtained. As shown in FIG. 13A, the computer 40 has a perpendicular line Hi from the distance reference point Ci (i = 1, 2, ...) Of the calibration coordinate line L2 of the reference rail to the calibration coordinate line L2'of the relative rail. (I = 1, 2, ...) Is extended to obtain the intersection Ci'(i = 1, 2, ...) between the perpendicular line Hi and the calibration coordinate line L2'.

The computer 40 uses the following equation 1 based on the coordinates of the distance reference point Ci (xi, yi, zi) and the coordinates of the intersection Ci'(xi', yi', zi') as the gauge of the Ci-Ci'. Calculate the distance between points.
(Equation 1): Gauge of Ci-Ci'= [(xi-xi') ² + (y-yi') ² + (zi-zi') ² ] ^0.5

Further, the computer 40 calculates the difference in Z coordinates as the level of Ci-Ci'by the following equation 2.
(Equation 2): Level of Ci-Ci'= zi-zi

Further, as shown in FIG. 13B, the line segment connecting the distance reference point C1 at 0 m and the distance reference point C3 at 2 m can be regarded as a virtual 2 m string. Therefore, the computer 40 obtains the coordinates (x4, y4, z4) of the foot F of the perpendicular line drawn from the distance reference point C2 of 1 m to the virtual 2 m string. As shown in FIG. 13 (c), the computer 40 calculates the difference in Z coordinates by the following equation 3 as the height at the distance reference point C2.
(Equation 3): High / low at distance reference point C2 = z2-z4

Further, the computer 40 calculates by the following equation 4 using "the length of the perpendicular line H" and "the height at the distance reference point C2" as the street at the distance reference point C2.
(Equation 4): Street at the distance reference point C2 = [(length of perpendicular line H) ^2- (high / low at the distance reference point C2) ² ] ^0.5

As described above, according to the track inspection device 100 according to the embodiment of the present invention, the coordinate information at the rail distance reference points Ci, Ci'can be obtained by the calibration coordinate lines L2, L2', and the distance reference line. With L3, it is possible to obtain information on the kilometer of the rail which is a reference of the distance (length) from the starting point C1 to each distance reference point Ci.

Further, the calibration coordinate lines L2 and L2'are a partial coordinate group in which the computer 40 has a predetermined section distance (= d) and a predetermined pitch (= d / 2) from the entire coordinate group U, U'of the reference rail or the relative rail. Di, Di'is extracted, the partial coordinate group Di, Di'is decomposed for each coordinate component, and the decomposed X coordinate group Dxi, Y coordinate group Dyi, and Z coordinate group Dzi are regressed straight lines Lxi, Lyi by the minimum square method. , Lzi are generated by calculating each. As a result, highly accurate coordinate information and kilometer information can be obtained at the distance reference points Ci, Ci', and by using these information, the amount of rail deviation can be calculated accurately with a small load. Is possible.

Further, the surveying instrument 10 is installed at an arbitrary position outside the rail where the prism 30 can be collimated, and the moving carriage 20 to which the prism 30 is attached travels on one rail at a time. As a result, measurement work can be performed without closing the line, and measurement work can be performed for either standard gauge or narrow gauge. Further, since the moving carriage 20 is mainly for moving the prism 30 along the rail, the weight can be reduced to such that the operator can easily attach / detach it by himself / herself. As a result, it is possible to significantly reduce the labor and time required for the inspection work of the deviation amount of the rail, and also to significantly reduce the human error included in the measured value.

Although one embodiment of the present invention has been described above with reference to the drawings, the embodiment of the present invention is not limited to the above. That is, it is possible to add various modifications and improvements within the technical scope of the present invention. For example, as the representative coordinates of the partial coordinate group Di, Di', each section value which is the intersection of each regression line Lxi, Ly, Lzi and the vertical axis is adopted, but on each regression line Lxi, Lyi, Lzi. Other points may be adopted.

10 Surveying instrument 11 Precision tripod 20 Mobile trolley 21 L-shaped structure 22 1st roller 23 2nd roller 23a Axis 24 Handle 25 Push rod 26 Horizontal plate 26a Insulation plate 26b Spherical convex part 27 Vertical plate 27a Insulation plate 28 Knob 30 Prism 40 Computer 100 Orbital inspection device

Claims (9)

A mobile carriage (20) composed of an L-shaped structure (21) that rotatably supports a first roller (22) that abuts on the top surface of the track and a second roller (23) that abuts on the head surface of the track.
A prism (30) attached to the L-shaped structure (21) and
A ranging device (10) that irradiates the prism (30) with a ranging light (10a) to measure the coordinates of the orbit.
An arithmetic unit (40) that calculates the amount of deviation of the orbit based on the whole coordinate group (U, U') consisting of the coordinates (X, Y, Z) of the orbit obtained from the distance measuring device (10). It is a equipped orbit inspection device,
The arithmetic unit (40) extracts a partial coordinate group (Di, Di') at a predetermined section distance (d) and a predetermined pitch (d / 2) with respect to the overall coordinate group (U, U').
For the partial coordinate group (Di, Di'), calibration lines (Lxi, Ly, Lzi) are obtained for each coordinate component, respectively.
The representative coordinates (Xi, Yi, Zi) of all the partial coordinate groups (Di, Di') are obtained based on the calibration straight line (Lxi, Lyi, Lzi), respectively.
An orbital inspection device characterized by generating a calibration coordinate line (L2) in which the representative coordinates (Xi, Yi, Zi) are sequentially connected. In the track inspection device according to claim 1,
The arithmetic unit (40) decomposes the partial coordinate group (Di, Di') into each component coordinate group (Dxi, Dii, Dzi), respectively.
For each component coordinate group (Dxi, Dyi, Dzi), the calibration straight line (Lxi, Lyi, Lzi) is obtained on a two-dimensional plane whose vertical axis is the coordinate value and the horizontal axis is the section distance (d).
An orbital inspection device characterized in that the vertical axis component on the calibration straight line (Lxi, Lyi, Lzi) is the coordinate component of the representative coordinates (Xi, Yi, Zi). In the track inspection device according to claim 1 or 2.
The arithmetic unit (40) is an orbital inspection device for obtaining the calibration straight line (Lxi, Lyi, Lzi) by the least squares method. In the track inspection device according to any one of claims 1 to 3,
The arithmetic unit (40) is characterized in that a reference point (Ci) corresponding to a multiple of the reference distance from the start point (C1) on the calibration coordinate line (L2) is set on the calibration coordinate line (L2). Orbit inspection device. In the track inspection device according to claim 4,
_{The arithmetic unit (40) uses the intersection (Ci + 1} ) of the spherical surface (Si) having the reference point (Ci) as the center point and the reference distance as the radius and the calibration coordinate line (L2) as the next reference. An orbital inspection device characterized by being set at a point. In the track inspection device according to claim 4 or 5.
The arithmetic unit (40) has an intersection (Ci') where a perpendicular line (Hi) extending from the reference point (Ci) on the calibration coordinate line (L2) intersects with the calibration coordinate line (L2') for another orbit. ) Is set as a corresponding point (Ci') paired with the reference point (Ci). In the track inspection device according to claim 1,
The L-shaped structure (21) of the moving carriage (20) is a track inspection device characterized in that magnets are built in each portion (26, 27) facing the top surface and the side surface of the track. In the track inspection device according to claim 1 or 7.
The moving carriage (20) is a track inspection device characterized by having a tilt sensor. In the orbital inspection device according to any one of claims 1, 7 and 8.
The distance measuring device (10) is installed outside the track, and the moving carriage (20) moves on one track.

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