JP2024006416A - Track material monitoring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a track material monitoring system capable of enhancing the accuracy of monitoring a track material.

SOLUTION: A track material monitoring system includes a moving body traveling on a railway track, a spot sensor arranged on the moving body to detect the height of the railway track along a traveling direction of the moving body, a laser measurement device arranged on the moving body and irradiating the railway track with a laser beam to measure a cross sectional shape orthogonal to an extending direction of the rail in the railway track, and a control device for determining the existence of a track material to be monitored based on the height detected by the spot sensor and making the laser measurement device execute measurement of the cross sectional shape by irradiation of the laser beam when it is determined that the track material exists.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

TECHNICAL FIELD This disclosure relates to track material monitoring systems.

A railway track on which a railway vehicle runs is composed of track materials such as fasteners in addition to rails and sleepers. For the safe running of railway vehicles, regular monitoring of the elements that make up these railway tracks is necessary.

As such railway track monitoring means, a device is known that recognizes track material (specifically, bolts) using images captured by a camera running along the rail (see Patent Document 1).

Japanese Patent Application Publication No. 2006-250573

Conventional railway track monitoring equipment uses an optical cutting method using laser light irradiation instead of capturing images as described above, making it possible to detect track material over a wide range along the width of the rail. Things are also known.

However, there is a limit to the number of times per unit time that the shape can be measured by laser beam irradiation, for example, about 200 times per second at most. Therefore, if laser light is randomly irradiated from a device running on the rail, there is a possibility that the monitoring target will be included in the measurement blank area sandwiched between the laser light irradiation positions. As a result, monitoring targets may be overlooked.

One aspect of the present disclosure is to provide a track material monitoring system that can increase the accuracy of track material monitoring.

One aspect of the present disclosure relates to a mobile body configured to run on a railway track, and a mobile body arranged on the mobile body and configured to detect the height of the railway track along the traveling direction of the mobile body. a laser measuring device arranged on a moving body and configured to measure a cross-sectional shape perpendicular to the extending direction of the rail on the railway track by irradiating the railway track with a laser beam; The system is configured to determine the presence of track material to be monitored based on the height detected by the spot sensor, and to have a laser measuring instrument measure the cross-sectional shape by irradiating laser light when it is determined that track material exists. A track material monitoring system comprising: a controlled control device;

According to such a configuration, the track material to be monitored is recognized by detecting the height of the spot sensor, and then the laser light for measuring the cross-sectional shape is irradiated. Therefore, it is possible to measure the shape of the track material along the width direction of the rail while suppressing oversight of the monitoring target. As a result, the accuracy of monitoring track material can be improved.

In one aspect of the present disclosure, the control device may determine that track material is present when the height detected by the spot sensor exceeds a predetermined threshold. According to such a configuration, it is possible to easily and accurately recognize a monitoring target.

In one aspect of the present disclosure, when it is determined that the track material exists, the control device transmits the laser beam when an adjustment time corresponding to the traveling speed of the moving body has elapsed after the height used for the determination was detected. Light may be irradiated. According to such a configuration, it is possible to improve the accuracy of the irradiation position of the laser beam on the track material.

In one aspect of the present disclosure, the track material may be a fixture of a guard material placed on the side of the rail. The fixing metal fitting may include a metal fitting body that holds the guard material, and a bolt attached to the metal fitting body. The metal fitting body may have two walls that sandwich the head of the bolt in the extending direction of the rail. According to such a configuration, since the wall of the metal fitting body can be used as a trigger for irradiation with laser light, it is possible to accurately monitor bolts arranged at regular intervals in the extending direction of the rail.

In one aspect of the present disclosure, the control device may stop height detection by the spot sensor until a predetermined standby time has elapsed after irradiation with the laser light. According to such a configuration, the spot sensor does not detect the height of the wall through which the moving body passes after the bolt, of the two walls of the metal fitting main body. As a result, laser light irradiation is suppressed immediately after the bolt passes.

FIG. 1A is a schematic diagram of a track material monitoring system in an embodiment, and FIG. 1B is a schematic diagram of a measuring device in the track material monitoring system of FIG. 1A. FIG. 2A is a schematic plan view of a railway track, and FIG. 2B is a schematic cross-sectional view taken along line IIB-IIB in FIG. 2A. FIG. 3A is a schematic perspective view of the guard material and fixing fittings on the railway track of FIG. 2A, and FIG. 3B is a schematic plan view of the guarding material and fixing fittings of FIG. 3A. FIG. 4 is a schematic diagram showing the measurement procedure of the measuring device of FIG. 1B. 5A is a schematic diagram of a spot sensor in the measuring device of FIG. 1B, and FIG. 5B is a schematic diagram of a laser measuring device in the measuring device of FIG. 1B. 6A-6F are examples of cross-sectional shapes measured by the laser measuring instrument of FIG. 5B. FIG. 7 is a flow diagram schematically showing the processing executed by the control device in the track material monitoring system of FIG. 1.

Embodiments to which the present disclosure is applied will be described below with reference to the drawings.
[1. First embodiment]
[1-1. composition]
A track material monitoring system 1 shown in FIG. 1A inspects track materials that are constituent elements of railway tracks. The track material monitoring system 1 includes a moving body 2, a measuring device 3, and a control device 4.

As shown in FIGS. 2A and 2B, the components of the railway track include a rail R1, a sleeper R2, and track materials other than the rail R1 and sleepers R2. In this embodiment, the guard material R3 and the fixture R4 among the track materials are monitored.

The guard material R3 is arranged on the side of the rail R1 (specifically, on the inside of the rail R1 in the width direction). The guard material R3 extends along the extending direction of the rail R1. Guard material R3 is provided in order to suppress derailment of a railway vehicle traveling on rail R1.

The fixing metal fitting R4 is a member that fixes the guard material R3 to the sleeper R2. As shown in FIGS. 3A and 3B, the fixing metal fitting R4 includes a metal fitting main body R41, a bolt R42, and a rotation stopper pin R43.

The metal fitting main body R41 has a base portion R41A and a movable portion R41B. The base R41A is fixed to the upper surface of the sleeper R2. The movable portion R41B holds the guard material R3 and is arranged to overlap above the base portion R41A. The movable portion R41B is connected to the base portion R41A so as to be swingable in the vertical direction.

The bolt R42 is attached to the metal fitting body R41. Specifically, the bolt R42 passes through the movable portion R41B in the vertical direction, and its tip end is screwed into the base portion R41A. That is, the bolt R42 fastens the movable portion R41B and the base portion R41A in the vertical direction.

The bolt R42 is removed during work such as maintenance and inspection of railway tracks. By removing the bolt R42, the movable portion R41B can swing upward together with the guard member R3. After the work is completed, the bolt R42 is reattached to the metal fitting body R41.

The head of bolt R42 is visible from above. That is, the head of the bolt R42 is not covered from above by other members and is exposed. Moreover, the movable part R41B of the metal fitting main body R41 has a first wall W1 and a second wall W2 that sandwich the head of the bolt R42 in the extending direction of the rail R1. That is, the head of the bolt R42 is disposed within the recess sandwiched between the first wall W1 and the second wall W2. The height of the first wall W1 and the height of the second wall W2 are the same.

The detent pin R43 is inserted into the movable portion R41B along the rail width direction. The rotation stopper pin R43 is arranged below the guard member R3, and restricts rotation of the guard member R3 with respect to the fixing fitting R4.

<Mobile object>
The moving object 2 shown in FIG. 1A is configured to travel on a railway track to be monitored along a rail R1.

<Measuring device>
The measuring device 3 is placed on the moving body 2. The measuring device 3 measures the position and shape of the track material while moving along the rail R1 together with the moving body 2. As shown in FIG. 1B, the measuring device 3 includes a first spot sensor 31A, a second spot sensor 31B, and a laser measuring device 32.

(spot sensor)
The first spot sensor 31A and the second spot sensor 31B are configured to detect the height of the railway track along the traveling direction of the moving body 2.

The first spot sensor 31A is arranged at a position in front of the laser measuring device 32 in the direction of movement when the moving body 2 moves to the left in FIG. 1A. The second spot sensor 31B is arranged at a position in front of the laser measuring device 32 in the direction of movement when the moving body 2 moves to the right in FIG. 1A.

Of the first spot sensor 31A and the second spot sensor 31B, the track material monitoring system 1 uses a spot sensor capable of detecting the height of a point ahead of the laser measuring device 32 in the traveling direction for monitoring.

In addition, in FIG. 1A and FIG. 1B, two spot sensors 31A and 31B are combined with one laser measuring device 32, but the measuring device 3 is a combination of one laser measuring device and one spot sensor. , one at the front and one at the rear of the moving body 2. Furthermore, the measuring device 3 includes at least one laser measuring device and at least two spot sensors arranged at positions corresponding to the left and right rails R1, respectively.

The laser measuring device and the spot sensor are preferably arranged in front of the wheels of the moving body 2 in the traveling direction. Thereby, the influence of water droplets kicked up by the wheels can be suppressed. These water droplets are generated due to rain or water sprinkling from the moving body 2.

Although the first spot sensor 31A will be described below, the same applies to the second spot sensor 31B. The first spot sensor 31A is a known distance sensor. As shown in FIG. 4, the first spot sensor 31A irradiates laser light from above the metal fitting main body R41 of the fixing metal fitting R4.

As shown in FIG. 5A, the first spot sensor 31A includes a transmitter 311 that emits laser light and a receiver 312 that receives reflected laser light. Depending on the position of the object O that reflects the laser beam, the position at which the transmitter 311 receives the laser beam changes. Thereby, the first spot sensor 31A detects the position (that is, the height) of the object O.

The first spot sensor 31A detects the height at a position a certain distance away from the rail R1 inward in the width direction by continuously irradiating and receiving laser light while the moving body 2 is traveling. Specifically, as shown in FIG. 3B, the first spot sensor 31A detects the height along the detection line L that passes through the first wall W1 and the second wall W2 of the movable portion R41B. The first spot sensor 31A performs height detection (that is, irradiation of laser light for height detection) up to 3000 times per second, for example.

(laser measuring instrument)
As shown in FIG. 4, the laser measuring device 32 is configured to measure the cross-sectional shape of the railway track perpendicular to the extending direction of the rail R1 by irradiating the railway track with a laser beam.

Specifically, the laser measuring device 32 irradiates a range including at least the guard material R3 and the fixing metal fitting R4 with laser light from above in the width direction of the rail R1. The laser measuring device 32 is a known measuring device that measures the cross-sectional shape using an optical cutting method. As shown in FIG. 5B, the laser measuring device 32 includes a light emitting section 321 that emits laser light, and a light receiving section 322 that receives scattered light reflected by the laser light.

The light emitting unit 321 emits sheet light (that is, slit light) orthogonal to the extending direction of the rail R1 (that is, the traveling direction of the moving body 2). That is, the light emitting section 321 scans the laser beam in the width direction of the rail R1. The light receiving unit 322 acquires an image of scattered light using an image sensor, and acquires profile data of a two-dimensional cross-sectional shape of the measurement target from this image.

6A to 6F show examples of cross-sectional shapes of the guard material R3 and the fixing metal fitting R4 measured by the laser measuring instrument 32. The cross-sectional shape acquired by the laser measuring instrument 32 includes at least the head of the bolt R42.

FIG. 6A shows the cross-sectional shapes of the guard member R3 and the fixing metal fitting R4 in a normal state. FIG. 6B shows a cross-sectional shape with the detent pin R43 missing in the area surrounded by the broken line. FIG. 6C shows a cross-sectional shape of the guard member R3 in a state where it is tilted due to loosening of the bolt R42 or the like.

FIG. 6D shows a cross-sectional shape in which the guard member R3 and the fixing metal fitting R4 are lifted up due to loosening of the bolt R42 or the like. FIG. 6E shows a cross-sectional shape in which only the guard material R3 is raised. FIG. 6F shows a cross-sectional shape of the bolt R42 with its head inclined.

In this way, defects in the guard material R3 and the fixing metal fitting R4 can be detected based on the cross-sectional shape obtained by the optical cutting method obtained by the laser measuring instrument 32.

<Control device>
The control device 4 shown in FIG. 1 is constituted by a computer having a processor such as a CPU (Central Processing Unit), a recording medium such as a memory, and an input/output device such as a keyboard and a display.

A computer constituting the control device 4 executes a function of controlling the measuring device 3 (specifically, a detection process, a measurement process, and a standby process) using a track material monitoring program recorded on a recording medium.

In this embodiment, the control device 4 is installed in the moving body 2. However, the control device 4 may be placed in ground equipment (for example, a base station) and may be connected to the mobile body 2 and the measurement device 3 by wireless communication.

In the detection process, the control device 4 determines the presence of track material to be monitored based on the heights detected by the spot sensors 31A and 31B. Specifically, the control device 4 determines that track material is present when the height detected by the spot sensors 31A, 31B exceeds a predetermined threshold. Note that the height detected by the spot sensors 31A and 31B may be the absolute value of the height with respect to the reference plane, or may be the height difference between adjacent detection points (that is, the relative height with respect to the nearest height). It may be.

The threshold value is determined, for example, by the difference between the average height of the ballast from a reference plane (for example, the surface of sleeper R2) and the height of the first wall W1 of fixture R4 from the same reference plane. In other words, the threshold value is greater than the maximum height of the ballast and smaller than the height of the first wall W1. Further, the threshold value is set in consideration of the vibration of the moving body 2.

Specifically, as shown in FIG. 3B, when the first spot sensor 31A detects a height difference caused by the first wall W1 in the detection line L, the control device 4 controls the track material (that is, the fixing metal fitting R4). ) is determined to exist.

Note that when the second spot sensor 31B is in the forward direction of the laser measuring device 32, the control device 4 detects the presence of track material due to the height difference caused by the second wall W2 detected by the second spot sensor 31B. Then it is determined.

In the measurement process, when it is determined that the track material exists, the control device 4 causes the laser measuring device 32 to measure the cross-sectional shape by irradiating the laser beam. Specifically, when it is determined that the track material exists, the control device 4 controls the adjustment time according to the traveling speed of the moving body 2 after the height used for the determination (that is, the height exceeding the threshold) is detected. When the time has elapsed, the laser beam is irradiated.

The adjustment time T is determined, for example, by the following equation (1). In formula (1), D1 is the distance from the outer surface of the first wall W1 (that is, the position where the height exceeds the threshold) to the central axis of the bolt R42, and D2 is the distance between the detection point of the first spot sensor 31A and the laser beam. It is the distance from the laser irradiation position of the measuring device 32 (see FIG. 1B), and V is the current traveling speed of the moving body 2. Note that D1 is, for example, 65 mm, and D2 is, for example, 80 mm.
T=(D1+D2)/V...(1)

By controlling the laser beam irradiation timing using this adjustment time T, the laser measuring instrument 32 obtains the cross-sectional shape of the guard material R3 and the fixing metal fitting R4 at a position including the bolt R42.

In the standby process, the control device 4 stops height detection by the spot sensors 31A and 31B until a predetermined standby time elapses after the laser measuring device 32 irradiates the laser beam. The standby time is the time from when the laser beam is irradiated until the height detection point of the first spot sensor 31A passes the second wall W2.

That is, after the first spot sensor 31A is stopped, the control device 4 causes the first spot sensor 31A to resume height detection when the height detection point of the first spot sensor 31A passes the second wall W2. let

The control device 4 repeatedly executes the measurement process and the standby process each time the presence of the first wall W1 or the second wall W2 is detected by the detection process (that is, the height exceeds the threshold) while the moving body 2 is moving. .

[1-2. process]
Hereinafter, an example of the process executed by the control device 4 will be described with reference to the flowchart in FIG. 7.

In this process, the control device 4 first causes the spot sensors 31A and 31B to detect the height of the railway track (step S110). Next, the control device 4 determines whether the detected height exceeds a threshold (step S120). If the height is less than or equal to the threshold (S120: NO), the control device 4 causes the spot sensors 31A and 31B to continue detecting the height.

On the other hand, if the height exceeds the threshold (S120: YES), the control device 4 stops detection of the height by the spot sensors 31A and 31B (Step S130). Subsequently, the control device 4 determines whether or not the adjustment time has elapsed since the height exceeding the threshold was detected (step S140).

If the adjustment time has not elapsed (S140: NO), the control device 4 waits until the adjustment time has elapsed. If the adjustment time has elapsed (S140: YES), the control device 4 causes the laser measuring instrument 32 to irradiate a laser beam, and measures the cross-sectional shape (Step S150). After measuring the cross-sectional shape, the control device 4 determines whether a waiting time has elapsed from the time of laser light irradiation (step S160).

If the standby time has not elapsed (S160: NO), the control device 4 waits until the standby time has elapsed. If the standby time has elapsed (S160: YES), the control device 4 determines whether monitoring of the track material has ended (Step S170).

If the monitoring has not ended (S170: NO), the control device 4 repeats the process starting from height detection. If the monitoring has ended (S170: YES), the control device 4 ends the process.

[1-3. effect]
According to the embodiment detailed above, the following effects can be obtained.
(1a) After recognizing the track material to be monitored by detecting the height of the spot sensors 31A and 31B, irradiation with laser light for measuring the cross-sectional shape is performed. Therefore, it is possible to measure the shape of the track material along the width direction of the rail while suppressing oversight of the monitoring target. As a result, the accuracy of monitoring track material can be improved.

(1b) Since the control device 4 determines that track material is present when the height exceeds the threshold, it is possible to easily and accurately recognize the monitoring target.

(1c) The accuracy of the irradiation position of the laser beam on the track material by the control device 4 irradiating the laser beam when the adjustment time according to the traveling speed of the moving body 2 has elapsed after the height exceeding the threshold was detected. can be increased.

(1d) Since the metal fitting body has two walls that sandwich the head of the bolt, these walls can be used as a trigger for laser beam irradiation, so bolts placed at regular intervals in the extending direction of the rail can be accurately aligned. can be monitored.

(1e) After the laser beam irradiation, height detection by the spot sensors 31A and 31B is stopped until the waiting time has elapsed, so that the movable object 2 passes after the bolt among the two walls of the metal fitting body. The height of the wall is not detected by the spot sensors 31A, 31B. As a result, laser light irradiation is suppressed immediately after the bolt passes.

[2. Other embodiments]
Although the embodiments of the present disclosure have been described above, it goes without saying that the present disclosure is not limited to the above embodiments and can take various forms.

(2a) In the track material monitoring system of the above embodiment, the track material to be monitored is not limited to guard materials and fixing fittings. The track material monitoring system can also monitor track materials other than these.

(2b) In the track material monitoring system of the above embodiment, the control device may determine the presence of track material based on conditions other than whether the height detected by the spot sensor exceeds a threshold value. For example, the control device may determine the presence of track material based on whether the height is less than a threshold value.

(2c) In the track material monitoring system of the above embodiment, the control device does not necessarily have to stop detecting the height by the spot sensor until the standby time has elapsed after irradiation with the laser beam.

(2d) The function of one component in the above embodiment may be distributed as multiple components, or the functions of multiple components may be integrated into one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added to, replaced with, etc. in the configuration of other embodiments. Note that all aspects included in the technical idea specified from the words in the claims are embodiments of the present disclosure.

1... Track material monitoring system, 2... Moving body, 3... Measuring device, 4... Control device,
31A...first spot sensor, 31B...second spot sensor, 32...laser measuring instrument,
311... Transmitting section, 312... Receiving section, 321... Light emitting section, 322... Light receiving section,
R1...Rail, R2...Sleeper, R3...Guard material, R4...Fixing metal fittings, R41...Metal fittings body,
R41A...base, R41B...movable part, R42...bolt, R43...stop pin,
W1...first wall, W2...second wall.

Claims (5)

a mobile object configured to run on a railway track;
a spot sensor arranged on the moving body and configured to detect the height of the railway track along the traveling direction of the moving body;
a laser measuring device disposed on the moving body and configured to measure a cross-sectional shape perpendicular to the extending direction of the rails on the railway track by irradiating the railway track with a laser beam;
The laser measuring device determines the presence of track material to be monitored based on the height detected by the spot sensor, and when it is determined that the track material exists, measures the cross-sectional shape by irradiating the laser beam. a controller configured to cause the
A track material monitoring system equipped with: The track material monitoring system according to claim 1,
The control device is a track material monitoring system that determines that the track material is present when the height detected by the spot sensor exceeds a predetermined threshold. The track material monitoring system according to claim 1 or claim 2,
When the control device determines that the track material exists, the control device controls the laser beam to emit the laser beam when an adjustment time corresponding to the traveling speed of the moving body has elapsed after the height used in the determination was detected. An orbital material monitoring system that uses irradiation. The track material monitoring system according to claim 1 or 2,
The track material is a fixing fitting for a guard material arranged on the side of the rail,
The fixing metal fittings are
a metal fitting body that holds the guard material;
a bolt attached to the metal fitting body;
has
In the track material monitoring system, the metal fitting body has two walls that sandwich the head of the bolt in the extending direction of the rail. The track material monitoring system according to claim 4,
The control device is a track material monitoring system that stops detection of the height by the spot sensor until a predetermined standby time elapses after irradiation with the laser beam.