JP3411861B2 - Inertia Masaya method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention belongs to the field of technology for detecting rail deviations in railroads.

[0002]

2. Description of the Related Art Rail deviations in railroad include deviations in the left-right direction (also called deviations), deviations in the up-down direction (also called height deviations), deviations in the spacing between the left-right rails (also called gauge deviations), left-right rail There is a height difference (also referred to as a level deviation) and a twist of the line (also referred to as a plane deviation) in which the height difference changes over a certain distance. Of these, the 10 m chord Masaya method, which is one of the difference methods, has been widely used worldwide for the passing deviation and the elevation deviation. In this method, as shown in FIG. 10, a vehicle is provided with wheels at intervals of 10 m, and a wheel whose distance from the vehicle body can be changed according to the displacement of the rail is provided at the midpoint of the wheel and the wheel on the left side. Assuming a dotted line that connects the contact point with the rail and the contact point between the right wheel and the rail (this is called the string and its length is called the chord length), and this dotted line and the point where the central wheel contacts the rail The distance between them (which is called Masaya) is crazy. If the distance from the vehicle body to the rail contact of the left wheel is a, the distance to the rail contact of the right wheel is c, and the distance to the rail contact of the center wheel is b, the track deviation is (a + c) / 2- It is represented by b.

In the 10 m chord Masaya method, if it is assumed that the rail is sinusoidal, the wavelength of FIG.
It has the inspection characteristic having the inspection magnification as shown in. If the chord length is generally Lm, the number on the horizontal axis in FIG.
It should be read as the product multiplied by / 10. Such a characteristic is called a characteristic of the Masaya method. The horizontal axis of this characteristic diagram is the logarithmic scale of the reciprocal of the wavelength (spatial frequency), and the vertical axis is the inspection magnification of 2
When the scale is set to 0 log, it becomes as shown in FIG.

An inertial measurement method is another method for detecting orbital deviation. This is a method of calculating the trajectory deviation from the output of the accelerometer attached to the axle box or the vehicle body, using the physical method measurement that the displacement can be calculated by integrating the acceleration twice. And for the trajectory deviation data obtained in this way,
The Masaya method (mainly 10
The processing by the filter circuit is performed so as to have the inspection characteristic of the m-string Masaya method. And such a method is called the inertia Masaya method.

As a first example of the configuration of the conventional inertial measuring method, all the detectors such as the vertical accelerometer, the lateral accelerometer, and the rail horizontal displacement meter are attached to the wheel axle box as shown in FIG. As a second configuration example, as shown in FIG. 14, a gyro, a vertical accelerometer, a horizontal accelerometer, and a vertical displacement meter are attached to the vehicle body, a measurement frame is separately provided, and the rail horizontal displacement meter is provided in the measurement frame. Installation It is installed so that it can be passed to the left and right axle boxes. Therefore, a displacement gauge is installed between the vehicle body and the measuring frame to measure the trajectory deviation.

[0006]

However, although the above-mentioned conventional configuration example 1 has the advantage that the vehicle to be mounted is not selected, the number of accelerometers increases or the influence of the inclination of the accelerometers cannot be corrected. However, if many parts are attached to the axle box, there may be problems in running stability and the like.

Further, in the second conventional configuration example, the effect of the inclination of the accelerometer can be corrected by the gyro and the number of accelerometers is reduced, but the number of displacement gauges is increased and the number of vehicles to be mounted is limited. However, if many parts are attached to the axle box, there may be a problem in running stability.

In view of the above problems in the conventional structure, an object of the present invention is to construct a detector unit to which each detector is attached, and to attach the detector unit to a bogie frame of a vehicle. To provide an inertial orbital deviation measurement device that avoids the effect of tilting of the accelerometer, requires only a small number of accelerometers and displacement gauges, and does not require mounting vehicles to mount parts on the axle box. It is in.

[0009]

In order to achieve the above object, the present invention has the following constitution. A first aspect of the present invention is an inertial orthodox orbit deviation measurement device characterized by including the following means. As on-vehicle equipment, (a) The following detectors (a) to (g) are provided:
Detector unit attached to the bogie frame of the vehicle (a) Left rail left / right displacement detector for detecting left / right displacement with the left rail (b) Right rail left / right displacement detector for detecting left / right displacement with the right rail (c) Left side Left rail vertical displacement detector that detects vertical displacement with the rail (d) Right rail vertical displacement detector that detects vertical displacement with the right rail (e) Horizontal accelerometer (f) Detects vertical acceleration Vertical accelerometer (g) Gyroscope that detects left and right tilt (b) Gage misalignment calculation circuit that calculates gage misalignment of rails by receiving left and right displacement signals from left rail left and right displacement detectors and right rail left and right displacement detectors (C) Detection that receives the left-right displacement signals from the left rail left-right displacement detector and the right rail left-right displacement detector, and calculates the left-right displacement of the detector unit center with respect to the track center Unit lateral displacement calculation circuit (d) receiving the left and right tilt signal from the gyroscope,
A first left / right inclination correction circuit (e) for correcting the left / right displacement signal from the detector unit left / right displacement calculation circuit by an amount corresponding to the inclination (e) of a relatively low spatial frequency component of the output from the first left / right inclination correction circuit. First high-pass filter circuit that suppresses and outputs the output (f) In response to the horizontal tilt signal from the gyroscope,
Second lateral inclination correction circuit (g) for correcting the lateral acceleration signal from the lateral accelerometer by an amount corresponding to the inclination (g) The lateral acceleration signal from the second lateral inclination correction circuit while suppressing a relatively low spatial frequency component. , A first integration filter circuit which performs time integration twice and outputs as left-right displacement data (h) Adds the output of the first integration filter circuit and the output of the first high-pass filter circuit as left-right deviation data Outputting first addition circuit (i) Left / right rail height difference calculation circuit (nu) gyroscope for calculating height difference between left and right rails by receiving vertical displacement signals from the left rail up / down displacement detector and right rail up / down displacement detector The left and right tilt signal from
Second addition circuit that outputs left / right height difference (level deviation) data by correcting the left / right rail height difference signal from the left / right rail height difference calculation circuit by the amount of inclination, and the left rail up / down displacement detector and right rail up / down displacement A detector unit vertical displacement calculation circuit (e) that receives the vertical displacement signal from the detector and calculates the vertical displacement of the detector unit center with respect to the gauge center. Second high-pass filter circuit that suppresses and outputs low spatial frequency components (W) Vertical acceleration signals from the vertical accelerometer are time integrated twice while suppressing relatively low spatial frequency components. Second integration filter circuit for outputting as displacement data (f) Addition of output of the second integration filter circuit and output of the second high-pass filter circuit A third adder circuit (Y) for outputting as data outputs traveling speed information in association with the rotation of the wheels, and the speed information is generated by the first and second high-pass filter circuits and the first and second integrations. Speed information generating circuit for sending to the filter circuit those frequency characteristics to spatial frequency characteristics (T) Gauge deviation data from the deviation calculation circuit, deviation data from the first addition circuit, and the second addition Left-right height difference (level deviation) data from the circuit and vertical deviation data from the third adder circuit are converted into digital data and stored in a portable storage medium. As ground equipment (a) Portable storage medium Read-out means (b) for reading data from the first straight arrow filter circuit (c) which receives the straight gauge data read out and outputs the rough gauge data having the measurement characteristic of the straight arrow method. Receiving lateral deviation data read, the first
Of the integration filter circuit and the first high-pass filter circuit, and the first straight arrow restoration filter circuit (d) for outputting left-right misaligned data having the measurement characteristic of the straight arrow method in cooperation with the frequency characteristics of the first high pass filter circuit. A first subtraction circuit (e) that subtracts ½ of the output of the first positive arrow filter circuit from the output of the first positive arrow restoration filter circuit and outputs it as a deviation of the left rail. A fourth adder circuit (f) that adds one half of the output of the first Masaya filter circuit to the output of the restoration filter circuit and outputs it as a right rail passage error (f) ) Flatness deviation calculation circuit (g) that subtracts the data at a position traveled a predetermined distance from the data at an arbitrarily determined running position and outputs it as flatness deviation data (level) Crazy) day Receiving, in response to the second versine filter circuit (h) the vertical deviation data read out to output the left and right height difference data which gave test measuring characteristics of versine method, the second
Second straight arrow restoration filter circuit (i) which outputs up-and-down deviation data having the measurement characteristic of the straight arrow method in cooperation with the frequency characteristics of the integration filter circuit and the second high pass filter circuit. The second output of the second straight arrow restoration filter circuit is subtracted by one half of the output of the second straight arrow filter circuit to output as left rail up / down deviation (high / low deviation) data.
Subtracting circuit (n) of the second straight arrow restoring filter circuit is added with a half of the output of the second straight arrow filter circuit to output it as right rail up / down deviation (high / low deviation) data. 5. Addition circuit 5 In addition, not only can individual circuits be assembled from (b) to (n), but software processing by a computer is also possible.

A second aspect of the present invention is an inertial orthographic method trajectory deviation detection device characterized by including the following means. As on-vehicle equipment, (a) The following detectors (a) to (g) are provided:
Detector unit attached to the bogie frame of the vehicle (a) Left rail left / right displacement detector for detecting left / right displacement with the left rail (b) Right rail left / right displacement detector for detecting left / right displacement with the right rail (c) Left side Left rail vertical displacement detector that detects vertical displacement with the rail (d) Right rail vertical displacement detector that detects vertical displacement with the right rail (e) Left and right accelerometer (f) Left vertical acceleration that detects lateral acceleration Left vertical accelerometer (g) that detects right vertical acceleration (b) Right vertical accelerometer (b) that detects left and right displacement signals from the left rail left and right rail displacement detectors Gauge error calculation circuit (c) Calculates the lateral displacement of the detector unit center with respect to the center of the gauge by receiving the lateral displacement signals from the left rail left and right displacement detectors and the right rail left and right displacement detectors. A detector unit left / right displacement calculation circuit (d) A first high-pass filter circuit for suppressing and outputting a relatively low spatial frequency component of the left / right displacement data from the detector unit left / right displacement calculation circuit ( E) A first integration filter circuit (f) for outputting the lateral acceleration signal from the lateral accelerometer as lateral displacement data by performing temporal integration twice while suppressing relatively low spatial frequency components. A left-side vertical acceleration signal from a first addition circuit (g) left-side vertical accelerometer that adds the output of the filter circuit and the output of the first integration filter circuit and outputs the data as left-right deviation data,
A second integration filter circuit (h) that performs temporal integration twice and outputs left-side vertical displacement data while suppressing relatively low spatial frequency components. Relative left-side vertical displacement data from the left-rail vertical displacement detector. Second high-pass filter circuit (i) that suppresses and outputs the output of the spatially low spatial frequency component (i) Adds the output of the second integration filter circuit and the output of the second high-pass filter circuit to obtain the left rail The second vertical addition acceleration signal from the second addition circuit (n) right vertical acceleration that outputs the vertical deviation (high / low deviation) data,
Time integration is reduced to 2 while suppressing relatively low spatial frequency components.
Third integration filter circuit (L) that performs the round trip and outputs as right vertical displacement data (L) Third output that suppresses the output of a relatively low spatial frequency component in the right vertical displacement data from the right rail vertical displacement detector High-pass filter circuit (e) A third adder circuit (WA) that adds the output of the third integration filter circuit and the output of the third high-pass filter circuit and outputs the result as up / down deviation (high / low deviation) data of the right rail. ) Running speed information is generated in association with the rotation of the wheels, the speed information is sent to the first to third high-pass filter circuits and the first to third integration filter circuits, and their frequency characteristics are spatially determined. Speed information generating circuit for converting frequency characteristics (f) Gauge error data from the anomaly calculation circuit, lateral deviation data from the first adder circuit, second adder circuit As a grounding device for storing the left rail up / down deviation (high / low deviation) data and the right rail up / down deviation (high / low deviation) data from the third adder circuit into digital data and storing them in a portable storage medium. (A) Read-out means for reading out data from a portable storage medium (b) Receiving the read out-of-gauge data, the out-of-gauge filter circuit which outputs the out-of-gauge data with the inspection characteristic of the upright-arrow method ( ) In response to the read out right / left deviation data, the first
Of the integration filter circuit and the first high-pass filter circuit, and the first straight arrow restoration filter circuit (d) for outputting left-right misaligned data having the measurement characteristic of the straight arrow method in cooperation with the frequency characteristics of the first high pass filter circuit. A first subtraction circuit (e) for subtracting ½ of the output of the positive arrow filter circuit from the output of the first positive arrow restoration filter circuit and outputting it as a deviation of the left rail (e) The first positive arrow restoration filter A fourth adder circuit (f), which adds 1/2 of the output of the Masaya filter circuit to the output of the circuit and outputs it as a deviation of the right rail. (F) Read up / down deviation data of the left rail. In response to this, a second positive output which outputs the left rail up / down deviation data having the inspection characteristic of the positive arrow method in cooperation with the frequency characteristics of the second integration filter circuit and the second high-pass filter circuit. Arrow restoration filter circuit (G) reading Receiving the up / down deviation (high / low deviation) data of the right rail that has been issued, it is provided with the inspection characteristic of the Masaya method in cooperation with the frequency characteristics of the third integration filter circuit and the third high-pass filter circuit. Third right arrow restoration filter circuit that outputs right rail up / down deviation data (h) Left / right height difference data (level deviation) by subtracting the read left up / down deviation data from the right rail up / down deviation data A second subtraction circuit (i) which receives the left-right height difference data of the output of the second subtraction circuit, and receives the frequencies of the second and third integration filter circuits and the second and third high-pass filter circuits. Restoration filter circuit for enhancing and restoring a relatively low frequency component whose output is suppressed by the characteristic (n) A left and right height difference (level deviation) data from the restoration filter circuit is set at an arbitrarily determined traveling position. Calculation data circuit that subtracts the data at the position where the vehicle has traveled a predetermined distance from the calculation data and outputs the data as deviation data of flatness. In addition, from (b) to (n), not only individual circuits are assembled but also a computer Software processing in is also possible.

A third aspect of the present invention is an inertial orthographic method trajectory deviation measuring device characterized by including the following means. (A) The following detectors (a) to (g) are provided,
Detector unit attached to the bogie frame of the vehicle (a) Left rail left / right displacement detector for detecting left / right displacement with the left rail (b) Right rail left / right displacement detector for detecting left / right displacement with the right rail (c) Left side Left rail vertical displacement detector that detects vertical displacement with the rail (d) Right rail vertical displacement detector that detects vertical displacement with the right rail (e) Horizontal accelerometer (f) Detects vertical acceleration Vertical accelerometer (g) Gyroscope that detects left and right tilt (b) Gage misalignment calculation circuit that calculates gage misalignment of rails by receiving left and right displacement signals from left rail left and right displacement detectors and right rail left and right displacement detectors (C) In response to the horizontal tilt signal from the gyroscope,
First left / right inclination correction circuit for correcting the left rail left / right displacement signal from the left rail left / right displacement detector by the amount of inclination (d) Relatively low of the left rail left / right displacement data from the first left / right inclination correction circuit The first high-pass filter circuit (e) that suppresses the output of the spatial frequency component and outputs it receives the horizontal tilt signal from the gyroscope,
Second right / left inclination correction circuit for correcting the right / left displacement signal from the right / left displacement detector by the amount of inclination (f) The right / left displacement data from the second left / right inclination correction circuit is relatively low. The second high-pass filter circuit (g) that suppresses the output of the spatial frequency component and outputs the horizontal tilt signal from the gyroscope,
Third lateral inclination correction circuit for correcting the lateral acceleration signal from the lateral accelerometer by the amount of inclination (h) The lateral acceleration data from the third lateral inclination correction circuit is suppressed while suppressing relatively low spatial frequency components. , Time integration is performed twice and left and right displacement data is output.
(1) Left rail left / right displacement data from the first high-pass filter circuit and left / right displacement data from the first integration filter circuit are added to cause left rail left / right deviation (passage).
First adder circuit for outputting as data (n) Addition of right rail left / right displacement data from the second high-pass filter circuit and left / right displacement data from the first integration filter circuit causes right rail left / right deviation (passage) )
Second adder circuit (L) Vertical acceleration data output from the vertical accelerometer as data is subjected to time integration twice while suppressing relatively low spatial frequency components, and is output as vertical displacement data. Filter circuit (e) Third high-pass filter circuit (w) Right rail vertical displacement detector that suppresses and outputs the output of the relatively low spatial frequency component of the left rail vertical displacement data from the left rail vertical displacement detector A high-pass filter circuit for suppressing and outputting the output of a relatively low spatial frequency component of the right-rail vertical displacement data from (1), the left-rail vertical displacement data from the third high-pass filter circuit, and the fourth high-pass filter circuit. A third adder circuit for adding up / down displacement data from the integration filter circuit of No. 2 and outputting it as up / down deviation (high / low deviation) data of the left rail. The vertical addition data of the right rail from the pass filter circuit and the vertical displacement data from the second integration filter circuit are added and output as vertical deviation (high or low deviation) data of the right rail. Running speed information is generated in association with rotation, and this speed information is sent to the first to fourth high-pass filter circuits and the first and second integration filter circuits,
Velocity information generation circuit that converts those frequency characteristics to spatial frequency characteristics (L) Left and right rail height difference, which receives the vertical displacement signals from the left rail vertical displacement detector and the right rail vertical displacement detector Receives the horizontal tilt signal from the arithmetic circuit (SO) gyroscope,
Fifth addition circuit (T) which corrects the left-right rail height difference signal from the left-right height difference calculation circuit by the amount of inclination and outputs left-right height difference (level deviation) data. Left rail left / right deviation data from the first addition circuit, right rail right / left deviation data from the second addition circuit, left rail up / down deviation data from the third addition circuit, right rail up / down deviation from the fourth addition circuit A / D converter for converting the data and the left-right height difference data from the fifth adding circuit into digital data and outputting the digital data. The A / D-converted left rail left-right deviation data is received, and the first high-pass signal is received. A first left-right misaligned data is output in cooperation with the frequency characteristics of the filter circuit and the first integral filter circuit, which has the inspection characteristic of the Masaya method.
Masaya restoration filter circuit (na) receives the A / D converted right rail left / right deviation data, and cooperates with the frequency characteristics of the second high-pass filter circuit and the first integration filter circuit to obtain the Masaya method. The right rail left / right deviation data that has the inspection characteristics of No. 2 is output.
Masaya restoration filter circuit (LA) receives the A / D converted left rail vertical deviation data, and cooperates with the frequency characteristics of the third high-pass filter circuit and the second integration filter circuit to obtain the Masaya method. The left rail up / down deviation data that has the inspection characteristics of No. 3 is output.
Masaya restoration filter circuit (M) receives the A / D converted right rail up / down deviation data, and cooperates with the frequency characteristics of the fourth high-pass filter circuit and the second integration filter circuit to obtain the Masaya method. Outputs the right rail up / down deviation data with the inspection characteristics of No. 4
Masaya restoration filter circuit (c) A / D-converted left-right height difference (level deviation) data is subtracted from data at a predetermined traveling position from data at a predetermined traveling position, resulting in plane deviation. Arbitrary planarity arithmetic circuit that outputs as data

A fourth aspect of the present invention is an inertial orthographic method trajectory deviation measuring device including the following means. (A) The following detectors (a) to (g) are provided,
Detector unit attached to the bogie frame of the vehicle (a) Left rail left / right displacement detector for detecting left / right displacement with the left rail (b) Right rail left / right displacement detector for detecting left / right displacement with the right rail (c) Left side Left rail vertical displacement detector that detects vertical displacement with the rail (d) Right rail vertical displacement detector that detects vertical displacement with the right rail (e) Left and right accelerometer (f) Left vertical acceleration that detects lateral acceleration Left vertical accelerometer (g) to detect right vertical acceleration (b) Right vertical accelerometer to detect vertical acceleration on the right (b) Calculate rail misalignment by receiving left and right displacement signals from the left rail left and right rail displacement detectors Gauge calculation circuit (C) The first high-pass signal that suppresses and outputs the relatively low spatial frequency component of the left rail left / right displacement data from the left rail left / right displacement detector. Filter circuit (d) Second high-pass filter circuit (e) that outputs while suppressing the output of the relatively low spatial frequency component of the right rail left / right displacement data from the right rail left / right displacement detector (e) Left / right from the left / right accelerometer A first integration filter circuit that outputs acceleration data as lateral displacement data by performing temporal integration twice while suppressing relatively low spatial frequency components (f) Left rail lateral displacement from the first high-pass filter circuit A first addition circuit (g) for adding the data and the left-right displacement data from the first integration filter circuit and outputting it as left rail left-right deviation (passage) data. Right rail from the second high-pass filter circuit. Left / right displacement data is added to the left / right displacement data from the first integral filter circuit to cause right rail left / right deviation (passage)
The second vertical acceleration signal from the second vertical accelerometer on the second addition circuit (h) which is output as data,
Time integration is reduced to 2 while suppressing relatively low spatial frequency components.
Second integration filter circuit that performs the round trip and outputs as the left-side vertical displacement data (i) The third rail that suppresses and outputs the relatively low spatial frequency component of the left-side vertical displacement data from the left-rail vertical displacement detector High-pass filter circuit (n) A third adder circuit (ru) that adds the output of the second integration filter circuit and the output of the third high-pass filter circuit and outputs the result as up / down deviation (high / low deviation) data of the left rail. ) The right vertical acceleration signal from the right vertical accelerometer,
Time integration is reduced to 2 while suppressing relatively low spatial frequency components.
Third integration filter circuit for performing rounds and outputting as right vertical displacement data (e) Fourth output for suppressing relatively low spatial frequency component output of right vertical displacement data from the right rail vertical displacement detector High-pass filter circuit (W) A fourth adder circuit (power) that adds the output of the third integration filter circuit and the output of the fourth high-pass filter circuit and outputs the result as up / down deviation (high / low deviation) data of the right rail. ) Running speed information is generated in association with the rotation of the wheels, and this speed information is sent to the first to fourth high-pass filter circuits and the first to third integration filter circuits,
Velocity information generation circuit that converts those frequency characteristics to spatial frequency characteristics (Yo) Gauge deviation data from the calculation circuit, left rail deviation data from the first addition circuit, right rail from the second addition circuit A / D converter (a) for converting the right / left deviation data, the left rail up / down deviation data from the third adder circuit, and the right rail up / down deviation data from the fourth adder circuit to digital data and outputting the digital data, respectively. The subtraction circuit (R) is A / D converted by subtracting the left rail up / down deviation data of the addition circuit output and the right rail up / down deviation data of the fourth addition circuit output to output left / right height difference (level deviation) data. The left rail that receives the left rail right / left deviation data and cooperates with the frequency characteristics of the first high-pass filter circuit and the first integration filter circuit to provide the inspection characteristic of the Masaya method. The outputs Le lateral deviation data 1
Masaya restoration filter circuit (SO) A / D converted right rail right / left deviation data is received, and the Masaya method is performed in cooperation with the frequency characteristics of the second high-pass filter circuit and the first integration filter circuit. The right rail left / right deviation data that has the inspection characteristics of No. 2 is output.
Masaya restoration filter circuit (T) A / D-converted left-rail vertical deviation data is received, and the Masaya method is performed in cooperation with the frequency characteristics of the third high-pass filter circuit and the second integration filter circuit. The left rail up / down deviation data that has the inspection characteristics of No. 3 is output.
Masaya restoration filter circuit (n) A / D-converted right rail up / down deviation data is received, and the Masaya method is performed in cooperation with the frequency characteristics of the fourth high-pass filter circuit and the second integration filter circuit. Outputs the right rail up / down deviation data with the inspection characteristics of No. 4
Masaya restoration filter circuit (n) receives the left-right height difference (level deviation) data from the subtraction circuit, and uses the frequency characteristics of the third and fourth high-pass filter circuits and the second and third integration filter circuits. Restoration filter circuit (LA) for enhancing and restoring a relatively low frequency component whose output is suppressed and outputting it from the data at an arbitrarily determined traveling position of the left-right height difference (level deviation) data from the restoration filter circuit. Flatness deviation arithmetic circuit that reduces the data at the position where the vehicle has traveled a specified distance and outputs it as flatness deviation data

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION Since the present invention uses an inertial measurement method, a left and right accelerometer and a vertical accelerometer are used to detect lateral deviation (passing) and vertical deviation (high and low deviation). Become. And if these accelerometers move exactly along the right or left deviation of the rail or up and down, the deviation can be calculated from the data obtained from the accelerometer. Since a spring is interposed between the bogie frame and the vehicle body, depending on the location where the accelerometer is mounted, the rail does not move in the wrong way but the rail moves with a certain amount of displacement. For this reason, the displacement of the accelerometer itself must be adjusted to the displacement amount (the one obtained by time integration twice) based on the data obtained by the accelerometer. For this purpose, displacement gauges are provided in the left-right direction and the up-down direction with respect to the left and right rails.

In addition to this, the data of the height difference (level deviation) of the rail which is affected by the inclination of the left and right of the accelerometer, the output value of the left and right accelerometer and the value of the left and right displacement detectors of the left and right rails are adjusted according to the inclination. There is a configuration in which a gyroscope for left and right tilt inspection is provided to correct it.

On the other hand, in the structure without the gyroscope, the vertical accelerometers are separately provided on both the left side and the right side, and the difference in the horizontal height of the rail (level deviation) and the vertical deviation (level deviation) are required. .

As described above, the lateral accelerometer, the lateral displacement detector with the left rail, the lateral displacement detector with the right rail, the vertical accelerometer, the vertical displacement detector with the left rail, the vertical displacement detection with the right rail. According to the present invention, detectors such as a vessel and a gyroscope are attached to one structural body and attached to a bogie frame instead of being provided in an axle box or a vehicle body as in the conventional case. is there.

Therefore, according to the present invention, the case where the detector unit is provided with a gyroscope, and the other case is that the vertical accelerometers are provided respectively on the left rail side and the right rail side of the detector unit without providing the gyroscope. There are embodiments.

Further, in the present invention, an embodiment in which each device constituting the inspection device is configured to be divided into an on-board device and a ground device, and all devices, that is, devices until final data are obtained are all installed on the vehicle. There are embodiments to be installed. The configuration in which the equipment is divided into the on-vehicle equipment and the ground equipment is to reduce the number of equipments mounted on the vehicle as much as possible.

In the case of separately configuring, since the data recorded on the vehicle is taken down from the vehicle to form the final data on the ground, the recording data on the vehicle is stored in a portable storage medium. Is required as an on-vehicle device, and a terrestrial device requires a reading means for reading the recorded data from the carried storage medium. Then, in this case, the device is reasonably reduced in the amount of information to be stored and read.

Speaking of deviations, the deviations of the left rail and the deviations of the right rail are not stored separately, but the deviations of the center of the gauge are stored, and the deviation data that is always stored separately is used. , On the ground, the deviation of the gauge deviation from the center of the gauge is reduced by half the deviation of the gauge, and the deviation of the rail from the center of the gauge is added by the deviation of the gauge from the center of the gauge to the right rail. I try to get out of the way.

The same thing can be said about upside down.
That is, instead of storing the left rail up / down deviation and the right rail up / down deviation separately, store the up / down deviation at the center of the gauge, and use the data of the left / right height difference (level deviation) that is always stored separately, on the ground. From the deviation of the center of the gauge from the deviation of the left and right height difference, reduce the vertical deviation of the left rail,
In addition, the vertical deviation of the right rail is obtained by adding half of the vertical difference to the vertical deviation of the gauge center. By doing so, it is possible to reduce storage and reading of two data in total.

From the above description, in the present invention,
There are two modes, one with and without a gyroscope on the detector unit. Further, there are two modes for each of them, one for on-board equipment and one for ground equipment. There is. First
The invention of (1) is a configuration in which a gyroscope is provided in the detector unit and is divided into on-vehicle equipment and ground equipment. A second aspect of the invention is a configuration in which a gyroscope is provided in the detector unit and the entire configuration is an on-vehicle device. A third aspect of the invention is a configuration in which a gyroscope is not provided in the detector unit and the on-vehicle device and the ground device are separated.
A fourth aspect of the invention is a configuration in which a gyroscope is not provided in the detector unit and the entire configuration is an on-vehicle device.

[0023]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of an embodiment of an on-vehicle device of the first invention, and FIG. 2 is a block diagram showing a configuration of an embodiment of a ground equipment of the first invention. Various detectors including a gyroscope 6 are fixedly housed in the detector unit 1 of FIG. 1, and the mounting arrangement is as shown in FIG. The detector unit 1 is attached to the bogie frame of the inspection vehicle. The accelerometer attached to the detector unit 1 outputs acceleration based on the movement of the detector unit 1, but a spring is interposed between the bogie frame to which the detector unit 1 is attached and the wheels. Therefore, since the movement of the detector unit 1 does not completely match the deviation of the rail and is displaced from that, it is necessary to add the displacement, and therefore the horizontal displacement and the vertical displacement with the left and right rails are measured. ing.

Displacement outputs of the left rail left / right displacement detector 3 and the right rail left / right displacement detector 4 are both sent to an out-of-gauge calculation circuit 10 and a detector unit left / right displacement calculation circuit 11. In the gauge error calculation circuit 10, the gauge error (distance between the left and right rails) is calculated from the left and right displacements of the left rail and the right rail, respectively, and sent to the storage means 24. In the detector unit left / right displacement calculation circuit 11, the gauge center is obtained from the left / right displacement of each of the left rail and the right rail, and the detector unit 1
The horizontal displacement with respect to the center of the center (hereinafter referred to as the center horizontal displacement signal) is calculated. This output is the first horizontal tilt correction circuit 1
4, the error due to the tilt of the detector unit 1 is corrected by the horizontal tilt signal from the gyroscope 6.

The acceleration signal from the left and right accelerometer 5 is also the second
After being subjected to the same horizontal inclination correction by the horizontal inclination correction circuit 15 of the above, it is sent to the first integration filter circuit 18. In the first integration filter circuit 18, 2
Displacement is calculated by performing time integration once. By the way, the characteristics of the double integration when the input signal is assumed to have a sine wave shape are as shown in FIG.

That is, when the characteristic is drawn with the frequency on the horizontal axis on a logarithmic scale and the vertical axis on equal intervals of gain (dB), a straight line to the upper left is obtained. This means that when the frequency becomes low, in other words, the gain becomes large in a portion where the spatial frequency is low and the acceleration is small, and noise is integrated rather than the original acceleration and a meaningless value is output.

Therefore, as shown in FIG. 9B, the integration filter circuit according to the present invention has a characteristic of suppressing the twice-integrated output at a spatial frequency relatively lower than that of FIG. I have to. The signal that has been “displaced” after being integrated by the integrating filter circuit having such characteristics is sent to the first adding circuit 21. On the other hand, the center left / right displacement signal from the first left / right inclination correction circuit 14 is also lowered in the first high-pass filter circuit 17 at the spatial frequency portion where the characteristics of the integration filter circuit are relatively low with respect to the straight line to the upper left. The suppression of spatial frequency components that are as low as that of FIG.
Is sent to the first adder circuit 21 after being suppressed in characteristics as shown in (e) of FIG.
Is added to the displacement signal from and the deviation data of the center of the orbit is obtained and sent to the storage means 24. After being stored in a portable storage medium by the storage means 24, the storage medium is transported to the ground and read by the reading means 25 of the ground equipment (FIG. 2).

The read out right / left deviation data is sent to the first straight arrow restoration filter circuit 27. Here, the first
Of the high-pass filter circuit 17 and the first integration filter circuit 18 described above in cooperation with the suppression characteristic in the low spatial frequency component so as to give the right-and-left data to the inspection characteristic of the right arrow method as shown in FIG. It is a circuit, and its characteristics are as shown in FIG.

Here, the characteristics of the output system of the accelerometer and the output system of the displacement detector will be examined. now,
Assuming that the rail deviation is a sinusoidal deviation with constant amplitude on the left and right or up and down, the accelerometer output when the accelerometer is advanced along this rail at a constant speed is twice integrated. Therefore, the horizontal axis is the logarithmic scale of the spatial frequency which is the reciprocal of the wavelength, and the vertical axis is the output decibel (d
When expressed by the coordinates of B), theoretically, it becomes an upper right straight line as shown in FIG.

When such an output is passed through the double integration filter circuit having the characteristic shown in FIG. 9B, the displacement output shown in FIG. 9C is obtained. The extent to which the low spatial frequency portion in (c) is lowered (suppressed) is equal to the extent to which the low spatial frequency portion in (b) is lowered (suppressed) below the upper left straight line. If (b)
8 is a straight line characteristic of 0 dB in the case of (c) if the characteristic is a straight line to the upper left of a simple two-fold integration.

On the other hand, the output of the displacement detector (displacement meter) is constant without any increase or decrease due to the change of the spatial frequency, so that it is a horizontal straight line at 0 dB as shown in FIG. 9 (d). If this output is passed through a high-pass filter having the characteristic of being suppressed in the low spatial frequency portion by the same degree as that of the low spatial frequency portion in (b) being lower (suppressed) than the straight line to the upper left, it is exactly the same. The output of the characteristic (f), which is the characteristic, is obtained.

After all, since the characteristics (c) and (f) are based on the characteristics (b), they are the same characteristics. Thus, the output of the first integration filter circuit 18 and the output of the first high-pass filter circuit 17, which have the same characteristics as described above, are added by the first adder circuit 21 and are obtained as left-right deviation data. This right-and-left deviation data is converted into a first straight line restoration filter circuit 27 having the characteristic shown in FIG.
As shown in FIG. 9H, right-and-left deviation data having the same measurement characteristic of the straight arrow method as shown in FIG.

By the way, since this data is the lateral deviation of the center of the track, the deviation data is used to obtain the lateral deviation of each of the left rail and the right rail, but this has the inspection characteristics of the Masaya method. Since it does not exist, the first straight arrow filter circuit 26 is passed in order to make the straight line data detection characteristics of the right and left data uneven. Then, the output is sent to the first subtraction circuit 30 and the fourth addition circuit 31 by half each.

On the other hand, the right / left deviation data of the gauge center is also sent from the first straight arrow restoration filter circuit 27 to the first subtraction circuit 30 and the fourth addition circuit 31. The left / right deviation of the left rail is obtained by subtracting 1/2 of the gauge deviation data from the center deviation data, and the fourth addition circuit 31 adds 1/2 of the gauge deviation data to the gauge center deviation data. Demands that the right rail be out of alignment.

Next, the vertical deviation will be described. The outputs of the left rail vertical displacement detector 8 and the right rail vertical displacement detector 9 are both sent to the left and right rail height difference calculation circuit 12 and the detector unit vertical displacement calculation circuit 13. The left and right rail height difference calculation circuit 12 calculates the height difference between the left and right rails from the vertical displacement of each of the left rail and the right rail. This height difference signal is sent to the second adder circuit 22 where it is corrected by the horizontal tilt signal from the gyroscope 6 by the horizontal tilt of the detector unit 1 and stored as horizontal height difference (level deviation) data. Sent to the means 24. The detector unit vertical displacement calculation circuit 13 obtains the center of the gauge from the vertical displacements of the left rail and the right rail, and calculates the vertical displacement between it and the center of the detector unit 1 (hereinafter referred to as the center vertical displacement signal). This center vertical displacement signal passes through the second high-pass filter circuit 20 and the third adder circuit 2
Sent to 3.

On the other hand, the vertical acceleration signal from the vertical accelerometer 7 is sent to the second integration filter circuit 19 where the time integration is performed twice to obtain the vertical displacement. This vertical displacement signal is also sent to the third adding circuit 23. The characteristics of the second integration filter circuit 19 and the second high-pass filter circuit 20 are similar to those of the first integration filter circuit 18 and the first high-pass filter circuit 17. In the third adding circuit 23, the displacement based on the data of the vertical accelerometer 7 and the displacement based on the data from the left rail vertical displacement detector 8 and the right rail vertical displacement detector 9 are added to obtain the vertical deviation data of the gauge center. It is output to the storage means 24. Here, the data is stored in the portable storage medium.

The upside-down data read from the storage medium by the reading means 25 of the ground equipment is sent to the second subtraction circuit 33 and the fifth addition circuit 34 via the second straight arrow restoration filter circuit 29. Second Masaya restoration filter circuit 29
Are provided for the same purpose as the first Masaya restoration filter circuit 27 and have the same characteristics.

On the other hand, the read left-right height difference data is sent to the display device as it is, and is also sent to the second straight arrow filter circuit 28 and the irregularity arithmetic circuit 32. The second Masaya filter circuit 28 is also the first Masaya filter circuit 2
It is provided for the purpose of giving the right-left height difference data which has the same characteristic as that of No. 6 but does not have the measurement characteristic of the right arrow method, and has the output characteristic of the second subtraction circuit 33 and the fifth subtraction circuit. To the adder circuit 34.

The second subtraction circuit 33 obtains the vertical deviation of the left rail by subtracting one half of the horizontal height difference data from the gauge center vertical deviation data, and the fifth addition circuit 34
Then, the up / down deviation of the right rail is calculated by adding 1/2 of the left / right height difference data to the gage center up / down deviation data. The deviation in flatness operation circuit 32 picks up the value of the received left-right height difference data for each predetermined distance interval, and sequentially takes the difference between the values at adjacent points and outputs it as deviation in flatness. .

Although the characteristics of each integration filter circuit and each high-pass filter in FIG. 1 have been described as characteristics with respect to the spatial frequency as shown in FIGS. 9B and 9E, they are actually input. Since the incoming signal is a signal that changes with the passage of time, it is necessary for each filter circuit to function so as to exhibit the desired characteristics with respect to such a signal. By sending the speed information of the device-equipped vehicle to the circuit, a time element is added so that the characteristics described in FIG. 9 are appropriate for the actual input signal. The processing after the reading means 25 can be performed by software processing in a computer.

Next, an embodiment of the second invention will be described. A second aspect of the invention is a configuration in which the detector unit 2 does not include a gyroscope and the device configuration is divided into on-vehicle equipment and ground equipment. The detector mounting arrangement in the detector unit 2 is as shown in FIG. 7 (b). FIG. 3 is a block diagram showing the configuration of the embodiment of the on-board device,
FIG. 4 is a block diagram showing the configuration of the embodiment of the ground equipment. In FIG. 3, the detector unit 2 is not provided with a gyroscope but is provided with two left and right vertical accelerometers 35 and 36 as vertical accelerometers. For a series of eccentric data,
Since there is no gyroscope, the configuration is the same as that of FIG. 1 except that the first horizontal tilt correction circuit 14 and the second horizontal tilt correction circuit 15 are removed. The same goes for the series of out-of-gauge. Therefore, also in the configuration of the ground equipment of FIG. 4, the series of out-of-gauge and the series of left-right deviation are the same as in the configuration of FIG.

Therefore, the vertical deviation system due to the two vertical accelerometers provided on the left side and the right side is different from that of the first invention. First, the acceleration signal from the left vertical accelerometer 35 is sent to the second integration filter circuit 19 where it becomes a displacement amount and is sent to the second adding circuit 22. The output of the left rail vertical displacement detector 8 is sent to the second high-pass filter circuit 20, where the output of the lower spatial frequency is suppressed and sent to the second adder circuit 22. The integration filter circuit used in the first to fourth inventions,
Regarding the high-pass filter circuit, the Masaya restoration filter circuit, the Masaya filter circuit, and the restoration filter circuit, those having the same names except for the number have the same characteristics.

In the second adding circuit 22, the displacement signals are added and sent to the storing means 24 as left rail up / down deviation data. Also on the right side, the acceleration signal from the right vertical accelerometer 36 is sent to the third integration filter circuit 37,
After being integrated, it is sent to the third adder circuit 23, while the output of the right rail up / down displacement detector 9 is also sent to the third adder circuit 23 via the third high-pass filter circuit 38, where both of them are sent. The data is added and sent to the storage means 24 as right rail vertical deviation data. The speed information generation circuit 16 has the first function.
This is the same as the case of the invention. This also applies to the following third and fourth inventions.

The left rail up / down deviation data read by the reading means 25 of the ground equipment of FIG. 4 is output as data having the detection characteristic of the right arrow method through the second right arrow restoration filter circuit 29. . The right rail up / down deviation data is also output as data having the inspection characteristic of the right arrow method through the third right arrow restoration filter circuit 41.

Further, the read left rail up / down deviation data and the right rail up / down deviation data are read by the second subtraction circuit 3
It is also guided to 3, and the difference between the two is taken here. Since this is the difference between the left and right deviations, it represents the left and right rail height difference. However, this data has been given the frequency characteristics as shown in (c) and (f) of FIG. 9 by the on-board equipment by the integration filter circuit and the high-pass filter circuit, so that at this lower frequency In order to lift the lowered characteristic and restore it to a horizontal straight line characteristic, it is output as left-right height difference data via the restoration filter circuit 40.

This is because the gauge error and the difference in height between right and left are not measured by the straight arrow method, but are data without the conventional straight arrow method and other frequency characteristics. Because it needs to be removed. Further, the left-right height difference data is used for the arithmetic circuit 32 having a flatness deviation.
The same as the first invention, the data is sent to and the planeness deviation data is calculated and output. The processing after the reading means 25 can be performed by software processing in a computer.

Next, an embodiment of the third invention will be described. FIG. 5 is a block diagram showing the configuration of the embodiment of the third invention. A third aspect of the invention is a configuration in which the same detector unit 1 as that of the first aspect of the invention, which includes a gyroscope 6, is used and all the configurations are on the vehicle. Therefore, the storage means,
Since there is no need for a portable storage medium or reading means, there is less demand for reducing the number of data items. Therefore, for the left and right rails, the left and right deviations and up and down deviations are calculated from the outputs of the accelerometer and displacement detector. Has become. The output of the displacement signal of the left rail left / right displacement detector 3 is
It is sent to the first adder circuit 21 via the first left-right inclination correction circuit 14 and the first high-pass filter circuit 17. The displacement signal output of the right rail left / right displacement detector 4 is the second left / right inclination correction circuit 15 and the second high-pass filter circuit 20.
And is sent to the second adder circuit 22.

The acceleration signal of the left and right accelerometer 5 is passed through the third left and right inclination correction circuit 42 and then the first integration filter circuit 18
Is sent to the first adder circuit 21 and the second adder circuit 22 as a displacement signal. The purpose and function of each left-right inclination correction circuit are the same as in the case of the first invention.

The first adder circuit 21 adds the displacement signal from the first high pass filter circuit 17 and the displacement signal from the first integration filter circuit 18 and outputs it as a left / right displacement signal of the left rail. The second addition circuit 22 adds the displacement signal from the second high-pass filter circuit 20 and the displacement signal from the first integration filter circuit 18 and outputs it as a right-lateral left-right displacement signal. The displacement signal outputs of the left rail left / right displacement detector 3 and the right rail left / right displacement detector 4 are also sent to the gauge error calculation circuit 10, where the gauge error is calculated and output, as in the first and second inventions. is there.

Next, regarding the vertical displacement, the displacement signal output of the left rail vertical displacement detector 8 is sent to the third adding circuit 23 via the third high-pass filter circuit 38. The displacement signal output of the right rail vertical displacement detector 9 is sent to the fourth adder circuit 31 via the fourth high-pass filter circuit 43.
The acceleration signal output of the vertical accelerometer 7 is sent to the second integration filter circuit 19 where it is integrated and a third displacement signal is obtained.
Are sent to the adder circuit 23 and the fourth adder circuit 31.

The third adder circuit 23 adds the displacement signal from the third high pass filter circuit 38 and the displacement signal from the second integration filter circuit 19 and outputs it as a vertical displacement signal of the left rail. The fourth addition circuit 31 adds the displacement signal from the fourth high-pass filter circuit 43 and the displacement signal from the second integration filter circuit 19 and outputs it as a vertical displacement signal of the right rail. Displacement signal outputs of the left rail up / down displacement detector 8 and the right rail up / down displacement detector 9 are also sent to the left / right rail height difference calculation circuit 12, where the left / right rail height difference is calculated and output. Is the same as. This height difference signal is sent to the fifth adder circuit 34, where it is corrected by the left and right tilt signal from the gyroscope 6 by the tilt of the detector unit 1 and output as a left and right height difference (level deviation).

The purpose and function of the speed information generating circuit 16 are the same as in the first and second inventions. The outputs of the out-of-track arithmetic circuit 10 and the first to fifth adder circuits are A /
The digital signal is converted by the D converter 44. The left-rail left / right displacement signal of the first adder circuit 21 after digital conversion is output as left-rail left / right deviation data via the first forward arrow restoration filter circuit 27. Similarly, the right rail left / right displacement signal of the second adding circuit 22 is output as right rail left / right deviation data via the second right arrow restoration filter circuit 29. Similarly, the left rail vertical displacement signal of the third adding circuit 23 is output as left rail vertical deviation data via the third positive arrow restoration filter circuit 41. The right rail vertical displacement signal of the fourth adding circuit 31 is output as right rail vertical deviation data via the fourth straight arrow restoration filter circuit 45.

Next, an embodiment of the fourth invention will be described. The fourth invention is the second invention which does not have a gyroscope.
The detector unit 2 is the same as that of the invention of FIG. 1 and all the components are on the vehicle. This is the same as the third aspect in that all the components are on the vehicle. FIG. 6 is a block diagram showing the configuration of the embodiment of the fourth invention. The outputs of the detectors of the left rail left / right displacement detector 3, the right rail left / right displacement detector 4, and the left / right accelerometer 5 are processed in the first to third left / right directions from the configuration of FIG. 5 of the third embodiment of the invention. The configuration is the same as the direct configuration except for the inclination correction circuit.

The outputs of the left vertical accelerometer 35, the left rail vertical displacement detector 8, the right vertical vertical accelerometer 36, and the right rail vertical displacement detector 9 are the outputs of the second embodiment of FIG. 4, except that the storing means 24 and the reading means 25 are omitted from the configuration of FIG. 4 with the A / D converter interposed. The purpose and function of the speed information generation circuit 16 are the same as those of the first to third inventions.

[0055]

As described above, according to the present invention, each detector is attached to one structure to form a detector unit and the detector unit is attached to the bogie frame. The number of detectors can be reduced as compared with the case where the detectors are attached to the axle box and the case where the detectors are attached to the axle box and the vehicle body in a distributed manner as in the conventional configuration example 2. Further, since the detectors have a single unit configuration and have the same horizontal inclination, the inclination of each detector can be corrected simply by mounting one gyroscope.

Further, since it is unitized, there is an advantage that the vehicle to be mounted is not selected. Further, since no detectors are attached to the axle box, the problem of running stability does not occur. In addition, since the right and left deviations (passing deviations) and the high and low deviations (up and down deviations) of the rails are processed to have the detection characteristics of the straight arrow method, the conventional measurement and measurement that are familiar with the handling of data with these characteristics are performed. The track maintenance worker can perform inspection and track maintenance work by making the most of the conventional experience. The present invention has the above advantages.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of an on-vehicle device of the first invention.

FIG. 2 is a block diagram showing a configuration of an embodiment of a ground equipment of the first invention.

FIG. 3 is a block diagram showing a configuration of an example of an on-vehicle device of a second invention.

FIG. 4 is a block diagram showing a configuration of an embodiment of a ground equipment of a second invention.

FIG. 5 is a block diagram showing a configuration of an embodiment of the third invention.

FIG. 6 is a block diagram showing a configuration of an embodiment of the fourth invention.

FIG. 7 is a diagram showing a mounting arrangement of each detector of the detector unit according to the present invention.

FIG. 8 is a characteristic diagram of double integration.

FIG. 9 is a characteristic diagram for explaining the characteristics of the accelerometer output, the integral filter circuit, the displacement detector (displacement meter), the Masaya restoration filter circuit, and the characteristics of the Masaya method after the processing process. is there.

FIG. 10 is an explanatory diagram of a 10 m string Masaya method by a conventional track inspection vehicle.

FIG. 11 is a measurement characteristic diagram of the 10 m chord Masaya method.

FIG. 12 is a measurement characteristic diagram (spatial frequency logarithmic scale, measurement magnification dB scale) of 10 m chord Masaya method.

FIG. 13 is a diagram showing that each detector of the configuration example 1 of the conventional inertial arrow method is attached to the axle box.

FIG. 14 is a diagram showing that each detector is attached to the vehicle body and the axle box in the configuration example 2 of the conventional inertial arrow method.

[Explanation of symbols]

1 detector unit 2 Detector unit 3 Left rail left / right displacement detector 4 Right rail left / right displacement detector 5 Left and right accelerometer 6 gyroscope 7 Vertical accelerometer 8 Left rail vertical displacement detector 9 Right rail vertical displacement detector 10 Gauge calculation circuit 11 Detector unit left / right displacement calculation circuit 12 Left and right rail height difference calculation circuit 13 Detector unit vertical displacement calculation circuit 14 First horizontal tilt correction circuit 15 Second horizontal tilt correction circuit 16 Speed information generation circuit 17 First High Pass Filter Circuit 18 First integral filter circuit 19 Second integral filter circuit 20 Second high-pass filter circuit 21 First Adder Circuit 22 Second adder circuit 23 Third Adder Circuit 24 storage means 25 Read-out means 26 First Masaya Filter Circuit 27 First Masaya Restoration Filter Circuit 28 Second Masaya Filter Circuit 29 Second Masaya Restoration Filter Circuit 30 First subtraction circuit 31 Fourth Adder Circuit 32 Operation circuit with out-of-planeness 33 Second subtraction circuit 34 Fifth Adder Circuit 35 Left Vertical Accelerometer 36 Right Vertical Accelerometer 37 Third Integration Filter Circuit 38 Third High Pass Filter Circuit 39 Masaya Filter Circuit 40 Restoration filter circuit 41 Third Masaya Restoration Filter Circuit 42 Third Horizontal Tilt Correction Circuit 43 Fourth High Pass Filter Circuit 44 A / D converter 45 Fourth Masaya Restoration Filter Circuit 46 Subtraction circuit

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masao Sato, 8-8 Mitsumachi, Kokubunji, Tokyo 38 Inside the Railway Technical Research Institute (56) Reference JP-A-7-223539 (JP, A) Kaihei 9-311032 (JP, A) JP 6-34357 (JP, A) JP 11-257942 (JP, A) JP 8-184426 (JP, A) JP 6-207830 ( JP, A) JP-A-6-116903 (JP, A) JP-A-55-144701 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B61K 9/08 G01B 21/00

Claims (4)

(57) [Claims] 1. An inertial orbital trajectory deviation measuring device comprising the following means. As on-vehicle equipment, (a) The following detectors (a) to (g) are provided:
Detector unit attached to the bogie frame of the vehicle (a) Left rail left / right displacement detector for detecting left / right displacement with the left rail (b) Right rail left / right displacement detector for detecting left / right displacement with the right rail (c) Left side Left rail vertical displacement detector that detects vertical displacement with the rail (d) Right rail vertical displacement detector that detects vertical displacement with the right rail (e) Horizontal accelerometer (f) Detects vertical acceleration Vertical accelerometer (g) Gyroscope that detects left and right tilt (b) Gage misalignment calculation circuit that calculates gage misalignment of rails by receiving left and right displacement signals from left rail left and right displacement detectors and right rail left and right displacement detectors (C) Detection that receives the left-right displacement signals from the left rail left-right displacement detector and the right rail left-right displacement detector, and calculates the left-right displacement of the detector unit center with respect to the track center Unit lateral displacement calculation circuit (d) receiving the left and right tilt signal from the gyroscope,
A first left / right inclination correction circuit (e) for correcting the left / right displacement signal from the detector unit left / right displacement calculation circuit by an amount corresponding to the inclination (e) of a relatively low spatial frequency component of the output from the first left / right inclination correction circuit. First high-pass filter circuit that suppresses and outputs the output (f) In response to the horizontal tilt signal from the gyroscope,
Second lateral inclination correction circuit (g) for correcting the lateral acceleration signal from the lateral accelerometer by an amount corresponding to the inclination (g) The lateral acceleration signal from the second lateral inclination correction circuit while suppressing a relatively low spatial frequency component. , A first integration filter circuit which performs time integration twice and outputs as left-right displacement data (h) Adds the output of the first integration filter circuit and the output of the first high-pass filter circuit as left-right deviation data Outputting first addition circuit (i) Left / right rail height difference calculation circuit (nu) gyroscope for calculating height difference between left and right rails by receiving vertical displacement signals from the left rail up / down displacement detector and right rail up / down displacement detector The left and right tilt signal from
Second addition circuit that outputs left / right height difference (level deviation) data by correcting the left / right rail height difference signal from the left / right rail height difference calculation circuit by the amount of inclination, and the left rail up / down displacement detector and right rail up / down displacement A detector unit vertical displacement calculation circuit (e) that receives the vertical displacement signal from the detector and calculates the vertical displacement of the detector unit center with respect to the gauge center. Second high-pass filter circuit that suppresses and outputs low spatial frequency components (W) Vertical acceleration signals from the vertical accelerometer are time integrated twice while suppressing relatively low spatial frequency components. Second integration filter circuit for outputting as displacement data (f) Addition of output of the second integration filter circuit and output of the second high-pass filter circuit A third adder circuit (Y) for outputting as data outputs traveling speed information in association with the rotation of the wheels, and the speed information is generated by the first and second high-pass filter circuits and the first and second integrations. Speed information generating circuit for sending to the filter circuit those frequency characteristics to spatial frequency characteristics (T) Gauge deviation data from the deviation calculation circuit, deviation data from the first addition circuit, and the second addition Left-right height difference (level deviation) data from the circuit and vertical deviation data from the third adder circuit are converted into digital data and stored in a portable storage medium. As ground equipment (a) Portable storage medium Read-out means (b) for reading data from the first straight arrow filter circuit (c) which receives the straight gauge data read out and outputs the rough gauge data having the measurement characteristic of the straight arrow method. Receiving lateral deviation data read, the first
Of the integration filter circuit and the first high-pass filter circuit, and the first straight arrow restoration filter circuit (d) for outputting left-right misaligned data having the measurement characteristic of the straight arrow method in cooperation with the frequency characteristics of the first high pass filter circuit. A first subtraction circuit (e) that subtracts ½ of the output of the first positive arrow filter circuit from the output of the first positive arrow restoration filter circuit and outputs it as a deviation of the left rail. A fourth adder circuit (f) that adds one half of the output of the first Masaya filter circuit to the output of the restoration filter circuit and outputs it as a right rail passage error (f) ) Flatness deviation calculation circuit (g) that subtracts the data at a position traveled a predetermined distance from the data at an arbitrarily determined running position and outputs it as flatness deviation data (level) Crazy) day Receiving, in response to the second versine filter circuit (h) the vertical deviation data read out to output the left and right height difference data which gave test measuring characteristics of versine method, the second
Second straight arrow restoration filter circuit (i) which outputs up-and-down deviation data having the measurement characteristic of the straight arrow method in cooperation with the frequency characteristics of the integration filter circuit and the second high pass filter circuit. The second output of the second straight arrow restoration filter circuit is subtracted by one half of the output of the second straight arrow filter circuit to output as left rail up / down deviation (high / low deviation) data.
Subtracting circuit (n) of the second straight arrow restoring filter circuit is added with a half of the output of the second straight arrow filter circuit to output it as right rail up / down deviation (high / low deviation) data. 5 adder circuit 2. An inertial orbit method deviation measuring device, comprising the following means. As on-vehicle equipment, (a) The following detectors (a) to (g) are provided:
Detector unit attached to the bogie frame of the vehicle (a) Left rail left / right displacement detector for detecting left / right displacement with the left rail (b) Right rail left / right displacement detector for detecting left / right displacement with the right rail (c) Left side Left rail vertical displacement detector that detects vertical displacement with the rail (d) Right rail vertical displacement detector that detects vertical displacement with the right rail (e) Left and right accelerometer (f) Left vertical acceleration that detects lateral acceleration Left vertical accelerometer (g) that detects right vertical acceleration (b) Right vertical accelerometer (b) that detects left and right displacement signals from the left rail left and right rail displacement detectors Gauge error calculation circuit (c) Calculates the lateral displacement of the detector unit center with respect to the center of the gauge by receiving the lateral displacement signals from the left rail left and right displacement detectors and the right rail left and right displacement detectors. A detector unit left / right displacement calculation circuit (d) A first high-pass filter circuit for suppressing and outputting a relatively low spatial frequency component of the left / right displacement data from the detector unit left / right displacement calculation circuit ( E) A first integration filter circuit (f) for outputting the lateral acceleration signal from the lateral accelerometer as lateral displacement data by performing temporal integration twice while suppressing relatively low spatial frequency components. A left-side vertical acceleration signal from a first addition circuit (g) left-side vertical accelerometer that adds the output of the filter circuit and the output of the first integration filter circuit and outputs the data as left-right deviation data,
A second integration filter circuit (h) that performs temporal integration twice and outputs left-side vertical displacement data while suppressing relatively low spatial frequency components. Relative left-side vertical displacement data from the left-rail vertical displacement detector. Second high-pass filter circuit (i) that suppresses and outputs the output of the spatially low spatial frequency component (i) Adds the output of the second integration filter circuit and the output of the second high-pass filter circuit to obtain the left rail The second vertical addition acceleration signal from the second addition circuit (n) right vertical acceleration that outputs the vertical deviation (high / low deviation) data,
Time integration is reduced to 2 while suppressing relatively low spatial frequency components.
Third integration filter circuit (L) that performs the round trip and outputs as right vertical displacement data (L) Third output that suppresses the output of a relatively low spatial frequency component in the right vertical displacement data from the right rail vertical displacement detector High-pass filter circuit (e) A third adder circuit (WA) that adds the output of the third integration filter circuit and the output of the third high-pass filter circuit and outputs the result as up / down deviation (high / low deviation) data of the right rail. ) Running speed information is generated in association with the rotation of the wheels, the speed information is sent to the first to third high-pass filter circuits and the first to third integration filter circuits, and their frequency characteristics are spatially determined. Speed information generating circuit for converting frequency characteristics (f) Gauge error data from the anomaly calculation circuit, lateral deviation data from the first adder circuit, second adder circuit As a grounding device for storing the left rail up / down deviation (high / low deviation) data and the right rail up / down deviation (high / low deviation) data from the third adder circuit into digital data and storing them in a portable storage medium. (A) Read-out means for reading out data from a portable storage medium (b) Receiving the read out-of-gauge data, the out-of-gauge filter circuit which outputs the out-of-gauge data with the inspection characteristic of the upright-arrow method ( ) In response to the read out right / left deviation data, the first
Of the integration filter circuit and the first high-pass filter circuit, and the first straight arrow restoration filter circuit (d) for outputting left-right misaligned data having the measurement characteristic of the straight arrow method in cooperation with the frequency characteristics of the first high pass filter circuit. A first subtraction circuit (e) for subtracting ½ of the output of the positive arrow filter circuit from the output of the first positive arrow restoration filter circuit and outputting it as a deviation of the left rail (e) The first positive arrow restoration filter A fourth adder circuit (f), which adds 1/2 of the output of the Masaya filter circuit to the output of the circuit and outputs it as a deviation of the right rail. (F) Read up / down deviation data of the left rail. In response to this, a second positive output which outputs the left rail up / down deviation data having the inspection characteristic of the positive arrow method in cooperation with the frequency characteristics of the second integration filter circuit and the second high-pass filter circuit. Arrow restoration filter circuit (G) reading Receiving the up / down deviation (high / low deviation) data of the right rail that has been issued, it is provided with the inspection characteristic of the Masaya method in cooperation with the frequency characteristics of the third integration filter circuit and the third high-pass filter circuit. Third right arrow restoration filter circuit that outputs right rail up / down deviation data (h) Left / right height difference data (level deviation) by subtracting the read left up / down deviation data from the right rail up / down deviation data A second subtraction circuit (i) which receives the left-right height difference data of the output of the second subtraction circuit, and receives the frequencies of the second and third integration filter circuits and the second and third high-pass filter circuits. Restoration filter circuit for enhancing and restoring a relatively low frequency component whose output is suppressed by the characteristic (n) A left and right height difference (level deviation) data from the restoration filter circuit is set at an arbitrarily determined traveling position. Flatness deviation arithmetic circuit for outputting by subtracting the data as planarity deviations data in kicking traveled a predetermined distance from the data position 3. An inertial orbital orbit deviation measuring device comprising the following means. (A) The following detectors (a) to (g) are provided,
Detector unit attached to the bogie frame of the vehicle (a) Left rail left / right displacement detector for detecting left / right displacement with the left rail (b) Right rail left / right displacement detector for detecting left / right displacement with the right rail (c) Left side Left rail vertical displacement detector that detects vertical displacement with the rail (d) Right rail vertical displacement detector that detects vertical displacement with the right rail (e) Horizontal accelerometer (f) Detects vertical acceleration Vertical accelerometer (g) Gyroscope that detects left and right tilt (b) Gage misalignment calculation circuit that calculates gage misalignment of rails by receiving left and right displacement signals from left rail left and right displacement detectors and right rail left and right displacement detectors (C) In response to the horizontal tilt signal from the gyroscope,
First left / right inclination correction circuit for correcting the left rail left / right displacement signal from the left rail left / right displacement detector by the amount of inclination (d) Relatively low of the left rail left / right displacement data from the first left / right inclination correction circuit The first high-pass filter circuit (e) that suppresses the output of the spatial frequency component and outputs it receives the horizontal tilt signal from the gyroscope,
Second right / left inclination correction circuit for correcting the right / left displacement signal from the right / left displacement detector by the amount of inclination (f) The right / left displacement data from the second left / right inclination correction circuit is relatively low. The second high-pass filter circuit (g) that suppresses the output of the spatial frequency component and outputs the horizontal tilt signal from the gyroscope,
Third lateral inclination correction circuit for correcting the lateral acceleration signal from the lateral accelerometer by the amount of inclination (h) The lateral acceleration data from the third lateral inclination correction circuit is suppressed while suppressing relatively low spatial frequency components. , Time integration is performed twice and left and right displacement data is output.
(1) Left rail left / right displacement data from the first high-pass filter circuit and left / right displacement data from the first integration filter circuit are added to cause left rail left / right deviation (passage).
First adder circuit for outputting as data (n) Addition of right rail left / right displacement data from the second high-pass filter circuit and left / right displacement data from the first integration filter circuit causes right rail left / right deviation (passage) )
Second adder circuit (L) Vertical acceleration data output from the vertical accelerometer as data is subjected to time integration twice while suppressing relatively low spatial frequency components, and is output as vertical displacement data. Filter circuit (e) Third high-pass filter circuit (w) Right rail vertical displacement detector that suppresses and outputs the output of the relatively low spatial frequency component of the left rail vertical displacement data from the left rail vertical displacement detector A high-pass filter circuit for suppressing and outputting the output of a relatively low spatial frequency component of the right-rail vertical displacement data from (1), the left-rail vertical displacement data from the third high-pass filter circuit, and the fourth high-pass filter circuit. A third adder circuit for adding up / down displacement data from the integration filter circuit of No. 2 and outputting it as up / down deviation (high / low deviation) data of the left rail. The vertical addition data of the right rail from the pass filter circuit and the vertical displacement data from the second integration filter circuit are added and output as vertical deviation (high or low deviation) data of the right rail. Running speed information is generated in association with rotation, and this speed information is sent to the first to fourth high-pass filter circuits and the first and second integration filter circuits,
Velocity information generation circuit that converts those frequency characteristics to spatial frequency characteristics (L) Left and right rail height difference, which receives the vertical displacement signals from the left rail vertical displacement detector and the right rail vertical displacement detector Receives the horizontal tilt signal from the arithmetic circuit (SO) gyroscope,
Fifth addition circuit (T) which corrects the left-right rail height difference signal from the left-right height difference calculation circuit by the amount of inclination and outputs left-right height difference (level deviation) data. Left rail left / right deviation data from the first addition circuit, right rail right / left deviation data from the second addition circuit, left rail up / down deviation data from the third addition circuit, right rail up / down deviation from the fourth addition circuit A / D converter for converting the data and the left-right height difference data from the fifth adding circuit into digital data and outputting the digital data. The A / D-converted left rail left-right deviation data is received, and the first high-pass signal is received. A first left-right misaligned data is output in cooperation with the frequency characteristics of the filter circuit and the first integral filter circuit, which has the inspection characteristic of the Masaya method.
Masaya restoration filter circuit (a) receives the right / left-shifted right / left converted data, and cooperates with the frequency characteristics of the second high-pass filter circuit and the first integration filter circuit in the Masaya method. The right rail left / right deviation data that has the inspection characteristics of No. 2 is output.
Masaya restoration filter circuit (LA) receives the A / D-converted left-rail up-and-down deviation data, and cooperates with the frequency characteristics of the third high-pass filter circuit and the second integration filter circuit to obtain the Masaya method. The left rail up / down deviation data that has the inspection characteristics of No. 3 is output.
Masaya restoration filter circuit (m) receives the A / D converted right rail up / down deviation data, and cooperates with the frequency characteristics of the fourth high-pass filter circuit and the second integration filter circuit to obtain the Masaya method. Outputs the right rail up / down deviation data with the inspection characteristics of No. 4
Masaya restoration filter circuit (c) A / D-converted left-right height difference (level deviation) data is subtracted from data at a predetermined traveling position from data at a predetermined traveling position, resulting in plane deviation. Arbitrary planarity arithmetic circuit that outputs as data 4. An inertial orbital trajectory deviation measurement device comprising the following means. (A) The following detectors (a) to (g) are provided,
Detector unit attached to the bogie frame of the vehicle (a) Left rail left / right displacement detector for detecting left / right displacement with the left rail (b) Right rail left / right displacement detector for detecting left / right displacement with the right rail (c) Left side Left rail vertical displacement detector that detects vertical displacement with the rail (d) Right rail vertical displacement detector that detects vertical displacement with the right rail (e) Left and right accelerometer (f) Left vertical acceleration that detects lateral acceleration Left vertical accelerometer (g) to detect right vertical acceleration (b) Right vertical accelerometer to detect vertical acceleration on the right (b) Calculate rail misalignment by receiving left and right displacement signals from the left rail left and right rail displacement detectors Gauge calculation circuit (C) The first high-pass signal that suppresses and outputs the relatively low spatial frequency component of the left rail left / right displacement data from the left rail left / right displacement detector. Filter circuit (d) Second high-pass filter circuit (e) that outputs while suppressing the output of the relatively low spatial frequency component of the right rail left / right displacement data from the right rail left / right displacement detector (e) Left / right from the left / right accelerometer A first integration filter circuit that outputs acceleration data as lateral displacement data by performing temporal integration twice while suppressing relatively low spatial frequency components (f) Left rail lateral displacement from the first high-pass filter circuit A first addition circuit (g) for adding the data and the left-right displacement data from the first integration filter circuit and outputting it as left rail left-right deviation (passage) data. Right rail from the second high-pass filter circuit. Left / right displacement data is added to the left / right displacement data from the first integral filter circuit to cause right rail left / right deviation (passage)
The second vertical acceleration signal from the second vertical accelerometer on the second addition circuit (h) which is output as data,
Time integration is reduced to 2 while suppressing relatively low spatial frequency components.
Second integration filter circuit that performs the round trip and outputs as the left-side vertical displacement data (i) The third rail that suppresses and outputs the relatively low spatial frequency component of the left-side vertical displacement data from the left-rail vertical displacement detector High-pass filter circuit (n) A third adder circuit (ru) that adds the output of the second integration filter circuit and the output of the third high-pass filter circuit and outputs the result as up / down deviation (high / low deviation) data of the left rail. ) The right vertical acceleration signal from the right vertical accelerometer,
Time integration is reduced to 2 while suppressing relatively low spatial frequency components.
Third integration filter circuit for performing rounds and outputting as right vertical displacement data (e) Fourth output for suppressing relatively low spatial frequency component output of right vertical displacement data from the right rail vertical displacement detector High-pass filter circuit (W) A fourth adder circuit (power) that adds the output of the third integration filter circuit and the output of the fourth high-pass filter circuit and outputs the result as up / down deviation (high / low deviation) data of the right rail. ) Running speed information is generated in association with the rotation of the wheels, and this speed information is sent to the first to fourth high-pass filter circuits and the first to third integration filter circuits,
Velocity information generation circuit that converts those frequency characteristics to spatial frequency characteristics (Yo) Gauge deviation data from the calculation circuit, left rail deviation data from the first addition circuit, right rail from the second addition circuit A / D converter (a) for converting the right / left deviation data, the left rail up / down deviation data from the third adder circuit, and the right rail up / down deviation data from the fourth adder circuit to digital data and outputting the digital data, respectively. The subtraction circuit (R) is A / D converted by subtracting the left rail up / down deviation data of the addition circuit output and the right rail up / down deviation data of the fourth addition circuit output to output left / right height difference (level deviation) data. The left rail that receives the left rail right / left deviation data and cooperates with the frequency characteristics of the first high-pass filter circuit and the first integration filter circuit to provide the inspection characteristic of the Masaya method. The outputs Le lateral deviation data 1
Masaya restoration filter circuit (SO) A / D converted right rail right / left deviation data is received, and the Masaya method is performed in cooperation with the frequency characteristics of the second high-pass filter circuit and the first integration filter circuit. The right rail left / right deviation data that has the inspection characteristics of No. 2 is output.
Masaya restoration filter circuit (T) A / D-converted left-rail vertical deviation data is received, and the Masaya method is performed in cooperation with the frequency characteristics of the third high-pass filter circuit and the second integration filter circuit. The left rail up / down deviation data that has the inspection characteristics of No. 3 is output.
Masaya restoration filter circuit (n) A / D-converted right rail up / down deviation data is received, and the Masaya method is performed in cooperation with the frequency characteristics of the fourth high-pass filter circuit and the second integration filter circuit. Outputs the right rail up / down deviation data with the inspection characteristics of No. 4
Masaya restoration filter circuit (n) receives the left-right height difference (level deviation) data from the subtraction circuit, and uses the frequency characteristics of the third and fourth high-pass filter circuits and the second and third integration filter circuits. Restoration filter circuit (LA) for enhancing and restoring a relatively low frequency component whose output is suppressed and outputting it from the data at an arbitrarily determined traveling position of the left-right height difference (level deviation) data from the restoration filter circuit. Flatness deviation arithmetic circuit that reduces the data at the position where the vehicle has traveled a specified distance and outputs it as flatness deviation data