JP6274519B2 - On-vehicle attack angle measuring method and apparatus for railway vehicles - Google Patents

Description

  The present invention relates to a method for measuring an angle formed by a wheel of a railway vehicle and a track (hereinafter, this angle is referred to as an attack angle) and a device for implementing the method.

  Various techniques for measuring the attack angle between a wheel and a track of a railway vehicle while traveling have been proposed.

  For example, in Patent Document 1, a laser beam is irradiated from above the vehicle toward both the front and rear sides of the vehicle traveling direction across the vehicle traveling direction before and after the vehicle traveling direction. Devices for measuring have been proposed.

  However, the apparatus proposed in Patent Document 1 requires an expensive laser light generator, and there is a problem that measurement accuracy deteriorates if dust adheres to the laser light receiving surface during traveling. In addition, there is a problem in safety such that there is a possibility that a laser beam may be affected by health when the laser beam enters the eyes of a worker during vehicle maintenance work.

  Patent Document 2 proposes a method of detecting an attack angle with respect to a track of a wheel passing through the point by measuring the position of a traveling wheel with a sensor from a position away from the track by a certain distance.

  However, the method proposed in Patent Document 2 requires a large number of sensors to be installed on the track side in order to measure the attack angle at each point of all the curves. It is economically impossible to measure the attack angles of all travel points.

  Further, Patent Document 3 proposes a device that captures a trajectory of a passing wheel before and after a traveling direction of a vehicle from an imaging device on the vehicle and measures an attack angle in real time during traveling from a deviation of the position of the trajectory image. .

  The device proposed in Patent Document 3 captures an image with normal light, so there is no safety problem. However, if dust adheres to the lens surface of the imaging device, the measurement accuracy deteriorates. As described above, it is difficult to maintain the accuracy in an environment that is constantly exposed to an outside atmosphere.

JP-A-6-235609 Japanese Patent Laid-Open No. 10-185550 JP 2003-246266 A

  The problem to be solved by the present invention is that the conventional attack angle measurement technique has a problem that the measurement accuracy deteriorates when dust adheres to the light receiving surface of the laser or light during traveling, and it is necessary to install a large number of sensors on the track side. Therefore, it is economically impossible to measure all travel points. Moreover, what irradiates a laser beam has a problem in safety such that there is a possibility of being affected by health if the laser beam enters a worker's eyes during maintenance work.

  The present invention is not affected by the use environment such as dust and the like on the light receiving surface of the laser and light, and there is no safety problem such as laser light entering the eyes of an operator. It aims at realization of the technology that can measure the attack angle from.

That is, the on-vehicle attack angle measuring method of the railway vehicle of the present invention is:
By calculating from the track map or by measuring the actual track in advance, the relevant data between the point on the track on which the railway vehicle runs and the azimuth of the tangent to the track at the point are obtained in advance.
The wheel orientation obtained by measuring the wheel yaw angular velocity and point data during traveling from the axle box or drive mechanism that connects the vehicle body or bogie frame of the traveling vehicle and the wheel shaft, and integrating the measured wheel yaw angular velocity. The most important feature is to obtain the attack angle between the wheel and the track for each point by the difference between the angle and the azimuth of the tangent of the track determined in advance.

  According to the method of the present invention described above, the attack angle between the track and the wheel can be measured on the vehicle without being affected by the traveling environment at low cost while traveling on the railway vehicle.

The method of the present invention described above
A storage unit for data related to the point on the track on which the railway vehicle runs and the azimuth of the tangent to the track at the point, which is calculated from the track diagram or obtained in advance by measuring the actual track in advance,
A yaw rate gyro which is mounted on a shaft box or a drive mechanism that couples the vehicle body or bogie frame of the traveling vehicle and the wheel shaft, and measures the wheel yaw angular velocity and point data during traveling;
The attack angle between the wheel and the track at each point is determined by the difference between the wheel azimuth obtained by integrating the wheel yaw angular velocity measured by the yaw rate gyro and the tangential azimuth of the track stored in the storage unit. A calculation unit to be obtained;
It can implement using the on-vehicle attack angle measuring apparatus of the railway vehicle of this invention provided with this.

  According to the present invention, the wheel yaw angular velocity signal detected by the yaw rate gyro mounted on the vehicle, the azimuth angle of the wheel at the travel point calculated from the travel point, and the tangent of the trajectory of the travel point determined in advance. Since the attack angle at the travel point is calculated from the azimuth angle, the attack angle can be measured safely at low cost and without being affected by the travel environment.

It is the figure which showed schematic structure of the on-board attack angle measuring apparatus of the railway vehicle of this invention. The figure which shows an example of the processing example of the measurement data used for the on-vehicle attack angle measuring method of the railway vehicle of the present invention, the first from the page is the azimuth of the travel position and the tangent to the track calculated in advance from the track map A diagram showing the relationship, the second is a diagram showing the relationship between the wheel azimuth and the travel position obtained by integrating the yaw angular velocity of the wheel axis measured with the traveling vehicle, the third is calculated from the first and second graphs The figure showing the relation between the attack angle and the running position, the fourth shows the relation between the yaw direction rotation angle (bogie angle) between the carriage and the vehicle body and the running position, and the fifth is the running speed and the running position of the vehicle FIG.

  In the present invention, a yaw rate gyro equipped on a vehicle has the purpose of measuring the attack angle between a track and a wheel while traveling on a railway vehicle at low cost, safely, and without being affected by the traveling environment. This is realized by calculating from the magnitude of the wheel yaw angular velocity signal detected in step 1, the azimuth angle of the wheel at the travel point calculated from the travel point, and the azimuth angle of the tangent to the track of the travel point determined in advance.

Hereinafter, an exemplary embodiment for carrying out the present invention will be described with reference to FIG.
FIG. 1 is a diagram showing a schematic configuration of an on-board attack angle measuring apparatus for a railway vehicle according to the present invention.

  Reference numeral 1 denotes a storage unit in the data processing device 9 installed in the vehicle body 2, for example, a point on the track 4 on which the vehicle 3 travels and a tangent of the track 4 at the point, which are obtained in advance by calculating from a track diagram, for example. Data related to the azimuth angle is input.

  In order to obtain the azimuth angle of the tangent line of the track 4 at the travel position L from the track line shape of the route map, when the curvature of the travel position L of the track 4 is θ (L), the travel position L from the reference point The azimuth angle Θ of the tangent to the track 4 can be obtained by the following formula 1.

  An example of the azimuth angle Θ of the tangent line of the track 4 at the travel position L obtained by the equation 1 is shown in the first diagram from the top of FIG.

  Reference numeral 6 denotes a shaft box for connecting a bogie frame constituting the vehicle 3 and the wheel shaft 5 with the vehicle body 2, and a yaw rate for measuring data on the yaw angular velocity and the traveling position L of the wheel 5 a traveling on the shaft box 6. A gyro 7 is attached.

  This yaw rate gyro 7 measures the yaw angular velocity of the wheel shaft 5 that is running, and simultaneously detects the position of the wheel shaft 5 on the track 4. The detected position signal and the yaw angular velocity signal of the wheel shaft 5 are sent to the calculation unit 8 of the data processing device 9. As a reference, a diagram showing the relationship between the yaw direction rotation angle (bogie angle) between the carriage and the vehicle body and the travel position is the fourth from the page of FIG.

  The output value vector φ (t) of the yaw angular velocity signal of the wheel shaft 5 that has been sent is integrated over time by the calculation unit 8 as shown in Equation 2 below to obtain the azimuth angle Φ (t) of the wheel 5a.

  On the other hand, the method of obtaining the traveling position L of the wheel 5a from the transmitted position signal can be obtained by the following Equation 3 when the traveling speed of the vehicle 3 is v (t). As a reference, a diagram showing the relationship between the traveling speed of the vehicle and the traveling position is shown fifth from the paper of FIG.

  The relationship Φ (L) between the travel position L and the azimuth angle Φ (t) of the wheel 5a is calculated by using the travel position L on the horizontal axis and the wheel on the vertical axis. It can be obtained by plotting the azimuth angle Φ (t) of 5a.

  An example of the relationship Φ (L) between the travel position L thus obtained and the azimuth angle Φ (t) of the wheel 5a is shown in the second diagram from the top of FIG.

  Therefore, the attack angle ψ (L) between the wheel 5 a and the track 4 at the traveling position L can be obtained by the following mathematical formula 4.

  An example of the attack angle ψ (L) between the wheel 5a and the track 4 obtained by the above equation 4 is shown in the third diagram from the top of the drawing in FIG.

  Note that reference numeral 10 in FIG. 1 denotes a connection wiring that connects the yaw rate gyro 7 and the calculation unit 8.

  As described above, the on-board attack angle measuring device for a railway vehicle according to the present invention is such that the yaw rate gyro 7 is attached to, for example, the axle box 6, while the vehicle body 2 is equipped with the storage unit 1 and the calculation unit 8. .

  And the said memory | storage part 1 memorize | stores the relevant data of the driving | running | working position L of the vehicle 3, and the azimuth of the tangent of the track | orbit 4 in the said driving | running | working position L previously calculated, for example from a track map. Then, in the calculation unit 8, the difference between the wheel azimuth angle obtained by integrating the wheel yaw angular velocity measured by the yaw rate gyro 7 and the azimuth angle of the tangent to the track 4 is stored for each travel position L. The attack angle between the wheel 5a and the track 4 is obtained. This is the on-vehicle attack angle measurement method for a railway vehicle of the present invention.

  The present invention is not limited to the above example, and it goes without saying that the embodiments may be changed as appropriate within the scope of the technical idea described in the claims.

  For example, in the above example, related data between the travel position L of the vehicle 3 and the azimuth angle of the tangent to the track 4 at the travel position L, which is stored in the storage unit 1 in advance, is calculated from the track diagram. The trajectory may be calculated by measuring with a yaw rate gyro.

  In the above example, the yaw rate gyroscope 7 is attached to the axle box 6, but it may be attached to a drive mechanism such as a motor as long as the yaw angular velocity of the wheel shaft 5 can be measured.

DESCRIPTION OF SYMBOLS 1 Memory | storage part 2 Car body 3 Vehicle 4 Track | truck 5 Wheel shaft 5a Wheel 6 Axis box 7 Yaw rate gyro 8 Calculation part

Claims (2)

By calculating from the track map or by measuring the actual track in advance, the relevant data between the point on the track on which the railway vehicle runs and the azimuth of the tangent to the track at the point are obtained in advance.
The wheel orientation obtained by measuring the wheel yaw angular velocity and point data during traveling from the axle box or drive mechanism that connects the vehicle body or bogie frame of the traveling vehicle and the wheel shaft, and integrating the measured wheel yaw angular velocity. An on-vehicle attack angle measuring method for a railway vehicle, wherein an attack angle between a wheel and a track at each point is obtained from a difference between the angle and the azimuth angle of the track tangent obtained in advance. A storage unit for data related to the point on the track on which the railway vehicle runs and the azimuth of the tangent to the track at the point, which is calculated from the track diagram or obtained in advance by measuring the actual track in advance,
A yaw rate gyro which is mounted on a shaft box or a drive mechanism that couples the vehicle body or bogie frame of the traveling vehicle and the wheel shaft, and measures the wheel yaw angular velocity and point data during traveling;
The attack angle between the wheel and the track at each point is determined by the difference between the wheel azimuth obtained by integrating the wheel yaw angular velocity measured by the yaw rate gyro and the tangential azimuth of the track stored in the storage unit. A calculation unit to be obtained;
An on-board attack angle measuring device for a railway vehicle, comprising:

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