JP6293579B2 - Orbit inspection device - Google Patents

Description

  The present invention relates to a track inspection apparatus that performs track inspection using railway vehicles.

  Patent Document 1 describes a trajectory irregularity detection device based on shaft box vibration acceleration. This track irregularity detection device detects an irregularity of the track from the magnitude of the output of the vibration accelerometer attached to the axle box of the railway vehicle.

JP 08-184426 A

  However, the trajectory irregularity detection device grasps the current state of the trajectory, and cannot detect scratches or deformations of the trajectory due to the driving situation of the vehicle itself equipped with the detection device, for example, sudden deceleration or sudden acceleration. . For this reason, there is a problem that sufficient safety cannot be guaranteed during the period until the next inspection.

  The present invention has been made in view of the circumstances as described above. The object of the present invention is to detect an irregular position on a track while the vehicle is traveling and to cause damage to the track by the vehicle on which the inspection device is mounted. An object of the present invention is to provide a trajectory inspection apparatus capable of specifying the position by estimating the sex.

  The track inspection apparatus of the present invention detects a change in acceleration due to a running position and a vehicle swing, calculates an irregular position of the track based on the running position information and a change in acceleration, and uses it as driving information while the vehicle is running. Based on this, the possibility of trajectory damage by the vehicle is estimated, and the position that may have been damaged is identified from the travel position information.

  According to the present invention, not only can an irregular portion of the track be detected while the vehicle is running, but also the vehicle itself equipped with the inspection device is damaged by estimating the possibility of damage to the track based on driving information. Possible locations can be identified. As a result, the irregular position of the trajectory can be detected at an early stage, and high safety can be ensured.

It is a schematic block diagram which shows the track inspection apparatus which concerns on embodiment of this invention. It is a block diagram which shows the system configuration | structure of the track inspection apparatus in FIG. It is a flowchart which shows operation | movement of the track inspection apparatus shown in FIG.1 and FIG.2. 4 is a flowchart showing an example of an operation for calculating an irregular position of the trajectory in FIG. 3. It is a flowchart which shows an example of estimation operation | movement of the possibility of an orbital damage in FIG. It is a flowchart which shows an example of the process at the time of abnormality in FIG.4 and FIG.5.

Embodiments of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, the track inspection device 1 is mounted on a driver's seat of a railroad vehicle (for example, a commercial operation vehicle) 2, and a track (rail) 4 after passing the wheels 3 is disposed at the rear of the vehicle 2. A camera (imaging means) 5 is provided. That is, the trajectory inspection apparatus 1 is provided in front of the traveling direction indicated by the arrow of the vehicle 2 and the camera 5 is provided behind, so that the camera 5 passes through the trajectory inspection apparatus 1 with a time lag, and the trajectory inspection. When the apparatus 1 detects an abnormality, the trajectory 4 at that position can be photographed. In addition, a communication antenna 6 and a GPS antenna 7 are provided at the top of the vehicle 2. Further, an acceleration sensor 9 is attached to the axle box 8 that supports the axle bearing of the vehicle 2, and an acceleration sensor 10 is attached inside the vehicle 2 (or may be under the floor outside the vehicle 2).

  As shown in FIG. 2, the trajectory inspection apparatus 1 includes a regulation database 11, a position detection device (position detection means) 12, an acceleration detection device (acceleration detection means) 13, a driving information acquisition device (acquisition means) 14, a display 15, The apparatus includes a processing device (processing means) 16, a recording device (recording means) 17, a communication device (communication means) 18, a power supply device 19, an input / output device 20, and the like.

  The regulation database 11 stores operation control information. This operation control information includes track information, driving patterns, travel restriction information, and the like. The track information is, for example, information on the curve / gradient of the track, the positions of stations and traffic lights, and the distance between the stations. The driving pattern is a predetermined driving operation pattern such as power running, coasting, regenerative braking, and stopping from the departure station to the arrival station. The travel restriction information is information such as a speed limit and brake strength.

  The position detection device 12 detects the traveling position of the vehicle 2 using, for example, a GPS signal received by the GPS antenna 7. Alternatively, the rotational speed of the wheel 3 is measured using the rotation sensor 21 or the like, and the traveling position of the vehicle 2 is calculated from the wheel shaft speed obtained from the rotation of the wheel 3. In addition, a signal from a ground element arranged at a predetermined interval along the track 4 can be received by the vehicle upper element 22 to specify the traveling position. Depending on the surrounding environment and the driving situation, the driving position is detected by using at least one of them or by combining a plurality of the driving positions and outputs them to the processing device 16. If the traveling position of the vehicle 2 can be detected, other devices and methods can be used.

  The acceleration detection device 13 detects acceleration based on the outputs of the acceleration sensor 9 and 10 mounted in the axle box 8 and the vehicle 2 and extracts an amplifier and a low frequency component for amplifying the output of the acceleration sensors 9 and 10. It has a low-pass filter. If the track 4 is distorted or out of order, the axle box 8 and the vehicle 2 swing in the vertical direction or the horizontal direction, and this is detected as a change in acceleration and output to the processing device 16. As described above, when the acceleration of the axle box 8 and the vehicle 2 is detected by the acceleration sensors 9 and 10 while the vehicle 2 is traveling, the irregularity of the track 4 can be monitored.

  Here, since the acceleration sensor 9 is attached to the axle box 8, the vibration of the wheel 3 can be detected directly and with high accuracy, but it is affected by noise due to the current of the drive motor. On the other hand, since vibration is transmitted to the acceleration sensor 10 via a shock absorber provided between the vehicle 2 and the wheel 3, slight vibrations and small changes in acceleration are absorbed. It is hardly affected by noise. Therefore, the accuracy and noise resistance of acceleration data are enhanced by using the measurement outputs of both acceleration sensors 9 and 10 together.

  The driving information acquisition device 14 acquires notch position and brake operation information of the master controller which is the operation device 23 of the vehicle 2, and acceleration / deceleration of the vehicle 2, idling / sliding of wheels, and power running / Travel information indicating a travel state such as a brake is acquired. Various sensors 24 may be provided exclusively for the trajectory inspection apparatus 1, but existing sensors may be used. Furthermore, safety information such as an emergency brake instruction from the security device 25 is acquired. Then, the obtained driving information (operation information, travel information, and security information) is output to the processing device 16.

  The display 15 displays various information such as operation control information and driving information of the vehicle 2 and video captured by the camera and notifies or informs the driver under the control of the processing device 16.

  The processing device 16 calculates the irregular position of the track 4 based on the change in acceleration output from the acceleration detection device 13 and the traveling position information output from the position detection device 12. In addition, based on operation information acquired by the operation information acquisition device 14, such as operation information, travel information, and safety information, and operation control information such as track information, operation pattern, and travel restriction information stored in the regulation database 11, The possibility of trajectory damage by the vehicle 2 is estimated. That is, for example, when sudden braking is applied by an emergency brake instruction from the safety device 25, when the deceleration or acceleration performed by the operation of the master controller is more rapid than the operation instructed by the travel restriction information, However, the possibility of damage such as scratches or deformation of the track 4 is estimated based on various driving situations such as when entering a curve at a high speed, when detecting idling or sliding of a wheel. Then, the position of the track 4 that may be damaged is specified from the travel position information by the position detection device 12.

  The recording device 17 records the acceleration output from the acceleration detection device 13 and the traveling position information output from the position detection device 12 when the processing means 16 detects an irregularity of the track 4. Further, when the possibility of trajectory damage such as scratches or deformation of the trajectory 4 is estimated by the processing means 16, acceleration information output from the acceleration sensors 9 and 10, driving information acquired by the driving information acquisition device 14, The travel position information detected by the position detection device 12 is recorded. The maintenance staff specifies an irregular position of the track 4 or a position where the track is likely to be damaged based on the record of the recording device 17, and performs a visual confirmation operation.

  When the processing device 16 detects an irregularity of the track 4 and when the possibility of damage to the track is estimated, the communication device 18 sends the running position information and the video captured by the camera 5 to the outside for notification. belongs to. As the communication device 18, various communication devices using an existing railway signal communication network, a general-purpose communication network using existing wireless technology, a mobile phone network, and the like can be used.

  The power supply device 19 is used to supply power to each part of the trajectory inspection device 1 and includes a battery. The input / output device 20 inputs the video captured by the camera 5 to the recording device 17 via the processing device 16 or inputs it to the communication device 18 to notify the outside of the video, and capture / stop output from the processing device 16. A control signal to be controlled is output to the camera 5.

  Next, the operation at the time of the trajectory inspection in the above configuration will be described in detail with reference to the flowcharts of FIGS. As shown in FIG. 3, the general operation of the trajectory inspection apparatus 1 shown in FIGS. 1 and 2 first determines whether or not the inspection is executed (step S1). Thus, the travel position information is acquired (step S2). As the traveling position information, at least one of a GPS signal, a wheel shaft speed, and communication between the ground element and the vehicle upper element is used.

  In the next step S3, based on the output of the acceleration detection device 13, the processing device 16 determines irregularities of the trajectory 4, that is, distortions and deviations, from changes in acceleration in the vertical and horizontal directions. Then, the irregular position of the track 4 is calculated based on the change in acceleration and the traveling position information obtained by the position detection device 12. In subsequent step S4, based on the driving information acquired by the driving information acquiring device 14, the processing device 16 estimates the possibility of trajectory damage by the vehicle 2, and specifies the position that may be damaged from the traveling position information. . Thereafter, data such as the irregular position of the track 4 and a position where the track may be damaged is stored in the recording device 17 (step S5). When there is a possibility of trajectory damage, the communication device 18 notifies the running position information and the video captured by the camera 5 to the outside. Thereafter, it is determined whether or not the inspection is finished (step S6), and the above-described operations of steps S2 to S5 are repeated until the inspection is finished.

  FIG. 4 shows an example of an operation for calculating the irregular position of the trajectory in FIG. First, acceleration information (X, Y, Z components) is acquired from the acceleration sensors 9 and 10 (step S11), and the acquired vertical and horizontal accelerations are each integrated twice (step S12). Thereby, the acceleration information is converted into displacement information, and the displacement is obtained. Subsequently, it is determined for each sensor whether or not the amount of displacement is within a predetermined threshold (step S13). If at least one of the displacements exceeds the threshold, an abnormality process is performed (step S14). That is, it is determined that the trajectory is deformed when the acceleration displacement is larger than a predetermined value.

  If it is determined in step S13 that the displacement amount is within the threshold, it is determined whether the deceleration (or acceleration) in the traveling direction (front-rear direction) is within a predetermined threshold (step S15). An abnormal process is performed (step S16). That is, if the deceleration (or acceleration) in the traveling direction is large, it is determined that there is a possibility that the trajectory is damaged. If it is determined in step S15 that the deceleration is within the threshold value, or if an abnormality process is performed in step S16, the process returns to step S3.

  FIG. 5 shows an example of an operation for estimating the possibility of trajectory damage in FIG. First, driving information is acquired by the driving information acquisition device 14 (step S21), and abnormal driving such as emergency braking, rapid operation of the master controller, and entering a curve at a higher speed than a prescribed speed is performed from this driving information. It is determined whether it has been received (step S22). Here, the possibility of trajectory damage can also be estimated by the change in acceleration in the longitudinal direction of the acceleration sensors 9 and 10 in step S15 described above. Detection is possible. If abnormal driving is performed, there is a possibility that the track 4 or the wheel 3 may be damaged, so an abnormal process is performed (step S23), and the process returns to step S4. When it is determined in step S22 that no abnormal operation is performed, the process returns to step S4 as it is.

  FIG. 6 shows an example of the abnormal time processing in FIGS. In the abnormal process, a flag indicating abnormality is set in a predetermined storage area in the processing device 16 (step S31), and the traveling position information and the driving information are recorded in the recording device 17, and the track 4 is photographed by the camera 5. Recording is performed (step S32). Next, the abnormal part is notified to the outside by the communication device 18 (step S33). The maintenance staff who has received the notification visually confirms the video taken by the camera 5. If the damage to the track is found from the video, or if there is a high possibility of track damage, the track will be visited for maintenance and inspection work.

  According to the configuration as described above, not only the irregularities of the track can be found while the vehicle on the railroad is traveling, but also the scratches and deformations of the track caused by the driving status of the vehicle (sudden deceleration, rapid acceleration, etc.). It will be easier to find the place. That is, not only can the current change in the trajectory be detected, but the position of the trajectory that may have been damaged can be estimated. By estimating the possibility of track damage, it is possible to detect scratches and deformed locations on the track that were previously unknown until the next inspection, and contribute to the safety of railway operations.

  In addition, it is possible to photograph the flaws and deformations of the track with a camera and record them in a video, and to send the position information and the video with the possibility of trajectory damage to the maintenance staff through the communication device. Therefore, the track can be confirmed on the video even if the maintenance staff does not go to the site, and the patrol by the maintenance staff riding on the vehicle can be reduced and supported.

<Modification 1>
In the embodiment described above, the abnormality is estimated using the operation control information stored in the regulation database 11, but the regulation database 11 is not necessarily provided. For example, abnormalities may be estimated by driving information such as emergency braking and sudden notch operation by the master controller, and the possibility of trajectory damage is estimated by detecting and taking into account the longitudinal acceleration of the vehicle using an acceleration sensor. You may do it. It is also possible to input operation control information necessary for estimating an abnormality from the outside to the processing device 16 via the communication device 18.

<Modification 2>
Further, in order to reduce the data amount of the video to be recorded, the video of the trajectory 4 at the point where the abnormality is estimated is acquired by using the output from the acceleration sensor as a trigger, but the trajectory 4 images may be taken continuously to indicate a position where there is a possibility of abnormality. Images can be taken continuously and written in a semiconductor memory or the like. If a predetermined time is exceeded, overwriting is performed, and information stored in the semiconductor memory can be recorded in the recording device 17 when an abnormality is estimated.

<Modification 3>
Furthermore, when a device for recording driving information is mounted on the vehicle, it is merely recorded at present, but the driving information is output using the outputs of various sensors provided for recording of the device. You may make it acquire. By using existing sensors and devices, an increase in cost can be suppressed.

<Modification 4>
In addition, the case where acceleration is detected based on the outputs of the acceleration sensors 9 and 10 has been described as an example. However, either one of the acceleration sensors may be used, and an acceleration sensor may be added or provided in a plurality of vehicles. You may do it. By providing a large number of acceleration sensors and comprehensively determining the acceleration from each sensor output, highly accurate detection is possible. In addition, a sensor other than the acceleration sensor can be used as long as it can detect the swing of the vehicle 2 due to the distortion or deviation of the track 4. Further, in addition to the acceleration sensor, for example, a microphone may be attached to the axle box 8 or the like, and the sound (noise) generated at the contact portion between the track 4 and the wheel 3 may be considered.

<Modification 5>
In the above-described embodiment, an example in which acceleration is converted into displacement information by software in the processing device 16 has been described. However, an integrating device may be provided in the acceleration detection device 13 and converted by hardware.

<Modification 6>
Although the example which provides the camera 5 in the rear part of the head vehicle was shown, the track 4 after passing the train can be photographed by providing it in the last vehicle of the train.

  DESCRIPTION OF SYMBOLS 1 ... Track inspection apparatus, 2 ... Vehicle, 3 ... Wheel, 4 ... Track (rail), 5 ... Camera (imaging means), 8 ... Shaft box, 9, 10 ... Acceleration sensor, 11 ... Regulatory database, 12 ... Position detection Device (position detection means), 13 ... acceleration detection device (acceleration detection means), 14 ... driving information acquisition device (acquisition means), 16 ... processing device (processing means), 17 ... recording device (recording means), 18 ... communication Device (communication means), 23 ... operation device, 24 ... various sensors, 25 ... security device

Claims (6)

Obtaining means for obtaining driving information while the vehicle is running;
Acceleration detecting means for detecting the acceleration of the vehicle;
Position detecting means for detecting a traveling position;
Based on the acceleration change by the acceleration detection means and the travel position information of the position detection means, an irregular position of the track is calculated, the possibility of trajectory damage by the vehicle is estimated based on the driving information by the acquisition means, and the travel A processing means for identifying a possibly damaged position from the position information;
A trajectory inspection apparatus comprising: A database in which the vehicle operation control information is stored;
The track inspection apparatus according to claim 1, wherein the processing unit estimates the possibility of track damage by the vehicle based on the driving information acquired by the acquiring unit and the operation control information stored in the database.   The track inspection apparatus according to claim 1, further comprising a recording unit that records travel position information detected by the position detection unit when a possibility of track damage is estimated by the processing unit.   The driving information includes at least one of information on acceleration / deceleration of the vehicle, idling / sliding of a wheel, power running / brake, and an emergency brake instruction from a safety device. The trajectory inspection device described.   5. The track according to claim 1, further comprising imaging means for photographing a trajectory after passing the wheels in the vehicle, wherein the position estimated by the processing means and possibly damaged is photographed. Inspection device.   6. The trajectory inspection according to claim 5, further comprising communication means for transmitting and notifying the running position information and the video imaged by the imaging means when the possibility of trajectory damage is estimated by the processing means. apparatus.