JP6431157B1 - Apparatus and measuring method for building limit in railway - Google Patents

Abstract

An apparatus and method for measuring a building limit in a railway capable of calculating a building limit in a railway by simply and accurately measuring a rail gap or a cant of a rail.
A measuring apparatus includes a carriage traveling on a track, a copying apparatus that can rotate and slide with respect to the carriage, a three-dimensional shape measuring apparatus, a coordinate measuring apparatus that acquires a locus thereof, and information processing. Device 40 is included. The copying apparatus 20 includes two guide rollers 211 that contact the side surface of one rail head, and two target rollers that contact the side surface of the rail head on a perpendicular bisector connecting the guide rollers 211. 222, a first distance sensor 230 that measures the distance between the target rollers 222, and a second distance sensor 240 that measures the distance to the top surfaces of the two rail heads. The three-dimensional shape measuring apparatus 30 includes an attitude information measuring device 301 and a reference device 302 that measure a cross gradient angle. The information processing device 40 calculates the building limit based on these measured values.
[Selection] Figure 3

Description

  The present invention relates to an apparatus and a method for measuring a building limit in a railway, and more particularly to a technique for calculating a railway building limit by simply and accurately measuring a rail gap or a cant of a track.

  Conventionally, an area called a building limit has been set around a railroad track (a track including two rails), and no buildings or structures or the like should be provided within the building limit. . Similarly, an area called a vehicle limit is also set, and a vehicle traveling on the track is designed not to exceed the vehicle limit. Then, by providing a certain margin between the building limit and the vehicle limit, it is considered that the vehicle traveling on the track does not interfere with the building or the structure.

  FIG. 1 is a diagram illustrating an example of a building limit. In the straight part of the track, the center of the left and right rails, that is, a region having a certain width from the middle point between the rails is set as a building limit. In the curved portion, a building limit is set by adding a certain expansion width W to the outside of the building limit in the straight portion. In a curved portion having a cant (difference in height between the left and right rails), a building limit is provided by correcting the building limit in the curved portion according to the cant. The hatched portion in FIG. 1 represents an expansion range of the building limit due to a curve or an inclination. The gradient obtained from the gauge and the cant is referred to as a transverse gradient.

FIG. 2 is a diagram illustrating an example of a method for calculating the enlargement width W in the curved portion. In the curved portion of the track, the protruding width of the vehicle is increased by a center deviation amount W1 in the central portion of the vehicle and an end deviation amount W2 in the front and rear portions of the vehicle, compared to the straight portion. The size of the protrusion width depends on the radius R of the curved portion. Therefore, the enlargement width W is calculated in the field by a calculation formula such as Formula (1).
W (mm) = 23100 / R (m) (1)

  That is, the building limit in the curved portion can be obtained based on the building limit in the straight portion and the radius R of the curved portion. Moreover, the building limit in the curve part with a cant can be calculated | required according to the building limit in a curve part, and a cant. Since the radius R and the cant are determined by design values, if the track is laid as designed, there is no interference between the vehicle and the building.

  However, there may be a difference between the shape of the rail and the design value due to errors in the laying work and the influence of the operation of the vehicle after laying and the surrounding work. Therefore, for example, the actual rail shape is measured by, for example, regular inspections, the building limit is calculated based on the measured value, and interference between surrounding buildings and structures and vehicles does not occur. It is necessary to verify.

  In this respect, Patent Document 1 discloses a reference position detecting means for detecting a three-dimensional position of a pedestal, a tilt angle detecting means for detecting a cant, and a distance between the rails, on a pedestal that can travel on a rail with three wheels. A measuring device provided with a gauge detecting means is described.

JP 2004-061278 A

  In the apparatus described in Patent Document 1, a rail inscribed member that is linked to a wheel traveling on a rail is provided, and the gauge is measured by detecting the amount of movement of the rail inscribed member. In general, in order to ensure the followability of the gantry with respect to the rails, it is necessary to provide playability by, for example, providing a wheel with a taper. However, if the wheels are made to have mobility in the apparatus described in Patent Document 1, the measurement accuracy between the gauges is lowered, and an accurate construction limit cannot be obtained. This is because the rail inscribed member that is a measurement reference between the rails is interlocked with the wheel. On the other hand, if it is going to raise the measurement precision between gauges, the followability of a mount frame with respect to a rail will be sacrificed. This causes problems such as a reduction in work efficiency, that is, an increase in work time.

  The present invention has been made to solve such a problem, and a railway building limit measuring apparatus capable of calculating a railway building limit by simply and accurately measuring a rail gauge or a cant of a rail, and the like. An object is to provide a measurement method.

  The apparatus for measuring a building limit in a railway according to claim 1 is a carriage traveling on a track composed of two rails, a copying apparatus rotatably and slidably attached to the carriage, and attached to the copying apparatus. A measurement of a building limit in a railway, including a three-dimensional shape measuring device, a coordinate measuring device that obtains a trajectory by continuously and discretely measuring coordinates of the three-dimensional shape measuring device, and an information processing device The copying apparatus includes a guide arm having two guide rollers in contact with a side surface of one rail head and a vertical bisector connecting a line segment connecting the guide rollers. A target arm having a target roller in contact with the side surface of the rail head and a target roller in contact with the side surface of the other rail head, and measurement according to the distance between the target rollers And a second distance sensor for measuring the distance from the copying device to the top surfaces of the two rail heads, respectively, and the three-dimensional shape measuring device An attitude information measuring instrument that measures a transverse gradient angle of the copying apparatus, and a reference device that is a measurement target of the coordinates by the coordinate measuring apparatus, the information processing apparatus comprising: the first distance sensor; The construction limit is calculated based on at least one of the measurement values acquired from the distance sensor, the posture information measuring instrument, and the coordinate measuring device.

  The apparatus for measuring a building limit in a railway according to claim 2, wherein the information processing device calculates a gauge between the rails based on a measurement value of the first distance sensor, and the two rail heads between the gauges. The cant of the track is calculated based on the distance to the upper surface of the section and the cross slope angle, the curve radius of the track is calculated based on the trajectory, and the building limit is calculated based on the cant and the curve radius. .

  The apparatus for measuring a building limit in a railway according to claim 3, wherein the information processing apparatus extracts a plurality of reference points having a predetermined interval from the plurality of coordinates included in the trajectory, and sequentially selects the reference points. The curve radius is calculated based on the direction displacement angle θ between the connected line segments.

  The apparatus for measuring a building limit in a railway according to claim 4, wherein a first spring for pressing the guide roller against a side surface of the rail head and a target roller for pressing the target roller against a side surface of the rail head. A second spring.

  6. The apparatus for measuring a building limit in a railway according to claim 5, wherein the copying apparatus includes an orthogonal frame that integrally slides the target arm and the guide arm, and a movable that integrally rotates the target arm and the guide arm. A frame, and a base frame in which the movable frame and the base are rotatably connected by pins and casters, the orthogonal frame and the movable frame are slidably connected by a slider, and the target arm and the A guide arm is integrally slidably and rotatably engaged.

The apparatus for measuring a building limit in a railway according to claim 6, wherein the three-dimensional shape measuring device includes a 3D measuring device that measures a distance to a surrounding object, and the information processing device is configured to measure the distance to the surrounding object. A comparison result between the distance and the building limit is output.
The apparatus for measuring a building limit in a railway according to any one of claims 1 to 5.

According to a seventh aspect of the present invention, the information processing device calculates a street or a height based on the trajectory.
The apparatus for measuring a building limit in a railway according to claim 1.

  A method for measuring a building limit in a railway according to claim 8, wherein a guide arm having two guide rollers in contact with a side surface of one rail head on a carriage capable of traveling on a track composed of two rails; A target arm having a target roller that contacts a side surface of one of the rail heads on a vertical bisector connecting a line connecting the guide rollers, and a target roller that contacts a side surface of the other rail head; A first distance sensor that outputs a measurement value corresponding to a distance between the target rollers; and a second distance sensor that measures a distance from the copying apparatus to the top surfaces of the two rail heads. A copying apparatus is rotatably and slidably mounted, and travels on the track. A posture information measuring instrument included in a three-dimensional shape measuring apparatus mounted on the copying apparatus includes the track. A step of measuring a transverse gradient angle of the carriage or the copying apparatus with respect to the carriage, and a coordinate measuring device continuously and discretely measuring the coordinates of a reference device included in the three-dimensional shape measuring device to obtain a trajectory And the information processing apparatus determines a building limit based on at least one of the measurement values acquired from the first distance sensor, the second sensor, the posture information measuring instrument, and the coordinate measuring apparatus. Calculating.

  INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a railway building limit measuring apparatus and measuring method capable of calculating the railway building limit by simply and accurately measuring the rail spacing, the cant, the curve radius, and the like.

It is a figure which shows an example of a construction limit. It is a figure which shows an example of the calculation method of a building limit. 2 is a schematic plan view showing the configuration of the measuring device 1. FIG. 2 is a perspective view showing a configuration of a copying apparatus 20. FIG. FIG. 3 is a perspective view showing configurations of a base frame 200 and side arms 210. 3 is a schematic cross-sectional view showing a configuration of a target arm 220. FIG. 1 is a schematic cross-sectional view showing a configuration of a measuring device 1. FIG. It is a figure for demonstrating the calculation method of the radius R of a curved part. It is a figure for demonstrating the calculation method of the radius R of a curved part. It is a figure for demonstrating a track evaluation index. It is a figure for demonstrating the calculation method of an orbital evaluation parameter | index. It is rail sectional drawing for demonstrating a rail head.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. In the present embodiment, a measurement system 1 as a building limit measuring system in a railway includes a measuring device 1 as a building limit measuring equipment in a railway and a coordinate measuring device 2. Moreover, in this Embodiment, the building limit measuring method in a railway is demonstrated as an operation | movement procedure of the measuring system 1 or the measuring apparatus 1. FIG.

  The configuration of the measuring apparatus 1 according to the embodiment of the present invention will be described with reference to FIGS. 3 to 6. As shown in the schematic plan view of FIG. 3, the measuring device 1 includes a carriage 10, a copying device 20, a three-dimensional shape measuring device 30 (attitude information measuring device 301, 3D measuring device 303), and an information processing device 40.

  The carriage 10 has a gantry 101 and a plurality of wheels 102, and can travel on the track by these wheels. For example, as shown in FIG. 3, the cart 10 may be a general-purpose trolley having four wheels 102 (102a, 102b, 102c, 102d). The number of wheels 102 is not limited as long as it is a sufficient number for traveling on the track. The wheel 102 has a taper (inclination) on the surface in contact with the rail, and the contact point moves in accordance with the rail distortion or the variation between the gauges, thereby improving the followability of the carriage 10 to the track. Preferably it is. The copying apparatus 20 has a structure that can be attached to and detached from the carriage 10. As a result, the copying apparatus 20 can be easily transported and installed on the track while having the traveling performance of the carriage 10, and the manufacturing cost of the entire apparatus can be reduced.

<Mechanism of copying apparatus 20>
FIG. 4 is a perspective view showing the overall structure of the copying apparatus 20. The copying apparatus 20 includes three components: a base frame 200, a guide arm 210, and a target arm 220.

  FIG. 5 is a perspective view in which only the base frame 200 and the guide arm 210 are extracted from the copying apparatus 20.

  The guide arm 210 holds two guide rollers 211 (211a, 211b) having an axis parallel to the vertical arm 212 (212a, 212b) at a constant interval, and the two guide rollers 211 are simultaneously the same from the side. A device for contacting the rail. The guide arm 210 includes a vertical arm 212 for holding the two guide rollers 211 in accordance with the height of the side surface 502 (see FIG. 12) of the rail head, and two guide rollers 211, that is, two vertical arms 212. A horizontal arm 213 for connecting and holding at constant intervals and a horizontal arm 213 that is orthogonal to the horizontal arm 213 in a plane, and an orthogonal frame 214 for sliding the horizontal arm 213 relative to the base frame 200 in the orthogonal direction are provided. The orthogonal frame 214 includes a slider 203 for sliding with respect to the base frame 200. The distance between the two guide rollers 211 can be, for example, about the width of the base 101 of the carriage 10. The horizontal arm 213, the vertical arm 212, and the orthogonal frame 214 are all preferably framed for securing stability and strength and reducing the weight, but the present invention is not limited to this, and any The shape can be adopted.

  The base frame 200 is a device for connecting the guide arm 210 and the gantry 101 of the carriage 10 so as to be rotatable and slidable. The base frame 200 has a movable frame 201 and a base 208. The guide arm 210 can slide on the slide rail 206 of the movable frame 201 by the slider 203 of the orthogonal frame 214, and the movable frame 201 includes a pin 202 and a caster 205 that are rotatably connected to the base 208. If the guide arm 210 can slide on the movable frame, the positions of the slider 203 and the slide rail 206 are not limited to this, and a design change that can obtain this function is included in the present invention.

  The base 208 is temporarily fixed to the gantry 101 with a clamp or the like, and the copying apparatus 20 including the base 208 has a structure that can be attached to and detached from the gantry 101. The base 208 has a surface on which the caster 205 can move around the pin 202. The base 208 may be made of a material with little deformation even with the weight of the copying apparatus 20 excluding the base 208, and may be configured in a frame shape.

  Pin 202 is mounted perpendicular to the surface of base 208. A bearing that receives a pin 202 is attached to the movable frame 201. A bearing or the like is preferably used for the bearing so as to reduce friction around the shaft. A caster 205 is attached to the movable frame 201. The caster 205 supports the movable frame 201 by being placed on the base 208. The caster 205 is movable in a tangential direction of a concentric circle around the pin 202. Alternatively, the caster 205 may be movable in any direction, such as a ball roller. As a result, the movable frame 201 is connected and supported on the base 208 so as to be rotatable about the pin 202. The pin 202 is fixed to the base 208. However, the present invention is not limited to this. For example, the pin 202 is fixed to the movable frame 201 and the bearing is attached to the base 208. Modifications are included in the present invention.

  A first spring 207 is attached between the movable frame 201 and the orthogonal frame 214. The guide arm 210 including the orthogonal frame 214 is pressed against the rail by the force of the first spring 207 and is in contact with the rail by the two guide rollers 211. Because the guide arm 210 is attached to the base 208 so as to be rotatable and slidable by the movable frame 201 and the orthogonal frame 214, the two guide rollers 211 are connected to the first spring 207 regardless of the movement of the carriage 10. It is possible to always touch the rail with force. Also, with this configuration, the orthogonal frame 214 is always maintained at a right angle in a plane with respect to the tangential direction of the rail. The slide rail 206 has a movable range in which the two guide rollers 211 can always contact the rail.

  A target arm 220 is attached to the orthogonal frame 214. That is, the guide arm 210 and the target arm 220 are fixed. The target arm 220 holds two target rollers 222 (222a, 222b) having an axis parallel to the vertical arm 224 (224a, 224b) at a constant interval, and the two target rollers 222 are simultaneously opposed to the rail head. It is an apparatus for making it contact with the inner surface of a part (refer FIG. 12). The target arm 220 includes a vertical arm 224 for holding the two target rollers 222 according to the height of the side surface 502 of the rail head portion, and a horizontal arm 225 for holding and holding the two vertical arms 224 at regular intervals. Is provided. Note that the target roller 222 may be one that does not have a ball roller or a sled-like rotation shaft as long as it smoothly contacts the rail head, and is not limited to this.

  The two target rollers 222 are held at a position corresponding to a perpendicular bisector of a line segment connecting the two guide rollers 211 in order to measure the gap between the tracks. As shown in FIG. 6, the pair of target rollers 222 is attached to the pair of vertical arms 224 by a pair of sliders 227 (227a, 227b) and slide rails 226 (226a, 226b). For this reason, each of the target rollers 222 slides relative to the vertical arm 224 in a direction parallel to the vertical bisector.

  Second springs 223 (223a and 223b) are attached between the two vertical arms 224 and the two target rollers 222, respectively. As a result, the two target rollers 222 are pressed against the side surface 502 of the rail head by the force of the second spring 223. Since the target roller 222 is slidably attached to the vertical arm 224 by the slider 227 and the slide rail 226, the two target rollers 222 are always driven by the force of the second spring 223 even when the gauge changes. It is possible to contact the side surface 502 of the rail head. The slide rail 226 has a movable range that allows the two target rollers 222 to always contact the side surface 502 of the rail head.

<Measurement between gauges>
A first distance sensor 230 (230a, 230b) is attached to each of the pair of vertical arms 224. The first distance sensor 230 always measures the distance to a predetermined position of the target roller 222 for the measurement of the gauge distance. Assuming that the distance between the first distance sensors 230 is D (fixed value) and the output distance of the first distance sensor 230, that is, the measured values are D ₁ and D ₂ , the gauge D ₅ is obtained by Expression (2).
D ₅ = D− (D ₁ + D ₂ ) (2)

  The information processing device 40 executes the calculation process between the gauges. The information processing apparatus 40 is a computer that includes a central processing unit (CPU), a storage device, an input / output interface, and the like, reads out and executes programs stored in the CPU storage device, and realizes various functions. In addition to the two first distance sensors 230, the information processing apparatus 40 arbitrarily selects measurement values output from second distance sensors 240 (240 a and 240 b), the three-dimensional shape measuring apparatus 30, and the coordinate measuring apparatus 2 described later. Then, a predetermined process including calculation of a gauge is executed according to the program using these measured values. Note that the information processing apparatus 40 may be installed on the carriage 10 or the copying apparatus 20, or may be installed at an arbitrary place away from the carriage 10 or the copying apparatus 20. In this case, the information processing apparatus 40 transmits the measurement values output from the first distance sensor 230, the second distance sensor 240, the three-dimensional shape measurement apparatus 30, and the coordinate measurement apparatus 2 via an arbitrary wired or wireless communication unit. Receive.

<Kant measurement>
As shown in FIG. 7, a three-dimensional shape measuring apparatus 30 is installed in the copying apparatus 20. Typically, the three-dimensional shape measuring apparatus 30 is fixed within the frame of the orthogonal frame 214 having a frame structure. The three-dimensional shape measuring apparatus 30 includes a posture information measuring device 301 in order to obtain posture information necessary for measuring the rail shape. The posture information measuring device 301 is, for example, a gyro sensor or an inclinometer. Since the three-dimensional shape measuring device 30 is interlocked with the guide arm 210 including the orthogonal frame 214 while the carriage 10 is traveling, the posture information measuring device 301 of the three-dimensional shape measuring device 30 is always in the rail tangential direction in plan view. Has a rolling shaft. If attention is paid to the rolling angle of the posture information measuring instrument 301 at this time, this is nothing but the transverse gradient angle Φ ₂ of the gantry 101 in the cross section of the rail.

  In FIG. 7, for convenience of explanation, the target roller 222 and the like are schematically shown at positions away from the rail. However, the actual target roller 222 is disposed so as to be inscribed in the rail as shown in FIG.

As shown in FIG. 6, a pair of second distance sensors 240 are attached to the target arm 220. The second distance sensor 240 is, for example, a laser distance meter. Each of the second distance sensors 240 always measures the distance to the upper surface 501 of the rail head. At this time, since the second distance sensor 240 slides in the same direction as the target roller 222, the distance to the upper surface 501 of the rail head can always be measured at a position keeping a certain distance from the inside of the rail head. If the output distance of the second distance sensor 240a, that is, the measured value is D ₃ , the measured value of the second distance sensor 240a is D ₄ , and the distance between the gauges is D ₅ , the cant C can be calculated by Equation (3). Also, the cant calculation process is executed by the information processing apparatus 40. Note that Φ _{1 in} FIG. 7 indicates the crossing gradient of the track, and does not necessarily match the crossing gradient angle Φ ₂ of the gantry 101 obtained by the attitude information measuring device 301.
C = D ₅ × sin (Φ ₂ ) + D ₃ −D ₄ ... (3)

<Calculation of curve radius and building limit>
The three-dimensional shape measuring apparatus 30 includes a reference device 302 in order to obtain the line shape. The reference device 302 is, for example, a target prism or a satellite positioning antenna. While the carriage 10 is traveling, the three-dimensional shape measuring apparatus 30 is interlocked with the guide arm 210 including the orthogonal frame 214, so that the reference device 302 follows a track following the line shape.

  The trajectory of the reference device 302 can be acquired by the coordinate measuring device 2. The coordinate measuring device 2 is a three-dimensional coordinate measuring device (for example, a total station) with an automatic tracking function, and the coordinates of the reference device 302 when the measuring device 1 is moved are continuously and discretely, that is, for example, at regular time intervals or constant. Get every distance. Alternatively, the coordinate measuring device 2 may be a satellite positioning device. The satellite positioning device continuously and discretely measures the coordinates of the reference device 302 when the measuring device 1 moves by receiving and analyzing positioning signals transmitted from a plurality of satellites. Examples of such a satellite positioning device (GNSS: Global Navigation System) include GPS (Global Positioning System), GLONASS (Global Navigation System System), Galileo, QZSS (SQ-SZ, etc.). Note that the relationship between the coordinate measuring device 2 and the reference device 302 only needs to correspond to each other. For example, if the coordinate measuring device 2 is a total station, the reference device 302 is a target prism, and if the coordinate measuring device 2 is a satellite positioning device, the reference device 302 is a satellite positioning antenna.

The curve radius calculation process and the building limit calculation process using the curve radius will be described with reference to FIGS. 8 and 9.
Step 1: The information processing apparatus 40 newly generates a reference point based on the acquired trajectory data. A reference point is a sequence of points that are extracted from trajectory data and that are continuous over a certain span longer than the measurement interval. As the span, a value close to the length of the vehicle (20 m or the like) can be typically used. That is, a reference point is obtained by extracting a plurality of arbitrary points from the trajectory data at regular spans (20 m, etc.). In FIG. 8, reference points are indicated by white dots, and locus data is indicated by black dots.

Step 2: The information processing apparatus 40 assumes a line segment L connecting the reference points P. As shown in FIG. 8, in this embodiment, a line segment connecting reference points P _n−1 and P _n is defined as L _n (n is a natural number). That is, the line segment connecting the reference points P ₀ and P ₁ is L ₁ , the line segment connecting P ₁ and P ₂ is L ₂ ,..., The line segment connecting P ₅ and P ₆ is L ₆ .

Step 3: The information processing apparatus 40 sequentially calculates the direction displacement angle θ. The direction displacement angle θ is an angle formed by the adjacent line segment L. As shown in FIG. 8, in the present embodiment, the angle formed by line segments L _n and L _{n + 1} is θ _n (n is a natural number). That is, the angle formed by the line segments L ₁ and L ₂ is θ ₁ , the angle formed by L ₂ and L ₃ is θ ₂ ,..., And the angle formed by L ₅ and L ₆ is θ ₅ .

Step 4: The information processing apparatus 40 sequentially compares θ _n and the threshold value. If θ _n ≦ threshold, the linearity of the section before and after θ _n , that is, the section from P _{n −1} to P _{n + 1} is regarded as a straight line. On the other hand, if the threshold value <theta _n, linear sections of theta _n the previous section, i.e. from P _n to P _{n + 1} is regarded as a curve (single curve or relaxation curve). For example, in FIG. 8, if θ ₁ and θ ₂ are less than or equal to the threshold value, the section from P ₀ to P ₃ is regarded as a straight line. Also, assuming that θ ₃ , θ ₄ , and θ ₅ all exceed the threshold value, the section from P ₃ to P ₆ is regarded as a curve.

Moreover, when the curve part continues, the information processing apparatus 40 can determine whether the continuous curve part is a single curve or a relaxation curve. This determination can be performed by the following determination formula (4).
θ _n = θ _n-1 → single curve θ _n <θ _n-1 or θ _n > θ _n-1 → relaxation curve (4)
Here, in the information processing apparatus 40, the difference between θ _n and θ _n−1 is equal to or less than a predetermined threshold value (hereinafter referred to as “second threshold value” in order to distinguish it from the threshold value in Step 4). If there is, it can be determined that θ _n = θ _n−1 .

Further, the information processing apparatus 40 performs a process of calculating the curve radius R for the section regarded as a curve here. The calculation method of the curve radius R of the curved portion will be specifically described with reference to FIG. It is assumed that reference points are acquired in the order of A, B, and C, and that a portion between BCs is determined as a curved portion. Further, it is assumed that the direction displacement angle between the section BC and the preceding section AB is θ. At this time, assuming that the center O exists on the perpendicular bisector of the line segment BC, the curve radius R of the curve part BC can be calculated by the following equation (5).
R = L2 / 2sin (θ / 2) (5)

Step 5: The information processing apparatus 40 sets subdivided reference points in the section regarded as a curve in Step 4 and the section immediately before it. For example, in FIG. 8, assuming that the section from P ₃ to P ₆ is determined to be a curved portion, the information processing apparatus 40 sets a subdivision reference point in the section from P ₂ to P ₆ . The subdivision reference point is a new reference point set with a shorter span than when the reference point is set in step 1. For example, if reference points are set at intervals of 20 m in step 1, subdivided reference points are set at intervals of 1 m in step 5.

Subsequently, the information processing apparatus 40 sequentially assumes a line segment that connects between one subdivision reference point and another subdivision reference point 20 m away from the subdivision reference point. Here, 20 m is merely an example, and this can be replaced by the span used in setting the reference point in Step 1. In the example of FIG. 8, a line segment L ₃₁ is set between a subdivision reference point P ₂₁ that is 1 m away from P ₂ to P ₃ and a subdivision reference point P ₃₁ that is 1 m away from P ₃ to P _4. Assume first. Similarly, line segments L ₃₂ and P ₂₂ between a subdivision reference point P ₂₂ that is 1 m away from P ₂₁ to P ₃ side and a subdivision reference point P ₃₂ that is 1 m away from P ₃₁ to P ₄ side. A segment L ₃₃ ,... Is sequentially assumed between a subdivision reference point P ₂₃ that is 1 m away from P ₃ and a subdivision reference point P ₃₃ that is 1 m away from P ₃₂ to P ₄ .

Next, the information processing apparatus 40 sequentially calculates the direction displacement angle θ formed by these line segments as in step 3. In the example of FIG. 8, θ formed by L ₃₁ and L ₃₂ , θ formed by L ₃₂ and L ₃₃ are sequentially calculated. Similarly to step 4, θ and the threshold are sequentially compared to determine the linearity of each section. In the example of FIG. _8, a section between the _{P 21} and _{P 31,} the interval between the _{P 22} and _{P 32,} the linear section between the _{P 23} and _{P 33} are sequentially determined.
Here, when the curve portions are continuous, the information processing apparatus 40 can determine whether the continuous curve portions are a single curve or a relaxation curve using Expression (4). In addition, the information processing apparatus 40 can perform a process of calculating the radius R of the curved portion using Expression (5).

  By the processing in step 5, the information processing apparatus 40 can accurately specify the inflection point, that is, the boundary point between the straight line and the curve. In addition, when the curved portions are continuous, the boundary between the single curve and the relaxation curve can be specified accurately. Note that the process of step 5 is not an essential element of the present invention, and may be omitted as appropriate according to the required accuracy. When the process of step 5 is executed, the determination process of whether it is a single curve or a relaxation curve and the calculation process of the radius R in step 4 may be omitted.

Through the processing from Step 1 to Step 5, the information processing apparatus 40 was able to identify the linearity of each section of the track and the radius R of the curved portion. Therefore, the information processing apparatus 40 can calculate the building limit of each section according to the following procedure.
Straight line part: The information processing apparatus 40 calculates a region having a certain width on the left and right as the construction limit with the trajectory data as the center. Here, the information processing apparatus 40 can hold a certain width in advance.
Curved portion: The information processing apparatus 40 calculates a building limit by adding a certain enlarged width W to the outside of the building limit in the straight portion. The enlargement width W can be calculated by a known technique such as Equation (1) using the radius R of the curved portion calculated in Step 4 or Step 5.
Curved portion with cant: The building limit is calculated by correcting the building limit in the curved portion according to the cant. Since this correction method is known, a detailed description thereof is omitted here.

<Comparison between surrounding measurement objects and building limits>
The three-dimensional shape measuring apparatus 30 includes a 3D measuring device 303 that measures a distance to a surrounding measurement object (for example, a building or a structure). The 3D measuring device 303 is, for example, a laser cross section measuring device. The 3D measuring instrument 303 continuously measures the shape of the surrounding measurement object by rotating the laser distance meter at regular time intervals. Since the three-dimensional shape measuring device 30 is interlocked with the guide arm 210 including the orthogonal frame 214 while the carriage 10 is traveling, the 3D measuring device 303 always performs a laser in a plane that is perpendicular to the rail tangential direction when seen in a plan view. , And the shortest distance between the track and the surrounding measurement object can be acquired.

  The information processing apparatus 40 acquires a measurement result of a surrounding measurement object (for example, a building or a structure) by the 3D measuring device 303. The measurement result is, for example, distance data to a surrounding measurement object that exists in a plane orthogonal to the rail tangent at a specific position on the track. Moreover, the information processing apparatus 40 acquires the calculation result of the building limit in the said position on a track. Then, the information processing apparatus 40 compares the distance data with the calculation result of the building limit, and determines whether or not the surrounding measurement object exceeds the building limit. The information processing apparatus 40 stores the determination result as necessary or outputs it to the outside by an arbitrary method.

<Calculation of orbit evaluation index>
The information processing apparatus 40 can also calculate a trajectory evaluation index such as a gauge, a level, a street, and a height. The track evaluation index is an inspection item of the track, and is an index for evaluating whether or not the track is laid as designed. These trajectory evaluation indices will be described with reference to FIGS. 10 and 11. As shown in FIG. 10, the gauge space is the distance between two rails. The level refers to the difference in height between the two rails. Height refers to a vertical shift of the upper surface of the rail head. A street refers to a deviation in a direction perpendicular to the traveling direction at a specific portion of the side surface of the rail head.

Of these, the gauge can be directly calculated by the gauge calculation process described above. The level can also be calculated by the above-described cant calculation process. In addition to these, the information processing apparatus 40 can calculate the height and the like as follows according to the following procedure.
Calculation of the street: As shown in FIG. 11, the information processing apparatus 40 connects two reference points on the XY coordinate plane (horizontal plane), that is, draws the string, and the distance between the vertical bisector of the string and the trajectory data Is calculated. This distance is output as “street”. Alternatively, the street may be compared with a predetermined reference value, and if the street is greater than or equal to the reference value, that fact may be output.
Calculation of height: As shown in FIG. 11, the information processing apparatus 40 connects the two reference points on a plane (vertical plane) including two reference points and parallel to the Z axis, that is, draws a string, The distance between the vertical bisector and the trajectory data is calculated. This distance is output as “high and low”. Alternatively, the height may be compared with a predetermined reference value, and if the height is greater than or equal to the reference value, that fact may be output.

  Conventionally, the values of street and high / low are obtained by stretching a yarn between two points on the rail and measuring the distance between the middle point of the yarn and the rail with a ruler or the like. While this work requires a lot of time and effort, there is a limit to the accuracy because it must be relied upon for visual inspection. However, according to the present embodiment, it is possible to easily and accurately calculate the above-described trajectory evaluation index by installing the measuring apparatus 1 on the rail and running it.

  According to the present embodiment, the measuring apparatus 1 includes the carriage 10 with improved followability to the track, and the copying apparatus 20 placed so as to be rotatable and slidable with respect to the carriage 10. Since the cart 10 of the measuring device 1 can move on the track more smoothly than the conventional measuring device, the time required for the track measurement work can be shortened. On the other hand, since the copying apparatus 20 moves independently of the carriage 10 and accurately traces the shape of the rail, it is possible to calculate an accurate gauge, cant, alignment, and building limit. Thereby, it becomes possible to carry out the measurement work of the building limit easily and accurately.

  The copying apparatus 20 is not limited to a metal as long as the copying apparatus 20 can be detached from the carriage 10. Since various measurements are performed, it is desirable that the structure and material have high rigidity and little deformation.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be implemented in various modes by making appropriate changes. For example, the types, number, arrangement, etc. of the various sensors, measuring instruments, sliders, slide rails, springs, etc. shown in the above-described embodiments are merely examples, and other technical significance equivalent to these components It is possible to adopt the following configuration.

DESCRIPTION OF SYMBOLS 1 Measuring apparatus 10 Cart 101 Base 102 (102a, 102b, 102c, 102d) Wheel 20 Copy apparatus 200 Base frame 201 Movable frame 202 Pin 203 Slider 205 Caster 206 Slide rail 207 First spring 208 Base 210 Guide arm 211 (211a, 211b) Guide roller 212 (212a, 212b) Vertical arm 213 Horizontal arm 214 Orthogonal frame 220 Target arm 222 (222a, 222b) Target roller 223 (223a, 223b) Second spring 224 (224a, 224b) Vertical arm 225 Horizontal arm 226 (226a, 226b) Slide rail 227 (227a, 227b) Slider 230 (230a, 230b) First distance sensor 2 40 (240a, 240b) Second distance sensor 30 Three-dimensional shape measuring device 301 Attitude information measuring device (gyro, inclinometer)
302 Reference device (target prism, satellite positioning antenna)
303 3D measuring instrument 40 Information processing device 2 Coordinate measuring device (total station, satellite positioning device)
50 Rail 501 Top surface of rail head 502 Side surface of rail head

Claims (8)

A carriage that runs on a track composed of two rails;
A copying apparatus attached to the carriage so as to be rotatable and slidable;
A three-dimensional shape measuring apparatus attached to the copying apparatus;
A coordinate measuring device that acquires a trajectory by continuously and discretely measuring the coordinates of the three-dimensional shape measuring device;
An apparatus for measuring a building limit in a railway including an information processing device,
The copying apparatus is
A guide arm having two guide rollers in contact with the side surface of one rail head;
A target arm having a target roller in contact with a side surface of one of the rail heads and a target roller in contact with a side surface of the other rail head on a vertical bisector of a line segment connecting the guide rollers;
A first distance sensor that outputs a measurement value according to a distance between the target rollers;
A second distance sensor for measuring a distance from the copying apparatus to the upper surfaces of the two rail heads,
The three-dimensional shape measuring apparatus is
An attitude information measuring instrument for measuring a transverse gradient angle of the copying apparatus with respect to the track;
A reference device that is a measurement target of the coordinates by the coordinate measuring device,
The information processing apparatus includes:
The building limit is calculated based on at least one of the measurement values acquired from the first distance sensor, the second distance sensor, the posture information measuring instrument, and the coordinate measuring device. measuring device. The information processing apparatus includes:
Based on the measured value of the first distance sensor, calculate the gauge of the line,
Based on the distance between the rails, the distance to the top surface of the two rail heads and the transverse gradient angle, the cant of the line is calculated,
Calculate the curve radius of the track based on the trajectory,
The apparatus for measuring a building limit in a railway according to claim 1, wherein a building limit is calculated based on the cant and the curve radius. The information processing apparatus includes:
Extracting a plurality of reference points having a predetermined interval from the plurality of coordinates included in the locus,
The apparatus for measuring a building limit in a railway according to claim 2, wherein the curve radius is calculated based on a direction displacement angle θ between line segments formed by sequentially connecting the reference points. A first spring for pressing the guide roller against a side surface of the rail head;
The construction limit measuring device according to claim 1, further comprising: a second spring for pressing the target roller against a side surface of the rail head. The copying apparatus includes: an orthogonal frame that integrally slides the target arm and the guide arm; a movable frame that integrally rotates the target arm and the guide arm; and the movable frame and base that are rotatable by pins and casters. A base frame connected to
The orthogonal frame and the movable frame are slidably connected with a slider,
The construction limit measuring device according to any one of claims 1 to 4, wherein the target arm and the guide arm are integrally slidably and rotatably engaged. The three-dimensional shape measuring apparatus includes a 3D measuring device that measures a distance to a surrounding object,
The said information processing apparatus outputs the comparison result of the distance to the said surrounding object, and the said building limit, The measuring device of the building limit in the railway in any one of Claims 1 thru | or 5. The apparatus for measuring a building limit in a railway according to claim 1, wherein the information processing apparatus calculates a street or a height based on the trajectory. On a vertical bisector that connects a guide arm having two guide rollers in contact with the side surface of one rail head and a guide arm that can run on a track composed of two rails, and the guide roller. And a target arm having a target roller in contact with the side surface of one of the rail heads, a target roller in contact with the side surface of the other rail head, and a measurement value corresponding to the distance between the target rollers is output. A copying apparatus including a first distance sensor and a second distance sensor that respectively measures a distance from the copying apparatus to the upper surfaces of the two rail heads is rotatably and slidably mounted on the track. A step of running
An attitude information measuring instrument included in a three-dimensional shape measuring apparatus attached to the copying apparatus measures a transverse gradient angle of the carriage or the copying apparatus with respect to the track; and
A coordinate measuring device acquires a trajectory by continuously and discretely measuring the coordinates of a reference device included in the three-dimensional shape measuring device; and
The information processing device calculates a building limit based on at least one of the measurement values acquired from the first distance sensor, the second sensor, the posture information measuring device, and the coordinate measuring device. And a method for measuring the building limits in railways.

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