JPH03225209A - Track inspection instrument - Google Patents

Abstract

PURPOSE:To surely photograph only a necessary target to be inspected from a traveling vehicle and to inspect a track based upon the photographed image by mutually compar ing output signals obtained from a track structure detecting means and a track informa tion output means by a comparing means. CONSTITUTION:The output signals obtained from a track structure detecting means 1 and a track information output means 2 are mutually compared by a comparing means 3 and the image of the structure is photographed by an image pickup means 4 based upon the compared result. It is necessary to approximately fix the relation of respective positions of three objects, i.e. a specific structure on the track detected by the means 1, a known structure on the track whose information relating to its existence is outputted by the means 2 and a target to be inspected on the track which is photographed by the means 4, and the same object may be used for the three objects. Even if many targets to be inspected exist on the track at random, the images of the targets can be surely photographed when the targets have fixed positional relation with the specific structure and known structure on the track. In addition, defects on the photographing of the targets to be inspected based upon the output of only the means 1 can be compensated based upon the output of the means 2.

Description

[Detailed description of the invention] 1! Field of Application) The present invention relates to a track inspection device for inspecting a track laid on the ground from within the running track 1r111i.More specifically, the present invention relates to a track inspection device for inspecting a track laid on the ground from within the running track 1r111i. The present invention relates to a track inspection device that takes images of inspected cargo based on detection results regarding its presence.

(Conventional technology) Railway tracks are generally used under harsh conditions, so...
There is a lack of track management to maintain the safe running of both trains, and it is necessary to monitor all structures on the tracks. Conventional track inspections are carried out without humans actually walking on the tracks [1] using visual or measuring instruments, with the exception of some examples such as track deviation inspections such as rail gauge, level, height, flatness, etc. This was done by using etc.

[Invention or problem to be solved]

However, with conventional measurement methods such as those listed below.

The present invention has been made in view of these points, and it requires a great deal of effort and time to walk along the track F. It is an object of the present invention to provide a trajectory inspection device that can reliably photograph only the images that are captured and inspect the trajectory based on the captured images.

(First stage for solving the problem) The track inspection device of the present invention is as shown in FIG. With step 1.

(b) a track information car F stage 2 that outputs information regarding the arrangement of known structures 12tel on the orbit; and (C) an output signal obtained by the track structure detection means and the track information car F stage. and (d) an imaging means 4 that captures the image on the orbit based on the comparison result of the output signals from the first comparison stage.

[Effect]

In the present invention as described in L, a specific structure on the orbit is detected by the orbit structure detecting means 1, and the detection result is output as a detection signal, and at the same time, the orbit information output stage 1 2 detects a specific structure on the orbit. information regarding the arrangement of the track structures is output as a prediction signal. Then, the output signals obtained by these two [stages 711] are compared by the comparator stage 3, and, for example, the product of the output signals is calculated. ), based on the results, the existence of the object to be inspected on the trajectory F is confirmed, and its image is photographed by the imaging means 4 (C). Particular structures on the track detected by the 7th track structure detection stage, known structures on track 1f11- whose existence is output by the track information output [- stage, and the track photographed by the photographing means] The object to be inspected needs to have a nearly constant positional relationship between the three, and may be the same object.For example, information regarding the specific structure to be detected and its existence is given. Both the known structure and the known structure may be set as rail joint gaps, and the inspected object to be photographed may also be a rail joint [1 gap]. It is possible to photograph a rail joint plate or the like located in a substantially constant direction and at a substantially constant distance near the joint ILa of such a rail as an inspection object.

Therefore, even if there are a large number of randomly inspected objects on the 41L road and a vehicle equipped with a track inspection device is traveling at high speed, the objects to be inspected, specific structures on the track, and known As long as the object is in a certain positional relationship with the structure, it is not only possible to take images of the object to be inspected without error, but also to eliminate the drawbacks of taking images of the object to be inspected based on the output of only the seven stages of track structure detection. , it can be supplemented based on the output of the trajectory information output means. Both images of the photographed object to be inspected are passed through an image processing device either on the spot or after being brought home to dynamically determine the quality of the object to be inspected, or one person can view the image. The pass/fail judgment may be made by

〔Example〕

Hereinafter, with reference to the IA side regarding the embodiments of the present invention,
A detailed explanation will be provided.

The present embodiment relates to a track inspection device that inspects a gap between rail joints 11M, and is a device that automatically takes images of the gap between the joints from a running vehicle.

No. 214 is a diagram showing the configuration of this embodiment, and shows a schematic configuration in a cross section taken in a direction perpendicular to the extending direction of the rail. Further, FIG. 3 is a plan view clearly showing the arrangement of the t section of the configuration shown in No. 21XI. In this embodiment, the entire device is mounted on the F section or side of the running vehicle 20, and the track structure detection means is a laser detector 5.6.
．． This laser detector uses laser light to detect specific structures on the rail.
:1 and outputs the result as a seam detection signal, with the laser transmitter 5.

It consists of a laser light receiving section 6 and a seam detection section 7 that outputs a seam detection signal. The orbit information output means 2 outputs orbit data, A
Using the position of the TS ground girder, the number of rotations of the wheels, etc., the moment when the vehicle passes through the joint between the steps and the rails is identified using the imaging installed on the vehicle, and a predetermined joint position prediction signal is output. Comparison method 3
is to operate the TV left camera and the annular strobe 9 corresponding to the II image means based on the signal output from the trajectory information output means 2 and the joint detection section 7.
The image memory 10 records image information of the seam gap, which is the object to be inspected, photographed by the TV camera 8.

Here, as shown in FIG. 2, the TV camera 8 is inserted into the center opening of the annular strobe 9, and the laser transmitting section 5 and the laser receiving section 6 are located on opposite sides thereof. will be placed in With this arrangement, the entire device having the following functions can be constructed in a very compact form. By using the annular strobe 9, the photographing area on the trajectory +fi is illuminated almost uniformly, and by arranging the TV camera 8 between the centers [1 part], this uniformly illuminated photographing area can be It is possible to take pictures from the true direction. - the direction of the optical axis of the laser beam emitted from the laser transmitter 5 and the direction of the optical axis of the laser beam incident on the laser receiver 6 are the second l7Ic.
Since there is a regular reflection relationship with respect to the rail surface such that ;r<, it is possible to efficiently receive reflected light from the rail. Furthermore, the laser beam irradiated onto the rail by the laser light transmitting unit 5 is located approximately at the center of the area of the rail photographed by the TV camera.
If the time taken for the rail image to be photographed by the TV camera 8 is shorter by 1 to 1 minute, the image will be taken at the center of the screen regardless of the speed of the small angle of travel. Therefore, even if the joint 11 is enlarged to 1 minute and photographed, it will not come off the inner surface, and the image processing can be used to calculate the distance of the melon with just the right amount. Furthermore, since the image of the J114 frame is always taken at the center of the screen from the vertical direction, the subsequent image processing process can be made faster and the time required for processing one image can be shortened.

Further, the annular strobe 9 is located at the third point when the rail is viewed from the -L side.
As shown in the plane 1m of 1m, there is an electrode 9b which is a non-light emitting part of the annular light emitting part 9a, and at true F, the illumination is slightly dark.

There are two possible positions for the electrode 9b: one is located perpendicular to the rail extension direction, and the other is located along the direction of the rail extension force. In the case of this embodiment, since the former is adopted, the non-uniformity of illumination becomes symmetrical with respect to the interval 11M, and the error factor is small.

Not shown in FIG. 2 are a TV camera 8, an annular strobe 9. The laser transmitting section 5 and the laser receiving section 6''3 are configured to remove dust,
It is housed in a housing 7 for protection from water droplets and the like. In this case, the emission and incidence of the laser beam and the photographing of the gap image of the seam are performed through a transparent window. Furthermore, there is a risk that the light from the strobe or the window may reflect off the light and enter the TV camera, causing ghosts to appear in the image. In order to prevent this, the TV camera 4 is placed sufficiently close to this window, and the aperture of the TV camera is narrowed down as much as possible.

The thickness of the window is minimized and arranged so that the strobe light reflected by the window does not directly enter the TV camera 8.

The operation of the track inspection device shown in FIG. 2 will be explained below.

First, to explain the detection of the joint (2), which is a specific structure on the track Jr. The light is received by the device. As shown in detail in Figure tfS4, which shows the rail viewed from above, if the laser beam 12 is irradiated onto the rail 11 in a slit shape, the detection accuracy can be increased.
I can get it. When the vehicle crosses the transit point 13, the reflected light from the rail is temporarily interrupted, and the intensity of the reflected light received by the photodetector of the laser receiver 6 temporarily decreases. The seam 13 is detected by detecting this temporary low F of the light-receiving senior using the seam detection section 7. In this way, the response speed of the four stages 5, 6, and 7 of track structure detection using a laser is very fast, and the
1, the detection result is immediately output as a seam detection signal. Therefore, if the gap to be inspected is photographed according to the output of the seam detection section 7, the seam gap can always be photographed at approximately the rotation position on the image, regardless of the traveling speed within iI. .

However, if there is rust or dirt on the rail, or if the rail is inside a train or passes a turnout, the track structure detection means, i.e., the laser detector 5,6°7, may mistakenly detect a joint. In this embodiment, in order to compensate for the shortcomings of such a means for detecting orbital structures, that is, laser detection "JA5, 6.7, it will be explained in detail below. Orbit information output means 2 is used.

The location of the rail joint [1] is known as track data, as will be explained below. Therefore, if it is known whether the vehicle is equipped with the track inspection device of the present invention and what point on the route the vehicle is traveling on, it can be determined whether the vehicle is passing through a seam or not. If this measurement has an accuracy of 1 minute, it is possible to take an image of the 11th interval without the laser detection described in JA5, 6.7. Detection accuracy is set at 1 m, and considering that the imaging range must be limited to about 24 CI
There is a possibility that the image in between may come off the screen of the TV camera 8. For this reason, this track information output means 2 and the track structure detection means are used together to exclude false detections by the track structure detection means 5, 6.7 that use lasers, etc., and to ensure that the two joint gap images are displayed on the screen. You can try to keep it within yourself.

The spacing between rail joints [1] is usually 25 m °C, and if the location of joints [1] has been identified, track structure detection means, that is, laser detectors 5.6.7. By excluding most of the false positives, it is possible to take a continuous image with a minimum of errors even if there are random errors.

Specifically, this trajectory information output means includes a vehicle point detection section that measures the current position of the vehicle while it is running.

Ill [1 position output section that outputs the f device of the joint [1] recorded by the conductor meso, etc., and the time when the TV camera passes through the joint 11 based on these results r'ix
It consists of an artr position IJ111 part that outputs a seam position and a predicted signal based on the measurement results.

11 (Both point detection units are known to those skilled in the art.

That is, the vehicle point detection unit detects ATS ramps placed at appropriate distance intervals (for example, 1 km) on the rails of the railway network, and detects when a heavy vehicle passes through the ATS ramp placement point. It consists of a device and a counter that counts the number of rotations of the wheels. The device for detecting the ATS ground uses a memory or the like to identify the child on the ATS ground with a predetermined coat, and
The next step is to determine the time at which the vehicle passes through one point (there will be as many ATS locations as there are children). On the other hand, the counter counts the number of rotations of the wheel from the time of 1st passage, and A
Gives the distance from the fixed point where A is located on the TS ground to the current position.

Furthermore, by correcting the deviation between the vehicle position and the position of the TV camera, the vehicle location detection section can determine the current position of the TV camera with an accuracy of several tens of C-.

The JIF1 position output unit 1 uses, for example, a memory device, to accurately store the joint positions of the railway network. Note that the joint positions are the ATSj! described in L above. ! ” - can also be given as a relative position with the child.

The joint 11 position f-measuring section determines the time when the TV camera passes any given joint position based on the outputs of the vehicle point detection section and the joint 11 position output section. Here, the time at which the first point (Go) is output is ensured within this time, taking into account the measurement accuracy of the first and second point detection units.
This is the range that passes through the V-camera joint 11. For example, if we adjust the time width of the joint position f measurement signal that is output around the predicted time by taking into consideration the vehicle speed, etc., it is possible to adjust the time width of the joint position f measurement signal that is output around the predicted time. Become.

FIG. 5 is a diagram for explaining the operation of the comparing means.

Connection 11 (☆
The position fJIll signal, the signal (b) or the signal (b) is the signal obtained by the track structure detection unit 7 [detector number 1, the signal (c) is the image signal obtained by multiplying these by the comparison means 3, and each 0 row is the signal when the vehicle is running. It shows the change over time. A prediction signal (a
) is a rough measurement of the position of [1] as described above.

- Force joint 1] Is the detection signal (b) detecting the position of joint 11 with sufficient accuracy?As shown in the middle of 1@, is there a branch base in a position where there is no joint 1-1 position prediction signal? etc., may cause false positives. The imaging signal (c) is outputted from the comparison means 3 only when these signals are also obtained at the same time, and the TV camera 8. Annular straw; input to 189. Correspondingly, a still image of the object to be inspected is dynamically photographed and recorded in the image memory IO. The point where the 11th step image was taken can be identified by comparing the measurement results by the double point detection section of the trajectory information output means 2 with the known 11th point information.

In this embodiment, in order to obtain a static image, a strobe light source that instantaneously illuminates the rail based on the detection signal of the relay 11 is used as an annular illumination means. A circular light source is used as a light source that illuminates systematically,
A still image may be obtained by using a TV camera with a high-speed shutter and inputting the detection signal in step 11 to the high-speed shutter TV camera. In order to obtain an image, the shutter speed of the TV camera must be sufficiently short for both travel speeds.

By passing the image of the seam gap recorded in the image memory 6 on the spot or after taking it home and passing it through an image processing device, it is possible to automatically measure the gap 1 (1), and one person can view this image. By doing so, it is also possible to make a rough judgment on the placement of the stand.

By the way, when measuring the distance between rail joints, it is necessary to measure the rail temperature at the same time, and if you use a radiation thermometer, you can take images of the mHJM and measure the temperature by touching it. . Such &1 measurement results may be recorded together with the subsequent image.

In the explanation of Section L, the rail joint clearance inspection has been described, but the track inspection device of the present invention is not limited to this, and can also be used for inspection of rail joint plates and inspection of rail fastening devices. I'll come. In addition, although the optical configuration is not limited to detecting a specific structure on orbit, other methods such as ultrasonic waves may be used to detect a specific structure on orbit. Energy beams may also be used.

(Effect of the invention) According to the uninvented track inspection device, the detection signal of a specific structure on the track 1- obtained by the track structure detection means and the known structure of the track obtained by the track information output means Compare the - of the object with the measured signal. Then, according to the comparison results, images of the objects to be inspected on the track are taken, and there are randomly selected objects to be inspected on the track. Even if there are
Images of the object to be inspected can be taken without fail.

MSat uses such a track inspection device on a moving heavy vehicle.

If used for track inspection, many track inspections can be carried out in a short period of time, and track management can be made much more efficient than conventional methods.

[Brief explanation of drawings]

1 is a schematic drawing showing the configuration of the present invention, 214 is a sectional view showing the configuration of an embodiment of the present invention, and 313 is a diagram illustrating the arrangement δ of the TV camera etc. in FIG. 2. FIG. 41A is an explanatory diagram showing the heat radiation from the laser detector which is the means for detecting the structure of the orbit 411, and FIG. 5 is an explanatory diagram of the joint position prediction signal, the seam clearance detection signal, and the imaging signal. (Explanation of symbols of main parts) l...Track structure detection 1st stage 2...
..... Orbit information output means 3 ..... Comparison means 4 ..... Imaging 1st stage 5 ..... Laser transmitting section 6 ... ...... Laser receiving section 7 ... Seam detection section 8 ...... TV camera 9 ...... Annular strobe 10 ... ... Image memory 11 ... Rail 12 ... Laser light 13 ... Connection 11 20 ... Vehicle diagram

Claims (1)

[Scope of Claims] Track structure detection means for detecting a specific structure on the track and outputting the detection result; Track information output means for outputting information regarding the arrangement of known structures on the track; Comparing means for comparing output signals obtained by the orbital structure detection means and the orbital information outputting means; Imaging means for photographing an image on the orbit based on a comparison result of the output signals by the comparing means. A track inspection device comprising: