JPH0642948A - System and apparatus for measurement of disorder of track - Google Patents

Abstract

PURPOSE:To measure a disorder amount for a rail in the same manner as a three-point simultaneous measurement by a method wherein data obtained by performing a two- point simultaneous measurement two times are compared and an angle change amount for a reference line is detected and corrected by a gyro. CONSTITUTION:Two displacement sensors 5-1, 5-2 are installed on a testing vehicle at an interval of a distance of L/2, and a vehicle body is used as reference lines B1, B2. Arbitray points, on a rail, corresponding to the individual displacement sensors are designated as measuring points (p), (r), a point (q) is decided, and a straight line (p) (q) is made to correspond to the length L of a measuring chord G. First, displacement amounts a0, b0 for the points (p), (r) with reference to the reference line B1 are measured simultaneously by both sensors 5-1, 5-2. Then, when the testing vehicle travels a distance of L/2, displacement amounts a1, b1 for the points (r), (q) with reference to the reference line B2 are measured simultaneously by both sensors 5-1, 5-2. On the other hand, a change angle DELTAtheta for the reference lines B1, B2 due to the turn of the vehicle body is detected by a gyro. A disorder amount is a displacement amount DELTAS for the point (r) with reference to the measuring chord G, and can be computed and found using the equation shown.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for measuring an amount of deviation generated on a rail of a track and a measuring device therefor.

[0002]

2. Description of the Related Art Two rails forming a track are laid at a constant reference interval with a straight line, a curved line, or an appropriate slope according to the terrain. If, for some reason, either rail or both rails are displaced vertically or horizontally with respect to the reference position and a so-called track deviation occurs, it may cause a serious accident in train operation. Measures are taken in a timely manner by means of a vehicle to find defective points and necessary measures are taken. The vertical displacement of the rail is called up and down, and the left and right displacement is called up and down.

FIG. 4 illustrates the deviation of the rail and the conventional measuring method. (A) shows the displacement state of the rail 1. When the rail 1 is a vertical surface, it shows the height deviation, and when it is a horizontal plane. Represents passing. Here, when the measurement points p and q forming an appropriate distance L of the rail 1 are taken and the measurement strings G are applied to both points, the midpoint of the measurement string G and the corresponding point r of the rail 1 are measured. The length Δs of and is defined as the deviation amount. However, since the rail has an arc with a predetermined radius of curvature near the beginning and end of the curve and the slope, Δs above does not immediately show the deviation, but the correct deviation by subtracting the displacement (straight arrow) due to the arc. Is required. In order to obtain the above deviation amount Δs, an appropriate reference line is set, and three points p,
It is necessary to measure the amount of displacement of q and r. Figure 4
(b) shows a conventional measuring method for high and low deviations, and the triaxial traveling wheels 2-1, 2-2, 2-3 provided on the track inspection vehicle 2 at intervals of 1/2 of the measurement string length L. Are used to correspond to the three measurement points q, p, and r of the rail 1 on both sides. Install the height detection mechanism (not shown) to the axle box of each wheel, the Kensokusha body as a reference line B, the height z _p of the running wheel which changes with respect to the reference line B according to the running, z _q, z _r measured at the same time, the following equation: Δz = z _r - height deviation amount Delta] z is the _{(z p + z q) /} 2 ......... (6) is determined. In the above, three points p, q, each for r height z _p, z _q, although the measurement of z _r is done simultaneously, if when measuring these at different times, such as rotation of the body during As a result, the angle of the reference line B changes, which requires simultaneous measurement of three points by the above-mentioned three traveling wheels. As for the deviation amount, although not shown in the figure, three sets of measurement wheels are provided to detect the lateral displacement of the rail by contacting the rail, and the deviation amount Δy (y is the rail direction) from the displacement amount at three points as described above. x is defined as a direction perpendicular to x). However, if the speed of the inspection car is high, the measuring wheels will interfere with running. Therefore, the Shinkansen inspection car uses an optical displacement measuring device, and three sets of them are attached to the bogie to make three-point measurements against wandering. Has been done.

[0004]

As described above, in the conventional inspection vehicle, in order to measure the height of the rail and the amount of deviation of the rail, there are three running wheels with an interval of L / 2 and three running wheels.
Both sets of trolleys are needed. On the other hand, since the Shinkansen commercial vehicles are of the two-car type, the conventional inspection vehicle is manufactured as the three-car type by special specifications. But,
In order to support higher speed operation of commercial trains in the future, inspection vehicles will also need to run at the same high speed, but we cannot expect special specifications for inspection vehicles in the future. It is required to measure the deviation of the track by the vehicle. FIG. 5 (a) shows the arrangement of the bogie of the two-bogie type track inspection vehicle 2, and the interval between the two bogies 3-1 and 3-2 is L / 2,
The passing displacement sensors 4-1 and 4-2 are attached to these, and the displacement sensors for height are attached to the axle boxes of the traveling wheels 2-1 and 2-2. With the above two displacement sensors,
Various methods for measuring the amount of rail deviation with respect to the measurement chord length L have been studied in the same way as the three-point simultaneous measurement, but as one method, the two-point simultaneous measurement includes two points of p and r and two points of r and q. It is conceivable that the deviation amounts for the three points p, q, and r are calculated by separately performing the above, and synthesizing the obtained four displacement data. In this case, as described above, as shown in FIG. 5 (b), the reference line B ₁ changes in angle to B ₂ between the two measurements,
Or, since it moves in parallel, it is necessary to detect and correct the amount of change by some means. An optical gyro with an optical fiber, which has been recently advanced, can be used to detect the amount of change in the angle. The present invention has been made in view of the above, and the displacement data obtained by performing the two-point simultaneous measurement twice is combined, and the reference line B is obtained by the gyro.
It is an object of the present invention to provide a method and an apparatus for measuring the amount of change in angle of the rail and correcting it, and also correcting the amount of parallel movement at the same time, and measuring the height of the rail and the amount of deviation as in the case of simultaneous measurement at three points.

[0005]

SUMMARY OF THE INVENTION The present invention is a trajectory deviation measuring method and measuring apparatus which achieve the above object. The measuring method is the distance L between the two bogies of the track inspection vehicle or the axle box.
Two displacement sensors that are provided at intervals of / 2 and continuously detect displacement signals for rail height displacement or horizontal displacement with respect to the body of the inspection vehicle, and rotation of the traveling wheels of the inspection vehicle. A distance pulse generator that outputs a distance pulse for each fixed traveling distance and a gyro that detects the inclination angle of the vehicle body due to pitching or yawing constitute a trajectory deviation measurement system. Let p and q be arbitrary measurement points on the rail corresponding to the measurement chord length L, and the midpoint thereof be measurement point r. Displacement data sampled by the distance pulse and simultaneously detected by the two displacement sensors at the measurement points p and r forming the distance L / 2 are defined as a ₀ and b _0, and the distance L / 2 of the inspection vehicle is set.
The displacement data detected at the same time with respect to the measurement points r and q by the traveling of are defined as a ₁ and b ₁ . Further, assuming that the vehicle body inclination angles θ at the measurement points p and r and the measurement points r and q are θ ₀ and θ ₁ , respectively, the following equations: Δs = (b ₀ −a ₀ ) / 2 + (a _1- b ₁ ) cos Δθ / 2-Lsin Δθ / 4 (1) Δθ = θ ₁ -θ ₀ (2) The measurement point r for the measurement string length L between the measurement points p and q
The amount of deviation .DELTA.s is calculated.

Next, the measuring device is provided on two carriages or axle boxes of the track inspection vehicle at an interval of distance L / 2, and with respect to rail height or lateral displacement with respect to the body of the inspection vehicle. Two displacement sensors that continuously detect displacement signals, and an integer m of distance L / 2 by rotation of traveling wheels of the inspection vehicle
A distance pulse generator that outputs a distance pulse i for each traveling distance of one-half and a gyro that detects a tilt angle of the vehicle body due to pitching or yawing are provided. A first shift register of m stages that sequentially inputs and outputs displacement data a _i , b _i detected by simultaneously sampling displacement signals continuously output by two displacement sensors with a distance pulse i. And a second shift register and an m-third shift register that sequentially inputs and outputs the vehicle body inclination angle data θ _i at the time of sampling the distance pulse i. The displacement data (a _in , b _in ), which each shift register outputs, for the distance pulse i _n , i (m + n), [
a _i (m + n), b _i (m + n)], and tilt angle data [θ _in , θ
_i (m + n)] and input the following equations: Δs _in = (b _in −a _in ) / 2 + [a _i (m + n) −b _i (m + n)] cos Δθ _in / 2 -Lsin Δθ _in / 4 (3) Δθ _in = θ _i (m + n) -θ _in (4) 0 ≦ n ≦ m (5) It is configured by providing a data processing unit for sequentially calculating and outputting the height of the rail or the deviation amount Δs _in of the rail.

[0007]

In the above measuring method, the displacement data a ₀ and b ₀ simultaneously detected by the two displacement sensors with respect to the measuring points p and r forming the distance L / 2 by the distance pulse,
Displacement data a ₁ and b ₁ simultaneously detected with respect to the measurement points r and q by the distance L / 2 of the inspection vehicle, and the measurement points p and r and the measurement points r and q detected by the gyro. Based on the vehicle body inclination angles θ ₀ and θ ₁ , the following equation: Δs = (b ₀ −a ₀ ) / 2 + (a ₁ −b ₁ ) cos Δθ / 2 −Lsin Δθ / 4 (1) Δθ = θ ₁ From -θ ₀ (2), the amount Δs of deviation or deviation of the measurement point r with respect to the measurement chord length L between the arbitrary measurement points p and q can be obtained.

Next, in the above measuring apparatus, the distance deviation generator is similar to the trajectory deviation measuring system in the above measuring method, but the distance pulse generator is an integer m / m of the distance interval L / 2 of the two displacement sensors, That is, the distance pulse i is output for each traveling distance of L / (2 m). The displacement signals continuously output by the two displacement sensors are simultaneously sampled by the distance pulse i to detect displacement data a _i and b _i, which are sequentially input to the first and second shift registers. Is output. Further, the vehicle body inclination angle data θ _i at the time of sampling the distance pulse i is sequentially input to and output from the third shift register. Distance pulse i
_n, i (m + _n) registers against outputs displacement data _{(a in, b in),} [a i (m + n), b i (m + n)], and the inclination angle data [theta _in , θ _i (m + n)] is input to the data processing unit,
Each of the following formulas: Δs _in = (b _in −a _in ) / 2 + [a _i (m + n) −b _i (m + n)] cos Δθ _in / 2 −L sin Δθ _in / 4 (3) Δθ _in = θ _i (m + n) −θ _in (4) The rail height or deviation Δs _in with respect to the center point of the measured chord length L is sequentially calculated and output. Here, n is represented by 0 ≦ n ≦ m (5) and is for generalizing the calculation formula. By taking a value of 0 to m according to the distance pulse i, each deviation amount Δ
s _{i0 to} Δs _im are sequentially output. As described above, the deviation amount Δs is continuously measured for each distance pulse i as the inspection vehicle travels.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The measurement principle of the trajectory deviation measurement method of the present invention will be described with reference to FIG. In the figure, two displacement sensors 5-
1, 5-2 are provided on the inspection vehicle as the distance L / 2.
Let B be the reference line of the vehicle body. Let p and r be arbitrary points on the rail 1 corresponding to each displacement sensor, and take a point q to make pq correspond to the length L of the measurement string G. The radius of curvature of the rail is the chord length L
Since it is much larger, the distance between pr and rq is considered to be L / 2. First, the displacement amounts a ₀ and b ₀ of the points p and r with respect to the reference line B ₁ are simultaneously measured by both sensors. Then, when the inspection vehicle travels the distance L / 2, both sensors measure the displacement amounts a ₁ and b ₁ of the points r and q with respect to the reference line B ₂ at the same time. On the other hand, it is assumed that the angle between the reference lines B ₁ and B ₂ is detected by the gyro and changes by the angle Δθ due to rotation of the vehicle body. Each displacement amount a, b has a plus sign on the upper side and a minus sign on the lower side with respect to the reference line B for each, and the inclination angle Δθ also has a positive or negative sign. On the other hand, the deviation amount to be obtained is the displacement amount Δs of the point r with respect to the midpoint t of the measurement string G, and if the displacement amount ε of the point q with respect to the reference line B ₁ is obtained, the equation for the above-mentioned simultaneous measurement of three points is obtained.
According to (6), the deviation amount Δs can be calculated by the following equation: Δs = b ₀ − (a ₀ + ε) / 2 (7). When analyzing the detailed diagram of FIG. 1 to obtain this ε, paying attention to the signs of a and b, it is easy to find that ε = (b ₀ −a ₁ cos Δθ) + L sin Δθ / 2 + b ₁ cos Δθ (8) Be led to. When ε is put in the equation (7) and rearranged, the above equation (1), Δs = (b ₀ −a ₀ ) / 2 + (a ₁ −b ₁ ) cos Δθ / 2 −Lsin Δθ / 4 ... (1) is obtained. available. Here, when the expression (1) is verified, when the reference line B is not inclined and Δθ = 0, Δs = (a ₁ −a ₀ + b ₀ −b ₁ ) / 2 ... (9) Becomes Equation (9) is for two measurements b ₀ and a ₁ for the point r.
Means that there is a difference between and, and the reference line B indicates that the angle is not changed but the translation is performed. If there is no translation, then b ₀ = a ₁ and equation (9) becomes Δs = b ₀ − (a ₀ + b ₁ ) / 2 (10) and essentially becomes equation (6). Match. This gives the formula
It is understood that (1) corrects not only the angle change of the reference line B but also the parallel movement. In the above, if the rail 1 in FIG. 1 is viewed as a vertical plane, Δs is out of order,
Also, if it is on a horizontal plane, it will be wrong.

FIG. 2 is a block diagram of an embodiment of the track deviation measuring device according to the present invention, in which the two trucks of the track inspection vehicle are spaced by a distance L / 2, and two displacements thereof are provided. Sensors 5-1 and 5-2 are provided. Both displacement sensors detect either the height of the rail or the lateral displacement of the rail and output displacement signals a and b, respectively. However, in reality, it is necessary to provide separate displacement sensors for high and low and for left and right. Next, a distance pulse generator (KPG) 62 that outputs a distance pulse i for each traveling distance of L / (2 m), and an optical gyro that detects the inclination angle θ of the vehicle body reference line B due to pitching or yawing ( O
GY) 61. There are various types of optical gyros, but the best one is a ring laser gyro, for example, which has an angular resolution of about 5 / 10,000 and is sufficiently usable. Next, the data processing unit 6 includes m stages of first, second and third shift registers (hereinafter simply referred to as registers) 641, 642, 643 as four main components, four adder circuits (ADD) 661, 662, 663, 664, sin and cos circuits.
67, 68 and four multiplication circuits 691, 692, 693, 694, etc. are connected and configured as shown. FIG. 3 is a supplementary explanatory diagram of the measurement method for FIG.

A method of measuring the deviation amount of the rail will be described with reference to FIGS. 2 and 3. The inclination angle θ detected by the OGY61 is described.
And the displacement signals a and b from both displacement sensors 5-1 and 5-2 are
Each is digitized by the A / D converter 63 and sampled by the distance pulse i. The sampled inclination angle data θ _i and displacement data a _i , b _i are respectively input to the first, second and third registers 641, 642, 643 and sequentially shifted by the distance pulse i. The interval of the distance pulse i is the distance L / (2m), and since each register has m stages, the sampling data for the distance L / 2 is sequentially stored and shifted, and is sequentially output to the output terminal. The sign of the tilt angle data θ _i from the first register 641 is inverted by the phase inverting circuit 65, and the tilt angle data θ _i delayed by m distance pulses from this are added by the ADD 661 to output the angle change amount Δθ _i. To be done. Δθ _i is sin
Input to the circuit 67 and the cos circuit 68 to obtain sin Δθ _i and cos
Δθ _i is calculated. The multiplication circuit 691 multiplies sin Δθ _i by L / 4, and the sign is inverted (−Ls
The data of inΔθ _i / 4) is input to the ADD664. Displacement data a _i , b from the second and third registers 642,643
_i is the data of (b _i −a _i ) / 2 from the multiplication circuit 692 and the data of (a _im −b _im ) cos Δθ _i / 2 from the multiplication circuit 694 through the inverting circuit 65 and ADD 662,663, respectively. It is output and input to ADD664, and the above (-L
sinΔθ _1/4) it is data with the addition of deviation amount Delta] s _i
Is output. In the above, as shown in FIG. 3, any point p _n, the distance pulses for the first (a) and i _n for _{r n (0 ≦ n ≦ m} ), after the distance pulses (b) i (m + n), the output data of the ADD 664 corresponding to them is given by the general formula: Δs _in = (b _in −a _in ) / 2 + [a _i (m + n) −b _i (m + n)] cos Δθ _in / 2-Lsin Δθ _in / 4 (3) Δθ _in = θ _i (m + n) -θ _in (4) From the above, the height of the rail or the amount of deviation Δ of the rail for each distance pulse i as the track inspection vehicle travels
s is measured continuously.

[0012]

As described above, in the trajectory deviation measuring method according to the present invention, two displacement sensors having a distance L / 2 can be used to perform two simultaneous two-point measurements.
The displacement data of each piece is combined, the amount of change in the angle of the reference line B is corrected, and the height of the rail with respect to the measurement chord length L or the deviation amount of the rail is calculated in the same manner as the three-point simultaneous measurement method. Applying this two-point simultaneous measurement method to the track inspection vehicle,
The height of the rail or the amount of deviation of the rail is continuously measured for each distance pulse in accordance with the running, and there is a great contribution to the two-track type track inspection vehicle in the Shinkansen or the like.

[Brief description of drawings]

FIG. 1 is an explanatory diagram for a measurement principle of a trajectory deviation measurement method of the present invention.

FIG. 2 is a block diagram showing an embodiment of a trajectory deviation measuring device of the present invention.

FIG. 3 is a supplementary explanatory diagram for FIG. 2.

FIG. 4A is a diagram showing a displacement state of the rail 1, and FIG. 4B is an explanatory diagram of a conventional measurement method for height deviation.

FIG. 5 (a) is a diagram showing an arrangement of a bogie of a two-bogie type track inspection vehicle, and FIG. 5 (b) is an explanatory view of a change in an angle of a reference line of the vehicle body and a parallel movement.

[Explanation of symbols]

1 ... Rail, 2 ... Orbit inspection car, 2-1, 2-2, 2-3 ... Traveling wheel, 3-1, 3-2 ... Bogie, 4--1, 4-2, 5-1-5- 2 ... Displacement sensor, 6 ... Data processing unit, 61 ... Optical gyro (O
GY), 62 ... Distance pulse generator (KPG), 63 ... A / D
Converter, 64 ... m stage shift register, 641 ... first shift register, 642 ... second shift register, 643 ... third shift register, 65 ... phase inversion circuit, 66 ... addition circuit (AD
D), 67 ... sin circuit, 68 ... cos circuit, 69 ... multiplier circuit, p, q, r ... measurement point, L ... measured chord length, B ... reference line,
θ: Angle of reference line.

Front Page Continuation (72) Inventor Toshihiro Kimura 2-6-2 Otemachi, Chiyoda-ku, Tokyo Inside Ritsuden Electronic Engineering Co., Ltd. (72) Zendan Ueno 2-6-2 Otemachi, Chiyoda-ku, Tokyo Nitrate Electronics Engineering Co., Ltd. (72) Inventor Masayuki Ito 2-6-2 Otemachi, Chiyoda-ku, Tokyo

Claims (2)

[Claims] 1. A railcar or an axle box of a track inspection vehicle, which is provided at a distance of L / 2, and which continuously shifts the rail height or left and right with respect to the body of the track inspection vehicle. Two displacement sensors for detecting the distance, a distance pulse generator for outputting a distance pulse for each constant traveling distance by rotation of traveling wheels of the inspection vehicle, and a gyro for detecting an inclination angle of the vehicle body by pitching or yawing. And constitute a trajectory deviation measurement system, where p and q are arbitrary measurement points on the rail corresponding to the measurement chord length L, and the midpoint thereof is the measurement point r, and the distance pulse is sampled to obtain the distance L / 2. The displacement data detected by the two displacement sensors at the same time with respect to the measurement points p and r are a ₀ and b ₀ , and the traveling distance of the inspection vehicle is L / 2. Displacement data detected at the same time and a _1, b _1, said detected by the gyro, surveying a fixed point p, r, and the measurement point r, the q, respectively theta ₀ the inclination angle theta of the vehicle body, each of the following formula as θ _1: Δs = ( b ₀ −a ₀ ) / 2 + (a ₁ −b ₁ ) cos Δθ / 2 −Lsin Δθ / 4 ………… (1) Δθ = θ ₁ −θ ₀ ………… (2) gives the difference between the measurement points p and q. The orbital deviation measurement method, which is characterized by obtaining the height or deviation amount Δs of the measurement point r with respect to the measurement chord length L. 2. A displacement signal for height displacement or lateral displacement of a rail, which is provided on two bogies or axle boxes of a track inspection vehicle with a distance of L / 2 and which is based on the vehicle body of the track inspection vehicle. Two displacement sensors that continuously detect the distance, and a distance pulse generator that outputs a distance pulse i for each traveling distance of an integer m / m of the distance L / 2 by rotation of traveling wheels of the inspection vehicle, And a gyro for detecting an inclination angle of the vehicle body by pitching or yawing, and displacement data a _i detected by simultaneously sampling displacement signals output from the two displacement sensors with the distance pulse _i.
And b _i are sequentially input and output, respectively, and the m-stage first and second shift registers and the vehicle body inclination angle data θ _i at each sampling time of the distance pulse _i are sequentially input. And a third shift register of m stages for outputting the distance pulses i _n and i (m + n)
With respect to the displacement data (a _in , b _in ), [a _i (m + n), b _i (m + n)], and the inclination angle data [θ _in , θ _i (m + n)] and input the following equations: Δs _in = (b _in −a _in ) / 2 + [a _i (m + n) −b _i (m + n)] cos Δθ _in / 2 − Lsin Δθ _in / 4 (3) Δθ _in = θ _i (m + n) −θ _in (4) 0 ≦ n ≦ m (5) The central point of the measured chord length L The track deviation measuring device is characterized in that it is provided with a data processing unit for sequentially calculating and outputting the height of the rail or the deviation amount Δs _in of the rail.