JPH11101627A - Track inspecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make easily drivable an illumination system, to reduce heat generation, and to make it possible to pick up a clear, good-visibility image by using an LED as the generation source of a flash. SOLUTION: An illumination module 510 is fitted to a vehicle body, and it is constituted of an LED holder 511 extended in the longitudinal direction of a rail 20 and an LED 512 serving as a luminous source. Every time an inspecting/measuring vehicle passes through a rail gap 22, a camera 31 is triggered by a trigger section 430 in response to the detection signal of a laser reception section 42, and the LED 512 is pulse-driven. A flash light is emitted from the LED 512 toward a rail top face and the rail gap 22 to brightly illuminate there. The rail top face is photographed by the camera 31 when it is illuminated. Most of disturbance light is removed by a filter 520, and a clear image is obtained based on the illumination light from the LED 512 and thereby the rail gaps 22 are selected and intermittently photographed via small electric power at ordinary temperature.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a track inspection apparatus for inspecting a track state based on, for example, an image of a play on a rail laid on the ground or underground or accompanying the imaging thereof. TECHNICAL FIELD The present invention relates to an improvement in an illumination system for accurately inspecting a track condition from a traveling inspection vehicle by a track inspection device.

[0002]

2. Description of the Related Art A track inspection device 30 shown schematically in FIG. 17 is a basic device which is mounted on a vehicle body 11 of an inspection vehicle 10 and is used for rails between wheels 12 of the inspection vehicle 10. A camera 31 as an image pickup device attached to the vehicle body 11 toward the rail top surface 21 of the camera 20. Image data taken by the camera 31 is processed and recorded on a video tape or transmitted to the display unit 33 for display. And an image processing unit 32. Then, as the inspection vehicle 10 travels, the rails to be inspected are photographed one after another. However, continuing the photographing with sufficient resolution and accuracy requires a huge amount of data, which hinders storage and retrieval. Because of the coming, intermittent imaging is performed by selecting a rail gap 22 that is particularly important as an inspection target. That is, track structure detecting means for detecting a structure provided on the track is provided, and an image of the rail gap is picked up by the image pickup device at a timing based on the detection result of the track structure detecting means.

[0003] Conventionally, as a track inspection apparatus provided with an imaging device and track structure detecting means, Japanese Patent Laid-Open No. 3-165207 has been disclosed.
JP-A-3-225208 and JP-A-3-225208.
One described in Japanese Patent No. 225209 is known. In each case, means for detecting the rail gap itself is provided as the track structure detecting means. FIG.
8, the track inspection apparatus has a trigger unit 43 installed in the vehicle body 11 together with the image processing unit 32, and a camera 31 is attached to a lower part of the vehicle body 11 toward the rail 20. An illumination strobe 51 is arranged around the strobe 31. Further, on the left and right outer sides of the strobe 51, a laser transmitting section 41 and a laser receiving section 4 as track structure detecting means are provided.
2 is also provided.

These are covered by a protective cover 61 attached to the lower surface of the vehicle body 11. Then, through the transparent window 62, the laser light transmitting unit 41 and the laser light receiving unit 42 detect the rail play 22, and the camera 31 images the rail play 22. Specifically, the laser light transmitting unit 41
When the slit-shaped laser beam 44 is irradiated from the top to the rail top surface 21 and the reflected light is received by the laser receiving unit 42 on the opposite side, and the beam irradiation position comes to the rail gap 22 where the rail top surface 21 is interrupted. The presence of the rail gap 22 is detected based on the interruption of the reflection of the laser beam.
When the rail gap 22 is detected, a trigger for executing the imaging process is sent from the trigger unit 43 to the strobe 51 and the camera 31. In this way, the imaging of the rail gap is performed based on the detection of the rail gap.

[0005] The strobe 51 is a ring-shaped illuminating means for uniform illumination, and has a sufficiently short luminous time and a sufficiently high luminous intensity so as not to lose to sunlight in order to prevent blurring. ing. In other words, a strong flash is emitted during the imaging of the rail gap to illuminate the rail gap. Further, invisible light is used as the laser light emitted from the laser transmitting section 41, and the camera 3
There is also a description that imaging is performed without reducing the amount of illumination in the visible region by mounting an optical filter 52 in front of 1 and cutting laser light.

[0006]

However, in a conventional trajectory inspection apparatus using a strobe as such an illuminating means, the strobe generally emits intense white light as a flash, which covers a wide visible region. In addition to intermittent repetition of intense heat generation nearby, a special power supply circuit for a strobe is required.

More specifically, referring to FIG. 19, which is a schematic diagram of a main part of the illuminating means, the trigger unit 43 for driving the strobe 51 generates a trigger signal of a predetermined pulse based on a detection signal of the laser light receiving unit 42. A power supply different from the signal system and a charge / discharge circuit having a large capacity are provided in order to instantly supply a large current to the strobe 51 at the timing of the generation. Then, during operation, it is necessary that the charging / discharging circuit be sufficiently charged in advance from the power source, and that the charging / discharging circuit be rapidly discharged to the strobe 51 in response to the trigger signal.

[0008] Due to such a special power supply circuit and the like, and strong white light emission, there are inconveniences such as an increase in the cost required for lighting means and an undesirable heat distortion. Therefore, it is necessary to devise an illuminating means so that such a special power supply circuit or the like becomes unnecessary and thermal distortion hardly occurs.

Further, in the illumination by the annular strobe, when a certain point on the rail surface is focused on, the point receives illumination light of various inclinations. For this reason, a considerable percentage of the lighting also hits the rail end face during the rail play,
Halfway shadows are reflected in the image of the rail court,
It is difficult to obtain a clear image of the rail gap. This means
The same applies to the deformation of the chip 24 or the like that may be present on the rail top surface or the like (see FIG. 19), and it is difficult to obtain a clear image of the chip 24 or the like. Therefore, it is also an object to devise an illuminating unit that can easily determine an end face or a defective portion by performing a pattern recognition process by clarifying an image.

The present invention has been made to solve such a problem, and has as its object to realize a track inspection apparatus having an illumination system that is easy to drive and generates less heat.
Another object of the present invention is to realize a trajectory inspection device that takes a clear and highly visible image.

[0011]

Means for Solving the Problems First to fourth solving means invented to solve such problems are as follows.
The configuration and operation and effect will be described below.

[First Solution] A trajectory inspection device according to a first solution (as described in claim 1 at the beginning of the application) is an image pickup device that takes an image of a track structure such as a rail gap, and an image pickup device for taking the image. A trajectory inspecting apparatus comprising: an illuminating unit which emits a flash to illuminate the track structure, wherein a source of the flash is a light emitting diode (and preferably, an optical filter mounted in front of the image pickup device has a transmitted light wavelength range). Is a monochromatic filter corresponding to the emission wavelength of the light emitting diode).

In the trajectory inspection apparatus according to the first solution, an illuminating flash such as a rail gap is emitted by a light emitting diode. The light emitting diode operates at a relatively low voltage and has excellent responsiveness, so that instantaneous driving is possible only by supplying a driving current. Further, since a light emitting diode generally emits light in a single color, even when driven by a small amount of power, at least in its wavelength region, strong illumination comparable to sunlight or the like is possible.

It is to be noted that since imaging can be easily performed only in the wavelength range by using a monochromatic filter or the like, it is not necessary to emit light over the entire wavelength range of visible light. As a result, a small and simple circuit for driving the light emitting element and a simple power supply are sufficient, and the energy consumed by the light emitting element for light emission can be reduced by the narrower wavelength range. Therefore, according to the present invention, it is possible to realize a track inspection device having an illumination system that is easy to drive and generates little heat.

[Second Solution] The trajectory inspection device of the second solution (as described in claim 2 at the beginning of the application) is the trajectory inspection device of the first solution, wherein A plurality (all or at least a part) of light-emitting diodes are arranged linearly (straight or curved) or planar (flat or curved) (in a horizontal or inclined state) It is characterized by being.

In the trajectory inspection apparatus according to the second solution, the trajectory structure is illuminated by a plurality of linearly or planarly arranged light emitting diodes. In addition, at the time of the illumination, each part in the imaging target range on the track structure is mainly illuminated by each light emitting diode arranged opposite to each part, but the light emitting diode is generally formed small. Therefore, even if the imaging target range is linear or planar, it is easy to arrange them densely according to the shape.

Thus, the light-emitting diodes share the entire photographing range of the track structure and illuminate the entire area. Therefore, according to the present invention, it is possible to easily realize uniform and uniform illumination suitable for an arbitrary photographing range in addition to easy driving and low heat generation of the illumination unit.

[Third Solution] The trajectory inspection device of the third solution (as described in claim 3 at the beginning of the application) is the trajectory inspection device of the second solution, wherein The light emitting diode is characterized by emitting a directional beam.

In the trajectory inspection apparatus according to the third solution, as described above, each part in the photographing target range on the track structure is provided with each light emitting element disposed opposite to each part. The light is mainly illuminated by the diode. At that time, since the directional beam is used, the ratio of the light illuminated obliquely by the non-facing light emitting diode is significantly reduced.

As a result, in the annular strobe, reflected light entering the camera from a deformed portion such as an end surface of a rail gap or a crack, which is illuminated halfway, is sufficiently suppressed, and these can be clearly seen. Therefore, according to the present invention, in addition to the fact that the lighting means is easy to drive and generates less heat,
It is possible to realize a trajectory inspection device that takes a clear and highly visible image.

[Fourth Solution] The trajectory inspection device of the fourth solution (as described in claim 4 at the beginning of the application) is the trajectory inspection device of the first to third solutions. And means for causing the driving current of the light emitting diode to include an AC component of a predetermined frequency.

In the trajectory inspection apparatus of the fourth solution, since the driving current of the light emitting diode changes at a predetermined frequency, the light emitting state also changes at a predetermined frequency. The same is true when flashing. This makes it easy to modulate the amount of flash light at a predetermined frequency. In addition, the fact that components such as natural light and laser light having different frequencies are filtered out from the signal obtained by detecting the modulated light and only the corresponding frequency component is extracted can be easily realized using a filter circuit or the like. . Therefore, according to the present invention, it is possible to easily discriminate the illumination light using the electric means.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A mode for carrying out the trajectory inspection apparatus of the present invention achieved by such a solution will be described.

A first embodiment of the present invention is a trajectory inspection apparatus according to the above-mentioned solving means, comprising an imaging device and a trajectory structure detecting means, wherein the imaging of the rail gap by the imaging device is performed by the trajectory structure. In the track inspection device performed based on the detection result of the detection means, the track structure detection means is a seam plate detection means for detecting a seam plate attached to a rail side surface, and the seam plate detection means is Means for transmitting point-like (or linear in the longitudinal direction of the rail) light obliquely from above, means for detecting the position of reflected light in a direction orthogonal to the longitudinal direction of the rail, and Means for detecting and determining the seam plate based on the seam plate.

In the case of such a track inspection device, it is usually used by being mounted on an inspection vehicle, and is used for inspection of a rail condition.
While the inspection vehicle is running, the imaging of the rail gap by the imaging device is performed based on the detection result of the track structure detecting means. For detecting the track structure, the seam plate detecting means attaches the rail structure to the side of the rail. The detected joint plate is detected. Moreover, at this time, a point-like light transmission is performed diagonally upward toward the joint plate, or a light transmission linearly extending in the rail longitudinal direction is performed diagonally upward toward the joint plate. The place where such light hits will be there if there is a seam plate, and will be the side of the rail if there is no seam plate. Thus, in principle, reflected light always exists. Since there should be a seam plate at the rail gap, reflected light is also observed there. Then, the position of such reflected light in the direction orthogonal to the longitudinal direction of the rail is detected, and the detection of the seam plate is determined based on the change in the detected position. At this time, the detection position of the reflected light clearly changes according to the presence or absence of the joint plate. It changes particularly clearly in the direction perpendicular to the rail longitudinal direction. Thus, reliable detection is performed without being affected by the width of the rail play. Further, even if the joint plate is thinner than the top surface of the rail, the light can be surely caught by transmitting light obliquely from above. Further, even if the reflected light is lost due to a vibration state or the presence of a foreign substance, there is no problem if the reflected light is instantaneous or temporary. Since the joint plate is detected based on the detection position of the reflected light which is not lost in the normal state, the temporary loss of the reflected light is regarded as simple noise and is removed or ignored. As a result, the detection accuracy and reliability are improved as compared with the case where the detection method of the rail gap due to the loss of the reflected light is used as it is for the detection of the joint plate. As described above, by using the seam plate detection method based on the change in the position of the reflected light that is always present, reliable detection can be performed when detecting the seam plate instead of detecting the rail play.
Therefore, according to the present invention, it is possible to realize a track inspection apparatus capable of accurately photographing a rail gap from an inspection vehicle with reference to a joint plate.

A second embodiment of the present invention is the trajectory inspection apparatus according to the above-described solving means and the embodiment, wherein a temporary storage means for receiving a plurality of image data of the rail play from the image pickup apparatus and storing a plurality of them. Selecting means for selecting and outputting one of the plurality of image data from the plurality of pieces, wherein the seam board detecting means detects an image of the rail gap after a lapse of a predetermined period after detecting a front edge of the seam board. And means for causing the selection means to perform a selection process based on the detection of the trailing edge of the seam plate. In this case, when imaging the rail gap at a timing based on the detection result of the seam board, the imaging apparatus performs the imaging of the rail gap after a predetermined period has elapsed after the front edge of the seam board has been detected by the seam board detection means. The pieces of imaging data are stored in the temporary storage unit. The predetermined period at this time is determined in advance based on the standard values of the lengths of the various seam plates and the positions of the rail play, and there are a plurality of the predetermined periods. Therefore,
Each of the plurality of image data stored in the temporary storage means should match the image of the rail gap corresponding to one of the several types of joint boards. After that, the trailing edge of the seam board is detected by the seam board detecting means. When the trailing edge is detected, the selection processing by the selecting means is also performed based on this. That is, one image data is selected and output from the plurality of image data stored in the temporary storage means. At this point, since both the leading edge and the trailing edge of the seam plate have already been determined, it is clear which seam plate at that time corresponds to the standard. Further, as a result, it is also clear which of the plurality of imaging data which are candidates for the rail play image corresponds to the joint plate at that time. As a result, the image data of the correct rail play suitable for the current joint board can be reliably selected. In addition, since the length standard of the seam plate is limited to several types, even if a foreign substance such as a stone happens to be present at the position corresponding to the seam plate, since the length is usually different from the seam plate, erroneous detection may be performed. almost none. Therefore, according to the present invention,
Even if the length of the joint plate is not uniform, it is possible to realize a track inspection device capable of accurately photographing a rail gap from an inspection vehicle with reference to the joint plate.

According to a third embodiment of the present invention, there is provided a track inspection apparatus according to the above-described solution and embodiment, which comprises an image pickup apparatus and a track structure detection means, and performs image pickup of a rail gap by the image pickup apparatus. In a track inspection device performed based on a detection result of a track structure detection unit, a temporary storage unit that receives image data of the rail play from the image pickup device and stores a plurality of the image data, and one of the plurality of image data Selecting means for selecting and outputting the track structure, wherein the track structure detecting means is a seam board detecting means for detecting a seam board attached to the side surface of the rail, and the seam board detecting means uses a magnetic field for the detecting unit. Means for performing imaging of the rail play after a lapse of a predetermined period from the detection of the front edge of the seam plate, and the detection of the rear edge of the seam plate Characterized in that it is obtained comprising means for causing the selection process in-option means. In this case, since the configuration is almost the same as that of the second solving means, the same operation and effect can be obtained. However, in particular, by using a magnetic proximity sensor for the detection unit instead of the optical means, Even if a non-magnetic material such as grass or paper waste exists between the seam and the seam plate, detection can be performed without being affected by the non-magnetic material, so that there is no or little erroneous detection due to grass or the like.

According to a fourth embodiment of the present invention, there is provided a track inspection apparatus provided with a track structure detecting means or a track structure state detecting means in which an optical detecting element is disposed obliquely above the track structure. An elastic protective cover that covers the optical path of the detection element and opens toward the track structure (and preferably means for supplying a transparent gas such as air to a space covered by the elastic protective cover). It is characterized by. In this case, the optical path required for the inspection is secured by the elastic protective cover and its opening, but since the protective cover has elasticity, even if it comes into contact with rails or track structures, it is easily deformed. The cover is rarely damaged because it easily returns to its original state. Therefore, it is possible to cover the protective cover up to the immediate vicinity of the side of the rail.
As a result, even if weeds grow in the immediate vicinity of the side of the rail or the like, they are cut down by the protective cover, so that even in such a case, an optical path necessary for the inspection is secured. The same applies to the case where foreign matter such as paper dust or sand is flying near the periphery of the rail. Therefore, according to the present invention, it is possible to realize a trajectory inspection device capable of reliably and flexibly securing a detection optical path.

A fifth embodiment of the present invention is a track inspection apparatus according to the above-described solution and embodiment, wherein the track inspection apparatus includes an imaging device directed to a rail top surface.
A first inclined linear light transmitting means which is provided to be inclined in the longitudinal direction of the rail and transmits linear light exceeding the width of the rail top surface to the rail top surface within an imaging range of the imaging device; A light transmitting portion of the first inclined linear light transmitting means, which is provided at an angle different from the first inclined linear light transmitting means in the longitudinal direction and which is provided on the rail top surface within an imaging range of the imaging device; A second inclined linear light transmitting means for transmitting a linear light exceeding the width of the rail top surface to a different point is provided. In this case, a linear light transmission exceeding the width of the rail top surface with respect to the rail top surface within the imaging range of the imaging device is performed while being inclined in the rail longitudinal direction. Then, in the image, a straight line pattern perpendicular to the rail longitudinal direction appears at the rail top surface, and a substantially straight pattern with a slight curve inclined to the rail longitudinal direction shows the edge of the rail top surface and its outside Appears at the head slope. These patterns change their pattern positions according to the amount of displacement when the rail top surface is displaced in the horizontal direction and when the rail top surface is displaced in the vertical direction according to the nature of the inclined light transmission. In addition, in the case of this device, since the light is transmitted under different conditions by the two first and second inclined linear light transmitting means, the direction in which the pattern position changes differs between the two. Therefore, the relative positions of the two patterns are determined according to the relative displacement between the two light transmitting locations. This makes it possible to include relative displacement information of the rail position corresponding to both light transmission points in the imaging data of the imaging device. Then, if this information is taken out by the next pattern processing or the like, it is possible to detect a vertical displacement or a lateral displacement of the rail. Therefore, according to the present invention, it is possible to realize a track inspection device capable of detecting a rail shift.

A sixth embodiment of the present invention is the trajectory inspection apparatus according to the above-described solving means and embodiments, wherein
A pattern for extracting a straight line pattern orthogonal to the rail longitudinal direction and a straight line pattern inclined in the rail longitudinal direction with respect to an image by the imaging device with respect to the light transmission of the inclined linear light transmitting unit and the second inclined linear light transmitting unit. It is characterized by comprising means for performing processing and means for calculating the amount of deviation of the rail based on the pattern extracted thereby. In this case, a pattern including relative displacement information of the rail position corresponding to both light transmission points is extracted from the imaging data, and the amount of deviation of the rail is obtained from these patterns. Alternatively, an inclined straight line pattern is extracted, and processing is performed based on the extracted straight line pattern. Processing of straight line patterns is easier to handle than patterns of other shapes. Also, since it is already known that the pattern is straight or almost straight, the accuracy of pattern matching and the like is relatively high, so even if the pattern is slightly cut or blurred, the straight line pattern can be clearly identified. It is possible to
Therefore, according to the present invention, it is possible to realize a track inspection device that easily and clearly detects a deviation of a rail.

A seventh embodiment of the present invention is the trajectory inspection apparatus according to the above-described solving means and embodiments, wherein at least one of the imaging device, the illuminating means, and the trajectory structure detecting means is mounted. It is characterized by having an independent rail following mechanism. Here, the above-mentioned “independent” means that when following the corresponding rail among the left and right rails, the following function is impeded by the presence of the other rail or if another rail following mechanism is provided. In other words, aside from unsteady states such as when starting and stopping, when passing through a turnout, and in an emergency, at least at the time of normal rail idle shooting, the rail follows the rail without being blocked by other rail tracking mechanisms. . In this case, at the time of imaging during the rail play, the corresponding rail is individually followed by an independent rail following mechanism. Then, the image pickup device and / or the illuminating means and / or the track structure detecting means mounted on such a rail tracking mechanism also accurately track the corresponding rail. Thus, even if the width between the left and right rails fluctuates, at least an apparatus or the like equipped with the rail tracking mechanism can perform the imaging of the rail play without being affected by the fluctuation. Therefore, it is possible to realize a trajectory inspection device capable of accurately photographing a play between rails by employing a rail following mechanism or the like.

An eighth embodiment of the present invention is the trajectory inspection apparatus according to the above-described solution and embodiment, wherein the tracking operation of the rail tracking mechanism is stopped (manually or automatically controlled). A stopping means is provided. In this case, when the inspection vehicle approaches a point such as a branch on the track, the following operation of the rail following mechanism is stopped by operating or operating the following stop means. Then, the rail following mechanism naturally proceeds in the same direction with the inspection vehicle. Thereby, it is possible to prevent the rail following mechanism from independently following in an undesired branching direction. Therefore, it is possible to realize a trajectory inspection device capable of avoiding undesired following of the rail and accurately photographing the rail gap.

A ninth embodiment of the present invention is the track inspection apparatus according to the above-described solving means and embodiments, wherein the rail following mechanism comprises a plurality of following wheels provided in front and rear in a rail longitudinal direction; A mounting table on which the imaging device or the track structure detecting means is mounted, wherein the mounting table is vertically arranged by a support (supporting an axle, etc.) of the plurality of following wheels. It is supported and is capable of bidirectional rotation in a horizontal plane (at least within a range corresponding to the amount of movement of the plurality of following wheels in the short direction of the rail). In this case, the camera and the like are supported by the following wheels from both the front and the rear with the installation table interposed. As a result, the gravity acting on the camera or the like and the resultant force of the support force of the front and rear follow-up wheels approach or overlap, and the couple is eliminated or reduced. Thus, camera shake and the like are suppressed. Therefore, it is possible to realize a trajectory inspection device capable of accurately photographing the rail gap in a stable state with little vibration or the like.

A tenth embodiment of the present invention is the trajectory inspection apparatus according to the above-described solution and embodiment, wherein the rail following mechanism has a biasing mechanism using a spring force or air pressure. It is characterized by following the corresponding rail based on the power. In this case, the rail following mechanism is explicitly and positively followed by being urged by the urging mechanism when following the corresponding rail. As a result, in addition to the following ability of the rail following mechanism, the stability force also increases. Further, when air pressure is used for the urging mechanism, it is easy to apply a constant pressure, so that the urging force is constant and stable even with a simple mechanism. On the other hand, when a spring force is used for the urging mechanism, an additional facility such as an air pump is not required, so that the rail following mechanism can be embodied at low cost. Therefore, it is possible to realize an inexpensive or simple configuration of a trajectory inspection apparatus that can accurately photograph a play between rails by employing a rail following mechanism.

An eleventh embodiment of the present invention is the track inspection apparatus according to the above-described solution and embodiment, wherein the track structure detecting means is configured to detect a corresponding rail from diagonally above (with a rail cross section as a reference front). A seam plate detecting means for detecting the seam plate. In this case, the seam plate detection of the corresponding rail is performed diagonally from above, avoiding the derailment prevention rail, but the seam plate detection means is mounted not on the body of the inspection car but on the rail following mechanism, and between the left and right rails The relative position between the rail and the seam plate detecting means is kept constant without being affected by the variation in the width of the rail. Along with this, the relative position between the joint plate provided on the side surface of the rail and its detecting means is also kept constant. This makes it possible to reliably detect the seam plate even when the detection is performed diagonally from above. The rail gap is an empty space that occurs where there are no rails, whereas the seam plate has an entity with a specified length, so explicit detection based on existence can be performed, so track structure detection Accuracy is improved. Then, the shooting during the rail play can be reliably performed at a more appropriate timing. Therefore, it is possible to realize a track inspection apparatus capable of accurately photographing the rail gap from the inspection vehicle with reference to the joint plate.

[0036]

【Example】

[First Embodiment] A specific configuration of a first embodiment of the trajectory inspection apparatus of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic diagram of a main part of the lighting means, and corresponds to FIG. 19 described above. Therefore, two different points in the illumination means, that is, an illumination module 510 replacing the strobe 51 and a trigger section 430 replacing the trigger section 43 will be described.

The illumination module 510 is attached to the vehicle body 11 and extends in the longitudinal direction of the rail 20.
And an LED 512 (light emitting diode) employed as a light emitting source. The lower surface of the LED holder 511 is provided with a large number of perforations in a line in one or two rows, and each perforation has one light emitting surface facing downward.
ED512 is embedded. Thus, the lighting module 510 has a plurality of light-emitting diodes arranged linearly and horizontally.

In these LEDs 512, the anodes are commonly connected and the cathodes are commonly connected, so that the LED 512 emits a flash simultaneously with a drive pulse from the trigger section 430. In addition, each LED 51
2, the one that emits a strong beam with a straight directivity in which the emitted light is concentrated downward is adopted, and is arranged at a distance such that the area illuminated with the adjacent LED somewhat overlaps,
The entire rail top surface 21 within the shooting range of the camera 31 can be illuminated.

Further, the LED 512 has a wavelength of 660 nm.
In this case, an optical filter 52 mounted in front of the camera 31 is used.
Is replaced by an optical filter 520 that transmits only the wavelength range of 630 to 690 nm. Thus, the optical filter mounted in front of the imaging device is a monochromatic filter whose transmitted light wavelength range corresponds to the emission wavelength of the light emitting diode.
Most of the laser light of nm and natural light dispersed and distributed in a wide wavelength range are cut off.

The trigger section 430 receives the power supply voltage Vcc supplied to a normal signal processing circuit or a voltage slightly higher than the power supply voltage Vcc and generates an oscillation circuit 431 which oscillates at a predetermined frequency, based on a detection signal of the laser light receiving section 42. The predetermined pulse is used as a control input, one end is connected to the oscillation circuit 431, and the other end is
Switch circuit 43 connected to drive line of ED512
2 is provided. Then, when the pulse is received, the oscillation circuit 43 is activated while the pulse is significant.
1 is sent to the LED 512. Thus, the trigger section 430 can drive the light emitting diode without a special power supply or a charging / discharging circuit while including an AC component of a predetermined frequency in the driving current of the light emitting diode.

When the track inspection apparatus provided with the illumination means having such a configuration is mounted on the inspection vehicle 10 and used for imaging of the rail travel, the rail clearance 22 is used as the inspection vehicle 10 travels.
, The camera 31 is triggered by the trigger unit 430 in response to the detection signal of the laser light receiving unit 42, and the LED 512 is pulse-driven. Then, from the LED 512, the rail top surface 21 and the rail gap 2
A flash is emitted toward 2, which is illuminated brightly.
Then, at the same time as the illumination, an image of the rail top surface 21 is taken by the camera 31. Moreover, most of the disturbance light is excluded by the filter 520 or the like, and a clear image can be obtained based on the illumination light from the LED 512.

In this manner, the intermittent imaging by selecting the rail gap 22 is performed at a low power and at a normal temperature by using a plurality of linearly arranged light emitting diodes instead of the annular strobe. In addition, since this is performed using the directional beam, a clear image can be taken not only of the rail gap 22 but also of the chip 24.

The lighting module 510 shown in FIG.
In this example, a rectangular plate is adopted as the LED holder 511, a small square opening 511a is formed at the center of the LED holder 511 at a position corresponding to the front of the camera 31, and an optical filter 520 is mounted here. The LEDs 512 are arranged in a matrix on almost the entire surface except for the opening 511a.
Thus, a plurality of light emitting diodes in this case are arranged in a plane over substantially the whole except for the opening.

The lighting module 510 shown in FIG.
2 differs from that of FIG. 2 in that the opening 511b instead of the opening 511a is formed in a round shape, and that the LED there is not omitted but moves laterally and the matrix arrangement is somewhat disturbed. . In this case, the light emitting diodes in this case are arranged so that the LED density and the illuminance along the longitudinal direction of the rail 20 are constant.

Further, the lighting module 51 shown in FIG.
0 is a gap 5 in front of the camera 31 in place of the opening 511a.
LED holder 511 is mounted on rail 20 so that
Is divided into two in the longitudinal direction. As a result, the illumination module 510 does not impose any restrictions on the arrangement of the laser transmitting unit 41 and the like.

The lighting module 510 shown in FIG.
The LED holder 511 is split along the longitudinal direction of the rail 20 so that a vertical gap 511d is formed instead of the horizontal gap 511c. The lighting module 510 is installed so as to be inclined so that the LED mounting surface faces the rail top surface 21, and all the LEDs illuminate the rail top surface 21 even if the LED 512 has a strong directivity. ing.

[Second Embodiment] A specific configuration of a second embodiment of the trajectory inspection device of the present invention will be described with reference to the drawings. FIG. 6 is a schematic view of a main part of the rail following mechanism and the like, FIG. 7 is a configuration diagram of the seam plate detecting means, and FIG. 8 is an image processing unit of a rail play image based on the seam plate detection. FIG. 9 is a block diagram of the tracking stop means of the rail tracking mechanism, FIG. 10 is a side view of the rail tracking mechanism, and FIG. 11 is a schematic diagram of a drive unit and the like of the rail tracking mechanism. 12 is a structural view of the elastic protective cover, FIG. 13 is a structural view of the rail shift detecting means, and FIG. 14 is an operation state diagram of the rail shift detecting means.

This trajectory inspection apparatus is improved in the following points in addition to the above-mentioned illumination means. That is, while rear units such as the image processing unit 320 and the trigger unit 430 are mounted on the vehicle body 11 of the inspection vehicle 10 as in the related art, a new rail following mechanism 70 is provided, and the track structure As the detecting means, the conventional rail gap detecting means is replaced by a new seam board detecting means 90. Further, together with the camera 31 as an image pickup device, the illumination module 510 and the laser light transmitting section 91 of the seam board detecting means 90, the laser receiving section This is also different from the related art in that the portion 92 is mounted on the rail following mechanism 70. Further, the present embodiment is also different from the conventional one in that the conventional cover 61 and the like are replaced by a rubber mat 110 which is an elastic protective cover, and that a rail shift detecting means using a laser transmitting part 121 and a laser transmitting part 122 is added. I do. Hereinafter, overlapping explanations will be omitted, and these differences will be mainly described.

The rail following mechanism 70 is provided separately on the left and right sides of the lower side of the vehicle body 11. The left-side rail following mechanism 70 (see FIG. 6) has a small-diameter portion smaller than the wheel 12 and includes a small-diameter portion that rotates in contact with the rail top surface 21 and a large-diameter portion that contacts the side surface of the rail 20 inside the small-diameter portion. It has a wheel 71 and a drive mechanism described below that urges the wheel 71 downward A and left B, and follows the wheel 71 by pressing the wheel 71 against the top of the rail 20.

The movable range of the follower wheel 71 is such that the follower wheel 71 can freely move the left rail 20 without being hindered by the right rail follower mechanism 70 as long as it is at least within the permissible variation range of the width between the rails. It is set so that it can track and move. The right rail following mechanism is also symmetrical and has the same structure, and the following wheels 71 can be freely moved to the right without being hindered by the left following wheels 71, etc., at least within the allowable variation range of the width between the rails. Can track the other rail 20. Thus, the left and right rail following mechanisms 70 are independent of each other.

The rail following mechanism 70 also has a mounting plate 72 as a mounting table for mounting the camera 31, the illumination module 510, the laser transmitting section 91 and the laser receiving section 92. However, the lighting module 510 is attached to the lower surface of the installation plate 72 downward rather than mounted.
The installation plate 72 is provided on the axle of the following wheel 71 via a bearing in a horizontal state, and only the moving force of the following wheel 71 in the up, down, left, and right directions is transmitted, and the rotating force is not transmitted.
Thus, when the following wheel 71 rotates on the rail 20, the installation plate 72, the camera 31, the lighting module 510, and the like can follow the rail 20 while maintaining a certain relative position.

The laser beam transmitting section 91 and the laser beam receiving section 92 which are newly provided in place of the conventional laser beam transmitting section 41 and the laser beam receiving section 42 as main parts of the seam plate detecting means 90 are arranged so that the laser beam is obliquely from above. It is attached to the opening of the installation plate 72 at an angle so as to be reflected on the joint plate 23. The laser transmitting section 91 emits a spot beam narrowed in a point shape. When the seam plate 23 is present, the beam hits the top of the beam. Is hit. As a result, the laser light transmitting section 91 of the seam plate detecting means 90 performs point-like light transmission from diagonally above toward the seam plate. This light beam is modulated at a predetermined frequency of several KHz to several hundred KHz for discrimination from disturbance light.
Moreover, in order to discriminate the illumination light of the LED 512, the light is modulated at a frequency different from the oscillation frequency of the oscillation circuit 431.

On the other hand, the laser receiving section 92 (see FIG. 7)
It comprises a lens 92a for condensing the reflected light and forming an image, and a PSD 92b for receiving the image. Disturbance light other than the reflected light from the laser transmitting unit 91, that is, sunlight or L
An optical filter 92f is also placed in front of the lens 92a to cut out unwanted light from the ED 512.
The PSD 92b is a light receiving element having a linear detection unit extending over a range in which the imaging position of the reflected light can change.
Specifically, in order from the lens 92a side, an ITO film 92c as a light receiving transparent electrode, a PN junction line 92d as a photodiode distributed linearly, and a line resistance 92e of a continuous distributed resistance are laminated. is there. ITO film 9
2c is grounded by a seam detection circuit 93, and the line resistor 92e is driven at both ends so that the power supply voltage Vcc is supplied by the seam detection circuit 93.

Further, the laser light receiving section 92 is installed in such a direction that the PN junction line 92d coincides with a line perpendicular to the longitudinal direction of the rail. In that state, seam 2
Receiving the reflected light from light 3 (see light H in FIG. 7), the PN junction at the image forming position becomes conductive, and a current corresponding to the divided resistance up to the conductive part flows through both ends of the line resistor 92e. Also, when the reflected light from the rail 20 (see light I in FIG. 7) is received, P
Since the N-junction is conducted, currents corresponding to the different divided resistors flow through both ends of the line resistor 92e. As a result, the laser light receiving section 92 of the joint plate detecting means 90 detects the position of the reflected light in the direction perpendicular to the longitudinal direction of the rail in a current state. Note that under such an arrangement condition of the laser light receiving unit 92, the same detection is performed even if the laser light is in a slit shape extending in the rail longitudinal direction.

The seam plate detection circuit 93 (see FIG. 7) includes a resistor for converting the current at one end of the line resistor 92e into a voltage signal, an amplifier for amplifying this voltage signal, and a modulation frequency for the light beam. A BPF 93a that extracts only the corresponding band component, further suppresses and removes disturbances such as sunlight and LED light passing through the optical filter 92f, and also performs smoothing to remove a single noise component due to temporary light blocking. Then, one signal that changes according to the detection position of the reflected light is obtained. The seam plate detection circuit 93 includes a similar BPF 93b and the like on the other end side of the line resistor 92e, and obtains the other signal that changes according to the detection position of the reflected light. These paired signals show opposite characteristics when changing according to the detection position of the reflected light. The seam plate detection circuit 93 is provided with a comparator 93 for inputting the pair of signals.
c is also provided, and becomes significant when the reflected light is near one end of the line resistor 92e (see FIG. 7H), and when the reflected light is near the other end of the line resistor 92e (see I in FIG. 7). ) A non-significant seam board presence / absence signal J is generated.

Thus, the seam board detection circuit 93 of the seam board detection means 90 performs detection discrimination of the seam board based on a change in the detection position of the reflected light. That is, the seam plate detecting means 90 detects the seam board of the corresponding rail from diagonally above as the track structure detecting means, but based on the fact that the reflected light continues without interruption as long as it is in a normal state, , While detecting both the reflected light from the seam plate and the reflected light from the side of the rail,
By distinguishing and detecting them based on the difference in the detection positions, the track structure can be reliably detected.

The seam plate detection circuit 93, which is not shown, is mainly mounted on the vehicle body 11 of the inspection vehicle 10 or mainly composed of an encoder mounted on the axle of the following wheel 71. The traveling speed signal V is input from the vehicle speed detecting unit 13. Then, after detecting the rising edge of the seam board presence / absence signal J, the timing at which the camera 31 reaches immediately above the rail gap 22 using the formula [rail gap position / running speed] determined according to each regulation of the seam board length. Estimation is performed by processing of an arithmetic circuit or the like, and a trigger is sent to the camera 31 via the trigger unit 430 under the control of the control circuit or the like at each timing to cause imaging to be performed. As a result, the seam board detection means 90 causes the image pickup of the rail play to be performed a plurality of times after a predetermined period has elapsed since the detection of the front edge of the seam board.

With the introduction of such a seam board detecting means 90, the conventional image processing section 32 is replaced by a new image processing section 320 (see FIG. 8). This image processing unit 3
Reference numeral 20 denotes a randomly accessible frame memory 3 serving as a temporary storage unit for receiving a plurality of frames in response to rail imaging or candidate imaging data from a camera 31.
21, a selection circuit 322 for selecting one image data from the plurality of frames in accordance with a selection control signal of the seam plate detection circuit 93 and outputting it to the large-capacity memory 323, and a VTR or the like capable of feeding one frame during recording. Large capacity memory 323
Are provided. Then, in response to the trigger of the seam board detection circuit 93, the camera 3 is turned on within the significant period of the seam board presence / absence signal J.
When the image data of the rail gap captured by the camera 1 is received from the camera 31, the area is sequentially changed and the frame memory 32 is changed.
For the time being, it is something that is stored in the memory.

Further, upon detecting the falling edge of the seam board presence / absence signal J, the seam board detection circuit 93 calculates the expression [significant period of the seam board presence / absence signal J / running speed] to determine the seam board length. In accordance with the rules, a determination is made as to what frame image best corresponds to the rail play, and processing for transmitting the frame number to the selection circuit 322 as a selection control signal is also performed. Thereby, the seam plate detecting means 90
Is to perform a predetermined selection process based on the detection of the trailing edge of the joint plate.

The track inspection apparatus is also provided with a follow-up stop mechanism 80 described later in detail (see FIG. 9), which stops the follow-up operation of the rail follow-up mechanism manually or automatically. I have. For this purpose, the tracking stop mechanism 80 employs a mechanism capable of generating a counterforce to the right B * or the like that is stronger than the urging force to the left B or the like when the tracking is stopped. By pressing, it can be performed at any time in an emergency or the like (see FIG. 9A).

Further, at a predetermined position such as a sleeper 24 laid near the turnout on the track, a data storage unit 82 holding data on the turnout is installed.
A non-contact data storage 8 based on electromagnetic induction coupling or the like is provided on a lower surface of the vehicle body 11 at a portion corresponding to the data storage 82.
Data reading device 83 capable of reading the second data
Is installed. This is a so-called data depot system (see FIG. 9B). Then, when the data reading device 83 reads the data in the data storage body 82 and detects the presence of the branching device, a control signal is sent to the following stop mechanism 80. Thus, the trajectory inspection device automatically stops an undesired following operation before reaching a branch point or the like where the data storage body 82 is installed.

The rail following mechanism 70 is provided with a pair of following wheels 71 with an installation plate 72 interposed therebetween, as is apparent from the side, that is, from the side of the rail (see FIG. 10). That is, a plurality of following wheels are provided before and after in the rail longitudinal direction. And
The installation plate 72 is connected to each of the following wheels 71 via bearings at the front and rear, and is vertically supported by a support of a plurality of following wheels. The bearing is not shown in the figure, but a first bearing for supporting the horizontal axle of the following wheel 71 and a stem having one end planted on the lower surface of the installation plate 72 and the other end extending vertically downward are bidirectionally. It is combined with a second bearing rotatably supported. Thus, the installation plate 72 can be bidirectionally rotated in a horizontal plane, and the front and rear following wheels 71 can individually follow the rail 20.

The drive mechanism of the rail follower mechanism 70 (see FIG. 11) has a bearing for supporting the follower wheel 71 on the axle in order to bias the follower wheel 71 leftward by using the resilience of the spring 73. And a horizontal rod 74 with the left half of the middle part loosely inserted in the spring 73 and a horizontal slider 75 for pivotally supporting the other half on the other end side. A vertical rod having a lower end fixed to the slider 75 and a lower half of the intermediate portion loosely inserted into the spring 76 in order to urge the following wheel 71 downward by utilizing the elasticity of the spring 76;
A slider 77 that supports the upper half of the upper part so as to be vertically movable.
It also has components. The slider 77 is fixed to the lower part of the vehicle body 11 of the inspection vehicle 10, and the rail following mechanism 70 follows the corresponding rail 20 based on the biasing force using the spring force during the traveling of the inspection vehicle 10. Has become.

The following stop mechanism 80 includes an electromagnetic motor 84 fixedly mounted on the lower surface of the vehicle body 11, an arm 85 having one end connected to the rotating shaft of the electromagnetic motor 84, and one end connected to the open end of the arm 85 and the other end. And a wire 86 tied to the free end of the horizontal rod 74. When the electromagnetic motor 84 rotates and swings by a predetermined angle in response to a control signal according to the depression of the manual switch 81, the arm 85 and The horizontal rod 74 is strongly pulled through the wire 86 with a force greater than the elasticity of the spring 73 to stop the following wheels 71 from following the rail 20.

The rubber mat 110 is made of a substantially triangular rubber sheet (see FIG. 12), and one side of the triangle is turned toward the rail 20 in a loose state, and the other two sides are attached to the lower surface of the installation plate 72. The optical path of the laser light transmitting unit 91 and the optical path of the reflected light are wrapped. As a result, the rubber mat 110 serves as an elastic protective cover that covers the optical path of the optical detection element that is disposed obliquely above the track structure and opens toward the track structure. In the space covered by the rubber mat 110 and the installation plate 72, compressed air is supplied via an air hose 111 to a corner that is located deeper when viewed from the opening (see Ka in FIG. 12). ). This air flows inside the rubber mat 110 (see Kb in FIG. 12), and gives a restoring force against deformation by trying to expand the rubber mat 110, and is blown toward the rail 20 from the opening of the rubber mat 110. (See Kc in FIG. 12), it also plays a role in removing foreign substances such as dust and sand.

The laser transmitting section 121 and the laser transmitting section 12
Numeral 2 is for transmitting light to the rail 20 in order to detect a rail shift. The laser light transmitting unit 91, the laser light receiving unit 92, the conventional laser light transmitting unit 41, and the laser light receiving unit 42
Is different from the camera 31 in the installation position by 90 °. The laser light transmitting unit 121 is a first inclined linear light transmitting unit, which is attached to the installation plate 72 and emits a slit-shaped light transmission L1. The slit light L1 is tilted leftward from the vertical axis, adjusted so that the slit light L1 crosses the rail 20 within the shooting range of the camera 31, and then fixed. This slit light L
In No. 1, the slit length is longer than the width of the rail top surface. Accordingly, the laser light transmitting unit 121 is provided to be inclined in the rail longitudinal direction and performs linear light transmission that exceeds the width of the rail top surface with respect to the rail top surface within the imaging range of the imaging device. I have.

The laser light transmitting section 122 is similarly attached to the installation plate 72 as a second inclined linear light transmitting means, and emits a slit-like light transmission L2. The slit light L2 is adjusted so as to cross the rail 20 within the photographing range of the camera 31, and then fixed. The slit light L2 also has a slit length longer than the width of the rail top surface, but crosses the rail 20 at a distance from the slit light L1 at a distance from the upper limit of the rail play 22. Thereby, the laser light transmitting section 122 is provided at an angle different from the first inclined linear light transmitting means in the rail longitudinal direction, and is located on the rail top surface within the photographing range of the image pickup device and the first inclined linear transmitting means. A linear light transmission exceeding the width of the rail top surface is performed on a portion different from the light transmission portion of the light means.

As the laser light transmitting section 121 and the laser light transmitting section 122, a light emitting diode may be used as long as it performs the same slit light transmission. These emission wavelengths are different from the emission wavelength of the strobe light 51 in order to prevent interference with the image pickup by the camera 31.

The image processing section 320 is also provided with a DSP 324 for performing pattern processing on the images of the slit lights L1 and L2 taken by the camera 31. This DS
The P324 receives image data from the camera 31, performs a thinning process on the image data, and displays a straight line pattern appearing at the center of the rail top surface 21 and a straight line pattern from the edge of the rail top surface 21 to the outer side surface of the head. The pattern of a slightly curved substantially straight line in the shape of the letter "C" to be output is extracted by pattern matching processing. Thus, the DSP 324 performs a pattern process for extracting a straight line pattern orthogonal to the rail longitudinal direction and a straight line pattern inclined in the rail longitudinal direction with respect to the image obtained by the imaging device. Note that D
The SP 324 also calculates the amount of rail displacement based on the extracted pattern, which will be described later.

The usage and operation of the trajectory inspection apparatus of this embodiment will be described.

This track inspection device is also mounted on the inspection vehicle 10 as in the past and used for imaging of the rail gap.
Since the rail following mechanism 70 equipped with the like is provided outside the lower surface of the vehicle body 11, a rear unit such as the image processing unit 320 is loaded on the vehicle body 11 of the inspection vehicle 10, and these units are coaxially connected to the camera 31 and the like. And so on. The laser light receiving section 92 and the seam board detection circuit 93 are connected in the same manner. Normal,
Two sets of the rail following mechanism 70 and the camera 31 are mounted on the inspection vehicle 10 corresponding to the left and right rails, respectively. Now you are ready to use.

Next, the track inspection device is operated by turning on a power supply or the like, and then the inspection vehicle 10 is driven. Then, each time the inspection car 10 passes over the rail gap 22 as the inspection car 10 travels, the camera 31 approaches the rail gap.
Before that, the seam board is detected by the laser light transmitting section 91, the laser light receiving section 92, and the seam board detection circuit 93. When the laser beam from the laser transmitting unit 91 hits the joint plate 23, the image forming position on the PSD 92b by the reflected light (see H in FIG. 7) is formed by the reflected light on the side surface of the rail 20 (see I in FIG. 7). Since the displacement from the position changes the value of the seam board presence / absence signal J, everything from the front edge to the rear edge of the seam board is detected. When a predetermined time elapses after the detection of the leading edge of the joint plate 23, a trigger for executing the imaging process is transmitted to the camera 31 and the lighting module 510 via the trigger unit 430 several times, and the flashing of the LED 512 is performed. In synchronization, the camera 31 captures an image of the rail top surface 21. These image data are temporarily stored in the frame memory 321 in the order of frame 1, frame 2,.

When the trailing edge of the seam board 23 is detected after a lapse of time, the selection circuit 3
The frame number of the image data to be selected is sent to 22 and only the image data selected in response to this is output to the large capacity memory 323 and recorded. In the image of the selected frame, the image of the rail play room is reflected in the center. Thus, the imaging of the rail play is performed one after another based on the detection of the joint board. The image data is sent to the image processing unit 320 and subjected to processing such as recording and display.

At this time, the DSP 32 of the image processing unit 320
4, the process of detecting a rail shift based on the image data is also performed as follows. FIG. 14 illustrates the state at that time. For each of (a) to (c), the lower side shows a rail side view, the middle side shows a plan view of a rail top surface, the upper side left shows an L1 image and An L2 image is shown, and the upper right part shows a straight line pattern after the matching process by the DSP 324.

When there is no rail displacement between the rails 20 on both sides of the rail gap 22 (see FIG. 14A), L1
The relative position of the central straight line n1 of the image and the central straight line n2 of the L2 image in the short direction of the rail, that is, the direction orthogonal to the longitudinal direction of the rail coincides with each other, and the distance m between the central straight lines n1 and n2 is also predetermined. Default value.

On the other hand, when there is a lateral shift between the rails 20 on both sides of the rail gap 22 (see FIG. 14B), the distance m between the central straight lines n1 and n2 is a predetermined value. However, a difference in the size corresponding to the rail shift amount appears in the relative position in the rail lateral direction between the central straight line n1 of the L1 image and the central straight line n2 of the L2 image. This difference is DSP
Calculated by 324, a lateral rail shift is detected.

On the other hand, when the rails 20 on both sides of the rail gap 22 are vertically displaced (see FIG. 14C), the central straight line n1 of the L1 image and the central straight line n of the L2 image
2, the distance m between the central straight lines n1 and n2 expands and contracts by an amount corresponding to the amount of rail deviation compared to a predetermined value. This difference is calculated by the DSP 324, and a vertical rail shift is detected. In this way, even when the rail 20 is displaced up, down, left, and right, it is decomposed into both detection components and the amount of the displacement is detected.

If the width between the left and right rails changes during the inspection vehicle for such an inspection, each rail following mechanism 70 reliably follows the corresponding rail 20 by urging the spring. Therefore, even if there is such a change in the rail-to-rail width, the image of the rail gap always fits in the same position substantially in the center of the entire image. In addition, since the illumination module 510 is mounted on the rail following mechanism 70 together with the camera 31, even if the illumination module 510 is smaller than that of the first embodiment, the rail gap is accurately illuminated and clearly captured. Become. Further, even if the following wheels 71 before and after the camera 31 bounce slightly, the camera 31 at the center and the lighting module 510 around the center do not shake or vibrate much, so that the image definition is good.

Further, when the inspection vehicle 10 reaches the switch, the following stop mechanism 80 is operated by operating the manual switch 81 or by controlling the data reader 83 based on communication with the data storage unit 82. Then, the rail following mechanism 70 temporarily stops following the rail 20 and moves in the same direction as the vehicle body 11. Thus, the branch point can be safely passed. In addition, there is no inconvenience in practical use because there is no rail gap to be photographed at a branching device or the like.

The driving section of the rail following mechanism shown in FIG. 15 is a modification of the urging mechanism using air pressure. This has a first link connected at one end to the left horizontal rod 74 so as to be able to rotate to some extent, and an end connected at one end to the right horizontal rod 74 so as to be able to rotate to some extent. A pair of "he" shaped links 7 composed of a second link
8 and both links 78 with the rod facing downward at the center slightly above
And an air cylinder 79 connected to the other end of the vehicle body so as to be able to rotate to some extent in a bidirectional manner, and the head is upwardly connected to the lower surface of the vehicle body 11 so as to be able to rotate to some extent in a bidirectional manner.

Further, there is provided a switching valve 87 which changes its switching state in response to a control signal from the manual switch 81. When air pressure is supplied to the head side of the air cylinder 79 by the switching state of the switching valve 87, the rod Is exerted obliquely outward and downward on both left and right horizontal rods 74 via the link 78. When the width between the left and right rails changes and the following wheel 71 and the horizontal rod 74 move sideways, the opening angle of the link 78 changes somewhat (see arrow G in FIG. 15), and the rod of the air cylinder 79 changes. Is slightly advanced or retracted (see the arrow F in FIG. 15), so that it constantly applies a substantially constant pressing force to the horizontal rod 74 and the following wheels 71 while deforming in accordance with the position variation.

When the switching valve 87 is switched in response to the operation of the manual switch 81 or the like and air pressure is supplied to the rod side of the air cylinder 79, the rod is pulled up, and accordingly, both the links 78 and both horizontals are moved. The rod 74 is retracted inward. Then, the following wheels 71 are stopped from following the side surface of the rail 20. Thus, the biasing mechanism also serves as a follow-up stopping unit.

The rail follow-up mechanism shown in FIG. 16 is different from the above-described structure based on mechanical contact, and has a configuration that follows the rail without contact with the rail based on optical detection. The rail following mechanism includes an installation plate 101 instead of the installation plate 72, a pair of laser units 102 and 103 attached to the lower surface of the installation plate 101 and detecting the head position of the rail 20 from both obliquely above, and detection signals of these units. To generate a servo control signal such that the installation plate 101 is always at a fixed position above the rail 20.
And a servo motor 10 for rotatingly driving the ball screw 106 in accordance with the servo control signal to move the installation plate 101 horizontally.
5 so that the rail following mechanism 70 can be replaced.

Although illustration is omitted, the laser receiving unit 9 is not shown.
In the case where a proximity sensor using magnetism is provided in place of 2 or the like, it is desirable to dispose the proximity sensor as close to the joint plate 23 as possible along the optical path of the reflected light. Further, even when the temperature of the side surface of the rail 20 is measured by a radiation thermometer as a track structure state detecting means attached to the lower surface of the vehicle body 11, an elastic protective cover having the same configuration as the rubber mat 110 is provided on the lower surface of the vehicle body 11. It is also desirable to protect the radiation thermometer, etc.

[0085]

As is apparent from the above description, in the trajectory inspection apparatus according to the first solution of the present invention, since the light emitting diode is employed in place of the strobe, the illumination is easy to drive and generates less heat. There is an advantageous effect that a trajectory inspection device having a system can be realized.

Further, in the trajectory inspection apparatus according to the second solution of the present invention, the light emitting diodes share the entire imaging range and illuminate the entire area, so that the uniformity suitable for an arbitrary imaging range is obtained. -An advantageous effect that uniform illumination can be easily realized.

Further, in the trajectory inspection device according to the third solution of the present invention, by reducing the ratio of oblique illumination, it is possible to realize a trajectory inspection device that takes clear and highly visible images. This has the advantageous effect of having been completed.

Further, in the trajectory inspection apparatus according to the fourth solution of the present invention, since the modulation of the flash is performed electronically, the illumination light can be easily discriminated. To play.

[Brief description of the drawings]

FIG. 1 is a schematic view of a main part of a trajectory inspection apparatus according to a first embodiment of the present invention, such as an illumination unit.

FIG. 2 shows a second example of a light emitting diode in the lighting means.
It is an example of arrangement.

FIG. 3 shows a third example of a light emitting diode in the lighting means.
It is an example of arrangement.

FIG. 4 shows a fourth example of a light emitting diode in the lighting means.
It is an example of arrangement.

FIG. 5 shows a fifth example of a light emitting diode in the lighting means.
It is an example of arrangement.

FIG. 6 is a schematic diagram of a main part of a trajectory inspection device according to a second embodiment of the present invention, such as an illuminating unit and a seam plate detecting unit mounted on a rail following mechanism.

FIG. 7 is a configuration diagram of the seam plate detecting means.

FIG. 8 is an image processing unit of a rail play image based on the seam plate detection.

FIG. 9 is a block diagram of a tracking stopping means of the rail tracking mechanism.

FIG. 10 is a side view of the rail following mechanism.

FIG. 11 is a schematic diagram of a drive unit and the like of the rail following mechanism.

FIG. 12 is a structural view of the elastic protective cover.

FIG. 13 is a structural view of the rail shift detecting means.

FIG. 14 is an operation state diagram of the rail shift detecting means.

FIG. 15 is a modified example of the drive unit of the rail following mechanism.

FIG. 16 is another configuration example of the rail following mechanism.

FIG. 17 is a schematic diagram of a trajectory inspection device.

FIG. 18 shows a conventional trajectory inspection device.

FIG. 19 shows conventional lighting means.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Inspection vehicle 11 Body 12 Wheel 13 Vehicle speed detection unit 20 Rail (track structure) 21 Rail top surface 22 Rail gap 23 Joint plate (track structure) 24 Chipping (crack; damaged portion; deformed portion) 30 Track inspection device 31 Camera (imaging device) 32 Image processing unit (data processing unit) 33 Display unit 41 Laser transmitting unit (idle detecting unit; track structure detecting means) 42 Laser light receiving unit (idle detecting unit; track structure detecting means) 43 Trigger Unit (imaging timing determining means) 44 Laser beam 51 Strobe (illuminating means) 52 Optical filter 61 Cover 62 Transparent window 70 Rail tracking mechanism 71 Tracking wheel 72 Installation plate (installation table) 73 Spring (biasing mechanism; drive mechanism) 74 Horizontal Rod (drive mechanism) 75 Slider (drive mechanism) 76 Spring (biasing mechanism; drive mechanism) 77 Slider (drive mechanism) 78 Link (drive mechanism) 79 air cylinder (biasing mechanism; drive mechanism; follow-up stop mechanism) 80 follow-up stop mechanism (follow-up stop means) 81 manual switch (follow-up stop means) 82 data storage unit (follow-up stop means) 83 data reader (Follow-up stop means) 84 Electromagnetic motor (follow-up stop mechanism) 85 Arm (follow-up stop mechanism) 86 Wire (follow-up stop mechanism) 87 Switching valve (biasing means; follow-up stop means) 90 Seam plate detecting means (track structure detecting means) Reference numeral 91 laser transmitting unit (seam plate detecting means; track structure detecting means) 92 laser light receiving unit (seam plate detecting means; track structure detecting means) 92a lens 92b PSD 92c ITO film (transparent electrode) 92d PN junction line 92e Line resistance 92f Optical filter 93 Seam plate detection circuit (Seam plate detection means; track structure detection means) 93a BPF ( 93b BPF (band pass filter) 93c Comparator 101 Installation plate 102 Laser unit 103 Laser unit 104 Servo controller 105 Servo motor 106 Ball screw 110 Rubber mat (elastic protection cover) 111 Air hose 121 Laser light transmitting unit (first inclined linear shape) Light transmitting means; rail displacement detecting means) 122 Laser light transmitting section (second inclined linear light transmitting means; rail displacement detecting means) 320 Image processing section (data processing section) 321 Frame memory (temporary storage means) 322 Selection circuit ( Selection means) 323 large-capacity memory 324 DSP (linear pattern processing unit; rail displacement detection means) 430 trigger unit (imaging timing determination means and light emitting diode driving means) 510 lighting module (lighting means) 511 LED holder (lighting) Structure) 511a, 511b opening 511c, 511d gap 512 LED (light emitting diode; lighting element; illumination means) 520 optical filter

Claims (4)

[Claims] 1. An orbit inspection apparatus comprising: an imaging device for photographing a track structure such as a rail gap; and illuminating means for illuminating the track structure by emitting a flash at the time of imaging, wherein the light source of the flash is a light emitting diode A trajectory inspection device, characterized in that: 2. The light-emitting diode according to claim 1, wherein a plurality of the light-emitting diodes are arranged linearly or in a plane.
Orbital inspection device as described. 3. The trajectory inspection device according to claim 2, wherein said light emitting diode emits a directional beam. 4. The trajectory inspection device according to claim 1, further comprising means for causing the driving current of the light emitting diode to include an AC component having a predetermined frequency.