JPH11160005A - Track shape detection apparatus and radius of curvature of the track detection apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently determine the actual shape of a railway. SOLUTION: A railway measuring car 10 has a car 11 equipped with measurement apparatus and a single axle truck 12. The single axle truck 12 is located at the front of the car 11 equipped with the measurement apparatus and connected to the front end of the car 11 through a tie rod 13 with a specified length. Wheels 24 of the car 11 are driven, the car 11 and the single axle truck 12 run on rails 14. The inclination angle θi of the tie rod 13 to the center line of the lateral length of the car 11 is detected at each running position Pi. The shape of the rails 14 is determined by the traveling position Pi and θi.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a track shape detecting device and a track curvature radius detecting device for finding a track shape and a track radius of curvature while traveling on a track.

[0002]

2. Description of the Related Art In some cases, the actual track shape and the track curvature radius differ greatly from the track shape in the design drawing of the track such as a track, and the actual track shape and the track curvature radius are examined. Need arises.

[0003]

Conventionally, there has been no device for efficiently detecting the actual track shape and the track radius of curvature.

An object of the present invention is to provide a track shape detecting device and a track curvature radius detecting device capable of efficiently detecting actual values of a track shape and a track radius of curvature.

[0005]

A track shape detecting device (10, 30) according to the present invention has the following (a) to (e). (A) A front vehicle (12, 31) and a rear vehicle (11, 32) arranged on a front side and a rear side and traveling on a track (14), respectively. (B) A front vehicle (12, 31) and a rear vehicle ( (C) traveling position detecting means for detecting a traveling position, (d) front vehicle (12, 31), rear vehicle (11, 32), and coupling. Orbit angle detecting means for detecting the orbital angle or the corresponding value at each running position from the relative refraction angle of two of the three means (13, 33) (e) running position detecting means and orbital angle Track shape calculating means for obtaining a track shape based on the detection value of the detecting means

[0006] The processing by which the track shape calculation means obtains the track shape may be either online processing or badge processing. That is, the track shape may be obtained immediately after the detection by the travel position detecting means and the track shape calculating means, or a predetermined number of data or all data may be collected and then detected by the travel position detecting means and the track shape calculating means. The trajectory shape may be determined at a different place.

Since the front vehicle (12, 31) and the rear vehicle (11, 32) travel along the track (14), the front vehicle (12, 31), the rear vehicle (11, 32), and the connection 2 of 3 means (13,33)
The relative refraction angle of the person is 1: 1 with the orbital angle of the orbit (14).
It corresponds to. Therefore, the front vehicle (12,3
1) The relative refraction angle of two of the three of the rear vehicle (11, 32) and the connecting means (13, 33) can be detected as a track turning angle or a corresponding value at each running position. . The orbital shape can be reproduced if the orbit of the orbit at each traveling position or its corresponding value is known. The trajectory shape can be determined based on the degree or the corresponding value.

According to the track shape detecting device (10, 30) of the present invention, the connecting means (13, 33) is a connecting rod (13) having a predetermined length. The track turning angle detecting means detects a relative refraction angle of the connecting rod (13) with respect to one of the front vehicle (12, 31) and the rear vehicle (11, 32) as a track turning angle or a corresponding value thereof.

The front vehicle (12, 31) and the rear vehicle (11, 32)
Travels along the track (14) and takes a direction corresponding to the turning angle of the track (14), therefore the front vehicle (12, 31)
The relative bending angle of the connecting rod (13) with respect to one of the rear vehicles (11, 32) corresponds to the bending angle of the track (14).

According to the track shape detecting device (10, 30) of the present invention, the track turning angle detecting means calculates the relative bending angle of the front vehicle (12, 31) and the rear vehicle (11, 32) by the track turning angle. Or, it is detected as the corresponding value.

The front vehicle (12, 31) and the rear vehicle (11, 32)
Travels along the track (14) and takes a direction corresponding to the turning angle of the track (14), therefore the front vehicle (12, 31)
The relative refraction angle of the rear vehicle (11, 32) is the bending angle of the track (14) or its corresponding value.

Orbital curvature radius detecting device of the present invention (10, 30)
Has the following (a) to (d). (A) A front vehicle (12, 31) and a rear vehicle (11, 32) arranged on a front side and a rear side and traveling on a track (14), respectively. (B) A front vehicle (12, 31) and a rear vehicle. Connecting means (13,33) for connecting (11,32) to each other (c) Of the three members of the front vehicle (12,31), the rear vehicle (11,32), and the connecting means (13,33) (D) track turning angle detecting means for detecting a track turning angle or its corresponding value at each running position from the relative refraction angles of the two persons (d) Each running based on the track turning angle detected by the running position detecting means or its corresponding value Orbital curvature radius calculation means for finding the orbital curvature radius at the position

Since the front vehicle (12, 31) and the rear vehicle (11, 32) travel along the track (14), the front vehicle (12, 31), the rear vehicle (11, 32), and the connection 2 of 3 means (13,33)
The relative refraction angle of the person is 1: 1 with the orbital angle of the orbit (14).
It corresponds to. Therefore, the front vehicle (12,3
1) The relative refraction angle of two of the three of the rear vehicle (11, 32) and the connecting means (13, 33) can be detected as a track turning angle or a corresponding value at each running position. . The orbital curvature radius can be obtained if the orbital angle or the corresponding value at each traveling position is known. The radius can be determined.

[0014] Orbital curvature radius detecting device of the present invention (10, 30)
According to the above, the connecting means (13, 33) is a connecting rod (13) having a predetermined length. The track turning angle detecting means detects a relative refraction angle of the connecting rod (13) with respect to one of the front vehicle (12, 31) and the rear vehicle (11, 32) as a track turning angle or a corresponding value thereof.

Orbital curvature radius detecting device of the present invention (10, 30)
According to the track turn angle detection means, the front vehicle (12,3
From 1) and the relative refraction angle of the rear vehicle (11, 32), it is detected as a track turning angle or its corresponding value.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows that a track measuring vehicle 10 is a track 14
The state of detecting the orbital turning angle and the like is shown from above. The track measuring vehicle 10 includes a vehicle 11 equipped with a measuring device, a single-axle truck 12 located in front of the vehicle 11 equipped with a measuring device, and a single-axle truck 12 and a vehicle equipped with a measuring device at front and rear ends, respectively.
A predetermined length rotatably connected to 11, for example, about 10
It has a connecting rod 13 of 20 m. On the outward route of the track 14, the order of the uniaxial carriage 12, the connecting rod 13 and the vehicle 11 with the measuring device is from the front side in the traveling direction, but on the return path of the track 14, the vehicle 11 with the measuring device and the connecting rod from the front side in the traveling direction. 13 and the single-axle truck 12 in this order. In FIG. 1, the single-axle truck 12
The connection point of the front and rear ends of the connecting rod 13 to the vehicle 11 with the measuring device is located on the left-right center line of the uniaxial carriage 12 and the vehicle 11 with the measuring device. The single-axle truck 12 has a pair of wheels 18 on a track 14, and a vehicle 11 equipped with measuring devices via a connecting rod 13.
It travels on the track 14 by the pushing force transmitted from the vehicle.
The vehicle 11 equipped with measuring equipment has a front bogie 22 and a rear bogie 23, and the front bogie 22 and the rear bogie 23 are provided with a total of two pairs of wheels 24 at the front and rear. A plate 25 is located. Vehicle 11 equipped with measuring equipment is equipped with a drive motor,
The wheels 24 of at least one of the front bogie 22 and the rear bogie 23 are driven to be able to run on the track 14 by themselves.
In the figure, θ indicates the inclination angle of the connecting rod 13 with respect to the left and right center lines of the measuring instrument equipped vehicle 11, and a potentiometer (not shown) is installed on the measuring instrument equipped vehicle 11, and the track measuring vehicle 10 travels on the track 14. During the operation, θ that changes every moment is detected. Further, a speed generator or a tachogenerator (not shown) is provided in the vehicle 11 equipped with the measuring device, and the traveling distance from the reference position on the track 14 is determined by the output of the speed generator or the tachogenerator. It can be detected as a traveling position.

FIG. 2 shows, from above, a situation where another track measuring vehicle 30 detects a track turning angle or the like of the track 14.
The same elements as those in FIG. 1 are designated by the same reference numerals, and description thereof will be omitted. At least one of the track measuring vehicle 30 and the front vehicle 31 is equipped with a drive motor and is capable of running on its own. The track measuring vehicle 30 and the front vehicle 31 are connected by a connector 33. In addition, on the outward route of the track 14, the front vehicle 31 is
Although it is on the front side in the running direction with respect to 32, on the return path of the track 14,
The rear vehicle 32 may be on the front side in the traveling direction with respect to the front vehicle 31. In this track measuring vehicle 30, the front vehicle 31 and the rear vehicle 32 have the same length.

FIG. 3 is an enlarged view of a connecting portion between the front vehicle 31 and the rear vehicle 32 of the track measuring vehicle 30 shown in FIG. The front vehicle 31 and the rear vehicle 32 make the rear wife 38 and the front wife 39 face each other, and the rear wife 38 and the front wife 39
While the vehicle travels along the straight portion of the line 14, it is parallel to each other, but during the period traveling along the curved portion of the line 14, the intersection angle is related to the bending angle of the line 14. Laser rangefinder
The reference numerals 42 and 43 are attached at predetermined positions of the front wife 39 of the rear vehicle 32 at symmetrical positions. The laser rangefinders 42 and 43 emit laser light in the direction of the center line of the rear vehicle 32 in the left and right directions.
The reflected light from 38 is input, and distances d1 and d2 to the rear wife 38 in the direction along the left and right center lines of the rear vehicle 32 are measured. Since the horizontal distance of the laser rangefinders 42 and 43 is a predetermined value w, tan ^ -1 {(d1-d) is obtained from d1, d2, and w.
2) The relative refraction angle γ of the front vehicle 31 and the rear vehicle 32 can be obtained from / w｝ (where tan ^ -1 means the arc tangent). γ corresponds to the bending angle of the track 14 at each running position of the track measuring vehicle 10.

FIG. 4 shows a connecting rod in the case of the track measuring vehicle 10 of FIG.
When the rear end of the vehicle 13 is deviated from the left-right center line of the vehicle 11 with the measuring device and is coupled to the front end of the vehicle 11 with the measuring device, the inclination angle θ ′ of the connecting rod 13 is measured with the vehicle with the measuring device. 11
FIG. 7 is an explanatory diagram of conversion into an inclination angle θ from the front center plate 25 of FIG. In FIG. 4, each symbol is defined as follows. A: Connection point of rear end of connecting rod 13 to vehicle 11 with measuring equipment B: Position of center plate 25 of front bogie 22 of vehicle 11 with measuring equipment C: Front end of connecting rod 13 to single-axle carriage 12 Connection point l ': length of line segment AC l: length of line segment BC l0: length of line segment AB m: distance between AB in the left-right center line direction of vehicle 11 equipped with measuring equipment n: measuring equipment AB in the left-right vertical cross-sectional direction of the equipped vehicle 11
Distance between a: the distance between the center plates 25 before and after the vehicle 11 equipped with the measuring device α: the inclination angle of the line segment AB with respect to the left-right vertical cross section of the vehicle 11 equipped with the measuring device β: the vertical transverse crossing of the vehicle 11 equipped with the measuring device Angle θ of line segment AC with respect to surface θ: Line segment BC with respect to the left and right center line of vehicle 11 with measuring equipment
Θ ′: line segment A with respect to the left and right center line of the vehicle 11 equipped with measuring equipment
C tilt angle

[0020]

(Equation 1)

From Pythagorean theorem, equation (1) holds. Equations (2) and (3) hold from the cosine theorem for ΔABC. Further, equations (4) and (5) hold. Expanding equation (3) yields equation (6),
Eliminating β by substituting equations (4) and (5) into equation (6) ultimately results in equation (10). If equation (10) is square root, equation (11) is obtained. Since l 'and l0 are known, l can be obtained from equation (11). On the other hand, equation (12) is established from equation (2), and equation (13) is obtained. Substituting equation (11) into l of (13) gives l,
Since l 'and l0 are known, θ can be determined from θ'.

FIG. 5 is an explanatory diagram for calculating the radius of curvature from θ obtained in FIG. Each symbol added in FIG. 5 with respect to FIG. 4 is defined as follows. A, B, and C are approximated as being on the same circular arc. O: center of arc CAB R: radius of curvature of line 14 δ: angle of chord BC with respect to tangent at point B γ: angle of chord AB with respect to tangent at point B α: ∠AOB β: ∠BOC

[0023]

(Equation 2)

Since α and β are central angles, and δ and γ are chord angles with respect to the tangent, the equations (21) and (22) hold. Equations (23) and (24) hold in ΔOBC. The expression (26) is obtained from the expression (25).
Substituting equation (26) into equation (24) yields equation (27),
When equation (27) is solved for R, equation (29) is obtained. α
And R have a relationship of sin (α / 2) = a / (2 · R), and using this relationship, R can be determined from θ by equation (29).

The principle of obtaining the shape of the track 14 by the track measuring vehicle 10 of FIG. 1 will be described. In FIG. 1, the front end connecting point of the connecting rod 13 to the uniaxial carriage 12, the center plate 25 of the front carriage 22 of the vehicle 11 equipped with measuring equipment, and the rear carriage 23 of the vehicle 11 equipped with measuring equipment.
Of the heart dish 25 on the track 14 are respectively denoted by C, A, and B again, and the starting points of the track measuring vehicle 10 of C, A, and B are denoted by C0, A0, and B0, and the i-th counted from the Let each position and θ of the point be Ci, Ai, Bi, and θi. The lengths of the line segments CA and AB are fixed. FIG.
In the track measuring vehicle 10 of the first embodiment, the track 14 at the start point is a straight line, and at the start point, C0, A0, and B0 are aligned, for example, on a straight line (if the track shape at the start point is known, C0
0, A0, and B0 are not limited to being aligned on a straight line, and may be aligned on a known curve. ), Θ0 =
0. The track measuring vehicle 10 advances toward the uniaxial carriage 12,
Each time the vehicle advances by a predetermined amount Δx (Δx ≦ the length of the line segment BC at the start point / 2), θ is measured. C0, A0, B
Since 0 is known, the positions of A1, B1 (A1,
The position of B1 is between B0 and C0 where the line 14 shape has already been determined.
Exists in the range. ) Is obtained, and the position of C1 is obtained from θ1. Therefore, the line 14 between C0 and C1 is determined by approximately connecting C0 and C1 with a line segment. In this manner, C2, C3,... Ci are sequentially obtained, and the shape of the entire line 14 and, therefore, the bending angle at each position of the line 14 can be detected. The traveling position of the track measuring vehicle 10 at the time of measuring the track shape may be any of C, A, and B.

Θi is the bending angle between Ai and Ci (line segment Ai
Let Bi be a tangent segment at the point Ai on the track 14, θ
i is the angle of the line segment AiCi with respect to the tangent). The length of the arc AiCi can be approximated to the length l of the line segment AiCi. Therefore, if the radius of curvature is Ri, then Ri · 2
θ = 1, and Ri = 1 / (2θ). Since this Ri is the average radius of curvature in the range from Bi to Ci, it is the radius of curvature at the midpoint of the line segment BiCi.

In FIG. 2, the center plate 25 of the front bogie 22 of the front vehicle 31, the center plate 25 of the rear bogie 23 of the front vehicle 31, the center plate 25 of the front bogie 22 of the rear vehicle 32, and the rear vehicle 32 The center plate 25 of the rear carriage 23 is designated A, B, C, and D, respectively. The length of the coupler 33 is short, and the distance d of the BC is equal to the distance of the front bogie 22.
And is assumed to be constant regardless of the relative refraction angle γ of the rear vehicle 32. Let A0, B0, C0, D0, and γ0 be the positions and γ of the start points of the track measuring vehicles 10 of A, B, C, and D, and let Ai, Bi, Ci, and be the positions and γ of the i-th point counted therefrom. D
i and γi. In the track measuring vehicle 30 shown in FIG. 2, the track 14 at the start point is a straight line, and A0, B0, C0, and D0 are aligned on a straight line.
0, B0, C0, and D0 are not limited to being aligned on a straight line, but may be aligned on a known curve. ), Γ0
= 0. The track measuring vehicle 30 moves forward with the front vehicle 31 as the front side, and a predetermined amount Δx (Δx ≦ (starting line segment A
0D0 length) / 2) Measure γ every time it advances. A
Since the shape of the line 14 between 0 and D0 is known, C1 and D1 can be determined on a known line shape from Δx.
Next, the position of B1 is determined from the distances d and γ of the BC, and a predetermined distance point from B1 is defined as A1 on a straight line that passes B1 and has a slope γ with respect to the line segment C1D1, and A1 (and B1) ahead of A0. )
The shape of the track 14 can be extended up to that point. A2, A3, ... Ai
Are sequentially obtained, and the entire line 14 is obtained. The traveling position of the track measuring vehicle 30 at the time of track shape measurement is A,
Any of B, C, and D may be used.

Also, when the distance of AB and the distance of CD are both set to the same value a and the distance of BC is set to b, the radius of curvature can be obtained from Ri = (a + b) / γ. The radius of curvature Ri is equal to the midpoint M of the line segment AB.
a, the midpoint Mb of the line segment CD and the midpoint Mc of the line segment MaMb are defined as the curvature radius of the line 14 at Mc.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating, from above, a situation where a track measuring vehicle detects a track turning angle and the like of a track.

FIG. 2 is a diagram illustrating, from above, a situation in which another track measuring vehicle detects a track turning angle or the like of the track.

FIG. 3 is an enlarged view of a connecting portion of a front vehicle and a rear vehicle of the track measuring vehicle of FIG. 2;

FIG. 4 shows the connection of the track measuring vehicle shown in FIG. 1 when the rear end of the connecting rod is displaced with respect to the center line of the vehicle equipped with the measuring equipment and is connected to the front end of the vehicle equipped with the measuring equipment. FIG. 7 is an explanatory diagram for converting a tilt angle θ ′ of a rod into a tilt angle θ from a center plate on a front side of a vehicle equipped with a measuring device.

5 is an explanatory diagram for calculating a radius of curvature from θ obtained in FIG. 4;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Track measuring vehicle (track shape detecting device, track curvature radius detecting device) 11 Vehicle equipped with measuring equipment (rear vehicle) 12 Uniaxial bogie (front vehicle) 13 Connecting rod (connecting means) 14 Track (track) 30 Track measuring vehicle ( Track shape detecting device, track curvature radius detecting device) 31 Front vehicle 32 Rear vehicle 33 Coupler (connecting means)

Claims (6)

[Claims] (A) a front vehicle (12, 31) and a rear vehicle (11, 32) disposed on a front side and a rear side and traveling on a track (14), respectively; (b) the front vehicle (12, 31); Connecting means (13, 33), (c) for interconnecting the rear vehicle (11, 32) and the rear vehicle (11, 32);
Traveling position detecting means for detecting a traveling position; (d) two of three of the front vehicle (12, 31), the rear vehicle (11, 32), and the connecting means (13, 33). Orbital angle detection means for detecting the orbital angle at each traveling position or its corresponding value from the relative refraction angle; and (e) estimating the orbital shape based on the detected values of the traveling position detection means and the orbital angle detection means. The trajectory shape detecting device according to claim 1, further comprising a trajectory shape calculation means. The connecting means (13, 33) is a connecting rod (13) having a predetermined length, and the track turning angle detecting means is provided with the front vehicle (12, 31) and the rear vehicle (11, 33). The track shape detection device according to claim 1, wherein a relative refraction angle of the connecting rod (13) with respect to one of (32) is detected as a track bending angle or a corresponding value thereof. 3. The track turning angle detecting means detects a relative refraction angle of the front vehicle (12, 31) and the rear vehicle (11, 32) as a track turning angle or a corresponding value thereof. The track shape detecting device according to claim 1. 4. A front vehicle (12, 31) and a rear vehicle (11, 32) which are respectively disposed on a front side and a rear side and run on a track (14), and (b) the front vehicle (12). , 31) and the connecting means (13, 33) for interconnecting the rear vehicles (11, 32),
(C) the front vehicle (12, 31), the rear vehicle (11, 32),
And a track bending angle detecting means for detecting a track bending angle or a corresponding value at each running position from a relative refraction angle of two of the three of the connecting means (13, 33); and (d) the running position The track curvature radius detecting device according to claim 1, further comprising a track curvature radius calculating unit that calculates a track curvature radius at each traveling position based on the track bending angle detected by the detecting unit or a corresponding value thereof. . 5. The connecting means (13, 33) is a connecting rod (13) having a predetermined length, and the track turning angle detecting means is provided on the front vehicle (12, 31) and the rear vehicle (11, 33). 5. The track curvature radius detecting device according to claim 4, wherein a relative refraction angle of the connecting rod (13) with respect to one of (32) is detected as a track bending angle or a corresponding value thereof. 6. The track turn angle detecting means detects a track turn angle or a corresponding value from a relative refraction angle of the front vehicle (12, 31) and the rear vehicle (11, 32). The orbit radius of curvature detecting device according to claim 4.