KR101791881B1 - Apparatus for measuring of track gauge and mehtod for controlling the same - Google Patents
Apparatus for measuring of track gauge and mehtod for controlling the same Download PDFInfo
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- KR101791881B1 KR101791881B1 KR1020160010027A KR20160010027A KR101791881B1 KR 101791881 B1 KR101791881 B1 KR 101791881B1 KR 1020160010027 A KR1020160010027 A KR 1020160010027A KR 20160010027 A KR20160010027 A KR 20160010027A KR 101791881 B1 KR101791881 B1 KR 101791881B1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
[0001] The present invention relates to an apparatus for measuring gauge of a railway line, comprising a first laser scanner for acquiring an image of a first railway line, a second laser scanner for acquiring an image of a second railway line, a measurement frame inclination angle The first line spacing is calculated using the first line image obtained by the first laser scanner and the second line spacing is calculated using the second line image acquired by the second laser scanner, The current gage between the first and second railroad tracks is calculated using the first railway line spacing and the second railway line spacing, and if the measurement frame is inclined by the measurement frame rake angle sensing unit, 1 and the actual laser irradiation angle of the second laser scanner to re-calculate the actual gage between the first train line and the second train line, It comprises parts of the measurement gauge to obtain the liver.
Description
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for measuring a gauge of a train line and a control method thereof.
The speed of trains within the railway track is 80km to 300km / h, and there are many safety inspections to check the condition of the railway line so that the train can run safely on the railway.
As one of the safety inspections, a rail gauge, which is an interval between two train lines installed side by side facing each other, is measured to judge whether or not a train line is warped, a line warp phenomenon or a disconnection, You should control the driving condition.
The measuring instrument measuring the gauge of the railway track is located in the measurement frame attached to the lower part of the train. The railway track is photographed with a laser scanner, and the gauge between two railway tracks is measured .
At this time, the laser scanner is not positioned in front of the upper surface of each of the two train lines, that is, the first and second rail lines, perpendicular to each other, that is, opposite to each other, but inclined at a predetermined angle, Respectively.
However, the attitude of the measurement frame changes due to the impact generated during running of the train or the shaking of the train body shaken during running, and the position of the laser scanner is also changed due to the change of the position of the measurement frame. There arises a problem that the posture of the laser scanner changes at the initial setting position.
When the posture of the first and second laser scanners located on the first and second rail lines is changed due to the posture change of the measurement frame, the inclination angles of the first and second laser scanners and the corresponding laser traces The laser irradiation angle is also changed.
In order to measure the gauge between the first and second train lines, the first and second laser scanners use a triangulation method using laser light that is reflected and incident on a train line.
Therefore, since the gauge size varies depending on the installation angles of the first and second laser scanners, if the inclination angles of the first and second laser scanners are different from the initial inclination angle, the magnitude of the gauge measured varies, There was a problem that accuracy was poor. In general, since the initial installation angles of the first and second laser scanners are the same, the initial inclination angles of the first and second laser scanners are also the same.
The width of the flat flat surface portions of the head surfaces of the first and second train rails is generally about 20 mm. When the first and second laser scanners are installed perpendicular to the two train rails facing each other (That is, when the setting angle is 90 °), the laser scanner can recognize the angle change by changing the angle by more than 40 μm in the Z axis direction while changing 20 mm in the X axis direction.
This means that it is necessary to change Δz / Δx = 40/20000 = 0.002 or more as a slope, and when the angle is converted, tan -1 is 0.002 = 0.1146, which means that the angle change can be recognized by about 0.115 ° or more. That is, when the first and second laser scanners are installed vertically, the angular resolution is 0.1 degrees or more.
When the first and second laser scanners are installed vertically without being installed vertically, the resolving power of the laser scanner is deteriorated as the inclination angle is decreased (i.e., the degree of inclination is increased).
For example, when the installation angle of the first and second laser scanners is 45 degrees, the resolution in the direction perpendicular to the head surface of the train rail is 165 占 퐉, the inclination is 0.00825 or more, the angle is more than 0.473 占The laser scanner can detect the angle change.
Further, when the first and second laser scanners have an installation angle of 64 degrees, the resolution vertical to the head surface of the train rail is deteriorated to 208 mu m so as to be 0.0104 or more in inclination and 0.596 DEG or more in angle, The change of the angle is recognized. That is, the angular resolution of the laser scanner is reduced to about 0.6 degrees.
However, in the related art, no compensation operation is performed for the change of the installation angle of the laser scanner, the correction operation for the angular resolution of the laser scanner is not performed, and the accuracy of the gauge measurement is also deteriorated.
SUMMARY OF THE INVENTION It is an object of the present invention to improve the accuracy of gauge measurement of a railway track.
According to another aspect of the present invention, there is provided a method of correcting gauges measured in accordance with an irradiation angle of a laser scanner in real time.
An apparatus for measuring gauges of a railway track according to one aspect of the present invention includes a first laser scanner positioned at one side of a measurement frame and acquiring an image of a first train line, a second laser scanner positioned at the other side of the measurement frame, A second laser scanner for acquiring an image of a second train line spaced apart from the first laser scanner, a measurement frame inclination sensor mounted on the measurement frame for sensing a tilt angle of the measurement frame, A second line image acquisition unit connected to the measurement frame inclination angle sensing unit for calculating a first line spacing using the first line image acquired by the first laser scanner and using the second line image acquired by the second laser scanner And calculating the second train line spacing based on the first train line spacing and the second train line spacing, The first frame and the second frame are connected to the first frame and the second frame by using the actual laser irradiation angle of the first and second laser scanners when the measurement frame is inclined by the measurement frame inclination angle sensing unit, And a gauge measuring unit for re-calculating actual gauge between the second train line and obtaining a final gauge.
Wherein the gauge measuring unit determines that the actual gauge is a final gauge if the absolute difference between the current gauge and the actual gauge is within a set error range, determines a gauge state of the current point as a steady state, When the absolute difference value exceeds the setting error range, it is preferable to determine the gauge state of the current point as an abnormal state.
The apparatus for measuring gauges of a railway track further includes a train position sensing unit connected to the gauge measuring unit, wherein the gauge measuring unit determines a measurement position of the final gauge using the signal output from the train position sensing unit .
Wherein the gauge measuring unit determines a first measurement point for the first train line, calculates a distance between the first laser scanner origin and the first measurement point projection point, calculates a distance between the first measurement point and the first measurement point projection point, Calculating a distance between the first measurement point and the first laser scanner by subtracting the distance between the first laser scanner origin and the first measurement point projection point from the distance between the first measurement point and the first measurement point projection point, The first distance between the first laser scanner and the first laser line is calculated to calculate the distance between the first laser line and the second laser line to calculate the distance between the origin of the second laser scanner and the projection point of the second laser line, , The distance between the second measurement point and the second measurement point projection point is calculated, and the distance between the second measurement point and the second measurement point projection point is calculated from the second laser scanner origin and the second measurement point projection point Of it is preferable to subtract the distance calculating a distance between the second measuring point and the second laser scanner and, in addition to the first measurement point and a second distance and a second laser scanner between the laser scanner installation distance calculating said second train track interval.
Wherein the gauge measuring unit measures a first linear function graph having an initial laser irradiation angle of the first and second laser scanners as a slope and a point of a first line image and a second line image having a smallest value among the shortest straight line distances, And determines a second quadratic function graph having the same slope as the first quadratic function graph, passing through a descending point lowered by a set distance at the first and second highest points, A point at which the quadratic function graph and the first and second line images respectively meet can be defined as the first and second measurement points.
Wherein the gauge measuring unit determines the first and second laser scanner origin points in the first and second line images, and calculates the first and second laser scanner origin points using the first and second line images, Calculating a distance between each of the first and second laser scanner origin points and each of the first and second measurement point projection points, calculating the distance between each of the first and second laser scanner origin points and the first and second laser scanner origin points, The distance between each of the first and second laser scanner origin points and the distance between the first and second laser scanner origin points and the first and second laser spot origin points and the first and second laser spot origin points, The distance between the origin of each of the first and second laser scanners and the projection point of each of the first and second measurement points is calculated by using a trigonometric function expression using angles of sides formed by the respective movement points.
At this time, the angle is one of (90 - the laser irradiation angle of the first laser scanner) and (90 - the laser irradiation angle of the second laser scanner).
The laser irradiation angle of the first laser scanner and the laser irradiation angle of the second laser scanner are the initial laser irradiation angles or the actual laser irradiation angles of the first and second laser scanners, The gauge is the current gauge, and the gauge calculated using the actual laser irradiation angle is the actual gauge.
Wherein the gauge measuring unit calculates angular distance between the first and second measurement points and the first and second measurement point projection points, and calculates a distance between the first and second measurement points and the first and second measurement point projection points, Calculating distances between the first and second measurement points and the first and second measurement point projection points using the trigonometric function formula using the laser irradiation angles of the first and second laser scanners, Wherein the laser irradiation angle of the second laser scanner is an initial laser irradiation angle or an actual laser irradiation angle of the first and second laser scanners, a gage calculated using the initial laser irradiation angle is a current gage, Is the actual gauge.
Wherein the actual laser irradiation angles of the first and second laser scanners are different from the first and second laser scanners using an irradiation angle change amount of the laser scanner corresponding to the angle of the measurement frame and an initial laser irradiation angle of each of the first and second laser scanners, 2 It is possible to calculate each actual laser irradiation angle of the laser scanner.
The apparatus for measuring gauge railway track according to the above feature may further include a first scanner tilt angle sensing unit and a second scanner tilt angle sensing unit connected to the gauge measuring unit and sensing the tilt angle of the first laser scanner and the second laser scanner, And the gauge measuring unit determines actual laser irradiation angles of the first and second laser scanners based on actual tilt angles determined using the sensing signals output from the first and second scanner tilt angle sensing units .
According to another aspect of the present invention, there is provided a method of controlling a gauge measuring apparatus, comprising: obtaining a first line image of a first rail line using a first laser scanner; Calculating a second line spacing using the second line image, calculating a second line spacing using the second line image, calculating a second line spacing using the second line image, Calculating a current gauge between the first and second train lines by adding the second train line spacing, determining a tilt angle of the measurement frame using a signal output from the measurement frame tilt angle sensing unit, Determining whether the measurement frame is in a tilted state, and if the measurement frame is inclined and the actual laser beam of the first and second laser scanners Calculating the actual gauge between the first and second train lines using the trapezoidal angle and calculating the final gauge.
According to another aspect of the present invention, there is provided a control method of a gauge measuring apparatus, comprising the steps of: calculating a difference between the current gauge and an actual gauge; determining whether an absolute difference of the calculated gauge exists within a set error range; Determining the actual gauge as the final gauge and determining the gauge state of the current point as a normal state when the absolute value of the gauge exists within the set error range; May be determined to be in an abnormal state.
Calculating a distance between the origin of the first laser scanner and the projection point of the first measurement point; calculating a distance between the first measurement point and the first measurement point, Calculating a distance between projection points, calculating a distance between the first measurement point and the first laser scanner by subtracting a distance between the first laser scanner origin and the first measurement point projection point at a distance between the first measurement point and the first measurement point projection point, And calculating a distance between the first measurement point and the first laser scanner and a distance between the first laser scanner and the first laser scanner to calculate the first train line spacing.
The calculating of the second line spacing may include determining a second measurement point for the second train line, calculating a distance between the second laser scanner origin point and the second measurement point projection point, Calculating a distance between the second measurement point and the second laser scanner by subtracting the distance between the second laser scanner origin and the second measurement point projection point at a distance between the second measurement point and the second measurement point projection point; And calculating a distance between the second measurement point and the second laser scanner by adding the distance between the second measurement point and the second laser scanner and the installation distance of the second laser scanner.
Wherein the step of determining the first measurement point includes the steps of: determining a first linear function graph having an initial laser irradiation angle of the first laser scanner as a slope; determining a shortest straight line distance between the first linear function graph and the first line image Determining a point of the first line image having the smallest value as the first highest point, passing through a falling point falling by a set distance from the first peak, Determining a difference function graph, and determining a point at which the second line graph meets the first line image as the first measurement point, wherein the step of determining the second measurement point comprises: Determining a first linear function graph having an initial laser irradiation angle of the first linear function with a slope, Determining a point of a second line image having a smallest line distance as a second highest point; passing the falling point by a set distance at the second highest point and having a slope equal to that of the first linear function graph; Determining a second quadratic function graph and determining a point at which the second quadratic function graph meets the second line image as the second measurement point.
Wherein the step of calculating the distance between the origin of the first laser scanner and the projection point of the first measurement point includes the steps of determining the origin of the first laser scanner in the first line image, Calculating a distance between the first laser scanner origin point and the first measurement point projection point and calculating a distance between the first laser scanner origin point and the first measurement point projection point and a distance between the first laser scanner origin point and the first measurement point projection point, The distance between the origin of the first laser scanner and the projection point of the first measurement point is calculated by using a triangular function formula based on the side of the laser scanner origin and the first measurement point projection point and the angle of the side of the first laser scanner origin and the movement point of the first measurement point projection point. Calculating a distance between the second laser scanner origin and the first measurement point projection point, Determining a position of a second measurement point projection point corresponding to the second measurement point using the second line image, determining a position of the second measurement point corresponding to the second measurement point using the second line image, A distance between the second laser scanner origin point and the second measurement point projection point, a distance between the second laser scanner origin point and the second measurement point projection point, a second laser scanner origin point, And calculating the distance between the origin point of the second laser scanner and the projection point of the second measurement point using the trigonometric function using the angle of the side formed by the movement point of the second measurement point.
At this time, the angle formed by the side of the first laser scanner origin and the first measurement point projection point, the origin of the first laser scanner and the movement point of the first measurement point projection point is (90 - the laser irradiation angle of the first laser scanner) The angle formed by the side of the second laser scanner origin point and the second measurement point projection point, and the angle formed by the origin point of the second laser scanner and the point of movement of the projection point of the second measurement point is (90 - the laser irradiation angle of the second laser scanner) Wherein the laser irradiation angle of the first laser scanner and the laser irradiation angle of the second laser scanner are initial laser irradiation angles or actual laser irradiation angles of the first and second laser scanners, And the gauge calculated using the actual laser irradiation angle is an actual gauge.
Wherein the step of calculating the distance between the first measurement point and the first measurement point projection point includes the steps of: calculating a distance between the first measurement point and the first measurement point projection point; and calculating a distance between the first measurement point and the first measurement point projection point, 1 calculating a distance between a first measurement point and a first measurement point projection point using a trigonometric function formula using a laser irradiation angle of a laser scanner and calculating a distance between a second measurement point and a second measurement point projection point, Calculating a distance between the second measurement point and the second measurement point projection point by using a distance between the second measurement point and the projection point of the second measurement point and a laser irradiation angle of the second laser scanner, And calculating a distance between the second laser point and the second laser point, and calculating a distance between the laser pointer and the second laser point, Wherein the laser irradiation angle of the scanner is an initial laser irradiation angle or an actual laser irradiation angle of the first and second laser scanners, the gage calculated using the initial laser irradiation angle is a current gage, and is calculated using the laser irradiation angle The gauge is the actual gauge.
According to this aspect, the inclination angle of the measurement frame is determined using the inclination detection unit provided in the measurement frame, and the gauge measured in accordance with the inclination angle of the determined measurement frame is compensated, so that the gauge measurement is more accurately measured.
Also, the measurement frame inclination sensor can measure angles at 1,000Hz, and the angular accuracy can be measured at 0.005 degrees or less.
1 is a block diagram of an apparatus for measuring gauges of a railway track according to an embodiment of the present invention.
2 is an operational flowchart of an apparatus for measuring gauges of a railway track according to an embodiment of the present invention.
Fig. 3 is a flowchart of the routine for the first train line spacing shown in Fig. 2. Fig.
4 is a view schematically showing a positional relationship between a railroad track and a laser scanner for gauge measurement in an apparatus for measuring gauge of a railway track according to an embodiment of the present invention.
5 is a diagram for explaining a method of calculating a first railway line spacing in an apparatus for measuring gauge railway track according to an embodiment of the present invention.
6 is a diagram illustrating an example of a first line image for a first train line obtained by a first laser scanner in an apparatus for measuring gauge of a railway track according to an embodiment of the present invention.
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and similar parts are denoted by like reference characters throughout the specification.
Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and method for measuring a gauge of a railway track according to an embodiment of the present invention will be described with reference to the accompanying drawings.
First, an apparatus for measuring a gauge of a railway track (hereinafter referred to as a 'gauge measuring apparatus') according to an embodiment of the present invention will be described.
1, the gauge measuring apparatus according to this embodiment includes a first laser scanner (not shown) mounted on one end of a measurement frame MF attached to a lower portion of a train (not shown) 11, a
The
The
4, the
The first and second scanner inclination
Therefore, when the first and
If necessary, the
4, the
Therefore, the
To this end, since the amount of change (hereinafter referred to as the irradiation angle variation) with respect to the laser irradiation angle of the
In an alternative example, the
As shown in FIG. 4, the gauges, which are gaps between the first and second trains R1 and R2 which are spaced apart from one another and arranged side by side, are spaced apart from each other by first and second traces Is the distance between the inner side surfaces of the first and second railway lines R1 and R2 and the straight line distance between the measurement points P1 and P2 of the first and second railway lines R1 and R2.
The measurement points P1 and P2 of the first and second train lines R1 and R2 are located below the set distances Dh at the highest points T1 and T2 of the first and second train lines R1 and R2, The inner side point is located. At this time, the set distance Dh may be, for example, 14 mm.
4, the X-axis direction is a linear direction (e.g., a horizontal direction) between the two train lines R1 and R2, and a Y-axis direction is a traveling direction of the train lines R1 and R2 And the Z-axis direction is the height direction of each of the train lines R1 and R2.
The measurement frame inclination
The inclination angle of the measurement frame MF changes at the initial inclination angle depending on the state of the mounting surface such as the impact generated when the train travels or the surface where the train lines R1 and R2 are installed.
Therefore, as described above, when the measurement frame inclination
The train
GNSS means a navigation system capable of calculating the position of a train using a radio wave signal received from a satellite (not shown). A specific example of GNSS is a GPS (Global Positioning System), a Galileo, a GLONASS (Global Orbiting Navigational Satellite System), a COMPASS, an Indian Regional Navigational Satellite System (IRNSS), a Quasi-Zenith Satellite System .
The
The
4, the measurement frame MF is inclined downward (-Z axis direction) so that the size of the laser irradiation angle [theta] 1 of the
In this example, when the measurement frame MF is horizontal to the installation surface, the installation angles of the
The
The output unit 250 may include a liquid crystal display (LCD), an organic light emitting diode (OLED), or the like.
Next, with reference to FIG. 2, FIG. 3, FIG. 5 and FIG. 6 as well as FIG. 4, the operation of the gauge measuring apparatus having such a structure will be described.
First, when a power supply unit (not shown) supplies power for operation of the gauge measuring apparatus, the operation of the gauge measuring apparatus is started, and the operation of the
When the operation of the
The method of calculating these two first and second railway line intervals Pix1 and Pix2 are the same as each other, and therefore, a method of obtaining the first railway line interval Pix1 will be described in detail with reference to FIG.
Therefore, the
At this time, if necessary, the
6 shows an example of the first line image IM1 acquired by the
Next, the
In this case, as described above, the initial installation angle size of the
When the initial installation angle of the
At this time, the x-intercept and the y-intercept of the graph of the first linear function graph G1 are not superimposed on the first line image IM1 and are located above the position where the first line image IM1 is displayed, And has a value such that the graph G1 is located.
The laser beam of the
The
Next, the
When the highest point (e.g., the first highest point) T1 with respect to the first train line R1 is calculated, the
The slope of the second linear function graph G2 is the same as the first linear function graph G1.
The
To this end, the
Next, the
The
In this example, the first laser scanner origin Oc1 is defined as the value of the X axis coordinate of the highest point T1 of the first line image R1 obtained from the
Then, the
The first laser scanner origin Oc1 and the first measurement point projection point Pc1 are aligned with the X axis of the
The
The angle between the side S1 formed by the first laser scanner origin Oc1 and the first measurement point projection point Pc1 and the angle? 3 formed by the origin Oc1 and the side S2 formed by the movement point Pcl ' The angle becomes (90 -? 1).
At this time, the movement point Pc1 'is a position change point of the first measurement point projection point Pc1 when the
Accordingly, the
Do1 = cos (90 - &thetas; 1) x lo1
Next, the
Dt1 = cos? 1 占 It1
At this time, It1 is already calculated using the time of reflection after the laser is irradiated to the first measurement point P1 in the
When these two distances Do1 and Dt1 are calculated as described above, the
Then the
When the current first railway line interval Pix1 is calculated as described above, the
That is, a second line image of the second rail line R2 is obtained using the
Then, the distance between the origin of the
At this time, the origin of the first laser scanner necessary for the calculation operation is also defined as the value of the X axis coordinate of the highest point (T2) of the second line image R2 obtained by the
Then the distance between the second measurement point P2 and the
When the current first railway line interval Pix1 and the current second railway line interval Pix2 are calculated as described above, the
At this time, the
Next, the
For example, when the laser irradiation angle of the
Pix1 = Ox1 + (Dt1 - Do1) = Ox1 + (435xcos26-20xcos64) = Ox1 + 382.208
Pix2 = Ox2 + (Dt2 - Do2) = Ox2 + (435xcos26-20xcos64) = Ox2 + 382.208
When the installation condition of the actual measurement frame MF changes by 0.1 degrees, the laser irradiation angle of the first and
That is, when the laser irradiation angle is reduced to 25.9 °, the first train line spacing Pix1 and the second train line spacing Pix2 are respectively as follows.
Pix 1 = Ox 1 + (Dt 1 - Do 1) = Ox 1 + (435 x cos 25.9 - 20 x cos 64.9) = Ox 1 + 382.572
Pix2 = Ox2 + (Dt2 - Do2) = Ox2 + (435xcos25.9-20xcos64.9) = Ox2 + 382.572.
Further, when the laser irradiation angle is increased to 26.1 DEG, the first train line spacing Pix1 and the second train line spacing Pix2 are as follows.
Pix1 = Ox1 + (Dt1 - Do1) = Ox1 + (435xcos26.1-20xcos63.9) = Ox1 + 381.843
Pix2 = Ox2 + (Dt2 - Do2) = Ox2 + (435xcos26.1-20xcos63.9) = Ox2 + 381.843
This means that an error of about 0.36 mm occurs in the train line spacing (Pix1, Pix2) when an initial angle of measurement of the measurement frame (MF) is 0.1 degree. The EN13848 standard requires the resolution of gauge measurement to be 0.5 mm and the measurement uncertainty to be ± 1 mm. It can be seen that it comes in EN13848 standard. When the angle is 0.2 degrees, the error of the gauge measurement can not be satisfied because the error is doubled. Therefore, the accuracy of angle measurement should be at least 0.1 °.
The following is the case where the measurement frame (MF) rotates 1 degree as the train travels at a high speed.
Accordingly, when the laser irradiation angle is 25 degrees, the first train line spacing Pix1 and the second train line spacing Pix2 are as follows.
Pix1 = Ox1 + (Dt1 - Do1) = Ox1 + (435xcos25-20xcos65) = Ox1 + 385.792
Pix2 = Ox2 + (Dt2 - Do2) = Ox2 + (435xcos25-20xcos65) = Ox2 + 385.792
When the laser irradiation angle is 27 degrees, the first train line spacing Pix1 and the second train line spacing Pix2 are as follows.
Pix1 = Ox1 + (Dt1 - Do1) = Ox1 + (435xcos27-20xcos63) = Ox1 + 378.508
Pix2 = Ox2 + (Dt2 - Do2) = Ox2 + (435xcos27-20xcos63) = Ox2 + 378.508
When the laser irradiation angle is changed by 1 占 from the calculation, the first and second train line intervals Pix1 and Pix2 are found to be 3.7 mm and + 3.584 mm, respectively.
If the irradiation angle of the first and
Let's take a gauge measurement error when the measurement frame (MF) rotates up to 5 degrees
That is, when the laser irradiation angle is 21 degrees, the first train line spacing Pix1 and the second train line spacing Pix2 are as follows.
Pix 1 = Ox 1 + (Dt 1 - Do 1) = Ox 1 + (435 x cos 21 - 20 x cos 69) = Ox 1 + 398.940
Pix2 = Ox2 + (Dt2 - Do2) = Ox2 + (435xcos21-20xcos69) = Ox2 + 398.940
When the laser irradiation angle is 31 degrees, the first train line spacing Pix1 and the second train line spacing Pix2 are as follows.
Pix 1 = Ox 1 + (Dt 1 - Do 1) = Ox 1 + (435 x cos 31 - 20 x cos 59) = Ox 1 + 362.568
Pix2 = Ox2 + (Dt2 - Do2) = Ox2 + (435xcos31-20xcos59) = Ox2 + 362.568
When the measurement frame MF rotates 5 degrees, the gauge is changed by about -2.908 mm if the laser irradiation angle change is not compensated. The EN13848 standard requires the resolution of gauge measurement to be 0.5 mm and the measurement uncertainty to be ± 1 mm. Therefore, the change of the laser irradiation angle must be compensated in real time, and the accuracy of the angle measurement should be at least 0.1 degree.
In the above, Dt2 is the distance between the second measurement point P2 and the second measurement point projection point, and Do2 is the distance between the origin of the second laser scanner 12 (i.e., the origin of the second laser scanner) to be.
As described above, the present first train line spacing Pix1 and the current second train line spacing Pix2 are calculated on the basis of the laser irradiation angles of the first and
Therefore, even if the gauges of the two train lines R1 and R2 installed on the actual installation surface do not change, the first railway line interval Pix1 and the second railway line interval Pix2 are changed when the inclination angle of the measurement frame MF changes, The difference between the actual gauge and the calculated gauge occurs.
Therefore, since the calculated current gauge Drc may be different from the actual gauge, the actual gauge Drr must be calculated by re-calculating the gauge according to the inclination angle of the measurement frame MF.
To this end, the
If it is determined that the measured angle of inclination of the measurement frame MF is equal to the initial angle (S15), the
Then, the
However, if the determined inclination angle of the measurement frame MF is different from the initial angle and the state of the current measurement frame MF is judged to be inclined (S15), the
Then, the actual laser irradiation angles of the first and
In this example, the first and
Alternatively, in an alternative example, the
When the laser irradiation angles corresponding to the actual tilt angles of the first and
2, the actual laser irradiation angles of the
Accordingly, when the actual first railway line interval Pix11 and the actual second railway line interval Pix21 are calculated, the gauge measuring unit adds the two train line intervals Pix11 and Pix21 to calculate the actual gauge Drr (S23 ).
Next, the difference between the current gauge Drc and the actual gauge Drr is calculated (S24), and it is determined whether the absolute value of the calculated gauge difference is within the set error range (S25).
If the absolute value of the calculated gauge difference is within the set error range (S25), the
However, if the absolute value of the calculated gauge difference deviates from the set error range (S25), the
Therefore, if the absolute value of the calculated gauge difference deviates from the set error range (S25), the
In this example, the information output to the
The position information of the corresponding point is determined using the position information outputted from the train
Therefore, the manager uses the determination result outputted to the
As described above, in this embodiment, the measuring frame MF is provided with the measuring frame inclination
In this example, the measurement frame inclination
The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.
11: first laser scanner 12: second laser scanner
21: first scanner inclination angle detection unit 22: second scanner inclination angle detection unit
31: Measuring frame inclination angle sensing part 41: Train position sensing part
50: gauge measuring part R1: first railway track
R2: second train line Drf: final gauge
Drc: current gauge Drr: actual gauge
T1: First peak T2: Second peak
P1: first measuring point P2: second measuring point
Do1: Distance between the origin of the first laser scanner and the projection point of the first measurement point
Dt1: Distance between the first measurement point and the first measurement point projection point
Dx1: distance between the first measurement point and the first laser scanner
Ox1: Installation distance of the first laser scanner
Pix11: Current 1st train line spacing Pix2: Current 2nd train line spacing
Pix11: actual first rail line spacing Pix21: actual second rail line spacing
Claims (15)
A second laser scanner located at the other side of the measurement frame and acquiring an image of a second train line spaced apart from the first train line;
A measurement frame inclination angle sensor mounted on the measurement frame to sense an inclination angle of the measurement frame; And
The first and second laser scanners and the measurement frame inclination angle sensing unit to calculate the first train line spacing using the first line image acquired by the first laser scanner, Calculating a distance between the first railway line and the second railway line by using the first railway line spacing and the second railway line spacing, And when the measurement frame is tilted by the measurement frame inclination angle sensing unit, the actual gauging between the first and second railroad tracks is calculated using the actual laser irradiation angle of the first and second laser scanners, And a gauge measuring unit for calculating a final gauge,
Wherein the gauge measuring unit comprises:
Calculating a distance between the first laser scanner origin point and the first measurement point projection point, calculating a distance between the first measurement point and the first measurement point projection point, calculating a distance between the first measurement point and the first measurement point, Calculating a distance between the first measurement point and the first laser scanner by subtracting the distance between the first laser scanner origin and the first measurement point projection point from a distance between the first measurement point and the first laser scanner, The distance between the laser scanner and the laser scanner is added to calculate the first train line spacing,
Calculating a distance between the second laser scanner origin point and the second measurement point projection point, calculating a distance between the second measurement point and the second measurement point projection point, calculating a distance between the second measurement point and the second measurement point, The distance between the second measurement point and the second laser scanner is calculated by subtracting the distance between the second laser scanner origin point and the second measurement point projection point from the distance between the second measurement point and the second laser scanner, And the distance between the laser scanner and the laser scanner is added to calculate the second railway line spacing.
Wherein the gauge measuring unit determines that the actual gauge is a final gauge if the absolute difference between the current gauge and the actual gauge is within a set error range, determines a gauge state of the current point as a steady state, And when the absolute value of the difference exceeds the setting error range, determines that the gauge state of the current point is an abnormal state.
Further comprising a train position sensing unit connected to the gauge measuring unit, wherein the gauge measuring unit determines the measurement position of the final gauge using the signal output from the train position sensing unit.
Wherein the gauge measuring unit measures a first linear function graph having an initial laser irradiation angle of the first and second laser scanners as a slope and a point of a first line image and a second line image having a smallest value among the shortest straight line distances, And determines a second quadratic function graph having the same slope as the first quadratic function graph, passing through a descending point lowered by a set distance at the first and second highest points, Wherein a point at which the quadratic function graph and the first and second line images meet each other is defined as the first and second measurement points.
Wherein the gauge measuring unit comprises:
Determining the origin of the first and second laser scanners in the first and second line images, and outputting first and second measurement point projections corresponding to the first and second measurement points using the first and second line images, Determines the position of the point,
Calculating a distance between each of the first and second laser scanner origin points and each first and second measurement point projection points,
The distance between each of the first and second laser scanner origin points and the distance between the first and second measurement point projection points and the first and second laser scanner origin points and the first and second measurement point projection points, The distance between the origin of each of the first and second laser scanners and the projection point of each of the first and second measurement points is calculated using the trigonometric function formula using the angles of the sides of the laser scanner origin and the angles of the respective movement points of the first and second measurement point projection points and,
The angle is one of (90 - the laser irradiation angle of the first laser scanner) and (90 - the laser irradiation angle of the second laser scanner)
Wherein the laser irradiation angle of the first laser scanner and the laser irradiation angle of the second laser scanner are an initial laser irradiation angle or an actual laser irradiation angle of the first and second laser scanners,
Wherein the gauges calculated using the initial laser irradiation angle are current gauges and the gauges calculated using the actual laser irradiation angles are actual gauges.
Wherein the gauge measuring unit comprises:
Calculating distances between the first and second measurement points and the first and second measurement point projection points,
Wherein the first and second measurement points and the first and second measurement points are determined using a trigonometric function expression using the distance between the first and second measurement points and the first and second measurement point projection points and the laser irradiation angles of the first and second laser scanners, 2 measurement points The distances between the projection points are respectively calculated,
Wherein the laser irradiation angle of the first laser scanner and the laser irradiation angle of the second laser scanner are an initial laser irradiation angle or an actual laser irradiation angle of the first and second laser scanners,
Wherein the gauges calculated using the initial laser irradiation angle are current gauges and the gauges calculated using the laser irradiation angles are actual gauges.
Wherein the actual laser irradiation angles of the first and second laser scanners are different from the first and second laser scanners using an irradiation angle change amount of the laser scanner corresponding to the angle of the measurement frame and an initial laser irradiation angle of each of the first and second laser scanners, 2 < / RTI > laser scanner of claim 1, wherein the actual laser irradiation angle of each of the two laser scanners is calculated.
Further comprising a first scanner tilt angle detecting unit and a second scanner tilt angle detecting unit connected to the gauge measuring unit and detecting tilt angles of the first laser scanner and the second laser scanner,
Wherein the gauge measuring unit determines an actual laser irradiation angle of the first and second laser scanners based on an actual tilt angle determined using the sensing signals output from the first and second scanner tilt angle sensing units. Of the gauge.
Calculating a first train line spacing using the first line image;
Acquiring a second line image for the second train line using a second laser scanner;
Calculating a second train line spacing using the second line image;
Calculating a current gage between the first train line and the second train line by adding the first train line spacing and the second train line spacing;
Determining a tilt angle of the measurement frame using a signal output from the tilt angle sensing unit of the measurement frame;
Determining whether the measurement frame is inclined; And
Calculating a final gauge between the first train line and the second train line using the actual laser irradiation angles of the first and second laser scanners in a state in which the measurement frame is inclined, ,
The calculating of the first train line spacing may include:
Determining a first measurement point for the first train line;
Calculating a distance between the first laser scanner origin and the first measurement point projection point;
Calculating a distance between the first measurement point and the first measurement point projection point;
Calculating a distance between the first measurement point and the first laser scanner by subtracting the distance between the first laser scanner origin and the first measurement point projection point at a distance between the first measurement point and the first measurement point projection point; And
Calculating a distance between the first measurement point and the first laser scanner and a distance between the first laser scanner and the first laser scanner,
The step of calculating the second train line spacing may include:
Determining a second measurement point for the second train line;
Calculating a distance between the second laser scanner origin point and a second measurement point projection point;
Calculating a distance between a second measurement point and a second measurement point projection point;
Calculating a distance between a second measurement point and a second laser scanner by subtracting a distance between a second laser scanner origin and a second measurement point projection point at a distance between the second measurement point and the second measurement point projection point; And
And calculating a distance between the second measurement point and the second laser scanner by adding the distance between the second measurement point and the second laser scanner and the installation distance of the second laser scanner.
Calculating a difference between a current gauge and an actual gauge;
Determining whether a difference absolute value of the calculated gauge is within a set error range;
Determining an actual gauge as a final gauge and determining a gauge state of the current point as a normal state if the absolute difference of the calculated gauge exists within the set error range; And
And determining the gauge state of the current point to be in an abnormal state if the absolute value of the difference of the calculated gauge is out of the set error range.
The step of determining the first measurement point includes:
Determining a first linear function graph having an initial laser irradiation angle of the first laser scanner as a slope;
Determining a point of a first line image having a smallest value among a shortest straight line distance between the first linear function image and the first line image as a first highest point;
Determining a second quadratic function graph having a slope that is the same as the first linear function graph, passing through a descending point falling by a set distance at the first highest point; And
And determining a point at which the second line graph meets the first line image as the first measurement point,
Wherein said determining of said second measuring point comprises:
Determining a first linear function graph having an initial laser irradiation angle of the second laser scanner as a slope;
Determining a point of a second line image having a smallest value among a shortest straight line distance between the first linear function image and the second line image as a second highest point;
Determining a second quadratic function graph having a slope that is the same as the first linear function graph, passing through a descending point falling by a set distance at the second highest point; And
And determining a point at which the second quadratic function graph meets the second line image as the second measurement point.
Wherein the step of calculating the distance between the origin of the first laser scanner and the projection point of the first measurement point comprises:
Determining the origin of the first laser scanner in the first line image;
Determining a position of a first measurement point projection point corresponding to the first measurement point using the first line image;
Calculating a distance between the first laser scanner origin and the first measurement point projection point; And
A distance between the origin of the first laser scanner and the projection point of the first measurement point, a side of the first laser scanner original point and the first measurement point projection point, and an angle of the side of the first laser scanner origin point and the movement point of the first measurement point projection point, Calculating a distance between the origin of the first laser scanner and the projection point of the first measurement point using a function formula,
Wherein the calculating the distance between the second laser scanner origin and the first measurement point projection point comprises:
Determining the second laser scanner origin in the second line image;
Determining a position of a second measurement point projection point corresponding to the second measurement point using the second line image;
Calculating a distance between the second laser scanner origin point and a second measurement point projection point; And
A distance between the second laser scanner origin point and a second measurement point projection point, and a side of the second laser scanner original point and a second measurement point projection point, and an angle of a side of the second laser scanner origin point and a movement point of the second measurement point projection point, Calculating a distance between a second laser scanner origin point and a second measurement point projection point using a function formula,
The angle formed by the side of the first laser scanner origin and the first measurement point projection point, and the angle between the origin of the first laser scanner and the movement point of the first measurement point projection point is (90 - the laser irradiation angle of the first laser scanner) 2 laser scanner origin point and the second measurement point projection point, and the angle between the origin of the second laser scanner and the movement point of the second measurement point projection point is (90 - the laser irradiation angle of the second laser scanner)
Wherein the laser irradiation angle of the first laser scanner and the laser irradiation angle of the second laser scanner are an initial laser irradiation angle or an actual laser irradiation angle of the first and second laser scanners,
Wherein the gauge calculated using the initial laser irradiation angle is a current gauge and the gauge calculated using the actual laser irradiation angle is an actual gauge.
Wherein the step of calculating the distance between the first measurement point and the first measurement point projection point comprises:
Calculating a distance between the first measurement point and the first measurement point projection point; And
Calculating a distance between a first measurement point and a first measurement point projection point using a trigonometric function expression using a distance between the first measurement point and the first measurement point projection point and a laser irradiation angle of the first laser scanner,
The step of calculating the distance between the second measurement point and the second measurement point projection point,
Calculating a distance between the second measurement point and the second measurement point projection point; And
And calculating a distance between a second measurement point and a second measurement point projection point using a trigonometric function expression using a distance between the second measurement point and the second measurement point projection point and a laser irradiation angle of the second laser scanner,
Wherein the laser irradiation angle of the first laser scanner and the laser irradiation angle of the second laser scanner are an initial laser irradiation angle or an actual laser irradiation angle of the first and second laser scanners,
Wherein the gauge calculated using the initial laser irradiation angle is a current gauge and the gauge calculated using the laser irradiation angle is an actual gauge.
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| CN109425289A (en) * | 2017-09-02 | 2019-03-05 | 湖南北斗星空自动化科技有限公司 | A method of track plank split is monitored automatically using inclination angle range measurement principle |
| CN108709566B (en) * | 2018-04-10 | 2023-06-16 | 浙江大学 | Device and method for measuring digital close-range photogrammetry parameters and checking reliability |
| CN109653045B (en) * | 2019-01-28 | 2021-03-12 | 武汉光谷卓越科技股份有限公司 | Track gauge measuring method and device |
| CN110904751B (en) * | 2019-10-28 | 2021-07-16 | 郑州轻工业学院 | Railway gauge detection method and device |
| AT18072U1 (en) * | 2022-05-24 | 2023-12-15 | Plasser & Theurer Export Von Bahnbaumaschinen Gmbh | Rail vehicle and method for detecting a track width |
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| JP2004101215A (en) * | 2002-09-05 | 2004-04-02 | Kawasaki Heavy Ind Ltd | Track spacing measuring method and track spacing measuring apparatus |
| JP2008505260A (en) * | 2004-06-30 | 2008-02-21 | ジヨージタウン・レール・エクイツプメント・カンパニー | System and method for inspecting railroad tracks |
| KR101266394B1 (en) * | 2011-12-16 | 2013-05-22 | 한국과학기술연구원 | Calibration method to minimize the effect of incidence angle in measuring distance |
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| JP2004101215A (en) * | 2002-09-05 | 2004-04-02 | Kawasaki Heavy Ind Ltd | Track spacing measuring method and track spacing measuring apparatus |
| JP2008505260A (en) * | 2004-06-30 | 2008-02-21 | ジヨージタウン・レール・エクイツプメント・カンパニー | System and method for inspecting railroad tracks |
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