KR102340024B1 - Track abnormality detection method applicable to various types of train tracks - Google Patents

Abstract

A method for detecting track anomalies is provided. According to an aspect of the present invention, in a track anomaly detection device, the method for detecting track anomalies may comprise the steps of: calculating at least one of a cross-sectional area, a volume, and a slope of a recess existing in a track by using a three-dimensional shape measuring device; determining the track risk level of the recess based on the calculated value of at least one of the cross-sectional area, the volume, and the slope; and if it is determined that repair of the track is necessary according to the determined track risk level, calculating the location of the track requiring maintenance by integrating the speed values measured by a speed measuring sensor and using the calculated moving distance.

Description

TRACK ABNORMALITY DETECTION METHOD APPLICABLE TO VARIOUS TYPES OF TRAIN TRACKS

The present invention relates to an automated line abnormality detection method and apparatus, and more particularly, quantitatively calculates the risk of defects existing in the line, that is, the bending or dent of the line, using a three-dimensional shape measuring device, and using a speed measuring sensor Thus, it relates to a method that can accurately calculate the location where the defect was found.

In general, a system that is mounted on a train and manages railway facilities takes images and visually inspects the recorded images, or, in the case of further development, compares the normal state reference image with the facility image during operation with a computer to resolve discrepancies. to judge Recently, with the development of artificial intelligence machine learning technology, machine learning application methods are also used.

In a broad sense, these technologies focus on how to detect anomalies and how to find out the location where the abnormalities are detected. An abstract and ambiguous method and standard of using a method to determine whether there is an abnormality by comparing the reference image at the time of operation with the camera image acquired in real time, or using a laser scanner to scan the three-dimensional shape of the entire facility and compare it with the reference shape There was a problem that it was difficult to actually use it by presenting it.

Second, as to how to find out the position where the abnormality of the railroad facility is detected, the prior art counts the number of sleepers that the train has passed with a laser or camera to find out the position of the train that found the abnormality on the track, The number of sleepers was multiplied by the distance between the sleepers to calculate the travel distance of the train from the starting point, or the number of rotations of the wheels was obtained through a tachometer and multiplied by the radius of the wheels to calculate the travel distance. These methods could be implemented under the premise that there must be a sleeper on the track of the train or that the train must have wheels.

However, due to advances in modern railway technology, there are trains using sleeperless tracks. For example, tire rolling type trains, trams, monorails, and maglev trains are representative, and in particular, in the case of maglev trains, there are no wheels. there was

In the case of the prior registered patent KR 10-1806810 (rail facility monitoring system using tracked vehicles), in order to compare whether the structure of the tunnel in which the train runs is abnormal, it detects the sleepers with a laser, counts the number, and then determines the number of n The image is acquired at a position with the second sleeper as a reference point, which cannot be applied to a train system using a track without a sleeper because it is only possible with a sleeper on the track.

In addition, Patent Publication US 2019-0039633 (RAILROAD TRACK ANOMALY DETECTION) discloses a normal reference image of a facility obtained in advance from a location where the location of the train can be specified by GPS to detect abnormalities in the track, and the same point when the train is running By comparing the images of tracks collected in couldn't

KR 1806810 US 2019-0039633

First, the problem to be solved by the present invention is to provide a method capable of detecting an anomaly of a track and accurately calculating its position even in a train without wheels or a train running on a track without sleepers.

Second, the problem to be solved by the present invention is to provide a specific method capable of accurately calculating the depth, cross-sectional area, volume, and inclination of the recess that should be utilized to determine the risk grade of the outlier in the line.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

In the line abnormality detection apparatus according to an aspect of the present invention for solving the above-described problems, the method for detecting the line abnormality is at least one of a cross-sectional area, a volume, and a slope of a recess existing in a track using a three-dimensional shape measuring device. yielding one; determining a line hazard class of the depression based on a calculated value of at least one of the cross-sectional area, the volume, and the slope; and when it is determined that repair of the track is necessary according to the determined risk grade of the track, calculating the position of the track requiring repair through the train travel distance, which is a value obtained by integrating the speed values measured by the speed measuring sensor; .

Other specific details of the invention are included in the detailed description and drawings.

According to the present invention as described above, it has various effects as follows.

According to the present invention, it is possible to quantitatively calculate the cross-sectional area, volume, inclination, and hazard level of the recess corresponding to the abnormal point of the line, and by utilizing this, the line safety diagnosis can be performed efficiently.

In addition, according to the present invention, it is possible to calculate the position of the train in all train systems, such as monorails, trams, and maglev trains without sleepers or wheels.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a conceptual diagram schematically illustrating a track anomaly detection apparatus according to an embodiment of the present invention.
FIG. 2 is a three-dimensional shape measuring device among the devices constituting the track anomaly detection device shown in FIG. 1, showing in detail an example of measuring the height of each of the track surface parts as well as a two-dimensional image of the track surface part by applying the optical triangulation method. It is a configuration diagram.
FIG. 3 is a configuration diagram showing in detail an example of measuring speed by projecting a laser of a laser Doppler sensor onto a line as a speed measuring device among devices constituting the line anomaly detection device shown in FIG. 1 .
4 is a block diagram for explaining a line abnormality detection method according to an embodiment of the present invention.
5 is a flowchart illustrating a method for detecting a line abnormality according to an embodiment of the present invention.
6 to 7 are exemplary views for explaining a method of calculating a cross-sectional area of a recess according to an embodiment of the present invention.
FIG. 8 is an exemplary view for explaining a method of more easily calculating the cross-sectional area of the empty space of the track recess according to an embodiment of the present invention through the inverted shape of the track of FIG. 6 .
9 is an exemplary view for explaining a method of calculating a volume of a recess according to an embodiment of the present invention.
10 is an exemplary view for explaining a method of calculating the slope of the recess according to an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully understand the scope of the present invention to those skilled in the art, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components. Like reference numerals refer to like elements throughout, and "and/or" includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein will have the meaning commonly understood by those of ordinary skill in the art to which this invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

Spatially relative terms "below", "beneath", "lower", "above", "upper", etc. It can be used to easily describe the correlation between a component and other components. Spatially relative terms should be understood as terms including different directions of components during use or operation in addition to the directions shown in the drawings. For example, when a component shown in the drawing is turned over, a component described as “beneath” or “beneath” of another component may be placed “above” of the other component. can Accordingly, the exemplary term “below” may include both directions below and above. Components may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a conceptual diagram schematically illustrating a track anomaly detection apparatus according to an embodiment of the present invention. FIG. 2 is a three-dimensional shape measuring device among the devices constituting the track anomaly detection device shown in FIG. 1, showing in detail an example of measuring the height of each of the track surface parts as well as a two-dimensional image of the track surface part by applying the optical triangulation method. It is a configuration diagram.

Referring to FIG. 1 , the track anomaly detection apparatus according to an embodiment of the present invention is a three-dimensional shape measuring apparatus 100 for obtaining a cross-sectional shape of a recess existing in a track 103, measuring the moving speed of a train The speed measuring sensor 101 for overall control and the control unit 102 for determining whether the line 103 is abnormal using the two-dimensional array data values of the line section obtained from the three-dimensional shape measuring device may include

For example, the speed sensor 101 obtains a speed value by repeatedly projecting the lower end of the train from the time the train departs. It becomes the distance, and it is possible to determine the position of the train at a specific point in time. The position value of this train can be used to track the location where the anomaly is detected when a track abnormality is detected later.

A method of measuring the speed is generally a laser Doppler sensor is used to measure and utilize the scattered Doppler shift light by projecting two laser beams onto the surface of the line, but the speed measuring sensor is not limited to the case of the laser Doppler sensor. , various types of speed measuring sensors may be used.

For example, the three-dimensional shape measuring apparatus 100 may measure the two-dimensional array data of the cross-sectional shape of the track while periodically projecting the lower part of the train, and may be utilized to detect anomalies.

The measurement device is generally composed of one 3D camera and one line laser to implement optical triangulation, and can be implemented by using two cameras as a stereo vision method, 3D structured light camera, infrared structured light camera, and TOF. Various methods can be applied as long as information on depth or height can be obtained from an image up to the camera method.

2 is a configuration example of a three-dimensional shape measuring apparatus for acquiring depth information of the surface of the line 103 using the optical triangulation method that can be implemented with one camera 110 and one line laser 111 .

FIG. 3 is a configuration diagram showing in detail an example of measuring speed by projecting a laser of a laser Doppler sensor onto a line as a speed measuring device among devices constituting the line anomaly detection device shown in FIG. 1 . 4 is a block diagram for explaining a line abnormality detection method according to an embodiment of the present invention. 5 is a flowchart illustrating a method for detecting a line abnormality according to an embodiment of the present invention. 6 to 7 are exemplary views for explaining a method of calculating a cross-sectional area of a recess according to an embodiment of the present invention. FIG. 8 is an exemplary view for explaining a method of more easily calculating the cross-sectional area of the empty space of the track recess according to an embodiment of the present invention through the inverted shape of the track of FIG. 6 . 9 is an exemplary view for explaining a method of calculating a volume of a recess according to an embodiment of the present invention. 10 is an exemplary view for explaining a method of calculating the slope of the recess according to an embodiment of the present invention.

On the other hand, the dent to be described below may mean a depression or a bend in the track, the cross-sectional area of the track may be the cross-sectional area of a cross-section cut perpendicular to the train traveling direction, and the cross-sectional area of the dent is the It may mean the area of the remaining space after subtracting the area of the currently worn cross-section of the line from the cross-section of the line in a normal state before being worn out.

2 and 5 , in one embodiment, the control unit 102 derives a two-dimensional shape of a cross-section of a track by using the three-dimensional shape measuring apparatus 100 in operation 22 of FIG. 5 , and thus the track surface At least one of a cross-sectional area, a volume, and a slope of the recess may be calculated.

For example, referring to FIGS. 2, 6 and 7 , the two-dimensional array data values of the line section measured by the three-dimensional shape measuring apparatus 100 are the camera 110 constituting the measuring apparatus 100 . and the resolution of the line laser 111, which means the range of two-dimensional array data in which the x and y points measured on the surface of the line are a pair, and means the horizontal position of the line cross section. Each x-value can have one height y-value.

The control unit 102 determines the actual width mm value on the line corresponding to the 1-point interval of x (dx in FIGS. 6 and 7) through the relationship between the viewing angle, the resolution, and the distance between the line and the separation distance of the three-dimensional shape measuring apparatus 100 You can know the height mm value on the actual line corresponding to the 1-point interval of and y. Referring to FIG. 6 , the cross-sectional area of the corresponding recess may be calculated as in Equation 1 below.

은 센서에서 패임이 없거나 가장 적게 패임이 발생한 선로 표면과의 이격거리이고,

는 선로에서 가장 깊이 패인 곳과의 이격거리이다. 이해를 보다 쉽게하기 위해 도 6의 선로 모양에서

위치를 대칭축으로 하여 반전시키면 도 9와 같은 모양이 되는데, 여기서 음영부로 칠해진, 선로와

= 0 직선 사이 빈공간 영역의 면적이 패임부의 단면적이 된다.here

is the distance from the surface of the line where there is no or the least dents in the sensor,

is the distance from the deepest hole in the track. In order to make it easier to understand, in the shape of the line in Fig.

If the position is reversed with the axis of symmetry, the shape is as shown in FIG. 9, where the line and

= 0 The area of the empty space between straight lines becomes the cross-sectional area of the recess.

Specifically, as shown in FIGS. 6 and 7 , when the depth of the dent of the line dent is measured by the three-dimensional shape measuring apparatus 100, the resolution, the viewing angle, and the distance between the measuring apparatus and the line of the three-dimensional shape measuring apparatus According to the distance relationship, n x values corresponding to the width of the line and y values of the separation distance between the sensor and the line corresponding to these x values can be obtained.

(200)이라고 할 경우, 가장 깊이 패인 부분과 3차원 형상 측정 장치(100)와의 거리는

(201)가 되고,

-

의 값은 선로 표면에서 가장 깊이 패인 곳까지의 깊이가 된다. For example, the separation distance between the three-dimensional shape measuring apparatus 100 and a portion of the surface of the track without a dent is shown in FIG. 6 .

In the case of (200), the distance between the deepest part and the three-dimensional shape measuring apparatus 100 is

becomes (201),

-

The value of is the depth from the surface of the track to the deepest indentation.

라 하고, 각

부터

까지 각

점마다 측정된 이격거리를

,

,

부터

,

,

까지라 할 때 도 6에서

보다 깊은 부분인 패임부 빈 공간의 단면적의 합은, 도 6의 선로를

을 축으로 상하 반전시켰을 때의 그림인 도 9를 참조할 경우,

축의 0점은 기존

축에서의

위치가 되며,

의

축에서 위치 값은

.-

이 된다. Therefore, as shown in FIG. 6 , the actual line width corresponding to the interval 1 of the x values constituting the two-dimensional array data obtained by the three-dimensional shape measuring device is measured.

say, each

from

until each

The distance measured for each point

,

,

from

,

,

In FIG. 6 when to

The sum of the cross-sectional areas of the hollow space of the recess, which is a deeper part, is

When referring to FIG. 9, which is a figure when the axis is inverted up and down,

The zero point on the axis is

at the axis

becomes the location,

of

The position value on the axis is

.-

becomes this

공간에서

,

,

부터

,

,

까지 모두 합산하면 패임부 빈공간 단면적의 근삿값이 되며 이를 식으로 표현한 것이 상기 수학식 1이다.this

in space

,

,

from

,

,

By summing up all of them, it becomes an approximation of the cross-sectional area of the hollow space of the recess, and Equation 1 is expressed as an equation.

Meanwhile, referring to FIG. 7 , the control unit 102 may calculate the cross-sectional area of the recess in another method. For example, the control unit 102 sets a cross-sectional shape that can be composed of x and y points constituting the two-dimensional array data measured by the three-dimensional shape measuring apparatus 100, each point that is not a step shape as shown in FIG. 6 . This can be approximated by the sum of the areas of a triangle and a parallelogram composed of line segments, and the cross-sectional area of the recess can be calculated through Equation 2, which means this.

는 3차원 형상 측정 장치에서 측정된 2차원 배열 데이터를 구성하는 하나의 배열 x, y 중, 가로 방향을 의미하는 x의 단위길이 1에 해당하는 선로 상 mm길이이고,

는 3차원 형상 측정 장치와 패임이 없는 선로 표면 간의 최소 이격거리이다. here

is the length in mm on the line corresponding to the unit length 1 of x, which means the horizontal direction, of one array x and y constituting the two-dimensional array data measured by the three-dimensional shape measuring device,

is the minimum separation distance between the 3D shape measuring device and the surface of the track without dents.

점을 시작으로

점,

점까지 이은 선분과

인 평행선과의 빈 공간 영역이 파손 영역의 전체 단면적을 의미하는데 2차원 배열 데이터의 포인트를 x방향으로 1씩 증가시키면서 세부 평행사변형 조각의 면적합을 구하는 방식으로 빈공간의 면적을 구할 수 있는데, 이를 식으로 나타내면 상기 수학식 2와 같이 표현될 수 있다. If the cross-sectional area of the recess was calculated by the combination of rectangles in FIG. 6, FIG. 7 shows the cross-sectional area calculated by the line segments connecting the points (where the end points of the arrows in FIG. Approximate values are shown. That is, the surface of the line

starting with the point

dot,

line segment to a point

The empty space area with the parallel line denotes the total cross-sectional area of the damaged area. The empty space area can be obtained by increasing the points of the two-dimensional array data by 1 in the x-direction and finding the sum of the areas of the detailed parallelogram pieces. This can be expressed as Equation 2 above.

,

부터

,

까지의 미세 이동거리들을 산출할 수 있고, 단면적에 이동거리를 곱해 합산하는 하기 수학식 3를 이용하여 패임부의 총 체적을 산출할 수 있다.In an embodiment, the controller 102 may calculate the volume of the recess as shown in FIG. 10 . For example, the control unit 102 using the speed measurement sensor 101 and the control unit 102 at the time of measuring the cross-sectional area of the recess calculated by the method of FIG. 6 or FIG. 7 .

,

from

,

It is possible to calculate the fine movement distances to , and it is possible to calculate the total volume of the recess by using Equation 3 below, which is summed by multiplying the cross-sectional area by the movement distance.

은 x가 n일 때 패임부의 단면적이고,

은 x가 n일 때, 곧 해당 단면적을 산출한 시점의 미세 이동거리이다. 여기서 만약 속도 측정 센서가 같은 거리 간격으로 속도를 측정했다면 상기 수학식 3은 아래 수학식 4와 같이 단순화될 수 있다.here

is the cross-sectional area of the recess when x is n,

is the fine movement distance when x is n, that is, when the cross-sectional area is calculated. Here, if the speed measuring sensor measures the speed at the same distance interval, Equation 3 can be simplified as Equation 4 below.

Specifically, FIG. 10 shows the track and recesses calculated by using the cross-sectional area 300 of the recess of the track calculated by the method of FIG. 6 or FIG. 7 and the fine movement distance 301 of the train as the train proceeds in the traveling direction. It is a 3D shape conceptual diagram.

번째부터

번째 시점까지 측정했을 때 각각의 이동거리가

,

…

,

까지이고, 각 측정시점에 산출된 패임부의 단면적(300)들이

,

…

,

이면, 패임부의 총 체적은

…

까지 합산한 값이 된다. As shown in FIG. 3 , a fine movement distance 301 can be obtained from the speed measured by the speed sensor 101 attached to the train, and the speed sensor 101 is the starting point of the train.

from the second

When measured up to the second time point, each travel distance is

,

…

,

up to, and the cross-sectional areas 300 of the recesses calculated at each measurement point are

,

…

,

If , the total volume of the recess is

…

is the sum of up to

In this process, the three-dimensional shape measuring apparatus 100 may measure the separation distance from the line at fixed time intervals, but more preferably, it is uniform to measure the separation distance at a fixed moving distance interval, for example, every 1 mm. Since the micro-volume is calculated at intervals, the error may be small. In order to do this, the speed measuring sensor 101 must repeatedly transmit a distance measuring signal to the three-dimensional shape measuring device 100 whenever the moving distance is reached while repeatedly calculating the moving distance at very short intervals.

In an embodiment, the controller 102 may calculate the slope 402 of the recess as shown in FIG. 10 . For example, the control unit 102 may measure the shape of the cross section as two-dimensional array data from the three-dimensional shape measuring device 100 through the distance from the line, and through this data, x, y constituting the surface of the line It is possible to obtain information of a plurality of points having .

과 가장 우측에 위치하는 선로 표면부 종료점

을 알아낼 수 있다. From this point information, it is possible to confirm the range of valid y values that can be regarded as the surface of the line, and among the points having the valid y value, the starting point of the surface of the line located at the leftmost side in the horizontal direction.

and the rightmost end point of the surface of the line

can find out

과

의 범위의 단면에서 가장 높은 높이 y 값을 갖는 제1 포인트(403)와, 제1 포인트와 인접하지 않으면서 두번째로 높은 높이 y 값을 갖는 제2 포인트(404)를 연결한 접선(401)이 수평선(400)과 이루는 기울기(402)를 산출할 수 있다. this

class

A tangent line 401 connecting the first point 403 having the highest height y value in the cross section of the range and the second point 404 having the second highest height y value not adjacent to the first point is A slope 402 formed with the horizontal line 400 may be calculated.

If the inclination is severe at a specific point on the track, it may be important to check the inclination 402 of the track in all operating sections of the train because it may cause risks such as uneven wheel wear and train derailment. 10 shows a slope 402 generated in a specific cross section by the dent of the line 103 .

After calculating the equation of the line surface portion and the tangent line from the shape of the cross-section derived by the three-dimensional shape measuring apparatus 100 , the slope θ may be calculated through the angle difference between the tangent line and the horizontal line.

In an embodiment, in operation 23 of FIG. 5 , the control unit 102 may determine the line risk level of the depression based on a calculated value of at least one of a cross-sectional area, a volume, and a slope. Here, a mapping table for determining the risk level may be stored in advance. For example, each value of the cross-sectional area, volume, and slope of the recess may be subdivided into a plurality of sections, and a risk level corresponding to each section may be stored in the mapping table.

For example, FIG. 4 shows software for calculating a risk level at a specific point of a line through sensor data transmitted by being connected to the speed measuring sensor 101 and the three-dimensional shape measuring device 100 of the present invention as in the above-described method. is the structure of

More specifically, the speed measured by the speed measuring sensor 101 is applied to the cross-sectional area of the recess, which is a value calculated through the control unit 102, of the two-dimensional array data of the cross-section of the line surface measured by the three-dimensional shape measuring device 100. The risk grade of the line is calculated from the summed volume value of the dent by multiplying the fine movement distance, which is the value calculated through the control unit 102, the location where the defect is found is stored, and the defect-related data is transmitted to an external computer system. It is the structure of the software that allows you to inquire the detection history and statistics.

Specifically, the controller 102 of FIG. 4 controls the speed data 135 of the speed measuring sensor 101 , the line cross-section two-dimensional array data 133 of the three-dimensional shape measuring device 100 , and the two-dimensional image 134 of the camera. ), and may include an application program 130 including a surface slope calculating unit 136, a moving distance calculating unit 139, a dent cross-sectional area calculating unit 137, and a dimple volume calculating unit 138, and more than a line The detection result 140 including the location 143 , the line risk level 141 , and the image 142 of the abnormal location may be calculated and stored in the storage device 131 .

In addition, the control unit 102 may transmit the detection result 140 to the remote server 132 through a separate communication unit not shown in FIG. 4 , and the remote server 132 analyzes the detection result 140 to determine the defect history. and statistics.

In one embodiment, when it is determined that repair of the line 103 is necessary according to the determined line risk grade in operation 23 of FIG. 5 , the control unit 102 finally operates through the movement distance value calculated in advance in operation 21 24, it is possible to calculate the position of the line requiring maintenance.

이므로 매 속도 측정 시 마다 열차가 이동한 미세 이동거리를 계산할 수 있다. 이렇게 속도와 시간의 적분을 이용하여, 패임부를 발견한 시간까지 미세 이동거리들을 합산하면 보수가 필요한 선로 위치를 산출할 수 있다. 제어부(102)에 내장된 상기 이동거리 연산기는, 구성 방식에 따라 속도 측정 센서 안에 포함될 수도 있다.For example, the control unit 102 may repeatedly measure the speed at a short period from the time the train starts using the speed measurement sensor 101, and multiply the measured speed by several tens of microseconds, which is the speed measurement time period, Distance traveled is the product of speed and time

Therefore, the minute distance traveled by the train can be calculated for each speed measurement. Using the integration of speed and time in this way, by adding up the fine movement distances up to the time the recess is found, the position of the line requiring repair can be calculated. The movement distance calculator built into the control unit 102 may be included in the speed measuring sensor according to a configuration method.

Specifically, FIG. 3 schematically illustrates a method of measuring the moving speed of a train through the example of the speed measuring sensor 101 using the laser Doppler method. First, in order to measure the speed, two laser beams respectively emitted to the laser light source 1 120 and the laser light source 2 121 are projected on the same position on the line 103 .

Repeated light and dark patterns are detected through the photodiode 122 in the laser beam intersection 123 generated by the intersection and interference of the two laser beams at the location where the two laser beams are projected together. The frequency of the scattered light measured by the photodiode converting the fringe into an electrical signal is proportional to the speed of the object, and the speed can be obtained by multiplying the frequency by the interval of the generated interference fringes.

In the conventional train moving distance measurement method, when the train passes the track 103, the number of sleepers on the track is counted with a laser or camera, etc. and then the distance between the sleepers is multiplied to calculate the travel distance of the train, The distance traveled was calculated by multiplying the number by the radius of the wheel, and other methods for estimating the location using a GPS device were used only for trains running on the ground.

In the present invention, since the number of rotations of the train wheels, the number of track sleepers, or the travel distance of the train is not calculated through GPS, the train position can be measured.

In general, a speed measurement technique such as the laser Doppler method as described above can be used, but if it is a technology that can measure speed regardless of the type of train or line, it can be applied without being limited to the laser Doppler method. Anyone with ordinary knowledge in

를 산출할 수 있다. The method of calculating the moving distance of the train by the speed measuring sensor 101 of the present invention is the moving distance at a specific time point t through the integral value of speed and time as shown in Equation 5 below.

can be calculated.

For example, if the speed is repeatedly measured every 1 second to calculate the position of the train that has moved for 5 seconds, the measured speed is 5 m/s, 10 m/s, 10 m/s, 15 m/s, 15 m/s. If , the train travel distance for 5 seconds is 5*1 + 10*1 + 10*1 + 15*1 + 15*1, which is 55m. In reality, since the speed measuring sensor 101 repeatedly measures the speed at intervals of several tens of microseconds, the movement distance error becomes very small. Therefore, when a dent with a high risk level is found while calculating the moving distance by integrating with the value of the train speed and the measurement time period as described above, the position of the dent on the train track can be easily calculated.

In the track anomaly detection apparatus according to an aspect of the present invention, a method for detecting a line anomaly includes: calculating at least one of a cross-sectional area, a volume, and a slope of a recess in a track using a three-dimensional shape measuring device; determining a line hazard class of the depression based on a calculated value of at least one of the cross-sectional area, the volume, and the slope; And when it is determined that repair of the line is necessary according to the determined risk level of the line, calculating the position of the line requiring repair by integrating the speed values measured by the speed measuring sensor and using the calculated movement distance; may include; have.

According to various embodiments of the present disclosure, the calculating of the position of the line requiring maintenance may include: repeatedly measuring the speed from a time when the train departs using a laser Doppler type speed measuring sensor; calculating a moving distance of the train using a moving distance that is a value obtained by integrating the repeatedly measured speed with time; and calculating a track location requiring repair by using the previously calculated travel distance of the train when a dent is found.

로 변환하는 단계; 및 상기 연산된 이격거리

를 하기 수학식 6에 대입하여 상기 패임부의 단면적을 산출하는 단계;를 포함할 수 있다.According to various embodiments, the calculating of the cross-sectional area of the recess may include calculating y corresponding to a specific x value among the two-dimensional point array data in which x and y are expressed as a pair, obtained from the three-dimensional shape measuring device, in three dimensions. Separation distance between the shape measuring device and the track surface

converting to; and the calculated separation distance.

Calculating the cross-sectional area of the recess by substituting in Equation 6 below; may include.

는 상기에서 측정된 2차원 배열 데이터 x의 단위 값 1에 대응되는 선로 표면 가로방향 이격거리이고,

는 x값에 대응되는 y값을 3차원 형상 측정 장치와 선로 표면과의 이격거리로 환산한 거리이며,

은 3차원 형상 측정 장치와 선로와의 최소 이격거리, 즉, 패임이 가장 적은 선로 표면과의 이격거리이다.here,

is the horizontal separation distance of the line surface corresponding to the unit value 1 of the two-dimensional array data x measured above,

is the distance obtained by converting the y value corresponding to the x value into the separation distance between the three-dimensional shape measuring device and the surface of the line,

is the minimum separation distance between the three-dimensional shape measuring device and the line, that is, the separation distance between the surface of the line with the least dents.

로 변환하는 단계; 및 상기 연산된 이격거리

를 하기 수학식 7에 대입하여 상기 패임부의 단면적을 산출하는 단계;를 포함할 수 있다.According to various embodiments of the present disclosure, the calculating of the cross-sectional area of the recess may include calculating a y value corresponding to an x value at one of the two-dimensional array data obtained by the three-dimensional shape measuring device by using the y value corresponding to the x value in the three-dimensional shape measuring device. and the distance between the surface of the track and the

converting to; and the calculated separation distance.

Calculating the cross-sectional area of the recess by substituting in Equation 7 below; may include.

는 상기 수학식 6에서 설명한 바와 같이 x의 단위 값 1에 대응되는 선로 표면 가로방향 이격거리이고,

는 x값에 대응되는 y값을 3차원 형상 측정 장치와 선로 표면과의 이격거리로 환산한 거리이며,

은 3차원 형상 측정 장치와 선로와의 최소 이격거리, 즉, 패임이 가장적은 선로 표면과의 이격거리이다. 또한

은 정수인 x의 다음 x포인트, 즉 x+1포인트에서 대응되는 y포인트를 3차원 형상 측정 장치와 선로 표면과의 이격거리로 환산한 거리이다.here

is the horizontal separation distance of the line surface corresponding to the unit value 1 of x as described in Equation 6 above,

is the distance obtained by converting the y value corresponding to the x value into the separation distance between the three-dimensional shape measuring device and the surface of the line,

is the minimum separation distance between the three-dimensional shape measuring device and the line, that is, the separation distance from the surface of the line with the least dents. Also

is the distance obtained by converting the y point corresponding to the next x point of the integer x, that is, the x+1 point, into the separation distance between the 3D shape measuring device and the surface of the line.

According to various embodiments, the calculating of the volume of the recess may include calculating the volume of the recess by substituting the cross-sectional area of the recess calculated in the above step and the fine movement distances calculated in advance into Equation 8 below. step; may include.

는 열차 진행방향인 z위치에서 수학식 6, 수학식 7 또는 수학식 8을 통해 산출된 패임부의 단면적이고,

는 속도 측정 센서의 측정 값으로부터 산출된 미세 이동거리이다.here

is the cross-sectional area of the depression calculated through Equation 6, Equation 7 or Equation 8 at the z position, which is the train traveling direction,

is the fine movement distance calculated from the measurement value of the speed sensor.

According to various embodiments, the calculating of the slope of the recess may include: measuring a separation distance between the three-dimensional shape measuring device and the line using the three-dimensional shape measuring device; acquiring a plurality of points constituting the track surface in a two-dimensional array using the separation distance measured in the above step; and calculating the slope formed by the tangent line connecting the first point having the highest height y value among the plurality of points and the second point having the second highest height y value not adjacent to the first point with the horizontal line step; may include.

A track anomaly detection apparatus according to an aspect of the present invention includes: a three-dimensional shape measuring device for measuring a distance to a recess existing in a line; Including, wherein the control unit includes; a speed measuring sensor for measuring the moving speed of the train, and a control unit for determining whether or not there is an abnormality of the track using the distance from the track measured by the three-dimensional shape measuring device; calculating at least one of a cross-sectional area, a volume, and a slope of a depression existing in a track using the device, and determining a risk class of the depression based on a calculated value of at least one of the cross-sectional area, the volume, and the slope; When it is determined that repair of the line is necessary according to the determined risk level, the position of the line requiring repair may be calculated by integrating the speed values measured by the speed measuring sensor and using the calculated moving distance.

According to various embodiments, the controller 102 repeatedly measures the speed from the time the train departs by using the laser Doppler-type speed measuring sensor, and the movement is a value obtained by integrating the repeatedly measured speed with time. The moving distance of the train is calculated using the distance, and when a dent is found, the position of the track requiring repair can be calculated by using the moving distance of the train calculated in the above step.

According to various embodiments, the control unit calculates the separation distance from the line through the y value related to the separation distance between the surface of the line among points constituting the two-dimensional array data obtained by the three-dimensional shape measuring device, and the calculation By substituting the obtained separation distance into Equation 1, the cross-sectional area of the track depression can be calculated.

와, y값에 대응되는 수직방향 이격거리

를 상술한 수학식 1, 또는 수학식 2에 대입하여 상기 패임부의 단면적을 산출할 수 있다.According to various embodiments of the present disclosure, the control unit 102 may control a horizontal distance of a line corresponding to an x interval of 1 among points constituting the two-dimensional array data measured by the three-dimensional shape measuring apparatus.

and the vertical separation distance corresponding to the y value

can be substituted into Equation 1 or Equation 2 described above to calculate the cross-sectional area of the recess.

The steps of a method or algorithm described in relation to an embodiment of the present invention may be implemented directly in hardware, as a software module executed by hardware, or by a combination thereof. A software module may include random access memory (RAM), read only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, hard disk, removable disk, CD-ROM, or It may reside in any type of computer-readable recording medium well known in the art to which the present invention pertains.

As mentioned above, although embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains know that the present invention may be embodied in other specific forms without changing the technical spirit or essential features thereof. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

100: three-dimensional shape measuring device 101: speed measuring sensor
102: control unit 103: line
110: camera 111: line laser
120: laser light source 1 121: laser light source 2
122: photodiode 123: laser light intersection
130: application 131: storage device
132: remote server

Claims (10)

A method for detecting a line abnormality through a line abnormality detection device, the method comprising:
calculating at least one of a cross-sectional area, a volume, and an inclination of a dent existing in a track by using a three-dimensional shape measuring device;
determining a line hazard class of the depression based on a calculated value of at least one of the cross-sectional area, the volume, and the slope; and
When it is determined that repair of the line is necessary according to the determined risk class of the line, calculating the position of the line requiring repair by integrating the speed values measured by the speed measuring sensor and using the calculated movement distance;
Calculating at least one of a cross-sectional area, a volume, and a slope of the recessed part comprises:
When calculating the inclination of the recess, the distance between the three-dimensional shape measuring device and the track surface is measured using the three-dimensional shape measuring device, and the plurality of forming the track surface using the measured distance values. A tangent line connecting the first point having the highest height y value among the plurality of points and the second point having the second highest height y value without being adjacent to the first point Line abnormality detection method, characterized in that calculating the slope formed with the horizontal line. The method of claim 1, wherein the calculating of the line position requiring maintenance comprises:
Measuring the speed repeatedly from the time the train departs using the laser Doppler type speed sensor;
calculating the moving distance of the train by integrating the speed repeatedly measured in the above step with time; and
Calculating a track location requiring repair by using the moving distance of the train calculated above when a dent is found. The method of claim 1, wherein calculating the cross-sectional area of the recessed portion comprises:
converting y-values corresponding to each x-value in the horizontal direction into a separation distance between the three-dimensional shape measuring device and the track surface in the two-dimensional array data of the cross-section of the track surface obtained by the three-dimensional shape measuring device; and
Calculating the cross-sectional area of the recess using the separation distance calculated in the above step and Equation 1 below.
[Equation 1]

here

is the horizontal separation distance of the line surface corresponding to the x interval 1 of the two-dimensional data measured above,

is the minimum separation distance between the 3D shape measuring device and the line. That is, it is the separation distance from the surface of the line with the fewest dents. The method of claim 1, wherein calculating the cross-sectional area of the recessed portion comprises:
converting y-values corresponding to each x-value in the horizontal direction into a separation distance between the three-dimensional shape measuring device and the track surface in the two-dimensional array data of the cross-section of the track surface obtained by the three-dimensional shape measuring device; and
Calculating the cross-sectional area of the recess by using the separation distance calculated in the above step and Equation 2 below.
[Equation 2]

here

is the horizontal separation distance of the line surface corresponding to the x interval 1 of the two-dimensional data measured above,

is the minimum separation distance between the 3D shape measuring device and the line. That is, it is the separation distance from the surface of the line with the fewest dents. Also

is the distance obtained by converting the y value corresponding to the x value into the separation distance between the 3D shape measuring device and the surface of the line,

is the distance obtained by converting the y value corresponding to the next point of x expressed as an integer, that is, the x+1 value, into the separation distance between the 3D shape measuring device and the surface of the line. The method of claim 1, wherein calculating the volume of the recessed portion comprises:
Calculating the volume of the recess by substituting the cross-sectional area of the recess calculated in the above steps and the value obtained by converting the speed value measured by the speed sensor into a fine movement distance to the following Equation 3; A method for detecting anomalies in the line.
[Equation 3]

here

is the cross-sectional area of the recess calculated through Equation 1, Equation 2 or Equation 3 at the z position, which is the train traveling direction,

is the fine movement distance in which the speed value measured by the speed sensor is converted by the control unit. delete A three-dimensional shape measuring device for measuring the separation distance to the recess existing in the line; a speed measuring sensor that measures the moving speed of the train; and
A control unit for determining whether a line is abnormal by using the separation distance measured by the three-dimensional shape measuring device;
The control unit is
Calculating at least one of a cross-sectional area, a volume, and a slope of a dent existing in the line by using the three-dimensional shape measuring device,
determining the line risk grade of the depression based on the calculated value of at least one of the cross-sectional area, the volume, and the slope;
When it is determined that repair of the line is necessary according to the determined risk level of the line, the position of the line requiring repair is calculated by integrating the speed values measured by the speed measuring sensor with the measurement cycle time and using the calculated movement distance,
When calculating the slope of the recess, the control unit measures the separation distance between the three-dimensional shape measuring device and the track surface portion using the three-dimensional shape measuring device, and the track surface through the measured separation distance values A first point having the highest height y value among the plurality of points and a second point having the second highest height y value without being adjacent to the first point Line anomaly detection device, characterized in that calculating the slope formed by the tangent line connecting the horizontal line. According to claim 7, wherein the control unit,
Measuring the speed repeatedly from the time of departure of the train using the speed measuring sensor of the laser Doppler method,
Calculate the moving distance of the train using the moving distance, which is a value obtained by integrating the repeatedly measured speed with time,
A track anomaly detection device, characterized in that when a dent is found, a track location requiring repair is calculated by using the calculated train travel distance. delete A computer program for detecting line anomalies through a line anomaly detection device, which is stored in a medium in order to execute the method of any one of claims 1 to 5 in combination with a computer as hardware.

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