Orbital material monitoring system

Abstract

To provide a track material monitoring system capable of enhancing the accuracy of monitoring a track material.SOLUTION: A track material monitoring system includes a moving body traveling on a railway track, a spot sensor arranged on the moving body to detect the height of the railway track along a traveling direction of the moving body, a laser measurement device arranged on the moving body and irradiating the railway track with a laser beam to measure a cross sectional shape orthogonal to an extending direction of the rail in the railway track, and a control device for determining the existence of a track material to be monitored based on the height detected by the spot sensor and making the laser measurement device execute measurement of the cross sectional shape by irradiation of the laser beam when it is determined that the track material exists.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a track material monitoring system.

Background Art

[0002] The railway tracks on which railway vehicles run are composed of track materials such as fasteners in addition to rails and sleepers. Regular monitoring of the elements constituting these railway tracks is necessary for the safe running of railway vehicles.

[0003] As a means for monitoring such railway tracks, an apparatus that recognizes track materials (specifically bolts) using a photographed image obtained by a camera running along a rail is known (see Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In conventional railway track monitoring apparatuses, instead of the photographed images as described above, there is also known an apparatus that enables detection of track materials in a wide range along the width direction of a rail by using a light cutting method by irradiation of laser light.

[0006] However, there is a limit to the number of times per unit time of shape measurement by irradiation of laser light, for example, at most about 200 times per second. Therefore, if laser light is randomly irradiated from a device running on a rail, there is a possibility that a monitoring target is included in a measurement blank area sandwiched between the irradiation positions of the laser light. As a result, overlooking of the monitoring target may occur.

[0007] One aspect of the present disclosure aims to provide a track material monitoring system capable of enhancing the monitoring accuracy of track materials. [Means for solving the problem]

[0008] One aspect of the present disclosure is a track material monitoring system comprising: a mobile body configured to travel on a railway track; a spot sensor positioned on the mobile body and configured to detect the height of the railway track along the direction of travel of the mobile body; a laser measuring instrument positioned on the mobile body and configured to measure the cross-sectional shape perpendicular to the direction of rail extension on the railway track by irradiating the railway track with laser light; and a control device configured to determine the presence of track material to be monitored based on the height detected by the spot sensor, and to cause the laser measuring instrument to measure the cross-sectional shape by irradiating with laser light if it is determined that track material is present.

[0009] With this configuration, the track material to be monitored is recognized by detecting the height of the spot sensor, and then a laser beam is shone to measure the cross-sectional shape. Therefore, it is possible to measure the shape of the track material along the width direction of the rail while suppressing the possibility of overlooking the monitored object. As a result, the accuracy of monitoring the track material can be improved.

[0010] In one aspect of this disclosure, the control device may determine that track material is present when the height detected by the spot sensor exceeds a predetermined threshold. With such a configuration, the object to be monitored can be easily and accurately recognized.

[0011] In one aspect of this disclosure, if the control device determines that track material is present, it may irradiate the track material with laser light after an adjustment time corresponding to the travel speed of the moving body has elapsed since the height used for the determination was detected. With such a configuration, the accuracy of the laser light irradiation position on the track material can be improved.

[0012] In one aspect of this disclosure, the track material may be a fixing bracket for a guard material positioned on the side of the rail. The fixing bracket may have a bracket body that holds the guard material and a bolt attached to the bracket body. The bracket body may have two walls that sandwich the head of the bolt in the direction of extension of the rail. With such a configuration, the walls of the bracket body can be used as triggers for laser beam irradiation, so that bolts that are positioned at regular intervals in the direction of extension of the rail can be monitored with high precision.

[0013] In one aspect of this disclosure, the control device may stop detecting height by the spot sensor after a predetermined waiting time has elapsed following the irradiation of the laser beam. With this configuration, the height of the wall of the metal fitting body that the moving object passes over after the bolt is not detected by the spot sensor. As a result, irradiation of the laser beam immediately after the bolt passes is suppressed. [Brief explanation of the drawing]

[0014] [Figure 1] Figure 1A is a schematic diagram of a track material monitoring system in an embodiment, and Figure 1B is a schematic diagram of a measuring device in the track material monitoring system of Figure 1A. [Figure 2] Figure 2A is a schematic plan view of the railway track, and Figure 2B is a schematic cross-sectional view of the IIB-IIB line in Figure 2A. [Figure 3] Figure 3A is a schematic perspective view of the guard material and fixing hardware in the railway track shown in Figure 2A, and Figure 3B is a schematic plan view of the guard material and fixing hardware shown in Figure 3A. [Figure 4] Figure 4 is a schematic diagram showing the measurement procedure of the measuring device shown in Figure 1B. [Figure 5] Figure 5A is a schematic diagram of the spot sensor in the measuring device shown in Figure 1B, and Figure 5B is a schematic diagram of the laser measuring instrument in the measuring device shown in Figure 1B. [Figure 6] Figures 6A-6F show examples of cross-sectional shapes measured by the laser measuring instrument shown in Figure 5B. [Figure 7]FIG. 7 is a flowchart schematically showing the processing executed by the control device in the track material monitoring system of FIG. 1.

Mode for Carrying Out the Invention

[0015] Hereinafter, embodiments to which the present disclosure is applied will be described with reference to the drawings. [1. First Embodiment] [1-1. Configuration] The track material monitoring system 1 shown in FIG. 1A inspects track materials that are components of railway tracks. The track material monitoring system 1 includes a moving body 2, a measuring device 3, and a control device 4.

[0016] As shown in FIGS. 2A and 2B, the components of the railway track include a rail R1, a sleeper R2, and track materials other than the rail R1 and the sleeper R2. In the present embodiment, the guard material R3 and the fixing fitting R4 among the track materials are the monitoring targets.

[0017] The guard material R3 is disposed on the side of the rail R1 (specifically, inside the width direction of the rail R1). The guard material R3 extends along the extending direction of the rail R1. The guard material R3 is provided to suppress the derailment of railway vehicles traveling on the rail R1.

[0018] The fixing fitting R4 is a member for fixing the guard material R3 to the sleeper R2. As shown in FIGS. 3A and 3B, the fixing fitting R4 has a fitting body R41, a bolt R42, and a locking pin R43.

[0019] The fitting body R41 has a base portion R41A and a movable portion R41B. The base portion R41A is fixed to the upper surface of the sleeper R2. The movable portion R41B holds the guard material R3 and is disposed so as to overlap the base portion R41A. The movable portion R41B is connected to the base portion R41A so as to be swingable in the vertical direction.

[0020] The bolt R42 is attached to the fitting body R41. Specifically, the bolt R42 penetrates the movable part R41B in the vertical direction, and its tip is screwed into the base R41A. That is, the bolt R42 fastens the movable part R41B and the base R41A in the vertical direction.

[0021] The bolt R42 is removed during operations such as maintenance and inspection of railway tracks. When the bolt R42 is removed, the movable part R41B can swing upward together with the guard material R3. After the operation is completed, the bolt R42 is attached to the fitting body R41 again.

[0022] The head of the bolt R42 is visible from above. That is, the head of the bolt R42 is not covered from above by other members and is exposed. Also, the movable part R41B of the fitting body R41 has a first wall W1 and a second wall W2 that sandwich the head of the bolt R42 in the extending direction of the rail R1. That is, the head of the bolt R42 is disposed in a recess sandwiched between the first wall W1 and the second wall W2. The height of the first wall W1 and the height of the second wall W2 are the same.

[0023] The anti-rotation pin R43 is inserted through the movable part R41B along the rail width direction. The anti-rotation pin R43 is disposed below the guard material R3 and restricts the rotation of the guard material R3 with respect to the fixing fitting R4.

[0024] <Moving body> The moving body 2 shown in Fig. 1A is configured to travel along the rail R1 on the railway track to be monitored.

[0025] <Measuring device> The measuring device 3 is disposed on the moving body 2. While moving along the rail R1 together with the moving body 2, the measuring device 3 measures the position and shape of the track material. As shown in Fig. 1B, the measuring device 3 includes a first spot sensor 31A, a second spot sensor 31B, and a laser measuring device 32.

[0026] (Spot sensor) The first spot sensor 31A and the second spot sensor 31B are configured to detect the height of the railway track along the direction of travel of the moving body 2.

[0027] The first spot sensor 31A is positioned in front of the laser measuring instrument 32 in the direction of travel when the moving body 2 is moving to the left in Figure 1A. The second spot sensor 31B is positioned in front of the laser measuring instrument 32 in the direction of travel when the moving body 2 is moving to the right in Figure 1A.

[0028] The track material monitoring system 1 uses, among the first spot sensor 31A and the second spot sensor 31B, the spot sensor capable of detecting the height of a point in front of the laser measuring instrument 32 in the direction of travel for monitoring.

[0029] In Figures 1A and 1B, two spot sensors 31A and 31B are combined with one laser measuring instrument 32. However, the measuring device 3 may have one laser measuring instrument and one spot sensor combination at the front and rear of the moving body 2. Furthermore, the measuring device 3 has at least one laser measuring instrument and at least two spot sensors positioned at locations corresponding to the left and right rails R1.

[0030] The laser measuring instrument and spot sensor should be positioned in front of the wheels of the mobile body 2 in the direction of travel. This helps to suppress the effects of water droplets kicked up by the wheels. These water droplets are generated by rain or water spraying by the mobile body 2.

[0031] The first spot sensor 31A will be described below, but the same applies to the second spot sensor 31B. The first spot sensor 31A is a known distance sensor. As shown in Figure 4, the first spot sensor 31A emits laser light from above the metal fitting body R41 of the fixing fitting R4.

[0032] As shown in Figure 5A, the first spot sensor 31A has a transmitter 311 that emits laser light and a receiver 312 that receives the reflected laser light. Depending on the position of the object O that reflects the laser light, the position at which the laser light is received by the transmitter 311 changes. As a result, the first spot sensor 31A detects the position (i.e., height) of the object O.

[0033] The first spot sensor 31A detects the height at a position a certain distance inward in the width direction from the rail R1 by continuously irradiating and receiving laser light while the moving body 2 is in motion. Specifically, as shown in Figure 3B, the first spot sensor 31A detects the height along the detection line L that passes through the first wall W1 and the second wall W2 of the movable part R41B. The first spot sensor 31A performs height detection (i.e., irradiation with laser light for height detection) up to 3000 times per second, for example.

[0034] (Laser measuring instrument) As shown in Figure 4, the laser measuring instrument 32 is configured to measure the cross-sectional shape perpendicular to the extension direction of the rail R1 in the railway track by irradiating the railway track with laser light.

[0035] Specifically, the laser measuring instrument 32 irradiates laser light from above onto an area including at least the guard material R3 and the fixing bracket R4 in the width direction of the rail R1. The laser measuring instrument 32 is a known measuring instrument that measures the cross-sectional shape using the light section method. As shown in Figure 5B, the laser measuring instrument 32 has a light-emitting unit 321 that irradiates laser light and a light-receiving unit 322 that receives scattered light reflected from the laser light.

[0036] The light-emitting unit 321 emits sheet light (i.e., slit light) perpendicular to the extension direction of the rail R1 (i.e., the direction of travel of the moving body 2). In other words, the light-emitting unit 321 scans the laser beam in the width direction of the rail R1. The light-receiving unit 322 acquires an image of the scattered light using an image sensor and obtains two-dimensional cross-sectional shape profile data of the object to be measured from this image.

[0037] Figures 6A-6F show examples of the cross-sectional shapes of the guard material R3 and fixing bracket R4 measured by the laser measuring instrument 32. The cross-sectional shape acquired by the laser measuring instrument 32 includes at least the head of the bolt R42.

[0038] Figure 6A shows the cross-sectional shape of the guard material R3 and fixing bracket R4 in a normal state. Figure 6B shows the cross-sectional shape when the anti-rotation pin R43 is missing in the area enclosed by the dashed line. Figure 6C shows the cross-sectional shape when the guard material R3 is tilted due to loosening of the bolt R42, etc.

[0039] Figure 6D shows the cross-sectional shape when the guard material R3 and fixing bracket R4 are lifted up due to loosening of bolt R42, etc. Figure 6E shows the cross-sectional shape when only the guard material R3 is lifted up. Figure 6F shows the cross-sectional shape when the head of bolt R42 is inclined.

[0040] In this way, defects in the guard material R3 and fixing bracket R4 can be detected by the cross-sectional shape obtained by the light section method acquired by the laser measuring instrument 32.

[0041] <Control device> The control device 4 shown in Figure 1 is composed of a computer having a processor such as a CPU (Central Processing Unit), a recording medium such as memory, and input / output devices such as a keyboard and a display.

[0042] The computer constituting the control device 4 performs functions to control the measuring device 3 (specifically, detection processing, measurement processing, and standby processing) based on the track material monitoring program recorded on the recording medium.

[0043] In this embodiment, the control device 4 is installed on the mobile unit 2. However, the control device 4 may be located on ground equipment (e.g., a base station) and connected to the mobile unit 2 and the measuring device 3 by wireless communication.

[0044] In the detection process, the control device 4 determines the presence of track material to be monitored based on the height detected by the spot sensors 31A and 31B. More specifically, the control device 4 determines the presence of track material if the height detected by the spot sensors 31A and 31B exceeds a predetermined threshold. The height detected by the spot sensors 31A and 31B may be the absolute value of the height relative to the reference plane, or it may be the height difference between adjacent detection points (i.e., the relative height to the most recent height).

[0045] The threshold is determined, for example, by the difference between the average height of the ballast from a reference plane (e.g., the surface of the sleeper R2) and the height of the first wall W1 of the fixing bracket R4 from the same reference plane. In other words, the threshold is set to a value greater than the maximum height of the ballast and less than the height of the first wall W1. The threshold is also set taking into account the vibration of the moving body 2.

[0046] Specifically, as shown in Figure 3B, the control device 4 determines that track material (i.e., fixing bracket R4) is present when the first spot sensor 31A detects a height difference in the detection line L caused by the first wall W1.

[0047] Furthermore, if the second spot sensor 31B is in the direction of travel ahead of the laser measuring instrument 32, the control device 4 determines that track material is present based on the height difference caused by the second wall W2 detected by the second spot sensor 31B.

[0048] In the measurement process, if the control device 4 determines that track material is present, it causes the laser measuring instrument 32 to perform a measurement of the cross-sectional shape by irradiating it with laser light. Specifically, if the control device 4 determines that track material is present, it irradiates the laser light after an adjustment time corresponding to the travel speed of the moving body 2 has elapsed since the height used for the determination (i.e., the height exceeding the threshold) was detected.

[0049] The adjustment time T is determined, for example, by the following equation (1). In equation (1), D1 is the distance from the outer surface of the first wall W1 (i.e., the position where the height exceeds the threshold) to the central axis of the bolt R42, D2 is the distance between the detection point of the first spot sensor 31A and the laser irradiation position of the laser measuring instrument 32 (see Figure 1B), and V is the current travel speed of the moving body 2. Note that D1 is, for example, 65 mm and D2 is, for example, 80 mm. T = (D1 + D2) / V ... (1)

[0050] By controlling the laser beam irradiation timing using this adjustment time T, the cross-sectional shape of the guard material R3 and fixing bracket R4 at the position including the bolt R42 is acquired by the laser measuring instrument 32.

[0051] During the standby process, the control device 4 stops height detection by the spot sensors 31A and 31B after the laser beam is emitted by the laser measuring instrument 32 until a predetermined standby time has elapsed. The standby time is the time from the emission of the laser beam until the height detection point of the first spot sensor 31A passes the second wall W2.

[0052] In other words, after the first spot sensor 31A stops, the control device 4 instructs the first spot sensor 31A to resume height detection when the height detection point of the first spot sensor 31A passes the second wall W2.

[0053] The control device 4 repeatedly performs measurement processing and standby processing whenever the presence of the first wall W1 or the second wall W2 is detected by the detection process while the moving body 2 is moving (i.e., the height exceeds the threshold).

[0054] [1-2. Processing] The following describes an example of the process performed by the control device 4, referring to the flowchart in Figure 7.

[0055] In this process, the control device 4 first causes the spot sensors 31A and 31B to detect the height of the railway track (step S110). Next, the control device 4 determines whether the detected height exceeds a threshold (step S120). If the height is below the threshold (S120: NO), the control device 4 causes the spot sensors 31A and 31B to continue detecting the height.

[0056] On the other hand, if the height exceeds the threshold (S120: YES), the control device 4 stops height detection by the spot sensors 31A and 31B (step S130). Subsequently, the control device 4 determines whether or not the adjustment time has elapsed since the detection of the height exceeding the threshold (step S140).

[0057] If the adjustment time has not elapsed (S140: NO), the control device 4 waits until the adjustment time has elapsed. If the adjustment time has elapsed (S140: YES), the control device 4 irradiates the laser measuring instrument 32 with laser light and measures the cross-sectional shape (step S150). After measuring the cross-sectional shape, the control device 4 determines whether the waiting time has elapsed since the laser light was irradiated (step S160).

[0058] If the waiting time has not elapsed (S160: NO), the control device 4 waits until the waiting time has elapsed. If the waiting time has elapsed (S160: YES), the control device 4 determines whether or not the monitoring of the track material has been completed (step S170).

[0059] If monitoring is not complete (S170: NO), the control device 4 repeats the process starting from height detection. If monitoring is complete (S170: YES), the control device 4 terminates the process.

[0060] [1-3. Effects] According to the embodiments described in detail above, the following effects can be obtained. (1a) After the height of the spot sensors 31A and 31B is detected to recognize the track material to be monitored, a laser beam is irradiated for measuring the cross-sectional shape. Therefore, it is possible to measure the shape of the track material along the width direction of the rail while suppressing the oversight of the monitored object. As a result, the accuracy of monitoring the track material can be improved.

[0061] (1b) The control device 4 determines that track material is present when the height exceeds a threshold, thereby enabling easy and accurate recognition of the target to be monitored.

[0062] (1c) When a height exceeding a threshold is detected and an adjustment time corresponding to the travel speed of the moving body 2 has elapsed, the control device 4 irradiates the track material with laser light, thereby improving the accuracy of the laser light irradiation position on the track material.

[0063] (1d) The metal fitting has two walls that sandwich the bolt head, and these walls can be used as triggers for laser beam irradiation, so that bolts that are placed at regular intervals in the direction of extension of the rail can be monitored with high precision.

[0064] (1e) After laser beam irradiation, height detection by spot sensors 31A and 31B is stopped until a waiting period has elapsed. As a result, the height of the wall of the metal fitting body that the moving body 2 passes over after the bolt is not detected by spot sensors 31A and 31B. Consequently, laser beam irradiation immediately after the bolt passes is suppressed.

[0065] [2. Other Embodiments] While embodiments of this disclosure have been described above, it goes without saying that this disclosure is not limited to the embodiments described above and can take various forms.

[0066] (2a) In the track material monitoring system of the above embodiment, the track material to be monitored is not limited to guard materials and fixing fittings. The track material monitoring system can also monitor other track materials.

[0067] (2b) In the track material monitoring system of the above embodiment, the control device may determine the presence of track material based on conditions other than whether the height detected by the spot sensor exceeds a threshold. For example, the control device may determine the presence of track material based on whether the height is less than a threshold.

[0068] (2c) In the track material monitoring system of the above embodiment, the control device does not necessarily have to stop height detection by the spot sensor until a waiting time has elapsed after irradiation with laser light.

[0069] (2d) The functions of one component in the above embodiment may be distributed among multiple components, or the functions of multiple components may be integrated into one component. Also, some parts of the configuration of the above embodiment may be omitted. Also, at least some parts of the configuration of the above embodiment may be added to, substituted for, or otherwise used in the configuration of other above embodiments. Any aspect of the technical concept specified by the wording of the claims is an embodiment of the present disclosure. [Explanation of Symbols]

[0070] 1... orbital material monitoring system, 2... mobile unit, 3... measuring device, 4... control device, 31A...First spot sensor, 31B...Second spot sensor, 32...Laser measuring instrument 311...Transmitting unit, 312...Receiving unit, 321...Light-emitting unit, 322...Light-receiving unit, R1...rail, R2...sleeper, R3...guard material, R4...fixing bracket, R41...bracket body R41A...Base, R41B...Movable part, R42...Bolt, R43...Retaining pin, W1...First wall, W2...Second wall.

Claims

1. A mobile body configured to run on railway tracks, A spot sensor is positioned on the moving body and configured to detect the height of the railway track along the direction of travel of the moving body. A laser measuring instrument is positioned on the moving body and configured to measure the cross-sectional shape perpendicular to the extension direction of the rails in the railway track by irradiating the railway track with laser light, A control device configured to determine the presence of a first portion of the track material to be monitored based on the height detected by the spot sensor, and to cause the laser measuring instrument to perform measurement of the cross-sectional shape passing through the second portion of the track material by irradiating it with laser light if it is determined that the first portion of the track material is present, Equipped with, The aforementioned track material is a fixing bracket for a guard material positioned on the side of the rail, The aforementioned fixing bracket is The metal fitting body that holds the guard material, The bolt attached to the aforementioned metal fitting body, It has, The metal fitting body has two walls that sandwich the head of the bolt in the direction of extension of the rail, The first part is the wall located relatively upstream in the direction of travel among the two walls, The track material monitoring system wherein the second part is the bolt located downstream of the first part in the direction of travel.

2. A track material monitoring system according to claim 1, The control device determines that the first part of the track material exists when the height detected by the spot sensor exceeds a predetermined threshold, and this is a track material monitoring system.

3. A track material monitoring system according to claim 1 or claim 2, The control device determines that the first portion of the track material exists, and when an adjustment time corresponding to the travel speed of the moving body has elapsed since the height used for the determination was detected, it causes the laser measuring instrument to irradiate the laser beam, thereby causing the laser measuring instrument to perform a measurement of the cross-sectional shape passing through the second portion of the track material.

4. A track material monitoring system according to claim 1 or claim 2, The control device is an orbital material monitoring system that stops the detection of the height by the spot sensor after irradiation with the laser light until a predetermined waiting time has elapsed.

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