JP2013199156A - Method for detecting truck attitude - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for detecting a truck attitude, capable of highly precisely detecting the truck attitude even with a simple sensor configuration.SOLUTION: A method for detecting a truck attitude is for detecting an attitude, relative to a track, of a truck frame 10 supporting wheel shafts 20, 30 through a journal box supporting device, and includes: calculating a position of a first reference point of a first rail R1 on the basis of a measurement result of a first two-dimensional sensor 101 mounted on the vehicle frame; calculating a position of a second reference point of the first rail on the basis of a measurement result of a second two-dimensional sensor 102; calculating a position of a reference point of the second rail R2 on the basis of a measurement result of a third two-dimensional sensor 103; calculating an equation of a plane including respective reference positions; and calculating a displacement of the vehicle frame relative to a track on the basis of a relative displacement of a plane to the vehicle frame.

Description

  The present invention relates to a carriage attitude detection method for detecting an attitude of a railway vehicle with respect to a track of a carriage, and more particularly to an apparatus capable of accurately detecting a carriage attitude with a simple sensor configuration.

A general railway vehicle is configured such that a wheel shaft having a pair of wheels traveling on the left and right rails is attached to a bogie frame via an axle box support device, and the vehicle body is mounted on the upper portion of the bogie frame via a pillow spring. ing.
In such a railway vehicle, there are cases where it is required to detect postures such as a sleeper direction (lateral direction) displacement, a vertical displacement, a yaw angle, and a roll angle with respect to the track of the bogie frame.

  When trying to detect the position of the bogie frame with respect to the rail, conventionally, a number of sensors are installed between the rail and the wheel and between the axle box and the bogie frame, and the detection value of each sensor is accumulated to accumulate the bogie frame. Although the posture was detected, detecting the displacement between the rail and the wheel was particularly difficult because the space for the sensor was limited and the conditions such as vibration were severe.

  As a conventional technique for measuring a rail from a carriage, for example, in Patent Document 1, a CCD camera is attached to a carriage frame, an image is taken while illuminating the rail with an illumination device, and a corner portion of the rail that shines in a band shape is recognized by image processing. By doing so, it is described that the attack angle of the wheel shaft with respect to the rail (to the rail yaw angle) is measured.

JP 2003-246266 A

When detecting the relative displacement between the rail and the wheel, the relative displacement between the axle box and the bogie frame, and detecting the posture of the bogie frame by accumulating the measurement results as in the past, Data analysis becomes complicated.
In addition, when a camera image is analyzed to detect a reference position (a corner portion or the like) of a rail as in Patent Document 1, a measurement error is caused because the corner portion is observed as a band having a certain width. In addition to being relatively large, the configuration of the apparatus becomes complicated due to the installation of a lighting apparatus or the like.
In view of the above-described problems, an object of the present invention is to provide a cart posture detection method capable of accurately detecting a cart posture with a simple sensor configuration.

In order to solve the above-described problem, a cart attitude detection method according to the present invention is a cart attitude detection method for detecting an attitude of a carriage frame supporting a wheel shaft with respect to a track via an axle box support device, and is provided on the carriage frame. The cross-sectional shape of the first rail is two-dimensionally measured by the first two-dimensional sensor provided, and the cross-sectional shape of the first rail is determined by the second two-dimensional sensor provided on the carriage frame. The dimension sensor is measured at a position shifted in the longitudinal direction of the vehicle, the cross-sectional shape of the second rail is measured by a third two-dimensional sensor provided on the carriage frame, and the measurement result of the first two-dimensional sensor And calculating the relative position of the first reference location of the first rail with respect to the first two-dimensional sensor, and determining the second position of the first rail based on the measurement result of the second two-dimensional sensor. Of the reference point The relative position of the second two-dimensional sensor with respect to the second two-dimensional sensor is calculated based on the measurement result of the third two-dimensional sensor, and the reference position of the second rail is calculated with respect to the second two-dimensional sensor. A plane expression including the first reference point of the rail, the second reference point of the first rail, and the reference point of the second rail, and calculating the plane and the carriage frame. A relative position of the bogie frame with respect to the track is calculated based on a relative displacement.
According to this, it is possible to grasp the relative displacement between the carriage frame and the track surface by attaching at least three two-dimensional sensors to the carriage frame, and to detect the attitude of the carriage frame with a simple sensor configuration. Can do.
Further, by measuring the cross-sectional shape of the rail using such a two-dimensional sensor, the position of the reference location of the rail can be specified with high accuracy for image processing and the like.
As such a reference location, for example, a field corner (edge portion on the outer side of the track) of a rail can be used.

  In the present invention, the relative position of the bogie frame with respect to the track may include a part or all of a sleeper direction displacement, a vertical displacement, a yaw angle, and a roll angle of the bogie frame with respect to the track.

Further, the cart posture detection method of the present invention is a cart posture detection method for detecting the posture of the wheel shaft with respect to the track on which the wheel of the wheel shaft travels in the cart frame that supports the wheel shaft via the axle box support device. The cross-sectional shape of the first rail is two-dimensionally measured by the first two-dimensional sensor provided, and the cross-sectional shape of the second rail is determined by the second two-dimensional sensor provided on the carriage frame. The dimension sensor is measured at a position shifted in the longitudinal direction of the vehicle, and the relative position of the reference position of the first rail with respect to the first two-dimensional sensor is calculated based on the measurement result of the first two-dimensional sensor. The relative position of the reference location of the second rail with respect to the second 2D sensor is calculated based on the measurement result of the second 2D sensor, and the first location of the reference location of the first rail is calculated. Secondary The position of sleeper direction relative to the track of the carriage frame based on the average displacement and the difference of the relative displacement in the sleeper direction relative to the sensor and the relative displacement in the sleeper direction relative to the second two-dimensional sensor of the reference location of the second rail And a yaw angle are calculated.
According to this, the sleeper direction position and the yaw angle with respect to the track of the carriage frame can be detected by attaching at least two two-dimensional sensors to the carriage frame.

In the present invention, the relative displacement in the vertical direction of the reference location of the first rail with respect to the first two-dimensional sensor, and the vertical direction of the reference location of the second rail with respect to the second two-dimensional sensor. The vertical position and roll angle of the carriage frame with respect to the track can be calculated based on the average and difference of the relative displacements.
According to this, the vertical position and roll angle with respect to the track of the carriage frame can be detected by attaching at least two two-dimensional sensors to the carriage frame.

In this invention, it can be set as the structure which correct | amends the measurement data by the said two-dimensional sensor using the track irregularity information prepared previously.
According to this, the position of the carriage can be detected with high accuracy by eliminating the influence of the track irregularity.

  As described above, according to the present invention, it is possible to provide a cart attitude detection method capable of accurately detecting a cart attitude with a simple sensor configuration.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic plan view illustrating a configuration of a railway vehicle to which a first embodiment of a cart posture detection method to which the present invention is applied is applied. It is a schematic diagram which shows the reference point setting and displacement detection of a rail in the cart attitude | position detection method of 1st Embodiment. It is a graph which shows an example of transition of the displacement in a sleeper direction in a cart posture detection method of a 1st embodiment, a track irregularity amount, a displacement after track irregularity correction, a roll angle correction displacement amount, and a track irregularity roll angle correction displacement. It is a typical top view which shows the structure of the railway vehicle used as the application object of 2nd Embodiment of the cart attitude | position detection method to which this invention is applied.

Hereinafter, a cart posture detection method according to first to second embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
First, the cart attitude detection method of the first embodiment will be described.
FIG. 1 is a schematic plan view showing a configuration of a railway vehicle to which the carriage posture detection method of the first embodiment is applied.
In addition, in each following description, a sleeper direction is demonstrated as ay direction and a perpendicular direction is demonstrated as az direction.

The vehicle 1 includes a vehicle body 10, a first carriage 20, a second carriage 30, and the like.
The vehicle body 10 is formed in a substantially hexahedron shape by providing a wife structure, a side structure, a roof structure, and the like on an upper portion of a frame constituting the floor surface.
The first carriage 20 and the second carriage 30 are sequentially arranged in the lower part of the vehicle body 10 from the front side in the traveling direction of the train, separated in the front-rear direction.
The first carriage 20 and the second carriage 30 are attached to the vehicle body 10 through a secondary spring system such as a pillow spring so that a bogie angle can be given.

The first-order carriage 20 includes a first-order wheel shaft 21, a second-position wheel shaft 22, a carriage frame 23, and the like.
The first wheel shaft 21 and the second wheel shaft 22 are configured by connecting a pair of wheels respectively traveling on the first rail R1 and the second rail R2 by an axle.
The first wheel shaft 21 and the second wheel shaft 22 are sequentially arranged from the front side in the traveling direction of the train.
A shaft box (not shown) that rotatably supports both ends of the first wheel shaft 21 and the second wheel shaft 22 includes a primary spring system such as a shaft spring and a shaft damper, and a shaft box support device with respect to the carriage frame 23. Is attached through.

Hereinafter, the cart posture detection method of the first embodiment will be described.
First, the two-dimensional laser measuring devices 101, 102, and 103 are fixed to the carriage frame 23.
The two-dimensional laser measuring instruments 101, 102, and 103 can measure the surface shape of the measurement object two-dimensionally on a predetermined plane.
The measurement surfaces (scanning surfaces) of the two-dimensional laser measuring devices 101, 102, and 103 are arranged along a plane orthogonal to the longitudinal direction of the first rail R1 and the second rail R2.
As a result, the two-dimensional laser measuring devices 101, 102, and 103 can measure the cross-sectional shapes of the upper portions of the first rail R1 and the second rail R2.

The two-dimensional laser measuring devices 101 and 102 are provided immediately above the first rail R1, and measure the cross-sectional shape of the first rail R1.
The two-dimensional laser measuring instruments 101 and 102 are spaced apart from each other in the front-rear direction of the vehicle 1, and the two-dimensional laser measuring instrument 101 is on the first wheel axis 20 side with respect to the transverse beam provided at the center in the front-rear direction of the carriage frame 10. The two-dimensional laser measuring instrument 102 is arranged on the second wheel axis 30 side.
The two-dimensional laser measuring device 103 is disposed immediately above the second rail R2 and substantially coincides with the two-dimensional laser measuring device 102 in the vehicle longitudinal direction.
The two-dimensional laser measuring device 103 measures the cross-sectional shape of the second rail R2.

Next, basic rail shape data is acquired when the train is traveling in a straight line and is considered to be traveling substantially along the center of the track.
FIG. 2 is a schematic diagram showing rail reference point setting and displacement detection in the cart posture detection method of the first embodiment.
FIG. 2A is a diagram illustrating setting of a rail reference point.
The reference point of the rail may be any point as long as it can be identified from the cross-sectional shape measured by the two-dimensional laser measuring instruments 101, 102, 103. ) As a reference point.
This is because such a field corner is unlikely to be affected by wear or the like like a gauge corner inside the track.

FIG. 2B is a diagram illustrating rail displacement detection.
As shown in FIG. 2B, the position of the field corner set as the reference point is specified even when the rail position on the measurement surface is displaced with respect to the reference state shown in FIG. Is possible.
The relative displacement in the y direction and z direction of the rails R1, R2 with respect to the two-dimensional laser measuring devices 101, 102, 103 can be detected based on the displacement of the reference point position from the straight traveling state.

FIG. 3 is a graph showing an example of displacement in the sleeper direction, trajectory irregularity, trajectory irregularity corrected displacement, roll angle corrected displacement, and trajectory irregular roll angle corrected displacement in the cart posture detection method of the first embodiment.
First, the displacement of the reference point position is sequentially recorded while the vehicle 1 is traveling.
FIG. 3A is a graph showing an example of measurement data related to the travel distance of the vehicle 1 and the displacement of the detected displacement of the reference point in the y direction.
In addition, although the following description is about the y direction (sleeper direction) as an example, the same process is performed also in the z direction (vertical direction).

The displacement shown in FIG. 3A includes both the effect of the displacement of the carriage frame 10 on the track and the effect of track irregularity.
Therefore, in the first embodiment, the measurement data is corrected using the orbit irregularity data prepared in advance.
FIG. 3B is a graph showing an example of the transition of the trajectory irregularity.
FIG. 3C is a graph showing an example of the transition of the displacement after the correction of the trajectory irregularity obtained by subtracting the trajectory irregularity shown in FIG. 3B from the displacement shown in FIG.

Further, when the carriage frame 10 rotates in the roll direction, an error also occurs in the measurement of the y-direction displacement according to the roll angle.
Therefore, in the first embodiment, the displacement in the y direction is corrected according to the roll angle of the carriage frame 10.
FIG. 3D is a graph showing the correlation between the roll angle and the corrected displacement amount.
Such a correction amount can be obtained geometrically based on the positional relationship between each two-dimensional laser measuring instrument and the rail and roll center.
FIG. 3E shows an example of the transition of the post-track irregularity roll angle correction displacement obtained by correcting the transition of the post-track irregularity correction displacement shown in FIG. 3C with the roll angle correction displacement amount shown in FIG. It is a graph to show.
The displacement correction according to the yaw angle can be performed substantially similarly.

In the first embodiment, the reference point (y1, z1) measured by the two-dimensional laser measuring instrument 101, the reference point (y2, z2) measured by the two-dimensional laser measuring instrument 102, and measured by the two-dimensional laser measuring instrument 103. An equation of a plane including the reference point (y3, z3) (both corrected coordinate values) is obtained, and based on the equation of the plane, the y-direction displacement, z-direction displacement, yaw angle, roll angle of the carriage frame with respect to the track Etc. are obtained by calculation.
According to the first embodiment described above, by providing the two-dimensional laser measuring instruments 101, 102, and 103 in the bogie frame 10, the bogie posture can be detected with high accuracy with a simple sensor configuration.

Moreover, as such a two-dimensional laser measuring instrument 101, 102, 103, a general commercial product can be used, and the cost required for detecting the position of the carriage can be reduced.
In particular, in the first embodiment, since it is not necessary to obtain the displacement between the rail and the wheel, which are difficult to measure environmentally such as sensor installation space and vibration, the detection of the bogie posture is greatly improved with respect to the prior art. It can be simplified.
If the bogie posture can be easily detected in this way, the relative displacement between the bogie frame and the vehicle body can be measured relatively easily, and by calculating these detection values, the posture of the vehicle body with respect to the track is calculated. Can be requested. Such a posture of the vehicle body can be utilized, for example, when confirming interference with the ground facility.

Second Embodiment
Next, a cart posture detection method according to the second embodiment will be described.
In addition, about the location which is substantially common with 1st Embodiment mentioned above, the same code | symbol is attached | subjected and description is abbreviate | omitted and a difference is mainly demonstrated.
FIG. 4 is a schematic plan view illustrating a configuration of a railway vehicle that is an application target of the cart posture detection method according to the second embodiment.
In the second embodiment, two-dimensional laser measuring devices 104 and 105 are used in place of the two-dimensional laser measuring devices 101, 102, and 103 of the first embodiment.
The two-dimensional laser measuring device 104 is installed in substantially the same manner as the two-dimensional laser measuring device 101.
The two-dimensional laser measuring device 105 is installed in substantially the same manner as the two-dimensional laser measuring device 103.
Here, an interval in the vehicle longitudinal direction (rail longitudinal direction) of the reference points measured by the two-dimensional laser measuring devices 104 and 105 is a, and an interval in the sleeper direction (vehicle width direction) is b.

In the second embodiment, it is assumed that the center of rotation of the carriage frame 10 substantially coincides with the center of the carriage, and the reference point (y4, z4) measured by the two-dimensional laser measuring instrument 104 and the two-dimensional laser measuring instrument 105. Using the reference points (y5, z5) measured by, the cart posture is detected by the calculation described below.

<Y direction displacement>
y = (y4 + y5) / 2

<Z direction displacement>
z = (z4 + z5) / 2

<Carriage Yaw Angle>
φ = tan ⁻¹ ((y4−y5) / a)

<Carriage roll angle>
θ = tan ⁻¹ ((z4−z5) / b)

In the second embodiment described above, the bogie posture can be detected by providing the bogie frame 10 with two two-dimensional laser measuring devices 104 and 105, and the bogie posture can be detected more easily. is there.

(Other embodiments)
In addition, this invention is not limited only to each embodiment mentioned above, A various application and deformation | transformation can be considered.
For example, the installation position of the sensor is not limited to the above-described embodiments, and can be changed as appropriate.
Further, the processing order of measurement data, the contents of correction, mathematical formulas, and the like are not limited to those in each embodiment, and can be changed as appropriate.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Car body 20 1st place trolley 21 1st place wheel shaft 22 2nd place wheel shaft 23 Bogie frame 30 2nd place trolley 101-105 Two-dimensional laser measuring instrument R1 1st rail R2 2nd rail

Claims (5)

A carriage attitude detection method for detecting an attitude of a carriage frame supporting a wheel shaft via a axle box support device with respect to a track,
Two-dimensional measurement of the cross-sectional shape of the first rail by the first two-dimensional sensor provided on the carriage frame,
The cross-sectional shape of the first rail is measured at a position shifted from the first two-dimensional sensor in the vehicle front-rear direction by a second two-dimensional sensor provided on the carriage frame,
The cross-sectional shape of the second rail is measured by a third two-dimensional sensor provided on the carriage frame,
Calculating a relative position of the first reference position of the first rail with respect to the first two-dimensional sensor based on a measurement result of the first two-dimensional sensor;
Calculating a relative position of the second reference location of the first rail with respect to the second two-dimensional sensor based on the measurement result of the second two-dimensional sensor;
Calculating a relative position of the reference position of the second rail with respect to the second two-dimensional sensor based on the measurement result of the third two-dimensional sensor;
An equation of a plane including the first reference location of the first rail, the second reference location of the first rail, and the reference location of the second rail is calculated, and the plane and the carriage A cart posture detection method, wherein a relative position of the cart frame with respect to the track is calculated based on a relative displacement with the frame. 2. The carriage according to claim 1, wherein a relative position of the carriage frame with respect to the track includes a part or all of a sleeper direction displacement, a vertical displacement, a yaw angle, and a roll angle of the carriage frame with respect to the track. Attitude detection method. A carriage attitude detection method for detecting an attitude of a wheel frame of a carriage frame supporting a wheel axle via an axle box support device with respect to a trajectory traveled by wheels of the wheel axle,
Two-dimensional measurement of the cross-sectional shape of the first rail by the first two-dimensional sensor provided on the carriage frame,
The second two-dimensional sensor provided on the carriage frame measures the cross-sectional shape of the second rail at a position shifted in the vehicle front-rear direction from the first two-dimensional sensor;
Calculating a relative position of the reference position of the first rail with respect to the first two-dimensional sensor based on the measurement result of the first two-dimensional sensor;
Calculating a relative position of the reference position of the second rail with respect to the second two-dimensional sensor based on the measurement result of the second two-dimensional sensor;
Relative displacement in the sleeper direction with respect to the first two-dimensional sensor at the reference location of the first rail, and relative displacement in the sleeper direction with respect to the second two-dimensional sensor at the reference location of the second rail. A cart posture detection method, wherein a sleeper direction position and a yaw angle of the cart frame with respect to the track are calculated based on an average and a difference, respectively. The relative displacement in the vertical direction of the reference location of the first rail with respect to the first two-dimensional sensor, and the relative displacement in the vertical direction of the reference location of the second rail with respect to the second two-dimensional sensor. The cart posture detection method according to claim 3, wherein a vertical position and a roll angle of the cart frame with respect to the track are calculated based on an average and a difference. The cart posture detection method according to any one of claims 1 to 4, wherein measurement data obtained by the two-dimensional sensor is corrected using pre-prepared track irregularity information.

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