JP5919083B2 - Railroad positioning system - Google Patents

Description

  The present invention relates to a track positioning system for a swivel type rail vehicle used for a railway track.

  Conventionally, in this type of track-and-rail vehicle, the vehicle travels on a general road and moves on a railroad rail at a railroad crossing near the work site. As a loading method at this time, the railroad vehicle is entered into the railroad crossing, and the person who confirms the rail position sees from the outside that the center of the turntable and the center of the rail coincide with each other, and sends a signal to the driver Is done. Specifically, when the railroad vehicle stops at the position where the turntable comes to the center of the rail, the guide manipulates the hydraulic pressure from the outside of the vehicle, lifts the vehicle body while lowering the turntable to the ground, and then manually lifts the vehicle body. It is made to turn, and the raceway is moved on the rail to enable traveling on the raceway.

  However, in such a conventional method, there are few cases where the track can be loaded at a time, and the forward and backward movement of the rail vehicle has been repeated many times. In view of this, it has been required to reduce the time required for the track work of the railroad vehicle in the first stage of work in a railroad vehicle subject to a limited time limit. As a method to deal with such problems, a camera is mounted near the bottom of the vehicle body, and the driver confirms the image from the camera with a monitor provided in the driver's cab while the railroad vehicle is in a predetermined position, that is, a position where the turntable is lowered. A method of positioning and stopping the vehicle is known (for example, see Patent Document 1).

  In Patent Literature 1, a pair of cameras are provided at the front and rear of the bottom of a turning-type railroad vehicle, the traveling directions of one camera and the other camera are reversed, and equidistant from the turning center of the railroad vehicle. The two rail images obtained from the two cameras as they enter the orbit are projected on a single monitor alternately or in an overlapping manner, and the railroad vehicle at the point where the two rail images overlap on the monitor. Is disclosed.

Japanese Patent Application No. 2004-335264

However, the conventional method of positioning the track position of a rail car has the following problems.
That is, in Patent Document 1, when displaying alternately, it is possible to switch a monitor screen on one screen and display a plurality of camera images, but the fact that two rails overlap on the image indicates that the driver of a railroad vehicle Is difficult to recognize, and when displaying them in a superimposed manner, some software processing is required to display the images from the two cameras on one monitor, and subjects other than the rails are also superimposed. It was hard to see for car drivers.
In particular, if the railroad crosses diagonally with respect to the rails, the two rails displayed on the monitor are also displayed diagonally, which makes it easier for the driver to misrecognize the image of the rails. There was room.

  The present invention has been made in view of the above-described problems, and an object thereof is to provide a track positioning system for a rail vehicle that can accurately and easily match the turning center of a vehicle body to the center between rails. .

In order to achieve the above object, the track positioning system for a track-and-rail vehicle according to the present invention is a track positioning system for a track-and-rail vehicle that stops a swivel-type track-and-rail vehicle at the track track position and turns and tracks the track. And a pair of cameras disposed at the front and rear of the bottom of the vehicle body and arranged at the same inclination angle with respect to the vertical direction, and a monitor in which the respective images taken by the pair of cameras are arranged in parallel. The pair of cameras are provided at an equal distance from the turning center of the rail vehicle, and are arranged at positions where the end of the angle of view on the same side is on the longitudinal center axis of the vehicle body passing through the turning center in a plan view of the field of view area of the camera. The point on the longitudinal center axis of the two rails photographed by a pair of cameras is used as a positioning reference point, and when the positioning reference points of the two rails coincide at a predetermined position on the monitor , the turning center is Match the center It is characterized by that.

  In the present invention, the rail photographed by the front camera and the rail photographed by the rear camera in the process of entering the railroad crossing in order to accurately align the turning center of the vehicle body with the center between the rails (center of the gauge). Are displayed on the monitors arranged in parallel correspondingly. Then, when the positioning reference points of the front and rear rails in the traveling direction of the track-and-rail vehicle projected on the monitor match on the screen, the turning center of the track-and-rail vehicle matches the target center of the track. Therefore, while moving the railroad vehicle, the railroad vehicle is stopped at a point where the images of the front and rear rails coincide on the monitor, and the vehicle body is lifted and turned by a turning means such as a turntable mounted on the vehicle body. After the direction of the rail and the rail are matched, the vehicle body is lowered, so that the track-rail vehicle can travel on the rail with the raceway.

In addition, the angle of view end on the same side in the plan view of each of the angle of view areas of the front camera and the rear camera is used as the angle of view reference line, and the angle of view reference line is positioned on the longitudinal center axis of the vehicle body. Since each of the camera and the rear camera is provided at the same inclination angle with respect to the vertical direction, when the turning center of the vehicle body is at a mounting position that coincides with the center of the gauge, each camera takes a picture. The distance to the positioning reference point on the longitudinal center axis of the rail is equal. That is, when the turning center of the track-and-rail vehicle is the center of the gauge, the positioning reference points of the rails displayed on the monitor match at a predetermined position, so it is easy to confirm that the positioning reference points match from the monitor image. be able to. In this case, even if the rail vehicle enters obliquely with respect to the two rails, if the positioning reference points of the two rails displayed on the monitor screen coincide with each other, the turning center and the gauge center are aligned. That is, it can be easily confirmed by the driver of the railroad vehicle.
Therefore, if the monitor is provided in the driver's cab, the driver can accurately stop the railway vehicle at the line position while looking at the screen.

  Further, in the track positioning system for a track-and-rail vehicle according to the present invention, the camera is a front camera provided on the front side in the traveling direction of the track-and-rail vehicle in a state where the turning center of the track-and-rail vehicle matches the center of the gauge. It is preferable that the rear rail located on the rear side is photographed, and the front rail located on the front side of the rail vehicle is photographed with a rear camera provided on the rear side.

According to the track positioning system for a track car according to the present invention, when the track vehicle is at the track position, the rear rail is displayed on the monitor by the front camera, and the front rail is displayed on the monitor by the rear camera. The image of the rear rail from the front camera moves upward on the monitor as the vehicle body advances, and the image of the front rail from the rear camera moves downward on the monitor as the vehicle body advances.
By arranging the camera in this way, it is possible to increase the distance between the camera and the subject (rail), so that the positional relationship between the camera and the rail is improved, and the moving speed of the rail car and the movement of the rail image are improved. Is appropriate, the camera and the subject are not far enough from each other, and it is possible to prevent the problem that it is difficult to align because the movement of the image is too fast. be able to.

  Further, in the track positioning system for a railroad vehicle according to the present invention, it is more preferable that one of the pair of cameras is a mirror image camera.

  In the present invention, when a mirror image camera is used for one of the cameras, a railroad crossing is obliquely crossed between the two rails, and when a railroad vehicle enters obliquely with respect to these rails, the image is taken by the mirror image camera. The rail appears on the monitor upside down. At this time, the positioning reference point of the mirror image rail can also be displayed in the opposite left and right positions, and the images of the monitor by the front camera and the rear camera are displayed symmetrically on the screen. For this reason, the positioning reference points of both rails reflected on the monitor are positioned on the screen boundary line between the respective screens, and there is an advantage that it is further easier to confirm that the positioning reference points match each other.

  Moreover, in the track positioning system of the track-and-rail vehicle according to the present invention, it is preferable that the vehicle body is provided with a marking that appears at the same position on each screen shot by a pair of cameras.

  In this case, by setting the camera so that the marking is reflected at the edge of the screen, you can check the position of the marking in the field of view area from the monitor image, correct the deviation due to camera vibration, Can be readjusted.

  According to the track positioning system of the track-and-rail vehicle of the present invention, the rails photographed by the cameras provided at the front and rear of the vehicle body are projected in parallel on the monitor, and the positioning reference points at the ends of both rails reflected on the monitor Since it can be easily confirmed that they match each other, the turning center of the vehicle body can be accurately and easily adjusted to the center between the rails.

It is a side view showing a schematic structure of a rail vehicle using a mounting positioning system according to an embodiment of the present invention. It is the top view which looked at the turntable provided with the camera from the top. It is the sectional view on the AA line shown in FIG. It is a top view which shows the field angle area | region of a front camera and a rear camera. It is a figure which shows the screen display of the monitor which put the 1st screen and the 2nd screen side by side, Comprising: (a) is a figure at the time of using a front camera and a rear camera as a normal image camera, (b) is a front camera. Is a mirror image camera, and the rear camera is a normal image camera. It is the figure which displayed the operation result of the track-rail vehicle and monitor screen by a track positioning system, and is a figure which shows the case where the track-rail vehicle approached orthogonally with respect to the rail. It is the figure which displayed the operation result of the railroad vehicle and monitor screen by a track positioning system, and is a figure which shows the case where the railroad vehicle approached diagonally with respect to the rail. It is a side view which shows schematic structure of the rail vehicle using the track positioning system by 2nd Embodiment. It is a top view which shows the field angle area | region of the front camera and rear camera which are shown in FIG. It is the figure which displayed the operation result of the track-rail vehicle and monitor screen by the track positioning system shown in FIG. 8, and is a figure which shows the case where the track-rail vehicle entered orthogonally with respect to the rail. It is a figure which shows the front camera and rear camera by other embodiment, Comprising: It is a figure corresponding to FIG.

  DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a track-and-rail vehicle positioning system according to the present invention will be described below with reference to the drawings.

(First embodiment)
As shown in FIG. 1, in the line positioning system according to the present embodiment, when a vehicle body 11 is turned and then placed, the turning type rail land vehicle 1 is placed on the track 2 (rails 2R and 2L). Used to stop at S. Here, the rail located on the right side in FIG. 1 is referred to as a front rail 2R, and the rail located on the left side in FIG. 1 is referred to as a rear rail 2L.

  The track-and-rail vehicle 1 includes a vehicle body 11, tires 12 for traveling on the road surface G, track wheels 13 for traveling on the rails 2R and 2L, and a turntable 14 provided at the center of gravity of the vehicle body 11. ing. Here, the turning center of the rail vehicle 1 turning around the turntable 14 is denoted by reference numeral O1. The turning center O1 coincides with the center O2 between the pair of rails 2R and 2L in a state in which the rail vehicle 1 is stopped at the line position S.

  The track ring 13 is configured to be movable up and down by a lift mechanism (not shown). When the track 13 travels on a road surface G such as a general road, the track ring 13 is in a raised position indicated by a solid line in FIG. It is designed to be lowered to the lowered position.

  The turntable 14 is a turning means for turning the vehicle body 11, and is configured to move up and down by a jack 141 and rotate the vehicle body 11 around a turning center O1 by a rotation mechanism (not shown). The turntable 14 has a plate shape, and as shown in FIG. 2, a circular hole 14a provided coaxially with the turning center O1 is formed in the center in plan view.

  Here, in the rail vehicle 1, the width direction is X, the traveling direction is Y, and the direction along the traveling direction Y through the turning center O1 is the longitudinal center axis C of the vehicle body (center line in the traveling direction of the rail vehicle 1). And

  The track positioning system of the rail car 1 includes a pair of cameras 3 (3R, 3L) provided before and after the bottom of the rail car 1, and two rails 2R, 2L photographed by these cameras 3R, 3L. And a monitor 4 arranged in parallel with each other.

  As shown in FIGS. 2 and 3, for example, a normal CCD camera can be used as the cameras 3 </ b> R and 3 </ b> L, and the turning center of the rail vehicle 1 shown in FIG. 1 in the longitudinal central axis C direction (traveling direction Y) of the vehicle body. It is installed on the turntable 14 at the same inclination angle with respect to the vertical direction at a position equidistant from O1. Here, a camera located on the front side in the traveling direction Y of the rail vehicle 1 is referred to as a front camera 3R, and a camera located on the rear side is referred to as a rear camera 3L. These cameras 3R and 3L are connected to a monitor 4 provided in the cab 15 via a controller (not shown).

The front camera 3R and the rear camera 3L are provided at positions that are equidistant from the rails 2R and 2L, respectively, in a state where the turning center O1 of the track vehicle 1 coincides with the center O2 between the gauges (mounting position S). . That is, as shown in FIG. 4, on the longitudinal center axis C of the vehicle body, the distance t1 between the front camera 3R (the center) and the rear rail 2L, and the distance between the rear camera 3L (the center) and the front rail 2R. t2 is equidistant.
Further, as shown in FIG. 3, the front camera 3R and the rear camera 3L are fixed to the upper edge 14b of the circular hole 14a of the turntable 14 by using an appropriate mounting bracket (not shown). The rails 2R and 2L projected by the cameras 3R and 3L are adjusted at an appropriate position and angle so that no blind spot is generated at the lower edge 14c of the turntable 14 or the like.

  The front camera 3R and the rear camera 3L have the shooting direction and the respective subjects (rails 2R, 2L) reversed in the front-rear direction. That is, when the front camera 3R is set to a position where the longitudinal center axis C of the rail vehicle 1 is aligned with the center O2 of the gauge (tracking position S), the field of view (shooting range) is directed backward, and the rear rail 2L is Installed to shoot. The rear camera 3L is attached so that the field of view (shooting range) is directed forward and the front rail 2R is shot when the railroad vehicle 1 is set at the loading position S. Thus, the distance from each camera 3R, 3L to the subject (rails 2R, 2L) is increased.

As shown in FIG. 4, the front camera 3 </ b> R and the rear camera 3 </ b> L have an angle of view on the same side (here, the left side) of each shooting range (view angle region D (DR, DL)) in a plan view seen from above. An end portion (hereinafter referred to as “view angle reference line Da”) is disposed at a position on the longitudinal center axis C of the vehicle body (see FIG. 2). That is, the position on the left side of the rail 2 displayed on the monitor 4 is on the longitudinal central axis C (positioning reference points P1, P2 described later).
Note that, as shown in FIG. 2, the view angle reference line Da is a position swung at an angle of ½ view angle from the camera view angle centers C1 and C2 in the view angle regions DR and DL of the cameras 3R and 3L. Say.

Further, as shown in FIG. 4, points on the longitudinal center axis C in the front rail 2R and the rear rail 2L taken by the front camera 3R and the rear camera 3L are set as positioning reference points P1 and P2 (FIG. 5). reference). The positioning reference points P1 and P2 serve as a reference for the driver to check with the monitor 4, and the distances from the respective cameras 3R and 3L coincide with each other and are positioned on the angle-of-view reference line Da of each camera 3R and 3L. As shown in FIG. 5A, each image (screen) displayed on the monitor 4 is positioned at the left end.

The monitor 4 is provided in the cab 15 of the track car 1 shown in FIG. 1, and two rails 2R obtained from the front camera 3R and the rear camera 3L when the track car 1 enters the track 2. Two screens (first screen 4R and second screen 4L) corresponding to the cameras 3R and 3L are displayed side by side on the left and right at the same time.
That is, one screen is divided into left and right, and the images of the front camera 3R and the rear camera 3L are displayed on one monitor 4 so that the driver of the rail vehicle 1 can easily recognize the positions of the two rails 2R, 2L. It is like that. Here, the left screen of the monitor 4 is the first screen 4R captured by the front camera 3R, and the right screen is the second screen 4L captured by the rear camera 3L. A boundary portion between the first screen 4R and the second screen 4L is defined as a screen boundary line 4a.

Further, in the present embodiment, a normal image camera is used as the rear camera 3L, and a mirror image camera that projects the image captured by the front camera 3R symmetrically, as shown in FIG. 5B. It is displayed on the screen 4R and the second screen 4L. Therefore, the positioning reference point P2 in the image of the front camera 3R that is a mirror image camera is located at the right end of the first screen 4R, that is, the screen boundary line 4a.
A point where the positioning reference points P1 and P2 of the two rails 2R and 2L displayed on the monitor 4 coincide with each other on the screen is a stop position (mounting position S) of the rail vehicle 1 shown in FIG.
Note that the images of the rails 2R and 2L projected on the monitor 4 are projected horizontally on the monitor 4 when the rail vehicle 1 enters in a direction orthogonal to the rails 2R and 2L, and the rails 2R and 2L When the track-and-rail vehicle 1 enters obliquely, it is displayed obliquely on the monitor 4.

  As shown in FIG. 3, the circular hole 14a of the turntable 14 is provided with a marking 5 on its lower edge end 14c located below one camera 3R (3L). The marking 5 is projected at the same position on each screen shot by the pair of cameras 3R and 3L.

  Next, the operation | movement at the time of mounting using the mounting positioning system of the rail vehicle 1 mentioned above is concretely demonstrated based on drawing.

(In the case of orthogonal approach)
First, a case will be described in which the railroad crossing is orthogonal to the two rails 2R, 2L, and the rail vehicle 1 enters in a direction orthogonal to the rails 2R, 2L. Here, FIG. 6 is a diagram illustrating the positioning operation of the loading position S in the track-and-rail vehicle 1 for each of the steps S1 to S4, and a schematic plan view illustrating the position of the track-and-rail vehicle 1 for each of the steps S1 to S4. The figure which shows the position of camera 3R, 3L and rail 2R, 2L and the figure which shows a monitor display are shown.

As shown in FIG. 6, in step S1, when the railroad vehicle 1 starts entering the track 2, the rear rail 2L slightly enters the front side in the angle-of-view region DL of the rear camera 3L that reflects the front. It becomes a state. At this time, the rear rail 2L photographed by the rear camera 3L is displayed on the upper part of the screen on the monitor 4 on the second screen 4L on the right side toward the paper surface. The rear rail 2L on the screen moves downward on the screen as the railcar 1 advances. Here, in the case of the orthogonal approach shown in FIG. 6, the image of the rail 2 projected on the monitor 4 is displayed horizontally (the length direction of the rail is horizontal).
On the other hand, on the first screen 4R, an image taken by the front camera 3R that reflects the back is shown, but at the time of step S1, any rails 2R and 2L are still in the field angle region DR of the front camera 3R. The rails 2R and 2L are not shown on the first screen 4R because it does not come.
In step S <b> 1, when the driver confirms that the rear rail 2 </ b> L has started to appear on the screen of the monitor 4, the approximate position of the rail vehicle 1 can be grasped, and preparations for stopping can be made.

Step S2 is after the track-and-rail vehicle 1 has entered the track 2, and after step S1, the track-and-rail vehicle 1 further advances toward the center between the rails 2R and 2L, and is within the field angle region DL of the rear camera 3L. In this state, both the front rail 2R on the front side and the rear rail 2L on the rear side have begun to be photographed. At this time, the front rail 2R and the rear rail 2L captured by the rear camera 3L are displayed on the second screen 4L of the monitor 4. The rails 2R and 2L on the screen move downward on the screen as the track car 1 moves forward.
On the other hand, the front camera 3R is in a state in which the rear rail 2L has slightly entered the front side in the field angle region DR. In this case, the rear rail 2L photographed by the front camera 3R is also projected on the lower side of the screen on the first screen 4R, and the rear rail 2L on the screen moves upward from the lower side of the screen.

  Next, as shown in FIG. 4, step S3 is a case where the advanced track-and-rail vehicle 1 is at the mounting position S where the turning center O1 coincides with the center O2 between the tracks, and is on the longitudinal center axis C of the vehicle body. This is a case where the distance t1 between the front camera 3R and the rear rail 2L and the distance t2 between the rear camera 3L and the front rail 2R are equal. At this time, the rear camera 2R is photographed with the front camera 3R, and the front rail 2R is photographed with the rear camera 3L.

  On the monitor 4, the front rail 2R taken by the rear camera 3L is displayed on the second screen 4L at the center in the vertical direction of the screen. On the other hand, in the front camera 3R, the rear rail 2L photographed by the front camera 3R is displayed on the first screen 4R at the center in the vertical direction of the screen. That is, in the monitor 4, both the front rail 2R that moves upward on the first screen 4R and the rear rail 2L that moves downward on the second screen 4L are in a straight line at the center in the vertical direction of the screen. When the positioning reference points P1 and P2 coincide with each other on the screen, the turning center O1 of the vehicle body of the rail vehicle 1 coincides with the target gauge center O2 (center between the rails 2R and 2L). Can be confirmed on the monitor 4.

  Therefore, while moving the rail car 1, the rail car 1 is stopped at the point where the images of the positioning reference points P1, P2 of the front rail 2R and the rear rail 2L coincide with the screen boundary line 4a on the monitor 4. 1, the vehicle body 11 is lifted and turned by a turntable 14 attached to the vehicle body 11, the directions of the raceway wheel 13 and the rails 2 </ b> R and 2 </ b> L are matched, and then the vehicle body 11 is lowered to take The vehicle 1 is in a state where it can travel on the rail 2 on the track ring 13.

  And step S4 is a case where the track-and-rail vehicle 1 has passed the loading position in the advancing direction Y, image | photographs two rails 2R and 2L located in the rear side with the front camera 3R, and the rear camera 3L This is a state in which the front rail 2R is in the rear side of the view angle region DL. At this time, on the monitor 4, the positioning reference points P1 and P2 that coincide in step S3 in both screens 4A and 4B move in a direction away from each other in the vertical direction.

  Thus, in step S3, when the positioning reference points P1 and P2 coincide on the screens 4R and 4L, the turning center O1 of the rail vehicle 1 becomes the gauge center O2, so the driver's cab 15 of the rail vehicle 1 (FIG. 1). ), The driver who monitors the monitor 4 only has to stop the traveling of the rail vehicle 1 at a position where the positioning reference points P1, P2 coincide on the screens 4R, 4L.

(In the case of oblique approach)
Next, a case will be described in which the two rails 2R, 2L and the railroad crossing are not orthogonal to each other, and the railway vehicle 1 enters in an oblique direction with respect to the rails 2R, 2L.
Here, FIG. 7 is a diagram showing the positioning operation of the loading position S in the track-and-rail vehicle 1 for each of the steps S1 to S4 as in FIG. 6 described above. The schematic plan view which shows a position, the figure which shows the position of camera 3R, 3L and rail 2R, 2L, and the figure which shows a monitor display are shown. In the case of the oblique approach, the difference from the case of the orthogonal approach shown in FIG. 6 described above will be described.
Here, in the plan view of the position of the track-and-rail vehicle 1 in FIG. 7, the traveling direction Y of the track-and-rail vehicle 1 is the vertical direction of the page, and the two rails 2R and 2L are inclined upward as the direction from the left side to the right side of the page. It has become a direction.

  As shown in FIG. 7, in step S <b> 1, the rear rail 2 </ b> L that enters the front side in the field angle region DL of the rear camera 3 </ b> L that forms a normal image camera is displayed above the second screen 4 </ b> L of the monitor 4. At this time, the rear rail 2L in the screen 4L is displayed to be inclined obliquely upward to the right.

  In step S2, the rear rail 2L is displayed on the lower side of the second screen 4L, the front rail 2R is displayed on the upper side, and the first screen 4R has a front side in the field angle region DR of the front camera 3R. The rear rail 2L to enter is projected at the bottom of the screen. At this time, since the front camera 3R is a mirror image camera, the video in the first screen 4R is displayed upside down, and the video on the rear rail 2L is tilted to the lower right. That is, the positioning reference point P1 of the front rail 2R of the second screen 4L and the positioning reference point P2 of the rear rail 2L of the first screen 4R are respectively positioned on the screen boundary line 4a of the monitor 4.

  Next, in step S3, as in the case of the orthogonal approach described above, the distance t1 between the front camera 3R and the rear rail 2L on the vehicle body longitudinal center axis C and the distance t2 between the rear camera 3L and the front rail 2R are as follows. In this case, the front rail 2R, which is inclined diagonally to the right and taken by the rear camera 3L, is projected on the second screen 4L at the center in the vertical direction of the screen, and is photographed by the front camera 3R on the first screen 4R. Then, the mirrored rear rail 2 </ b> L inclined obliquely downward to the right is displayed at the center in the vertical direction of the screen. That is, in the monitor 4, the front rail 2R that moves upward on the first screen 4R and the rear rail 2L that moves downward on the second screen 4L are both at the center in the vertical direction of the screen. They are arranged in a state of forming a V shape, and the respective positioning reference points P1 and P2 coincide on the screen.

  In step S4, on the monitor 4, the positioning reference points P1 and P2 that coincide in step S3 in both screens 4A and 4B move in the direction away from each other in the vertical direction.

Next, the operation of the track positioning system for a rail vehicle according to the above-described embodiment will be described with reference to the drawings.
As shown in FIG. 1, the rail 2L photographed by the front camera 3R in the process of the railcar 1 entering the railroad crossing in order to accurately align the turning center O1 of the vehicle body with the center between the rails (gauge center O2). And the rail 2R photographed by the rear camera 3L are displayed on the monitor 4 arranged in parallel corresponding to each.

  When the positioning reference points P1 and P2 of the front and rear rails 2R and 2L in the traveling direction Y of the tracked vehicle 1 displayed on the monitor 4 coincide on the screen, the turning center O1 of the tracked vehicle 1 is the target gauge center O2. Will match. Therefore, the railcar 1 is stopped at the point where the images of the front and rear rails 2R, 2L coincide on the monitor 4 while the railcar 1 is moved, and the vehicle body is turned by turning means such as the turntable 14 mounted on the vehicle body 11. 11 is lifted and turned, and the direction of the track ring 13 and the rail 2 is matched, and then the vehicle body 11 is lowered, so that the rail vehicle 1 can travel on the rail 2 with the track ring 13.

  Further, as shown in FIG. 4, the left-side field angle reference line Da toward the subject (rails 2R, 2L) in plan view in the field angle regions DR, Dl of the front camera 3R and the rear camera 3L is displayed on the vehicle body 11. Since the front camera 3R and the rear camera 3L are provided at the same inclination angle with respect to the vertical direction, the turning center O1 of the vehicle body 11 coincides with the center O2 of the gauge. In addition, the distances from the respective cameras 3R and 3L to the positioning reference points P1 and P2 on the longitudinal center axis C of the rail photographed by the respective cameras are equidistant. That is, when the turning center O1 of the track-and-rail vehicle 1 becomes the gauge center O2, the positioning reference points P1 and P2 of each rail displayed on the monitor coincide with each other at a predetermined position. It can be easily confirmed that they match each other.

In this case, even if the rail vehicle 1 enters the two rails 2R and 2L obliquely, if the positioning reference points P1 and P2 of the two rails 2R and 2L shown on the monitor screen match, The turning center O1 and the gauge center O2 are aligned, and can be easily confirmed by the driver of the track-and-rail vehicle 1.
Therefore, if the monitor 4 is provided in the driver's cab 15 (see FIG. 1) of the track and land vehicle 1, it becomes possible for the driver to stop the track and track vehicle 1 at the loading position S while looking at the screen of the monitor 4. .

  As shown in FIGS. 3, 4, and 5 (b), when the rail vehicle 1 is at the loading position S, the front screen 3R of the monitor 4 moves the rear rear rail 2L in the direction of travel by the front camera 3R. The rear front camera 2L projects the front front rail 2R in the traveling direction on the second screen 4L. Then, the image of the rear rail 2L by the front camera 3R moves upward on the monitor 4 as the vehicle body 11 advances, and the image of the front rail 2R by the rear camera 3L moves on the monitor 4 as the vehicle body 11 advances. Move down.

  By arranging the cameras 3R and 3L in this way, the distance between the camera 3 and the subject (rail 2) can be increased. Therefore, the positional relationship between the camera 3 and the rail 2 is improved, and the rail vehicle 1 The movement speed of the camera and the movement of the rail image are appropriate, and the camera 3 and the subject (rail 2) are not sufficiently separated from each other. The driver of the railway vehicle 1 can easily perform alignment.

Further, by using a mirror image camera for one camera (the front camera 3R in the present embodiment), the railroad crossing obliquely intersects the two rails 2R and 2L, and the railroad vehicle with respect to these rails 2R and 2L When 1 enters diagonally, the rail 2 photographed by the mirror image camera (front camera 3R) is displayed in reverse on the monitor 4 as shown in FIG. 5B. At this time, the positioning reference point P2 of the mirror image rail 2L can also be displayed at the opposite left and right positions, and the images of the monitor 4 by the front camera 3R and the rear camera 3L are displayed symmetrically on the screen.
Therefore, the positioning reference points P1 and P2 of the two rails 2R and 2L shown on the monitor 4 are positioned on the screen boundary line 4a between the screens 4R and 4L, and the positioning reference points P1 and P2 coincide with each other. There is an advantage that confirmation of this becomes even easier.

  Further, in the present embodiment, as shown in FIG. 3, the cameras 3R and 3L are installed so that the marking 5 is reflected at the screen end portion of the field angle region D, so The position of the marking 5 in the region D can be confirmed, and the deviation due to the vibration of the camera 3 can be corrected and readjusted.

  In the track positioning system for a rail vehicle according to the above-described embodiment, the rails 2R and 2L photographed by the pair of cameras 3R and 3L provided before and after the vehicle body 11 are displayed in parallel on the monitor 4, and the monitor 4 Since it is possible to easily confirm that the positioning reference points P1 and P2 at the ends of the two rails 2R and 2L shown above coincide with each other, the turning center O1 of the vehicle body 11 can be accurately and easily set to the gauge center O2. Can be matched.

  Next, another embodiment of the track positioning system for a rail vehicle according to the present invention will be described with reference to the accompanying drawings, but the same or similar members and parts as those in the first embodiment are the same. A description will be omitted using reference numerals, and a configuration different from that of the first embodiment will be described.

(Second Embodiment)
Moreover, as shown in FIG. 8, the mounting position positioning system of 2nd Embodiment changes the position and angle which attach a pair of cameras 3R and 3L. That is, in the first embodiment described above, the shooting direction and the respective subjects (rails 2R, 2L) are reversed in the front-rear direction, but in the second embodiment, the turning center O1 of the track-rail vehicle 1 is between the gauges. When the loading position coincides with the center O2, the front camera 3R is attached at a position for photographing the front rail 2R, and the rear camera 3L is attached at a position for photographing the rear rail 2L. The cameras 3R and 3L are directly fixed to the lower surface of the vehicle body 11 instead of the turntable 14 in order to increase the distance from the ground to the camera 3.

  Further, as shown in FIG. 9, the pair of cameras 3R and 3L are located at equal distances from the turning center O1 of the rail vehicle 1 in the vehicle body longitudinal center axis C direction (traveling direction Y), respectively, with respect to the vertical direction. With the same tilt angle, the distance t1 between the front camera 3R and the front rail 2R on the vehicle longitudinal center axis C, and the rear camera 3L with the turning center O1 of the rail vehicle 1 coincident with the center O2 between the gauges It is installed so that the distance t2 with the rear rail 2L is equal. The installation angles of the cameras 3R and 3L are set so that the angle-of-view reference lines Da of the angle-of-view areas DR and DL are the longitudinal center axis of the vehicle body in a plan view as seen from above, as in the first embodiment described above. The angle is a position on C.

  10, the positioning reference point P1 of the front rail 2R in the first screen 4R displayed on the monitor 4 is positioned on the right side of the screen, and the rear rail 2L in the second screen 4L. The positioning reference point P2 is positioned on the left side of the screen, and both reference points P1 and P2 are displayed at positions on the screen boundary line 4a of the monitor 4.

Next, the operation | movement by the mounting positioning system of 2nd Embodiment is demonstrated based on FIG.
When the railroad car 1 enters the railroad crossing in step S1, the rear rail 2L enters in front of the front camera 3R and is displayed above the first screen 4R of the monitor 4. Then, after entering step S2, the rear rail 2L projected by the front camera 3R on the first screen 4R is displayed downward, the front rail 2R is displayed upward, and the rear camera 3L is displayed on the second screen 4L. The projected rear rail 2L is displayed at the bottom of the screen.

  In step S3, the track car 1 that has moved forward is in a line position where the turning center O1 and the center O2 of the gauge coincide with each other, and the distance t1 between the front camera 3R and the front rail 2R on the vehicle body longitudinal center axis C, and When the distance t2 between the rear camera 3L and the rear rail 2L is equal, the front rail 2R taken by the front camera 3R is projected on the first screen 4R at the center in the vertical direction of the screen, and the second The rear rail 2L taken by the rear camera 3L is displayed on the screen 4L at the center in the vertical direction of the screen. That is, in the monitor 4, both the front rail 2R that moves downward on the first screen 4R and the rear rail 2L that moves upward on the second screen 4L are at the center in the vertical direction of the screen. They are aligned on a straight line, and the positioning reference points P1 and P2 coincide on the screen.

As mentioned above, although embodiment of the track positioning system of the track and land vehicle by this invention was described, this invention is not limited to said embodiment, In the range which does not deviate from the meaning, it can change suitably.
For example, although a mirror image camera is used for one camera 3 in the present embodiment, it is not limited to using a mirror image camera, and a normal image camera is adopted for both cameras 3R and 3L. It doesn't matter. When the mirror image camera is not used in this way, the rail positioning reference point photographed by one camera is not located on the screen boundary line 4a of the monitor 4, but the rail end reflected on each of the screens 4R and 4L. Since the position becomes the positioning reference points P1 and P2, for example, when the screens 4R and 4L are arranged on the left and right, it is only necessary to confirm a point that coincides with the horizontal direction. It becomes position S.

  In the first embodiment, as shown in FIG. 4, the orientation of the front camera 3R and the rear camera 3L is set so that the image on the left side toward the subject (rail) in a plan view of each field angle region D is displayed. Although the corner end portion is set as the angle of view reference line Da and coincides with the longitudinal center axis C of the vehicle body, the right angle of view edge portion toward the subject may coincide with the longitudinal center axis C of the vehicle body. It doesn't matter.

  Furthermore, in the above-described embodiment, the pair of cameras 3R and 3L are arranged with a space therebetween on the longitudinal center axis C of the vehicle body. For example, as shown in FIG. Also good. FIG. 11 shows a pair of cameras 3R, 3L arranged in the vicinity of the turning center O1 of the bottom surface 11a of the vehicle body 11, and the front rail 2R enters the angle-of-view region DR of the front camera 3R at the loading position S. The rear rail 2L is installed in the angle of view region DL of the rear camera 3L.

  Further, the fixed position of the camera 3 with respect to the turntable 14 is not limited to the above-described embodiment. For example, in the first embodiment, the cameras 3R and 3L are fixed to the upper edge 14b of the circular hole 14a of the turntable 14, but may be provided to the lower edge 14c.

  Further, in the present embodiment, the first screen 4R and the second screen 4L of the monitor 4 are arranged side by side, but are not limited to the left and right, and may be arranged in the vertical direction. The installation position of the monitor 4 is not limited to the driver's cab 15 of the tracked vehicle 1, but the monitor 4 may be provided at another position of the tracked vehicle 1, for example, a position where a signal person who confirms outside the vehicle can be seen.

Furthermore, the installation / setting method and adjustment method of the cameras 3R, 3L of the present embodiment can be any method and are not particularly limited.
In addition, in order to make the rails 2R and 2L displayed on the monitor 4 easier to see, the shooting range (view angle region) of the camera 3 or the subject may be irradiated with light by a lighting tool.

  In addition, it is possible to appropriately replace the components in the above-described embodiments with known components without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Railroad vehicle 2 Track 2R Front rail 2L Rear rail 3 Camera 3R Front camera 3L Rear camera 4 Monitor 4a Screen boundary line 4R First screen 4L Second screen 14 Turntable C Vertical center axis D, DR, DL of vehicle body Angle area Da Angle of view reference line O1 Turning center O2 Center of gauge P1, P2 Positioning reference point t1 Distance between front camera 3R and rear rail 2L t2 Distance between rear camera 3L and front rail 2R X Width direction Y Traveling direction

Claims (4)

A track positioning system for a track-and-rail vehicle that stops a swivel-type track and land vehicle at the track position of the track, turns and tracks,
A pair of cameras provided at the front and rear of the bottom of the vehicle body and arranged at the same inclination angle with respect to the vertical direction;
A monitor in which the respective images taken by the pair of cameras are arranged in parallel;
With
The pair of cameras are provided equidistant from the turning center of the rail vehicle, and the same angle of view end portion is on the longitudinal center axis of the vehicle body passing through the turning center in a plan view of the angle of view area of the camera. Placed in position,
When the point on the longitudinal center axis of the two rails photographed by the pair of cameras is a positioning reference point, and the positioning reference points of the two rails coincide at a predetermined position on the monitor , A track positioning system for a rail vehicle, characterized in that the turning center coincides with the center of the gauge .   The camera shoots a rear rail located on the rear side of the railroad vehicle with a front camera provided on the front side in the traveling direction of the railroad vehicle in a state where the turning center of the railroad vehicle coincides with the center of the gauge, The track positioning system for a rail vehicle according to claim 1, wherein a rear camera provided on the rear side is configured to photograph a front rail located on the front side of the rail vehicle.   One of said pair of cameras is a mirror image camera, The mounting positioning system of the rail vehicle of Claim 1 or 2 characterized by the above-mentioned.   4. The rail vehicle mounting line according to claim 1, wherein the vehicle body is provided with a marking that is reflected at the same position on each screen imaged by the pair of cameras. 5. Positioning system.

Images