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Non-contact detection method for pantograph-catenary contact force based on image processing 基于图像处理的受电弓与轨道接触力非接触式检测方法
Hong-ming Chen, Zhou Ning, Cheng Yao, Wei-hua Zhang
This paper introduces a non-contact method for detecting contact force between pantograph and catenary (PAC), based on image processing and Kalman filter. A non-contact method for detecting contact force of PAC, which only utilizes the vertical displacement of the collector head, is proposed. First, the images of the collector head area are collected by adding an image acquisition system on the roof of the vehicle. Second, combined with target tracking and template matching, the vertical displacement of the pantograph’s collector head is identified. Finally, based on the Kalman filter considering least squares method and the PAC dynamics model, a method for detecting contact force is constructed. The estimation of the PAC’s dynamic contact force is realized only by using the vertical displacement of the collector head obtained from the image identification. The results of simulation and test-bed results show that the Kalman filter considering least squares significantly has higher accuracy and better robustness compared with the traditional Kalman filter.
本文介绍了一种基于图像处理和卡尔曼滤波的非接触式受电弓与导轮(PAC)接触力检测方法。本文提出了一种仅利用集电头垂直位移的非接触式 PAC 接触力检测方法。首先,通过在车顶加装图像采集系统来采集集电头区域的图像。其次,结合目标跟踪和模板匹配,识别受电弓集电头的垂直位移。最后,基于卡尔曼滤波考虑最小二乘法和 PAC 动力学模型,构建了一种检测接触力的方法。仅通过图像识别获得的集电头垂直位移,即可实现 PAC 动态接触力的估算。仿真和试验结果表明,与传统卡尔曼滤波器相比,考虑最小二乘法的卡尔曼滤波器具有更高的精度和更好的鲁棒性。
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引用次数: 0
Characterisation of track buckling resistance 轨道抗弯曲特性
E. Kabo, A. Ekberg
This study sets out with a network-wide analysis of the risk for track buckling that concludes that track buckling relates to a few “weak points” along the track. To identify these, a numerical model to predict track buckling resistance is developed. The influences of key track parameters are evaluated and quantified using the innovative concept of an equivalent temperature. This allows to quantify the large influence of for example, curves and hanging sleepers in terms of an equivalent increase in temperature. Influence of less well-defined track parameters such as nearby fixed points or recent track work is estimated through statistical assessment of track buckling reports. Predicted influence generally agrees with empirical knowledge with some exceptions that are discussed in the report. Developed models and produced results should be valuable in identifying track sections at risk of track buckling and in assessing effectiveness of mitigating actions.
本研究首先对整个网络的轨道弯曲风险进行了分析,得出的结论是轨道弯曲与轨道上的几个 "薄弱点 "有关。为了找出这些薄弱点,研究人员开发了一个数值模型来预测轨道的抗弯曲性。利用创新的等效温度概念,对关键轨道参数的影响进行了评估和量化。这样就能以等效温度升高来量化曲线和悬挂枕木等的巨大影响。对于不太明确的轨道参数,如附近的固定点或最近的轨道工程,则通过轨道挠曲报告的统计评估来估算其影响。预测的影响一般与经验知识相符,但也有一些例外情况,报告中对此进行了讨论。所开发的模型和得出的结果对于确定有轨道塌陷风险的轨道区段以及评估缓解措施的有效性都很有价值。
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引用次数: 0
Characterisation of track buckling resistance 轨道抗弯曲特性
E. Kabo, A. Ekberg
This study sets out with a network-wide analysis of the risk for track buckling that concludes that track buckling relates to a few “weak points” along the track. To identify these, a numerical model to predict track buckling resistance is developed. The influences of key track parameters are evaluated and quantified using the innovative concept of an equivalent temperature. This allows to quantify the large influence of for example, curves and hanging sleepers in terms of an equivalent increase in temperature. Influence of less well-defined track parameters such as nearby fixed points or recent track work is estimated through statistical assessment of track buckling reports. Predicted influence generally agrees with empirical knowledge with some exceptions that are discussed in the report. Developed models and produced results should be valuable in identifying track sections at risk of track buckling and in assessing effectiveness of mitigating actions.
本研究首先对整个网络的轨道弯曲风险进行了分析,得出的结论是轨道弯曲与轨道上的几个 "薄弱点 "有关。为了找出这些薄弱点,研究人员开发了一个数值模型来预测轨道的抗弯曲性。利用创新的等效温度概念,对关键轨道参数的影响进行了评估和量化。这样就能以等效温度升高来量化曲线和悬挂枕木等的巨大影响。对于不太明确的轨道参数,如附近的固定点或最近的轨道工程,则通过轨道挠曲报告的统计评估来估算其影响。预测的影响一般与经验知识相符,但也有一些例外情况,报告中对此进行了讨论。所开发的模型和得出的结果对于确定有轨道塌陷风险的轨道区段以及评估缓解措施的有效性都很有价值。
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引用次数: 0
Automated rerailing of a road-rail shunting vehicle on road-level tracks using 2D-Lidar 利用二维激光雷达实现路轨调车在路面轨道上的自动换轨
Hyun-Suk Jung, Philipp Niermeyer, Harish Manjunatheswaran, Christian Schindler
Road-rail vehicles are emerging increasingly in small flat yards for shunting wagons. While numerous research works suggest automation of the shunting operation to improve its efficiency, the rerailing procedure of such vehicle, i.e., switching between road and rail mode, remains manually executed. Hence, we present a simple but novel method for a road-rail vehicle with skid-steer drive to rerail automatically on road-level tracks (e.g., level-crossing). The vehicle uses two 2D-Lidar sensors to scan the floor for (rail) in order to estimate its lateral displacement and angular orientation towards the track centre. A simplified model and a PID-type controller for the yaw rate were deployed while keeping the linear velocity constant for the vehicle to align itself at the centre of and parallel to the track. Upon reaching the goal, the rail wheels are descended and the rerailing is completed. Test runs were conducted from a random initial pose near the track centre while limiting the travel range in x-direction to 2.5 m, yet allowing a change of direction each time the vehicle reaches this limit. In 97% of the test runs, the vehicle rerailed successfully in 47 s on average (12 s of which was needed for lowering the rail wheels) with three changes of direction or less. In the remaining 3% of cases it took more attempts. Automated rerailing could be used not only as assistance function for the shunting personnel, but also as important feature of an autonomous shunting robot that is able to access both road and rail domains.
路轨车辆越来越多地出现在用于调车的小型平场中。虽然许多研究工作都建议实现调车作业自动化以提高效率,但此类车辆的换轨程序,即在公路和铁路模式之间的切换,仍需人工执行。因此,我们提出了一种简单而新颖的方法,即采用滑移转向驱动的公路-铁路车辆在公路轨道(如平交道口)上自动换轨。车辆使用两个二维激光雷达传感器对地面(轨道)进行扫描,以估计其横向位移和对轨道中心的角度方向。在保持线速度恒定的情况下,采用简化模型和 PID 型偏航率控制器,使车辆对准轨道中心并与轨道平行。到达目标后,轨道车轮下降并完成换轨。测试运行从轨道中心附近的一个随机初始位置开始,同时将 X 方向的行驶范围限制在 2.5 米,但允许车辆在每次到达该极限时改变方向。在 97% 的测试运行中,车辆平均在 47 秒内成功脱轨(其中 12 秒用于降低轨道轮),换向次数为三次或更少。其余 3% 的情况则需要更多的尝试。自动换轨不仅可以作为调车人员的辅助功能,还可以作为能够进入公路和铁路领域的自主调车机器人的重要功能。
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引用次数: 0
Influence of thermal loading parameters and microstructure on the formation of stratified surface layers on railway wheels 热加载参数和微观结构对铁路车轮分层表层形成的影响
M. Freisinger, K. Pichelbauer, G. Trummer, K. Six
Due to an increasing trend towards environmentally friendly public transport, rail networks face higher speeds and wheel loads affecting the material degradation of the railway components. Within this study, influencing parameters on the formation of stratified surface layers, forming on railway wheels during service due to thermal loadings in the wheel-rail contact, are studied. These layers consist of white etching layer and underlying brown etching layer and are susceptible to fatigue crack initiation. By using laser surface treatments, its formation based on two consecutive thermal loadings is systematically demonstrated on ER7 wheel steel. Further, a decrease in layer thickness with decreasing laser power, and an increase in brown etching layer thickness with increasing laser power difference is shown. Moreover, the effect of finer grain size leading to an increased layer thickness, and the influence of the chemical composition by comparing the standard ER7 wheel steel to a micro-alloyed wheel steel are demonstrated.
由于环保型公共交通的发展趋势日益明显,铁路网络面临着更高的速度和车轮载荷,这对铁路部件的材料降解产生了影响。本研究对铁路车轮在使用过程中由于轮轨接触热负荷而形成的分层表面层的影响参数进行了研究。这些层由白色蚀刻层和底层棕色蚀刻层组成,容易产生疲劳裂纹。通过使用激光表面处理技术,在 ER7 车轮钢上系统地展示了基于两次连续热负荷的腐蚀层形成过程。结果表明,随着激光功率的减小,层厚度减小,而随着激光功率差的增大,棕色蚀刻层厚度增大。此外,通过将标准 ER7 车轮钢与微合金车轮钢进行比较,还证明了晶粒更细导致层厚度增加的影响,以及化学成分的影响。
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引用次数: 0
Impact of coupled effects of airtight components at variable cross-section location on vehicle airtightness in Wuhan metro 武汉地铁不同截面位置气密部件的耦合效应对车辆气密性的影响
Yang Li, You-mei Liu
To determine the variation in airtightness performance of metro trains under the coupling state of airtight components, a field-based experimental approach was employed to test the air pressure changes during metro train operations. The study analyzed the impact of the coupling effects of the air conditioning pressure wave protection valve, pneumatic auxiliary door lock devices, and passageway drainage plug on the interior pressure changes of the train while operating in challenging environmental conditions. Following industry standards, the assessment evaluated whether the rate of interior pressure change and the train’s dynamic sealing index met the specified requirements. The findings indicate that, with airtight components in an enabled state, the peak-to-peak value of interior pressure change relative to external pressure change decreased by 15% to 39%. Conversely, when airtight components were not enabled, the reduction was only 0% to 25%. Under enabled airtight component conditions, the train’s dynamic sealing index was within the 2-3 s range, whereas in the disabled state, the dynamic sealing index was less than 1 s. The activation of airtight components plays a crucial role in improving train airtightness by significantly reducing the amplitude of interior pressure changes, thereby ensuring both train airtightness and passenger comfort. The results provide valuable insights for the optimization of train design and operation in order to maintain passenger safety and comfort.
为了确定地铁列车在气密部件耦合状态下的气密性能变化,采用了基于现场的实验方法来测试地铁列车运行过程中的气压变化。研究分析了空调压力波保护阀、气动辅助门锁装置和通道排水塞的耦合效应对列车在挑战性环境条件下运行时内部压力变化的影响。评估按照行业标准,对内部压力变化率和列车动态密封指数是否符合规定要求进行了评估。评估结果表明,当气密组件处于启用状态时,内部压力变化的峰峰值相对于外部压力变化的峰峰值降低了 15%至 39%。相反,当气密组件未启用时,降低幅度仅为 0% 至 25%。在启用气密组件的条件下,列车的动态密封指数在 2-3 秒的范围内,而在禁用状态下,动态密封指数小于 1 秒。气密组件的启用在改善列车气密性方面起着至关重要的作用,可显著降低内部压力变化的幅度,从而确保列车气密性和乘客舒适度。研究结果为优化列车设计和运行提供了有价值的启示,以确保乘客的安全和舒适。
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引用次数: 0
A real-time automatic rail extraction algorithm for low-density mobile laser scanning data 低密度移动激光扫描数据的实时自动轨道提取算法
Zhihao Hu, Xiaoci Huang
Automatic detection of railroad infrastructure using Mobile Laser Scanning systems is a key technology for both advanced rail driver assistance and intelligent track maintenance. The recent research into railway facility extraction or condition monitoring usually relies on high-density point cloud dataset with known sensor parameters but ignores the processing performance in actual deployment and has high requirements for the acquisition device. To address these limitations, a novel rail extraction algorithm is proposed for processing Mobile Laser Scanning data in real time during acquisition, which could extract rail features by a hierarchical coarse-to-fine method with basic structural parameters. Using the geometric and global statistical characteristics of rail in raw data, a new rail descriptor is defined based on the quantitative statistics of points satisfying height difference in generalized local neighborhood. The approach is evaluated experimentally by a simulated real-time acquisition data and compared with a reference method. The experimental results show that the proposed algorithm has a finer extraction effect and good real-time performance.
利用移动激光扫描系统对铁路基础设施进行自动检测,是先进的铁路驾驶员辅助系统和智能轨道维护的关键技术。近期有关铁路设施提取或状态监测的研究通常依赖于已知传感器参数的高密度点云数据集,但忽略了实际部署中的处理性能,对采集设备的要求也很高。针对这些局限性,本文提出了一种新颖的轨道提取算法,用于在采集过程中实时处理移动激光扫描数据,通过从粗到细的分层方法提取具有基本结构参数的轨道特征。利用原始数据中轨道的几何和全局统计特征,基于满足广义局部邻域高度差的点的定量统计,定义了一种新的轨道描述符。通过模拟实时采集数据对该方法进行了实验评估,并与参考方法进行了比较。实验结果表明,所提出的算法具有更精细的提取效果和良好的实时性。
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引用次数: 0
Impact of debonding between layers of ballastless turnouts on the vibration characteristics of the wheel-rail system 无砟道岔层间脱粘对轮轨系统振动特性的影响
Shuxiao Li, Zhiheng Li, Zheng Yan, Ping Wang, Jing-mang Xu
The mortar layer of the slab ballastless turnout is the weakest connecting part compared to the rest of the structure, meaning debonding between the turnout slab and the mortar layer is prone to occur under the dynamic load of a train. In order to study the impact of debonding on the vibration response of the wheel-rail system in the turnout area, a rigid-flexible vehicle-turnout coupled dynamic model that takes debonding into account was established based on the theory of vehicle-track coupled dynamics; the flexible deformation of the multi-rail and turnout slab was also included in the model. The impact of debonding on the wheel load transition and the vibration acceleration of the turnout structure and axle box were then analysed. The results show that: There are significant differences in the impact of different types of debonding on the vibration response of the vehicle-track coupled system. When the debonding height is less than the voiding limit, the impact of the debonding height is significant, while the vibration acceleration of the vehicle-turnout system remains basically unchanged once debonding height reaches the void limit.
与其他结构相比,板式无砟道岔的砂浆层是最薄弱的连接部分,这意味着在列车的动载荷作用下,道岔板与砂浆层之间容易发生脱落。为了研究脱粘对道岔区域轮轨系统振动响应的影响,基于车辆-轨道耦合动力学理论,建立了考虑脱粘的车辆-道岔刚柔耦合动力学模型,并将多轨和道岔板的柔性变形也纳入模型中。然后分析了脱粘对道岔结构和轴箱的轮载过渡和振动加速度的影响。结果表明不同类型的脱粘对车辆-轨道耦合系统振动响应的影响存在明显差异。当脱胶高度小于空隙极限时,脱胶高度的影响显著,而当脱胶高度达到空隙极限时,车辆-道岔系统的振动加速度基本保持不变。
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引用次数: 0
Development of track component health indices using image-based railway track inspection data 利用基于图像的铁路轨道检测数据开发轨道部件健康指数
Ian Germoglio Barbosa, A. Lima, J. Edwards, M. Dersch
The primary role of the US Department of Transportation (USDOT) Federal Railroad Administration (FRA) is ensuring the safe operation of railway rolling stock and infrastructure by way of regulatory oversight. FRA regulations require US railroads to conduct visual track inspections as often as twice per week depending on a specific track segment’s FRA track class, which also governs maximum train operating speed. Such inspections are often subjective due to the inherent limitations of human visual inspection and cognition. Additionally, human visual inspections require some level of risk given the need for inspectors to be on track while also consuming valuable network capacity. As a result, and the desire to collect objective data to improve both safety and maintenance planning, railroads are pursuing new means and methods to assess track condition and evaluate track component health. This paper presents a numerical method to define track component health using field data collected on the High Tonnage Loop (HTL) at the Transportation Technology Center (TTC) in Pueblo, Colorado, USA. Line scan laser and image data of the track were captured using a 3D Laser Triangulation system and were subsequently processed using Deep Convolutional Neural Networks (DCNNs). The track heath quantification method proposed establishes benchmarks that were developed based on the understanding of railway track mechanics, high axle load (HAL) railroad engineering instructions, and FRA regulations. The novel metrics presented are referred to as Track Component Heath Indices (TCHIs) and are quantitative values that objectively assess track condition and provide a means to monitor condition change with time and tonnage. These data can be used in conjunction with traditional track geometry and other forms of track heath data (e.g. GPR and rail profile) to more holistically assess the condition of the track structure and its components and ultimately predict its future state.
美国运输部(USDOT)联邦铁路管理局(FRA)的主要职责是通过监管确保铁路机车车辆和基础设施的安全运行。FRA 法规要求美国铁路公司根据特定轨道区段的 FRA 轨道等级每周进行两次目视轨道检查,该等级还规定了列车的最高运行速度。由于人类视觉检查和认知的固有局限性,这种检查往往是主观的。此外,由于检查人员需要在轨道上进行检查,同时还要消耗宝贵的网络容量,因此人工目视检查需要承担一定程度的风险。因此,为了收集客观数据以改善安全和维护规划,铁路公司正在寻求新的手段和方法来评估轨道状况和评价轨道部件的健康状况。本文介绍了一种数值方法,利用在美国科罗拉多州普韦布洛运输技术中心(TTC)的高吨位环线(HTL)上收集的现场数据来确定轨道部件的健康状况。使用三维激光三角测量系统采集了轨道的激光线扫描数据和图像数据,随后使用深度卷积神经网络 (DCNN) 进行了处理。所提出的轨道健康量化方法建立了一些基准,这些基准是基于对铁路轨道力学、高轴荷载(HAL)铁路工程说明和美国联邦铁路局(FRA)法规的理解而开发的。所提出的新指标被称为轨道健康指数 (TCHI),是客观评估轨道状况的量化值,并提供了一种监测轨道状况随时间和吨位变化的方法。这些数据可与传统的轨道几何和其他形式的轨道健康数据(如 GPR 和轨道剖面)结合使用,以更全面地评估轨道结构及其部件的状况,并最终预测其未来状态。
{"title":"Development of track component health indices using image-based railway track inspection data","authors":"Ian Germoglio Barbosa, A. Lima, J. Edwards, M. Dersch","doi":"10.1177/09544097231224825","DOIUrl":"https://doi.org/10.1177/09544097231224825","url":null,"abstract":"The primary role of the US Department of Transportation (USDOT) Federal Railroad Administration (FRA) is ensuring the safe operation of railway rolling stock and infrastructure by way of regulatory oversight. FRA regulations require US railroads to conduct visual track inspections as often as twice per week depending on a specific track segment’s FRA track class, which also governs maximum train operating speed. Such inspections are often subjective due to the inherent limitations of human visual inspection and cognition. Additionally, human visual inspections require some level of risk given the need for inspectors to be on track while also consuming valuable network capacity. As a result, and the desire to collect objective data to improve both safety and maintenance planning, railroads are pursuing new means and methods to assess track condition and evaluate track component health. This paper presents a numerical method to define track component health using field data collected on the High Tonnage Loop (HTL) at the Transportation Technology Center (TTC) in Pueblo, Colorado, USA. Line scan laser and image data of the track were captured using a 3D Laser Triangulation system and were subsequently processed using Deep Convolutional Neural Networks (DCNNs). The track heath quantification method proposed establishes benchmarks that were developed based on the understanding of railway track mechanics, high axle load (HAL) railroad engineering instructions, and FRA regulations. The novel metrics presented are referred to as Track Component Heath Indices (TCHIs) and are quantitative values that objectively assess track condition and provide a means to monitor condition change with time and tonnage. These data can be used in conjunction with traditional track geometry and other forms of track heath data (e.g. GPR and rail profile) to more holistically assess the condition of the track structure and its components and ultimately predict its future state.","PeriodicalId":515695,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit","volume":" 51","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139627726","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
期刊
Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit
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