WO2018051738A1 - Insulator detection device and insulator detection method - Google Patents
Insulator detection device and insulator detection method Download PDFInfo
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- WO2018051738A1 WO2018051738A1 PCT/JP2017/029852 JP2017029852W WO2018051738A1 WO 2018051738 A1 WO2018051738 A1 WO 2018051738A1 JP 2017029852 W JP2017029852 W JP 2017029852W WO 2018051738 A1 WO2018051738 A1 WO 2018051738A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
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- the present invention relates to an insulator detecting device and an insulator detecting method.
- the electric railway facilities mainly include overhead lines (hereinafter referred to as trolley lines) and tracks (hereinafter referred to as rails). Each of these is an important maintenance facility for operating the railway.
- the trolley line comes into contact with the current collector every time the electric railway vehicle passes while operating the electric railway vehicle. For this reason, the trolley wire gradually wears out, and if it is not replaced, it may eventually break and cause an accident. In addition, the rails are bent, distorted, scratched, worn, etc. due to train operation, and if these progresses are left unattended, there is a risk of causing an accident such as derailment of an electric railway vehicle.
- the position of the vehicle can be grasped by detecting the position of the support installed on the ground.
- the detection of the support is very important.
- the shape of the support differs between the tunnel section and the light section, and an insulator is provided between the support and the overhead line in the tunnel section. That is, in the tunnel section, the support can be detected indirectly by detecting the insulator.
- a laser light source and a video camera are installed on the top of the roof of the inspection vehicle, and a light beam from the laser light source is generated with a width that covers the trolley wire, rigid trolley wire, and insulator.
- a trolley wire measuring device that measures a trolley wire by a range sensor installed on the roof of a vehicle and calculates the height, displacement, etc. of the trolley wire by an arithmetic device based on the obtained measurement result Is also known (see, for example, Patent Document 2 below).
- the conventional insulator detection device has a problem that it requires a cost such as a laser light source, a high-sensitivity camera, and a calculation device.
- an object of the present invention is to provide an insulator detecting apparatus and an insulator detecting method capable of detecting an insulator while suppressing cost with a simple configuration.
- An insulator detecting apparatus for solving the above-mentioned problems is as follows.
- a uniaxial scanning range sensor that is installed on the roof of the vehicle and acquires data of distance and angle to at least the overhead line;
- An arithmetic unit having an overhead line position calculating unit that detects the height and displacement of the overhead line based on data acquired by the range sensor;
- the arithmetic device includes an insulator detecting unit that obtains the number of data points from the data acquired by the range sensor and detects an insulator based on the obtained data points.
- An insulator detecting apparatus is The insulator detector is An overhead wire surrounding data point measurement unit that determines an insulator detection region that is an area for detecting the insulator based on the position data of the overhead line calculated by the overhead line position calculation unit, and obtains the number of data points in the insulator detection region; And an insulator determination processing unit that determines presence or absence of insulators based on the number of data points.
- An insulator detecting apparatus is The insulator determination processing unit determines that there is an insulator when the data score is larger than a predetermined value determined based on a median value and a standard deviation of the number of data points in the insulator detection region for a predetermined line. To do.
- An insulator detecting method is Acquire data of distance and angle to the structure above the vehicle acquired by a range sensor installed on the roof of the vehicle, Obtain the data score from the data, An insulator is detected based on the obtained data points.
- An insulator detecting method is Determining an insulator detection area that is an area for detecting the insulator based on the data; Obtain the data score from within the insulator detection area, The presence or absence of insulators is determined based on the number of data points.
- An insulator detecting method is It is determined that there is an insulator when the number of data points is larger than a predetermined value determined based on a median value and a standard deviation of the number of data points in the insulator detection area for a predetermined line.
- the insulator can be detected while suppressing the cost with a simple configuration.
- FIG. 2 shows an example of an insulator.
- 5 is a support
- 6 is a lever
- 7 is a support saddle
- 8 is a rigid overhead wire.
- the range sensor 2 measures the distance to the measurement object by projecting a laser beam in a radial pattern around an axis parallel to the traveling direction of the vehicle 1 and receiving the reflected light.
- the range sensor 2 scans the measurement range A (scan angle 270 °) shown in FIGS. 1A and 1B in 1080 steps, and the angular resolution ⁇ is 0.25 °.
- Calculation unit 3 calculates the height D H and offset D B, etc. of the trolley wire 4 based on the measurement result by the range sensor 2. As illustrated in FIG. 3, the arithmetic device 3 includes an overhead line position calculation unit 3 a, an overhead line surrounding data point measurement unit 3 b, an insulator determination processing unit 3 c, and a memory 3 d.
- the overhead line position calculation unit 3a acquires data (angle and distance; hereinafter referred to as range sensor data) obtained by scanning the measurement range A with the range sensor 2, and based on the range sensor data, the overhead line position ( Height D H and displacement D B ).
- range sensor data data obtained by scanning the measurement range A with the range sensor 2
- the overhead line position ( Height D H and displacement D B ).
- reference numeral B shown in FIG. 1A and FIG. 1B indicates an overhead line detection region that is set in the measurement range A based on the deviation in the height direction and the horizontal direction of the trolley wire 4 when calculating the overhead line position. It is.
- the overhead line position is measured using a known method (for example, see paragraphs 0032 to 0056 of Patent Document 2 above), and detailed description thereof is omitted here.
- the overhead wire surrounding data point measurement unit 3b determines the insulator detection region C (see FIG. 2) by designating the height and deviation range with reference to the overhead wire position obtained by the overhead wire position calculation unit 3a, and the overhead wire position data From this, the number of laser data in the insulator detection area C (hereinafter referred to as the number of data points) is measured, and the number of data points of the lump including the rigid body wire 8 as shown in FIGS. 5 and 7 is obtained. This process is performed collectively for scan data for a predetermined line (for example, several thousand lines).
- the insulator detection region C has a relative origin (x 0 , y 0 ) with the position of the trolley wire 4 being (0, 0), for example, depending on the position and shape of the rigid overhead wire 8 and the distance to the ceiling. It is determined by specifying and setting the width W and height H.
- X 0 and width W are set so that at least the insulator 6 is included in the range of the displacement direction of the insulator detection region C, and y 0 and height H are the trolley lines in the vertical direction of the insulator detection region C. It is set to be a range from a position lower than 4 to a position higher than the insulator 6 and lower than the ceiling.
- the insulator determination processing unit 3c detects the insulator 6 based on the data points obtained by the overhead wire surrounding data point measuring unit 3b. That is, the number of data points in the lever detection area C is as shown in FIG. 4 and FIG. 5 with respect to the number of data points obtained around the trolley wire 4 when only the rigid body wire 8 is present (when the lever 6 is not present). 6 and FIG. 7, when the insulator 6 is present, the number of data points obtained around the trolley line 4 tends to increase.
- the insulator determination processing unit 3c uses this tendency to detect the insulator 6. Specifically, the median value m and the standard deviation s of the number of data points in the insulator detection area C for a predetermined line are obtained.
- the line to be determined is the i-th line and the number of data points of the i-th line is Di
- the i-th line has the insulator 6.
- the decision coefficient is a coefficient used for the insulator determination.
- L in FIG.4 and FIG.6 has shown the line.
- the memory 3d stores various data.
- step S1 the distance data acquired by the range sensor 2 is collected (step S1), and the distance data collected by the overhead line position calculation unit 3a is collected. Based on this, the position of the trolley wire 4 is calculated (step S2). Subsequently, the number of data points around the trolley wire 4 is measured by the overhead wire surrounding data point measuring unit 3b based on the position of the trolley wire 4 calculated by the overhead line position calculating unit 3a (step S3), An insulator 6 is detected by the insulator determination processing unit 3c based on the number of data points (step S4).
- the deviation and height of the trolley wire 4 obtained by a simple device using the uniaxial scanning type range sensor 2. Based on the above, the number of data points around the trolley line 4 is measured, and when the value is larger than the number of data points of other lines, it is determined that the insulator 6 is present on the line. It is possible to detect and indirectly detect the support 5.
- the lever detecting apparatus and the lever detecting method according to the present embodiment have an advantage that the lever 6 can be detected while suppressing the cost with a simple configuration of one scanning laser (the range sensor 2). There is. Furthermore, there is an advantage that the height of the trolley wire 4 can be measured by the range sensor 2 used for detecting the insulator 6.
- the present invention can be applied to an insulator detecting device and an insulator detecting method.
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Abstract
To provide an insulator detection device and insulator detection method capable of detecting an insulator using a simple configuration while suppressing cost, an insulator detection device is provided with a uniaxial-scanning-type range measurement sensor (2) that is disposed on the roof of a vehicle and is for acquiring at least the distance and angle to an overhead line and a calculation device (3) that has an overhead line position calculation unit (3a) for detecting the height and deviation of a trolley wire (4) on the basis of the data acquired by the range measurement sensor (2). The calculation device (3) is provided with an overhead line periphery data point measurement unit (3b) and insulator determination processing unit (3c) for detecting an insulator on the basis of the number of data points in the data acquired by the range measurement sensor (2).
Description
本発明は、碍子検出装置及び碍子検出方法に関する。
The present invention relates to an insulator detecting device and an insulator detecting method.
電気鉄道の設備としては、主に架線（以下、トロリ線）と軌道（以下、レール）とが挙げられる。これらはそれぞれ鉄道を運行するにあたり重要な保守設備となっている。
The electric railway facilities mainly include overhead lines (hereinafter referred to as trolley lines) and tracks (hereinafter referred to as rails). Each of these is an important maintenance facility for operating the railway.
トロリ線は、電気鉄道車両を運用していく中で電気鉄道車両が通過するたびに集電装置と接触する。そのためトロリ線は徐々に摩耗していき、交換をしない場合は最終的に破断して事故を招くおそれがある。また、レールは、電車の運行によって曲がり、ゆがみ、傷、摩耗等が発生し、これらの進行を放置してしまうと電気鉄道車両の脱線など事故を招くおそれがある。
The trolley line comes into contact with the current collector every time the electric railway vehicle passes while operating the electric railway vehicle. For this reason, the trolley wire gradually wears out, and if it is not replaced, it may eventually break and cause an accident. In addition, the rails are bent, distorted, scratched, worn, etc. due to train operation, and if these progresses are left unattended, there is a risk of causing an accident such as derailment of an electric railway vehicle.
このようなことから、トロリ線やレールの摩耗等による要注意箇所を迅速に把握し、これに対応するために、トロリ線やレールの要注意箇所の位置（例えば、ある地点から何キロ走行した位置に要注意箇所が存在する等）の情報を特定することは保守管理の面から重要な事項となっている。
Because of this, in order to quickly grasp the point of caution due to wear on the trolley wire or rail, and to respond to this, the position of the point of caution on the trolley wire or rail (for example, how many kilometers you traveled from a certain point) It is an important matter from the viewpoint of maintenance and management to specify information such as the location that requires attention at the location.
トロリ線やレール等の設備の保守を行う場合、保守専用車両や軌陸車などが用いられており、検測した結果、要注意箇所が検出された場合はそのデータを取得したときの車両の位置から要注意箇所の位置を推定することが行われている。
When performing maintenance on equipment such as trolley wires and rails, maintenance vehicles and track-and-rail vehicles are used, and if a point of caution is detected as a result of inspection, the position of the vehicle when the data was acquired The position of a point requiring attention is estimated from the above.
ここで、車両の位置は地上に設置された支持物の位置を検知することで把握することができ、この場合、支持物の検知は非常に重要となる。支持物は、トンネル区間と明かり区間とで形状が異なり、トンネル区間では支持物と架線の間に絶縁のための碍子が設けられている。つまり、トンネル区間においては碍子を検出することで間接的に支持物を検出することができる。
Here, the position of the vehicle can be grasped by detecting the position of the support installed on the ground. In this case, the detection of the support is very important. The shape of the support differs between the tunnel section and the light section, and an insulator is provided between the support and the overhead line in the tunnel section. That is, in the tunnel section, the support can be detected indirectly by detecting the insulator.
従来、碍子を検出する技術として、検測車の屋根の上部にレーザ光源及びビデオカメラを設置し、レーザ光源からの光束をトロリ線、剛体トロリ線、及び碍子をカバーする幅で発生させることによって得られるスリット像をビデオカメラによって撮像し、画像処理を行うことで碍子を検出する剛体架線支持碍子の検出装置が知られている（例えば、下記特許文献１参照）。
Conventionally, as a technique for detecting an insulator, a laser light source and a video camera are installed on the top of the roof of the inspection vehicle, and a light beam from the laser light source is generated with a width that covers the trolley wire, rigid trolley wire, and insulator. 2. Description of the Related Art A rigid body support insulator detecting device that detects an insulator by capturing an obtained slit image with a video camera and performing image processing is known (for example, see Patent Document 1 below).
一方、車両の屋根上に設置された測域センサによりトロリ線を測定し、得られた測定結果に基づいて演算装置によりトロリ線の高さや偏位等を算出するようにしたトロリ線検測装置も知られている（例えば、下記特許文献２参照）。
On the other hand, a trolley wire measuring device that measures a trolley wire by a range sensor installed on the roof of a vehicle and calculates the height, displacement, etc. of the trolley wire by an arithmetic device based on the obtained measurement result Is also known (see, for example, Patent Document 2 below).
ここで、従来の碍子検出装置は、レーザ光源、高感度カメラ及び演算装置が必要となるなど、コストが掛かるという問題があった。
Here, the conventional insulator detection device has a problem that it requires a cost such as a laser light source, a high-sensitivity camera, and a calculation device.
そこで本発明は、簡素な構成でコストを抑制しつつ碍子の検出を行うことを可能とした碍子検出装置及び碍子検出方法を提供することを目的とする。
Therefore, an object of the present invention is to provide an insulator detecting apparatus and an insulator detecting method capable of detecting an insulator while suppressing cost with a simple configuration.
上記の課題を解決するための第１の発明に係る碍子検出装置は、
車両の屋根上に設置されて少なくとも架線までの距離及び角度のデータを取得する一軸走査型の測域センサと、
前記測域センサによって取得したデータに基づいて架線の高さ及び偏位を検出する架線位置算出部を有する演算装置と
を備え、
前記演算装置が、前記測域センサによって取得したデータからデータ点数を求め、得られた前記データ点数に基づいて碍子を検出する碍子検出部を備える
ことを特徴とする。 An insulator detecting apparatus according to a first invention for solving the above-mentioned problems is as follows.
A uniaxial scanning range sensor that is installed on the roof of the vehicle and acquires data of distance and angle to at least the overhead line;
An arithmetic unit having an overhead line position calculating unit that detects the height and displacement of the overhead line based on data acquired by the range sensor;
The arithmetic device includes an insulator detecting unit that obtains the number of data points from the data acquired by the range sensor and detects an insulator based on the obtained data points.
車両の屋根上に設置されて少なくとも架線までの距離及び角度のデータを取得する一軸走査型の測域センサと、
前記測域センサによって取得したデータに基づいて架線の高さ及び偏位を検出する架線位置算出部を有する演算装置と
を備え、
前記演算装置が、前記測域センサによって取得したデータからデータ点数を求め、得られた前記データ点数に基づいて碍子を検出する碍子検出部を備える
ことを特徴とする。 An insulator detecting apparatus according to a first invention for solving the above-mentioned problems is as follows.
A uniaxial scanning range sensor that is installed on the roof of the vehicle and acquires data of distance and angle to at least the overhead line;
An arithmetic unit having an overhead line position calculating unit that detects the height and displacement of the overhead line based on data acquired by the range sensor;
The arithmetic device includes an insulator detecting unit that obtains the number of data points from the data acquired by the range sensor and detects an insulator based on the obtained data points.
また、第２の発明に係る碍子検出装置は、
前記碍子検出部が、
前記架線位置算出部により算出した架線の位置データに基づいて碍子の検出を実行する領域である碍子検出領域を決定し、当該碍子検出領域内の前記データ点数を求める架線周囲データ点数計測部と、
前記データ点数に基づいて碍子の有無を判定する碍子判定処理部と
を有することを特徴とする。 An insulator detecting apparatus according to the second invention is
The insulator detector is
An overhead wire surrounding data point measurement unit that determines an insulator detection region that is an area for detecting the insulator based on the position data of the overhead line calculated by the overhead line position calculation unit, and obtains the number of data points in the insulator detection region;
And an insulator determination processing unit that determines presence or absence of insulators based on the number of data points.
前記碍子検出部が、
前記架線位置算出部により算出した架線の位置データに基づいて碍子の検出を実行する領域である碍子検出領域を決定し、当該碍子検出領域内の前記データ点数を求める架線周囲データ点数計測部と、
前記データ点数に基づいて碍子の有無を判定する碍子判定処理部と
を有することを特徴とする。 An insulator detecting apparatus according to the second invention is
The insulator detector is
An overhead wire surrounding data point measurement unit that determines an insulator detection region that is an area for detecting the insulator based on the position data of the overhead line calculated by the overhead line position calculation unit, and obtains the number of data points in the insulator detection region;
And an insulator determination processing unit that determines presence or absence of insulators based on the number of data points.
また、第３の発明に係る碍子検出装置は、
前記碍子判定処理部が、所定ライン分の前記碍子検出領域内のデータ点数の中央値及び標準偏差に基づいて決定した所定値よりも前記データ点数が大きいときに碍子ありと判定する
ことを特徴とする。 An insulator detecting apparatus according to the third invention is
The insulator determination processing unit determines that there is an insulator when the data score is larger than a predetermined value determined based on a median value and a standard deviation of the number of data points in the insulator detection region for a predetermined line. To do.
前記碍子判定処理部が、所定ライン分の前記碍子検出領域内のデータ点数の中央値及び標準偏差に基づいて決定した所定値よりも前記データ点数が大きいときに碍子ありと判定する
ことを特徴とする。 An insulator detecting apparatus according to the third invention is
The insulator determination processing unit determines that there is an insulator when the data score is larger than a predetermined value determined based on a median value and a standard deviation of the number of data points in the insulator detection region for a predetermined line. To do.
また、第４の発明に係る碍子検出方法は、
車両の屋根上に設置された測域センサにより取得した前記車両上方にある構造物までの距離及び角度のデータを取得し、
前記データからデータ点数を求め、
得られた前記データ点数に基づいて碍子を検出する
ことを特徴とする。 An insulator detecting method according to the fourth invention is
Acquire data of distance and angle to the structure above the vehicle acquired by a range sensor installed on the roof of the vehicle,
Obtain the data score from the data,
An insulator is detected based on the obtained data points.
車両の屋根上に設置された測域センサにより取得した前記車両上方にある構造物までの距離及び角度のデータを取得し、
前記データからデータ点数を求め、
得られた前記データ点数に基づいて碍子を検出する
ことを特徴とする。 An insulator detecting method according to the fourth invention is
Acquire data of distance and angle to the structure above the vehicle acquired by a range sensor installed on the roof of the vehicle,
Obtain the data score from the data,
An insulator is detected based on the obtained data points.
また、第５の発明に係る碍子検出方法は、
前記データに基づいて碍子の検出を実行する領域である碍子検出領域を決定し、
当該碍子検出領域内から前記データ点数を求め、
前記データ点数に基づいて碍子の有無を判定する
ことを特徴とする。 An insulator detecting method according to the fifth invention is
Determining an insulator detection area that is an area for detecting the insulator based on the data;
Obtain the data score from within the insulator detection area,
The presence or absence of insulators is determined based on the number of data points.
前記データに基づいて碍子の検出を実行する領域である碍子検出領域を決定し、
当該碍子検出領域内から前記データ点数を求め、
前記データ点数に基づいて碍子の有無を判定する
ことを特徴とする。 An insulator detecting method according to the fifth invention is
Determining an insulator detection area that is an area for detecting the insulator based on the data;
Obtain the data score from within the insulator detection area,
The presence or absence of insulators is determined based on the number of data points.
また、第６の発明に係る碍子検出方法は、
所定ライン分の前記碍子検出領域内のデータ点数の中央値及び標準偏差に基づいて決定した所定値よりも前記データ点数が大きいときに碍子ありと判定する
ことを特徴とする。 An insulator detecting method according to the sixth invention is
It is determined that there is an insulator when the number of data points is larger than a predetermined value determined based on a median value and a standard deviation of the number of data points in the insulator detection area for a predetermined line.
所定ライン分の前記碍子検出領域内のデータ点数の中央値及び標準偏差に基づいて決定した所定値よりも前記データ点数が大きいときに碍子ありと判定する
ことを特徴とする。 An insulator detecting method according to the sixth invention is
It is determined that there is an insulator when the number of data points is larger than a predetermined value determined based on a median value and a standard deviation of the number of data points in the insulator detection area for a predetermined line.
本発明に係る碍子検出装置及び碍子検出方法によれば、簡素な構成でコストを抑制しつつ碍子の検出を行うことができる。
According to the insulator detecting apparatus and the insulator detecting method according to the present invention, the insulator can be detected while suppressing the cost with a simple configuration.
以下、図面を用いて本発明に係る碍子検出装置及び碍子検出方法について説明する。
なお、本明細書では、以下の通り用語を定義する。
「偏位」＝鉄道専門用語で、パンタグラフがトロリ線に接触する位置でパンタグラフの中央からの距離。
「ライン」＝測域センサで枕木方向に対してスキャンしたときに得られる測定面。例えば測域センサが２５Ｈｚで測定する際、１秒間に得られるライン数は２５ラインとなる。 Hereinafter, an insulator detection apparatus and an insulator detection method according to the present invention will be described with reference to the drawings.
In this specification, terms are defined as follows.
"Deviation" = railway terminology, the distance from the center of the pantograph where the pantograph contacts the trolley line.
“Line” = Measurement surface obtained by scanning the sleeper direction with a range sensor. For example, when the range sensor measures at 25 Hz, the number of lines obtained per second is 25 lines.
なお、本明細書では、以下の通り用語を定義する。
「偏位」＝鉄道専門用語で、パンタグラフがトロリ線に接触する位置でパンタグラフの中央からの距離。
「ライン」＝測域センサで枕木方向に対してスキャンしたときに得られる測定面。例えば測域センサが２５Ｈｚで測定する際、１秒間に得られるライン数は２５ラインとなる。 Hereinafter, an insulator detection apparatus and an insulator detection method according to the present invention will be described with reference to the drawings.
In this specification, terms are defined as follows.
"Deviation" = railway terminology, the distance from the center of the pantograph where the pantograph contacts the trolley line.
“Line” = Measurement surface obtained by scanning the sleeper direction with a range sensor. For example, when the range sensor measures at 25 Hz, the number of lines obtained per second is 25 lines.
以下、図１Ａから図８を用いて本発明の実施例に係る碍子検出装置及び碍子検出方法の詳細を説明する。
Hereinafter, the insulator detecting device and the insulator detecting method according to the embodiment of the present invention will be described in detail with reference to FIGS. 1A to 8.
図１Ａおよび図１Ｂに示すように、本実施例に係る碍子検出装置は、車両１の屋根上にトロリ線４を測定可能に設置された測域センサ２と、車両１の内部に設置された演算装置３とを備えて構成されている。
また、図２に碍子の一例を示す。図２において、５は支持物、６は碍子、７は支持サドル、８は剛体架線である。 As shown in FIG. 1A and FIG. 1B, the insulator detecting device according to the present embodiment is installed on the roof of thevehicle 1 so that the trolley wire 4 can be measured, and installed in the vehicle 1. And an arithmetic unit 3.
FIG. 2 shows an example of an insulator. In FIG. 2, 5 is a support, 6 is a lever, 7 is a support saddle, and 8 is a rigid overhead wire.
また、図２に碍子の一例を示す。図２において、５は支持物、６は碍子、７は支持サドル、８は剛体架線である。 As shown in FIG. 1A and FIG. 1B, the insulator detecting device according to the present embodiment is installed on the roof of the
FIG. 2 shows an example of an insulator. In FIG. 2, 5 is a support, 6 is a lever, 7 is a support saddle, and 8 is a rigid overhead wire.
測域センサ２は、レーザ光を車両１の進行方向に平行な軸周りで放射線状に投光し、その反射光を受光することによって測定対象物までの距離を測定するものである。本実施例では、測域センサ２は図１Ａおよび図１Ｂに示す測定範囲Ａ（スキャン角度２７０°）を１０８０ステップでスキャンするものとし、これにより角度分解能ωは０．２５°となっている。
The range sensor 2 measures the distance to the measurement object by projecting a laser beam in a radial pattern around an axis parallel to the traveling direction of the vehicle 1 and receiving the reflected light. In this embodiment, the range sensor 2 scans the measurement range A (scan angle 270 °) shown in FIGS. 1A and 1B in 1080 steps, and the angular resolution ω is 0.25 °.
演算装置３は測域センサ２による測定結果に基づいてトロリ線４の高さＤHや偏位ＤB等を算出する。図３に示すように、演算装置３は、架線位置算出部３ａ、架線周囲データ点数計測部３ｂ、碍子判定処理部３ｃ及びメモリ３ｄを備えている。
Calculation unit 3 calculates the height D H and offset D B, etc. of the trolley wire 4 based on the measurement result by the range sensor 2. As illustrated in FIG. 3, the arithmetic device 3 includes an overhead line position calculation unit 3 a, an overhead line surrounding data point measurement unit 3 b, an insulator determination processing unit 3 c, and a memory 3 d.
架線位置算出部３ａは、測域センサ２により測定範囲Ａをスキャンして得られるデータ（角度及び距離。以下、測域センサデータという）を取得し、この測域センサデータを基に架線位置（高さＤH及び偏位ＤB等）を算出する。ここで、図１Ａおよび図１Ｂ中に示す符号Ｂは、架線位置を算出する際、測定範囲Ａ内に、トロリ線４の高さ方向及び水平方向の偏位に基づいて設定される架線検出領域である。なお、架線位置の計測は既知の手法（例えば、上記特許文献２の段落００３２～００５６等参照）を用いるものとし、ここでの詳細な説明は省略する。
The overhead line position calculation unit 3a acquires data (angle and distance; hereinafter referred to as range sensor data) obtained by scanning the measurement range A with the range sensor 2, and based on the range sensor data, the overhead line position ( Height D H and displacement D B ). Here, reference numeral B shown in FIG. 1A and FIG. 1B indicates an overhead line detection region that is set in the measurement range A based on the deviation in the height direction and the horizontal direction of the trolley wire 4 when calculating the overhead line position. It is. The overhead line position is measured using a known method (for example, see paragraphs 0032 to 0056 of Patent Document 2 above), and detailed description thereof is omitted here.
架線周囲データ点数計測部３ｂは、架線位置算出部３ａで求めた架線位置を基準として、高さ、偏位の範囲を指定して碍子検出領域Ｃ（図２参照）を決定し、架線位置データからこの碍子検出領域Ｃ内のレーザデータ数（以下、データ点数と称する）を計測して、図５及び図７に示すような剛体架線８まで含めた塊のデータ点数を求める。この処理は、所定のライン分（例えば、数千ライン分）のスキャンデータに対してまとめて行う。
なお、碍子検出領域Ｃは剛体架線８の位置や形状、及び天井までの距離に応じて、例えば、トロリ線４の位置を（０，０）として相対的に原点（ｘ0，ｙ0）を指定するとともに幅Ｗ及び高さＨを設定することにより決定する。なお、ｘ0及び幅Ｗは碍子検出領域Ｃの偏位方向の範囲内に少なくとも碍子６が含まれるように設定し、ｙ0及び高さＨは碍子検出領域Ｃの上下方向の範囲がトロリ線４よりも低い位置から碍子６よりも高くかつ天井よりも低い位置までの範囲となるように設定するものとする。 The overhead wire surrounding datapoint measurement unit 3b determines the insulator detection region C (see FIG. 2) by designating the height and deviation range with reference to the overhead wire position obtained by the overhead wire position calculation unit 3a, and the overhead wire position data From this, the number of laser data in the insulator detection area C (hereinafter referred to as the number of data points) is measured, and the number of data points of the lump including the rigid body wire 8 as shown in FIGS. 5 and 7 is obtained. This process is performed collectively for scan data for a predetermined line (for example, several thousand lines).
Note that the insulator detection region C has a relative origin (x 0 , y 0 ) with the position of thetrolley wire 4 being (0, 0), for example, depending on the position and shape of the rigid overhead wire 8 and the distance to the ceiling. It is determined by specifying and setting the width W and height H. X 0 and width W are set so that at least the insulator 6 is included in the range of the displacement direction of the insulator detection region C, and y 0 and height H are the trolley lines in the vertical direction of the insulator detection region C. It is set to be a range from a position lower than 4 to a position higher than the insulator 6 and lower than the ceiling.
なお、碍子検出領域Ｃは剛体架線８の位置や形状、及び天井までの距離に応じて、例えば、トロリ線４の位置を（０，０）として相対的に原点（ｘ0，ｙ0）を指定するとともに幅Ｗ及び高さＨを設定することにより決定する。なお、ｘ0及び幅Ｗは碍子検出領域Ｃの偏位方向の範囲内に少なくとも碍子６が含まれるように設定し、ｙ0及び高さＨは碍子検出領域Ｃの上下方向の範囲がトロリ線４よりも低い位置から碍子６よりも高くかつ天井よりも低い位置までの範囲となるように設定するものとする。 The overhead wire surrounding data
Note that the insulator detection region C has a relative origin (x 0 , y 0 ) with the position of the
碍子判定処理部３ｃは、架線周囲データ点数計測部３ｂで求めたデータ点数に基づいて碍子６を検出する。すなわち、碍子検出領域Ｃ内のデータ点数は、図４及び図５に示すように剛体架線８のみの場合（碍子６が存在しない場合）にトロリ線４の周囲で得られるデータ点数に対し、図６及び図７に示すように碍子６が存在する場合にトロリ線４の周囲で得られるデータ点数が多くなる傾向がある。碍子判定処理部３ｃではこの傾向を利用して碍子６を検出する。
具体的には、所定のライン分の碍子検出領域Ｃ内にあるデータ点数の中央値ｍ及び標準偏差ｓを求める。判定するラインをｉ番目のライン、ｉ番目のラインのデータ点数をＤｉとすると、下式（１）を満たすとき、ｉ番目のラインには碍子６があると判定する。
Ｄｉ＞ｍ＋(decision coefficient)×ｓ …（１）
ここで、decision coefficientは碍子判定に使用する係数である。
また、図４及び図６中のＬはラインを示している。 The insulatordetermination processing unit 3c detects the insulator 6 based on the data points obtained by the overhead wire surrounding data point measuring unit 3b. That is, the number of data points in the lever detection area C is as shown in FIG. 4 and FIG. 5 with respect to the number of data points obtained around the trolley wire 4 when only the rigid body wire 8 is present (when the lever 6 is not present). 6 and FIG. 7, when the insulator 6 is present, the number of data points obtained around the trolley line 4 tends to increase. The insulator determination processing unit 3c uses this tendency to detect the insulator 6.
Specifically, the median value m and the standard deviation s of the number of data points in the insulator detection area C for a predetermined line are obtained. Assuming that the line to be determined is the i-th line and the number of data points of the i-th line is Di, when the following expression (1) is satisfied, it is determined that the i-th line has theinsulator 6.
Di> m + (decision coefficient) × s (1)
Here, the decision coefficient is a coefficient used for the insulator determination.
Moreover, L in FIG.4 and FIG.6 has shown the line.
具体的には、所定のライン分の碍子検出領域Ｃ内にあるデータ点数の中央値ｍ及び標準偏差ｓを求める。判定するラインをｉ番目のライン、ｉ番目のラインのデータ点数をＤｉとすると、下式（１）を満たすとき、ｉ番目のラインには碍子６があると判定する。
Ｄｉ＞ｍ＋(decision coefficient)×ｓ …（１）
ここで、decision coefficientは碍子判定に使用する係数である。
また、図４及び図６中のＬはラインを示している。 The insulator
Specifically, the median value m and the standard deviation s of the number of data points in the insulator detection area C for a predetermined line are obtained. Assuming that the line to be determined is the i-th line and the number of data points of the i-th line is Di, when the following expression (1) is satisfied, it is determined that the i-th line has the
Di> m + (decision coefficient) × s (1)
Here, the decision coefficient is a coefficient used for the insulator determination.
Moreover, L in FIG.4 and FIG.6 has shown the line.
メモリ３ｄは各種データを記憶する。
The memory 3d stores various data.
次に、図８を用いて本実施例に係る碍子検出装置による処理について簡単に説明する。
図８に示すように、本実施例において碍子６の検出を行う際は、まず、測域センサ２によって取得した距離データを収集し（ステップＳ１）、架線位置算出部３ａにより収集した距離データに基づいてトロリ線４の位置を算出する（ステップＳ２）。続いて、架線位置算出部３ａにより算出したトロリ線４の位置に基づいて架線周囲データ点数計測部３ｂによりトロリ線４の周囲のデータ点数を計測し（ステップＳ３）、計測した所定のライン分のデータ点数に基づいて碍子判定処理部３ｃにより碍子６を検出する（ステップＳ４）。 Next, processing by the insulator detection apparatus according to the present embodiment will be briefly described with reference to FIG.
As shown in FIG. 8, when detecting theinsulator 6 in this embodiment, first, the distance data acquired by the range sensor 2 is collected (step S1), and the distance data collected by the overhead line position calculation unit 3a is collected. Based on this, the position of the trolley wire 4 is calculated (step S2). Subsequently, the number of data points around the trolley wire 4 is measured by the overhead wire surrounding data point measuring unit 3b based on the position of the trolley wire 4 calculated by the overhead line position calculating unit 3a (step S3), An insulator 6 is detected by the insulator determination processing unit 3c based on the number of data points (step S4).
図８に示すように、本実施例において碍子６の検出を行う際は、まず、測域センサ２によって取得した距離データを収集し（ステップＳ１）、架線位置算出部３ａにより収集した距離データに基づいてトロリ線４の位置を算出する（ステップＳ２）。続いて、架線位置算出部３ａにより算出したトロリ線４の位置に基づいて架線周囲データ点数計測部３ｂによりトロリ線４の周囲のデータ点数を計測し（ステップＳ３）、計測した所定のライン分のデータ点数に基づいて碍子判定処理部３ｃにより碍子６を検出する（ステップＳ４）。 Next, processing by the insulator detection apparatus according to the present embodiment will be briefly described with reference to FIG.
As shown in FIG. 8, when detecting the
このように構成される本実施例に係る碍子検出装置及び碍子検出方法によれば、一軸走査型の測域センサ２を用いた簡易的な装置で得られたトロリ線４の偏位および高さを基に、当該トロリ線４の周囲のデータ点数を計測し、その値が他のラインのデータ点数よりも大きな値であるとき、そのラインには碍子６があると判定することにより碍子６を検出し、間接的に支持物５を検出することが可能となる。
According to the lever detection device and the lever detection method according to the present embodiment configured as described above, the deviation and height of the trolley wire 4 obtained by a simple device using the uniaxial scanning type range sensor 2. Based on the above, the number of data points around the trolley line 4 is measured, and when the value is larger than the number of data points of other lines, it is determined that the insulator 6 is present on the line. It is possible to detect and indirectly detect the support 5.
ここで、従来の手法では、レーザスリット光を照射し、レーザ光で映し出された碍子部の形状を、カメラを使って測定する、いわゆる光切断法の考え方を用いている。しかし、この手法では、カメラとレーザの二台構成が必要となり、コストがかかるとともに装置構成が煩雑になるという問題があった。
Here, in the conventional method, a so-called light cutting method concept is used in which laser slit light is irradiated and the shape of the insulator portion projected by the laser light is measured using a camera. However, this method requires a configuration of two cameras and a laser, and there is a problem that the cost is high and the apparatus configuration is complicated.
これに対し、本実施例に係る碍子検出装置及び碍子検出方法ではスキャン式レーザ（測域センサ２）一台という簡素な構成で、コストを抑制しつつ碍子６の検出を行うことができるという利点がある。さらに、トロリ線４の高さを、碍子６の検出に用いた測域センサ２で測定することができるという利点もある。
On the other hand, the lever detecting apparatus and the lever detecting method according to the present embodiment have an advantage that the lever 6 can be detected while suppressing the cost with a simple configuration of one scanning laser (the range sensor 2). There is. Furthermore, there is an advantage that the height of the trolley wire 4 can be measured by the range sensor 2 used for detecting the insulator 6.
本発明は、碍子検出装置及び碍子検出方法に適用することができる。
The present invention can be applied to an insulator detecting device and an insulator detecting method.
１…車両、２…測域センサ、３…演算装置、３ａ…架線位置算出部、３ｂ…架線周囲データ点数計測部、３ｃ…碍子判定処理部、３ｄ…メモリ、４…トロリ線、５…支持物、６…碍子、７…支持サドル、８…剛体架線、Ａ…測定範囲、Ｂ…検出範囲、Ｃ…碍子検出領域、ＤB…トロリ線の偏位、ＤH…トロリ線の高さ、Ｌ…ライン、Ｈ…碍子検出領域の高さ、Ｗ…碍子検出領域の幅
DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Range sensor, 3 ... Arithmetic unit, 3a ... Overhead wire position calculation part, 3b ... Overhead wire surrounding data point measurement part, 3c ... Insulator determination processing part, 3d ... Memory, 4 ... Trolley line, 5 ... Support things, 6 ... insulator, 7 ... supporting saddle, 8 ... rigid overhead wire, a ... measurement range, B ... detection range, C ... insulator detection area, D B ... excursions of the trolley wire, D H ... contact wire height, L: Line, H: Height of the insulator detection area, W: Width of the insulator detection area
Claims (6)
- 車両の屋根上に設置されて少なくとも架線までの距離及び角度のデータを取得する一軸走査型の測域センサと、
前記測域センサによって取得したデータに基づいて架線の高さ及び偏位を検出する架線位置算出部を有する演算装置と
を備え、
前記演算装置が、前記測域センサによって取得したデータからデータ点数を求め、得られた前記データ点数に基づいて碍子を検出する碍子検出部を備える
ことを特徴とする碍子検出装置。 A uniaxial scanning range sensor that is installed on the roof of the vehicle and acquires data of distance and angle to at least the overhead line;
An arithmetic unit having an overhead line position calculating unit that detects the height and displacement of the overhead line based on data acquired by the range sensor;
An insulator detection device comprising: an insulator detection unit that obtains the number of data points from data acquired by the range sensor and detects an insulator based on the obtained data points. - 前記碍子検出部が、
前記架線位置算出部により算出した架線の位置データに基づいて碍子の検出を実行する領域である碍子検出領域を決定し、当該碍子検出領域内の前記データ点数を求める架線周囲データ点数計測部と、
前記データ点数に基づいて碍子の有無を判定する碍子判定処理部と
を有することを特徴とする請求項１記載の碍子検出装置。 The insulator detector is
An overhead wire surrounding data point measurement unit that determines an insulator detection region that is an area for detecting the insulator based on the position data of the overhead line calculated by the overhead line position calculation unit, and obtains the number of data points in the insulator detection region;
The insulator detection apparatus according to claim 1, further comprising an insulator determination processing unit that determines presence / absence of an insulator based on the number of data points. - 前記碍子判定処理部が、所定ライン分の前記碍子検出領域内のデータ点数の中央値及び標準偏差に基づいて決定した所定値よりも前記データ点数が大きいときに碍子ありと判定する
ことを特徴とする請求項２記載の碍子検出装置。 The insulator determination processing unit determines that there is an insulator when the data score is larger than a predetermined value determined based on a median value and a standard deviation of the number of data points in the insulator detection region for a predetermined line. The insulator detection device according to claim 2. - 車両の屋根上に設置された測域センサにより取得した前記車両上方にある構造物までの距離及び角度のデータを取得し、
前記データからデータ点数を求め、
得られた前記データ点数に基づいて碍子を検出する
ことを特徴とする碍子検出方法。 Acquire data of distance and angle to the structure above the vehicle acquired by a range sensor installed on the roof of the vehicle,
Obtain the data score from the data,
An insulator detection method, wherein an insulator is detected based on the obtained data score. - 前記データに基づいて碍子の検出を実行する領域である碍子検出領域を決定し、
当該碍子検出領域内から前記データ点数を求め、
前記データ点数に基づいて碍子の有無を判定する
ことを特徴とする請求項４記載の碍子検出方法。 Determining an insulator detection area that is an area for detecting the insulator based on the data;
Obtain the data score from within the insulator detection area,
5. The method for detecting an insulator according to claim 4, wherein presence or absence of an insulator is determined based on the number of data points. - 所定ライン分の前記碍子検出領域内のデータ点数の中央値及び標準偏差に基づいて決定した所定値よりも前記データ点数が大きいときに碍子ありと判定する
ことを特徴とする請求項５記載の碍子検出方法。 6. The insulator according to claim 5, wherein it is determined that there is an insulator when the number of data points is larger than a predetermined value determined based on a median value and a standard deviation of the number of data points in the insulator detection area for a predetermined line. Detection method.
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Also Published As
| Publication number | Publication date |
|---|---|
| MY178813A (en) | 2020-10-20 |
| JP6311757B2 (en) | 2018-04-18 |
| CN109716057A (en) | 2019-05-03 |
| JP2018044816A (en) | 2018-03-22 |
| TW201811588A (en) | 2018-04-01 |
| TWI641515B (en) | 2018-11-21 |
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