JP2003057004A - Method for detecting utility pole and apparatus for recording abnormal place of route as image using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method suitable for detecting the position of the stationary image or the like of the abnormal place of a trolley wire or the like and capable of detecting the position of a utility pole with high accuracy, and to provide an apparatus for recording the abnormal place of a route as an image. SOLUTION: A first gate is set to the next position of the utility pole as a gate on the basis of the distance data measured based on the detected position of the utility pole, while a second gate is set to the next position of the utility pole on the basis of the distance data measured based on a measuring reference position and a utility pole detection signal at either one of the first and second gates to detect the actual position of the utility pole. When the difference between the actual detection position of the utility pole looked from the measuring reference position related to a certain utility pole, and the distance data looked from the measuring reference position related to the certain utility pole becomes a predetermined error or less, the detection position of the certain utility pole is converted to the measuring reference position and, on the basis of the measuring reference position, the second gate is set.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a utility pole position detecting method and an apparatus for recording an image of abnormal points on a route using this method, and more specifically, it is mounted on a test vehicle or inspection vehicle and the like, and can be mounted on a trolley without going to the scene. The present invention relates to a device for recording an image of an abnormal point on a line that enables efficient collection of a still image of an abnormal point such as a line with a smaller number of sheets.

[0002]

2. Description of the Related Art In a vehicle such as a train on a train track, a pantograph slides in contact with a trolley wire and receives electric power from this to run. A sliding plate is attached to the upper part of the pantograph, and the trolley wire comes into contact with it. This sliding plate is usually formed of a copper wire that is softer than the trolley wire. The vehicle obtains the required electric power from the trolley wire via this sliding plate. The lower surface (sliding surface or sliding surface) of the trolley wire and the pantograph upper surface (sliding plate) gradually wear due to mutual sliding contact. The trolley wire is alternately deviated in the left-right direction for each supporting electric pole so that the wear on the pantograph side is not concentrated on a part. The wear amount and deviation amount of the trolley wire can be measured by mounting a measuring device on the electric inspection vehicle and measuring the running periodically
The image is recorded along with the distance from the reference position (and the pole number), and the amount of wear is measured together with the location.

For example, an abnormal trolley wire may be observed while observing an image recorded in a VTR or the like in this trolley wire wear amount measuring device. In such a case, conventionally, a person goes to the site and confirms the state, or photographs the state.

[0004]

For example, if a trolley wire abnormality is to be confirmed on site, the number of man-hours required for manual labor increases. If the person's confirmation is not convincing to others, reconfirmation is necessary. In order to solve such a problem, a trolley wire abnormal portion is photographed, but a conventional VTR or the like cannot capture a clear image. Therefore, it may be possible to capture a high-density still image of the abnormal location of the trolley wire in a running state on the inspection vehicle.However, when capturing a high-density still image, the problem is the location of the abnormal location. The amount of data processing.

By the way, according to the distance data from the reference position measured and recorded in the past, the position of the trolley wire should be photographed even if the position is confirmed in the current running state of the inspection vehicle and a still image is taken. Is difficult. that is,
This is because the position of the abnormal portion changes depending on the running state when the inspection vehicle is run. The actual running distance in kilometers changes from time to time due to wheel slip, wheel wear, brake differential, and so on. In order to correct the current railway track kilometer data, a reference point (reference point P) is set at 10 km intervals.
Is provided. The position of the abnormal point specified by the current mileage at that time and the distance data measured in the past is displaced by several meters or more because the actual running state is different from the state at the time of past measurement. Therefore, it is difficult to take a still image of an abnormal place because the integration error causes a positional shift. It is possible to capture a large number of still images at a certain section by shooting a large number of dozens of still images over a certain section.However, if the number of still images increases, the amount of data processing becomes enormous and The load becomes so large that it cannot actually be processed. In addition, if the number of still images in the abnormal portion increases, many useless still images are collected, and there is a problem that it takes time to extract a necessary one from them.

In order to reduce the number of still images to be taken, it is necessary to detect the position of the abnormal portion with the highest possible accuracy. However, the conventional utility pole position detection is disclosed in
As described in No. 7-25101, the distance pulse is integrated from the reference point (reference point P) for each 10 km to obtain the actual traveling distance, and thereby the past utility pole position data is used to determine the next utility pole detection position. Although it is considered to detect a utility pole by applying a gate, there is a problem that an error from the reference position is accumulated and a detection error of the next utility pole occurs as the distance from the reference utility pole position increases. In other words, when there are multiple pole detection signals in the gate, they are separated from the center of the gate in order to make the signal position detected first be true. For this reason,
The gate to the next telephone pole is out of alignment. There is a problem that the next mistaken detection of the electric pole occurs. Of course, it is conceivable to use a large gate width or to detect utility poles without a gate, but this will increase the detection noise, and it will not be possible on railroad tracks that have many obstructions such as bent metal fittings and trolley wire support metal fittings. near. Therefore, it is considered that the best way to do this is to detect the utility pole in front of the abnormal position and measure the distance from it to identify the abnormal place. It is possible to detect the position of each utility pole by putting a gate on the next utility pole position based on the one that was detected one before, but if you do so, the past and present running conditions between utility poles The next utility pole may not be detected due to the difference. The problem is that it is the target utility pole that you want to detect. If there is a leak in the detection of the utility pole one before this, the amount of measurement deviation up to the position of the abnormal trolley wire will be large, and even if the number of images is increased, a proper still image of the abnormal place may not be obtained. An object of the present invention is to solve the above-mentioned problems of the conventional technique, and enables more accurate position detection of a utility pole suitable for position detection of a still image or the like of an abnormal portion such as a trolley wire. An object of the present invention is to provide a method for detecting a pole position. Further, another object of the present invention is to provide an abnormal point image recording device for a route which can efficiently collect still images of abnormal points such as trolley wires with a smaller number of sheets by using the above-mentioned utility pole position detecting method. Especially.

[0007]

The feature of the utility pole position detecting method of the present invention for achieving the above object and objects is to measure the utility pole provided on the railroad track with reference to a predetermined measurement reference position of the railroad track. In the utility pole position detection method of detecting the actual utility pole position by setting the gate corresponding to the position of the utility pole based on the distance data and the traveling distance of the inspection vehicle and obtaining a utility pole detection signal in this gate,
Set the first gate as a gate at the next utility pole position based on the distance data measured based on the detected utility pole position, and then move the next utility pole position based on the distance data measured based on the measurement reference position. Set the second gate as the gate, and obtain the utility pole detection signal at either the first gate or the second gate to detect the actual utility pole position, and see it from the measurement reference position for a certain utility pole. When the difference between the electric pole detection position of the electric pole and the position of the electric pole based on the distance data as seen from the measurement reference position for a certain electric pole is less than a predetermined error, the electric pole detection position of a certain electric pole is changed to the measurement reference position and this is used as the reference. 2 sets the gate.

Further, the feature of the abnormal point image recording device of the route of the present invention for achieving the above-mentioned object is that the gate is moved to the next electric pole position based on the distance data measured based on the detected electric pole position. Set the first gate as
Based on the distance data measured with the measurement reference position as a reference, the second gate is set as the gate at the next utility pole position, and the utility pole detection signal is obtained at either the first gate or the second gate to obtain the actual value. The difference between the utility pole detection means that detects the utility pole position and the actual utility pole detection position from the measurement reference position for a certain utility pole and the position of the utility pole according to the distance data from the measurement reference position for a certain utility pole is less than or equal to a predetermined error. When the electric pole detection position of a certain electric pole is changed to the measurement reference position, the second gate setting means for setting the second gate to the electric pole detection means, and the electric pole immediately before the abnormal point on the line is detected and its position is When it is obtained, it is provided with an image pickup means for measuring the distance from the position of the electric pole to the front of the abnormal place or the distance to the front of the abnormal place to take a still image of the abnormal place.

[0009]

As described above, in the invention of this method, the gates of two systems are set and the utility pole detection signal is obtained under the OR condition. At this time, since the first gate is directly affected by the actual traveling state at that time, a state where the utility pole cannot be detected occurs. However, the second set from the measurement reference position
The leak can be prevented at the gate position. This second
Since the gate is set based on past measurement data from the measurement reference position, the actual running state may not be sufficiently reflected as the distance from the reference position increases. Therefore, as the distance from the measurement reference position increases, a cumulative error occurs and it becomes impossible to prevent detection omission at the first gate. In order to prevent this leakage, one of the positions of the utility pole actually detected in the actual traveling state is used as a reference position for position correction. As a result, the second gate is reset from there, so that the pole position can be detected almost certainly by the second gate when it is not detected by the first gate. As a result, it becomes possible to detect electric pole position with higher accuracy, which is suitable for position detection of a still image or the like of an abnormal portion of a line construction such as a trolley wire.

Further, in the device of the present invention, since the electric pole position is detected, the distance to the abnormal place is measured with reference to the electric pole position immediately before the abnormal place such as the trolley wire. When capturing still image video, it is possible to reliably capture the image even with a small number of images.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram of an image recording device for an abnormal location on a trolley line to which the utility pole position detecting method and line abnormal position image recording device of the present invention are applied. FIG. As an example, a flowchart of still image recording processing by the image recording apparatus, FIG. 3 is an explanatory diagram of its specific content, FIG. 4 is an explanatory diagram of detection of telephone pole positions at two gates, and FIG. FIG. 9 is an explanatory diagram of a correction process of the reference telephone pole position. In FIG. 1, 10
Is an image recording device of an abnormal location of the trolley wire, which is a utility pole detection sensor 11, an infrared LED light source 12, and a high-speed camera (two-dimensional CCD camera, hereinafter referred to as camera) mounted on the roof of the inspection vehicle 20. ) 13, A / D conversion circuit (A / D) 1
4 and the image data processing device 15. Here, the utility pole detection sensor 11 and the infrared LED light source 1
2, the relationship with the camera 13 is that it is installed on the roof of the inspection vehicle 20 as shown in the drawing, and the camera 13 is oriented hollow at an elevation angle of about 4 degrees. On the other hand, infrared LED
The light source 12 is provided at the same position as the electric pole detection sensor 11,
A spot-like light beam (see FIG. 1) is emitted vertically.

The utility pole detection sensor (infrared sensor) 11 is
Actually, it is performed by detecting the support beam (arms that laterally overhangs) that supports the trolley wire 1 attached to each electric pole, and therefore, by receiving the reflected light of this support beam, Utility poles are detected. In addition, in the pole detection, since various supports such as curved support brackets are detected and there are many noise signals, a gate is set corresponding to the pole position, and the detection signal inside the gate is used as the pole detection signal. There is. Therefore, an electric pole detection signal closest to the abnormal portion of the trolley wire is obtained, and a distance pulse PL from the electric pole position to the abnormal portion of the trolley wire is obtained from the distance pulse generation circuit 16 based on the electric pole position, and this pulse is counted. Then, the travel distance to the abnormal portion is measured (calculated), the measurement program of the image data processing device 15 is activated, and the shutter of the camera 13 is operated a predetermined number of times at a predetermined cycle. As a result, a plurality of still image images of the trolley wire 1 are collected by the camera 13, and the data is transferred to the external storage device 157 and recorded together with the position data at that time. The utility pole detection sensor 11 has a photodiode 111 and an amplifier (A
MP) 112 and a comparator (COM) 113 are built in and the threshold level is adjusted by the comparator 113, or the sensitivity of the reflected light from the trolley wire 1 is adjusted. As a result, a detection signal from which noise has been removed is output, and the one in the gate is output as the utility pole detection signal d. Reference numeral 16 denotes a distance pulse generating circuit, which outputs a pulse (distance pulse P for each predetermined traveling distance by a detector such as a rotary encoder which is engaged with a traveling wheel to rotate.
L) is generated. The distance pulse PL generated from the distance pulse generation circuit 16 is taken into the image data processing device 15 via the interface 155 of the image data processing device 15, and the traveling distance is measured based on this.

The image data processing device 15 includes an MPU 151.
A memory 152, a CRT display 153, an image memory 154, and an interface 155 are provided, and these circuits are mutually connected by a bus 156. Then, the telephone pole detection signal d is sent to the MPU 151 as an interrupt signal via the interface 155, and the MPU 15
In No. 1, a gate is set based on past measurement data in a range that covers the electric pole detection position, and only the gate within this gate range is treated as a true electric pole detection signal d. Then, it is judged whether or not the utility pole two points before the abnormal point of the trolley wire is detected, and when it is two points before, the abnormal point (actually a little before the abnormal point) is based on the past measurement data. Distance pulse PL in the current running state up to the running distance
Measure to count. Further, it is determined whether or not the utility pole immediately before the abnormal point of the trolley wire is detected, and when the utility pole is detected, the distance count value from the utility pole two before is reset when the utility pole is one before. Then, the counting of the distance pulse PL from the immediately preceding power pole to the abnormal point is started, and the abnormal point is measured and specified from the past measurement data. In this way, the camera 13 is operated slightly before the abnormal portion, and a plurality of still image images are taken at a predetermined cycle.
It should be noted that this cycle is determined in relation to the traveling speed, and about 4 to 8 sheets including the abnormal portion of the trolley wire is 20 cm to 30 cm.
It is set so as to be collected at intervals of about cm. 2
Even if the distance is about 0 cm to 30 cm, continuous images can be collected from the view range of one image. Here, the number of pixels of the image captured by the camera 13 is set to 512 × 480.
If it is a color image of pixels (dots), the image data for one frame can be A
The data is D / D converted, taken into the image data processing device 15, and stored in the image memory 154. A plurality of such images are stored in the image memory 154.

The memory 152 has a gate setting / electric pole detection program 21, an imaging position determination program 22, a still image collection program 23, and a reference telephone pole setting program 2.
4 is stored, and a data area 25 is provided in which the target utility pole in front of the target position of the abnormal trolley wire and the distance from the utility pole are stored. Then, the still image collection program 23 is executed by the MPU 151 at a position in front of the abnormal trolley wire, the still image obtained by temporarily collecting the data from the A / D 14 in the image memory 154 is recorded in the external storage device 157. Compressed and transferred. In the external storage device 157 such as a hard disk connected via the interface 155, distance data measured in the past from the reference point P to each power pole position is stored as power pole position measurement data 158. This distance data is obtained as regression data from the distance data for each electric pole measured multiple times in the past. In addition, there are places where there is no utility pole such as near the entrance and exit of the tunnel, but this is due to the detection of the one corresponding to the utility pole.

The gate setting / electric pole detection program 21
When this program is executed by the MPU 151, a gate with a predetermined width is provided before and after the next electric pole detection position based on the measured distance data (electric pole position measurement data 158) and the current traveling distance for each electric pole position in the past. Set. The gate width in this case adopts an appropriate width based on past experience, and the gate has a distance pulse PL generated by the current running with the front pole position as a reference, as shown in FIG. It is set so that the position of the traveling distance to the next power pole 4 determined by the distance data measured as follows is the center of the gate. This gate is referred to as the first gate 2 here. Separately from this, with the reference position P set every 10 km as a reference, the next electric pole 4 determined by the distance pulse PL generated by the current traveling and the measured distance data (electric pole position measurement data 158). The second gate 3 is set around the mileage up to that point. The entire gate for detecting the utility pole detection signal d is within the range of the OR conditions of the first gate 2 and the second gate 3.

Here, the position of the electric pole 4 actually detected in either of the two gates is rarely at the center of the set gate, and the actual electric pole detection position depends on the traveling state at that time. Change. Therefore, the first gate 2 which is set at the next electric pole position based on the actual electric pole position detected at a certain gate is displaced from the position of the second gate 3. The position of the utility pole 4 based on the current travel distance actually detected by the utility pole detection signal d in these gates is calculated as the converted distance S1 from the reference point P. This converted distance S1
Is the distance data (current measurement data) of the actual utility pole detection position measured by the current travel distance viewed from the measurement reference position P for a certain utility pole in the current travel distance. On the other hand, the distance to the utility pole 4 based on the already measured reference position P obtained from the utility pole position measurement data 158 at the current traveling distance is S2. In addition, in FIG. 3, the width of the second gate 3 is slightly larger than the width of the first gate 2. Also, it shows an ideal case, there is no deviation in the gate position of both, but in reality,
When setting the next gate, the reference of the first gate 2 is the actual 1 which is determined by the current driving state detected each time.
Since it is the immediately preceding pole detection position, it is different from the position of the second gate 3 based on the measured data with the reference point P as a reference. Therefore, a deviation occurs between them. Further, the actual position of the utility pole 4 detected in these gates depends on the traveling state of the inspection vehicle at that time, and depends on where the gate is detected. Therefore, it is not the same as the past measured position. Not exclusively.

It is judged whether or not there is a telephone pole detection signal d in the gate set by the gates of the first and second OR conditions, and it is judged at which position it occurred inside the gate. Then, the current position of the electric pole 4 is set. By the way, at the pole position, bend metal fittings, trolley wire support fittings, etc.
Since there are a large number of supports in addition to the support fittings at the position of the utility pole 4, there are usually a plurality of detection signals in the gate. In this case, the detection signal closest to the center position of the gate among the plurality of detection signals is adopted as the pole detection signal d. Further, the measured position S1 of the detected utility pole 4 depends on the relationship of FIG. 4, which will be described later. Since the utility poles 4 are normally installed at intervals of about 50 m, the distance between the utility pole 4 at the reference position P and the utility pole 4 at the next reference position P is 20.
There are about 0 utility poles 4. Therefore, the position of the first gate 2 changes depending on the traveling state between the electric poles 4 at that time. On the other hand, the position of the second gate 3 changes according to the traveling state accumulated from the reference position P.

In the running state between certain utility poles 4, when the difference between the measured distance between the utility poles 4 in the past and the measured distance according to the current running state is large, the utility pole 4 to be detected in the first gate 2 is Sometimes I can't enter. In this case, the utility pole 4 is detected by the second gate 3 to prevent the utility pole from being missed due to a change in the traveling state between the utility poles 4. However, since the second gate 3 uses the reference position P set every 10 km as a reference, the further the distance from the reference position P, the more the error accumulates. In order to correct this error, here, the utility pole 4 between the reference positions P is newly set as a reference utility pole by the reference utility pole setting program 24, which will be described later, and the distance traveled after that is cumulatively measured with reference to this. The second gate 3 is set with. This avoids omission of utility pole detection. This prevents leakage of electric pole detection in front of the abnormal trolley wire.

When the utility pole 4 is detected, the imaging position determining program 22 determines whether the utility pole is two power poles two in front of the abnormal portion of the trolley wire or one power pole in front of the abnormal position of the trolley wire. At a certain time, the count value of the distance pulse PL is calculated from the actually detected position of the electric pole 4 to measure the distance to the abnormal portion. In this case, in the case of the second power pole, the distance to the next power pole 4 + the distance from the next power pole 4 to the abnormal portion of the trolley wire-α depends on whether the distance pulse PL is reached. The distance is measured to detect the shooting start point. It should be noted that −α is actually determined with a set amount just before the abnormal portion. At this time, the distance to the next utility pole 4 is obtained from the utility pole position measurement data 158.
The next electric pole 4 (target electric pole) and the distance from this position to the abnormal point are values separately input as the distance between the target electric pole and the abnormal value. The distance between the utility pole 4 immediately before the abnormal location and the abnormal location is input in advance and stored in the data area 25 in the memory 152. Further, in this program, when the utility pole 4 is detected, it is also determined whether or not it is the post of the reference point P. Accordingly, at the reference point P, the utility pole detection is started with reference to this. When the utility pole immediately before the abnormal place is detected, the measured value from the utility pole two before is reset and the distance from the utility pole one before is the distance from the utility pole 4 detected according to the pulse PL to the abnormal place. Measures the distance to the abnormal portion depending on whether or not the distance becomes −α. By setting the above α, for example, the still image collection program 23 is called about 150 cm before the abnormal position.

The still image collection program 23, when this program is executed by the MPU 151, is used by the camera 13
Is activated, the shutter is operated at a cycle corresponding to a traveling distance of about 30 cm, and 4 to 8 still images are collected, and compressed for each data of one frame (or one field) stored in the image memory 154. External storage device 15 after processing
Transfer to 7. Standard telephone pole setting program 24 is 10k
Instead of the reference position P set for each m, among the intermediate utility poles 4 between the reference position P and the reference position P, the utility pole 4 having a small error in the traveling distance from the past measured value is used as the reference utility pole. Set a new value to add the mileage as a new starting point, convert the measured distance data in the past to a new starting point (position of the detected reference utility pole), and then based on this, for each utility pole 4 The second gate 3 is set to. This reduces the positional error of the second gate 3 with respect to the subsequent utility pole 4 and improves the accuracy. The setting of the reference utility pole is, when a certain utility pole 4 is detected, the kilometer integrated value S1 of the detected position from the reference point P calculated by the distance pulse PL to the utility pole 4 (measured distance by the current running). And ΔS is the error between the current traveled distance from the reference point P and the kilometer integrated value S2 (past measured distance) to the power pole corresponding to the past measured data up to the power pole 4.
It is determined whether or not | S1-S2 | <ΔS. If | S1-S2 | <ΔS is satisfied when the above conditions are satisfied,
As shown in, the detected utility pole 4 is set as the reference utility pole Pa, and the distance S1 from the reference point P to the detected reference utility pole Pa is set as the integrated distance M on the past measurement data with reference to the utility pole position measurement data 158. To do. Thereby, the integrated distance to the detection position of the telephone pole 4 is corrected to the distance M. Alternatively, by referring to the utility pole position measurement data 158, the difference between the distance S1 from the reference point P to the reference utility pole Pa detected and the past measurement data is calculated as an integrated error ΔM each time the utility pole is detected, thereby detecting each time. When ΔM <ΔS, the error ΔM corrects the integrated distance to the detection position of the electric pole 4 with the error ΔM. As a result, the center of the detected position of the second gate 3 of the electric pole is pulled back to the actually detected electric pole position, and the counting error is reduced by starting the counting from the reference point P. The error ΔS is obtained from the past measurement data as the limit value of the error value that can be adopted as the reference telephone pole.

That is, the position where the second gate 3 is set up to the detection utility pole 4 thereafter by the distance pulse PL is calculated by the following equation by measuring the integrated value Sa for the distance from the reference point Pa. S2 = Sa + M Sa is an integrated value of the traveling distance calculated by the distance pulse PL with the reference utility pole Pa at the actually detected position of the utility pole 4 as a reference. As a result, the integrated value of the traveling distance changes from the reference point P to the reference utility pole Pa. Here, the standard telephone pole P
If the error of the integrated distance M to a is Δd1 and the error of the integrated distance Sa for a certain electric pole is Δd2, the overall error is Δd1 + Δd2, but the position of the second gate 3 set from the reference point P. Is shifted to the position of the actually detected standard electric pole Pa, and the distance count of the second gate 3 is started from there, so that the accumulated error added to the subsequent setting error of the second gate is substantially Δd2. Next to
Reduced and fixed.

Actually, the position of the distance pulse PL determined by the distance pulse PL generated at a constant interval is different from the position where the electric pole detection signal is generated. The relationship is as shown in FIG. FIG. 4A is an explanatory diagram of the relationship between the first and second gates and the generation timing of the pole detection signal d. The positions of the first gate 2 determined by the distance pulse PL are ~, and the positions of the second gate 3 determined by the distance pulse PL are (I) to (IV). Since the distance pulse PL and the pole detection signal d are rarely generated in correspondence with each other, it is assumed that they are not generated in correspondence with each other.
Assume that the distance pulse generation position is prioritized as shown in (b) and the actual electric pole detection position by the electric pole detection signal d is measured by the distance pulse PL there. In FIG. 4B, the column 51 of the input signal of the first gate 2 indicates a case where the telephone pole detection signal d occurs between the positions determined by the distance pulse PL, and the position at that time has priority. The position of the result column 52 becomes the actual electric pole detection position. The same applies hereinafter. of course,
When the distance pulse PL and the electric pole detection signal d substantially coincide with each other, that position is the electric pole detection position. Similarly, (I) and (II) in the column 53 of the input signal of the second gate 3 are
This is a case where the telephone pole detection signal d is generated between (I) and (II), and the position at that time is the distance pulse PL in the priority result column 54.
The position (II) measured by is the actual pole detection position. The same applies hereinafter. Of course, as described above, when the distance pulse PL and the utility pole detection signal d substantially match, that position is the utility pole detection position.

In this way, the position of the electric pole is detected by the gate having the OR condition of the first gate 2 and the second gate 3, and the position of the second gate 3 is set to the midway electric pole as the reference electric pole Pa to set the gate. By setting it, the electric pole 4 immediately before the abnormal portion of the trolley wire is surely detected. In this way, by detecting the utility pole of the first gate 2, it becomes possible to measure the distance with the utility pole 4 immediately before the abnormal point of the trolley wire as a reference, and it is possible to reduce the distance error to the abnormal point in the current traveling state. . However, one of the abnormal parts of the trolley wire
In consideration of the case where the previous power pole 4 cannot be detected, here, for the sake of safety, as described above, the double safety based on the detection of the power pole two before is secured.

The still image collecting process at the abnormal portion will be described below with reference to the flowchart of FIG. First, the past utility pole 4 corresponding to the utility pole position measurement data 158
Refer to the measurement data between the positions of the target electric pole in front of the abnormal location of the trolley wire (the electric pole 4 immediately before the abnormal location) (the reference point P (posts every 10 km) and the distance from this position or the electric pole. No.) and the distance from the power pole to the abnormal point are stored and stored in the data area 25 of the memory 152 (step 101), and then the traveling distance measurement process from the reference point P is started (step 102, FIG. See post 3 of 3). Then, whether or not there is a utility pole detection in the OR gates of the first gate 2 and the second gate 3 is determined by receiving the utility pole detection signal d to determine whether or not the utility pole is detected (step 103). If NO in this determination, the process returns to step 103 and enters a waiting loop for utility pole detection.

In the detection loop, when the electric pole 4 is detected, the result is YES, and at this time, the imaging position determination program 22 is called and the MPU 151 is called.
Power pole 4 which is executed by and is in front of the target power pole.
It is determined whether or not (step 104), if NO here, it is determined whether or not it is the target utility pole (step 105), and if NO, it is determined whether or not it is the post utility pole of the reference point P. (Step 106). NO here
In the case of, the gate setting / electric pole detection program 21 is called and executed by the MPU 151, and the traveling distance by the distance pulse PL at this electric pole detection position is calculated as the converted kilometer integrated value S1 from the reference point P (step 10).
7), by referring to the utility pole position measurement data 158, the kilometer integrated value S2 from the reference point P that has already been measured to the detected utility pole 4 is read (step 108), | S1-S2
It is determined whether or not | <ΔS (step 109). Here, in the case of NO, it is judged whether or not the process is completed (step 110), and when the process is not completed, the process returns to step 103 to start the next utility pole detection.

In such processing, step 109
The judgment is YES, and the distance from the reference point P is about 4 km and the utility pole 4
When the difference | S1-S2 | from each distance is less than the error ΔS, the detection utility pole is set to the reference utility pole Pa and the position of the reference point P is set to the actual position where the reference utility pole Pa is detected, and the processing is performed. It is judged whether or not the process is completed (step 110), and if not completed, the process returns to step 103. Also, step 1
If the result of the determination in 06 is YES, that point is set as the reference point P, and the process returns to step 102. Further, in step 104, YE
When S, the detected electric pole position is set as the electric pole 4 further in front of the target electric pole, and the distance pulse P is calculated from the position of the electric pole 4 actually detected on the basis of the detected position of the electric pole 4.
By counting L, it is determined whether or not the distance to the next power pole 4 + the distance from the next power pole 4 to the abnormal place-α, and the distance to the abnormal place is measured according to the distance pulse PL (step 104a). As a result, if the determination is YES, the process proceeds to step 105c (described later). Thereby, the distance to the abnormal portion is measured according to the distance pulse PL. If YES in step 105, the detected utility pole position is used as the target utility pole, and the previous measurement value in step 104a is reset to determine the determination in step 104a.
The distance measurement process is stopped (step 105a), it is determined whether the detected distance from the utility pole 4 to the abnormal portion becomes -α, and the distance to the abnormal portion is measured according to the distance pulse PL (step 105b). ). And step 10
4a or when the distance measurement here is completed, the still image collection program 23 is called to capture a plurality of still images (step 105c), which is stored in the image memory and transferred to the external storage device (step 105d). .

FIG. 5 is an explanatory diagram of a correction process for correcting the position of the reference electric pole position Pa. In FIG. 5, the detected position of the reference electric pole position Pa is corrected by using the position between the detection electric poles two before, and the actual position is moved back and forth. The correction is to set the measurement distance S1 = a2 from the reference point P at the detection position of the detection telephone pole 6 two before, to the measurement distance S1 = a1 from the reference point P at the detection position of the detection telephone pole 7 before one, Standard telephone pole 8
If the distance to the (standard utility pole Pa) is S1 = a0, the distance (a1−a2) between the two previous and one previous utility poles and the distance between the utility pole 6 and the utility pole 7 obtained from the utility pole position measurement data 158 are measured. The difference Δa from the measured data in the past is calculated, and the reference telephone pole Pa is calculated as (a
The position of the reference electric pole Pa is moved as 0-a1) -Δa. However, when the distance (a1-a2) is larger than the measurement data, the difference Δa is treated as a + value, and the distance (a1-a2)
Is smaller than the measured data, the difference Δa is treated as a negative value. This allows highly accurate setting. However, Δa <
The value is smaller than ΔS.

As described above, in the embodiment, the utility pole is detected by the first gate and the leak is detected by the utility pole detection of the second gate. However, the detection position of the second gate is detected. In Fig. 4, (I), (II) ,,,,
As (III) and (IV), the electric poles may be simultaneously detected by the first gate and the second gate by overlapping with the first gate, and the electric pole detection position of the first gate may be prioritized. .

[0029]

As described above, in the present invention, two systems of gates are set and the utility pole detection signal is obtained under the OR condition. At this time, since the first gate is directly affected by the actual traveling state at that time, a state in which the utility pole cannot be detected occurs, but one of the positions of the utility pole actually detected in the actual traveling state is used as a reference. Since the position is corrected as a position and the second gate is re-installed from there, it is possible to almost certainly detect the power pole position at the second gate when it is not detected at the first gate. Furthermore, in the device of the present invention, the above-mentioned utility pole position detection measures an abnormal location with the utility pole position in front of the abnormal location of the trolley wire as a reference, so even when a still image of the abnormal location is taken, a small number of sheets are required. You can definitely get it. As a result, it becomes possible to detect the position of the electric pole with higher accuracy, which is suitable for detecting the position of a still image or the like of the abnormal trolley wire.

[Brief description of drawings]

FIG. 1 is a block diagram of an image recording device for an abnormal location on a trolley wire to which the utility pole position detection method and the abnormal place image recording device for a route according to the present invention are applied.

FIG. 2 is a flowchart of still image recording processing by an image recording device as an embodiment of the telephone pole position detecting method of the present invention.

FIG. 3 is an explanatory diagram of its specific content.

FIG. 4 is an explanatory diagram of detection of a utility pole position in two gates, and (a) is an explanatory diagram of a relationship between a position determined by a distance pulse and a generation timing of a utility pole detection signal; FIG. 7B is an explanatory diagram of the priority order of the positions determined by the distance pulse.

FIG. 5 is an explanatory diagram of a correction process of a reference telephone pole position.

[Explanation of symbols]

1 ... trolley wire, 2 ... first gate, 3 ... second gate, 4,
6, 7, 8 ... Utility pole, 11 ... Utility pole detection sensor, 12 ... Infrared LED light source, 13 ... Camera, 14 ... A / D conversion circuit (A
/ D), 15 ... Image data processing device, 151 ... MPU,
152 ... Memory, 153 ... CRT display, 154
... image memory, 155 ... interface, 156 ... bus, 157 ... external storage device. 21 ... Gate setting / electric pole detection program, 22 ... Imaging position determination program, 23 ...
Still image collection program, 24 ... Standard telephone pole setting program, 25 ... Data area.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) H02H 3/00 G01B 11/24 K (72) Inventor Takao Yoshizawa 3-16-3 Higashi, Shibuya-ku, Tokyo In Hitachi Electronics Engineering Co., Ltd. (72) Inventor Nobuhiro Aoki 3-16-3 Higashi, Shibuya-ku, Tokyo F-term in Hitachi Electronics Engineering Co., Ltd. (reference) 2F065 AA02 AA20 AA22 AA51 BB06 CC34 DD06 DD07 FF04 FF41 FF61 FF67 GG07 GG21 HH04 HH13 JJ01 JJ03 JJ18 JJ26 QQ03 QQ05 QQ08 QQ24 QQ31 QQ47 RR09

Claims (6)

[Claims] 1. A gate corresponding to a position of the utility pole based on distance data measured on a utility pole provided on the railroad track based on a predetermined measurement reference position of the railroad track and a traveling distance of an inspection vehicle. In the pole detection method of detecting the actual pole position by obtaining the pole detection signal in this gate by setting, the next pole based on the distance data measured based on the position of the detected pole A first gate is set as the gate at a position, and a second gate is set as the gate at the next electric pole position based on the measured distance data with the measurement reference position as a reference, and the first gate is set as the gate. Either the gate or the second gate obtains the utility pole detection signal to detect the actual utility pole position, and at the current mileage, The utility pole detection position of the certain utility pole when the difference between the actual utility pole detection position viewed from the measurement reference position and the position of the utility pole according to the distance data viewed from the measurement reference position for the certain utility pole is less than or equal to a predetermined error. To the measurement reference position, and the second gate is set on the basis of the measurement reference position. 2. The utility pole position detecting method according to claim 1, wherein the utility pole detection signal is closest to the center of the gate among the plurality of detection signals in the first or second gate. 3. A gate corresponding to a position of the utility pole based on distance data measured on a utility pole provided on the railroad track based on a predetermined measurement reference position of the railroad track and a traveling distance of an inspection vehicle. An abnormal line image recording device for a line that detects the actual electric pole position by obtaining a utility pole detection signal in this gate and records a still image of an abnormal place on the line. A first gate is set as the gate at the next power pole position based on the measured distance data based on the position, and the next power pole position is based on the measured distance data based on the measurement reference position. And a second gate is set as the gate, and the utility pole detecting signal is obtained from either the first gate or the second gate to detect the actual utility pole position. A predetermined difference between the detection means and the position of the actual utility pole detected from the measurement reference position for a certain utility pole and the position of the utility pole based on the distance data as viewed from the measurement reference position for the certain utility pole in the current travel distance. When the error is less than or equal to the above, the utility pole detection position of the certain utility pole is changed to the measurement reference position, and the utility pole detection means sets the second gate. When an electric pole in front of the electric pole is detected and its position is obtained, an image pickup means for measuring the distance from the electric pole to the abnormal place or the distance to the front to take a still image of the abnormal place is provided. Image recording device for abnormal points on the featured line. 4. An apparatus for recording an abnormal point image on a route according to claim 3, wherein the utility pole detection signal is closest to the center of the gate among the plurality of detection signals in the first or second gate. 5. The image pickup means is provided for detecting an abnormal portion of the line.
When the power pole in front is detected and its position is obtained, the distance from this power pole position to the abnormal place or the distance before it is measured, and the power pole in front of this is detected and its position is obtained. The static image of the abnormal place is captured by measuring the distance from the telephone pole position before the abnormal place on the line to the abnormal place or before the abnormal place when the measurement is stopped. Abnormal point image recording device on the line. 6. The abnormal point image recording device of a line according to claim 5, wherein the abnormal point of the route is an abnormal point of a trolley wire.