JP2012208095A - Trolley wire measuring method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate an influence of structure except a trolley wire to exactly measure a deviation amount of the trolley wire.SOLUTION: A trolley wire measuring device measures the outer shape of a trolley wire by projecting light toward the trolley wire and receiving its reflected light. When the outer shape of the trolley wire is measured, it is difficult to exactly measure the outer shape of the trolley wire since there is much noise from a rigid part and an ear part in a rigid train section. Then, the trolley wire measuring device photographs images of the trolley wire and train line facilities (the rigid part and the ear part) in its vicinity of the rigid train section, measures deviation of the train line facilities based on the photographed images, and reflects measurement results on measurement of the outer shape of the trolley wire.

Description

  The present invention relates to a trolley wire measurement method and apparatus for measuring the amount of wear and displacement of a trolley wire.

  A conventional multi-lens trolley wire wear deviation detection device generates slit-like light projections by a plurality of monochromatic light sources arranged in the rail transverse direction, and applies the light projections to the sliding surface of the trolley wires. A light projecting unit for irradiating is provided, and the light projecting light is irradiated as pulsed light onto the sliding surface of the trolley wire by pulse driving the light projecting unit with a predetermined period. Patent Document 1 discloses a detection signal for a sliding surface based on a difference between light reception signals corresponding to reflected light from a trolley wire when the projection light is irradiated and when it is not. It is described in.

JP 2010-243275 A

  In a conventional multi-lens trolley wire wear displacement detector, a round trolley wire rigid train line (a train line facility in which a round trolley wire is attached to a T-shaped conductive material called a rigid body) is a rigid body part or an ear part. It has been found that there is a case where it is difficult to detect the light reception signal of the trolley wire because there is a lot of noise from the (metal fitting hooked on the trolley wire groove and supported by the rigid body portion). That is, when projecting light is emitted from the light projecting unit to the sliding surface of the trolley wire and a light reception signal of the sliding surface of the trolley wire is detected, a rigid body or an ear other than the trolley wire is detected, thereby detecting the trolley wire. There is a possibility that the sliding surface width data of the line is erroneously detected.

  The present invention has been made in view of the above points, and provides a trolley wire measurement method and apparatus capable of accurately measuring the amount of deflection of the trolley wire without the influence of structures other than the trolley wire. For the purpose.

  A first feature of the trolley wire measurement method according to the present invention is a trolley wire measurement method for measuring the outer shape of the trolley wire by projecting light toward the trolley wire and receiving the reflected light. Taking an image of the trolley line and nearby train line equipment in the line section, measuring the deviation of the train line equipment based on the photographed image, and reflecting the measurement result on the measurement of the outer shape of the trolley line It is in. When measuring the outer shape of the trolley wire, it is difficult to measure accurately in the rigid train line section because there is a lot of noise from the rigid body part and the ear part. Therefore, in the present invention, an image of the trolley line and the nearby train line equipment (rigid part and ear part) is taken in the rigid train line section, and the deviation of the train line equipment is measured based on the taken image, The measurement result was reflected in the measurement of the outer shape of the trolley wire.

  A second feature of the trolley wire measurement method according to the present invention is that in the trolley wire measurement method according to the first feature, a binarized signal is generated by binarizing the light reception signal of the reflected light with a predetermined threshold value. If the distance between the end edge and the start edge of the adjacent ones of the pulse waveform constituting the binarized signal is equal to or greater than a predetermined value, sliding is performed based on the width of the pulse waveform including the end edge. When the distance between the pulses is smaller than the predetermined value, the pulse width including the end edge and the pulse waveform including the start edge are combined to form a new pulse waveform. The binarized signal is classified into the noise data and the sliding surface width data by performing the same processing between the pulse waveforms adjacent to the pulse waveform, and the sliding surface width data is classified into the sliding surface width data. Lies in determining the contour of the trolley wire on the basis of the kind has been the binarized signal. This compares the distance from the edge of the pulse waveform of the binarized signal (at the time of falling) to the start edge (at the time of rising) of the next pulse waveform with a predetermined value. Based on the width of the pulse waveform as sliding surface width data or noise data, if it is smaller than the predetermined value, both pulse waveforms are synthesized and the same processing is performed between the next pulse waveform as a new pulse waveform, The binarized signal was sequentially classified into noise data and sliding surface width data, and the outer shape of the trolley wire was obtained based on the classification result.

  A third feature of the trolley wire measurement method according to the present invention is the trolley wire measurement method according to the second feature, wherein the width of the pulse waveform including the end edge is greater than or equal to a value that can be recognized as a trolley wire. If the pulse waveform including the end edge is the sliding surface width data and the width of the pulse waveform including the end edge is smaller than a value that can be recognized as a trolley line, the pulse waveform including the end edge is converted to the noise. It is in data. This is because when the pulse waveform is classified into sliding surface width data or noise data based on its width, if the pulse waveform width is greater than or equal to a value that can be recognized as a trolley line, If it is too small, it is classified as noise data.

  A fourth feature of the trolley wire measurement method according to the present invention is the trolley wire measurement method according to the second feature or the third feature, wherein the sliding surface width data detected this time and the sliding detected last time are used. The deviation from the surface width data is compared, and the one closest to the deviation of the previous sliding surface width data is taken as the outer shape of the trolley line. This is to output only the outline of the trolley wire by using the closest sliding surface width data as the previous sliding surface width data.

  A fifth feature of the trolley wire measurement method according to the present invention is the trolley wire measurement method according to any one of the first feature to the fourth feature, wherein the train line equipment is based on the captured image. Then, the pattern matching method is used to measure the displacement of the rigid body portion and the ear portion for attaching the trolley wire, and to reflect the measurement result in the measurement of the outer shape of the trolley wire. This is to measure the deviation of the rigid part and the ear part for attaching the trolley wire as the train line equipment in the rigid train line section, and reflect the deviation of the ear part which is the measurement result in the measurement of the outer shape of the trolley line. Is used to accurately detect the outer shape of the trolley wire. That is, in the pattern matching method based on the photographed image, the ear portions on both sides of the trolley line are measured. Therefore, the deviation of the trolley line can be accurately obtained by measuring the deviation of the ear portion.

  The first feature of the trolley wire measuring device according to the present invention is that light projecting means for projecting light toward the trolley wire, and reflected light of the light projected by the light projecting device toward the trolley wire are received. And a light receiving means for outputting a signal corresponding to the light reception, an image pickup means for taking an image of the trolley line and a nearby train line facility in a rigid train line section, and an image taken by the image pickup means. A first measuring means for measuring a deviation of the train line equipment, and an outer shape of the trolley line based on a signal from the light receiving means, wherein the first measurement is performed in the rigid train line section. The second measurement means for reflecting the measurement result of the means in the measurement of the outer shape of the trolley wire is provided. This is an invention of a trolley wire measuring device corresponding to the first feature of the trolley wire measuring method.

  A second feature of the trolley wire measuring apparatus according to the present invention is the trolley wire measuring device according to the first feature, wherein the first measuring means binarizes a signal from the light receiving means with a predetermined threshold value. , A binarizing means for outputting the binarized signal, and an inter-pulse distance between an end edge and a start edge of adjacent ones of the pulse waveform constituting the binarized signal output from the binarizing means Is a sliding surface width data or noise data based on the width of the pulse waveform including the end edge when the value is equal to or greater than a predetermined value, and the pulse including the end edge when the distance between the pulses is smaller than the predetermined value. The binarized signal is obtained by synthesizing a waveform and a pulse waveform including the start edge into a new pulse waveform, and performing the same processing between the pulse waveform adjacent to the new pulse waveform. It said noise data and classified into the sliding surface width data, in that an arithmetic means for said classified into sliding surface width data based on the binary signal determining the outer shape of the contact wire. This is an invention of a trolley wire measuring device corresponding to the second feature of the trolley wire measuring method.

  A third feature of the trolley wire measurement device according to the present invention is the trolley wire measurement device according to the second feature, wherein the arithmetic means recognizes a pulse waveform width including the end edge as a trolley wire. If there is the above, the pulse waveform including the end edge is used as the sliding surface width data. If the width of the pulse waveform including the end edge is smaller than a value that can be recognized as a trolley line, the pulse including the end edge is included. The waveform is used as the noise data. This is an invention of a trolley wire measuring device corresponding to the third feature of the trolley wire measuring method.

  A fourth feature of the trolley wire measurement device according to the present invention is that, in the trolley wire measurement device according to the second or third feature, the arithmetic means detects the sliding surface width data detected this time and the previous time. The deviation with the sliding surface width data is compared, and the one closest to the deviation of the previous sliding surface width data is used as the outer shape of the trolley wire. This is an invention of a trolley wire measuring device corresponding to the fourth feature of the trolley wire measuring method.

  A fifth feature of the trolley wire measuring apparatus according to the present invention is the trolley wire measuring device according to any one of the first feature to the fourth feature, wherein the first measuring means is the train line equipment. As described above, the pattern matching method is used to measure the displacement of the rigid body part and the ear part for attaching the trolley wire, and the second measuring unit displays the measurement result of the first measuring unit as It is to be reflected in the measurement of the outer shape of the trolley wire. This is an invention of a trolley wire measuring device corresponding to the fifth feature of the trolley wire measuring method.

  According to the present invention, it is possible to eliminate the influence of a structure other than the trolley wire and accurately measure the amount of displacement of the trolley wire.

It is a figure which shows the principle of the trolley wire measuring apparatus which concerns on this invention, and has shown the outline of the measurement optical system. It is the figure which looked at the overhead wire inspection vehicle carrying the trolley wire measuring apparatus using the measurement optical system shown in FIG. 1 from the side. It is the plane schematic diagram which removed the top plate of the trolley wire measuring device of Drawing 2, and looked at the internal structure from the upper part. It is a figure which shows an example of the image of the trolley line which the camera for rigid bodies image | photographed in the round-shaped trolley line rigid train line area. It is a figure which shows schematic structure of the light projection unit which comprises the measurement optical system shown in FIG. It is the figure which looked at the overhead wire inspection vehicle carrying the trolley wire measurement light projection apparatus of another Example of the trolley wire measurement apparatus 10 which concerns on one embodiment of this invention from the side. It is a plane schematic diagram which removes the top plate of the trolley wire measuring apparatus 10 of FIG. 6 and shows an internal structure. It is a figure which shows schematic structure of the light emitting diode projector of FIG.6 and FIG.7. It is a figure which shows an example of the sliding surface width data calculation process of the trolley wire which an arithmetic unit and a measurement apparatus perform. It is a figure which shows the outline | summary of the trolley line deviation follow-up process which an arithmetic unit performs. It is a figure which shows an example of a process in case an arithmetic unit removes the noise from a rigid body part or an ear part. It is a figure which shows an example of the detail of the trolley line deviation tracking process of step S96, and the noise removal process of step S97. It is a figure which shows an example of the edge detection process of FIG.

  FIG. 1 is a diagram showing the principle of a trolley wire measurement apparatus according to the present invention, and shows an outline of a measurement optical system. The measuring optical system of the trolley wire measuring device includes a light projecting unit 2, an imaging lens 3, a light receiving unit 4, a rigid body camera 41, a pulse driving circuit 5, and a light receiving signal processing unit 6. The light projecting unit 2 irradiates the trolley wire 20 with monochromatic light having a specific wavelength in the range of infrared light through the focusing lens 3a. The light receiving unit 4 receives the reflected light from the trolley wire 20 through the imaging lens 3. In FIG. 1, an arrow line L <b> 1 obliquely toward the upper right indicates schematically the light projected from the light projecting unit 2. The wavelength of the monochromatic light emitted from the light projecting unit 2 is, for example, λ = 850 [nm]. Moreover, the arrow line L2 which goes to the lower right diagonally shows the reflected light from the sliding surface 20a of the trolley wire 20 typically. Hereinafter, they are expressed as the projection light L1 and the reflected light L2.

  The light receiving unit 4 is a light receiver constituted by a CCD line sensor, and receives the reflected light L2 in the entire light wavelength region of the photosensitivity characteristic of the CCD. The entire light wavelength region usually has a gentle mountain-shaped peak characteristic in the range of 300 nm to 1000 nm, covers the visible light region, and reaches the infrared light region. The rigid body camera 41 captures the trolley wire 20 from below and outputs the captured image (rigid body image) to the measuring device 19. The pulse driving circuit 5 drives the light projecting unit 2 in pulses to turn on / off the light L1 emitted from the light projecting unit 2 at a predetermined cycle to generate pulsed light. Then, a synchronization signal SYN for pulse driving corresponding to a predetermined cycle is sent to the received light signal processing unit 6. Here, pulsed light is generated by pulse driving the light projecting unit 2, but a shutter mechanism is provided immediately before the light projecting unit 2, and the light projecting light L1 is controlled by opening / closing the shutter mechanism. Pulsed light may be generated. The received light signal processing unit 6 includes an A / D conversion circuit 16, a waveform data memory 17, and an arithmetic device 18. The detection signal of the trolley wire sliding surface calculated by the arithmetic device 18 is sent to the measuring device 19 as a digital value.

  FIG. 2 is a side view of an overhead wire inspection vehicle equipped with a trolley wire measurement device using the measurement optical system shown in FIG. In FIG. 2, the trolley wire measurement device 10 is installed on the upper surface 23 of the vehicle roof of the overhead wire inspection vehicle 22. The trolley wire measurement device 10 includes a measurement optical system, a trolley wire height detection mechanism 7 and a measurement optical system controller 8 as shown in FIG. The measurement optical system includes a light projecting unit 2, an imaging lens 3, a line sensor camera 9 functioning as a light receiving unit, a measurement optical system control unit 8 having a function of a pulse drive circuit, and a light reception signal processing unit. .

  As shown in FIG. 1, the light projecting unit 2 includes a plurality of n monochromatic light sources (light emitting diode groups) 2a, 2b,..., 2n arranged in the transverse direction of the rail 21 (the depth direction of the paper surface). Is done. These monochromatic light sources 2a, 2b,..., 2n intermittently generate monochromatic light in the infrared region as slit-shaped projection light. The projecting light L1 of the projecting unit 2 generates reflected light on the sliding surface 20a of the trolley wire 20 that is stronger than the light intensity in the infrared region of daytime sunlight. Usually, since the light intensity in the infrared region of sunlight during the daytime is not high, if the distance between the trolley wire 20 and the light projecting unit 2 is about 2 m, this can be achieved by using a monochromatic light LED.

  This light receiving unit is composed of a line sensor camera 9 configured to incorporate a CCD line sensor. The imaging lens 3 is provided in front of the line sensor camera 9. Similar to the light projecting unit 2, the array line of the light receivers of the CCD line sensor constituting the line sensor camera 9 serving as the light receiving unit is along the transverse direction of the rail 21 (the depth direction of the paper surface). The trolley wire measuring device of FIG. 2 includes a light receiving optical system for introducing reflected light from the sliding surface 20 a of the trolley wire 20 to the line sensor camera 9. The light receiving optical system includes a rotating mirror 12, folding reflection mirrors 13a and 13b that return reflected light in the incident direction, and a mirror moving mechanism 14 that moves the folding reflection mirrors 13a and 13b back and forth (in the horizontal direction of the paper surface). Is done. This light receiving optical system is controlled according to the reflection angle of the reflected light L2 so as to guide the change of the reflected light L2 from the sliding surface 20a that changes according to the height of the trolley wire 20 to the line sensor camera 9. It has become. The light projecting unit 2 is also mounted on the rotary table 15, and the incident angle thereof is adjusted so that the light projecting light L1 follows the height of the sliding surface 20a that changes according to the height of the trolley wire 20. To be controlled.

  FIG. 3 is a schematic plan view of the trolley wire measuring device of FIG. 2 with the top plate removed and its internal structure viewed from above. The light receiving optical system shown in FIG. 3 differs from FIG. 2 in that the reflection mirrors 13a and 13b and the mirror moving mechanism 14 are omitted for convenience of explaining the relationship of the divided light reception of the line sensor camera 9, and the trolley line The line sensor camera 9 (9a, 9b, 9c) is provided at the tip of the reflected light L2 and is directly received without reflecting the reflected light L2 from 20.

  As shown in FIG. 3, the light projecting unit 2 shown in FIG. 2 includes a plurality of monochromatic light sources (light emitting diodes / LED light emitters) 2 a, 2 b,. 3 is arranged so as to generate a slit-like light beam L. The width of the rail 21 in the transverse direction (vertical direction in FIG. 3) is configured such that the projection light L1 to the trolley line 20 covers the deviation range (about 700 [mm]) of the trolley line 20. ing. The light emitted from the monochromatic light sources (LED light emitters) 2a, 2b,..., 2n is applied to the trolley wire 20 as a slit-shaped light beam L through the slit shaping condenser lens 2P.

  The rotating mirror 12 of the light receiving optical system reflects the reflected light L2 in the transverse direction of the rail 21 (up and down direction in FIG. 3) in order to receive the reflected light L2 in the deflection range (about 700 [mm]) of the trolley wire 20. It is installed as a mirror with a length that can receive light. In the drawing, the rotation driving mechanism of the rotating mirror 12 is not shown, but the rotating shaft 12a is fixed to the back surface of the rotating mirror 12, and the rotating shaft 12a is driven by a driving means such as a stepping motor. In FIG. 3, the line sensor camera 9 includes three line sensor cameras 9a, 9b, and 9c. The reflected light L2 from the sliding surface 20a of the trolley wire 20 is received by being divided into three parts by the three line sensor cameras 9a, 9b, 9c. In addition, the mutual light receiving boundary regions overlap between the line sensor cameras 9a, 9b, and 9c. In this way, the field of view of the displacement range of the trolley wire 20 can be covered with the three line sensor cameras 9a, 9b, 9c. Note that the number of divided light receiving cameras may be a plurality, and is not limited to three.

  In FIG. 2, the trolley wire height detection mechanism 7 includes a roller contact 7 a that contacts the trolley wire 20, a turning arm 7 b that is formed by link connection of two arms, and this turning arm. The angle detector 7c detects the rotation angle in the vertical direction of the link on the root side of the arm 7b by a potentiometer. As a height detector configured to detect the height of the trolley wire 20 based on the angle of the rotating arm 7b using this type of potentiometer, for example, JP-A-7-120228, etc. The detailed description is omitted here.

  In FIG. 2, the projection light L <b> 1 from the light projecting unit 2 to the trolley wire 20 is applied to the sliding surface 20 a of the trolley wire 20 through the glass window 10 b provided on the roof frame 10 a of the trolley wire measuring device 10. The The reflected light L2 from the trolley wire 20 passes through the glass window 10b, passes through the rotating mirror 12 and the folding reflecting mirrors 13a and 13b, and then the line sensor camera 9 (three line sensor cameras 9a, 9b and 9c shown in FIG. 3). Are received in one of the visual fields and received as an image (one-dimensional waveform data) including the sliding surface 20a of the trolley wire 20. The glass window 10b is attached to the roof frame 10a at an angle of about 10 ° with respect to the horizontal plane of the roof frame 10a of the trolley wire measuring device 10. The height of the roof frame 10a is actually at a position sufficiently lower than the lower limit height at which the trolley wire 20 is displaced up and down. As a result, the position of the glass window 10b is lowered, and the trolley wire measuring device 10 can be installed with little effect on the height of the roof of the vehicle.

  In FIG. 2, the measurement optical system control unit 8 receives the trolley line height signal output from the angle detector 7 c of the trolley line height detection mechanism 7, and receives the rotary table 15 of the light projecting unit 2 and the rotary mirror 12. Then, the trolley line is controlled so that the image (one-dimensional waveform data) of the trolley line 20 is collected in the field of view of the line sensor camera 9 even if the mirror moving mechanism 14 is controlled to change the height of the trolley line 20. Follow-up control according to the height of 20 is performed. The measurement optical system control unit 8 is provided with a control data table 8a for follow-up control with respect to the height of the trolley wire 20. In the control data table 8a, the angle value of the rotary table 15, the angle value of the rotary mirror 12, and the amount of movement of the mirror moving mechanism 14 are stored as control values corresponding to the detection values of the angle detector 7c. . These control values are obtained in advance by analyzing the angle values of the rotary table 15 and the rotary mirror 12 and the movement amount of the mirror moving mechanism 14 in accordance with the height of the trolley wire 20.

  The rotary table 15, the rotary mirror 12, and the mirror moving mechanism 14 each incorporate an encoder (not shown) that detects the current angle and moving position, and each is driven and controlled by a stepping motor (not shown). It has become so. Each encoder signal is input to the measurement optical system controller 8. The measurement optical system control unit 8 controls the rotary table 15, the rotary mirror 12, and the mirror moving mechanism 14 with reference to the control data table 8a, so that the line sensor is controlled regardless of the change in the height of the trolley wire 20. Control is performed so that an image (one-dimensional waveform data) of the sliding surface 20a of the trolley wire 20 is received within the field of view of the camera 9 (three line sensor cameras 9a, 9b, 9c).

  The line sensor camera 9 (three line sensor cameras 9a, 9b, 9c) is composed of a digital camera having an A / D converter therein. Therefore, the A / D conversion circuit 16 necessary for the received light signal processing unit in FIG. 1 is omitted in FIG. The digital values of the one-dimensional images output from the three line sensor cameras 9a, 9b, and 9C are read in parallel, and the two CCDs constituting each line sensor camera 9 are simultaneously and serially synchronized. The data are sequentially output, and the reading process is continuously repeated. The digital values of the one-dimensional images of the three line sensor cameras 9a, 9b, and 9c are output to the waveform data memory 17 and stored in the respective areas of the waveform data memory 17 as one-dimensional image data. The waveform data memory 17 has a built-in controller for writing / reading, and functions as a push-down buffer memory that pushes down stored data and stores the latest waveform data at the head. Accordingly, a fixed amount is temporarily stored, and the digital values of the old one-dimensional image that overflowed from the last storage position are sequentially discarded. The temporary storage capacity is set in relation to the processing time of the arithmetic device 18.

  The waveform data of each one-dimensional image stored in the waveform data memory 17 is sequentially read out and processed by the arithmetic unit 18 constituted by a DSP or the like, and is erased sequentially after the processing. The image (one-dimensional image data) of the sliding surface 20a in the reflected light L2 received in three divisions by the three line sensor cameras 9a, 9b, 9c is processed as waveform data, its peak value is detected, and the peak level A level that is substantially ½ of is calculated. With the calculated half level as a reference, binarization processing is performed in which a level higher than this is set to “1” and a level lower than that is set to “0”, and the waveform data is calculated as digital value data. Is done. The result is stored in an internal memory (not shown) of the arithmetic unit 18. In the digital value data, the width of the trolley wire sliding surface 20a converted to the distance is calculated based on the number of pixels where “1” continues, and the width of the trolley wire sliding surface 20a is digital. A value is output to the measuring device 19. The measuring device 19 has an MPU, a memory, and the like inside, the width of the trolley wire sliding surface 20a calculated by the arithmetic device 18 by executing a predetermined processing program stored in the memory by the MPU, and a rigid body Based on the image from the camera 41, the displacement of the trolley wire 20 and the amount of wear are calculated.

  The rigid body camera 41 (two two-dimensional cameras 41a and 41b) is a digital camera provided with an A / D converter. The two-dimensional rigid images output from the two two-dimensional cameras 41a and 41b are output to the measuring device 19 and stored in the image data memory. FIG. 4 is a diagram illustrating an example of an image of a trolley line taken by a rigid body camera in a round trolley line rigid train line section. 4A shows an image taken by the rigid body camera 41, and FIG. 4B shows an example of an image obtained by extracting the rigid body portions 20b and 20c and the ear portions 20d and 20e from the image by the pattern matching method. Indicates. As shown in FIG. 4, in the round trolley line rigid train line section, the rigid body part and the ear part are clearly photographed by the rigid body camera 41. In this embodiment, the measuring device 19 extracts the rigid body portions 20b and 20c and the ear portions 20d and 20e by comparing them with a previously stored pattern as shown in the image of FIG. The rigid body portions 20b and 20c and the ear portions 20d and 20e can be easily separated because the width in the horizontal direction and the display position thereof are different. Further, it means that the trolley wire 20 exists in the vicinity of the center of the quadrangle indicating the ear portions 20d and 20e. The measuring device 19 detects the deviation of the trolley wire 20 around the approximate center of the quadrangle indicating the ear portions 20d and 20e.

  FIG. 5 is a diagram showing a schematic configuration of a light projecting unit constituting the measurement optical system shown in FIG. FIG. 5A shows a perspective view of the overall configuration of the light projecting unit, and FIG. 5B shows a cross-sectional shape of the light projecting unit of FIG. It is a figure which shows a mode typically. The light projecting unit 2 constructs a light projecting optical system that irradiates slit-shaped light, and includes a rectangular parallelepiped housing 24, a monochromatic light source mounting board 25 provided in the housing 24, The condensing lens groups 26 a to 26 n and 27 a to 27 n provided on the front surface of the housing 24, that is, the projection light emitting side surface, and the condensing lens groups 26 a to 26 n and 27 a to 27 n are held by the front surface portion of the housing 24. Lens holder groups 28a to 28n and 29a to 29n. The monochromatic light source mounting substrate 25 is a group of light emitting diodes arranged in at least two rows in the vertical direction along the rail crossing direction (left and right direction of the paper surface of FIG. 5A, depth direction of the paper surface of FIG. 5B). 2a to 2n are mounted on one surface portion. Light emitted from each of the light emitting diode groups 2a to 2n arranged in two rows is condensed on the trolley wire sliding surface 20a, and light emitted from the light emitting diode groups 2a to 2n for two adjacent rows is trolleyed. It is collected at a predetermined position (irradiation range A1) of the line sliding surface 20a, and is provided immediately before the corresponding light emitting diode groups 2a to 2n by lens holder groups 28a to 28n and 29a to 29n.

  As shown in FIG. 5 (B), a group of light emitting diodes serving as a monochromatic light source arranged on the monochromatic light source mounting board 25 in two rows along the rail crossing direction (the depth direction of the paper surface of FIG. 5 (B)). The light irradiated from 2a to 2n is collected in the irradiation range A1 by the condenser lens groups 26a to 26n and 27a to 27n provided on the front surface thereof. The optical axes D1 of the condenser lens groups 26a to 26n corresponding to the light emitting diode groups 2a to 2n in the upper row are at positions shifted downward from the optical axes C1 of the light emitting diode groups 2a to 2n in the upper row. The light emitted from the light emitting diode groups 2a to 2n in the column is collected so as to cover the irradiation range A1. On the other hand, the optical axes D2 of the condenser lens groups 27a to 27n corresponding to the light emitting diode groups 2a to 2n in the lower row are at positions shifted upward from the optical axes C2 of the light emitting diode groups 2a to 2n in the lower row, The light emitted from the light emitting diode groups 2a to 2n in the lower row is collected so as to cover the irradiation range A1. That is, the arrangement relationship between the upper and lower row light emitting diode groups 2a to 2n and the condenser lens groups 26a to 26n and 27a to 27n is the irradiation range of the upper row light emitting diode groups 2a to 2n that are the respective monochromatic light sources. L3 and the optical axes of the light emitting diode groups 2a to 2n in the upper row and the lower row so that the irradiation range L4 by the light emitting diode groups 2a to 2n in the lower row is within the irradiation range A1 on the trolley wire sliding surface 20a. C1 and C2 and the optical axes D1 and D2 of the condenser lens groups 26a to 26n and 27a to 27n are shifted from each other in the vertical direction. Further, as shown in FIG. 5A, the optical axes of the lower light emitting diode groups 2a to 2n are positioned between the optical axes of the upper light emitting diode groups 2a to 2n. The light emitting diode groups 2a to 2n in the lower row are each configured to supplement light between the optical axes.

  FIG. 6 is a side view of an overhead wire inspection vehicle equipped with a trolley wire measurement light projecting device of another example of the trolley wire measurement device 10 according to one embodiment of the present invention. FIG. 7 is a schematic plan view showing the internal structure of the trolley wire measuring apparatus 10 of FIG. 6 with the top plate removed. 6 and 7, the same components as those in FIGS. 2 and 3 are denoted by the same reference numerals, and the description thereof is omitted. 8 is a diagram showing a schematic configuration of the light-emitting diode projector of FIGS. 6 and 7, FIG. 8A is a perspective view showing the overall configuration, and FIG. 8B is a short direction of the light-emitting diode projector. It is a side view which shows the light distribution image. The trolley wire measuring device 10 of FIGS. 6 and 7 is different from that of FIG. 2 in that light from the light emitting diode groups 2a to 2n, which are surface emitting monochromatic light sources, is trolleyed by collimating lenses 65a to 65n and a linear Fresnel lens 60. This is a point that is measured with a condensing point at the line detection position 61. In addition to this, the trolley wire measuring device 10 in FIGS. 6 and 7 is different from that in FIG. The mirror 51 is controlled by the measurement optical system controller 8, and an external light filter 55 that cuts off the external light wavelength included in the reflected light L2 is provided in front of the imaging lens 3 so that the reflected light L2 can be easily measured. This is the point. The incident angle of the projection angle adjusting mirror 51 is controlled by the measurement optical system control unit 8 so that the projection light L1 follows the height of the sliding surface 20a that changes according to the height of the trolley line 20. It has come to be.

  The light-emitting diode projector 50 constructs a light-projecting optical system that irradiates slit-shaped light, and is a mounting substrate in which light-emitting diode groups 2a to 2n that are monochromatic light sources (infrared LEDs) are mounted on one surface portion. 69, a heat sink 63 for releasing heat generated by the light emitting diode groups 2a to 2n, collimating lenses 65a to 65n provided on the mounting board 69 so as to cover the light emitting diode groups 2a to 2n for condensing, and linear And a Fresnel lens 60. The divergence angle of the collimating lenses 65a to 65n is about 10 degrees, and the focal length (f value) of the linear Fresnel lens 60 is about 270 [mm]. As a result, as shown in FIG. 8B, the surface emitting light emitted from the light emitting diode groups 2a to 2n, which are monochromatic light sources on the mounting substrate 69, is converted into a parallel light beam by the collimating lenses 65a to 65n. The linear Fresnel lens 60 provides a light bundle (projected light) L1 having a condensing waist near the trolley wire sliding surface 20a (distance of about 1700 [mm]). Accordingly, it is possible to generate reflected light stronger than daytime sunlight intensity from the trolley wire sliding surface using a light emitting diode which is a monochromatic light source.

  According to this embodiment, there is an effect that the light projecting unit 2 or the light emitting diode projector 50 can be reduced in size and the amount of light can be increased. In particular, if infrared light monochromatic light is used as the light emitting diode groups 2a to 2n, the difference from the intensity of sunlight increases, and there is no need to provide a light source that generates strong laser light. Moreover, when irradiating monochromatic light to the trolley wire over the range of deflection of the trolley wire, it is only necessary to arrange multiple light sources in the rail transverse direction, and use multiple lenses in the optical axis direction of the monochromatic light source. Therefore, there is no need for a rotary scanning optical system such as a polygon mirror, and the projection system can be downsized. As a result, the trolley wire wear amount detection optical system can be mounted on the roof of the vehicle. Reflected light whose projected light is stronger than the light intensity of sunlight during the daytime is generated on the trolley wire sliding surface. In addition, the inclination generated by the vehicle shake or the like can cope with the influence of the inclination on the arrangement relationship between the trolley line sliding surface and the trolley line measurement optical system.

  In the embodiment of FIGS. 2 and 3, the case where the light emitting diodes that are monochromatic light sources are arranged in two upper and lower rows has been described. However, one row or a plurality of rows of three or more rows may be arranged. In the embodiment of FIGS. 6 and 7, the case where light emitting diodes that are monochromatic light sources are arranged for one row has been described, but a plurality of rows of two or more rows may be arranged. This makes it possible to increase the amount of irradiation light. Furthermore, in the above-described embodiment, the case where the line sensor camera 9 is configured by the three line sensor cameras 9a, 9b, and 9c and the rigid body camera 41 is configured by the two two-dimensional cameras 41a and 41b has been described. However, the present invention is not limited to this, and may be configured by a number of cameras other than this. The number of light-emitting diodes that are monochromatic light sources shown in the figure is an example, and the number of the light-emitting diodes may be appropriately changed according to the distance between the monochromatic light source and the irradiation range.

FIG. 9 is a diagram illustrating an example of the sliding surface width data calculation process of the trolley wire executed by the arithmetic device and the measurement device. Hereinafter, each step will be described.
In step S91, the calculation device 18 and the measurement device 19 determine whether or not the currently traveling section is a rigid section, and in the case of a rigid body (round trolley line rigid train line) section (yes), step S92. If it is not a rigid body section (no), the process proceeds to step S96.

In step S92, the arithmetic unit 18 acquires images from the rigid body camera 41 (two two-dimensional cameras 41a and 41b).
In step S93, the arithmetic unit 18 extracts the rigid body portions 20b and 20c and the ear portions 20d and 20e by pattern matching determination processing on the two-dimensional rigid body image stored in the image data memory.
In step S94, deviations of the extracted rigid body portions 20b and 20c and ear portions 20d and 20e are extracted.
In step S95, the arithmetic unit 18 performs a rigid body displacement tracking process for tracking the displacement of the ear portions 20d and 20e. That is, since it is known that the trolley wire 20 exists in the vicinity of the center of the quadrangle indicating the ear portions 20d and 20e, the detected ear portions 20d and 20e detected this time and the previous detection are performed by performing rigid body displacement tracking processing. The deviations between the ear parts 20d and 20e are compared, and the one closest to the deviation of the previous ear parts 20d and 20e is used as rigid body deviation data. The measuring device 19 uses the vicinity of the center of the quadrangle indicating the ear portions 20 d and 20 e as the displacement data of the trolley wire 20.

In step S96, the arithmetic unit 18 executes a trolley line deviation tracking process. FIG. 10 is a diagram showing an outline of the trolley line deviation tracking process executed by the arithmetic device. As shown in FIG. 10A, the arithmetic unit 18 converts the CCD video waveform signal (detection signal) output from the CCD line sensor camera 9 of the light receiving unit into a binarization determination level (a threshold for binarizing the signal). ) Based on binarization. That is, in the detection signal, a signal equal to or higher than the binarization determination level is set to “1”, and a signal lower than the binarization determination level is set to “0”. The binarized detection signals are sent as a plurality of pulse waveforms to an edge detection memory (not shown) in the arithmetic unit 18 and temporarily stored therein. Based on the binarization detection signal (pulse waveform group) stored in the edge detection memory, the arithmetic unit 18 detects the falling edge portion of the pulse waveform and the rising edge portion of the next pulse waveform in real time, The trolley wire sliding surface 20a is determined based on the distance of the edge portion and the trolley wire diameter. That is, the sliding surface width of the trolley wire sliding surface 20a is calculated by the following equation (1).
Sliding surface width data = (binarization determination END) − (binarization determination START) (1)
Here, it is assumed that the displacement of the trolley line is obtained by converting the pixel position in the middle of the sliding surface width into the trolley line position of the pantograph.

FIG. 10B is a diagram showing an outline of the trolley line deviation tracking process executed by the arithmetic device 18 in association with the position of the hull of the pantograph. In FIG. 10 (B), the black circles (black circles, ●) are the displacement data (main line) that are being followed, the unfilled circles (white circles, ○) are the pseudo data, and the deltas (Δ, δ) are Each input deviation data is shown. In FIG. 10 (B), from state C1 to state C7, the hull of the pantograph is displayed, and the black circle, the white circle and the delta are visually displayed with respect to the position of the pantograph hull. Yes.

In the state C1, the displacement data that is being tracked is present at approximately the center of the pantograph hull. The arrows shown on both sides of the black circle are the width when searching (search width). The search width is set to a width equal to the left and right with the main line as the center. The maximum search width is displayed as a vertical bar. A region sandwiched between the vertical bars is set as a search range. The main line is measured in this search range. In the following drawings, only the vertical bar is displayed with the arrow omitted. This search width is widened or narrowed according to the measurement result of the main line, thereby changing the measurement range of the main line. Delta Δ is the first input displacement data and exists on the right side of the center of the hull of the pantograph and on the outside of the right side of the search range.

In the state C2, the displacement data that is being tracked exists at the approximate center of the hull of the pantograph. The search width is the same width as the state C1 that is equal to the left and right from the position of the displacement data being followed, and the search range is also the same. The first inputted deviation data Δ is on the left side of the deviation data being followed, and the second inputted deviation data δ is on the right side of the deviation data being followed. Both the first input displacement data Δ and the second input displacement data δ are within the search range. At this time, it is determined which of the first inputted deviation data Δ and the second inputted deviation data δ is closer to the following deviation data. Here, it is assumed that the first input displacement data Δ is closer to the main line than the second input displacement data δ.

The state C3 indicates a case where the first input displacement data Δ in the state C2 is measured as the displacement data being followed. The search range at this time is the same search range as in the state C1. The first input deviation data Δ exists outside the search range on the left side. On the other hand, the second input deviation data δ is on the left side of the deviation data being followed and exists inside the search range. Accordingly, the second input deviation data δ becomes the deviation data being followed in the next measurement.

The state C4 shows a case where the second input displacement data δ in the state C3 becomes the displacement data being followed. The first input deviation data Δ exists outside the search range on the left side. Further, since there is no second input displacement data δ, there is no displacement data input within the search range.

The state C5 indicates a case in which the deviation data input in the search range in the state C4 does not exist at all, and the deviation data being followed in the state C4 is set as pseudo data. Since there is no displacement data being tracked, the displacement data being tracked at the time of the previous measurement is measured as the displacement data being tracked this time. For this reason, the deviation data being followed in the state C5 is pseudo data. When measuring as pseudo data, the search width is made wider than the search width for displacement data being followed. This is to make the input deviation data fall within the search range. Since the input deviation data is used as the deviation data being followed in the next measurement, if the inputted deviation data does not fall within the search range, the measurement accuracy may be lowered. This can be prevented by expanding the search range. The first input deviation data Δ exists in the search range on the left side of the pseudo data by expanding the search range.

The state C6 shows the case where the first input displacement data Δ is measured as the displacement data being followed because the first input displacement data Δ exists in the search range in the state C5. Is. Since the deviation data exists in the search range in the state C5, it is not necessary to use a wide search range. Therefore, the search width is made the same as that in the state C1, and the search range is narrowed for measurement. In this measurement, the first input deviation data Δ exists in the search range on the right side of the deviation data being followed. If the first input displacement data Δ does not yet exist in the state C5, the pseudo data is used as it is. Also, the search width is changed to a wider search width than in the state C5. The search width is further expanded so that the input deviation data falls within the search range.

The state C7 shows a case where the first input displacement data in the state C6 is the displacement data being followed. The search width is the same as that in the state C1, and the same search range is measured. The first input deviation data Δ exists in the search range on the right side of the deviation data being followed.
The above calculation formula (1) can be applied when the currently traveling section is not a rigid section and no noise or the like is mixed in the CCD video waveform signal (detection signal). Usually, the wear waveform is disturbed due to the influence of the blackened portion of the trolley wire and the sliding surface width data is often divided and input. Further, in the rigid body section, there are many noises from the rigid body part and the ear part, so that it is often difficult to detect the light reception signal of the trolley wire itself. Therefore, in this embodiment, noise removal processing is performed.

In step S97, the arithmetic unit 18 performs noise removal processing included in the CCD video waveform signal (detection signal). First, the noise removal process performed by the arithmetic unit 18 when the wear waveform is disturbed due to the influence of the blackened portion of the trolley line and the sliding surface width data is divided will be described. As shown in FIG. 10A, the light reflected from the sliding surface 20 b of the trolley wire 20 is converted into a CCD video waveform signal (detection signal) by the CCD line sensor camera 9 of the light receiving unit and output to the arithmetic unit 18. Is done. In the CCD video waveform signal of FIG. 10A, the vertical axis indicates the brightness (light reception level), and the horizontal axis indicates the line direction (cross direction of the rail (trolley line)) in which the CCD line sensors are arranged. The detection signal of the trolley line 20 as shown in the CCD video waveform signal in FIG. 10A is converted into three binarized signals (divided pulse waveform groups) as shown in the figure by binarization processing. Be recognized.

Based on this binarization signal, the arithmetic unit 18 converts the rising edge portion and the falling edge portion of each pulse waveform into binarization determination 1 START, binarization determination 1END, binarization determination 2START, binarization. Detection is performed as determination 2END, binarization determination 3START, and binarization determination 3END. The arithmetic unit 18 measures the distance from the first binarization determination 1START to the falling edge portion (binarization determination 1END, binarization determination 2END, binarization determination 3END), and the distance is within the trolley line diameter. , The signals of those falling edge portions are regarded as detection signals on the same trolley line. Therefore, in the case of the CCD video waveform signal of FIG. 10A, the trolley line sliding surface width data is obtained as in the following equation (1).
Sliding surface width data = (binarization determination 3END−binarization determination 1START) <trolley wire diameter (1)

Next, the noise removal process performed by the arithmetic unit 18 when noise from the rigid body part or the ear part is included in the CCD video waveform signal (detection signal) will be described. FIG. 11 is a diagram illustrating an example of processing in the case where the arithmetic device 18 removes noise from the rigid body portion and the ear portion. The sliding surface width can be calculated on the basis of the edge of the binarized signal and the diameter of the trolley wire. The CCD image waveform signal shown in FIG. This is a case where light is not mixed in the detection signal as a noise signal. However, in the rigid section, noise from the rigid body part and the ear part is included in the detection signal. For example, as shown in the binarized signal of FIG. 11, binarized signals B0, B4, B5, and B9 indicating noise (reflected light from a rigid body portion, an ear portion, etc.) in the vicinity of the data indicating the trolley line are data. It is mixed as. Therefore, even if the binarized signal as shown in FIG. 11 is obtained from the trolley wire sliding surface width data based on the above formulas (1) and (2), it is the false detection sliding as shown in FIG. It becomes surface width data, and an accurate trolley wire diameter such as sliding surface width data that should be detected cannot be detected.

Therefore, in the noise removal processing in step S97, the distance from the falling edge portion of the binarized signal to the next rising edge portion, that is, the separation between the edges is 2.0 [mm] as a noise countermeasure from the rigid body portion and the ear portion. In the case where the distance is more than the above, erroneous detection due to noise is reduced by recognizing it as another trolley line or a noise signal. Note that the value of 2.0 [mm] is merely an example, and can be appropriately changed according to the detection state.

In the erroneously detected sliding surface width data of FIG. 11, the distance from the falling edge portion of the binarized signal B0 to the falling edge portion of the binarized signal B2 is within the trolley line diameter, but the binarized signal B0. Since the distance ES01 from the falling edge portion of the binary signal B1 to the rising edge portion of the binarized signal B1 is 2.0 [mm] or more, it is determined as another trolley line. Similarly, the distance ES34 from the falling edge portion of the binarized signal B3 to the rising edge portion of the binarized signal B4, and from the falling edge portion of the binarized signal B5 to the rising edge portion of the binarized signal B6 Since the distance ES89 from the falling edge portion of the binarized signal B8 to the rising edge portion of the binarized signal B9 is all 2.0 mm or more, it is determined as another trolley line. Here, the signals D1 and D2 that are closest to the previous trolley wire deflection position are determined as trolley wires, and sliding surface width data that should be detected as shown in FIG. 11 is detected, and an accurate trolley wire diameter is detected. It becomes possible to do.

FIG. 12 is a diagram illustrating an example of the details of the trolley line deviation tracking process in step S96 and the noise removal process in step S97. Hereinafter, each step will be described.
In step S121, the arithmetic unit 18 detects the positions of the rising edge portion and the falling edge portion of each pulse data based on the n pieces of pulse data stored in the edge detection memory.
FIG. 13 is a diagram illustrating an example of the edge detection process in step S121 of FIG.
In step S131, the pulse data stored in the edge detection memory is sequentially read.

In step S132, it is determined whether or not the read pulse data is a rising edge portion. If yes, the process proceeds to the next step S133, and if no, the process jumps to step S134.
In step S133, the position of the rising edge portion of the pulse data is detected as the start edge.
In step S134, it is determined whether or not the read pulse data is a falling edge portion. If yes, the process proceeds to the next step S135, and if no, the process jumps to step S136.
In step S135, the position of the falling edge portion of the pulse data is detected as an end edge.

In step S136, it is determined whether or not all pulse data (n) stored in the edge detection memory has been read. If yes, the process proceeds to the next step S137, and if no, the process returns to step S131.
In step S137, since the edge detection of all the pulse data stored in the edge detection memory is completed, it is stored for each pulse data, and the process proceeds to step S122 in FIG. By the above processing, a binarized signal including noise signals B0, B4, B5, and B9 as shown in FIG. 11 is extracted.

In step S122, the sliding edge width data is calculated by substituting the start edge and end edge of each pulse data into the above-described equation (1).
In step S123, it is determined whether or not sliding surface width data has been calculated for all (n) pulse data stored in the edge detection memory. If yes, the process proceeds to the next step S124, and no. In this case, the process returns to step S122, and sliding surface width data calculation processing is performed on all the pulse data (n pieces). As shown in FIG. 11, binary signals B0, B4, B5, and B9 indicating noise (reflected light from a rigid body portion, an ear portion, etc.) are mixed as data in the vicinity of data indicating a trolley line. It is necessary to remove the noise signal.

In step S124, it is determined whether or not the distance from the end edge of the pulse data to the start edge of the next pulse data (inter-pulse distance) is a predetermined value X [mm] or more. If no, the process proceeds to step S125. If YES, the process proceeds to step S126. In this embodiment, X = 2 [mm].
In step S125, since it was determined in the previous step S124 that the inter-pulse distance of the pulse data is smaller than the predetermined value X [mm], a combination of both pulse data is registered as new sliding surface width data, Used for the next judgment process.

In step S126, it is determined whether or not the sliding surface width data of the pulse data is equal to or smaller than a value (new line diameter) Y [mm] that can be recognized as trolley line data. If yes, the process proceeds to step S127. If no, the process proceeds to step S129. In this embodiment, Y = 15.49 [mm].
In step S127, it is determined whether or not the deviation data is closest to the deviation of the previous sliding surface width data. When it is the nearest deviation data (in the case of yes), the process proceeds to step S128, and when it is not the nearest deviation data (in the case of no), the process proceeds to step S129.
In step S128, it is determined in step S124 that the inter-pulse distance of the pulse data is equal to or greater than the predetermined value X [mm], and in step S126, it is determined that the sliding surface width data is equal to or smaller than the predetermined value Y [mm]. Since it is determined in S127 that the deviation data is closest to the previous deviation data, the pulse data is registered as trolley line data.

In step S129, it was determined in step S124 that the inter-pulse distance of the pulse data is equal to or greater than the predetermined value X [mm], but in step S126, it is determined that the sliding surface width data is greater than the predetermined value Y [mm]. Alternatively, since it is determined in step S127 that the deviation data is not closest to the previous deviation data, the pulse data is registered as noise data.
In step S130, it is determined whether or not the processing in steps S124 to S129 has been performed on all the pulse data (n pieces). If no, the process returns to step S124, and all the pulse data (n pieces) are stored. The process of registering as trolley line data or noise data is repeated, and if yes, the sliding surface width data calculation process is terminated. By the above-described processing, the sliding surface width data including the noise signals B0, B4, B5, and B9 is removed from the sliding surface width data that should be detected as shown in FIG. Only moving surface width data is extracted.

  In step S98, the measuring device 19 detects the trolley wire displacement and the rigid body displacement detected by the above-described trolley wire displacement tracking processing and noise removal processing, and, in the case of the rigid section, the rigid body displacement tracking processing in step S95. Based on the above, the sliding surface width data of the trolley wire 20 is calculated, and this is also compared with the deviation of the sliding surface width data detected last time. The near data is the displacement data, that is, the trolley wire sliding surface width data.

According to the above-described embodiment, when light projected from the light projecting unit is irradiated onto the sliding surface of the trolley wire and the reflected light from the trolley wire is received by the light receiving unit, noise from the rigid body part or the ear part is generated. It is possible to measure the trolley wire wear deviation without the influence of. In addition, in the round trolley line rigid train line section, since the displacement is measured based on the images of the rigid body part and the ear part, there is less false detection due to the influence of the rigid body part and the ear part. The reliability of trolley wire inspection can be improved.
In the sliding surface width data calculation process of FIG. 9, the case where it is determined whether or not the section is a rigid section and the process branches is described. However, this determination is omitted, and the processes of steps S92 to S95 are performed in all sections. You may make it perform. Further, since it is known that noise is generated in the rigid body section, the noise removal process in step S98 may be moved immediately after the process in step S95 to perform the noise removal process only in the rigid body section.

10 ... Trolley wire measuring device,
10a ... roof frame,
10b ... Glass window,
12 ... Rotating mirror,
12a ... rotating shaft 13a ... reflecting mirror,
14 ... Mirror moving mechanism,
15 ... rotating table,
16 ... A / D conversion circuit,
17 ... Waveform data memory,
18 ... arithmetic device,
19: Measuring device,
2 ... Floodlight unit,
20 ... Trolley wire
20a ... Trolley wire sliding surface,
20b, 20c ... rigid body part,
20d, 20e ... ear part,
21 ... Rail,
22 ... Overhead inspection vehicle,
24 ... Housing 25 ... Monochromatic light source mounting boards 26a-26n, 27a-27n ... Condensing lens groups 28a-28n, 29a-29n ... Lens holder groups 2a-2n ... Light-emitting diode groups,
2P ... Slit shaping condenser lens 3 ... Imaging lens,
3a: focusing lens,
4. Light receiving unit,
41 ... Rigid camera,
41a, 41b ... two-dimensional camera,
5 ... Pulse drive circuit,
50. Light emitting diode projector,
51 ... Projection angle adjustment mirror,
55. Ambient light filter,
6 ... Received light signal processing unit,
60 ... Linear Fresnel lens,
61 ... trolley wire detection position,
63 ... heat sink,
65a-65n ... collimating lens 69 ... mounting substrate,
7 ... Trolley wire height detection mechanism,
7a: Roller contact,
7b ... rotating arm,
7c: angle detector,
8: Measurement optical system controller,
8a ... control data table,
9 ... CCD line sensor camera,
9, 9a, 9b, 9c ... line sensor camera

Claims (10)

In the trolley wire measurement method for measuring the outer shape of the trolley wire by projecting light toward the trolley wire and receiving the reflected light,
Take an image of the trolley line and the nearby train line equipment in the rigid train line section, measure the deviation of the train line equipment based on the photographed image, and reflect the measurement result to the measurement of the outer shape of the trolley line A trolley wire measurement method characterized in that   2. The trolley wire measurement method according to claim 1, wherein a binarized signal obtained by binarizing the light reception signal of the reflected light with a predetermined threshold is generated, and an end of an adjacent one of a pulse waveform constituting the binarized signal is generated. When the inter-pulse distance between the edge and the start edge is a predetermined value or more, sliding surface width data or noise data is obtained based on the width of the pulse waveform including the end edge, and the inter-pulse distance is more than the predetermined value. Is smaller, the pulse waveform including the end edge and the pulse waveform including the start edge are combined to form a new pulse waveform, and the same processing is performed between the pulse waveform adjacent to the new pulse waveform. The binarized signal is classified into the noise data and the sliding surface width data, and the outside of the trolley wire is classified based on the binarized signal classified into the sliding surface width data. Trolley wire measuring method characterized by determining the.   In the trolley line measurement method according to claim 2, when the width of the pulse waveform including the end edge is greater than or equal to a value recognizable as a trolley line, the pulse waveform including the end edge is used as the sliding surface width data, The trolley line measurement method characterized by using the pulse waveform including the end edge as the noise data when the width of the pulse waveform including the end edge is smaller than a value recognizable as a trolley line.   The trolley wire measurement method according to claim 2 or 3, wherein the deviation of the sliding surface width data detected this time and the sliding surface width data detected last time are compared, and the deviation of the previous sliding surface width data is compared. A method for measuring a trolley wire, characterized in that the outer shape of the trolley wire is the one closest to the position.   5. The trolley wire measurement method according to claim 1, wherein, as the train line equipment, the trolley wire mounting rigid body portion and the ear portion are biased by a pattern matching method based on the captured image. A trolley wire measuring method, wherein the position is measured and the measurement result is reflected in the measurement of the outer shape of the trolley wire. A light projecting means for projecting light toward the trolley wire;
A light receiving means for receiving the reflected light of the light projected toward the trolley line by the light projecting means, and outputting a signal corresponding to the received light;
An imaging means for capturing an image of the trolley line and a nearby train line facility in a rigid train line section;
First measuring means for measuring deviation of the train line equipment based on an image taken by the imaging means;
A second measuring unit configured to measure an outer shape of the trolley line based on a signal from the light receiving unit, and to reflect a measurement result of the first measuring unit in the measurement of the outer shape of the trolley line in the rigid train line section; A trolley wire measuring device comprising:   7. The trolley wire measuring apparatus according to claim 6, wherein the first measuring unit binarizes a signal from the light receiving unit with a predetermined threshold value, and outputs the binarized signal. The width of the pulse waveform including the end edge when the pulse-to-pulse distance between the end edge and the start edge of adjacent ones of the pulse waveform constituting the binarized signal output from the binarizing means is equal to or greater than a predetermined value If the distance between pulses is smaller than the predetermined value, the pulse waveform including the end edge and the pulse waveform including the start edge are combined to form a new pulse waveform. By classifying the binarized signal into the noise data and the sliding surface width data by performing the same processing between the pulse waveform adjacent to the new pulse waveform, Trolley wire measuring device characterized by comprising a calculating means for obtaining a profile of the contact wire based on the classified the binarized signal to the sliding surface width data.   8. The trolley wire measurement apparatus according to claim 7, wherein when the width of a pulse waveform including the end edge is greater than or equal to a value that can be recognized as a trolley line, the arithmetic means displays the pulse waveform including the end edge as the sliding surface. An apparatus for measuring a trolley line, characterized in that if the width of the pulse waveform including the end edge is smaller than a value recognizable as a trolley line, the pulse waveform including the end edge is used as the noise data.   The trolley wire measuring device according to claim 7 or 8, wherein the arithmetic means compares the deviation between the sliding surface width data detected this time and the sliding surface width data detected last time, and the previous sliding surface. A trolley wire measuring device characterized in that the trolley wire outer shape is the one closest to the deviation of the width data.   The trolley wire measuring device according to any one of claims 6 to 9, wherein the first measuring means is the train line equipment for attaching the trolley wire by a pattern matching method based on the photographed image. An apparatus for measuring a trolley wire, wherein the displacement of a rigid body portion and an ear portion is measured, and the second measurement means reflects the measurement result of the first measurement means in the measurement of the outer shape of the trolley wire.

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