JP2015184263A - Inspection system and inspection method of pantagraph slider - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for inspecting a state of a pantagraph slider properly.SOLUTION: An inspection system of a pantagraph slider comprises: a wiring 3 which is disposed obliquely by an angle other than orthogonal angle with respect to a slider unit 100 moving according to travel of a railway vehicle in plan view; shape detection means for detecting a shape of the slider unit 100 from an upper part side of the slider unit 100; and state determination means for determining a state of the slider unit 100 on the basis of the shape of the slider unit 100 detected by the shape detection means. The shape detection means detects the shape of the slider unit 100 by dividing the slider unit into a first detection area corresponding to one side sandwiching a center part in a longitudinal direction of the slider unit 100 and a second detection area corresponding to the other side sandwiching the center part, and the first detection area and the second detection area are disposed so as to face each other sandwiching the wiring 3 in the plan view.

Description

  The present invention relates to a technique for inspecting the state (for example, the amount of wear) of a pantograph sliding plate used in a railway vehicle in a non-contact manner.

  The railway vehicle is provided with a pantograph in order to receive power supply from the overhead line during its operation. This pantograph is provided with a sliding plate that is a contact point with the overhead wire. Since the sliding plate is always in contact with the overhead wire during traveling of the railway vehicle, it is easy to wear and may be damaged. For this reason, it is necessary to periodically inspect conditions such as the wear amount of the sliding plate. Although it is conceivable to perform this inspection by visual inspection by an operator, it is necessary to automate the inspection because a large burden is required to inspect many railway vehicles at an appropriate frequency.

  For example, Japanese Patent Laying-Open No. 2005-337714 (Patent Document 1) discloses a conventional technique relating to a state inspection of a slab, an illumination unit that irradiates light with a plurality of illumination devices having different conditions with respect to a pantograph, and a lateral direction of the pantograph Imaging means for obtaining image data including a sliding plate by imaging with a plurality of CMOS cameras under different conditions, and selecting image data with the sharpest shape of the sliding plate from the image data captured by the imaging means. Also disclosed is a pantograph inspection device comprising image processing means for determining the wear amount of a sliding plate.

  By the way, in general, the sliding plate has a long shape in one direction, and its longitudinal direction is arranged in a direction orthogonal to or close to the extending direction of the overhead wire, and is in contact with the overhead wire near the center of the longitudinal direction. Wear and damage are likely to occur near the center. For this reason, it is desired to more accurately inspect the state near the center of the sliding plate. However, when it is considered that the inspection is automatically performed at any time during the operation of the railway vehicle, in the related art such as the pantograph inspection device disclosed in Patent Document 1 described above, the vicinity of the center of the sliding plate is hidden in the overhead line. For this reason, it has been difficult to properly inspect the sliding plate.

JP 2005-337714 A

  The specific aspect which concerns on this invention makes it one of the objectives to provide the technique which can perform the state test | inspection of a pantograph slip board more appropriately.

  A system for detecting a state of a pantograph sliding plate unit attached to a railway vehicle, (a) in plan view, with respect to a traveling direction of the sliding plate unit that moves as the railway vehicle travels An overhead line arranged obliquely at an angle other than orthogonal, (b) shape detecting means for detecting the shape of the sliding plate unit from the upper side of the sliding plate unit, and (c) detected by the shape detecting means. State determining means for determining the state of the sliding plate unit based on the shape of the sliding plate unit, wherein (d) the shape detecting means sandwiches a central portion in the longitudinal direction of the sliding plate unit. The shape of the sliding plate unit is detected by dividing it into a first detection region corresponding to the side and a second detection region corresponding to the other side across the central portion, and (f) the first detection region The second detection areas are arranged opposite to each other across the overhead line in a plan view, arranged separately along the traveling direction of the sliding plate unit, and separated along a direction orthogonal to the traveling direction. (G) A pantograph slip plate inspection system in which a part of each of the first detection area and the second detection area is arranged overlappingly including the central portion.

  According to the said structure, it becomes possible to perform the state inspection of a pantograph slip board appropriately.

FIG. 1 is a block diagram illustrating a configuration of an inspection apparatus for a pantograph slip plate according to an embodiment. FIG. 2 is a schematic perspective view showing the structure of the sliding plate unit. FIG. 3A is a diagram schematically showing the detection result of the shape of the sliding plate unit. FIG. 3B is a diagram schematically showing the detection result of the cross-sectional shape of the sliding plate unit. 4A and 4B are diagrams for explaining the irradiation direction of the line-shaped laser light from each laser light source. FIG. 5A and FIG. 5B are diagrams for explaining a suitable example of the image processing method. FIG. 6 is a schematic plan view for explaining an installation state of the overhead line and the inspection unit in the inspection system for the pantograph sliding plate. FIG. 7 is a diagram showing a generalized installation state of the inspection unit and the overhead wire.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a block diagram illustrating a configuration of an inspection apparatus for a pantograph slip plate according to an embodiment. The pantograph slip plate inspection apparatus shown in FIG. 1 is for inspecting the amount of wear of a pantograph slide plate unit 100 arranged in a railway vehicle, and includes a detection unit 1 and a control unit 2. The inspection unit 1 and the control unit 2 are connected to each other using a communication cable so that they can communicate with each other. The inspection system for the pantograph sliding plate is configured including the inspection apparatus and the overhead line 3 (see FIG. 6 described later) in a predetermined installation state.

  The inspection unit 1 is installed above the pantograph sliding plate unit 100 provided on the roof portion of the railway vehicle and above the overhead line extending along the traveling direction of the railway vehicle. The inspection unit 1 includes laser light sources 11a and 11b, 3D cameras (three-dimensional cameras) 12a and 12b, a laser Doppler velocimeter 13, trigger sensors 14a and 14b, and an interface unit (I / F) 15. It is configured.

  The laser light sources 11a and 11b respectively irradiate the sliding plate unit 100 with a linear laser beam. The wavelength of the laser light here is not particularly limited, and for example, red laser light having a wavelength of about 650 nm can be used.

  The 3D cameras 12a and 12b detect (photograph) reflected light generated when the laser beam emitted from the laser light sources 11a and 11b is irradiated onto the sliding plate unit 100, respectively. Specifically, the 3D camera 12a is paired with the laser light source 11a, and detects reflected light from the laser light emitted by the laser light source 11a. The 3D camera 12b is paired with the laser light source 11b and detects reflected light from the laser light emitted by the laser light source 11b.

  The laser Doppler velocimeter 13 detects the moving speed of the railway vehicle using the reflected light of the laser beam irradiated on the roof portion of the railway vehicle. The detected moving speed is used for correcting images detected by the 3D cameras 12a and 12b.

  The trigger sensors 14a and 14b are arranged so as to be separated forward and backward along the traveling direction of the railway vehicle, and the detection that the pantograph sliding plate unit 100 has entered the detection range by the detection unit 1 and the detection thereof. Detect out of range. By using the detection results by the trigger sensors 14a and 14b, the operation of the laser light sources 11a and 11b and the 3D cameras 12a and 12b can be stopped when the sliding plate unit 100 is not within the detection range.

  The interface unit 15 performs communication control between the inspection unit 1 and the control unit 2. Specifically, the interface unit 13 receives a control signal transmitted from the inspection unit 1 and sends it to the laser light sources 11a and 11b, and detection data (image data) output from the 3D cameras 12a and 12b. Processing to transmit to the control unit 2 and transmission processing of detection data by the laser Doppler velocimeter 13 and the trigger sensors 14a and 14b are performed.

  The control unit 2 controls the operation of the inspection unit 1 and performs information processing for obtaining the state of the sliding plate unit 100 using various data transmitted from the inspection unit 1. A personal computer 21, an image PC 22, an inspection PC 23, and a monitor 24.

  The vehicle management PC 21 identifies information necessary for management of the inspection target, such as identification of the railway vehicle to be inspected and identification of the pantograph sliding plate unit 100 to be inspected among a plurality of pantographs provided in the railway vehicle. Process.

  The image PC 22 uses the various data transmitted from the inspection unit 1 to visualize an image (for example, a line image or a three-dimensional image) that visualizes the state of the sliding plate unit 100 to be inspected, or an image indicating the inspection result. Information processing for generating and displaying on the monitor 24 is performed.

  The inspection PC 23 detects the state of the sliding plate unit 100 to be inspected using various data transmitted from the inspection unit 1 and outputs the result to an external device (not shown). Here, in this embodiment, the wear amount of the sliding plate unit 100 is detected as the state of the sliding plate unit 100. The inspection PC 23 detects the wear amount of the sliding plate unit 100, and generates and outputs an alert signal indicating that when the wear amount becomes larger than a predetermined value (for example, 3 mm). The amount of wear here is the difference between the normal thickness (for example, 20 mm) of the sliding plate unit 100 and the thickness at the time of inspection (for example, 17 mm).

  The monitor 24 is an information display device such as a liquid crystal display device, and displays an image generated by the image PC 23.

  FIG. 2 is a schematic perspective view showing the structure of the sliding plate unit. Here, about half of the entire sliding plate unit 100 is shown. In the drawing, the right side is the right end of the sliding plate unit 100, and the left side is the central portion of the sliding plate unit 100. The sliding plate unit 100 includes a sliding plate 101 and a boat body 102 that supports the sliding plate 101 from below. Normally, the wear plate 101 is in a worn state in which the central portion is worn out as compared with the left end side and the right end side. The three-dimensional image displayed on the monitor 24 by the image PC 22 is measured by using the upper surface of the hull 102 as a reference plane so that the relatively worn center portion and the left end side not worn can be visually distinguished. A difference in height (that is, thickness) of the plate 101 is expressed as a difference in color tone.

  FIG. 3A is a diagram schematically showing the detection result of the shape of the sliding plate unit. Here, an image in which a part of the shape of the sliding plate unit 100 is detected from directly above is shown. As shown in the figure, a sliding plate 101 extending up and down is shown, and a part of the boat body 102 is shown on both sides thereof. In the present embodiment, the surface shape of the sliding plate unit 100 that is the object is detected by a known light cutting method. Specifically, a linear laser beam is intermittently emitted from each laser light source 11a and 11b to the sliding plate unit 100 that moves as the railway vehicle travels, and the reflected light obtained thereby is emitted from each 3D camera. The shape of the sliding plate unit 100 is detected by detecting by 12a and 12b and executing predetermined information processing in the inspection PC 23.

  FIG. 3B is a diagram schematically showing the detection result of the cross-sectional shape of the sliding plate unit. The outline of the cross section in the direction of the aa line shown in FIG. 3 (A) is shown. As shown in the figure, the height of the reference surface S that is the upper surface of the boat body 102 is set as the reference height. Further, the height of the upper surface 101a of the sliding plate 101 is obtained for the entire sliding plate 101, and the lowest value is detected. A difference between the minimum value of the height of the upper surface 101a of the sliding plate 101 and the reference height is obtained as the height h of the sliding plate 101. For example, if the normal value of the height h of the sliding plate 101 is 20 mm and the limit value of the wear amount is 3 mm, the height h of the sliding plate 101 detected here is 17 mm or less. The inspection PC 23 determines that the sliding plate 101 cannot be used continuously.

  4A and 4B are diagrams for explaining the irradiation direction of the line-shaped laser light from each laser light source. For example, as shown in FIG. 4A, the line-shaped laser beam 103 from each of the laser light sources 11a and 11b is irradiated in a direction substantially parallel to the extending direction of the sliding plate 101 and the boat body 102 (left and right in the drawing). can do. However, when the sliding plate 100 or the like moves in a direction substantially perpendicular to the extending direction thereof as the railway vehicle travels, if the moving speed is relatively fast (for example, several tens of kilometers per hour), it is intermittent. The number of line-shaped laser beams to be irradiated on the sliding plate 101 and the like is relatively reduced. For this reason, there may be a case where the number of laser beams irradiated to the boat body 102 is reduced or there is no laser beam irradiated. In that case, it is conceivable that the detection accuracy of the height of the reference surface S, which is the upper surface of the boat body 102, is lowered or cannot be detected.

  For the above case, the line-shaped laser beam 103 from each of the laser light sources 11a and 11b, as shown in FIG. It is preferable to irradiate in an oblique direction with a certain angle with respect to (direction). By offsetting the irradiation direction of the laser beam in this way, even when the moving speed of the sliding plate 101 or the like is increased, a plurality of laser beams can be more reliably irradiated to the sliding plate 101 and the boat body 102. it can. Thereby, the detection accuracy of the height of the reference plane S which is the upper surface of the boat body 102 can be improved, and as a result, the detection accuracy of the height h of the sliding plate 101 can be improved. Note that, in the example of FIG. 4B, the irradiation direction of the laser light is shown as rising to the right, but this is an example, and the irradiation direction of the laser light may be falling to the right. Moreover, it is good also as a different irradiation direction in each laser light source 11a, 11b.

  FIG. 5A and FIG. 5B are diagrams for explaining a suitable example of the image processing method. In each figure, it is assumed that the sliding plate unit 100 relatively moves from the upper side to the lower side. At this time, as shown in FIG. 5A, when the sliding plate unit 100 enters the detection range of each 3D camera 12a, 12b, background information is not emitted without irradiating the laser light from each laser light source 12a, 12b. The image Im1 is acquired. Next, when the sliding plate unit 100 is located near the center of the detection range, the laser light 103 from each of the laser light sources 12a and 12b is irradiated to acquire the image Im2.

  Thereafter, immediately before the sliding plate unit 100 is out of the detection range, the image Im3 as background information is acquired again. First, the image Im1 and the image Im3 are averaged to generate an image as one background information. Thereafter, the difference between the image as background information and the image Im2 at the time of laser light irradiation is obtained. Thereby, since only the component of the reflected light by a laser beam can be extracted, the detection accuracy of the shape of the sliding plate unit 100 can be improved more. Note that by increasing the shutter speed of each of the 3D cameras 12a and 12b, as shown in FIG. 5B, the images Im1 and Im3 when the laser light is not irradiated and the images Im2 and Im4 when the laser light is irradiated are obtained. And may be acquired alternately.

  FIG. 6 is a schematic plan view for explaining an installation state of the overhead line and the inspection unit in the inspection system for the pantograph sliding plate. FIG. 6 illustrates a state in which the overhead wire 3 and the sliding plate unit 100 are arranged in plan view from above. As shown in FIG. 6, the overhead line 3 in the present inspection system is largely oblique to the traveling direction of the sliding plate unit 100 (in other words, the traveling direction of the railway vehicle) at least within the range where the inspection unit 1 is installed. Are arranged to be. The range in which the inspection unit 1 is installed is, for example, several meters along the direction of travel of the sliding plate unit 100. Moreover, the length of the sliding plate unit 100 is several tens of centimeters as an example. Under such conditions, the overhead wire 3 is arranged such that an angle θ formed by a direction orthogonal to the extending direction and the traveling direction of the sliding plate unit 100 (vertical direction in the drawing) is, for example, about 70 °. . For this reason, as shown in the drawing, the overhead wire 3 arranged substantially straight before and after the installation range of the inspection unit 1 is arranged to be largely bent in the installation range of the inspection unit 1.

  In general, the overhead lines used for the operation of railway vehicles are arranged in a slanted manner so as to reciprocate between both ends in the longitudinal direction of the board unit within a range of several hundred meters. However, in this case, the angle formed between the overhead wire and the direction of travel of the sliding plate unit (the traveling direction of the railway vehicle) is assumed to be 89.9 °, assuming that the sliding plate unit reciprocates every 500 meters. Thus, the overhead line and the traveling direction of the sliding plate unit are substantially equal to each other. That is, the technical meaning is completely different from the oblique arrangement of the overhead lines in the present inspection system.

  In this inspection system, as shown in FIG. 6, the detection range (imaging range) 112a by the detection means including the laser light source 11a and the 3D camera 12a, and the laser light source 11b and the 3D camera with respect to the overhead line 3 arranged obliquely. The detection range (imaging range) 112b by the detection means consisting of 12b is arranged back and forth along the traveling direction of the sliding plate unit 100, and both are arranged so that the overhead line 3 passes between the detection ranges 112a and 112b. Has been. In the example shown in the figure, the inspection range 112a is disposed on the rear side relative to the inspection range 112b with respect to the traveling direction of the sliding plate unit 100. Further, the detection ranges 112a and 112b are also arranged apart from each other in the direction orthogonal to the traveling direction of the sliding plate unit 100 (the horizontal direction in the drawing). Specifically, the detection range 112a is arranged on the left side (right side when the traveling direction is a reference) with respect to the central position o in the traveling direction of the sliding plate unit 100, and the detection range 112b is relative to the central position o. It is arranged on the right side (left side when the traveling direction is used as a reference), and the overhead line 3 is arranged between the detection ranges 112a and 112b. With such an arrangement, at least within the installation range of the inspection unit 1, the center position of the sliding plate unit 100 can be included in each of the detection ranges 112 a and 112 b without overlapping the overhead wire 3.

  The arrangement of the detection ranges 112a and 112b can be set by appropriately adjusting the positions of the laser light sources 11a and 11b and the 3D cameras 12a and 12b. Simply, the laser light source 11a and the 3D camera 12a may be installed in association with the position of the detection range 112a, and the laser light source 11b and the 3D camera 12b may be installed in association with the position of the detection range 112b. Specifically, the laser light source 11a and the 3D camera 12a may be disposed above the detection range 112a, and the laser light source 11b and the 3D camera 12b may be disposed above the detection range 112b. Further, by using an optical path changing means such as a reflection optical system, the positions of the detection ranges 112a and 112b are set as described above without directly associating the arrangement of the laser light sources and the detection ranges. be able to.

  Here, at least the detection ranges 112a and 112b only need to be arranged in contact with each other with the central position o of the sliding plate unit 100 interposed therebetween. In the illustrated example, the right end of the detection range 112a may coincide with the central position o, and the left end of the detection range 112b may coincide with the central position o. As a more preferable aspect, in the present inspection system, the right end of the detection range 112a is set to protrude to the left side from the center position o, and the left end of the detection range 112b is set to protrude to the right side from the center position o. Thus, by providing the overlapping range 113 of the detection range 112a and the detection range 112b, it is possible to capture the central portion of the sliding plate unit 100 more reliably. Note that only one of the detection ranges 112a and 112b may be set to protrude from the center position o.

  Next, with reference to FIG. 7, how to set the installation state of the inspection unit 1 and the overhead wire 3 will be generalized and described. The length of the sliding plate unit 100 in the longitudinal direction is W, the width is a, the distance between the detection ranges 112a and 112b (the distance between the centers) is L, and the width of the overlapping range 113 of the detection ranges 112a and 112b. Is d, and the width of each of the detection ranges 112a and 112b is 2a. Here, the mutual distance L between the detection ranges 112a and 112b is the mutual distance between the 3D cameras 12a and 12b when the installation positions of the 3D cameras 12a and 12b coincide with the positions of the detection ranges 112a and 112b. It can be determined as the distance between.

At this time, if the angle between the direction perpendicular to the traveling direction of the sliding plate unit 100 and the overhead wire 3 is θ, the following relationship is derived between the parameters.
tan θ = (L−2a) / d (1)
From the above equation (1), the angle θ is obtained as follows.
θ = arctan ((L-2a) / d) (2)

  Therefore, the installation state of the inspection unit 1 and the overhead wire 3 can be determined based on the above equation (2). As a specific example, assuming that L = 1.0 [m], d = 0.3 [m], and a = 0.075 [m], the value of θ obtained by equation (2) is 70. .6 °. Therefore, the overhead wire 3 may be arranged (laid) so that the angle θ formed by the direction orthogonal to the traveling direction of the sliding plate unit 100 and the extending direction of the overhead wire 3 is 70.6 ° or less.

Similarly, for example, if the request to set the inclination angle θ of the overhead wire 3 to 80 ° has been determined in advance, the equation (1) can be changed as follows to change the detection ranges 112a and 112b. The mutual distance L can be obtained as 1.85 [m]. Based on this value, the positions of the detection ranges 112a and 112b, and thus the positions of the laser light sources and the like may be determined. The same applies to other parameters.
L = d × tan θ + 2a (3)

In the above-described equation (1), it is assumed that the width of each detection range 112a, 112b is twice the width a of the sliding plate unit 100. However, when they are set equal, What is necessary is just to change and use as follows.
tan θ = (L−a) / d (4)

  According to the embodiment as described above, it is possible to prevent the central portion of the sliding plate unit and the overhead line from overlapping each other at the time of shape detection in each detection range, and thus it is possible to appropriately inspect the state of the pantograph sliding plate. It becomes. In particular, it is possible to inspect the pantograph sliding plate without any hindrance during the operation of the railway vehicle, such as the timing when the railway vehicle enters the stop station.

  In addition, this invention is not limited to the content of embodiment mentioned above, In the range of the summary of this invention, it can change and implement variously. For example, in the above-described embodiment, the “abrasion amount” of the sliding plate is detected as the state of the sliding plate unit. However, other than this, for example, damage such as partial chipping of the sliding plate is detected. Various states can be detected. In the above-described embodiment, a combination of a laser light source and a 3D camera is used as an example of the shape detection unit. However, the shape detection unit is not limited to this.

1: Inspection unit 2: Control unit 3: Overhead wire 11a, 11b: Laser light source 12a, 12b: 3D camera 13: Laser Doppler velocimeter 14a, 14b: Trigger sensor 15: Interface unit 21: PC for vehicle management
22: Image PC
23: PC for inspection
24: Monitor 100: Sliding plate unit 101: Sliding plate 101a: Upper surface of the sliding plate 102: Ship body 103: Laser light 112a, 112b: Detection range (imaging range)
113: Overlapping range

Claims (3)

A system for detecting the state of a pantograph sliding plate unit attached to a railway vehicle,
In a plan view, an overhead line arranged obliquely at an angle other than orthogonal to the traveling direction of the sliding plate unit that moves as the railway vehicle travels;
Shape detecting means for detecting the shape of the sliding plate unit from the upper side of the sliding plate unit;
State determining means for determining the state of the sliding plate unit based on the shape of the sliding plate unit detected by the shape detecting means;
Including
The shape detecting means is divided into a first detection region corresponding to one side sandwiching the central portion in the longitudinal direction of the sliding plate unit and a second detection region corresponding to the other side sandwiching the central portion. Detecting the shape of the unit,
The first detection area and the second detection area are arranged opposite to each other with the overhead line interposed therebetween in a plan view, arranged separately along the traveling direction of the sliding plate unit, and in a direction perpendicular to the traveling direction. Are arranged separately along
A part of each of the first detection area and the second detection area is arranged overlapping the central portion,
Inspection system for pantograph strips. The shape detection means detects the shape of the sliding plate unit based on reflected light generated by irradiating a line-shaped laser beam from the upper side of the sliding plate unit,
The line-shaped laser light is irradiated with the extending direction thereof in a direction oblique to the longitudinal direction of the sliding plate unit,
The inspection system for a pantograph slip plate according to claim 1. A method for detecting the state of a pantograph sliding plate unit attached to a railway vehicle,
(A) disposing an overhead line at an angle other than orthogonal to the traveling direction of the sliding plate unit that moves as the railcar travels in plan view;
(B) the shape detecting means detects the shape of the sliding plate unit from the upper side of the sliding plate unit;
(C) the state determination means determines the state of the sliding plate unit based on the shape of the sliding plate unit;
Including
(D) The (b) is divided into a first detection region corresponding to one side sandwiching the central portion in the longitudinal direction of the sliding plate unit and a second detection region corresponding to the other side sandwiching the central portion. Detecting the shape of the sliding plate unit,
(E) The first detection region and the second detection region in (d) are arranged to face each other across the overhead line in plan view.
Inspection method for pantograph strips.

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