JP2022026725A - Inspection device and inspection method for trolley wire equipment - Google Patents

Abstract

To provide an inspection device and an inspection method for trolley wire equipment by which defects and melting damage of trolley wire equipment can be detected in advance, adjustment of determination conditions and comparison confirmation to a real thing are not required for each equipment.SOLUTION: An inspection device 20 for trolley wire equipment, which inspects existence or absence of abnormality in trolley wire equipment that supplies electric power to a mover via a trolley wire, has: a thermal video imaging device 21 which is attached to and moves together with the mover, and images the trolley wire equipment as a thermal video; and a thermal determination part 22 which extracts temperature data at each position from the thermal video imaged by the thermal video imaging device, performs threshold value determination for the extracted temperature data, and determines whether temperature at each position is normal or abnormal.SELECTED DRAWING: Figure 2

Description

The present invention relates to an inspection device and an inspection method for trolley wire equipment, which is equipment for supplying electric power to mobile devices such as overhead cranes and coil carts.

The trolley wire equipment is equipment that supplies electric power to mobile equipment such as overhead cranes and trolleys that transport materials and products such as steel. The trolley wire equipment has a plurality of connected trolley wires, a support insulator that insulates the building and the trolley wires, and a section insulator that is an insulator for switching the feeding range. When power is supplied from the trolley wire equipment to the electric mobile unit, a voltage is applied to the trolley wire arranged on the ground side, and the current collector of the pantograph, which is a current collector of the electric mobile unit, is brought into contact with the trolley wire and slides. Let me.

In such trolley wire equipment, equipment stop troubles may occur due to defects, melting damage, etc. in the trolley wire and its connecting portion. Therefore, from the viewpoint of preventing equipment stop troubles, maintenance personnel have performed a visual inspection over the entire length of the trolley wire to which a plurality of connected trolley wires are connected to identify an abnormal part of the trolley wire equipment.

However, visual inspection by maintenance personnel has problems such as time consuming, inability to manage trends, and differences in abnormality judgment criteria depending on the maintenance personnel. Therefore, recently, abnormality diagnosis of trolley wires using sensors has occurred. Technology has been proposed.

For example, Patent Documents 1 and 2 propose a technique for constantly monitoring an abnormal portion of a trolley wire using a laser range finder. Specifically, the technique of Patent Document 1 includes trolley line deviation information based on the relative distance between the mobile device and the trolley line measured by a laser range finder provided on the side surface of the mobile device, and a pantograph and a mobile machine. Abnormality is discriminated from the relationship of the load information of the load meter provided between the two, and the technique of Patent Document 2 is to determine the abnormality from the cross-sectional profile information of the trolley line measured by the laser rangefinder provided on the side surface of the mobile device. is doing.

Japanese Patent No. 6544089 Japanese Unexamined Patent Publication No. 2019-111904

However, for example, in a part where poor contact occurs due to loosening of bolts at the trolley wire connecting portion, contact resistance may increase and chipping or melting damage may occur, but even if poor contact occurs, there is almost no change in appearance. Therefore, the techniques of Patent Documents 1 and 2 cannot detect this in advance. Further, in the techniques of Patent Documents 1 and 2, it is necessary to adjust the discrimination condition for each track equipment in which the moving machine moves along the trolley line. In addition, it is necessary to compare and confirm with the actual product, and there is a problem that the inspection time may be long and the operation may be restricted.

Therefore, the present invention is an inspection device for trolley wire equipment that can detect defects and melting damage of trolley wire equipment in advance, does not require adjustment of judgment conditions for each equipment, and does not require comparison confirmation with the actual product. The purpose is to provide an inspection method.

In order to solve the above problems, the present invention provides the following [1] to [25].

[1] An inspection device for trolley wire equipment that inspects the presence or absence of abnormalities in trolley wire equipment that supplies power to mobile devices via trolley wires.
A thermal moving image imager that is attached to the mobile device and moves with the mobile device to capture the trolley wire equipment as a thermal moving image.
Temperature data at each position is extracted from the thermal moving image captured by the thermal moving image imager, a threshold value is determined for the extracted temperature data, and thermal determination is performed to determine whether the temperature data at each position is normal or abnormal. Department and
An inspection device for trolley wire equipment, characterized by having.

[2] The threshold value determination is a threshold value determination based on an absolute value temperature, a threshold value determination based on an ambient temperature, or a threshold value determination based on an average value in an imaging area including parallel equipment / traveling direction front and rear parts. The inspection device for the trolley wire equipment according to [1].

[3] The inspection device for the trolley wire equipment according to [1] or [2], wherein the thermal moving image imaging device captures an image of the trolley wire equipment while the mobile device is in operation.

[4] The thermal moving image imaging device is arranged so that when the trolley wire equipment is imaged, the same type of equipment parallel to the trolley wire equipment is simultaneously imaged.
The heat determination unit is one of [1] to [3], which compares the temperature between the corresponding positions of the same type of equipment in the imaging area and determines whether the temperature data is normal or abnormal. The inspection equipment for the trolley wire equipment described.

[5] A visible moving image imaging device attached to the mobile device, which moves together with the moving device to capture the trolley wire equipment as a visible moving image.
Whether the shape or surface texture of the one or more parts is normal or abnormal from the extracted image of one or more parts of the trolley wire equipment extracted by image processing the visible moving image captured by the visible moving image imaging device. The shape judgment unit to be judged and
The inspection device for the trolley wire equipment according to any one of [1] to [4].

[6] The one or more parts are the trolley wire, the support insulator that insulates the building and the trolley wire, the insulator provided between the trolley wires for switching the feeding range, and the adjacent trolley wires. The inspection device for trolley wire equipment according to [5], wherein the insulator includes one or more connecting portions for connecting the insulators.

[7] When the one or more parts are a plurality of parts, the shape determination unit classifies the extracted images by associating the position information with the extracted images of the plurality of parts, and the plurality of parts. The inspection device for trolley wire equipment according to [5] or [6], wherein the extracted image is distributed to each of the parts.

[8] The shape determination unit compares the extracted image of the one or more parts with the initial shape of the one or more parts to determine whether the shape or surface texture of the one or more parts is normal or abnormal. The inspection device for trolley wire equipment according to any one of [4] to [7], which comprises making a determination.

[9] The shape determination unit determines whether the shape or surface texture of the one or more parts is normal or abnormal by comparing the extracted images of the one or more parts with the extracted images of the same position at different dates and times. The inspection device for the trolley wire equipment according to any one of [5] to [8].

[10] The visible moving image imaging device is arranged so that when the trolley wire equipment is imaged, the same type of equipment parallel to the trolley wire equipment is simultaneously imaged.
The shape determination unit determines whether the shape or surface texture of the one or more parts is normal or abnormal by comparing the extracted image of the one or more parts with the extracted image of the one or more parts of the same type of equipment. The inspection device for the trolley wire equipment according to any one of [5] to [9].

[11] The shape determination unit is characterized in that an image of one or more portions extracted from the visible moving image is machine-learned by AI to improve the detection accuracy of the portion determined to be normal [5]. To the inspection device for the trolley wire equipment according to any one of [10].

[12] The visible moving image imaging device is arranged so that the imaging direction is perpendicular to the wear direction of the trolley wire, and when the trolley wire equipment is imaged, the wear amount of the trolley wire is also measured at the same time. The inspection device for trolley wire equipment according to any one of [5] to [11].

[13] This is an inspection method for trolley wire equipment that inspects the presence or absence of abnormalities in the trolley wire equipment that supplies electric power to a mobile device via the trolley wire.
The trolley wire equipment is imaged as a thermal moving image by a thermal moving image imaging device attached to the mobile device and moving together with the moving device.
Extracting temperature data at each position from the thermal moving image captured by the thermal moving image imaging device, and
A threshold value is determined for the extracted temperature data to determine whether the temperature data at each position is normal or abnormal.
A method for inspecting trolley wire equipment, characterized by having.

[14] The threshold value determination is a threshold value determination based on an absolute value temperature, a threshold value determination based on an atmospheric temperature, or a threshold value determination based on an average value in an imaging area including parallel devices and front and rear parts in a traveling direction. The method for inspecting trolley wire equipment according to [13].

[15] The method for inspecting a trolley wire equipment according to [13] or [14], wherein the trolley wire equipment is imaged while the mobile device is in operation.

[16] The thermal moving image imaging device is arranged so that when the trolley wire equipment is imaged, the same type of equipment parallel to the trolley wire equipment is simultaneously imaged.
The description according to any one of [13] to [15], wherein the determination of whether the temperature data is normal or abnormal is performed by comparing the temperatures between the corresponding positions of the same type of equipment in the imaging area. Inspection method for trolley wire equipment.

[17] The trolley wire equipment is imaged as a visible moving image by a visible moving image imaging device attached to the mobile device and moving together with the moving device.
Image processing of the visible moving image captured by the imaging device is performed to extract an image of one or more parts of the trolley wire equipment.
From the extracted images of the one or more parts, it is determined whether the shape or surface texture of the one or more parts is normal or abnormal.
The method for inspecting a trolley wire facility according to any one of [13] to [16].

[18] The method for inspecting a trolley wire equipment according to [17], wherein the trolley wire equipment is imaged as a thermal moving image and the trolley wire equipment is imaged as a visible moving image at the same time.

[19] The plurality of parts are adjacent to the trolley wire, a support insulator that insulates the building and the trolley wire, an insulator provided between the trolley wire for switching the feeding range, and the trolley wire. The method for inspecting trolley wire equipment according to [17] or [18], which comprises one or more connecting portions for connecting objects.

[20] To determine whether the shape or surface texture of the one or more parts is normal or abnormal, when the one or more parts are a plurality of parts, the position information is added to the extracted image of the plurality of parts. The method for inspecting a trolley wire facility according to any one of [17] to [19], wherein the extracted images are classified by associating and the extracted images are distributed to each of the plurality of parts. ..

[21] Determining whether the shape or surface texture of the one or more parts is normal or abnormal is performed by comparing the extracted image of the one or more parts with the initial shape of the one or more parts. The method for inspecting a trolley wire facility according to any one of [17] to [20].

[22] Determining whether the shape or surface texture of the one or more parts is normal or abnormal is performed by comparing the extracted images of the one or more parts with the extracted images of the same position at different dates and times. The method for inspecting a trolley wire facility according to any one of [17] to [21].

[23] The visible moving image imaging device is arranged so that when the trolley wire equipment is imaged, the same type of equipment parallel to the trolley wire equipment is simultaneously imaged.
Determining whether the shape or surface texture of the one or more parts is normal or abnormal is performed by comparing the extracted image of the one or more parts with the extracted image of one or more parts of the same type of equipment. The method for inspecting a trolley wire facility according to any one of [17] to [22].

[24] Any of [17] to [23], wherein the image of the one or more parts extracted from the visible moving image is machine-learned by AI to improve the detection accuracy of the part determined to be normal. Inspection method of trolley wire equipment described in Crab.

[25] The image pickup device is arranged so that the image pickup direction is perpendicular to the wear direction of the trolley wire, and when the trolley wire equipment is imaged, the wear amount of the trolley wire is also measured at the same time. The method for inspecting trolley wire equipment according to any one of [17] to [24].

According to the present invention, an inspection device for trolley wire equipment that can detect defects and melting damage of trolley wire equipment in advance, does not require adjustment of judgment conditions for each equipment, and does not require comparison confirmation with the actual product. An inspection method is provided.

It is a front view which shows the trolley wire equipment to which the inspection apparatus of the trolley wire equipment which concerns on 1st Embodiment of this invention is applied. It is a block diagram which shows the inspection apparatus of the trolley wire equipment which concerns on 1st Embodiment of this invention. It is a perspective view which shows the positional relationship between a trolley wire equipment and a thermal moving image camera. It is a flowchart which shows the inspection method carried out by the heat determination part of the inspection apparatus of FIG. It is a figure which compares and shows the current flow in the state which a mobile machine is not operating and the state which is operating. It is a block diagram which shows the inspection apparatus of the trolley wire equipment which concerns on 2nd Embodiment of this invention. It is a perspective view which shows the positional relationship between a trolley line equipment and a visible moving image camera. It is a side view which shows the positional relationship between a trolley line equipment and a visible moving image camera. It is a flowchart which shows the flow of the shape determination carried out by the shape determination part of the inspection apparatus of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

<First Embodiment>
First, the first embodiment will be described.
FIG. 1 is a front view showing a trolley wire facility to which the inspection device for the trolley wire facility according to the first embodiment of the present invention is applied, and FIG. 2 is an inspection device for the trolley wire facility according to the first embodiment of the present invention. 3 is a block diagram showing the above, and FIG. 3 is a perspective view showing the positional relationship between the trolley wire equipment and the image pickup device of the inspection device.

The trolley wire equipment 10 is for supplying electric power to a mobile device (not shown) such as a trolley for transporting materials and products such as an overhead crane and steel, and as shown in FIG. 1, adjacent ones are connected to each other. It has a plurality of trolley wires 11 connected to each other, a support insulator 12 for insulating the building and the trolley wires, and an insulator 13 which is an insulator provided between the trolley wires 11 for switching the power supply range. .. The trolley wire 11 is connected to the adjacent trolley wire 11 by a connecting portion 14.

Electric power is supplied to the trolley wire 11 from a power feeding unit (not shown). For example, a three-phase alternating current of 200 V to 3 kV (four phases when grounded) is supplied. The pantograph 15 of the mobile device is in contact with the trolley wire 11 so as to slide. Electric power is supplied to the drive unit of the mobile device from the trolley wire 11 via the pantograph 15. The track equipment is composed of the trolley line equipment 10 and the mobile device.

The inspection device 20 of the trolley wire equipment according to the first embodiment includes a thermal moving image camera 21 which is a thermal moving image imaging device, a thermal determination unit 22, and a management unit 23.

The thermal moving image camera 21 is for detecting a thermally abnormal portion of the trolley wire equipment 10, is attached to a mobile device, moves with the mobile device, and captures the trolley wire equipment 10 as a thermal moving image. At this time, in the thermal moving image camera 21, the frame rate is set so that imaging noise due to the vibration of the mobile device does not occur. Examples of the thermal moving image camera 21 include infrared thermography (infrared camera) and the like.

It is preferable that the thermal moving image camera 21 is arranged at a position where the parallel equipment of the same type and the trolley wire equipment can be simultaneously photographed in the front-rear direction. The same type of equipment refers to equipment of the same type and shape specifications adopted as trolley wire equipment. Further, as shown in FIG. 3, the thermal moving image camera 21 is preferably arranged at a position facing the trolley wire equipment 10.

The thermal determination unit 22 uses the threshold determination based on the absolute temperature for the temperature data captured by the thermal moving image camera 21 and the average value calculated from the ambient temperature and the temperature data of the parallel device and the front and rear parts in the traveling direction as a reference. The threshold value is determined, and the normal part and the abnormal part are discriminated. The heat determination unit 22 has a storage unit and a calculation unit, data captured by the thermal moving image camera 21 is stored in the storage unit, a threshold value determination is performed by the calculation unit, and a normal unit and an abnormal unit are discriminated. As a result, abnormalities in the parts that tend to heat resistance (for example, the mounting part of the support insulator 12 and the connecting part 14) that occur due to loose contact of the bolts of the connecting part 14, corrosion, deterioration over time, etc. can be grasped at an early stage. be able to. In the imaging area imaged by the thermal moving image camera 21, the normal portion and the abnormal portion may be discriminated by comparing the same positions of the same type of equipment parallel to the trolley wire equipment 10.

The management unit 23 summarizes the temperature data of the heat determination unit 22, the operation information of the mobile device, and the position information, and is composed of a computer having a CPU and a storage unit.

Next, the inspection method in the inspection apparatus 20 of the present embodiment will be specifically described. In the present embodiment, the inspection method in the inspection device 20 is carried out by the heat determination unit 22. FIG. 4 is a flowchart showing an inspection method carried out by the heat determination unit 22.

First, the trolley wire equipment 10 is imaged as a thermal moving image by the thermal moving image camera 21, and the imaged data is captured (step ST1). At this time, it is preferable that the image pickup by the thermal moving image camera 21 is performed in a state where the mobile device is actually in operation. That is, as shown in FIG. 5A, when the pantograph 15 is stopped while the mobile device is stopped, for example, even if the bolt of the portion of the connecting portion 14 indicated by the reference numeral A is loosened. Since no current flows through that part, it is not possible to detect an abnormality in that part. On the other hand, in the state where the mobile device is actually operating, as shown in FIG. 5 (b), since the mobile device travels, a current also flows in the portion indicated by the reference numeral A, and an abnormality is detected. can do. That is, since the current loop flowing through the trolley wire differs depending on the feeding point and the position of the mobile device (pantograph 15), it is preferable that the mobile device is in operation in order to reliably detect an abnormality. In addition, the current that flows is small when the mobile device is simply running, but the load is applied when the mobile device is operating (for example, when the mobile device is a crane, the crane is actually hoisting, etc.). Since the current that flows is large, it is possible to more reliably reveal the abnormality of the portion that tends to heat resistance, which occurs due to poor contact.

Next, temperature data is extracted from the imaged data according to the position information (step ST2). At this time, the part that does not require temperature data due to the equipment arrangement is excluded from the imaging area by masking. The position information can be grasped by using the position information of a mobile device such as an overhead crane.

Next, with respect to the extracted temperature data, it is determined whether or not the absolute temperature exceeds the threshold value (threshold value determination at absolute temperature) (step ST3). If it is determined in step ST3 that the threshold value is exceeded, it is determined whether or not the deviation from the average value in the imaging area exceeds the threshold value (threshold value determination based on the average temperature) (step ST4). Here, the average value in the imaging area means the atmospheric temperature or the average value in the imaging area including the parallel devices and the front and rear parts in the traveling direction. The ambient temperature is the average temperature of the extraction area (building equipment other than the trolley wire equipment) independent of the extraction temperature data, and does not cause an electrical or mechanical temperature change. When it is determined in step ST4 that the threshold value has been exceeded, that is,
(Extracted temperature)-(Atmospheric temperature)> Threshold or (Extracted temperature)-(Parallel device / Mean value in the imaging area including front and rear parts in the traveling direction)> If it is determined as a threshold, it is output as an abnormal part. (Step ST5). Then, this output result is associated with the operation data.

If the threshold value is not exceeded in step ST3, or if the threshold value is exceeded in step ST3 but does not exceed the threshold value in step ST4, the output is output as a normal unit (step ST6). In the imaging area imaged by the thermal moving image camera 21, the normal portion and the abnormal portion may be discriminated by comparing the same positions of the same type of equipment parallel to the trolley wire equipment 10.

As described above, in the present embodiment, the temperature data of each position is extracted from the thermal moving image captured by the thermal moving image camera 21, and the threshold value determination at the absolute temperature and the average value in the imaging area are obtained from the extracted temperature data. The threshold value is determined as a reference, and the normal part and the abnormal part are discriminated. For this reason, it is difficult to distinguish it from an abnormal part by visual inspection or the techniques of Patent Documents 1 and 2, and a part having a tendency to heat resistance generated by poor contact such as loosening of bolts, corrosion, and deterioration over time (for example, an attachment part of a support insulator 12). And the connection part 14 etc.) can be grasped at an early stage. Therefore, it is possible to prevent the contact resistance from becoming high and the chipping or melting damage from occurring in the portion where the contact failure occurs. In addition, by capturing a thermal moving image while the mobile device is in operation, a large current can be passed through the part where contact failure occurs, and the temperature rise in that part can be reliably grasped. The abnormal part can be discriminated more accurately.

Further, since the heat determination unit 22 detects an abnormality by performing threshold value determination on the temperature data captured by the thermal moving image camera 21, it is not necessary to adjust the determination conditions for each track equipment, and the heat determination unit 22 can be used for other track equipment. Easy to deploy. Furthermore, since it is determined whether it is normal or abnormal based on the temperature data of the actual object captured by the thermal moving image camera 21, it is not necessary to confirm the comparison with the actual object, the inspection time is short, and there is little possibility that the operation is restricted. ..

<Second embodiment>
Next, a second embodiment of the present invention will be described.
FIG. 6 is a block diagram showing an inspection device for the trolley wire equipment according to the second embodiment of the present invention, FIG. 7 is a perspective view showing the positional relationship between the trolley wire equipment and the visible moving image camera, and FIG. 8 is a trolley wire equipment. A side view showing the positional relationship with the visible moving image camera, and FIG. 9 is a flowchart showing an inspection method carried out by the shape determination unit of the inspection device of FIG.

Also in the second embodiment, the trolley wire equipment shown in FIG. 1 of the first embodiment is applied.

The inspection device 120 of the trolley wire equipment according to the second embodiment includes a thermal moving image camera 121 which is a thermal moving image imaging device, a thermal determining unit 122, a visible camera 123 which is a visible moving image imaging device, and a shape determining unit 124. , And a management unit 125. The thermal moving image camera 121 and the thermal determination unit 122 are configured in the same manner as the thermal moving image camera 21 and the thermal determination unit 22 of the first embodiment.

The visible camera 123 is attached to the mobile device and moves together with the mobile device to capture the trolley line equipment 10 as a visible moving image. At this time, in the visible camera 123, the frame rate is set so that imaging noise due to the vibration of the mobile device does not occur. As the visible camera 123, it is preferable to use a camera with as high a resolution as possible in order to improve the determination accuracy, and a camera suitable for mounting on a mobile device is used. An action camera can be mentioned as one that satisfies these points.

The visible camera 123 inspects whether the shape and surface condition of one or more parts of the trolley wire equipment 10 (one or more of the trolley wire 11, the support insulator 12, the insulator 13, and the connecting portion 14) are normal or abnormal, and checks for damage or the like. It is for detection, and like the thermal moving image camera 121, it is preferable to arrange it at a position where parallel devices of the same type can simultaneously shoot. Further, as shown in FIG. 7, the visible camera 123 is preferably arranged at a position facing the trolley wire equipment 10. Thereby, the wear of the trolley wire 11 can be observed. In particular, as shown in FIG. 8, the central portion of the imaging area is made to correspond to the trolley wire 11 (the one located in the center), and the imaging direction is arranged so as to be perpendicular to the wear direction of the trolley wire 11. The amount of wear of the trolley wire 11 can be measured at the same time as the image pickup.

The shape determination unit 124 has one or more parts that are inspection points of the trolley wire equipment 10, that is, the trolley wire 11, the support insulator 12, the insulator 13, and the insulator 13 extracted by image processing the visible moving image captured by the visible camera 123. From the image of one or more parts of the connecting portion 14, it is determined whether the shape or surface texture of the one or more parts is normal or abnormal. The shape determination unit 124 has a storage unit and a calculation unit, and a visible moving image captured by the visible camera 123 is stored in the storage unit, and the calculation unit determines the shape and surface texture of each portion. Since the visible moving image captured by the visible camera 123 is a collection of still images, the shape determination unit 124 extracts a plurality of images (still images) from the moving image and edits them so that one or more parts are normal parts. It is determined whether it is an abnormal part or an abnormal part.

At this time, the distribution of the extracted images when one or more parts are a plurality of parts can be performed, for example, by associating the extracted images with the position information to classify the extracted images. The position information may be grasped from the feature portion of the image itself, or may be grasped by using the position information of a mobile device such as an overhead crane. Then, for example, it is possible to determine whether it is a normal part or an abnormal part by comparing the extracted images of a plurality of parts with the initial shape of each part. Further, by comparing the extracted images of one or more parts with the extracted images of the same position at different dates and times (before the previous time), it is possible to determine whether the part is a normal part or an abnormal part. Further, by comparing the extracted image of one or more parts with the extracted image of one or more parts of the same type of equipment parallel to the trolley wire equipment 10, it is possible to determine whether it is a normal part or an abnormal part.

The image data extracted from the visible moving image captured by the visible camera 123 in the shape determination unit 124 may be machine-learned by AI. Machine learning by AI is performed by processing the extracted image data into data of inspection points necessary for AI learning and training the data in AI using a specific model. By repeating machine learning by AI for a large number of image data in this way, the image data of the normal portion determined to be normal can be increased, and the detection accuracy of the normal portion can be improved. As a result, it is possible to focus on inspecting the undetected portion and perform shape determination with high accuracy.

The management unit 125 summarizes the temperature data of the heat determination unit 122, the shape determination data of the shape determination unit 124, the operation information of the mobile device, and the position information, and is composed of a computer having a CPU and a storage unit.

Next, the inspection method in the inspection apparatus 120 of the present embodiment will be specifically described. In the present embodiment, the inspection method in the inspection device 120 is carried out by the heat determination unit 122 and the shape determination unit 124.

In the first embodiment, the heat determination unit 22 early grasps the portion that tends to be resistant to heating, which is difficult to distinguish from the abnormal portion by visual inspection or the techniques of Patent Documents 1 and 2, and is defective. In this embodiment, it is possible to prevent the occurrence of defects and melting damage more reliably, and also prevent other equipment stop troubles.

That is, in the trolley wire equipment, in addition to the equipment stop trouble due to heat breakage or melting damage, troubles due to the derailment of the pantograph occur. The derailment of the pantograph is caused by the pantograph being caught in a gap between the trolley lines, a sharp step in the vertical direction between the trolley lines, or an abnormal shape such as a defect in the trolley line itself. However, the shape of other parts of the trolley wire equipment is also a problem.

Therefore, in the present embodiment, the heat determination unit 122 performs steps ST1 to ST6 in the same manner as the heat determination unit 22 of the first embodiment, detects an abnormal portion due to heat, and prevents defects and melting damage. In addition, the shape determination unit 124 performs shape determination of each portion as described below to prevent troubles due to abnormal shape of each portion.

Next, the shape determination performed by the shape determination unit 124 will be specifically described with reference to FIG.

First, the trolley line equipment 10 is imaged by the visible camera 123, and the imaged data is captured (step ST11). Next, each part (trolley wire 11, support insulator 12, insulator 13, connecting portion 14) is image-extracted according to the position information (step ST12). As described above, the position information of the image may be grasped from the feature portion of the image itself, or may be grasped by using the position information of a mobile device such as an overhead crane. It is preferable that the image extraction is performed so that the image at the same position captured from the same angle for each part is extracted.

Next, it is determined whether or not each part can be normally image-extracted using the initial shape or the like (step ST13). If it can be extracted normally in step ST13 (when it is detected as a normal part), the imaging date and time and the position information are added to the extracted image as it is, and the image is classified for each part data (step ST14). If the extraction cannot be performed normally (in the case of an undetected portion), the data of the originally expected portion is cut out and extracted (step ST15), and then step ST14 is executed.

Then, based on the extracted image data classified for each part, it is determined whether each part is a normal part or an abnormal part (step ST16). Specifically, is there any change in the shape of each part (trolley wire 11, support insulator 12, insulator 13, connecting portion 14) compared to the initial shape (bending or wear in the case of the trolley wire 11 and the insulator 13)? Presence / absence, cracks, breakage, dirt, tilt in the case of support insulator 12, bolt disconnection, damage in the case of connecting part 14), no change compared to parallel similar equipment, different date and time (before the previous time) Whether there is any change in comparison with the measurement data (extracted image data) of the above, or two or more of these are inspected to determine whether the part is a normal part or an abnormal part.

Next, the normal part / abnormal part is output (step ST17). At this time, the extracted moving image classification and the marking on the original moving image may be performed.

If it can be extracted normally in step ST13, there is a high probability that it will be determined as a normal part in step ST16. On the other hand, the undetected portion that could not be normally extracted in step ST13 has a high probability of being determined as an abnormal portion in step ST16. As described above, by using machine learning by AI, the probability of normal image extraction in step ST13 can be increased, and the detection accuracy of the normal portion can be improved.

It should be noted that the imaging with the thermal moving image camera 121 and the imaging with the visible moving image camera 123 can be performed at the same time. Moreover, either of them may be carried out first.

As described above, in the present embodiment, the temperature data of each position is extracted from the thermal moving image captured by the thermal moving image camera 121, and the threshold determination is performed by the thermal determination unit 122 to discriminate between the normal part and the abnormal part. It is possible to grasp at an early stage the thermal abnormality of the part that tends to be resistant to heating, which occurs due to poor contact such as looseness, corrosion, and deterioration over time. In addition, the moving image captured by the visible camera 123 is image-processed to extract images of each part of the trolley wire equipment (trolley wire 11, support insulator 12, insulator 13, connecting portion 14), and each part is extracted from the extracted image. Since it is determined whether each of the above parts is a normal part or an abnormal part, it is possible to detect the shape abnormality of each part at an early stage.

As a result, it is possible to prevent defects and melting damage due to thermal abnormalities that cannot be visually grasped without changes in appearance, and at the same time, equipment abnormalities due to shape abnormalities of each part of the trolley wire equipment 10 can be prevented. Can be detected at an early stage. Moreover, since it is possible to grasp both the thermal abnormality and the shape abnormality, it is possible to more effectively prevent the trouble of the trolley wire equipment. For example, when an abnormality occurs due to loosening of the bolt of the connecting portion 14, a thermal abnormality due to poor contact due to loosening of the bolt can be determined by the thermal determination unit 122, but for some reason, the thermal determination unit 122 determines the abnormality. By detecting the deformation of the connecting portion 14 due to heat by the shape determination 124, it is possible to determine the abnormality before the equipment abnormality occurs.

Further, like the heat determination unit 22 of the first embodiment, the heat determination unit 122 does not need to adjust the determination conditions for each equipment, does not require comparison confirmation with the actual product, and the shape determination unit 124 also has. In order to detect anomalies by comparing the initial shape of each part, time-series data at the same position, and extracted images of parallel equipment of the same type, and to determine whether it is normal or abnormal based on the actual image, each track equipment There is no need to adjust the judgment conditions, and there is no need to compare and confirm with the actual product. Therefore, the inspection device 120 of the present embodiment can be easily deployed to other track facilities, the inspection time can be short, and the operation is restricted, as in the inspection device 20 of the first embodiment. There is little risk of this.

Furthermore, by performing image processing at the time of image extraction in the shape determination unit 124 by using machine learning by AI, the detection accuracy of the normal part can be improved, and as the amount of data increases, the normal part can be improved. It is possible to determine the abnormal part with high accuracy and in a shorter time.

Furthermore, although a mobile device such as an overhead crane is affected by vibration during traveling, the visible camera 123 also has an advantage that the influence of vibration is smaller than that of a conventionally used laser rangefinder.

Although FIG. 9 shows an example in which all the images of the trolley wire 11, the support insulator 12, the insulator 13, and the connecting portion 14 are extracted, the image may be extracted from one or more of these parts.

<Other applications>
Although the embodiments of the present invention have been described above, it should be considered that the embodiments are merely examples and are not restrictive. The above embodiments may be omitted, replaced or modified in various forms without departing from the gist of the present invention.

For example, in the above embodiment, an overhead crane or a trolley is exemplified as a mobile device, but the present invention is not limited thereto. Further, in the above embodiment, an example is shown in which machine learning by AI is applied to image processing by the shape determination unit to improve the detection accuracy of the normal portion, but the present invention is not limited to this.

10 Trolley wire equipment 11 Trolley wire 12 Support insulator 13 Insulator 14 Connection part 15 Pantograph 20,120 Inspection device 21,121 Thermal video camera 22,122 Thermal judgment unit 23,125 Management unit 123 Visible camera 124 Shape determination unit

Claims (25)

It is an inspection device for trolley wire equipment that inspects for abnormalities in trolley wire equipment that supplies power to mobile devices via trolley wire.
A thermal moving image imager that is attached to the mobile device and moves with the mobile device to capture the trolley wire equipment as a thermal moving image.
Temperature data at each position is extracted from the thermal moving image captured by the thermal moving image imager, a threshold value is determined for the extracted temperature data, and thermal determination is performed to determine whether the temperature data at each position is normal or abnormal. Department and
An inspection device for trolley wire equipment, characterized by having. The threshold value determination is characterized in that it is a threshold value determination based on an absolute value temperature, a threshold value determination based on an atmospheric temperature, or a threshold value determination based on an average value in an imaging area including parallel devices and front and rear parts in a traveling direction. The inspection device for the trolley wire equipment according to claim 1. The inspection device for the trolley wire equipment according to claim 1 or 2, wherein the thermal moving image imaging device captures an image of the trolley wire equipment while operating the mobile device. The thermal moving image imaging device is arranged so that when the trolley wire equipment is imaged, the same type of equipment parallel to the trolley wire equipment is simultaneously imaged.
Any one of claims 1 to 3, wherein the heat determination unit compares temperatures between corresponding positions of the same type of equipment in the imaging area and determines whether the temperature data is normal or abnormal. Inspection equipment for trolley wire equipment as described in section. A visible moving image imaging device that is attached to the mobile device and moves together with the moving device to capture the trolley line equipment as a visible moving image.
Whether the shape or surface texture of the one or more parts is normal or abnormal from the extracted image of one or more parts of the trolley wire equipment extracted by image processing the visible moving image captured by the visible moving image imaging device. The shape judgment unit to be judged and
The inspection device for trolley wire equipment according to any one of claims 1 to 4, further comprising. The one or more parts include the trolley wire, a support insulator that insulates the building from the trolley wire, an insulator provided between the trolley wires for switching the feeding range, and an adjacent one of the trolley wires. The inspection device for trolley wire equipment according to claim 5, wherein the inspection apparatus includes one or more connecting portions to be connected. When the one or more parts are a plurality of parts, the shape determination unit divides the extracted image by associating the position information with the extracted images of the plurality of parts, and each of the plurality of parts. The inspection device for the trolley wire equipment according to claim 5 or 6, wherein the extracted images are distributed to the above. The shape determination unit determines whether the shape or surface texture of the one or more parts is normal or abnormal by comparing the extracted image of the one or more parts with the initial shape of the one or more parts. The inspection device for trolley wire equipment according to any one of claims 4 to 7, wherein the trolley wire equipment is inspected. The shape determination unit determines whether the shape or surface texture of the one or more parts is normal or abnormal by comparing the extracted images of the one or more parts with the extracted images of the same position at different dates and times. The inspection device for trolley wire equipment according to any one of claims 5 to 8, which is characteristic. The visible moving image imaging device is arranged so that when the trolley wire equipment is imaged, the same type of equipment parallel to the trolley wire equipment is simultaneously imaged.
The shape determination unit determines whether the shape or surface texture of the one or more parts is normal or abnormal by comparing the extracted image of the one or more parts with the extracted image of the one or more parts of the same type of equipment. The inspection device for trolley wire equipment according to any one of claims 5 to 9, wherein the inspection device is characterized in that. Claim 5 to claim 5, wherein the shape determination unit machine-learns an image of the one or more portions extracted from the visible moving image by AI to improve the detection accuracy of the portion determined to be normal. The inspection device for trolley wire equipment according to any one of 10. The visible moving image imaging device is arranged so that the imaging direction is perpendicular to the wear direction of the trolley wire, and when the trolley wire equipment is imaged, the wear amount of the trolley wire is also measured at the same time. The inspection device for trolley wire equipment according to any one of claims 5 to 11. This is an inspection method for trolley wire equipment that inspects the presence or absence of abnormalities in the trolley wire equipment that supplies power to mobile devices via the trolley wire.
The trolley wire equipment is imaged as a thermal moving image by a thermal moving image imaging device attached to the mobile device and moving together with the moving device.
Extracting temperature data at each position from the thermal moving image captured by the thermal moving image imaging device, and
A threshold value is determined for the extracted temperature data to determine whether the temperature data at each position is normal or abnormal.
A method for inspecting trolley wire equipment, characterized by having. The threshold value determination is characterized by a threshold value determination based on an absolute value temperature, a threshold value determination based on an ambient temperature, or a threshold value determination based on an average value in an imaging area including parallel devices and front and rear parts in a traveling direction. The method for inspecting trolley wire equipment according to claim 13. The method for inspecting a trolley wire equipment according to claim 13 or 14, wherein the trolley wire equipment is imaged while the mobile device is in operation. The thermal moving image imaging device is arranged so that when the trolley wire equipment is imaged, the same type of equipment parallel to the trolley wire equipment is simultaneously imaged.
13. The method of inspecting the trolley wire equipment described. The trolley line equipment is imaged as a visible moving image by a visible moving image imaging device attached to the mobile device and moving together with the moving device.
Image processing of the visible moving image captured by the imaging device is performed to extract an image of one or more parts of the trolley wire equipment.
From the extracted images of the one or more parts, it is determined whether the shape or surface texture of the one or more parts is normal or abnormal.
The method for inspecting a trolley wire facility according to any one of claims 13 to 16, further comprising. The inspection method for trolley wire equipment according to claim 17, wherein the trolley wire equipment is imaged as a thermal moving image and the trolley wire equipment is imaged as a visible moving image at the same time. The plurality of parts connect the trolley wire, the support insulator that insulates the building and the trolley wire, the insulator provided between the trolley wire for switching the feeding range, and the adjacent one of the trolley wire. The method for inspecting trolley wire equipment according to claim 17 or 18, wherein the insulator includes one or more of the connecting portions. To determine whether the shape or surface texture of the one or more parts is normal or abnormal is to associate the position information with the extracted image of the plurality of parts when the one or more parts are a plurality of parts. The inspection method for trolley wire equipment according to any one of claims 17 to 19, wherein the extracted image is divided according to the method and the extracted image is distributed to each of the plurality of parts. Determining whether the shape or surface texture of the one or more parts is normal or abnormal is characterized by comparing the extracted image of the one or more parts with the initial shape of the one or more parts. The method for inspecting trolley wire equipment according to any one of claims 17 to 20. Determining whether the shape or surface texture of the one or more parts is normal or abnormal is characterized by comparing the extracted images of the one or more parts with the extracted images of the same position at different dates and times. The method for inspecting a trolley wire facility according to any one of claims 17 to 21. The visible moving image imaging device is arranged so that when the trolley wire equipment is imaged, the same type of equipment parallel to the trolley wire equipment is simultaneously imaged.
Determining whether the shape or surface texture of the one or more parts is normal or abnormal is performed by comparing the extracted image of the one or more parts with the extracted image of one or more parts of the same type of equipment. The method for inspecting a trolley wire facility according to any one of claims 17 to 22, wherein the method is characterized. One of claims 17 to 23, wherein the image of the one or more parts extracted from the visible moving image is machine-learned by AI to improve the detection accuracy of the part determined to be normal. Inspection method of trolley wire equipment described in. The imaging device is arranged so that the imaging direction is perpendicular to the wear direction of the trolley wire, and when the trolley wire equipment is imaged, the wear amount of the trolley wire is also measured at the same time. The method for inspecting trolley wire equipment according to any one of claims 17 to 24.

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