JP4393804B2 - Method and system for measuring amount of icy snow on moving body - Google Patents
Method and system for measuring amount of icy snow on moving body Download PDFInfo
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Description
【０００１】
【発明の属する技術分野】
本発明は、移動体の着氷雪量の測定方法及びシステムに係り、特に、レーザシート光を用いた光切断方式によって、鉄道車両等の移動体に形成された着氷雪の量を測定する方法とシステムに関するものである。
【０００２】
【従来の技術】
従来、移動体の着氷雪量の計測は、特に、鉄道分野において行われている。
【０００３】
積雪地域では、車両着氷雪の落下に伴うバラスト飛散により窓ガラス破損等の車両破損を引き起こすことがあり、列車運行の安全性にとって大きな問題となっている。このため、一部の路線では、頻繁な融雪作業や着氷雪除去作業、及び列車速度規制等の対策がとられている。
【０００４】
鉄道車両の着氷雪量測定に関する従来技術としては、下記特許文献１〜３に開示したようなものがあり、高速度カメラにより車両床下の着氷雪状況を監視するもの（下記特許文献１）、超音波センサで特定部位の着氷雪厚さを測定するもの（下記特許文献２）、光ビーム遮断方式により床下機器の着氷雪厚さを測定するもの（下記特許文献３）がある。
【０００５】
【特許文献１】
特許第２７７４３９２号
【０００６】
【特許文献２】
特公平６−２５６６４号
【０００７】
【特許文献３】
特許第３２７３８３１号
【０００８】
【発明が解決しようとする課題】
しかしながら、上記した従来技術は、車両着氷雪の１次元的（着氷雪厚さ）又は２次元的（着氷雪断面積）計測であり、正確な着氷雪量の測定が行われていないといった問題があった。
【０００９】
本発明は、上記問題点を除去し、着氷雪の３次元的（着氷雪体積）計測が可能であり、正確な着氷雪量を計測することができる移動体の着氷雪量の測定方法及びシステムを提供することを目的とする。
【００１０】
【課題を解決するための手段】
本発明は、上記目的を達成するために、
〔１〕移動体の着氷雪量の測定方法において、移動体の着氷雪量を測定したい領域を予め着氷雪前にレーザシート光を照射し、前記レーザシート光が照射される領域を高速度カメラで撮像して、前記高速度カメラからの光切断線像を、データ処理装置によって３次元形状データに変換し、その３次元形状データを前記データ処理装置に記憶させ、着氷雪後に移動体の前記測定したい領域の着氷雪にレーザシート光を照射し、前記レーザシート光が照射される領域を高速度カメラで撮像し、前記高速度カメラからの光切断線像を前記データ処理装置によって３次元形状データに変換し、この着氷雪後の３次元形状データから前記着氷雪前の３次元形状データを差し引くことにより着氷雪体積を得て、この着氷雪体積を出力することを特徴とする。
【００１１】
〔２〕移動体の着氷雪量の測定システムにおいて、移動体の着氷雪量を測定したい領域にレーザシート光が照射されるように配置されるレーザシート光源とその照射される領域を撮像する高速度カメラを有する光学系装置と、前記高速度カメラからの光切断線像を３次元形状データに変換し、この着氷雪後の３次元形状データから前記移動体の着氷雪量を測定したい領域の着氷雪前の３次元形状データを差し引くことにより着氷雪体積を得るデータ処理装置と、このデータ処理装置に接続される出力装置とを具備することを特徴とする。
【００１２】
〔３〕上記〔２〕記載の移動体の着氷雪量の測定システムにおいて、前記移動体が鉄道車両であることを特徴とする。
【００１３】
〔４〕上記〔３〕記載の移動体の着氷雪量の測定システムにおいて、前記光学系装置が駅構内のホーム下に配置されることを特徴とする。
【００１４】
【発明の実施の形態】
以下、本発明の実施の形態について詳細に説明する。
【００１５】
図１は本発明の実施例の移動体の着氷雪量の測定システムの全体構成図、図２はその要部の模式図である。
【００１６】
これらの図において、１は移動体としての鉄道車両、２はその鉄道車両１の着氷雪量を測定したい領域（例えば、台車側面）、３は光学系装置であり、この光学系装置３は例えば、鉄道車両１の駅構内のホーム下に配置される。つまり、そのホームに入る鉄道車両１の着氷雪量を測定したい領域２へレーザシート光５を照射するレーザシート光源４とそのレーザシート光５が照射される領域を撮像する高速度カメラ６が備えられる。ここでは、その着氷雪量を測定したい領域２の側面にレーザシート光５を直角に照射し、光切断線像を斜めから高速度カメラ６で撮像する。７はデータ処理装置であり、高速度カメラ６からの出力データ（光切断線像）をインタフェース８を介して取り込んで、中央処理装置（ＣＰＵ）１０によって、着氷雪体積を求めて、インタフェース１１を介して出力装置（例えば、表示装置）１２に出力する。なお、レーザシート光源４からのレーザシート光５の照射と、高速度カメラ６による撮像は、データ処理装置７の中央処理装置（ＣＰＵ）１０の制御によりインタフェース８を介して同期をとるように構成されている。
【００１７】
以下に、この着氷雪量測定システムを用いた場合の具体的な測定手順を説明する。
（１）駅に進入してくる鉄道車両１（無着氷雪時）に対して、車軸検知等の手法を用いて着氷雪量を測定したい領域２（ここでは台車側面）の速度及び位置を明らかにする。
（２）着氷雪量を測定したい領域２がレーザシート光源４の位置に達するのと同時に、レーザシート光５を着氷雪量を測定したい領域２へ向けて垂直に照射し、高速度カメラ６を用いて着氷雪量を測定したい領域２の光切断線像を斜めから取得する。
（３）着氷雪量を測定したい領域２の移動速度が上記（１）によりわかれば、高速度カメラ６によって得られた各画像が着氷雪量を測定したい領域２のどの位置の光切断線像であるか特定することができる。
（４）得られた光切断線像は、台車側面の凹凸を反映して屈曲または不連続な曲線となっており、光切断法の原理から光切断線像上の任意点の３次元座標（Ｘ1 ，Ｙ1 ，Ｚ1 ）（座標系は図１及び図２に示したように、着氷雪量を測定したい領域２の移動方向をｘ軸にとる）が中央処理装置（ＣＰＵ）１０によって得られるので、これを記憶装置９に記憶させる。
（５）上記（１）〜（４）を着氷雪状態にある着氷雪量を測定したい領域２に対して行うことにより光切断線像上の任意の点の３次元座標（Ｘ2 ，Ｙ2 ，Ｚ2 ）を中央処理装置（ＣＰＵ１０）によって求め、記憶装置９に記憶させることができる。
（６）記憶装置９に記憶させた無着氷雪時及び着氷雪時の３次元座標を用いて、Ｘ1 ＝Ｘ2 かつＺ1 ＝Ｚ2 なる条件のもとで、着氷雪時に得られたｙ座標Ｙ2 と無着氷雪時に得られたｙ座標Ｙ1 との差（Ｙ2 −Ｙ1 ）を中央処理装置（ＣＰＵ）１０によって求めることにより、着氷雪のｙ方向の厚さが得られる。このようにして得られるｘ−ｚ面上の多数の着氷雪厚さ（Ｙ2 −Ｙ1 ）を中央処理装置（ＣＰＵ１０）によって面的に積分することで着氷雪体積を計算することができる。
【００１８】
高速度カメラを用いて光切断線像を撮像する場合には、高速度カメラの撮影速度は移動体の移動速度に依存する。例えば、秒速１０ｍ／ｓで走行している移動体を測定対象とすると、移動方向に対して０．１ｍ間隔でデータを取得したい場合には最低１秒間に１００コマ取得できるカメラが必要である。
【００１９】
また、移動体が静止している状態においても、光学系装置３を所定の速度でｘ方向に移動させることによって、光切断線像の取得が可能である。
【００２０】
レーザシート光源は、移動体表面、着氷雪表面での反射強度を考慮して、出射強度およびレーザ光周波数が決められる。
【００２１】
データ処理装置は、光学系装置の制御及びデータ処理を行う中央処理装置を備えるとともに、取得データ、処理データ、制御データを記憶する記憶装置を備えている。
【００２２】
また、出力装置としての表示装置は、算出された着氷雪量（体積）を数値で示すとともに、移動体のどの部分に着氷雪が形成されているかがわかるように図化（ビジュアル化）し表示する。
【００２３】
なお、このようにして得られた着氷雪体積が設定した参照量を超える場合には、着氷雪している領域の着氷雪を除去する（例えば、機械的除去や予め配置された温水融雪装置などにより）措置をとることができる。
【００２４】
図３は本発明の装置によって得られた台車側面の着氷雪分布の一例を示す図である。この図において、網掛け部分は着氷雪厚さ５ｃｍ以上の領域を表している。なお、図３において、２１は台車枠、２２は車輪、２３はレールを示している。
【００２５】
また、光学系装置は、駅構内のホーム下のみでなく、降雪に影響されないトンネル内や屋根付きの観測点などに設置するようにしてもよい。
【００２６】
なお、本発明は上記実施例に限定されるものではなく、本発明の趣旨に基づいて種々の変形が可能であり、これらを本発明の範囲から排除するものではない。
【００２７】
【発明の効果】
以上、詳細に説明したように、本発明によれば、着氷雪の体積と部位をリアルタイムで自動的に評価することができる。
【００２８】
その評価にしたがって、着氷雪対策（列車速度規制、着氷雪除去作業等）の早期対応やタイミングの判断に活用することができ、列車運行の安全性向上に貢献することができる。
【図面の簡単な説明】
【図１】 本発明の実施例の移動体の着氷雪量の測定システムの全体構成図である。
【図２】 本発明の実施例の移動体の着氷雪量の測定装置の要部の模式図である。
【図３】 本発明の装置によって得られた台車側面の着氷雪分布の一例を示す図である。
【符号の説明】
１ 移動体としての鉄道車両
２ 着氷雪量を測定したい領域（台車側面）
３ 光学系装置
４ レーザシート光源
５ レーザシート光
６ 高速度カメラ
７ データ処理装置
８，１１ インタフェース
９ 記憶装置
１０ 中央処理装置（ＣＰＵ）
１２ 出力装置（表示装置）
２１ 台車枠
２２ 車輪
２３ レール[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method and system for measuring the amount of icing snow on a moving body, and in particular, a method for measuring the amount of icing snow formed on a moving body such as a railway vehicle by a light cutting method using laser sheet light. It is about the system .
[0002]
[Prior art]
Conventionally, measurement of the amount of icy snow on a moving body is performed particularly in the railway field.
[0003]
In snowy areas, the ballast scattering caused by the falling of icy snow can cause vehicle damage such as window glass damage, which is a major problem for the safety of train operation. For this reason, on some routes, countermeasures such as frequent snow melting work, icing snow removal work, and train speed regulation are taken.
[0004]
Conventional techniques relating to the measurement of the amount of icy snow on a railway vehicle include those disclosed in the following Patent Documents 1 to 3, which monitor the icing snow condition under the vehicle floor with a high-speed camera (Patent Document 1 below), There are ones that measure the icing snow thickness of a specific part with an acoustic wave sensor (Patent Document 2 below), and those that measure the icing snow thickness of an underfloor device by a light beam blocking method (
[0005]
[Patent Document 1]
Japanese Patent No. 2774392 [0006]
[Patent Document 2]
Japanese Patent Publication No. 6-25664 [0007]
[Patent Document 3]
Japanese Patent No. 3273931 [0008]
[Problems to be solved by the invention]
However, the above-described prior art is a one-dimensional (ice-covered snow thickness) or two-dimensional (ice-covered snow cross-sectional area) measurement of icing snow, and there is a problem that the amount of icing snow is not accurately measured. there were.
[0009]
The present invention eliminates the above-mentioned problems, enables three-dimensional (icing snow volume) measurement of icing snow, and measures and system for measuring the amount of icing snow on a mobile object capable of accurately measuring the amount of icing snow. The purpose is to provide.
[0010]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides
[1] In the method of measuring the amount of icing snow on the moving body, a region where the amount of icing snow on the moving body is to be measured is irradiated in advance with laser sheet light before icing snow, and the region irradiated with the laser sheet light is irradiated with a high-speed camera. The optical cutting line image from the high-speed camera is converted into three-dimensional shape data by a data processing device, and the three-dimensional shape data is stored in the data processing device. A laser sheet light is irradiated on the icing snow in the region to be measured, the region irradiated with the laser sheet light is imaged with a high-speed camera, and a light cutting line image from the high-speed camera is formed into a three-dimensional shape by the data processing device. Converting to data, subtracting the three-dimensional shape data before the icing snow from the three-dimensional shape data after the icing snow, obtaining an icing snow volume, and outputting the icing snow volume.
[0011]
[ 2 ] In the system for measuring the amount of icing snow on the moving body, a laser sheet light source arranged so that the area on which the icing snow amount of the moving body is to be measured is irradiated with the laser sheet light, and a high area for imaging the irradiated area An optical system apparatus having a speed camera and a light section line image from the high-speed camera are converted into three-dimensional shape data, and an area in which it is desired to measure the amount of icy snow on the moving body from the three-dimensional shape data after the icing and snowing It is characterized by comprising a data processing device for obtaining a volume of icing snow by subtracting the three-dimensional shape data before icing snow and an output device connected to the data processing device.
[0012]
[ 3 ] In the system for measuring the amount of icing snow on the moving body according to [ 2 ], the moving body is a railway vehicle.
[0013]
[4] In the above [3] wearing snow and ice of the measurement system of the moving body according before Symbol optical science system device is characterized in that it is placed under the station yard of the home.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail.
[0015]
FIG. 1 is an overall configuration diagram of a measurement system for the amount of icing snow on a moving body according to an embodiment of the present invention, and FIG.
[0016]
In these drawings, 1 is a railway vehicle as a moving body, 2 is a region (for example, the side of a carriage) where the amount of icing snow of the railway vehicle 1 is to be measured, 3 is an optical system device, and this
[0017]
Below, the specific measurement procedure at the time of using this icing snow amount measuring system is demonstrated.
(1) Clarify the speed and position of region 2 (here, the side of the carriage) where the amount of icing snow is to be measured using a method such as axle detection for railcar 1 entering the station (when there is no icing snow). To.
(2) At the same time that the region 2 where the amount of icing snow is to be measured reaches the position of the laser sheet light source 4, the
(3) If the moving speed of the region 2 for which the amount of icing snow is to be measured is determined by (1) above, each image obtained by the high-
(4) The obtained light section line image is a curved or discontinuous curve reflecting the unevenness of the side surface of the carriage, and the three-dimensional coordinates of arbitrary points on the light section line image (from the principle of the light section method) X 1 , Y 1 , Z 1 ) (the coordinate system takes the x-axis as the movement direction of the region 2 where the amount of icing snow is to be measured, as shown in FIGS. 1 and 2) by the central processing unit (CPU) 10. Since it is obtained, it is stored in the storage device 9.
(5) Three-dimensional coordinates (X 2 , Y 2) of an arbitrary point on the optical section line image are obtained by performing the above (1) to (4) on the region 2 where the amount of icing snow in the icing snow state is to be measured. , Z 2 ) can be obtained by the central processing unit (CPU 10) and stored in the storage device 9.
(6) Using the three-dimensional coordinates at the time of non-icing and icing snow memorized in the storage device 9, it was obtained at the time of icing snow under the condition of X 1 = X 2 and Z 1 = Z 2 By obtaining the difference (Y 2 −Y 1 ) between the y-coordinate Y 2 and the y-coordinate Y 1 obtained when there is no icing snow by the central processing unit (CPU) 10, the thickness of the icing snow in the y direction can be obtained. . A large number of icing snow thicknesses (Y 2 -Y 1 ) on the xz plane obtained in this way can be integrated in a plane by the central processing unit (CPU 10) to calculate the icing snow volume.
[0018]
When a light section line image is captured using a high-speed camera, the shooting speed of the high-speed camera depends on the moving speed of the moving body. For example, assuming that a moving object traveling at a speed of 10 m / s is a measurement target, a camera capable of acquiring 100 frames per second is required when it is desired to acquire data at intervals of 0.1 m in the moving direction.
[0019]
Even when the moving body is stationary, it is possible to acquire a light section line image by moving the
[0020]
In the laser sheet light source, the emission intensity and the laser light frequency are determined in consideration of the reflection intensity on the surface of the moving body and the surface of the icing snow.
[0021]
The data processing device includes a central processing unit that controls the optical system device and performs data processing, and also includes a storage device that stores acquired data, processing data, and control data.
[0022]
In addition, the display device as the output device displays the calculated amount of icing snow (volume) numerically, and graphically displays it so that you can see in which part of the moving body the icing snow is formed. To do.
[0023]
In addition, when the icing snow volume obtained in this way exceeds the set reference amount, the icing snow in the icing snow area is removed (for example, mechanical removal, a pre-arranged hot water snow melting device, etc.) ) Can take action.
[0024]
FIG. 3 is a view showing an example of the distribution of icing snow on the side surface of the carriage obtained by the apparatus of the present invention. In this figure, the shaded area represents an area where the icing snow thickness is 5 cm or more. In FIG. 3,
[0025]
Further, the optical system device may be installed not only under the platform in the station premises, but also in a tunnel that is not affected by snowfall, an observation point with a roof, or the like.
[0026]
In addition, this invention is not limited to the said Example, A various deformation | transformation is possible based on the meaning of this invention, and these are not excluded from the scope of the present invention.
[0027]
【The invention's effect】
As described above in detail, according to the present invention, it is possible to automatically evaluate the volume and part of the icing snow in real time.
[0028]
According to the evaluation, it can be used for early response and timing determination of icing snow measures (train speed regulation, icing snow removal work, etc.), and can contribute to improving the safety of train operation.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram of a measurement system for the amount of icing snow on a moving body according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a main part of a measuring device for the amount of icing snow on a moving body according to an embodiment of the present invention.
FIG. 3 is a diagram showing an example of the icing snow distribution on the side of the carriage obtained by the apparatus of the present invention.
[Explanation of symbols]
1 Railway vehicle as a moving body 2 Area for measuring the amount of icy snow (the side of the carriage)
DESCRIPTION OF
12 Output device (display device)
21
Claims (4)
（ｂ）着氷雪後、前記移動体の測定したい領域にレーザシート光を照射し、
（ｃ）前記レーザシート光が照射される領域を高速度カメラで撮像し、
（ｄ）前記高速度カメラからの光切断線像を前記データ処理装置によって３次元形状データに変換し、該着氷雪後の３次元形状データから前記着氷雪前の３次元形状データを差し引くことにより着氷雪体積を得て、
（ｅ）該着氷雪体積を出力することを特徴とする移動体の着氷雪量の測定方法。(A) A laser sheet light is irradiated in advance on a region where the amount of icing snow on the moving body is to be measured, and the region irradiated with the laser sheet light is imaged with a high-speed camera. Is converted into three-dimensional shape data by a data processing device, the three-dimensional shape data is stored in the data processing device,
(B) After icing and snowing, irradiate the area to be measured of the moving body with laser sheet light,
(C) The area irradiated with the laser sheet light is imaged with a high-speed camera,
(D) By converting a light section line image from the high-speed camera into three-dimensional shape data by the data processing device, and subtracting the three-dimensional shape data before the icing snow from the three-dimensional shape data after the icing snow. Get the icing snow volume,
(E) A method of measuring the amount of icing snow on a moving body, wherein the icing snow volume is output.
（ｂ）前記高速度カメラからの光切断線像を３次元形状データに変換し、該着氷雪後の３次元形状データから前記移動体の着氷雪量を測定したい領域の着氷雪前の３次元形状データを差し引くことにより着氷雪体積を得るデータ処理装置と、
（ｃ）該データ処理装置に接続される出力装置とを具備することを特徴とする移動体の着氷雪量の測定システム。(A) an optical system apparatus having a laser sheet light source disposed so that laser sheet light is irradiated to an area where the amount of icing snow on the moving body is to be measured, and a high-speed camera that images the irradiated area;
(B) The light section line image from the high-speed camera is converted into three-dimensional shape data, and the three-dimensional shape before the icing snow in the region where the amount of icing snow of the moving body is to be measured from the three-dimensional shape data after the icing and snowing. A data processing device for obtaining a volume of icing snow by subtracting shape data;
(C) A system for measuring the amount of icing snow on a moving body, comprising: an output device connected to the data processing device.
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| WO2016095490A1 (en) * | 2014-12-17 | 2016-06-23 | 苏州华兴致远电子科技有限公司 | Vehicle operation fault detection system and method |
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| JP4640653B2 (en) * | 2006-09-13 | 2011-03-02 | 株式会社日立プラントテクノロジー | Snow melting apparatus for railway vehicles, and snow melting method for railway vehicles |
| CN103017714A (en) * | 2012-12-10 | 2013-04-03 | 西安工程大学 | Online monitoring system and monitoring method for equivalent icing thicknesses of power transmission lines |
| CN103523040B (en) * | 2013-10-17 | 2016-08-17 | 南车株洲电力机车有限公司 | A kind of obstacle deflector and a kind of traffic information collection method |
| JP7365265B2 (en) * | 2020-02-27 | 2023-10-19 | 日本車輌製造株式会社 | Snow accumulation prevention system for railway vehicles |
| CN114370728B (en) * | 2021-12-14 | 2024-02-02 | 合肥通用机械研究院有限公司 | Real-time monitoring method and device for snow making density of snow making machine and readable storage medium |
| CN114485483B (en) * | 2022-04-15 | 2022-06-24 | 中国空气动力研究与发展中心低速空气动力研究所 | Multi-camera combined imaging-based ice shape online measurement method and device |
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