JP4608352B2 - Trolley wire position measuring device - Google Patents

Description

  The present invention relates to a trolley wire position measuring apparatus. More specifically, the present invention relates to an apparatus for measuring the height, displacement, and push-up amount of a trolley wire, detecting bent metal fittings, and the like by processing an image acquired by a camera installed on the roof of a vehicle.

  In the railway field, it is necessary to maintain the trolley line for the maintenance of the train line. The maintenance of the trolley wire is to measure whether the trolley wire is worn, height, displacement, push-up amount, bent metal fitting detection, etc., and whether these items are in normal values and positions. These items are regularly measured to help prevent accidents.

  The height of the trolley line is the difference in height between the trolley line installed above the vehicle and the rail, and is usually about 4500 mm (5000 mm for the Shinkansen). The deviation of the trolley line is the horizontal position of the trolley line, and is usually about ± 250 mm (± 300 mm on the Shinkansen) from the center of the pantograph to the left and right of the traveling direction of the vehicle.

  Conventionally, for measuring the height and displacement of the trolley wire, for example, a sodium lamp that illuminates the trolley wire is installed on the roof of the vehicle, and the light reflected by the trolley wire while the vehicle is running is provided with a light receiving mirror and a folding mirror. To the light-receiving camera through which the reflected light is photographed, the displacement of the trolley wire is measured from the position of the reflected light, and the height is measured by a small pantograph (for example, Non-Patent Document 1), or There is a technique (Patent Document 1) that photographs the vicinity of a pantograph using a plurality of cameras and measures the position of a trolley line based on the photographed images.

  The push-up amount of the trolley line is the difference between the height of the trolley line when it is pushed up by the pantograph when passing through the vehicle and when it is not affected by the pantograph. It is installed, the marker position before passing and the marker position when passing are measured from the ground, and the push-up amount is measured from the difference between the marker positions.

  In addition, bent metal fittings are hoisting trolley wires that may cause accidents such as contact with the pantograph if the position of the bent metal fittings deviates from the normal range due to secular change. It is necessary to measure the position.

  Conventionally, for measuring the position of a bent metal fitting, a laser light source directed toward the bent metal fitting is provided, and when a reflected light from the bent metal fitting is acquired by a laser sensor, an image of the bent metal fitting is obtained by a camera. A laser sensor measuring device (for example, Patent Document 2) that calculates the angle of the bent metal fitting by sampling and processing this image, or depending on the presence or absence of an object that touches the sensor installed vertically A measuring device using a pantograph for inspection (for example, Patent Document 3) that detects whether the position of the bent metal fitting is normal is used.

JP 2003-341389 A JP 2000-343986 A JP 57-80505 A Shunichi Kusumi, “Development of a train line inspection device using a railroad vehicle”, [online], Abstracts of the 114th Railway Research Institute Monthly Presentation, [Search August 20, 2004], Internet <URL: http: // www.rtri.or.jp/infoce/getsu09/g114_5.html>

  However, since the non-patent document 1 described above requires ancillary equipment such as a mirror control device and a high frequency power supply, there is a problem that the measuring device becomes relatively large. Furthermore, since the obtained measurement result remains as a simple measurement value, even if a measurement value outside the normal range is detected, the measurement value really indicates a trolley line or simply noise. There is a problem that it is not possible to determine whether it is due to.

  Also, when measuring the amount of trolley wire push-up by the conventional method, in order to measure the amount of trolley wire push-up over the entire travel section, the marker attachment, measurement and removal processes are repeated for each point while moving the track. There is a problem that it has to be inefficient.

  Furthermore, in patent document 2, incidental facilities, such as a stabilized power supply, are required, and there exists a problem that a measuring device becomes large. In Patent Document 3, a pantograph that is used only for measurement is necessary, and an expensive inspection pantograph must be introduced, and the contact sensor is in a place most exposed to the wind and becomes a noise source. There's a problem.

  In view of the above, an object of the present invention is to provide a trolley wire position measuring device capable of efficiently measuring a trolley wire with a simple device.

A trolley wire position measuring device according to claim 1 of the present invention for solving the above-described problems is disposed on the roof of a vehicle so as to face each other in the left-right direction with respect to the traveling direction of the vehicle. Two line sensors facing each other, an image recording unit that records images based on the output values of each of the two line sensors, and each of the images acquired from the image recording unit is analyzed, and the height of the trolley line And a trolley line position measuring device comprising an image processing unit for detecting deviation , wherein two sets of the trolley line position measuring devices are used, and the first trolley line position measuring device is provided on the roof of the leading vehicle. The second trolley line position measuring device is installed on the roof of a vehicle having a pantograph, and the first and second trolley line position measuring devices Each measured, after synchronizing the measurement position, characterized in that a difference of height of each of the trolley wire is.

  A trolley wire position measuring device according to claim 2 of the present invention for solving the above-described problems is the trolley wire position measuring device according to claim 1, wherein the image processing unit detects wear of the trolley wire. It is characterized by that.

  A trolley wire position measuring device according to claim 3 of the present invention for solving the above-mentioned problems is directed to two vertically disposed on the roof of the vehicle and directed left and right with respect to the traveling direction of the vehicle. A line sensor; one camera that acquires a video of a trolley line above the line sensor according to a logical sum of output values of the line sensor; an image recording unit that records a video signal output from the camera; And an image processing unit for analyzing the video signal acquired from the image recording unit.

A trolley wire position measuring device according to a fourth aspect of the present invention for solving the above-mentioned problems uses two sets of the trolley wire position measuring device according to the third aspect to measure the position of the first trolley wire. The device is installed on the roof of the leading vehicle, and the second trolley wire position measuring device is installed on the roof of the vehicle having a pantograph, and the trolley wire is moved by the first and second trolley wire position measuring devices. The heights of the trolley wires are measured and the measurement positions are synchronized, and then the height difference of each of the trolley wires is taken.

A trolley wire position measuring device according to claim 5 of the present invention for solving the above-mentioned problems is the trolley wire position measuring device according to claim 1 or 2 , wherein the first and second trolley wires are the same. Each of the position measuring devices is provided with two proximity sensors which are directed vertically upward on the roof of the vehicle and arranged on the left and right with respect to the traveling direction of the vehicle.

Position measuring device of the trolley wire according to claim 6 of the present invention to solve the aforementioned problem, according to claim 1, claim 2, in the position measuring device of the trolley wire according to any one of claims 4 As a means for synchronizing the measurement positions, a cross-correlation of trolley line heights detected using the two sets of trolley line position measuring devices is used.

Position measuring device of the trolley wire according to claim 7 of the present invention to solve the aforementioned problem, according to claim 1, claim 2, in the position measuring device of the trolley wire according to any one of claims 4 As a means for synchronizing the measurement positions, a cross-correlation between trolley line deviations detected using the two sets of trolley line position measuring devices is used.

  In addition, the vehicle provided with the first trolley line position measuring device as the leading vehicle in the above is not limited to the most advanced vehicle, and indicates a vehicle preceding the vehicle having the leading pantograph in the traveling direction. .

  According to the position measuring device for a trolley wire according to the present invention, it is possible to measure the height, displacement, and wear of the trolley wire with two line sensors, which leads to downsizing of the device. Further, since the image is recorded in the image recording unit, the image can be reconfirmed as necessary. Furthermore, if the trolley wire is measured while detecting the bent metal fittings with the line sensor, the angle of the bent metal fittings and obstacles can be detected. Therefore, the trolley wire can be efficiently measured with a simple configuration. it can. In addition, if two sets of trolley wire position measuring devices are used, it is possible to measure the trolley wire push-up amount in the section as needed in one run, so the work can be performed more efficiently. It becomes possible.

  DESCRIPTION OF THE PREFERRED EMBODIMENTS The best embodiment of a trolley wire position measuring device according to the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a configuration example of this embodiment. 1 is a vehicle, 2 and 3 are line sensors, 4 is a projector, 5 is an image recording unit, 6 is an image processing unit, 7 is a trolley line, and 8 is a curve. A pull bracket, 9 is a train pole, and 10 is a rail.

  The line sensors 2 and 3 are arranged on the roof of the vehicle 1 so as to be opposite to each other on the left and right of the traveling direction of the vehicle 1 with the scanning direction being oblique with respect to the vertical, respectively. Fix the angle in the direction facing the. Next, the trolley wire 7 is illuminated by the projector 4, and the reflected light from the trolley wire 7 is acquired by the line sensors 2 and 3. Line sensors 2 and 3 keep time synchronized.

  FIG. 2 shows an example of an image in which data acquired by the line sensor 2 (or 3) is arranged in time series (hereinafter referred to as a line sensor image). The line sensors 2 and 3 output the acquired data to the image recording unit 5, respectively, and the image recording unit 5 stores each data as a line sensor image. Further, the image processing unit 6 performs image processing on these line sensor images, thereby obtaining the height and displacement of the trolley line 7.

The image processing procedure in the image processing unit 6 will be described below based on the flowchart shown in FIG.
(1) The line sensor images of the left and right line sensors 2 and 3 are acquired from the image recording unit 5 (steps S1 and S6).
(2) A threshold value is set for each line sensor image acquired in (1), and for example, a process (binarization) is performed in which a portion indicating the trolley line 7 brightly illuminated by reflected light is white and a portion indicating the background is black. Perform (steps S2, S7).
(3) The white portion on the image showing the trolley line 7 obtained in (2) is detected as the locus position Y of the trolley line 7 (steps S3 and S8).
(4) Elevation angle correction is performed for the locus position Y of the trolley wire 7 based on the installation angle of the line sensors 2 and 3 (steps S4 and S9).
(5) The elevation angles θ _L and θ _R between the left and right line sensors 2 and 3 and the trolley wire 7 are obtained based on the locus position Y of the trolley wire 7 subjected to elevation angle correction (steps S5 and S10).
(6) Using the elevation angles θ _L and θ _R obtained in (5), the actual height and displacement of the trolley wire 7 are calculated (step S11).
(7) The processes from (1) to (6) are repeated until the processing of all input images is completed (step S12).

The calculation formula for obtaining the height and displacement of the trolley wire 7 is shown below. As shown in FIG. 4, when the distance between the two line sensors 2 and 3 is d, and the elevation angles between the line sensors 2 and 3 and the trolley wire 7 are θ _L and θ _R , respectively, the trolley wire from above the roof of the vehicle. The height H is determined by the following formula.

  Further, the horizontal distance x from the line sensor 2 to the trolley line is obtained by the following equation.

Note that the range indicated by y ₀ -y ₁ in FIG. 4 is an example of the scan range of the line sensor 3 and corresponds to, for example, y ₀ -y ₁ shown in FIG.

Therefore, according to the trolley wire position measuring apparatus according to the present embodiment,
(1) The height and displacement of the trolley wire 7 can be measured by the two line sensors 2 and 3.
(2) Since it can be measured by two line sensors 2 and 3, the apparatus on the roof can be downsized.
(3) Since the line sensor image is recorded in the image recording unit 5, the image can be reconfirmed as necessary.
There are advantages such as.

  In the present embodiment, the image processing unit first performs image processing on the image of the left line sensor 2, and then performs image processing on the image of the right line sensor 3, but either the left or right image is processed first. It doesn't matter.

  A first embodiment of a trolley wire position measuring apparatus according to the present invention will be described with reference to the drawings. The present embodiment uses high-resolution line sensors as the line sensors 2 and 3 shown in FIG. 1 in the above-described best embodiment, and the description of the same parts as those in the above-described best embodiment is omitted.

The image processing procedure in the image processing unit 6 of the present embodiment will be described below based on the flowchart shown in FIG.
(1) The line sensor images of the left and right high resolution line sensors are acquired from the image recording unit (steps S21 and S27).
(2) A threshold is set for each of the line sensor images acquired in (1), and for example, processing (binarization) is performed in which a portion indicating a trolley line that shines brightly by reflected light is white and a portion indicating the background is black. (Steps S22 and S28).
(3) The white portion on the image showing the trolley line obtained in (2) is detected as the locus position Y of the trolley line (steps S23 and S29).
(4) A white portion indicating the trolley line obtained in (2) is extracted, and the width of the trolley line on the image is detected (steps S24 and S30).
(5) Elevation angle correction is performed for the trajectory position Y of the trolley line based on the installation angle of the high resolution line sensor (steps S25 and S31).
(6) The elevation angles θ _L and θ _R between the left and right line sensors and the trolley line are obtained based on the locus position Y of the trolley line subjected to elevation angle correction (steps S26 and S32).
(7) Using the elevation angles θ _L and θ _R obtained in (6), the actual height and displacement of the trolley line are calculated (step S33). Note that the calculation formula for obtaining the height and displacement of the trolley wire is the same as in the above-described best embodiment.
(8) Since the width obtained in (4) increases or decreases depending on the distance between the high-resolution line sensor and the trolley wire, the distance is calculated from the height and displacement of the trolley wire obtained in (6), and the width of the reflected light To the width of the trolley line (step S34).
(9) The processes from (1) to (8) are repeated until the processing of all input images is completed (step S35).

  According to the trolley wire position measuring apparatus of the present embodiment, in addition to the effects of the above-described best embodiment, the wear of the trolley wire is measured by detecting the width of the trolley wire from the acquired line sensor image. Is possible.

  In this embodiment, the image processing unit first performs image processing on the image of the left line sensor and then performs image processing on the image of the right line sensor. However, either the left or right image is processed first. It doesn't matter.

  A second embodiment of the trolley wire position measuring apparatus according to the present invention will be described with reference to the drawings. FIG. 6 shows the configuration of the present embodiment, in which 1 is a vehicle, 2 and 3 are line sensors, 4 is a projector, 5 is an image recording unit, 6 is an image processing unit, 7 is a trolley wire, and 8 is curved. A bracket, 9 is a train pole, 10 is a rail, 11 is an OR circuit, and 12 is an ITV camera.

  The line sensors 2 and 3 are installed on the left and right of the traveling direction of the vehicle 1 such that the scanning direction is parallel to the traveling direction of the vehicle 1 vertically upward. The ITV camera 12 is installed in front of the line sensors 2 and 3 at an angle at which an image of the trolley line 7 above the line sensors 2 and 3 can be acquired. The image recording unit 5 and the image processing unit 6 are installed in the vehicle.

  The outputs of the line sensors 2 and 3 are input to the OR circuit 11. The logical sum circuit 11 inputs these logical sums as trigger signals to the ITV camera 12, and the ITV camera 12 determines whether or not to acquire an image according to the trigger signals. Thus, for example, when the bent metal fitting 8 passes over the line sensor 3, an image as shown in FIG. 7 is obtained by the ITV camera 12, and this is recorded in the image recording unit 5, and the recorded image is recorded in the image processing unit. 6, the height of the trolley wire 7, the displacement, the angle of the bent metal fitting 8, and the presence or absence of an obstacle are obtained.

Hereinafter, the procedure of image processing by the image processing unit 5 will be described based on the flowchart shown in FIG.
(1) A recorded image is input (step S41).
(2) Edge detection and straight line detection are performed on the input image (steps S42 and S43).
(3) Based on the detection results of (2), lines extending in the vertical and horizontal directions (hereinafter referred to as vertical lines and horizontal lines, respectively) are extracted (steps S44 and S45).
(4) The intersection coordinates x and y of the vertical line and the horizontal line are obtained, and the actual displacement and height of the trolley line 7 are obtained based on the x and y, respectively (step S46). For the conversion for obtaining the actual deviation and height from the intersection coordinates x, y on the image, a method that is already widely known may be used.
(5) The angle of the horizontal line extracted in step S45 is obtained, and the angle of the bent metal fitting 8 is obtained based on this (step S47).
(6) A binarization process is performed to extract obstacles (step S48).
(7) The processes from (2) to (6) are repeated until the processing of all input images is completed (step S49).

  By performing such processing, for example, when the above-described image processing is performed on the image shown in FIG. 7, the trolley line 7 is extracted as a vertical line and the bent metal fitting 8 is extracted as a horizontal line, and the height and deviation of the trolley line 7 are extracted. And the angle of the bent metal fitting 8 are obtained. 6 or 7, the trolley line 7 and the curve of the image taken by the ITV camera 12 are determined based on the attitude of the ITV camera 12, the height of the normal trolley line 7, the deviation range, and the like. If the normal range of the metal fitting 8 position is calculated and set in advance, and the processing is limited to only the range set in the image processing step, the accuracy of the image processing increases, and erroneous detection is prevented.

According to the trolley wire position measuring device according to the present embodiment,
(1) Since the height of the trolley wire 7, the displacement, the angle of the bent metal fitting 8, and the obstacle can be measured from one image by the two line sensors 2 and 3 and the ITV camera 12, the measurement efficiency Is good,
(2) Since it is possible to measure only with the two line sensors 2 and 3 and the ITV camera 12, the apparatus on the roof can be reduced in size.
(3) Since the image is recorded in the image recording unit 5, the image can be reconfirmed as necessary.
(4) When a proximity sensor such as a laser system or an infrared system is used, it is difficult to detect the bent metal fitting 8 at a position distant from the proximity sensor. Can also detect bent metal fittings in
There are advantages such as.

  A third embodiment of the trolley wire position measuring apparatus according to the present invention will be described with reference to the drawings. As shown in FIG. 9, this embodiment uses two sets of the trolley wire position measuring device according to the above-described best mode or embodiment 1, in which 1a and 1b denote vehicles, 2a, 3a, 2b and 3b are line sensors, 4a and 4b are projectors, 5a and 5b are image recording units, 6a and 6b are image processing units, 7 is a trolley wire, 8 is a bent metal fitting, 9 is a train pole, and 10 is a rail. is there.

  The arrangement of the line sensors 2a and 3a, and 2b and 3b is the same as that of the line sensors 1 and 2 in the best embodiment, and the description of the configuration that overlaps with the best embodiment or the example 1 is omitted.

  Of the two sets of trolley wire position measuring devices, one set (hereinafter referred to as the first device) is the other set (hereinafter referred to as the second device) of the trolley wire 7 that is not affected by the pantograph (not shown). ) Is measured for each trolley wire 7 that is affected by the push-up by the pantograph, and the amount of push-up by the pantograph 13 of the trolley wire 7 is determined by taking the difference in the height of the trolley wire detected by the first device and the second device. Measure.

  The operation of the present embodiment will be described. For example, the vehicle 1a is a leading vehicle and the vehicle 1b is a vehicle having a pantograph, and a first device and a second device are installed in each vehicle. Next, the same measurement as in the above-described best embodiment or example 1 is performed in each apparatus. However, since the installation locations of the first device and the second device are separated, the height data of the trolley wire measured by the first device and the second device is synchronized, and then the difference is taken and pushed up by the pantograph of the trolley wire Get quantity.

Hereinafter, a method for synchronizing the height data of the trolley line will be described with reference to FIG. First, the height of the trolley wire 7 measured by the first device and the second device is set to h ₁ (t) and h ₂ (t), respectively. Further, if the distance from the first device to the second device is d and the speed information of the vehicle used in the automatic train control device (ATC) is v (t), the height h ₁ (t) and the height h ₂ Since (t + d / v (t)) is the height at the same point measured by the first device and the second device, this height h ₁ (t) and height h ₂ (t + d / v (t) By taking the difference from)), it is possible to obtain the push-up amount of the trolley line 7 by the pantograph.

  In addition, although the example which installs the 2nd apparatus which measures the trolley line 7 near a pantograph in the vehicle 1b which has the pantograph 13 in the present Example was shown, the image of the trolley line 7 near the pantograph 13 is acquired not only in this. I can do it.

  Next, the installation location of the two sets of trolley wire position measuring devices will be described. As described above, the first device is installed in the leading vehicle. For example, the second device is installed in a vehicle called the first pantograph, which has the leading pantograph in the traveling direction, and the trolley wire 7 is measured in each. For example, a simple push-up amount can be measured. Also, if the first device is installed in the leading vehicle and the second device is installed in a vehicle having the second pantograph second from the top in the traveling direction, and the trolley line 7 is measured in each, the pantograph The amount of push-up of complex transient vibration can be measured.

  Therefore, conventionally, there is a problem that it takes time and effort to measure the markers one by one from the ground. However, as described above, according to the trolley wire position measuring apparatus according to the present embodiment, the best mode or the first embodiment described above is used. In addition to the obtained measurement values, the amount of push-up of the trolley wire in the traveled section can be measured in a lump, and there is an advantage that efficiency is good. Note that the same effect can be obtained by using a trolley wire position measuring device disclosed in Japanese Patent Application Laid-Open No. 2002-139305 or Japanese Patent Application No. 2003-354636.

  In the present embodiment, the example in which the first device is installed in the leading vehicle is shown. However, the vehicle in which the first device is installed may be a vehicle in front of the vehicle having the leading pantograph in the traveling direction. The vehicle is not limited to the leading vehicle.

  A fourth embodiment of the trolley wire position measuring apparatus according to the present invention will be described with reference to the drawings. As shown in FIG. 11, the present embodiment uses two sets of the above-described trolley wire position measuring device of the second embodiment, in which 1a and 1b are vehicles, 2a, 3a, 2b and 3b are lines. Sensors, 4a and 4b are projectors, 5a and 5b are image recording units, 6a and 6b are image processing units, 7 is a trolley wire, 8 is a bent metal fitting, 9 is a train pole, 10 is a rail, 11a and 11b are logic The sum circuit, 12a and 12b are ITV cameras, and 13 is a pantograph.

  A trolley wire position measuring device (hereinafter referred to as a third device and a fourth device, respectively) installed in each of the vehicle 1a and the vehicle 1b measures the trolley wire 7 that is not affected by the pantograph 13 and The four devices measure the trolley line 7 in the vicinity of the pantograph 13 that has the effect of being pushed up by the pantograph 13. Note that the configurations of the third device and the fourth device are the same as those of the second embodiment described above, and a detailed description thereof will be omitted.

  For example, the installation position of the third device and the fourth device is set such that the vehicle 1a is the leading vehicle without the pantograph 13 and the vehicle 1b is the vehicle having the pantograph 13, and the trolley wire 7 is measured by the third device and the fourth device, respectively. , Comparing the measured height of the trolley wire 7, detecting the height and displacement of the trolley wire 7, the angle of the bent metal fitting 8, the detection of obstacles, and the push-up amount of the trolley wire 7 by the pantograph 13 To do. However, since the installation locations of the third device and the fourth device are separated from each other, the height data is synchronized with the same position, and the synchronized height data is subtracted to obtain the push-up amount of the trolley wire 7.

Hereinafter, a method of synchronizing the trolley wire height data will be described with reference to FIG. First, the times when the third device and the fourth device pass a certain point are T and t, respectively, and the height of the trolley wire 7 at this time is h ₃ (T) and h ₄ (t), respectively. Further, if the distance from the third device to the fourth device is d and the speed information of the vehicle used in the automatic train control device is v (t), the height h ₄ (t) in FIG. 12 is the time T + d / v. It is considered that the height is measured at the time closest to (t).

Usually, since the speed information v (t) has an error, the time T + d / v (t) does not match the time t. However, since the interval between the time t and the time t + 1, which is the sampling interval (installation interval) of the bent metal fitting 8 serving as the measurement point, is sufficiently larger than the error with respect to the error of the speed information v (t), the time T + d By searching for the time t closest to / v (t) and obtaining the height h ₄ (t) of the trolley line 7 at this time t, the same point can be obtained without being affected by the error of the speed information v (t). The amount by which the trolley wire 7 is pushed up can be obtained.

  In FIG. 12, the error is exaggerated for explanation. Moreover, although the example which installs the 4th apparatus which measures the trolley line 7 near the pantograph 13 in the vehicle 1b which has the pantograph 13 in the present Example was shown, not only this but the image of the trolley line 7 near the pantograph 13 is shown. It only has to be acquired.

  Next, the installation location of the two sets of trolley wire position measuring devices will be described. As described above, the third device is installed in the leading vehicle, for example, the fourth device is installed in a vehicle having the leading pantograph 13 in the traveling direction, which is called the first pantograph, and the trolley wire 7 is measured in each. Then, a simple push-up amount can be measured. Further, if the third device is installed in the leading vehicle and the fourth device is installed in a vehicle having the second pantograph second from the top in the traveling direction, and the trolley line 7 is measured in each, the pantograph 13 The amount of push-up of complex transient vibration due to can be measured.

  In addition, as enclosed by a broken line in FIG. 11, for example, for an image taken by the ITV camera 12a (or 12b), from the posture of the ITV camera 12a (or 12b), the height of the normal trolley wire 7, the range of the deviation, etc. If the normal range of the position of the trolley wire 7 and the bent metal fitting 8 is calculated and set in advance, and the processing is limited to only the range set in the image processing step, the accuracy of the image processing increases, and erroneous detection is prevented. Connected.

  Therefore, conventionally, there has been a problem that it takes time and effort to measure the markers one by one from the ground. However, as described above, according to the trolley wire position measuring device according to the present embodiment, the measurement obtained by the above-described second embodiment. In addition to the value, the amount of push-up of the trolley wire in the traveled section can be measured at a time, so there is an advantage that efficiency is good. It should be noted that the same effect can be obtained by using the trolley wire position measuring device disclosed in Japanese Patent Application Laid-Open No. 2002-139305.

  Although the example in which the third device is installed in the leading vehicle is shown in the present embodiment, the vehicle in which the third device is installed may be a vehicle before the vehicle having the leading pantograph in the traveling direction. The vehicle is not limited to the leading vehicle.

  A fifth embodiment of the trolley wire measuring apparatus according to the present invention will be described with reference to the drawings. In this embodiment, as shown in FIG. 13, in the trolley wire position measuring apparatus according to the third embodiment described above, two proximity sensors are provided in each of the first device and the second device. In the figure, 1a and 1b are vehicles, 2a, 3a, 2b and 3b are line sensors, 4a and 4b are projectors, 5a and 5b are image recording units, 6a and 6b are image processing units, 7 is a trolley line, and 8 is a curve. A pulling bracket, 9 is a train pole, 10 is a rail, and 14a, 15a, 14b and 15b are proximity sensors.

  The proximity sensors 14a, 15a, 14b and 15b are installed behind the line sensors 1a, 2a, 1b and 2b, respectively, vertically upward. The method for measuring the trolley wire 7 in this embodiment is the same as that in the third embodiment. Further, in addition to the measurement of the trolley wire 7, the proximity sensors 14a, 15a, 14b, and 15b detect the train wire pole 9 or the bent metal fitting 8 or the like. Is to do. The configurations other than the proximity sensors 14a, 15a, 14b, and 15b are the same as those of the third embodiment described above, and the description thereof is omitted.

  The operation of this embodiment will be described below. As described above, if the trolley line 7 is measured and the train line pole 9 or the bent metal fitting 8 is detected, the push-up amount of the trolley line 7 is obtained based on the measurement results of the two sets of trolley line position measuring devices. When the height data is synchronized, the height data can be synchronized using the detection result of the train line pole 9 or the bent metal fitting 8 or the like.

  In the third embodiment described above, the height data is synchronized based on the ATC speed information v (t) having an error, and the synchronization accuracy may be poor. However, according to the present embodiment, since the height data is synchronized with the position of the train line pole 9 and the like, the synchronization accuracy is good, and this has the advantage that the accuracy of the push-up amount is improved.

  In the sixth embodiment of the trolley wire measuring device according to the present invention, each of the trolley wire position detecting devices in the above-described embodiment 3 or 4 is used as the trolley wire height synchronization means. The cross-correlation of height data is used. Cross-correlation is an equation that calculates the time difference between two irregular waveforms. For example, time differences such as seismic waves and waves with time differences observed at two locations can be obtained (Mikio Hino, “Spectrum Analysis”). , Asakura Shoten, p.52-55).

Hereinafter, the configuration of the third embodiment will be described as an example of the synchronization method. While the height of the trolley wire acquired by the first device is h ₁ (t), the height of the trolley wire acquired by the second device is h ₂ (t), while the first device and the second device pass through the same point _Where τ is the time difference, the cross correlation C _h1h2 between the height h ₁ and the height h ₂ is as follows.

When τ is calculated on the time axis, when d is the distance between the first device and the second device and v is the speed of the train, τ = d / v is used to obtain a rough τ. 3 is used to find τ with a high degree of coincidence. Thus, by obtaining the time difference τ, the height data of the first device and the second device can be synchronized, and the difference between the heights h ₁ (t−τ) and h ₂ (t), which are measured values at the same position. The amount of push-up of the trolley wire 7 by the pantograph can be obtained. When calculating on the frequency axis, τ can be obtained by a single calculation formula.

  Therefore, according to the above-described trolley line position measuring apparatus according to the present embodiment, the time difference τ of the data is calculated using the autocorrelation function, and the height data is synchronized with the time difference τ, so that the velocity information v having an error can be obtained. Compared to the third and fourth embodiments in which the heights of the trolley wires are synchronized based on (t), the synchronization accuracy can be improved, and a more accurate push-up amount can be detected. Furthermore, since height data can be synchronized by calculation processing, it is not necessary to add a physical sensor device, and cost can be reduced.

  In the seventh embodiment of the trolley wire measuring device according to the present invention, each of the trolley wire position detecting devices in the above-described embodiment 3 or 4 is used as the trolley wire height synchronization means. The cross-correlation of the deviation data is used.

Hereinafter, the configuration of the third embodiment will be described as an example of the synchronization method. The height and displacement of the trolley wire 7 acquired by the first device are h ₁ (t) and x ₁ (t), respectively, and the height and displacement of the trolley wire 7 acquired by the second device are h ₂ (t ), X ₂ (t), and the time difference between the first device and the second device passing through the same point is τ, the definition of the cross-correlation C _x1x2 between x ₁ and x ₂ is as follows.

Thus, by obtaining the time difference τ, the measurement positions of the first device and the second device can be synchronized, and the difference between the heights h ₁ (t−τ) and h ₂ (t), which are measured values at the same position. As a result, the amount by which the trolley wire 7 is pushed up by the pantograph 13 can be obtained. The method for obtaining τ is the same as that in the sixth embodiment.

  The height of the trolley wire is susceptible to being affected by disturbances such as travel speed, while the trolley wire deflection is not easily affected by disturbances. Therefore, according to the trolley wire position measuring apparatus of the present embodiment, the synchronization accuracy can be further improved as compared with the above-described sixth embodiment, and a more accurate push-up amount can be detected.

    INDUSTRIAL APPLICABILITY The present invention can be used for a trolley wire measuring device that measures the height, displacement, push-up amount, bent metal fitting detection, and the like of a trolley wire by processing an image acquired by a camera installed on the roof of the vehicle. is there.

It is a schematic diagram which shows the structural example of the best embodiment of this invention. It is a figure which shows a line sensor image. It is a flowchart which shows the image processing process of the best embodiment of this invention. It is explanatory drawing which shows the height of a trolley line, and the relationship of deviation. It is a flowchart which shows the image processing process of Example 1 of this invention. It is a schematic diagram which shows the structural example of Example 2 of this invention. It is a schematic diagram which shows the example of an image of the moment through which the bending metal fitting of Example 2 of this invention passes. It is a flowchart which shows the image processing process of Example 2 of this invention. It is a schematic diagram which shows the structural example of Example 3 of this invention. It is a graph which shows the example of a measurement of the trolley line height by Example 3 of this invention. It is a schematic diagram which shows the structural example of Example 4 of this invention. It is a graph which shows the example of a measurement of the trolley line height by Example 4 of this invention. It is a schematic diagram which shows the structural example of Example 5 of this invention.

Explanation of symbols

1, 1a, 1b Vehicle 2, 2a, 2b, 3, 3a, 3b Line sensor 4, 4a, 4b Floodlight 5, 5a, 5b Image recording unit 6, 6a, 6b Image processing unit 7 Trolley wire 8 Bending bracket 11, 11a, 11b OR circuit 12, 12a, 12b ITV camera 13 Pantograph 14a, 14b, 15a, 15b Proximity sensor

Claims (7)

Two line sensors that are arranged on the roof of the vehicle so as to oppose each other to the left and right with respect to the traveling direction of the vehicle and that respectively face the trolley line, and record images based on the output values of the two line sensors. In the trolley line position measuring apparatus , comprising: an image recording unit that analyzes the image acquired from the image recording unit, and an image processing unit that detects the height and displacement of the trolley line. Two sets of position measuring devices are used, the first trolley line position measuring device is installed on the roof of the leading vehicle, and the second trolley line position measuring device is installed on the roof of the vehicle having a pantograph. The height of each of the trolley wires is measured after the height of each of the trolley wires is measured by the first and second trolley wire position measuring devices and the measurement positions are synchronized. Position measuring device of the trolley wire, characterized by calculating the difference.   The trolley wire position measuring device according to claim 1, wherein the image processing unit detects wear of the trolley wire.   Two line sensors that are directed vertically upward on the roof of the vehicle and arranged to the left and right with respect to the traveling direction of the vehicle, and the trolley line above the line sensor according to the logical sum of the output values of the line sensor A trolley wire comprising: one camera that acquires video; an image recording unit that records a video signal output from the camera; and an image processing unit that analyzes the video signal acquired from the image recording unit. Position measuring device.   Two sets of the trolley line position measuring device according to claim 3 are used, the first trolley line position measuring device on the roof of the leading vehicle, and the second trolley line position measuring device has a pantograph. After installing each on the roof of the vehicle, measuring the height of the trolley wire by the position measuring device of the first and second trolley wires, and synchronizing the measurement position, the height of each trolley wire A trolley wire position measuring device characterized by taking the difference between the two. The position measuring device for a trolley wire according to claim 1 or 2 , wherein the position measuring devices for the first and second trolley wires are directed vertically upward on the roof of the vehicle, respectively, in the traveling direction of the vehicle. A trolley wire position measuring device comprising two proximity sensors arranged on the left and right sides. The trolley wire position measuring device according to any one of claims 1, 2, and 4, wherein each of the two trolley wire position measuring devices is detected as the measurement position synchronization means. An apparatus for measuring a position of a trolley wire, characterized by utilizing a cross-correlation of the height of the trolley wire. The trolley wire position measuring device according to any one of claims 1, 2, and 4, wherein each of the two trolley wire position measuring devices is detected as the measurement position synchronization means. An apparatus for measuring a position of a trolley wire, characterized by utilizing a cross-correlation of a trolley wire deviation.

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