JP5476775B2 - Trolley wire inspection device and inspection method - Google Patents

Description

  The present invention relates to a trolley wire inspection device and a measurement method for measuring the height and displacement of a trolley wire using a range sensor, and in particular, to reduce measurement errors and obtain highly accurate measurement values. The present invention relates to a trolley wire inspection apparatus and inspection method.

  The trolley wire, which is an electric wire for supplying electricity to the electric vehicle, has a predetermined height within the specified range because the height from the rail and the range of displacement on the pantograph that receives power supply are determined. It is necessary to maintain the trolley wire so that it fits in the area. For this purpose, measurement of the height and displacement of the trolley wire is important.

  Conventional methods for measuring trolley wires include the following. First, there is a method in which two light sources such as LEDs are installed one above the other on the spring portion of the pantograph, and the relative position from the pantograph is obtained (see, for example, Patent Document 1). Second, there is a method in which a marker that easily reflects light is attached to the position of the spring of the pantograph, the line sensor is used for photographing, and the relative position is detected by pattern matching (see, for example, Patent Document 2). Third, irradiate the trolley wire with a laser beam through a polygon mirror with a rotary encoder, and determine the relative position from the polygon mirror based on the distance from the polygon mirror to the trolley wire and the rotation angle that can be read from the rotary encoder. This is a method of obtaining (see, for example, Patent Document 3).

  In addition to the first to third methods described above, the trolley line height and deflection can be obtained using a range sensor. That is, as shown in FIG. 1, the range sensor 2 is installed on the roof of the vehicle 1 so as to scan the trolley wire 4 around an axis parallel to the traveling direction of the vehicle 1, while the arithmetic unit is installed inside the vehicle 1. 3 is installed. Then, the calculation device 3 performs calculation processing based on the distance to the measurement object and the step angle obtained by scanning the periphery of the sensor with a laser beam in the range sensor 2, and the height and displacement of the trolley line Ask for.

  That is, the distance and the angle from the place where the range sensor 2 is installed to the trolley line 4 are obtained by arranging the range sensor 2 on the vehicle 1 with the front side facing vertically upward and running the vehicle 1. The height and deviation from the range sensor 2 to the trolley line 4 are obtained by converting to coordinates on the arithmetic device 3 side.

JP 2001-235310 A JP 2008-104312 A JP 2006-123787 A

  However, in the configuration described in Patent Document 1, it is necessary to attach LEDs and markers at two locations in order to measure the contact force. Furthermore, since calculations are performed so that the height, displacement, and contact force of the pantograph can be obtained at the same time, there is a problem that unnecessary calculations occur when only height and displacement are desired. Further, the configuration described in Patent Document 2 has a problem in that it is difficult to obtain height and displacement in real time because pattern matching is performed after first generating a spatio-temporal image.

  On the other hand, since the distance and angle to the trolley line can be obtained directly by the method using the document 3 and the range sensor, there is an advantage that the height and the deviation to the trolley line can be obtained with a minimum calculation. However, since a rotating laser is used for measurement, the following problems may occur. The first problem is that trolley wire hangers may be erroneously detected as trolley wires. Secondly, the trolley wire material and the characteristics of the range sensor may affect the measurement results.

  In view of the above, an object of the present invention is to provide a trolley wire inspection device and a detection method capable of preventing a decrease in measurement accuracy due to noise.

A trolley wire inspection device according to a first aspect of the present invention for solving the above-described problems includes a range sensor installed on the roof of a vehicle, and an arithmetic device installed inside the vehicle, A trolley wire inspection device that determines the height and displacement of a trolley line by the arithmetic device based on a detection result of a region sensor, wherein the arithmetic device controls the range sensor, the range A detection range extracting means for extracting only the measurement object measured by the sensor whose position is within a preset detection range and outputting the coordinates thereof, detected in one scan by the range sensor trolley wire coordinate detecting means for outputting a coordinate of one or more of the measurement target as a trolley line candidate coordinates, log output means for outputting the trolley line candidate coordinates in a particular format, and traveling of the vehicle And wherein the measured values detected in the trolley wire coordinate detecting means on the basis of the arranged condition in degrees and the contact wire comprises a noise determination processing means determines whether the noise in either one of the contact wire To do.

Further, the trolley wire inspection device according to the second invention is the trolley wire inspection device according to the first invention, wherein the measured value measured by the range sensor is a true value that is the actual position of the measurement object. A measuring object measured by the range sensor after the detection range extracting unit corrects the measured value to a true value using the correction formula. Among them, a configuration in which the position is within a preset detection range is extracted.

A trolley line inspection method according to a third aspect of the present invention includes a range sensor installed on the roof of a vehicle and an arithmetic unit installed inside the vehicle, and the detection result of the range sensor A trolley line inspection method for determining the height and displacement of a trolley line based on the arithmetic device based on the first step of operating the range sensor to acquire data from the range sensor; and In the second step of extracting only the measurement object measured by the range sensor whose position is within the preset detection range and outputting the coordinates, and in one scan by the range sensor A third step of outputting the detected coordinates of one or a plurality of the measurement objects as trolley line candidate coordinates, a fourth step of outputting the trolley line candidate coordinates in a specific format, and a traveling speed of the vehicle And the above Wherein the measured values detected in the third step based on the disposed condition of Li wire comprising a fifth step of determining whether the noise in either one of the contact wire.

A trolley line inspection method according to a fourth aspect of the present invention is the trolley line inspection method according to the third aspect of the present invention, wherein the measured value measured by the range sensor is the true position of the measurement object. A correction formula for correcting to a value is calculated, and the second step is performed after correcting the measurement value obtained by the range sensor to a true value using the correction formula.

  According to the trolley line inspection device according to the first invention described above, the range sensor installed on the roof of the vehicle and the arithmetic unit installed inside the vehicle are provided, and the detection result of the range sensor is displayed. A trolley wire inspection device that determines the height and displacement of a trolley line based on an arithmetic device based on a control means for operating a range sensor, and a measurement object measured by the range sensor A detection range extracting means for extracting only those whose positions are within a preset detection range and outputting the coordinates, and a trolley from the coordinates of one or a plurality of measurement objects detected in one scan by the range sensor. A trolley line coordinate detection means for detecting line candidate coordinates, a log output means for outputting the trolley line coordinates in a specific format, and an approximation formula composed of a plurality of trolley line candidate coordinates and a trolley line candidate coordinate. Since the trolley line candidate coordinates comprises a noise determination processing means determines whether a noise, it is possible to prevent a decrease in measurement accuracy due to noise.

  According to the trolley wire inspection apparatus according to the second invention described above, the noise determination processing means obtains an approximate expression based on a plurality of measurement values detected immediately before detecting a certain measurement value, and based on the approximate expression. Therefore, it is possible to remove the noise of the measured value in advance, and to prevent the accuracy from being reduced due to noise when performing some operation on the measured value. it can. In addition, since it is known in advance that the trolley line deviation is linear, it is possible to determine whether or not the measurement value is noise without complicated calculations. When determining noise, not all measured values are required, so the height and displacement of the trolley line can be displayed in real time.

  According to the trolley wire inspection device according to the third aspect described above, the noise determination processing means is configured to obtain the trolley wire coordinate detection means based on the traveling speed of the vehicle and the trolley wire arrangement condition. It is possible to remove noise while measuring the trolley line by the range sensor, and the accuracy when using the measured value after finishing the trolley line measurement is determined because it is determined whether the line is noise or noise. Can be suppressed. In addition, it can be used as a threshold when determining noise in combination with the second invention.

  According to the trolley line inspection apparatus according to the fourth aspect described above, the noise determination processing means uses the Hough curve obtained from the measurement value of the measurement object detected by the trolley line coordinate detection means to obtain the measurement value. Since it is determined whether it is a trolley line or noise, a straight line can be obtained from the measurement data between hangers without being affected by a small number of noises by the principle of majority voting. The same performance as that of the third invention can be obtained.

  According to the trolley wire inspection apparatus according to the fifth aspect described above, means for calculating a correction formula for correcting the measurement value measured by the range sensor to the true value which is the actual position of the measurement object. And the detection range extraction means corrects the measured value to a true value using a correction formula, and then extracts a measurement object measured by the range sensor whose position is within a preset detection range. If the correction formula is derived once in advance, the same correction formula can be used for the same shape and material, and it is possible to efficiently prevent a decrease in measurement accuracy. .

  According to the above-described trolley line inspection method according to the sixth aspect of the present invention, the range sensor installed on the roof of the vehicle and the arithmetic unit installed inside the vehicle include A trolley line inspection method for obtaining the height and displacement of a trolley line based on an arithmetic device based on a first step of operating a range sensor to acquire data from the range sensor, and a range sensor A second step of extracting only the object to be measured whose position is within a preset detection range and outputting its coordinates, and one or more detected in one scan by the range sensor A third step of detecting trolley line candidate coordinates from the coordinates of a plurality of measurement objects, a fourth step of outputting trolley line coordinates in a specific format, and an approximate expression and trolley line consisting of a plurality of trolley line candidate coordinates Compare with candidate coordinates Since the trolley line candidate coordinates comprising a fifth step of determining whether the noise by, it is possible to prevent deterioration of the measurement accuracy due to noise.

  According to the trolley line inspection method according to the seventh invention described above, the fifth step obtains an approximate expression based on a plurality of measurement values detected immediately before detecting a certain measurement value, and based on the approximate expression. This is done by determining whether the measured value is of the trolley line or noise, so the noise of the measured value can be removed in advance, and when performing some operation on the measured value, the accuracy degradation due to noise is reduced. Can be prevented. In addition, since it is known in advance that the trolley line deviation is linear, it is possible to determine whether or not the measurement value is noise without complicated calculations. When determining noise, not all measured values are required, so the height and displacement of the trolley line can be displayed in real time.

  According to the above-described trolley line inspection method according to the eighth aspect of the present invention, the fifth step is that the measurement value detected by the trolley line coordinate detection means based on the traveling speed of the vehicle and the trolley line arrangement condition is Since it is done by determining whether it is of a line or noise, the noise can be removed while measuring the trolley line by the range sensor, and the measured value is used after the measurement of the trolley line is finished It is possible to suppress deterioration in accuracy. In addition, it can be used as a threshold when determining noise in combination with the second invention.

  According to the above-described trolley line inspection method according to the ninth aspect, the fifth step uses the Hough curve obtained from the measurement value of the measurement object detected by the trolley line coordinate detection means to obtain the measurement value. Since it is done by determining whether it is a trolley wire or noise, it is possible to obtain a straight line from the measurement data between hangers without being affected by a small number of noises by the principle of majority decision, The same performance as that of the seventh and eighth inventions to be removed can be obtained.

  According to the trolley line inspection method according to the tenth aspect described above, a correction formula for correcting the measurement value measured by the range sensor to the true value that is the actual position of the measurement object is calculated, After correcting the measured value obtained by the range sensor to the true value using the correction formula, the second step is performed, so if the correction formula is derived once in advance, for the same shape and material The same correction formula can be used, and a reduction in measurement accuracy can be efficiently prevented.

FIG. 1A is a front view schematically showing an application example of the trolley wire inspection apparatus according to the first embodiment of the present invention, and FIG. 1B is a trolley wire according to the first embodiment of the present invention. It is a side view which shows typically the example of application of a test | inspection apparatus. It is a block diagram which shows the structure of the trolley line inspection apparatus which concerns on Example 1 of this invention. It is a flowchart which shows the flow of the process by the trolley wire inspection apparatus which concerns on Example 1 of this invention. It is explanatory drawing which shows the laying example of a trolley line. It is explanatory drawing which shows the example of a measurement result by the range sensor in Example 1 of this invention. It is explanatory drawing which shows the other example of a measurement result by the range sensor in Example 1 of this invention. It is a block diagram which shows the structure of the trolley line inspection apparatus which concerns on Example 3 of this invention. FIG. 8A is an explanatory diagram illustrating an example of a measurement result obtained by the range sensor in the third embodiment of the present invention, and FIG. 8B is an explanatory diagram illustrating an example in which the measurement value illustrated in FIG. 8A is converted into a Hough curve. FIG. It is a block diagram which shows the structure of the trolley line inspection apparatus which concerns on Example 4 of this invention. It is a flowchart which shows the flow of the process by the trolley wire inspection apparatus which concerns on Example 4 of this invention. It is explanatory drawing which shows the example of a measurement result by the range sensor in Example 4 of this invention.

  Hereinafter, the details of the trolley wire inspection device and the trolley wire inspection method according to the present embodiment will be described with reference to the drawings.

  A first embodiment of the trolley line inspection device and trolley line inspection method according to the present invention will be described with reference to FIGS.

  As shown in FIG. 1, the trolley wire inspection device according to the present embodiment includes a range sensor 2 installed on the roof of the vehicle 1 so that the trolley wire 4 can be measured, and a computation installed inside the vehicle 1. The apparatus 3 is provided.

  The range sensor 2 measures the distance to the measurement object by projecting laser light in a radial pattern around an axis parallel to the traveling direction of the vehicle 1 and receiving the reflected light. In the present embodiment, the range sensor 2 scans the measurement range A (scan angle 270 °) shown in FIG. 1 in 1080 steps, and thereby the angular resolution ω is 0.25 °.

  On the other hand, the arithmetic unit 3 is a part that calculates the height, displacement, and the like of the trolley wire 4 based on the measurement result by the range sensor 2. As shown in FIG. 2, the arithmetic device 3 includes a control unit 301, a first memory 302, a detection range extraction unit 303, a second memory 304, a trolley line coordinate detection unit 305, a third memory 306, a log output unit 307, A noise determination processing unit 308 is provided.

  The control unit 301 operates the range sensor 2, and distance / angle data of the measurement object detected by the range sensor 2 is stored in the first memory 302. The detection range extraction unit 303 extracts the coordinates of the measurement object existing in the preset detection range B as the object coordinates based on the distance / angle data extracted from the first memory 302. More specifically, after converting the distance / angle to the measurement object input from the range sensor 2 into orthogonal coordinates, only the coordinates obtained from the measurement object existing in the detection range B are extracted, and these Coordinates are output as object coordinates. The detection range B is set in the measurement range A based on the deviation of the trolley wire 4 in the height direction and the horizontal direction.

  The trolley line coordinate detection unit 305 determines the coordinate of the trolley line 4 that has the lowest position among the plurality of object coordinates continuously obtained by one scan by the range sensor 2 taken out from the second memory 304. It is regarded as coordinates and this is output as trolley line coordinates. In addition, when the measurement object is detected again within the detection range B at an interval after the measurement object is continuously detected in one scan, the second measurement object is newly detected. It is regarded as a trolley line and output as the coordinates of the second trolley line.

  The trolley line coordinates output from the trolley line coordinate detection unit 305 are stored in the third memory 306. The log output unit 307 outputs the trolley line coordinates extracted from the third memory 306 as history data in a specific format. The history data output from the log output unit 307 is stored as a log L.

  The noise determination processing unit 308 uses the fact that the trolley wire 4 is laid in a straight line, and after a predetermined amount of history data accumulated as the log L is accumulated, the measured value at a certain time t and the time t It is determined whether the measured value obtained at time t is noise by comparing it with a predicted value obtained from a straight line obtained by approximating several measured values just before with a linear function. Remove this.

  More specifically, the noise determination processing unit 308 obtains an approximate expression for the displacement of the trolley line 4 based on the history data input from the log L, and also from the trolley line coordinate detection unit 305 via the third memory 306. It is determined whether or not the input trolley line coordinates are on a straight line satisfying the approximate expression, and the trolley line coordinates input from the trolley line coordinate detection unit 305 via the third memory 306 do not exist in the linear form. If it is determined, it is removed as noise.

  As shown in FIG. 3, when measuring the trolley wire by the trolley wire inspection device according to the present embodiment, the arithmetic device 3 first operates the range sensor 2 by the control unit 301 to measure the trolley wire 4. And data on the distance and angle to the measurement object within the measurement range A obtained by the range sensor 2 is acquired (step P1). Subsequently, the detection range extraction unit 303 and the trolley line coordinate detection unit 305 detect the coordinates of the trolley line 4 as described above (step P2), and then determine whether or not a predetermined amount of logs is accumulated (step S2). P3).

  If it is determined in step P3 that a predetermined amount of logs are accumulated (YES), the noise determination processing unit 308 performs noise determination processing (step P4), and then the log output unit 307 outputs history data (step S4). P5). On the other hand, if it is determined in step P3 that a predetermined amount of logs has not been accumulated (NO), the log output unit 307 outputs the trolley line coordinates obtained by the trolley line coordinate detection unit 305 as history data (step P5). . The steps P1 to P5 are repeated until the measurement is completed (step P6).

  Here, an example of removing noise measured by the range sensor 2 in the noise determination processing unit 308 will be described in detail. As shown in FIG. 4, the trolley wire 4 is deviated by a hanger 6 extending from the overhead wire 5 (left and right with respect to the traveling direction of the vehicle 1) in order to prevent only a part of the pantograph from being worn. In a zigzag direction). Therefore, in this embodiment, for a measurement point detected at a certain time t, it is considered whether or not the measurement point is on a straight line obtained by linearly approximating a plurality of points measured immediately before the time t. Thus, it is determined whether the measurement object existing in the detection range B is the trolley wire 4 or noise.

For example, for the deflection of the measuring object at time t ₅ as shown in FIG. 5, several points were measured just before the time t ₅ (in this case, the time t ₁ ~t 4 points p ₁ was measured _4, p _2, p _3, based on p ₄₎ of the measurement results by the least squares method obtains the following equation (1).
x = x (t) (1)

Then, the deviation at time t ₅ obtained by the range sensor 2 (hereinafter referred to as measured deviation) and the value obtained by substituting t = t ₅ into the above equation (1) (hereinafter referred to as predicted deviation). ), And if the difference between the measured deviation and the predicted deviation is larger than a predetermined value α set in advance, it is determined as noise and is not counted as the measured value of the trolley wire 4.

Here, as the setting method of the predetermined value α, the following two methods are conceivable.
First, x ₀ the measured deflection of the measuring object coordinates, when the predicted excursion was x _e, the relationship of these measured deviation x ₀ and the predicted deviation x _e satisfies the following formula (2) In this case, that is, when the difference α between the measured deviation x ₀ and the predicted deviation x _e is larger than a predetermined value (α = 100 mm in the present embodiment), the measurement object is regarded as noise.

That is, it is likely that the relation between x ₀ and x _e is detecting trolley wire next laid in parallel with twin simple catenary equation is satisfied the following equation (3).

Therefore, when the relationship between the measured deviation x ₀ and the predicted deviation x _e of the measurement object is larger than the interval between two trolley lines laid in parallel by the twin simple catenary equation, and satisfies the above equation (2) Regards this measurement object as noise.

In the second method, noise is determined using the slope of the first-order approximation and the measurement error of the range sensor.
As shown in FIG. 6, for example, on a primary approximate expression calculated on the basis of the results of measurement at time t ₁ ~t ₄ were the following formula inclination as shown in (4) a (> 0) .
x (t) = at + b (4)
However, a and b are constants.

Here, t = if measurement locations at t ₄ was just the position corresponding to the hanger 6, a first-order approximation formula obtained from the measurement point p ₄ Metropolitan at the measurement point p ₅ 'and t = t ₄ at t = t ₅ Is approximately -a. If the measurement error specific to the range sensor 2 is ± δ, the measurement location at t = t ₄ is just the hanger 6 from the predicted deviation x _e obtained by substituting t = t ₅ into the above equation (4). The maximum error between the measured displacement x ₀ and the position corresponding to is about 2aΔt + δ (where Δt = t ₅ −t ₄ ).

Furthermore, it is sufficient to allow for 2aΔt + 2δ as the maximum error in consideration of the case where no return is made. Therefore, when the relationship between the measured deviation x ₀ and the predicted deviation x _e satisfies the following expression (5), that is, the difference between the measured deviation x ₀ and the predicted deviation x _e is an approximate expression and the range sensor 2. If the value is larger than the value obtained from the inherent measurement error (in this embodiment, α = 2aΔt + 2δ), the measurement object may be regarded as noise.

  By performing such processing, noise in measurement by the range sensor 2 can be removed while measuring the trolley wire 4.

  According to the above-described trolley wire inspection apparatus according to the present embodiment, the noise of the measurement value can be removed while measuring the trolley wire 4. For example, when performing some operation on the measurement value after the measurement is completed, the noise It is possible to suppress a decrease in accuracy due to. In addition, since it is known in advance that the trolley line deviation is linear, it is possible to determine whether or not the measurement value is noise without complicated calculations. In addition, since all the measurement values are not required when determining the noise, the height and deflection of the trolley line can be obtained and displayed in real time.

A second embodiment of the trolley wire inspection apparatus and trolley wire inspection method according to the present invention will be described.
The present embodiment is different from the first embodiment described above in the processing in the noise determination processing unit 308. The other configurations are generally the same as those shown in FIGS. 1 to 3 and described above. Hereinafter, the same reference numerals are given to members having the same functions, and overlapping descriptions are omitted, and different points are mainly described. To do.

  In this embodiment, noise is removed by a simple method by using the laying condition of the trolley wire 4. That is, as shown in Table 1, it is determined that the trolley wire 4 must exist at a predetermined height and displacement from the rail.

  By utilizing this, the detection range B for detecting the trolley wire 4 can be provided as shown in FIG. Further, as shown in the first embodiment, the trolley wire 4 is supported linearly between the hangers 6. The distance between the hangers 6 is 3.5 m or 5 m. As shown in Table 1, the height in this section may vary by 400 mm for the conventional line and 500 mm for the Shinkansen. Further, there is a possibility that the displacement direction may move 500 mm on the conventional line and 600 mm on the Shinkansen.

  Here, the distance between the hangers 6 is d [mm], the height or displacement of the trolley wire 4 that varies between the hangers 6 is W [mm], the speed of the vehicle 1 is V [km / h], and the angular resolution is Assuming that ω [msec], a distance D at which the trolley line 4 detected at a certain time t varies until the next time is expressed by the following equation (6).

  For example, the trolley line 4 adopts a value that fluctuates more greatly between the hangers 6. The conventional line is d = 3.5 m and the maximum W = 500 mm, and the Shinkansen is d = 3.5 m and the maximum W = 600 mm. Suppose that it may fluctuate. The speed of the train running on the conventional line is V = 160 km / h, and the speed of the Shinkansen is V = 300 km / h, so these values and the time resolution of the range sensor 2 are about ω = 0.25 msec. Using this, the maximum value Dmax is found when the position (height or deviation) of the trolley wire 4 scanned at a certain time is likely to fluctuate at the next time. It becomes 1.6mm for the line and 3.57mm for the Shinkansen.

  That is, when the error inherent to the range sensor 2 is considered as ± δ [mm] as in the first embodiment, the deviation or height of the trolley line measured at a certain time t becomes the value measured at the time t−1. If it is farther than 3.57 + 2δmm or 1.6 + 2δmm, the measured value can be regarded as noise.

  According to the trolley wire inspection apparatus according to the present embodiment configured as described above, noise in the measurement value can be removed while measuring the trolley wire 4, so the accuracy when performing some work using the measurement value The decrease can be suppressed. Further, when used in combination with the above-described first embodiment and used as the predetermined value α used for noise determination in the noise determination processing unit 308, the accuracy of noise determination can be improved.

A third embodiment of the trolley wire inspection apparatus and trolley wire inspection method according to the present invention will be described with reference to FIGS.
This embodiment is different from the first embodiment in the configuration of the noise determination processing unit 308. The other configurations are generally the same as those shown in FIGS. 1 to 3 and described above. Hereinafter, the same reference numerals are given to members having the same functions, and the duplicate description is omitted, and the description will focus on the different points. To do.

  In the present embodiment, the noise determination processing unit 308 uses the fact that the trolley wire 4 is laid in a straight line, and performs noise determination using a Hough transform after all measurements are completed. The Hough transform is a technique for detecting a straight line from a sequence of points on an image, and has a feature that it is robust against noise when the majority is correct data.

  As shown in FIG. 7, in the present embodiment, the noise determination processing unit 308 performs processing for determining whether or not each of the accumulated logs L is noise, and history data determined to be noise. Erase this.

The processing in the noise determination processing unit 308 will be described in detail with reference to FIG. 8. In the noise determination processing unit 308, after all measurements are completed, all the history accumulated in the log L by the following equation (8). A Hough curve ρ _i corresponding to each of the data is obtained.
ρ _i = x _i cos θ + y _i sin θ (8)

Subsequently, a point Q (θ, ρ) through which the most Hough curve ρ _i passes is searched. Then, this point Q (θ, ρ) is sequentially substituted for ρ _i in the equation (8), and the Hough curve (ρ _{3 in} FIG. 8) in which the equation (8) does not hold, in other words, the point Q (θ, ρ) A measurement point (p _{3 in} FIG. 8) converted to a Hough curve ρ _i that does not pass is regarded as noise. Noise (here, point p ₃ ) is detected from the history data accumulated in the log L by such processing, and is deleted.

The present embodiment uses the property that the Hough curves obtained from arbitrary points on the same straight line intersect each other at one point in the Hough transform. From FIG. 8, Hough curves ρ ₁ , ρ ₂ , ρ ₄ , and ρ ₅ obtained from points p ₁ , p ₂ , p ₄ , and p ₅ on the same straight line intersect at the same point Q (θ, ρ), but the same The Hough curve ρ ₃ obtained from p ₃ not on the straight line and the other Hough curves ρ ₁ , ρ ₂ , ρ ₄ , ρ ₅ intersect at points different from the point Q (θ, ρ), respectively. I understand.

  In the detection of the trolley wire 4 by the range sensor 2, erroneous detection of the hanger 6 or the like becomes noise. Therefore, most of the data represents the height / deviation of the trolley wire 4, and the use of the Hough transform is effective for such a data group. That is, according to the trolley wire inspection apparatus according to the present embodiment configured as described above, a straight line can be obtained from the measurement data between the hangers 6 without being influenced by a small number of noises based on the principle of majority decision. The same degree of accuracy as the trolley wire inspection apparatus according to the first and second embodiments described above that removes noise during measurement of the trolley wire 4 can be obtained.

  A fourth embodiment of the trolley wire inspection device and trolley wire inspection method according to the present invention will be described with reference to FIGS. In the present embodiment, a distance database creation process and a correction formula creation process are performed in the processing in any of the calculation units 3 described in the first to third embodiments.

  Since the range sensor 2 uses laser light, the measurement value may vary depending on the color or material of the measurement object. In such a case, when the true value is plotted on the horizontal axis and the measured value is plotted on the vertical axis, the measurement distance can be corrected using an approximate function if the characteristic can be expressed by a function up to a quadratic function. .

  Therefore, in this embodiment, as shown in FIG. 9, the calculation unit 3 is provided with a distance database creation unit 3A and a correction formula creation unit 3B, and the measurement distance measured by the range sensor 2 is measured in advance with respect to the trolley line 4. By obtaining the correction formula, the characteristic characteristic of the range sensor 2 is absorbed when the trolley wire 4 is measured in real time. Hereinafter, the same members as those described in the first to third embodiments described above are denoted by the same reference numerals, and redundant description will be omitted, and different points will be mainly described. 9, a part of the configuration shown in FIG. 2 or FIG. 7 and described above is omitted.

As shown in FIG. 9, the distance database creation unit 3A includes a control unit 301, a true value input unit 311, a first memory 312, a representative distance statistics unit 313, a second memory 314, and a true value / measured value correspondence output unit 315. A third memory 316 and a distance database 317. On the other hand, the correction formula creation unit 3B includes a fourth memory 318, an approximate function creation unit 319, a fifth memory 320, an inverse function creation unit 321, a sixth memory 322, and a log L _3B .

In the distance database creation unit 3A, a distance D _H (see FIG. 1) from the range sensor 2 to the trolley line 4 measured in advance by an operator using a laser range finder or the like is input to the true value input unit 311. This measured value is stored in the third memory 316 as the true value of the distance. The control unit 301 operates the range sensor 2 and executes measurement by the range sensor 2 a plurality of times. Data of a plurality of measurement distances of the measurement object detected by the range sensor 2 is stored in the first memory 312. The representative distance statistics unit 313 performs statistical processing on the data of a plurality of measurement distances extracted from the first memory 312 and outputs the average value of all the measurement distance data as the measurement distance. The measured distance output from the representative distance statistics unit 313 is stored in the second memory 314.

  The true value / measured value correspondence output unit 315 associates the measured distance retrieved from the second memory 314 with the true value of the distance retrieved from the third memory 316, and outputs the correspondence result as a true value / measured value correspondence. To do. The distance database 317 is updated based on the true value / measured value correspondence.

  In the correction formula creation unit 3B, all true value / measurement correspondences output from the distance database 317 are stored in the fourth memory 318. The approximate function creation unit 319 creates an approximate function based on all true value / measurement correspondences extracted from the fourth memory 318, and outputs approximate function coefficients. The approximate function coefficient output from the approximate function creation unit 319 is stored in the fifth memory 320.

The inverse function creation unit 321 creates an inverse function based on the approximate function coefficient extracted from the fifth memory 320, and outputs the inverse function coefficient. The inverse function coefficient output from the inverse function creation unit 321 is stored as a log L _3B via the sixth memory 322.

Hereinafter, the flow of calculating the correction formula in the calculation unit according to the present embodiment will be described with reference to FIG. As shown in FIG. 10, in the trolley line inspection device according to the present embodiment, first, the true value of the distance _DH from the range sensor 2 to the measurement object (here, the trolley line 4) is acquired ( Step P1). The distance _DH from the range sensor 2 to the trolley line 4 is measured by an operator using an appropriate measuring instrument such as a laser range finder, for example. The measurement result is input by the true value input unit 311 and stored in the third memory 316 as the true value of the distance.

  Subsequently, the control unit 301 operates the range sensor 2 to start measurement of the trolley line 4, and the range sensor 2 measures the distance from the measurement sensor 2 to the lower surface of the trolley line 4 multiple times per point. All the measurement results are stored in the first memory 312 as a measurement distance (distance data) a plurality of times (step P2).

  Subsequently, the representative distance statistics unit 313 performs statistical processing on the measurement distances obtained from the first memory 312 a plurality of times, obtains the average of the measurement distances as the representative distance, stores this in the third memory 316, and calculates the true value. The measured value correspondence output unit 315 obtains the correspondence between the true value and the measured value from the true value of the distance extracted from the third memory 316 and the average of the measured distance, and the distance is determined by the obtained true value / measured value correspondence. Update the database (step P3).

  Subsequently, in the measurement range A, a minimum distance and a maximum distance at which the measurement object (trolley wire 4) can be detected, and a plurality of positions of the trolley wire 4 set in advance therebetween (hereinafter collectively referred to as “preliminary”). It is determined whether or not the measurement is performed a plurality of times for each of the set measurement points (step P4). In step P4, when the measurement at the preset measurement point is not completed (NO), the process returns to step P1, and the processes from step P1 to step P4 are repeated until the measurement at the preset plural points is completed.

  On the other hand, when the measurement at the measurement point set in advance in Step P4 is completed (YES), the true value / measurement at all the measurement points input from the distance database 317 via the fourth memory 318 in the approximate function creation unit 319. Based on the distance correspondence, an approximate function representing the measured value as a true value function is derived by the least square method or the like (step P5). The coefficient obtained from the derived approximate function is stored in the fifth memory 320.

Subsequently, the inverse function creation unit 321 obtains an inverse function serving as a correction formula based on the approximate function coefficient input from the fifth memory 320 (step P6). The obtained inverse function coefficient is stored as a log L _3B via the sixth memory 322.

That is, as shown in FIG. 11, if the true value of the distance from the range sensor 2 to the measurement object (trolley line 4) is x and the value measured by the range sensor 2 is y, the measured value y is minimized. The relationship between x and y obtained by the square method is represented by y = f (x). Therefore, an inverse function x = f ⁻¹ (y) of y = f (x) is obtained, and a true value x is obtained from the measured value y by using the inverse function x = f ⁻¹ (y) as a correction formula. be able to.

Here, the contents finally recorded in the log L _3B are two or three numerical values. More specifically, when the approximate function is a linear expression, two contents are recorded in the log L _3B, and when the approximate function is a quadratic expression, three contents are recorded in the log L _3B .

The log L _3B saved in this way is stored in, for example, the first memory 302 shown in FIG. 2 or FIG. 7, and is used when the detection range extraction unit 303 extracts the object coordinates. That is, in the present embodiment, a correction formula for correcting the measured value obtained by the range sensor 2 to a true value using a coefficient extracted from the log L _3B is configured, and the detection range extraction unit 303 determines the range. By substituting the distance from the sensor 2 to the trolley wire 4 as a variable into the correction formula, the true value of the distance corrected for each material is acquired, and the object coordinates are extracted based on the acquired true value of the distance. Like that.

  By being configured in this way, according to the trolley wire inspection apparatus according to the present embodiment, the same correction is made for the measurement object having the same shape and material by obtaining the correction formula once in advance. What is necessary is just to use a formula, and it can measure with high precision by this.

  In the processing in step P5 described above, the calculation unit 3 performs automatic determination, or the operator determines whether or not to end the measurement, and the operator inputs whether or not the measurement can be ended to the calculation unit 3. For example, various means may be used as necessary.

For example, when performing automatic determination in the calculation unit 3, first, the minimum distance d _min [mm], the maximum distance d _max [mm] and the measurement width d _w [mm] that can detect the measurement object are input, and then , The number of times of measurement N (N is the maximum natural number satisfying N <(d _max −d _min ) / dw + 2), and measured every time the operator measures the true value of the distance from the range sensor 2 to the trolley wire 4 A process such as counting the number of times and ending the measurement when the number of times of measurement reaches N may be performed.

  Here, when the operator changes the number of measurement points according to the measurable range of the range sensor 2 to be used, the measurement object, and the situation at the time of the experiment, it is better for the operator to make the determination in step P5. .

  The present invention is suitable for application to a trolley wire inspection apparatus and inspection method.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Range sensor 3 Arithmetic device 301,311 Control part 302,304,306,312,314,316,318,320,322 Memory 303,313 Detection range extraction part 305 Trolley line coordinate detection part 306 Log output part 308 Noise judgment processing unit 313 Representative distance statistics unit 315 True value / measured value correspondence table creation unit 319 Approximate function creation unit 321 Inverse function creation unit 4 Trolley line 5 Crossover line 6 Hanger A Measurement range B Detection range L, L _3B log DB distance The database

Claims (4)

A range sensor installed on the roof of the vehicle, and an arithmetic device installed inside the vehicle, height and deflection of the preparative Lori line by the computing device based on a detection result of the measurement range sensor A trolley line inspection device for determining the position of a measurement object measured by the range sensor, wherein the arithmetic unit is within a detection range set in advance. Detection range extracting means for extracting only a certain thing and outputting the coordinates thereof, a trolley line for outputting the coordinates of one or a plurality of measurement objects detected in one scan by the range sensor as trolley line candidate coordinates coordinate detection means, the log output means for outputting a trolley line candidate coordinates in a particular format, and the trolley wire coordinate detection based on the disposed conditions of the running speed and the trolley wire of the vehicle Trolley wire detector device for measuring values detected in the stage characterized in that it comprises a noise determination processing means determines whether the noise in either one of the contact wire. Means for calculating a correction formula for correcting the measurement value measured by the range sensor to a true value that is an actual position of the measurement object, and the detection range extraction means uses the correction formula. After the measurement value is corrected to a true value, the measurement object measured by the range sensor is configured to extract a measurement object whose position is within a preset detection range. Item 2. The trolley wire inspection device according to Item 1 . A range sensor installed on the roof of the vehicle, and an arithmetic device installed inside the vehicle, height and deflection of the preparative Lori line by the computing device based on a detection result of the measurement range sensor A trolley line inspection method for obtaining a first step of operating the range sensor to acquire data from the range sensor, and a position of the measurement object measured by the range sensor a second step of outputting the coordinates but by extracting only those that are within the detection range set in advance, the coordinates of one or a plurality of the measurement object are detected in a single scan by the measuring range sensor a third step of outputting as a trolley line candidate coordinates, a fourth step of outputting the trolley line candidate coordinates in a particular format, the third on the basis of the arranged condition of the running speed and the trolley wire of the vehicle In the process of Trolley wire gage method characterized by have detected measurement values is comprised of a fifth step of determining whether the noise in either one of the contact wire. A correction formula for correcting the measurement value measured by the range sensor to a true value that is the actual position of the measurement object is calculated, and the measurement value obtained by the range sensor using the correction formula is calculated. 4. The trolley line inspection method according to claim 3 , wherein the second step is performed after correction to a true value.

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