JP5871833B2 - Pantograph status detection system - Google Patents

Description

  The present invention relates to a pantograph state detection system for detecting whether or not a pantograph is in a normal state in a railway vehicle.

  As a conventional device for detecting whether or not the pantograph is in a normal state, there is a pantograph malfunction prevention device described in Patent Document 1. This pantograph malfunction prevention device discriminates a section type of a destination based on position information acquired from a responder attached to a power pole along a railway line, and performs control according to the discrimination result. For example, if it is determined that the pantograph is to be entered into the overhead wire section while the pantograph is raised, the pantograph is lowered. Moreover, a pantograph rising detection device is provided on the ground or on the vehicle, and monitors whether the state of the pantograph is normal (for example, whether or not the pantograph is in a state where the pantograph is raised in the unwired section). The pantograph rise detection device installed on the vehicle determines the state of the pantograph (either raised or lowered) depending on whether or not communication between the tag and the interrogator is established.

JP 2007-295640 A

  Patent Document 1 discloses a configuration in which a pantograph rise detection device is installed on the vehicle (outside the vehicle). When such a device is installed outside the vehicle, a battery is generally used as a power source. Therefore, power saving is an issue. When the power consumption is large, it is necessary to replace the battery frequently or to install a large-capacity battery. In either case, the cost increases. Railway vehicles need to be inspected and maintained at a set cycle. For this reason, it is desirable to use a battery having a capacity as small as possible and to be able to replace the battery when inspecting and maintaining the vehicle. However, the pantograph rise detection device of Patent Document 1 has a problem that power saving is not considered.

  This invention is made in view of the above, Comprising: It aims at obtaining the pantograph state detection system which can implement | achieve the power saving of the apparatus driven with a battery among the apparatuses which comprise a system.

  In order to solve the above-described problems and achieve the object, a pantograph state detection system according to the present invention is installed in a movable part of each of a plurality of pantographs of a train, and the state of the pantograph in which the pantograph is installed is set at a predetermined timing. Wirelessly between the sensor terminal and the cab terminal, which is installed in the cab, which acquires the pantograph state detection result in the sensor terminal and notifies the driver A relay terminal that relays a signal, and the sensor terminal and the relay terminal do not need to communicate with neighboring terminals that are direct sensor terminals, relay terminals, or driver's cab terminals that can communicate directly. The transmission / reception operation is stopped.

  According to the present invention, it is possible to achieve power saving of the sensor terminal and the relay terminal, and to realize a pantograph state detection system with reduced cost.

FIG. 1 is a diagram illustrating a configuration example of a first embodiment of a pantograph state detection system according to the present invention. FIG. 2 is a diagram illustrating an example of a railway system. FIG. 3 is a diagram illustrating a configuration example of the sensor terminal. FIG. 4 is a diagram illustrating a configuration example of a relay terminal. FIG. 5 is a diagram illustrating a configuration example of the cab terminal. FIG. 6 is a sequence diagram illustrating an example of the overall operation of the pantograph state detection system. FIG. 7A is a diagram illustrating an example of the state determination operation of the pantograph. FIG. 7-2 is a diagram illustrating an example of a state determination operation of the pantograph. FIG. 8 is a sequence diagram illustrating an example of the overall operation of the pantograph state detection system. FIG. 9 is a diagram illustrating a modification of the sensor terminal. FIG. 10A is a diagram illustrating an example of the state determination operation of the pantograph. FIG. 10B is a diagram of an example of the state determination operation of the pantograph.

  Embodiments of a pantograph state detection system according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration example of a first embodiment of a pantograph state detection system according to the present invention. Pantograph status detection system of the present embodiment is a system built on the train, the sensor terminal 1 ₁ to 1 _3, is configured to include a relay terminal 21 _{to 24} and the driver's cab terminal 3 ₁ to 3 ₂ ing. In the following description, items common with the sensor terminal 1 ₁ to 1 ₃ (the configuration, operation, etc.) describing the described sensor terminal 1, illustrating the common matters in the relay terminal 21 _{to 24} The case is described as the relay terminal 2, and the case common to the cab terminals 3 _{1 to} 3 ₂ is described as the cab terminal 3.

  As shown in FIG. 1, the sensor terminal 1 is installed in each pantograph, and detects the state of the pantograph (whether the pantograph is raised or lowered) at a predetermined timing. The relay terminal 2 is installed at a predetermined position (for example, on the roof) of the vehicle, and relays wireless communication between the sensor terminal 1 and the cab terminal 3. The cab terminal 3 is provided in the cab in the train, collects the pantograph state detection results in each sensor terminal 1 and notifies the driver. These sensor terminal 1, relay terminal 2, and cab terminal 3 form a sensor network. Moreover, the sensor terminal 1 and the relay terminal 2 are equipped with a battery, which is used as a power source. The cab terminal 3 is not equipped with a battery, and operates by receiving power supply through the cab, for example.

  In FIG. 1, the relay terminals 2 are installed one by one in the odd numbered car (a vehicle that does not have a pantograph), but such a configuration is not necessarily required. For example, two or more relay terminals 2 may be installed in one vehicle, or the relay terminal 2 may be installed in a vehicle where a pantograph is present. If adjacent sensor terminals 1 can directly communicate with each other, the relay terminal 2 between the sensor terminals 1 may be deleted. If the sensor terminal 1 and the cab terminal 3 can directly communicate, the relay terminal 2 between the sensor terminal 1 and the cab terminal 3 may be deleted.

  The pantograph state detection system detects the state of each pantograph at a place where the pantograph is raised or lowered, such as a vehicle station (inspection zone), a terminal station, or a detention station in the railway system as shown in FIG. , Notify the driver of the detection result. The driver who received the notification is whether the state of each pantograph is correct, that is, whether the pantograph should be in the lowered state, whether it is in the elevated state, or where the pantograph should be in the elevated state It is possible to know whether or not the vehicle is in the descending state while in the cab. Moreover, the state of the pantograph can be detected in places other than the place where the pantograph is raised or lowered, and the driver or the like can quickly know that the state of the pantograph has become strange due to a failure or the like while in the cab. For example, when traveling in an overhead wire section with some pantographs lowered, a large current may flow through the raised pantograph and burn-in may occur. The condition can be detected and notified to the driver, contributing to accident prevention.

  FIG. 3 is a diagram illustrating a configuration example of the sensor terminal 1. As illustrated, the sensor terminal 1 includes an antenna 11, a wireless communication unit 12, a signal processing unit 13, and a sensor unit 14. The description of the power source (battery) is omitted. The antenna 11 transmits a radio signal output from the radio communication unit 12 to another terminal (the sensor terminal 1, the relay terminal 2, or the cab terminal 3) and receives a radio signal transmitted from the other terminal. The radio communication unit 12 converts the baseband signal output from the signal processing unit 13 into a radio signal and converts the radio signal received by the antenna 11 into a baseband signal. Based on the information input from the sensor unit 14, the signal processing unit 13 generates a signal (a signal indicating a pantograph state) to be transmitted to the cab terminal 3. Moreover, the signal processing part 13 performs the process for transferring a received signal, when the signal which is not addressed to itself is received. The sensor unit 14 includes a biaxial acceleration sensor, and is based on the result of acceleration detection in two directions, in a state of a pantograph in which the terminal (sensor terminal 1) is installed (in a raised state or a lowered state) Is detected.

  FIG. 4 is a diagram illustrating a configuration example of the relay terminal 2. As illustrated, the relay terminal 2 includes an antenna 21, a wireless communication unit 22, and a signal processing unit 23. The description of the power source (battery) is omitted. The antenna 21 and the wireless communication unit 22 perform the same operations as the antenna 11 and the wireless communication unit 12 of the sensor terminal 1 described above. When the signal processing unit 23 receives a signal not addressed to itself, the signal processing unit 23 performs processing for transferring the received signal. The relay terminal 2 is obtained by deleting the sensor unit 14 from the sensor terminal 1.

  FIG. 5 is a diagram illustrating a configuration example of the cab terminal 3. As illustrated, the cab terminal 3 includes an antenna 31, a wireless communication unit 32, a signal processing unit 33, and an information output unit 34. The antenna 31 and the wireless communication unit 32 perform the same operations as the antenna 11 and the wireless communication unit 12 of the sensor terminal 1 described above. When the signal processing unit 33 receives a signal including the pantograph state detection result in the sensor terminal 1, the signal processing unit 33 outputs the pantograph state detection result to the information output unit 34. When the information output unit 34 receives the pantograph state detection result in the sensor terminal 1 from the signal processing unit 33, the information output unit 34 outputs the result to a predetermined device in the cab. The predetermined device that is the output destination of the state detection result is a display device such as an LCD, for example, and the display device individually displays the state of each pantograph and notifies the driver or the like. Instead of the display device, the individual state of each pantograph may be notified to the driver or the like using a two-color LED or a three-color LED. If the state of the pantograph is not normal, for example, if the pantograph is in a descending state where the pantograph should be raised, in addition to the notification by the display device or LED, the abnormality detection is notified by an alarm or sound. It doesn't matter. This cab terminal 3 is obtained by replacing the sensor unit 14 of the sensor terminal 1 with a detection result notification unit 34.

  Next, the overall operation of the pantograph state detection system of the present embodiment will be described with reference to FIGS. 1 and 6. FIG. 6 is a sequence diagram showing an example of the overall operation of the pantograph state detection system configured as shown in FIG. 1. Specifically, the operation of the cab terminal 3 collecting the pantograph state detection results from the sensor terminal 1. An example is shown. In FIG. 6, the pantograph is expressed as a current collector.

  The outline of the overall operation of the pantograph state detection system according to the present embodiment will be described. The sensor terminal 1 and the relay terminal 2 that operate by receiving power supply from the battery normally stop the communication operation to reduce power consumption. It is in a state (this state is called a sleep state). In the sleep state, the transmission operation is always stopped, and the reception operation is almost stopped. However, in order to determine whether or not to cancel the sleep state, the transmission operation is executed at a constant cycle. That is, the sleep state includes a first state in which the transmission operation and the reception operation are stopped, and a second state in which only the reception operation is performed for a predetermined time while the transmission operation is stopped. When each terminal (sensor terminal 1, relay terminal 2) is in a sleep state, it corresponds to a monitor of a signal transmitted from another terminal (sensor terminal 1, relay terminal 2 or cab terminal 3) (corresponding to the second state). ) Periodically, and if the signal transmitted from another terminal is not detected, the sleep state is continued. On the other hand, when a signal is detected, the sleep state is canceled and a transition is made to a non-sleep state (hereinafter referred to as an active state), and necessary processing such as pantograph state confirmation and wireless signal relay processing is executed. After the process is completed, the process returns to the sleep state and the same operation is continued. Hereinafter, the overall operation will be described in detail.

  As shown in FIG. 6, in the pantograph state detection system, in the pantograph state detection system, in the sleep state, the sensor terminal 1 checks whether a start request that is a signal for requesting the end of the sleep state is transmitted at a constant cycle. At the same time, the state of the pantograph is confirmed (step S1). When the activation request has not been transmitted, the sleep state is restored after the confirmation of the state of the pantograph. The state confirmation result of the pantograph is retained until the next state confirmation.

  Note that the sensor terminal 1 may check the state of the pantograph only when an activation request is transmitted. In this case, the number of executions of the pantograph state confirmation operation is reduced, and power consumption can be suppressed.

  Similarly to the sensor terminal 1, the relay terminal 2 also checks in a certain period whether or not an activation request, which is a signal for requesting termination of the sleep state, has been transmitted in the sleep state (step S2). If the activation request has not been transmitted, the sleep state is continued.

  When the predetermined condition is satisfied, the cab terminal 3 starts collecting pantograph state information (step S11). For example, when it is detected that a pantograph is raised or lowered (such as a terminal station or detention station), when the driver detects that a pantograph is raised or lowered, the driver checks the pantograph status. When it is detected that an operation for instructing is executed, information collection is started. Information may be collected periodically.

  When the cab terminal 3 starts collecting the pantograph state information, the cab terminal 3 continuously transmits an activation request as a signal for requesting the pantograph state information (step S12). The continuous transmission here is to repeatedly transmit the activation request signal at short intervals. This activation request continues to be transmitted (repeatedly transmitted) until it is determined that the surrounding terminals have transitioned from the sleep state to the active state (for example, until some signal is received from the surrounding terminals).

  The relay terminal 2 in the sleep state monitors whether or not various signals such as the activation request are transmitted at a constant cycle, and detects (receives) the activation request repeatedly transmitted by the cab terminal 3 in the above step S12. ) To transition to the active state. Then, continuous transmission of the activation request is started (step S13). This activation request is constant until it is determined that the surrounding terminal (sensor terminal 1 or relay terminal 2) has transitioned from the sleep state to the active state (for example, until some signal is received from the surrounding terminal) or constant. Continue sending until time passes. However, the fixed time is set to a time longer than the monitoring period in the surrounding terminals, that is, the period for judging whether the surrounding terminals need to monitor the signal and transition to the active state.

  The sensor terminal 1 in the sleep state monitors whether or not various signals such as an activation request are transmitted at a constant cycle, and when detecting the activation request repeatedly transmitted by the relay terminal 2 in the above step S13, the sensor terminal 1 is activated. While changing to the state, the state of the pantograph is checked. In addition to starting the continuous transmission of the activation request (step S14), information on the pantograph state (information indicating whether the pantograph is in the raised state or the lowered state) and its own identification information are displayed in the current collector state notification. It transmits to the cab terminal 3 (step S16). The transmission of the activation request may be started before the pantograph state confirmation is completed. If transmission of the activation request is started before the pantograph state confirmation is completed, the time required until the cab terminal 3 collects the pantograph state information from all the sensor terminals 1 can be shortened. As a result, the time until returning to the sleep state is shortened, and further power saving can be expected. The activation request is determined until the surrounding terminal (sensor terminal 1 or relay terminal 2) transitions from the sleep state to the active state (for example, until some signal is received from the surrounding terminal), or for a certain period of time. Continue to send until elapses.

  The relay terminal 2 that has received the current collector status notification transfers this to the cab terminal 3 (step S17).

  Similarly, the relay terminal 2 that has received the activation request repeatedly transmitted by the sensor terminal 1 in step S14 shifts to the active state and starts continuous transmission of the activation request (step S15). The sensor terminal 1 that has received this activation request makes a transition to the active state and checks the state of the pantograph. Moreover, while starting transmission of a starting request | requirement, the information of a pantograph state and its own identification information are transmitted to the cab terminal 3 by the current collector status notification (step S18). The relay terminal 2 that has received the current collector status notification performs transfer to the cab terminal 3 (step S19), and thereafter, the sensor terminal 1 and the relay terminal 2 that are located between the cab terminal 3 and the relay terminal 2. Are sequentially transferred to reach the cab terminal 3 (steps S20 and S21).

  When the cab terminal 3 determines that the current collector status notification has been received from all the sensor terminals 1 in the system, the cab terminal 3 transmits a sleep instruction in order to shift all the sensor terminals 1 and the relay terminals 2 to the sleep state. (Step S22). Then, the state of each pantograph is output to a predetermined device in the driver's cab to notify the driver or the like (step S30). As described above, the current collector state information response includes the pantograph state determination result and the identification information of the sensor terminal 1 that is the transmission source. The cab terminal 3 knows in advance which pantograph each sensor terminal 1 in the system is installed (for example, holds a correspondence table between the sensor terminal 1 and the pantograph) and receives the current collector status information response. Then, the state of the corresponding pantograph can be grasped.

  On the other hand, when the relay terminal 2 and the sensor terminal 1 receive the sleep instruction, the relay terminal 2 and the sensor terminal 1 transfer this and return an ACK (steps S23 to S29). When an ACK for the transferred sleep instruction is received, the state transits to the sleep state. Note that the relay terminal 2 and the sensor terminal 1 transition to the sleep state when a predetermined time has elapsed even when the sleep instruction is not received or when the ACK for the transferred sleep instruction is not transmitted. In addition, after the relay terminal 2 and the sensor terminal 1 perform the predetermined processing after transitioning to the active state, the relay terminal 2 and the sensor terminal 1 do not receive a signal (current collector status notification, sleep instruction, etc.) from another terminal for a predetermined time. Even when it elapses, the state transits to the sleep state. As a result, it is possible to prevent the active state from being continued when the sequence is abnormally terminated due to a communication failure or the like, thereby suppressing an increase in power consumption.

  In the sequence of FIG. 6, the confirmation (signal monitoring) of whether or not an activation request has been transmitted is synchronized with the state confirmation of the pantograph, but it may be asynchronous. In the case of non-synchronization, the sensor terminal 1 holds the result of the pantograph state check executed at a predetermined timing, and when receiving the activation request, does not check the pantograph state and holds it at that time. A pantograph status confirmation result (latest confirmation result) is transmitted to the cab terminal 3 by means of a current collector status notification. In such a configuration, the time from when the sensor terminal 1 receives the activation request to when the current collector status notification is returned can be shortened, and the time from the release of the sleep state to the return to the sleep state Can be shortened to suppress an increase in power consumption.

  Subsequently, an operation in which the sensor terminal 1 determines the state of the pantograph will be described. FIGS. 7A and 7B are diagrams illustrating an example of the state determination operation of the pantograph.

  As shown in the figure, the biaxial acceleration sensor (sensor terminal 1) is attached to a position where the angle of the sensor fluctuates by raising or lowering the pantograph, such as a lower arm of the pantograph. Therefore, the measurement result (X-direction acceleration and Z-direction acceleration) of the biaxial acceleration sensor when the pantograph is raised is different from the measurement result of the biaxial acceleration sensor when the pantograph is lowered. Therefore, the sensor terminal 1 detects the state of the pantograph using at least one measurement result among the measurement results of the X-direction acceleration and the Z-direction acceleration by the built-in biaxial acceleration sensor. For example, when the acceleration in the X direction is larger than a certain threshold, it is determined that the pantograph has risen (FIG. 7-2), and when it is smaller, the pantograph has been lowered (FIG. 7-1). In addition, you may attach the sensor terminal 1 to the main axis | shaft which rotates with operation (a raise or descent | fall) of a pantograph.

  Further, as the threshold value, the first threshold value for determining whether or not the pantograph is in the raised state and the second threshold value for determining whether or not the pantograph is in the lowered state are used. It may be. For example, in a configuration in which the measurement result by the biaxial acceleration sensor is larger in a state where the pantograph is raised, it is determined that the pantograph is raised when the measurement result is larger than the first threshold value, and the measurement result is When it is smaller than the threshold value of 2, it is determined that the pantograph is in a lowered state. However, it is assumed that first threshold value> second threshold value. If the measurement result is not less than the second threshold and not more than the first threshold, the state is unknown. If the state is unknown, the determination may be made again after a certain time has elapsed.

  As described above, in the pantograph state detection system of the present embodiment, the sensor terminal 1 and the relay terminal 2 transition to the sleep state when confirmation of the state of the pantograph and communication with other terminals are not necessary. Thereby, the power saving of the sensor terminal 1 and the relay terminal 2 driven with a battery is realizable. As a result, a battery with a small capacity can be adopted, and a pantograph state detection system with a low cost can be realized.

  In the present embodiment, in response to a request from the cab terminal 3, the sensor terminal 1 transmits the pantograph status confirmation result (latest confirmation result) in the current collector status notification (see FIG. 6), or the sequence shown in FIG. In the sequence shown in FIG. 8, every time the sensor terminal 1 confirms the state of the pantograph, the confirmation result is transmitted as a current collector state notification. At this time, the current collector status notification is continuously transmitted until another terminal in the sleep state is activated. When the relay terminal 2 and the sensor terminal 1 in the sleep state receive the current collector status notification in the signal monitor (signal reception confirmation) performed regularly, the relay terminal 2 and the sensor terminal 1 return the ACK and transfer the current collector status notification. Each terminal that has transmitted (including forwarding) the current collector status notification transitions to the sleep state when receiving an ACK from the transmission destination. Each time the cab terminal 3 receives the current collector status notification, the cab terminal 3 notifies the driver or the like by outputting the pantograph status to a predetermined device in the cab. Thus, even when the current collector status notification is transmitted under the initiative of the sensor terminal 1, the sensor terminal 1 and the relay terminal 2 can appropriately transition to the sleep state to realize power saving.

Embodiment 2. FIG.
In the first embodiment, the state of the pantograph is determined by one biaxial acceleration sensor. However, during traveling, the acceleration component in the traveling direction (horizontal direction) varies during acceleration or deceleration of the train. In addition, the vehicle body vibrates in the vertical direction and the acceleration component in the vertical direction also fluctuates during traveling, so that the state determination accuracy decreases. In the present embodiment, a method for determining a state with higher accuracy than in the first embodiment will be described. The system configuration and the configuration of each terminal are the same as those in the first embodiment (see FIGS. 1 and 3).

  In order to improve the pantograph state determination accuracy, the sensor terminal 1 of the present embodiment includes two two-axis acceleration sensors (sensors A and B) as shown in FIG. The state is determined based on the measurement results of the sensors A and B.

  FIGS. 10A and 10B are diagrams illustrating an example of the state determination operation of the pantograph. As shown in the drawing, the biaxial acceleration sensors A and B are installed on the movable part of the pantograph with the installation angle shifted. The installation angle S shown in FIG. 10-2 is the difference between the installation angles of the biaxial acceleration sensors A and B.

As shown in FIG. 10A, the Z direction acceleration obtained by the biaxial acceleration sensor A is a ₁ , the X direction acceleration is a ₂ , the lower arm angle (panter angle) of the pantograph is α, and the acceleration component vector angle is β. Then, the following formula (1) is established.
a ₁ = √ ((1 + z) ^ 2 + y ^ 2) cos (α + β)
a ₂ = √ ((1 + z) ^ 2 + y ^ 2) sin (α + β) (1)

As shown in FIG. 10-2, when the Z-direction acceleration obtained by the biaxial acceleration sensor B is a ₃ and the X-direction acceleration is a ₄ , the following equation (2) is established.
a ₃ = √ ((1 + z) ^ 2 + y ^ 2) cos (α + β + S)
a ₄ = √ ((1 + z) ^ 2 + y ^ 2) sin (α + β + S) (2)

When y and z are deleted from the above equations (1) and (2), the following equation (3) is obtained.
tan (α + β) = a ₂ / a ₁
tan (α + β + S) = a ₄ / a ₃ (3)

When β is deleted from this equation (3), the following equation (4) is obtained.
(TanS + a ₃ / a ₄ ) tan α ^ 2 +
((A ₁ / a ₂ ) tanS + a ₁ a ₃ / a ₂ a ₄ ) tan α +
(A ₁ a ₃ / a ₂ a ₄ ) tanS + a ₃ / a ₄ + tanS = 0 (4)

Since the angle S is a difference between the installation angles of the biaxial acceleration sensors A and B and is a fixed value (known value), the sensor terminal 1 of the present embodiment is measured by each of the biaxial acceleration sensors A and B. Using the sensor values a _{1 to} a ₄ and equation (4), the angle α indicating the state of the pantograph can be obtained.

Although the pantograph state is determined using the sensor terminal 1 having two two-axis acceleration sensors, two sensor terminals 1 having one two-axis acceleration sensor are installed on the pantograph. May be. In this case, the two sensor terminals 1 with different installation angles measure acceleration at the same timing, and the measurement results (corresponding to the above-mentioned a _{1 to} a ₄ ) are collected in one sensor terminal 1 and the sensor terminal 1 The angle α may be obtained. Alternatively, the two sensor terminals 1 may transmit measurement results to the cab terminal 3, and the cab terminal 3 may calculate the angle α to determine the state of the pantograph.

  The pantograph state determination result by the sensor terminal 1 is notified to the cab terminal 3 in the same procedure as in the first embodiment.

  Thus, in the pantograph state detection system of the present embodiment, the sensor terminal 1 determines the state of the pantograph based on the accelerations measured by the two two-axis acceleration sensors having different installation angles. Thereby, even in the state where the train is running, the state of the pantograph can be determined with high accuracy.

  As described above, the pantograph state detection system according to the present invention is useful for a railway system that employs a pantograph as a current collector, and in particular, includes a terminal driven by a battery. Suitable for

1 ₁ to 1 ₃ sensor terminal, 2 ₁ to 2 ₄ relay terminal, 3 ₁ , 3 ₂ cab terminal, 11, 21, 31 antenna, 12, 22, 32 wireless communication unit, 13, 23, 33 signal processing unit, 14 sensor unit, 34 information output unit.

Claims (4)

A sensor terminal that is installed in a movable part of each of a plurality of pantographs of a train and detects the state of the pantograph in which it is installed at a predetermined timing;
A driver's cab terminal installed in the driver's cab that obtains the state detection result of the pantograph in the sensor terminal and notifies the driver;
A relay terminal that relays a radio signal between the sensor terminal and the cab terminal;
With
The sensor terminal detects a state of the pantograph based on a measurement value in an acceleration sensor installed in a movable part of the pantograph,
The sensor terminal and the relay terminal stop signal transmission / reception operation when it is not necessary to communicate with an adjacent terminal that is a surrounding sensor terminal, relay terminal, or driver's cab terminal capable of direct communication. Pantograph status detection system. A sensor terminal that is installed in a movable part of each of a plurality of pantographs of a train and detects the state of the pantograph in which it is installed at a predetermined timing;
  A driver's cab terminal installed in the driver's cab that obtains the state detection result of the pantograph in the sensor terminal and notifies the driver;
  A relay terminal that relays a radio signal between the sensor terminal and the cab terminal;
  With
  The sensor terminal detects a state of the pantograph based on measurement values in two acceleration sensors installed in the same movable part of the pantograph at different angles,
  The sensor terminal and the relay terminal stop signal transmission / reception operation when it is not necessary to communicate with an adjacent terminal that is a surrounding sensor terminal, relay terminal, or driver's cab terminal capable of direct communication. Pantograph status detection system. The sensor terminal and the relay terminal perform a receiving operation and determine whether or not it is necessary to communicate with the adjacent terminal when a predetermined time has elapsed after stopping the signal transmission / reception operation. The pantograph state detection system according to claim 1 or 2 . The sensor terminal detects the state of the pantograph and detects the state of the pantograph when receiving a signal requesting the information of the pantograph state in the reception operation executed when a predetermined time has elapsed after stopping the signal transmission / reception operation. 4. The pantograph state detection system according to claim 3 , wherein a result is transmitted toward the cab terminal.

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