JP6045373B2 - 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). Although Patent Document 1 does not disclose details of the pantograph rising detection device installed on the ground, a method of detecting the state of the pantograph with a monitoring camera or a radar is conceivable. 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

  When the pantograph rising detection device described in Patent Document 1 is installed on the ground, there is a problem that a pantograph malfunction detection location is fixed. Also, in urban suburban trains composed of multiple vehicles, detectors will be installed at predetermined detention locations (vehicle bases, stations) after the end of driving, but there are disadvantages in terms of cost and maintenance as the number of installation locations increases. There was a problem of becoming. On the other hand, when the pantograph rising detection device is installed on the vehicle, the malfunction detection location is not fixed. However, since state determination is performed based on whether or not wireless communication between the tag and the interrogator is established, there is a high possibility of erroneous determination. Further, Patent Document 1 does not clarify the method of transmitting the detection result to the driver's cab, and it is impossible to realize a plurality of pantographs ascending detection and transmission to the driver's cab in an urban suburban train composed of a plurality of vehicles. There was a problem.

  The present invention has been made in view of the above, and can detect the state of a pantograph with high accuracy, and prevent forgetting to raise and lower a plurality of pantographs even in an urban suburban train composed of a plurality of vehicles. An object of the present invention is to obtain a pantograph state detection system.

  In order to solve the above-described problems and achieve the object, a pantograph state detection system according to the present invention includes a sensor terminal installed in each movable part of a plurality of pantographs of a train and a cab terminal installed in a cab. And a relay terminal that relays a radio signal between the sensor terminal and the driver's cab terminal, and the sensor terminal uses an acceleration sensor to determine whether the pantograph to which it is attached is raised The driver's cab terminal collects pantograph state detection results by each sensor terminal, and outputs them to a device for notification to the driver.

  According to the present invention, the state of the pantograph can be detected with high accuracy, and the state of a plurality of pantographs of a suburban train composed of a plurality of vehicles can be known while in the driver's cab, so that the operation of the pantograph is forgotten. The effect that can be prevented.

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 an operation in which the cab terminal collects the pantograph state detection results. 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 an operation in which the cab terminal collects the pantograph state detection results. FIG. 9 is a sequence diagram illustrating an example of an operation in which the cab terminal collects the pantograph state detection results. FIG. 10 is a diagram for explaining the sensor terminal according to the second embodiment. FIG. 11A is a diagram illustrating an example of a state determination operation of the pantograph according to the second embodiment. FIG. 11B is a diagram illustrating an example of a state determination operation of the pantograph according to the second embodiment. FIG. 12 is a diagram illustrating a configuration example of the pantograph state detection system according to the third embodiment. FIG. 13 is a diagram illustrating an example of a railway system to which the pantograph state detection system of the third embodiment is applied. FIG. 14 is a sequence diagram illustrating an example of an operation in which the cab terminal collects the pantograph state detection results.

  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.

  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 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 a result of acceleration detection in two directions. 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 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. The cab terminal 3 is obtained by replacing the sensor unit 14 of the sensor terminal 1 with an information output 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 an operation in which the cab terminal 3 collects the pantograph state detection results from the sensor terminal 1, and shows an operation example in the pantograph state detection system having the configuration shown in FIG. In FIG. 6, the pantograph is expressed as a current collector.

  In the pantograph state detection system, the sensor terminal 1 periodically determines the state of the current collector (pantograph) (steps S1, S2,...). Details of the operation for determining the state of the pantograph will be described separately. The state determination result is held until the next state determination operation is executed.

  The cab terminal 3 broadcasts a current collector status information request at a predetermined timing (for example, at regular intervals) (step S11). When the relay terminal 2 receives the current collector status information request, the relay terminal 2 transfers it. However, when the same current collector status information request that has been transferred in the past is received again, it is not transferred. For example, the current collector status information request transferred by the first relay terminal is further transferred by the adjacent terminal (second relay terminal or sensor terminal) that has received the request, but the request transferred by the adjacent terminal is the first The relay terminal is also reached. In this case, since the first relay terminal has received what has already been transferred, the transfer is not performed.

  When the sensor terminal 1 receives the current collector status information request, the sensor terminal 1 transfers the request. In addition, the state determination result (latest pantograph state determination result) held at that time is transmitted to the cab terminal 1 in response to the current collector state information together with its own identification information (step S12). In addition, the sensor terminal 1 transfers toward the cab terminal 1 when the current collector status information response transmitted by the other sensor terminals 1 is received. However, when the same current collector status information request or current collector status information response that has been transferred in the past is received again, it is not transferred.

  When the relay terminal 2 receives the current collector status information response, the relay terminal 2 transfers it to the cab terminal 1 (steps S13 and S14). However, when the same current collector status information response as that already transferred in the past is received again, it is not transferred.

  When the cab terminal 3 receives the current collector status information response transmitted from each sensor terminal 1 in steps S12 to S14 as a response to the current collector status information request transmitted in step S11, The state detection result is output to a predetermined device in the cab, thereby notifying the driver or the like (step S15). 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. In the example of FIG. 6, the cab terminal 3 notifies the state of the pantograph after acquiring the detection results in all the sensor terminals 1 (executes step S15), but the current collector status information response You may make it notify every time it receives (updates notification content). For example, when the current collector status information response transmitted in step S12 is received, notification is immediately made (step S15 is executed). After that, every time the current collector status information response transmitted in step S13 and the current collector status information response transmitted in step S14 are received, the same processing as in step S15 is executed for notification.

  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, each pantograph is installed on a movable part (a part where the physical state changes when the pantograph is moved up and down, such as the lower arm, the upper arm, and the main shaft). The sensor terminal 1 periodically discriminates whether the pantograph is raised or lowered based on the measurement result by the biaxial acceleration sensor, and information indicating the pantograph state is requested from the cab terminal 3. In this case, the latest discrimination result is transmitted to the requesting cab terminal 3 by multi-hop transmission. In addition, the cab terminal 3 notifies the detection result (pantograph state) by each sensor terminal to the driver in the cab. Thereby, while being able to detect the state of a pantograph with high precision, it is possible to know the state of a plurality of pantographs of a suburban train composed of a plurality of vehicles while in the driver's cab, thereby preventing forgetting to operate the pantograph. In addition, since the information is wirelessly transmitted, it is possible to suppress the amount of modification of the vehicle when the system is introduced into an existing train to which the pantograph state detection system is not applied.

  In the present embodiment, the cab terminal 3 collects the pantograph state information from each sensor terminal 1 in the procedure shown in FIG. 6, but the procedure shown in FIG. 8 may be used.

In the procedure shown in FIG. 8, every time each sensor terminal 1 determines the state of the pantograph, a current collector status information notification is transmitted to the cab terminal 3 (steps S21, S23, S25). Each time the current collector status information notification is received, the status detection result of each pantograph is output to a predetermined device in the cab and the notification to the driver and the like is updated (steps S22 and S24). In the case of the procedure shown in FIG. 8, it is possible to avoid an increase in traffic in the sensor network. The sensor terminal 1 transmits a current collector status information notification to all the cab terminals 3 in the train (the cab terminals 3 ₁ and 3 _{2 in} the configuration of FIG. 1) (for example, by broadcast). ).

  Further, in addition to the operation shown in FIG. 6 and the operation shown in FIG. 8, the operation shown in FIG. 9 may be executed. Specifically, after the driver performs an operation for raising or lowering the pantograph (an operation for changing the current collector state), the cab terminal 3 that detects this transmits a current collector status information request (step S31, S32), the sensor terminal 1 receiving this determines the state of the pantograph (step S33), returns the determination result as a current collector status information response (steps S34, S35, S36), and the cab terminal 3 After receiving a response from each sensor terminal 1, the state of each pantograph may be notified (step S37). The execution timing of step S32 is a timing that takes into account the time required for the pantograph ascending or descending operation (timing that is later than the timing at which the pantograph operation is estimated to have ended). By executing the operation shown in FIG. 9, the driver can know whether or not each pantograph operates correctly according to the operation content, and a failure or malfunction of the pantograph can be detected.

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. 11A and 11B 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. 11-2 is the difference between the installation angles of the biaxial acceleration sensors A and B.

As shown in FIG. 11A, the Z direction acceleration obtained by the biaxial acceleration sensor A is a ₁ , the X direction acceleration is a ₂ , the pantograph lower arm angle (panter angle) 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. 11-2, 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 transmitted to the cab terminal 3 by multihop transmission 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.

Embodiment 3 FIG.
In the pantograph state detection system according to the first and second embodiments, the other terminal (relay terminal 2, sensor terminal 1) transmits the pantograph state determination result in the sensor terminal 1 to the cab terminal 3 through multi-hop transmission. did. On the other hand, in the pantograph state detection system of the present embodiment, the cab terminal 3 is notified through a terminal installed on the ground.

FIG. 12 is a diagram illustrating a configuration example of the pantograph state detection system according to the third embodiment. The pantograph state detection system of the present embodiment includes sensor terminals 1 ₁ to 1 ₃ , cab terminals 3 _{1 to} 3 _2, and a ground terminal 4. The configuration of the sensor terminal ₁ 1 to 1 ₃ and the driver's cab terminal 3 ₁ to 3 ₂ are the same as in the first embodiment (see FIGS. 3 and 5). The configuration of the ground terminal 4 is the same as that of the relay terminals 2 ₁ to 2 ₄ described in the first embodiment. That is, the ground terminal 4 relays the pantograph state determination result at each sensor terminal 1 to the cab terminal 3. In the present embodiment, only parts different from the first embodiment will be described. As shown in FIG. 13, the ground terminal 4 is installed 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.

  FIG. 13 is a diagram illustrating an example of a railway system to which the pantograph state detection system of the third embodiment is applied. A ground terminal 4 is installed 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.

  The overall operation of the pantograph state detection system according to the present embodiment will be described with reference to FIGS. FIG. 14 is a sequence diagram showing an example of an operation in which the cab terminal 3 collects the pantograph state detection results from the sensor terminal 1, and shows an operation example in the pantograph state detection system having the configuration shown in FIG. In FIG. 12, the pantograph is expressed as a current collector.

In the pantograph state detection system of the present embodiment, each sensor terminal 1 (sensor terminals # 1 to #N) periodically determines the state of the current collector (pantograph) in the same manner as the sensor terminal 1 of the first embodiment. (Steps S1 ₁ , S1 _N , S2 ₁ , S2 _N ,...).

On the other hand, the top cab terminal # 1 is a cab terminal 3 ₂ installed in a vehicle 12 approaches the location ground terminal 4 is installed, the current collector status information to the ground terminal 4 A request is transmitted (step S41). In order to ensure that the current collector status information request reaches the ground terminal 4, the current collector status information request may be transmitted a plurality of times. It is assumed that the cab terminals 3 ₁ and 3 ₂ have previously grasped information on the location where the ground terminal 4 is installed in association with, for example, about a kilometer. The current position of the train can be acquired from, for example, a train information management device that is not shown.

  When the ground terminal 4 receives the current collector status information request, the ground terminal 4 transmits (broadcasts) the current collector status information request to each center terminal 1 (sensor terminals # 1 to #N). Since the reach of the signal transmitted from the ground terminal 4 is limited, the ground terminal 4 transmits the current collector status information request multiple times to all the sensor terminals # 1 to #N mounted on the train. It is made to reach | attain (step S42, S44).

  When the sensor terminals # 1 to #N receive the current collector state information request, the current state determination result (latest pantograph state determination result) held at that time, together with its own identification information, is collected. To the ground terminal 4 (steps S43, S45).

When the ground terminal 4 obtains the pantograph state determination results from all the sensor terminals (sensor terminals # 1 to #N) in one train, it collects them together and transmits them in the current collector state information notification. It notifies the cab terminal # 2 is a driver's cab terminal 3 ₁ installed in the vehicle (step S46).

  When the cab terminal # 2 receives the current collector status information notification, it outputs the status detection result of each pantograph to a predetermined device in the cab (step S47). A crew member in the cab where the cab terminal # 2 is installed notifies the driver of the leading vehicle of the contents notified via the cab terminal # 2 using a railroad radio or the like. In the case of an operation mode in which there is no crew in the vicinity of the cab terminal # 2, the cab terminal # 2 sends the state detection result of each pantograph via an intra-train communication line such as a LAN provided between the vehicles. To the driver's cab terminal # 1 or output to a predetermined device in the driver's cab where the driver's cab terminal # 1 is installed.

  The method for determining the pantograph state by the sensor terminal 1 according to the present embodiment is performed by the method described in the first or second embodiment.

  Thus, in the pantograph state detection system of the present embodiment, the ground terminal 4 installed on the ground collects pantograph state information from the sensor terminal 1 installed on each pantograph and relays it to the cab terminal 3. It was decided to. Even in the case of the configuration of the present embodiment, as in the first and second embodiments, it is possible to know the state of a plurality of pantographs of a suburban train composed of a plurality of vehicles while in the driver's cab. Forgetting operation can be prevented.

  In each embodiment, the configuration in which the sensor terminal 1 is attached to the pantograph arm (lower arm or upper arm) has been described. However, the physical position of the sensor terminal 1 changes when the pantograph is raised or lowered. Any place other than the arm may be used.

  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 particularly detects the state of a pantograph in a suburban train composed of a plurality of vehicles. Suitable for pantograph status detection system.

1 ₁ to 1 ₃ sensor terminal, 2 ₁ to 2 ₄ relay terminal, 3 ₁ , 3 ₂ cab terminal, 4 ground 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 (5)

A sensor terminal installed in the movable part of each of the pantographs of the train;
A cab terminal installed in the cab,
A relay terminal that relays a radio signal between the sensor terminal and the cab terminal;
With
The sensor terminal calculates an angle of the pantograph arm using measured values of two acceleration sensors installed in the same movable part of the pantograph at different angles, and calculates the calculated angle as the first threshold value and the first threshold value. It is detected whether the pantograph to which it is attached is in a raised state by comparing with a second threshold value that is smaller than the threshold value of 1, and the angle is less than or equal to the first threshold value and the If it is equal to or greater than the second threshold, it is determined that the state of the pantograph is unknown, and after a predetermined time has elapsed, the calculation of the angle and the state determination of the pantograph are performed again,
The said cab terminal collects the state detection result of the pantograph by each sensor terminal, and outputs it to the apparatus for notification to a driver | operator, The pantograph state detection system characterized by the above-mentioned. Each time the sensor terminal performs a state detection operation of the pantograph, the detection result is transmitted to the cab terminal,
2. The pantograph state detection system according to claim 1, wherein the cab terminal outputs a pantograph state detection result from the sensor terminal each time the pantograph state detection result is received. When the driver's cab terminal detects that an operation for changing the state of the pantograph has been performed, each sensor terminal is inquired about the state of the pantograph,
3. The pantograph state detection system according to claim 1, wherein the sensor terminal confirms the state of the pantograph and returns a confirmation result when receiving a pantograph state inquiry from the cab terminal. 4. A sensor terminal installed in the movable part of each of the pantographs of the train;
A cab terminal installed in the cab,
A ground terminal installed on the ground;
With
The sensor terminal uses an acceleration sensor to detect whether the pantograph to which the sensor terminal is attached is in an elevated state,
The ground terminal collects the pantograph state detection results from each sensor terminal installed in each pantograph of a train traveling in the vicinity, and transmits it to the cab terminal installed in the cab of the train,
The said cab terminal outputs the pantograph state detection result by each sensor terminal acquired via the said ground terminal to the apparatus for notification to a driver, The pantograph state detection system characterized by the above-mentioned.   5. The pantograph state detection according to claim 4, wherein the sensor terminal detects a state of the pantograph based on measurement values of two acceleration sensors installed in the same movable part of the pantograph at different angles. system.

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