JP6368933B2 - Overhead wire position measuring apparatus and method - Google Patents

Description

  The present invention relates to an overhead line position measuring apparatus and method for measuring the height and deviation from the roof of a train to an overhead line using a single-axis scanning type measurement sensor in overhead line inspection.

  Conventionally, for measuring the height of an overhead line, a method of obtaining the height of a marker by photographing the marker pasted on a pantograph with a line sensor camera as in Patent Document 1 below, and obtaining the height of the overhead line therefrom Is taking.

  In Patent Document 2 below, slit light is projected from the light projecting optical system onto the overhead line, the reflected light from the overhead line of the slit light is received, and the height of the overhead line of the image at the reflection point of the slit light is accommodated. Means for detecting the position by a CCD sensor and obtaining the height of the overhead line from the address of the pixel of the CCD sensor that received the image is disclosed.

Japanese Patent No. 4923294 Japanese Patent No. 2890266 Japanese Patent No. 5476776

  However, in the above-mentioned Patent Document 1, it is necessary to bring the pantograph into contact with the overhead line, so that it may not be used. For example, in order to check whether the height and deviation of a newly installed perfect circular overhead wire (new line) can be constructed as designed, the pantograph cannot be used to exhaust the overhead wire. The method of Reference 1 cannot be used for inspection. The “deviation” refers to the distance from the center of the pantograph at the lowest vertical point of the overhead line with which the pantograph contacts.

  Moreover, in the above-mentioned Patent Document 2, a special inspection vehicle equipped with a light projecting optical system is prepared, although it can be applied to inspection whether the height and deviation of the new line can be constructed as designed. It is necessary to do this, and the apparatus becomes large.

  Patent Document 3 discloses a technique for increasing the number of reflection points from an overhead line with a range sensor having a low angular resolution by adjusting the angle and position of the apparatus.

  In the present invention, the deviation and height of the new line are obtained by calculating the center of gravity for the measured value of the new line by the range sensor with a simple configuration using a single-axis scanning type range sensor. An object of the present invention is to provide an overhead line position measuring apparatus and method capable of

The overhead line position measuring apparatus according to the first invention for solving the above-mentioned problems is
A range sensor that is installed vertically upward on the roof of the vehicle, and a range in which the overhead line can be changed in advance is set as an observation range, and the overhead line can be scanned;
The measured value of the overhead line by the scan is acquired as an angle θ and a distance d, and the deviation x and the height y of the lowest point in the vertical direction of the overhead line are obtained from the angle θ and the distance d using a correction coefficient. An overhead line position measurement unit to be calculated;
An overhead line position measuring apparatus comprising a calibration unit that outputs the correction coefficient to the overhead line position measuring unit,
The overhead wire position measuring unit is
Detecting a plurality of the measurement values existing in the observation range as a lump of measurement values indicating one overhead line;
An overhead line centroid calculation unit that averages the angle θ and the distance d of the measurement values included in the lump to obtain an angle θ _E and a distance d _E of the overhead line centroid point;
By correcting the angle θ _E and the distance d _E of the overhead line centroid point based on the correction coefficient, a line segment connecting the light source of the ranging sensor and the center of the overhead line, and the surface of the overhead line A corrected overhead line centroid point calculation unit for obtaining an angle θ _F and a distance d _F of the corrected overhead line centroid point, which is an intersection;
An overhead line height reference point for obtaining the displacement x and the height y of the lowest vertical point of the overhead line from the angle θ _F and the distance d _{F of the} corrected overhead line center of gravity using the following formula: And a calculation unit.
x = (d _F + r) cos θ _F
y = (d _F + r) sin θ _F −r
x: Deviation of the lowest vertical point of the overhead wire y: Height of the lowest vertical point of the overhead wire r: Radius of the overhead wire

The overhead line position measuring apparatus according to the second invention for solving the above-mentioned problems is
In the overhead line position measuring apparatus according to the first invention,
The calibration unit
A measurement value obtained by scanning the range sensor with respect to a calibration target having the same material and shape as the overhead line is acquired as an angle θ ′ and a distance d ′, and a plurality of measurement values concentrated in the measurement value are present. The calibration target centroid point angle θ _E ′ is detected by detecting the calibration target as a mass of measurement values and averaging the angle θ ′ and the distance d ′ of the measurement values included in the mass. And a target position measurement unit with a distance d _E ′,
If it is determined that the number of data of the calibration target barycentric points is recorded in the memory more than the first predetermined number, the calibration target barycentric point data is commanded to be output from the memory to the least squares processing unit. A data number determination unit;
The angle θ _E ′, the true angle θ _F ′ of the intersection point of the line segment connecting the light source of the ranging sensor and the center of the calibration target, and the calibration target surface, which are input in advance, In order to reduce the error, the least square method is performed, the correction coefficient relating to the angle is obtained, and the distance d _E ′ and the previously input light source of the range sensor and the center of the calibration target are connected. The least-squares method process, wherein the least-square method is performed so that the error between the line segment and the true angle d _F ′ of the intersection of the calibration target surface is reduced, and the correction coefficient related to the distance is obtained. And
And a calibration result output unit that outputs the correction coefficient data to the corrected overhead line centroid point calculation unit.

An overhead line position measuring apparatus according to a third invention for solving the above-mentioned problems is as follows.
In the overhead line position measuring apparatus according to the second invention,
further,
An installation table on which a plurality of the calibration targets are installed;
The range sensor includes a turntable that can be installed so as to rotate a plurality of the calibration targets about the optical axis so as to be scanned,
The range sensor is installed on the turntable, and the calibration target is scanned by the range sensor every predetermined angle of the turntable,
When the data number determination unit determines that the number of data of the calibration target barycentric points recorded in the memory is less than the first predetermined number, the second predetermined number or more data for an angle of the turntable Determine if the number is recorded,
If the number of data is equal to or greater than a second predetermined number, the calibration table is scanned by the range sensor after the turntable is rotated by the predetermined angle, and the calibration target center of gravity is scanned by the target position measurement unit. Find the point E ′ again,
If the number of data is less than the second predetermined number, the calibration target is scanned by the range sensor without rotating the turntable, and the calibration target barycentric point E ′ is scanned by the target position measurement unit. Is obtained again.

The overhead line position measuring method according to the fourth invention for solving the above-mentioned problems is as follows.
It is installed vertically on the roof of the vehicle, and the range in which the overhead line can fluctuate in advance is set as the observation range.
The measured value of the overhead line by the scan is acquired as an angle θ and a distance d, and the deviation x and the height y of the lowest point in the vertical direction of the overhead line are obtained from the angle θ and the distance d using a correction coefficient. An overhead line position measuring method to calculate,
Detecting a plurality of the measurement values present in the observation range as a lump of measurement values indicating one of the overhead lines;
By averaging the angle θ and the distance d of the measurement values included in the mass, respectively, the angle θ _E and the distance d _E of the overhead line centroid point are obtained.
By correcting the angle θ _E and the distance d _E of the overhead line centroid point based on the correction coefficient, a line segment connecting the light source of the ranging sensor and the center of the overhead line, and the surface of the overhead line Find the angle θ _F and the distance d _F of the corrected overhead line centroid that is the intersection,
The deviation x and the height y of the lowest vertical point of the overhead line are obtained from the angle θ _F and the distance d _{F of the} corrected overhead line center of gravity using the following formula.
x = (d _F + r) cos θ _F
y = (d _F + r) sin θ _F −r
x: Deviation of the lowest vertical point of the overhead wire y: Height of the lowest vertical point of the overhead wire r: Radius of the overhead wire

An overhead wire position measuring method according to a fifth invention for solving the above-mentioned problem is as follows.
In the overhead line position measuring method according to the fourth invention,
A measurement value obtained by scanning the range sensor with respect to a calibration target having the same material and shape as the overhead line is acquired as an angle θ ′ and a distance d ′, and a plurality of measurement values concentrated in the measurement value are present. The calibration target centroid point angle θ _E ′ is detected by detecting the calibration target as a mass of measurement values and averaging the angle θ ′ and the distance d ′ of the measurement values included in the mass. And the distance d _E ′,
Based on the number of data of the calibration target barycentric points equal to or greater than a first predetermined number, the angle θ _E ′ and a line segment connecting the light source of the range sensor and the center of the calibration target, which are input in advance, The least square method is performed so that the error from the true angle θ _F ′ of the intersection with the surface of the calibration target becomes small, the correction coefficient relating to the angle is obtained, and the distance d _E ′ is input in advance. The error between the line segment connecting the light source of the range sensor and the center of the calibration target and the true angle d _F ′ of the intersection with the surface of the calibration target is reduced. The least square method is performed, and the correction coefficient related to the distance is obtained.

The overhead line position measuring method according to the sixth invention for solving the above-mentioned problems is as follows.
In the overhead line position measuring method according to the fifth invention,
further,
A plurality of calibration targets are installed on an installation table,
The range sensor is installed on a turntable so as to rotate a plurality of the calibration targets about the optical axis so as to be scanned,
The calibration target is scanned by the range sensor at every predetermined angle of the turntable,
When the number of data of the calibration target barycenter is less than the first predetermined number,
If the rotary table of the certain angle the number of data of the second predetermined number or more, in terms of the turntable was the predetermined angle, by the measuring range sensor scans the calibration target, before SL calibration target Find the center of gravity E 'again,
If the number of data of the lower than the second predetermined number for the angle with the turntable, without rotating the rotary table, by the measuring range sensor scans the calibration target, before SL calibration target centroid E ′ Is obtained again.

  According to the overhead line position measuring apparatus and method according to the present invention, a new configuration is obtained by calculating the barycentric point for the measured value of the new line by the range sensor with a simple configuration using the single axis scanning type range sensor. The deviation and height of the line can be determined.

It is the schematic of the range sensor 1 and the overhead line position measurement part 2. FIG. It is a block diagram explaining the apparatus structure of the overhead line position measurement part. 5 is a flowchart for explaining control of an overhead line position measuring unit 2. It is a schematic diagram which shows the relationship between the true value of the overhead line 4, and the overhead line height reference point B. FIG. It is a schematic diagram showing the behavior of the measured value which shows the overhead line 4 by the actual range sensor 1. FIG. It is a schematic diagram which shows the state in which the lowest point will be exposed. It is a schematic diagram explaining the gravity center point E. FIG. It is a schematic diagram explaining the procedure of calculating the overhead line height reference point B from the corrected overhead line center of gravity point F. It is a front view explaining a calibration. FIG. 6 is a side view illustrating calibration in the first embodiment. FIG. 2 is a block diagram illustrating a device configuration of a calibration unit 2 according to the first embodiment. 3 is a flowchart illustrating control of a calibration unit 2 according to the first embodiment. FIG. 10 is a side view illustrating calibration in the second embodiment. FIG. 6 is a block diagram illustrating a device configuration of a calibration unit 2 according to a second embodiment. 10 is a flowchart for explaining control of a calibration unit 2 in Embodiment 2.

  The overhead wire position measuring apparatus and method according to the first embodiment of the present invention are intended to measure a new line. However, it can be applied even with worn overhead wires with reduced accuracy.

  Hereinafter, an overhead line position measuring apparatus and method according to the present invention will be described with reference to the drawings by way of examples. In the following description, the “overhead line” refers to a “new line”. The “angle” in the following description refers to an angle from the range sensor, more precisely, an angle from the light source of the range sensor. In the following description, “distance” refers to a distance from the range sensor, more precisely, a distance from the light source of the range sensor. Furthermore, “true value” in the following description refers to a correct value.

[Example 1]
A configuration of the overhead line position measuring apparatus according to the first embodiment of the present invention will be described. The overhead line position measuring apparatus according to the first embodiment of the present invention includes a range sensor 1, an overhead line position measuring unit 2, and a calibration unit 3. FIG. 1 is a schematic diagram of the range sensor 1 and the overhead line position measuring unit 2.

  The range sensor 1 is a single-axis scanning type, and in order to scan the overhead line 4, as shown in FIG. 1, the range sensor 1 is installed vertically on the roof 5 of the vehicle. Further, considering the safety of the operator, the range sensor 1 is of a safe class with low laser intensity. In the overhead line position measuring apparatus according to the first embodiment of the present invention, even a safe class laser with weak laser intensity can be measured with high accuracy.

  In addition, since the observation range of the range sensor 1 can be set arbitrarily, the range in which the overhead line 4 can fluctuate (fluctuation range) is set in advance as the observation range.

The overhead line position measuring unit 2 acquires the distance d for each angular resolution θ _min of the overhead line 4 by scanning of the range sensor 1 (that is, acquires the measured value, the angle θ, and the distance d), and the angle θ that is the measured value And the deviation x and height y of the overhead line height reference point B are calculated from the distance d using a correction coefficient described later. The overhead line height reference point B is assumed to indicate a position corresponding to the lowest vertical point of the overhead line 4.

  FIG. 2 is a block diagram illustrating the apparatus configuration of the overhead line position measuring unit 2. As shown in FIG. 2, the overhead line position measurement unit 2 includes a first memory 10, an overhead line lump detection unit 11, an overhead line centroid point calculation unit 12, an overhead line corrected overhead line centroid point calculation unit 13, and an overhead line height reference point. The calculation part 14 is provided and the overhead line height reference point B is calculated.

  The 1st memory 10 memorizes the measured value by the above-mentioned range sensor 1, and other various data.

The overhead line lump detection unit 11 detects a lump of measurement values indicating the overhead line 4 from the measurement values (angle θ and distance d) of the range sensor 1 stored in the first memory 10. Specifically, the overhead line lump detection unit 11 determines that the n + 1th data is also the nth data when the nth data of the range sensor data obtained for each angular resolution θ _min is within the observation range. If the distance is close, it will be one lump of overhead wire. This process is repeated to detect a lump of overhead wires. A lump of measurement values indicating the detected overhead line 4 is stored in the first memory 10.

The overhead line centroid point calculation unit 12 averages the angle θ and the distance d of the measurement values included in the measurement value block indicating the overhead line 4 stored in the first memory 10. This average value is the overhead line centroid point E (angle θ _E and distance d _E ), and is stored in the first memory 10.

The corrected overhead line center-of-gravity point calculation unit 13 corrects the angle θ _E and the distance d _E of the overhead line center-of-gravity point E based on correction coefficients a, b, e, and f (described later) input from the calibration unit 3, and after correction An angle θ _F and a distance d _F of the overhead line gravity center point F are obtained.

  The overhead line height reference point calculation unit 14 obtains the deviation x and the height y of the overhead line height reference point B from the corrected overhead line center of gravity F stored in the first memory 10.

That is, in the overhead line height reference point calculation unit 14, the deviation of the overhead line height reference point B to be obtained is x, the height is y, and the distance from the light source of the range sensor 1 to the corrected overhead line centroid point F (that is, correction) The distance of the rear center of gravity point F) is d _F , the radius of the overhead line 4 is r, and the angle of the line segment connecting the light source of the range sensor 1 and the center of the overhead line 4 (that is, the angle of the corrected center of gravity point F) is θ _F And the deviation x and height y of the overhead line height reference point B are calculated by the following equations (1) and (2).

x = (d _F + r) cos θ _F (1)
y = (d _F + r) sin θ _F −r (2)
x: Deflection of overhead line height reference point B (vertical lowest point of overhead line) y: Height of overhead line height reference point B (vertical lowest point of overhead line) r: Radius of overhead line 4 d _F : Correction Distance of rear center-of-gravity point F θ _F : Angle of corrected center-of-gravity point F

  The above is the description of the apparatus configuration of the overhead line position measuring unit 2. Hereinafter, the operation of the overhead line position measuring unit 2 will be described.

  FIG. 3 is a flowchart for explaining the control of the overhead line position measuring unit 2. Hereinafter, a series of flow from the time when the overhead line position measuring unit 2 acquires the measurement value from the range sensor 1 to the calculation of the deviation x and the height y of the overhead line height reference point B is shown in FIG. It explains using.

In step S <b> 1, the overhead line 4 is scanned by the range sensor 1, and the distance d for each angular resolution θ _{min with} respect to the overhead line 4 is acquired as a measurement value for one scan of the range sensor 1. The acquired distance d (that is, the angle θ and the distance d) for each angular resolution θ _min is stored in the first memory 10.

In step S <b> 2, the overhead line lump detection unit 11 determines a lump of measurement values indicating the overhead line 4 from the measurement values of the range sensor 1 stored in the first memory 10 in step S <b> 1. If the n-th data of the range sensor data obtained for each angular resolution θ _min is within the above observation range, if the n + 1-th data is close to the n-th data, the method is A lump of overhead wires. This process is repeated to detect a lump of overhead wires. A lump of measurement values indicating the detected overhead line 4 is stored in the first memory 10.

  Here, the overhead line height reference point B is obtained from the measured value block indicating the overhead line 4 obtained. At this time, it becomes a problem that the measured value is very violent in the distance direction. This problem will be briefly described below.

The range sensor 1 emits a laser beam with a fine angular resolution θ _min and uses the phase difference of the laser when it bounces back to the object (distance between the light source and the reflection surface of the range sensor 1) d. Is output in polar coordinate format.

  FIG. 4 is a schematic diagram showing the relationship between the true value of the overhead line 4 and the overhead line height reference point B. The broken line in the figure represents the laser of the range sensor 1. As shown in FIG. 4, let the true value lump of the overhead wire 4 be A1-A3. At this time, it is assumed that the intermediate true value A2 is substantially at the same position as the overhead line height reference point B.

  FIG. 5 is a schematic diagram showing the behavior of the measured value indicating the overhead line 4 by the actual range sensor 1, and the broken line in the figure represents the laser of the range sensor 1. As shown in FIG. 5, the measured value block indicating the overhead line 4 deviates from the above-described true value block, for example, the measured values C1 to C3 or the measured values D1 to D3. That is, the measured value of the overhead line 4 by the actual range sensor 1 is violated in the distance direction.

  Therefore, when the measured value represented by the angle and the distance is converted into the data of the deviation x and the height y to obtain the height data, the data having the lowest height y, that is, the lowest point, is the overhead line to be obtained. If the simple method of setting the height reference point B is used, the angle of the lowest point changes with each scan, so the overhead line height reference point B is not only in the height direction but also in the displacement direction. Will become unstable.

  FIG. 6 is a schematic diagram illustrating a state in which the lowest point is exposed. As shown in FIG. 6, the lowest point is not only misidentified as the measured value C2 or the measured value D2 but also misidentified as the measured value C1 or the measured value C3 in the scan degree of the range sensor 1. possible. That is, every time scanning is performed by the range sensor 1, the angle that is the lowest point changes (is violated).

In order to solve the above problem, in step S3, the overhead line centroid calculation unit 12 calculates the angle θ _E of the overhead line centroid point E from the measured value block indicating the overhead line 4 stored in the first memory 10 in step S2. The distance d _E is calculated. That is, the overhead line centroid calculation unit 12 averages the angle θ and the distance d of the measured values, and obtains the overhead line centroid point E (angle θ _E and distance d _E ). The overhead line centroid point E is stored in the first memory 10.

  FIG. 7 is a schematic diagram for explaining the overhead line center-of-gravity point E. FIG. For example, as shown in FIG. 7, when the measured values are C1 to C3, the overhead line centroid is E (C), and when the measured values are D1 to D3, the overhead centroid is E (D). In this way, if the overhead line center-of-gravity point E is obtained, the angle fluctuation can be suppressed, and the fluctuation in the distance direction can be reduced by averaging. In addition, since the error of distance generate | occur | produces independently at three points, the case where a measured value becomes a combination of C1, D2, D3 etc., for example is also considered. Even in this case, the angle of the overhead line centroid is always the angle of the central measurement value among the three measurement values. That is, in all combinations, the angle of the overhead line centroid is always the angle of the central measurement value among the three measurement values.

  In other words, if a simple method as described above is used, it is uncertain which point will be selected as the lowest point, but the overhead line centroid point E is obtained as in step S3. Thus, for example, when measuring three points as described above, the central measurement value angle (measurement values C2, D2) is always selected from the three point angles.

  In addition, if a simple method is used, a point (outlier) that is far from the true value may be selected. However, if the center of gravity is obtained as in step S3, it is temporarily out of place. Even if a value is generated, the influence of outliers can be reduced by averaging with other points.

Subsequently, in step S4, the corrected overhead line centroid point calculation unit 13 corrects the angle θ _E and the distance d _E of the overhead line centroid point E stored in the first memory 10 in step S3, and the corrected overhead line centroid point F. An angle θ _F and a distance d _F are calculated. The corrected overhead line center-of-gravity point F is an intersection of a line segment connecting the light source 1a of the range sensor 1 and the center (axial center) O of the overhead line 4 and the surface of the overhead line 4 shown in FIG. The corrected overhead line center-of-gravity point F is stored in the first memory 10.

  In addition, in order to obtain the corrected overhead line centroid point F, calibration (equipment calibration) related to distance and angle is performed in advance, such that the overhead line centroid point E is input and the corrected overhead line centroid point F is output. Find the coefficient. The calibration method will be described later.

  Thereafter, in step S5, the overhead line height reference point calculation unit 14 determines the deviation x and height y of the overhead line height reference point B from the corrected overhead line barycentric point F stored in the first memory 10 in step S4. Is calculated.

FIG. 8 is a schematic diagram illustrating a procedure for calculating the overhead line height reference point B from the corrected overhead line barycentric point F. As shown in FIG. 8, the displacement of the overhead line height reference point B to be obtained is x, the height is y, and the distance from the light source 1a of the range sensor 1 to the corrected overhead line center point F (that is, the corrected center point). F distance) is d _F , the radius of the overhead line 4 is r, the angle of the line segment connecting the light source 1a of the range sensor 1 and the center of the overhead line 4 (that is, the angle of the corrected center point F) is θ _F , The deviation x and height y of the overhead wire height reference point B are calculated by the above equations (1) and (2).

  The above is the description of the overhead line position measuring unit 2. With this overhead line position measuring unit 2, in the overhead line position measuring apparatus and method according to the first embodiment of the present invention, the displacement x and the height of the overhead line 4 with a simple configuration using a single-axis scanning type range sensor. y can be obtained.

  In the overhead line position measuring apparatus and method according to the first embodiment of the present invention, the measurement value of the overhead line 4 by the range sensor 1 is calibrated. Calibration is effective in order to acquire the position of the object with high accuracy by the single-axis scanning type range sensor 1.

  That is, the object to be measured using the measurement sensor 1 is the overhead line 4 and the fluctuation range of the overhead line 4 is also known. Therefore, by performing calibration only under these conditions, the overhead line 4 with higher accuracy can be obtained. It is possible to measure the position. In step S4, calibration is performed in order to obtain the corrected center of gravity point F from the overhead line center of gravity point E.

  Furthermore, the same material and shape of the overhead wire 4 as the measurement object are used for the calibration target, and the installation position of the calibration target is limited to the fluctuation range of the overhead wire 4 so that the position of the overhead wire 4 can be accurately determined. It becomes the calibration for acquiring.

  Needless to say, the calibration needs to be performed in advance before the range sensor 1 actually scans the overhead line 4 to obtain the overhead line height reference point B.

  FIG. 9 is a front view for explaining calibration. FIG. 10 is a side view for explaining calibration.

  As shown in FIGS. 9 and 10, the overhead line position measuring apparatus according to the first embodiment of the present invention further includes a calibration target 24 and an installation base 25.

  The calibration target 24 is made of the same material and shape as the overhead line 4, and the longitudinal direction is perpendicular to the scanning direction of the range sensor 1 within the movement range of the measurement object (within the fluctuation range of the overhead line 4). It is installed on the installation table 25.

  9 and 10, five calibration targets 24 are installed, but more calibration targets 24 may be installed. 9 and 10, five calibration targets 24 are arranged at the upper left, upper right, center, lower right, and lower left when viewed from the front, but can cover the movement range of the overhead line 4 that is the measurement object. As long as it is a simple arrangement, it may be arranged at any position.

  As described above, after the range sensor 1 and the calibration target 24 are arranged, the calibration target 24 is scanned by the range sensor 1.

  The calibration unit 3 outputs correction coefficients a, b, e, and f (described later) to the overhead line position measurement unit 2, and includes a target position measurement unit 21, a second memory 20, a data number determination unit 19, a minimum two A multiplicative processing unit 22 and a calibration result output unit 23 are provided.

  The second memory 20 records various data.

The target position measurement unit 21 obtains a calibration target barycentric point E ′ for one scan of the range sensor 1 and records it in the second memory 20. That is, the calibration target barycentric point _{E ′} (angle θ _E ) is obtained from the measurement values (angle θ ′ and distance d ′) for one scan of the range sensor 1 with respect to the calibration target 24 by the procedure as in steps S1 to S3. ′ And distance d _E ′) are obtained and recorded in the second memory 20.

  That is, first, the target position measurement unit 21 collects measurement values indicating the calibration target 24 from the measurement values (angle θ ′ and distance d ′) for one scan of the range sensor 1 with respect to the calibration target 24. Is detected. Specifically, when a plurality of measurement values exist in a concentrated manner, they are respectively detected as a lump of measurement values indicating each calibration target 24.

Next, the target position measurement unit 21 averages the angle θ ′ and the distance d ′ of the measurement values for each measurement value block indicating each detected calibration target 24. This average value is stored in the second memory 20 as the calibration target barycentric point _E ′ (angle θ _E ′ and distance d _E ′).

  The data number determination unit 19 determines whether or not the number of data of the calibration target barycenter E ′ recorded in the second memory 20 is a necessary and sufficient number (a first predetermined number or more). If it is a necessary and sufficient number (if it is not less than the first predetermined number), the second memory 20 is instructed to output the recorded calibration target barycentric point E ′ to the least squares processing unit 22, and the necessary and sufficient number Otherwise (if less than the first predetermined number) no command is given.

The least square method processing unit 22 performs the least square method on the angle and the distance, respectively. That is, first, regarding the angle, the angle θ _E ′ input from the second memory 20, the line segment connecting the light source 1 a of the range sensor 1 and the center of the calibration target 24, and the surface of the calibration target 24. Correction coefficients e and f relating to the angle are obtained by performing the least square method so that the error between the true value _F ′ of the intersection (angle θ _F ′ and distance d _F ′) and the angle θ _F ′ becomes small. Similarly, regarding the distance, the least square method is performed so that the error between the distance d _E ′ and the distance d _F ′ becomes small, and correction coefficients a and b related to the distance are obtained. The obtained correction coefficients a, b, e, and f are recorded in the second memory 20.

  The calibration result output unit 23 outputs the data of the correction coefficients a, b, e, and f recorded in the second memory 20 to the corrected overhead line centroid point calculation unit 13.

  Hereinafter, an outline of the calibration procedure of the calibration unit 3 will be described.

The range sensor 1 performs line scanning with an infrared laser on one surface of a certain range, and outputs a distance d to the reflecting surface if there is a reflecting surface for each angular resolution θ _min . Therefore, the distance d to the reflecting surface with respect to a certain angle θ is obtained as a measured value. The calibration unit 3 performs calibration for the angle θ and the distance d.

  The laser light of the range sensor 1 diffuses according to the distance and the light intensity becomes weak. Therefore, if the correction coefficients are a and b, calibration can be performed as d = ad + b.

  The angle θ is used to calibrate the displacement of the range sensor installation angle. It is sufficient to set θ = θ + f, but here, for the sake of convenience, the correction coefficients are set as e and f, and θ = eθ + f, in order to align with the calibration method of the distance d.

  When a necessary and sufficient number of measurement values of each calibration target measured by the range sensor 1 are collected, the distance data (true value) from the light source 1a of the range sensor 1 to each calibration target obtained in advance by actual measurement is used. In addition, the correction coefficients a, b, e, and f are obtained for each of the distance d and the angle θ using the least square method.

  FIG. 12 is a flowchart for explaining the control of the calibration unit 3. Hereinafter, the control of the calibration unit 3 will be specifically described with reference to FIG.

First, in step S <b> 11, for each calibration target 24, a line segment connecting the light source 1 a of the range sensor 1 and the center of the calibration target 24, which has been accurately measured in advance, and the surface of the calibration target 24, The true value _F ′ (angle θ _F ′ and distance d _F ′) of the intersection is input to the least squares processing unit 22.

In step S <b> 12, the target position measurement unit 21 records the calibration target barycentric point E ′ for one scan of the range sensor 1 in the second memory 20. That is, the calibration target barycentric point _{E ′} (angle θ _E ) obtained from the measurement values (angle θ ′ and distance d ′) for one scan of the range sensor with respect to the calibration target 24 by the procedure as in steps S1 to S3. ′ And distance d _E ′) are recorded in the second memory 20.

  In step S <b> 13, the data number determination unit 19 determines whether or not the number of data of the calibration target barycenter E ′ recorded in the second memory 20 is a necessary and sufficient number (a first predetermined number or more). If it is a necessary and sufficient number (if it is not less than the first predetermined number), the process proceeds to step S14; otherwise (if it is less than the first predetermined number), the process proceeds to step S12. That is, by providing step S13, step S12 is repeated, and a sufficient number of data necessary for calibration is collected and recorded in the second memory 20.

  In step S <b> 14, the calibration target barycentric point E ′ recorded in the second memory 20 is output to the least square method processing unit 22.

In step S15, the least square method processing unit 22 performs the least square method on the angle and the distance. That is, first, with respect to the angle, the least square method is performed so that the error between the angle θ _E ′ input from the second memory 20 and the angle θ _F ′ of the true value _F ′ input in advance becomes small. Correction coefficients e and f are obtained. Similarly, with respect to the distance, the least square method is performed so that the error between the distance d _E ′ of the true value _F ′ input from the second memory 20 and the distance d _F ′ input in advance is reduced, thereby correcting the distance. The coefficients a and b are obtained. The obtained correction coefficients a, b, e, and f are recorded in the second memory 20.

  In step S16, the correction coefficients a, b, e, and f related to the distance obtained above are recorded in the second memory 20, and the calibration is completed. After the calibration is completed, the data of the correction coefficients a, b, e, and f recorded in the second memory 20 are output to the post-correction overhead line centroid point calculation unit 13 by the calibration result output unit 23.

  Accordingly, the corrected overhead line centroid point F can be obtained from the overhead line centroid point E by the corrected overhead line centroid point calculation unit 13 in step S4.

  In the overhead line position measuring apparatus and method according to the first embodiment of the present invention, the overhead line 4 can be more accurately obtained with a simple configuration using a single-axis scanning type range sensor by performing calibration as described above. The displacement x and height y can be obtained.

The overhead line position measuring apparatus and method according to the first embodiment of the present invention have been described above. In other words,
The overhead line position measuring apparatus according to the first embodiment of the present invention is installed in a vertically upward direction on the roof of a vehicle, a range in which the overhead line can be changed in advance is set as an observation range, and the overhead line can be scanned. The measured value of the overhead line by the sensor and the scan is obtained as an angle θ and a distance d, and the deviation x and the height of the vertical lowest point of the overhead line are obtained from the angle θ and the distance d using a correction coefficient. An overhead line position measuring unit that calculates a height y, and a calibration unit that outputs the correction coefficient to the overhead line position measuring unit, wherein the overhead line position measuring unit includes the observation range. A plurality of measurement values existing in a block as a block of measurement values indicating one overhead line, and an average of the angle θ and the distance d of the measurement values included in the block, respectively. By An angle theta _E and distance d _E of the line center of gravity, and the overhead line centroid calculating unit, based on the correction coefficient, by correcting the angle theta _E and the distance d _E of the overhead line center of gravity, the measurement zone A corrected overhead line centroid calculation unit for obtaining an angle θ _F and a distance d _F of a corrected overhead line centroid point, which is an intersection of a line segment connecting the light source of the sensor and the center of the overhead line, and the surface of the overhead line; , Using the following formula, the deviation x and the height y of the lowest vertical point of the overhead line are obtained from the angle θ _F and the distance d _{F of the} corrected overhead line centroid point. It is an overhead line position measuring apparatus provided with a point calculation part.
x = (d _F + r) cos θ _F
y = (d _F + r) sin θ _F −r
x: Deviation of the lowest vertical point of the overhead wire y: Height of the lowest vertical point of the overhead wire r: Radius of the overhead wire

Further, in the overhead line position measuring apparatus according to the first embodiment of the present invention, the calibration unit calculates a measurement value obtained by scanning the range sensor with respect to a calibration target having the same material and shape as the overhead line, and an angle θ ′ and Obtained as a distance d ′, a plurality of measurement values concentrated in the measurement value are detected as a measurement value block indicating the calibration target, and the angle θ ′ of the measurement value included in the measurement value and By averaging the distances d ′, the target position measurement unit and the number of data of the calibration target barycentric points, which are the angle θ _E ′ and the distance d _E ′ of the calibration target barycentric points, are set to a first predetermined value. If it is determined that more than a few are recorded in the memory, the calibration target barycentric point data is output from the memory to the least squares processing unit. Instructs the a number of data determining section, and the angle theta _E ', which is input in advance, and the line segment connecting the center of the light source and the calibration target of the measurement area sensor, and the calibration target surface The least square method is performed so that the error from the true angle θ _F ′ of the intersection becomes small, the correction coefficient related to the angle is obtained, and the distance d _E ′ is input in advance as the distance d _E ′ And the least square method is performed so that the error between the line segment connecting the center of the calibration target and the true angle d _F ′ of the intersection with the surface of the calibration target is small, The least square method processing unit for obtaining a correction coefficient, and a calibration result output unit for outputting the correction coefficient data to the corrected overhead line centroid point calculation unit. That.

Furthermore, as the overhead line position measuring method according to the first embodiment of the present invention, the overhead line is installed on the roof of the vehicle vertically upward, and a range sensor in which a range in which the overhead line can be changed in advance is set as an observation range. And the measured value of the overhead line by the scan is obtained as an angle θ and a distance d, and the deviation x and the vertical direction lowest point of the overhead line are obtained from the angle θ and the distance d using a correction coefficient. An overhead line position measuring method for calculating a height y, wherein a plurality of the measurement values existing in the observation range are detected as a lump of measurement values indicating one of the overhead lines, and the measurement value included in the lump by respectively averaging said angle theta and the distance d, and the angle theta _E and distance d _E of the overhead line center of gravity, based on the correction coefficient, the angle theta _E and the distance d _E of the overhead line centroid By correcting, the range sensor A line segment connecting support between the light source and the center of the overhead line, an intersection of the surface of said cross lines, after correction overhead line center of gravity, seek the angle theta _F and distance d _F, using the following equation, the correction This is an overhead line position measuring method for obtaining the deviation x and the height y of the lowest vertical point of the overhead line from the angle θ _F and the distance d _{F of the} rear overhead line center of gravity point.
x = (d _F + r) cos θ _F
y = (d _F + r) sin θ _F −r
x: Deviation of the lowest vertical point of the overhead wire y: Height of the lowest vertical point of the overhead wire r: Radius of the overhead wire

In the overhead line position measuring method according to the first embodiment of the present invention, measurement values obtained by scanning the range sensor with respect to a calibration target having the same material and shape as the overhead line are acquired as an angle θ ′ and a distance d ′. , A plurality of measurement values that are concentrated in the measurement value are detected as a lump of measurement values indicating the calibration target, and the angle θ ′ and the distance d ′ of the measurement values included in the lump are respectively detected. By averaging, the angle θ _E ′ of the calibration target centroid point and the distance d _E ′ are obtained, and the angle θ _E ′ is preliminarily determined based on the number of data of the calibration target centroid point equal to or greater than a first predetermined number. The true value of the intersection of the input line segment connecting the light source of the range sensor and the center of the calibration target and the surface of the calibration target The least square method is performed so that the error from the degree θ _F ′ becomes small, the correction coefficient related to the angle is obtained, and the distance d _E ′ and the light source of the range sensor and the calibration target input in advance as the distance d _E ′ The correction coefficient relating to the distance is obtained by performing the least square method so that the error between the line segment connecting the center of the calibration target and the true angle d _F ′ of the intersection point with the surface of the calibration target becomes small It is.

[Example 2]
The overhead line position measuring apparatus according to the second embodiment of the present invention is obtained by partially changing the calibration procedure in the overhead line position measuring apparatus according to the first embodiment of the present invention. Hereinafter, the description will focus on the parts different from the overhead line position measuring apparatus according to the first embodiment of the present invention, and the description of the same parts will be omitted as much as possible.

  FIG. 13 is a front view for explaining the calibration. FIG. 14 is a side view for explaining calibration.

  As shown in FIGS. 13 and 14, the overhead line position measuring apparatus according to the second embodiment of the present invention includes a rotating table 26 in addition to the calibration target 24 and the installation table 25.

  The turntable 26 is rotatable on a vertical plane, and is installed so that the range sensor 1 rotates all the calibration targets 24 around the optical axis (light source 1a) so as to be scanned.

  Further, the calibration targets 24 are arranged in a straight line having a predetermined inclination angle with respect to the horizontal direction so as not to cover each other in the scanning direction of the range sensor 1 and are installed on the installation table 25.

  As described above, the range sensor 1 and the calibration target 24 are arranged, and then the calibration sensor 24 is scanned by the range sensor 1.

  FIG. 15 is a flowchart for explaining the control of the calibration unit 3. Hereinafter, the control of the calibration unit 3 will be specifically described with reference to FIG.

  Steps S21, S22, S23, S24, S25, and S26 are the same as steps S11, S12, S13, S14, S15, and S16 in the first embodiment. Therefore, only steps S23-1 and S23-2 are described below. explain.

  In step S23-1, the number of data of the calibration target barycenter E ′ stored in the second memory 20 in step S23 is not necessary and sufficient by the data number determination unit 19 (is less than the first predetermined number). If it is determined, the number-of-data determination unit 19 again requires the sufficient number of data of the calibration target barycentric point E ′ stored in the second memory 20 for the current angle (any angle) of the turntable 26. It is determined whether the number is greater than or equal to a second predetermined number. If it is a necessary and sufficient number (if it is not less than the second predetermined number), the process proceeds to step S23-2; otherwise (if less than the second predetermined number), the process proceeds to step S22.

  In step S23-2, the turntable 26 is rotated by a predetermined minute angle, the rotation is stopped, and then the process proceeds to step S22.

  That is, by providing steps S23, S23-1 and S23-2, the above-described step S22 is repeated for each predetermined minute angle of the turntable 26, and is necessary and sufficient for calibration at an angle within a predetermined range of the turntable 26. The data of the measured values (angle θ ′ and distance d ′) of the calibration target 24 are collected and recorded in the second memory 20.

  By doing in this way, in the overhead line position measuring apparatus according to the second embodiment of the present invention, the range sensor 1 is rotated about the optical axis (light source 1a), so the true value data of each calibration target 24 does not change. However, the angle θ at which the laser of the ranging sensor 1 hits each calibration target changes.

  Therefore, it is possible to easily perform calibration considering that the laser of the range sensor 1 hits the overhead line 4 at various angles, and to obtain the displacement x and height y of the overhead line 4 with higher accuracy. .

The overhead line position measuring apparatus and method according to the second embodiment of the present invention have been described above. In other words,
The overhead line position measuring apparatus according to the second embodiment of the present invention is capable of scanning a plurality of calibration targets with an optical axis as a center, using an installation table on which a plurality of calibration targets are installed, and the range sensor. A rotating table that can be installed so as to rotate, the range sensor is installed on the rotating table, and the calibration target is scanned by the range sensor at every predetermined angle of the rotating table When the data number determination unit determines that the number of data of the calibration target barycentric points recorded in the memory is less than the first predetermined number, a second predetermined number or more with respect to an angle of the turntable It is determined whether or not the number of data is recorded, and if the number of data is greater than or equal to a second predetermined number, the turntable is rotated by the predetermined angle. After that, the calibration target is scanned by the range sensor, and the calibration target centroid point E ′ is obtained again by the target position measurement unit, and if the number of data is less than the second predetermined number, It is an overhead line position measuring apparatus that scans the calibration target by the range sensor without rotating the turntable and obtains the calibration target barycentric point E ′ again by the target position measuring unit.

  In addition, the overhead line position measuring method according to the second embodiment of the present invention allows a plurality of the calibration targets to be installed on an installation table, and the range sensors to scan the plurality of calibration targets around the optical axis. The calibration target is scanned by the range sensor at every predetermined angle of the turntable, and the number of data of the calibration target barycentric points is the first predetermined number. If it is less than the second predetermined number of data for an angle of the turntable, the calibration target is scanned by the range sensor after rotating the turntable by the predetermined angle, By the target position measurement unit, the calibration target barycenter E ′ is obtained again, If the number of data is less than the second predetermined number for a certain angle of the turntable, the calibration target is scanned by the range sensor without rotating the turntable, and the calibration is performed by the target position measurement unit. This is an overhead line position measuring method for re-determining the target centroid point E ′.

  The present invention is suitable as an overhead line position measuring apparatus and method.

DESCRIPTION OF SYMBOLS 1 Range sensor 1a Light source 2 Overhead position measurement part 3 Calibration part 4 Overhead line 5 On vehicle roof 10 1st memory 11 Overhead lump detection part 12 Overhead barycentric point calculation part 13 Corrected overhead line barycentric point calculation part 14 Overhead height Reference point calculation unit 19 Number of data determination unit 20 Second memory 21 Target position measurement unit 22 Least squares processing unit 23 Calibration result output unit 24 Calibration target 25 Installation table 26 Turntable

Claims (6)

A range sensor that is installed vertically upward on the roof of the vehicle, and a range in which the overhead line can be changed in advance is set as an observation range, and the overhead line can be scanned;
The measured value of the overhead line by the scan is acquired as an angle θ and a distance d, and the deviation x and the height y of the lowest point in the vertical direction of the overhead line are obtained from the angle θ and the distance d using a correction coefficient. An overhead line position measurement unit to be calculated;
An overhead line position measuring apparatus comprising a calibration unit that outputs the correction coefficient to the overhead line position measuring unit,
The overhead wire position measuring unit is
Detecting a plurality of the measurement values existing in the observation range as a lump of measurement values indicating one overhead line;
An overhead line centroid calculation unit that averages the angle θ and the distance d of the measurement values included in the lump to obtain an angle θ _E and a distance d _E of the overhead line centroid point;
By correcting the angle θ _E and the distance d _E of the overhead line centroid point based on the correction coefficient, a line segment connecting the light source of the ranging sensor and the center of the overhead line, and the surface of the overhead line A corrected overhead line centroid point calculation unit for obtaining an angle θ _F and a distance d _F of the corrected overhead line centroid point, which is an intersection;
An overhead line height reference point for obtaining the displacement x and the height y of the lowest vertical point of the overhead line from the angle θ _F and the distance d _{F of the} corrected overhead line center of gravity using the following formula: An overhead line position measuring device, comprising: a calculation unit.
x = (d _F + r) cos θ _F
y = (d _F + r) sin θ _F −r
x: Deviation of the lowest vertical point of the overhead wire y: Height of the lowest vertical point of the overhead wire r: Radius of the overhead wire The calibration unit
A measurement value obtained by scanning the range sensor with respect to a calibration target having the same material and shape as the overhead line is acquired as an angle θ ′ and a distance d ′, and a plurality of measurement values concentrated in the measurement value are present. The calibration target centroid point angle θ _E ′ is detected by detecting the calibration target as a mass of measurement values and averaging the angle θ ′ and the distance d ′ of the measurement values included in the mass. And a target position measurement unit with a distance d _E ′,
If it is determined that the number of data of the calibration target barycentric points is recorded in the memory more than the first predetermined number, the calibration target barycentric point data is instructed to be output from the memory to the least squares processing unit. A data number determination unit;
The angle θ _E ′, the true angle θ _F ′ of the intersection point of the line segment connecting the light source of the ranging sensor and the center of the calibration target, and the calibration target surface, which are input in advance, In order to reduce the error, the least square method is performed, the correction coefficient relating to the angle is obtained, and the distance d _E ′ and the previously input light source of the range sensor and the center of the calibration target are connected. The least-squares method process, wherein the least-square method is performed so that the error between the line segment and the true angle d _F ′ of the intersection of the calibration target surface is reduced, and the correction coefficient related to the distance is obtained. And
The overhead line position measuring apparatus according to claim 1, further comprising: a calibration result output unit that outputs the correction coefficient data to the corrected overhead line barycentric point calculation unit. further,
An installation table on which a plurality of the calibration targets are installed;
The range sensor includes a turntable that can be installed so as to rotate a plurality of the calibration targets about the optical axis so as to be scanned,
The range sensor is installed on the turntable, and the calibration target is scanned by the range sensor every predetermined angle of the turntable,
When the data number determination unit determines that the number of data of the calibration target barycentric points recorded in the memory is less than the first predetermined number, the second predetermined number or more data for an angle of the turntable Determine if the number is recorded,
If the number of data is equal to or greater than a second predetermined number, the calibration table is scanned by the range sensor after the turntable is rotated by the predetermined angle, and the calibration target center of gravity is scanned by the target position measurement unit. Find the point E ′ again,
If the number of data is less than the second predetermined number, the calibration target is scanned by the range sensor without rotating the turntable, and the calibration target barycentric point E ′ is scanned by the target position measurement unit. The overhead wire position measuring device according to claim 2, wherein the overhead wire position measuring device is obtained again. It is installed vertically on the roof of the vehicle, and the range in which the overhead line can fluctuate in advance is set as the observation range.
The measured value of the overhead line by the scan is acquired as an angle θ and a distance d, and the deviation x and the height y of the lowest point in the vertical direction of the overhead line are obtained from the angle θ and the distance d using a correction coefficient. An overhead line position measuring method to calculate,
Detecting a plurality of the measurement values present in the observation range as a lump of measurement values indicating one of the overhead lines;
By averaging the angle θ and the distance d of the measurement values included in the mass, respectively, the angle θ _E and the distance d _E of the overhead line centroid point are obtained.
By correcting the angle θ _E and the distance d _E of the overhead line centroid point based on the correction coefficient, a line segment connecting the light source of the ranging sensor and the center of the overhead line, and the surface of the overhead line Find the angle θ _F and the distance d _F of the corrected overhead line centroid that is the intersection,
The deviation x and the height y of the lowest vertical direction point of the overhead line are obtained from the angle θ _F and the distance d _{F of the} corrected overhead line center of gravity using the following formula: Method for measuring overhead line position.
x = (d _F + r) cos θ _F
y = (d _F + r) sin θ _F −r
x: Deviation of the lowest vertical point of the overhead wire y: Height of the lowest vertical point of the overhead wire r: Radius of the overhead wire A measurement value obtained by scanning the range sensor with respect to a calibration target having the same material and shape as the overhead line is acquired as an angle θ ′ and a distance d ′, and a plurality of measurement values concentrated in the measurement value are present. The calibration target centroid point angle θ _E ′ is detected by detecting the calibration target as a mass of measurement values and averaging the angle θ ′ and the distance d ′ of the measurement values included in the mass. And the distance d _E ′,
Based on the number of data of the calibration target barycentric points equal to or greater than a first predetermined number, the angle θ _E ′ and a line segment connecting the light source of the range sensor and the center of the calibration target, which are input in advance, The least square method is performed so that the error from the true angle θ _F ′ of the intersection with the surface of the calibration target becomes small, the correction coefficient relating to the angle is obtained, and the distance d _E ′ is input in advance. The error between the line segment connecting the light source of the range sensor and the center of the calibration target and the true angle d _F ′ of the intersection with the surface of the calibration target is reduced. The overhead line position measuring method according to claim 4, wherein the correction coefficient relating to the distance is obtained by performing a least square method. further,
A plurality of calibration targets are installed on an installation table,
The range sensor is installed on a turntable so as to rotate a plurality of the calibration targets about the optical axis so as to be scanned,
The calibration target is scanned by the range sensor at every predetermined angle of the turntable,
When the number of data of the calibration target barycenter is less than the first predetermined number,
If the rotary table of the certain angle the number of data of the second predetermined number or more, in terms of the turntable was the predetermined angle, by the measuring range sensor scans the calibration target, before SL calibration target Find the center of gravity E 'again,
If the number of data of the lower than the second predetermined number for the angle with the turntable, without rotating the rotary table, by the measuring range sensor scans the calibration target, before SL calibration target centroid E ′ Is obtained again. The overhead line position measuring method according to claim 5, wherein:

Images