JP6696207B2 - Overhead position measuring device and overhead line position measuring method - Google Patents

Description

  The present invention relates to an overhead wire position measuring device and an overhead wire position measuring method for measuring the height and deviation from the roof of a train to a trolley wire using a uniaxial scanning range sensor.

  2. Description of the Related Art Conventionally, a measuring device for measuring the position of an overhead wire such as a trolley wire using a uniaxial scanning range sensor has been known (for example, refer to Patent Document 1 below). The following Patent Document 1 also describes performing a determination process as to whether or not the measured position of the overhead wire is noise.

Patent No. 5476775

  However, when measuring the position of an overhead line using a range sensor, not only the noise determination but also the response when the measurement value of the range sensor is lost, and the environment where multiple overhead lines are installed, It is necessary to perform a process to determine which overhead line position data the measurement values of the range sensors are respectively.

  That is, for example, the position data may be lost due to factors such as the distance and shape to the overhead line, the vehicle speed, and the angular resolution of the range sensor. When a loss occurs, if the loss is treated as one overhead line, it will be recognized that the overhead line is broken at a position where the overhead line was not originally cut.

  Further, in the case of a double catenary, for example, if clustering of a plurality of overhead lines is not possible, the position data of adjacent overhead lines will be confused and a measurement result different from the actual overhead line position will result. In particular, there is a possibility that a measurement result in which the deviation of the catenary line fluctuates in a zigzag manner unlike the actual situation may occur. In addition, when smoothing the measured position data with a moving average filter, etc., if the clustering of multiple overhead lines is not possible, the position data of the next Filtering results may not be obtained.

  From the above, the present invention is capable of determining the same overhead line even if there is a data loss, and is also capable of managing data for each overhead line even if there are multiple overhead lines. The purpose is to provide a device.

An overhead wire position measuring device according to a first invention for solving the above-mentioned problems,
In an overhead line position measuring device comprising a uniaxial scanning range sensor and an arithmetic means for measuring an overhead line based on the data acquired by the range sensor,
The calculation means,
An overhead line position calculation unit that calculates the position of the measurement target as an input value based on the data acquired by the range sensor,
When the input value obtained from one line belongs to the existing class set corresponding to the overhead line, the input value is classified into the existing class, while the input value does not belong to the existing class. A tracking phase processing unit that counts the number of defects and determines that the catenary has ended when the defects continue for at least the first predetermined number of lines,
The tracking phase processing unit acquires an input value for a second predetermined number of lines from the line next to the line that has not acquired an input value that has not been classified into the existing class, and the existing value based on the acquired input value. When it is determined that an input value not classified into a class corresponds to an overhead line, a new class is set, and a discovery phase processing unit that makes the input value not classified into the existing class a representative value of the new class is included. It is characterized by

Further, an overhead wire position measuring device according to a second invention for solving the above-mentioned problems,
When the computing unit sets a new class in the discovery phase processing unit, the input value belonging to the new class is tracked in the direction opposite to the time axis with respect to the line before the line from which the representative value of the new class is acquired. However, when there is an input value belonging to the new class, an inverse tracking phase processing unit that classifies the input value into the new class is included.

Further, an overhead wire position measuring device according to a third invention for solving the above-mentioned problems,
The tracking phase processing unit obtains a distance between the representative value of the existing class and an input value obtained from the one line, and the distance between the representative value of the existing class is the smallest and Classify input values within a predetermined distance into the existing class,
When the number of the existing classes is less than a predetermined number of classes, the discovery phase processing unit inputs an input value acquired from a line of the second predetermined number of lines that is not classified into the existing class. If there is a predetermined number or more within a second predetermined distance from the value, a new class is set and the input value not classified into the existing class is set as the representative value of the new class,
The reverse tracking phase processing unit traces an input value of a third predetermined number of lines in a direction opposite to the line before the line from which the representative value of the new class is acquired, and the representative value of the new class. It is characterized in that the input values having the smallest distance to and within the first predetermined distance are classified into the new class.

Further, an overhead wire position measuring device according to a fourth invention for solving the above-mentioned problems,
When the tracking phase processing unit has an input value classified into the existing class, the average value of the input value and the representative value of the existing class is updated as a new representative value of the existing class. While the missing data count is reset, when there is no input value belonging to the existing class, the representative value is not updated and 1 is added to the value of the missing data count.

Further, an overhead wire position measuring device according to a fifth invention for solving the above-mentioned problems,
The discovery phase processing unit deletes input values that do not belong to the existing class and the new class as noise.

Further, an overhead wire position measuring device according to a sixth invention for solving the above-mentioned problems,
When the discovery phase processing unit has a plurality of input values corresponding to the new class by the discovery phase processing unit, the number of input values whose distance from the representative value is within the first predetermined distance is large in the line. Characterized by assigning a new class with priority to the one.

Further, an overhead wire position measuring device according to a seventh invention for solving the above-mentioned problems,
The reverse tracking phase processing unit obtains input values belonging to the new class in a reverse direction on a time axis, excluding the input values already classified into the existing class.

Further, an overhead wire position measuring method according to an eighth invention for solving the above-mentioned problems,
In the overhead line position measuring method for measuring the overhead line based on the data acquired by the range sensor,
An overhead line position calculating step of calculating the position of the measurement object as an input value based on the data acquired by the range sensor,
When the input value obtained from one line belongs to the existing class set corresponding to the overhead line, the input value is classified into the existing class, while the input value does not belong to the existing class. A tracking phase processing step of counting the number of defects and determining that the overhead line has ended when the defects continue for a first predetermined number of lines or more,
The input value for the second predetermined number of lines is acquired from the line next to the line for which the input value not classified in the existing class is acquired in the tracking phase processing step, and the existing value is acquired based on the acquired input value. When it is determined that an input value that is not classified into a class corresponds to an overhead line, a new class is set, and a discovery phase processing step that sets the input value that is not classified into the existing class as a representative value of the new class is included. It is characterized by

Further, an overhead wire position measuring method according to a ninth invention for solving the above-mentioned problems,
When a new class is set in the discovery phase processing step, the input values belonging to the new class are tracked in the direction opposite to the line before the line from which the representative value of the new class is acquired and the new class. If there is an input value belonging to the above, the method has a reverse tracking phase processing step of classifying the input value into the new class.

Further, an overhead wire position measuring method according to a tenth invention for solving the above-mentioned problems,
The tracking phase processing step obtains a distance between the representative value of the existing class and an input value obtained from the one line, and the distance between the representative value of the existing class is the smallest and Classify input values within a predetermined distance into the existing class,
In the discovery phase processing step, when the number of the existing classes is less than a predetermined number of classes, the input value acquired from the second predetermined number of lines is an input that is not classified into the existing class. If there is a predetermined number or more within a second predetermined distance from the value, a new class is set and the input value not classified into the existing class is set as the representative value of the new class,
The reverse tracking phase processing step traces an input value for a third predetermined number of lines in the direction opposite to the line before the line from which the representative value of the new class is acquired, and the representative value of the new class. It is characterized in that the input values having the smallest distance to and within the first predetermined distance are classified into the new class.

Further, an overhead wire position measuring method according to an eleventh invention for solving the above-mentioned problems,
In the tracking phase processing step, when there is an input value classified into the existing class, the average value of the input value and the representative value of the existing class is updated as a new representative value of the existing class. While the missing data count is reset, when there is no input value belonging to the existing class, 1 is added to the value of the missing data count without updating the representative value.

Further, an overhead wire position measuring method according to a twelfth invention for solving the above-mentioned problems,
In the discovery phase processing step, input values that do not belong to the existing class and the new class are deleted as noise.

In addition, an overhead wire position measuring method according to a thirteenth invention for solving the above-mentioned problems,
In the discovery phase processing step, when there are a plurality of input values corresponding to the new class by the discovery phase processing step, the number of input values whose distance from the representative value is within the first predetermined distance is large in the line. Characterized by assigning a new class with priority to the one.

Further, an overhead wire position measuring method according to a fourteenth invention for solving the above-mentioned problems,
In the reverse tracking phase processing step, the input values belonging to the new class are calculated in the reverse direction on the time axis, excluding the input values already classified into the existing class.

  According to the overhead line position measuring device and the overhead line position measuring method according to the present invention, it is possible to determine the same overhead line even if there is a loss of data, and even if there are multiple overhead lines, data for each overhead line Can be managed.

It is the schematic which shows the installation example of the overhead line position measuring apparatus which concerns on the Example of this invention. It is a block diagram showing composition of an overhead line position measuring device concerning an example of the present invention. It is explanatory drawing about tracking of missing data and termination determination of an overhead line. It is a flow chart which shows a flow of overhead wire position measurement concerning an example of the present invention. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead line position measuring device which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead line position measuring device which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead line position measuring device which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead line position measuring device which concerns on the Example of this invention following FIG. It is explanatory drawing about the process by the overhead-line position measuring apparatus which concerns on the Example of this invention following FIG.

  Hereinafter, an overhead wire position measuring device and an overhead wire position measuring method according to the present invention will be described with reference to the drawings. The "deviation" is a technical term of the railway and refers to the distance in the vehicle width direction from the center of the pantograph where the pantograph contacts the trolley wire.

[Example]
The details of the overhead line position measuring device and the overhead line position measuring method according to an embodiment of the present invention will be described with reference to FIGS. 1 to 19. The overhead line position measuring device and the overhead line position measuring method according to the present embodiment are devices and methods for extracting only noise-free overhead line data from position data of the overhead line obtained intermittently on the time axis. For this, the characteristic that the overhead line exists continuously on the time axis is used.

  As shown in FIG. 1, in the present embodiment, the overhead line position measuring device is installed inside the vehicle 1 and a uniaxial scanning range sensor 3 provided on the roof of the vehicle 1 for measuring the overhead line 2. And an arithmetic unit 4 and a storage unit 5.

  The range sensor 3 emits laser light in a radial pattern around an axis parallel to the traveling direction of the vehicle 1 and receives the reflected light to detect the angle and distance to the object to be measured (in the present embodiment, the overhead line). The angle and distance of the data belonging to the two chunks are measured. In this embodiment, the range sensor 2 scans the measurement range A shown in FIG. The range sensor data acquired by the range sensor 3 is stored in the storage device 5 as one line of data obtained by one scan.

  As shown in FIG. 2, the arithmetic unit 4 includes an overhead line position calculation unit 4a, a tracking phase processing unit 4b, a discovery phase processing unit 4c, a reverse tracking phase processing unit 4d, and a memory 4e, and the range measurement acquired by the range sensor 3 is performed. The overhead line 2 is measured based on the sensor data.

  The overhead wire position calculation unit 4a calculates the position of the overhead wire 2 based on the range sensor data input via the memory 4e. More specifically, based on the range sensor data, the coordinates of the measurement object existing within the preset detection range B are extracted as the object coordinates, and the range sensor 3 continuously obtains them in one scan. The coordinate with the lowest position among the obtained plurality of object coordinates is regarded as the coordinate of the overhead line 2, and the information of this coordinate (input value) is output as the overhead line position data. In addition, when the measurement target is detected again in the detection range B at intervals in the deviation direction after the measurement target is continuously detected by one scan, the measurement target detected second time is detected. The object is regarded as a new overhead line, and the coordinates (input value) are output as the second overhead line position. Here, the detection range B is set within the measurement range A measured by the range sensor 3 based on the displacement in the height direction and the horizontal direction of the overhead wire 2. The overhead line position data is stored in the memory 4e.

  The tracking phase processing unit 4b obtains the distance d between the representative value of the existing class set corresponding to the overhead line 2 and the input value based on the overhead line position data input via the memory 4e. When there is an input value within a predetermined distance D1 [mm] as a preset first predetermined distance, the input value having the smallest distance d from the representative value of the existing class is classified into the existing class. If there is no input value in which the distance d is within the predetermined distance D1 continuously for the predetermined number of lines L1 or more as the first predetermined number of lines, the process of ending the tracking is performed (see FIG. 3). If the existing class is not set, the tracking phase processing unit 4b does not perform the processing.

  Here, the above-described predetermined distance D1 is an allowable distance when determining whether the input value belongs to an existing class, and the predetermined number of lines L1 is a threshold value when determining whether or not to end the tracking.

  Hereinafter, details of the processing by the tracking phase processing unit 4b (hereinafter, referred to as tracking phase processing) will be described.

(1) First, the tracking phase processing unit 4b obtains the distance d between the representative values of all the existing classes and all the input values of the line to be measured (excluding invalid data whose height is 0).
(2) Select the combination of the representative value and the input value with the smallest distance d.
(3) When the distance d between the representative value of the selected combination and the input value is less than or equal to the predetermined distance D1, the input value is classified into the same class as the representative value, and the average of the classified input value and the representative value. The value is used as a new representative value. The value of the missing data count that is added when the distance d between the input value and the representative value does not exist within the predetermined distance D1 (the distance d between the input value and the representative value does not continuously exist within the predetermined distance D1. Value (counted in each case) is reset (set to 0).
(4) Except for the representative value selected in (2) and the input value classified into classes, (2) and (3) are repeated for the existing number of classes. If there is no input value belonging to the existing class, the representative value is not updated, and 1 is added to the value of the missing data count of the corresponding existing class.
(5) When the value of the missing data count reaches a preset number of lines L1 (when the loss continues for a predetermined number of lines L1 continuously), it is determined that the overhead line 2 has ended (end line determination). Stop tracking the class.

  The data in which the tracking class processing unit 4b associates the existing class with the input value is stored in the memory 4e as the overhead line data after class allocation.

  Here, the termination determination of the overhead wire 2 will be briefly described with reference to FIG. In FIG. 3, a represents an unclassified input value, b represents an input value classified into a class, and c represents a defect. As shown in FIG. 3, when the input value a corresponding to the overhead line 2 is classified into the existing class by the tracking phase processing unit 4b, the measurement of the overhead line 2 is continued if the number of defects c is less than the predetermined line number L1. On the other hand, when the number of defects c reaches the predetermined number of lines L1, it is determined that the overhead line 2 has ended, and the input value b registered in the existing class immediately before the defects c for the predetermined number of lines L1 is set as the end of the overhead line 2. judge.

  The discovery phase processing unit 4c, based on the overhead line position data input via the memory 4e, inputs values that do not belong to an existing class (in the present embodiment, input values not registered in the existing class in the tracking phase processing unit 4b). ), It is determined whether the input value indicates a new overhead line 2 or noise, and if it is determined to be an overhead line 2, a new class is set and the corresponding input value is registered as a representative value of the new class. If it is determined to be noise, a process of deleting the corresponding input value is performed.

Hereinafter, details of the processing by the discovery phase processing unit 4c (hereinafter, referred to as discovery phase processing) will be described.
(1) First, in the discovery phase processing unit 4c, there is a class with an empty representative value (the number of classes is less than a predetermined number C of preset classes) and the input value does not belong to any existing class (existing class). When the distance d between the representative value of the class and the input value is larger than the predetermined distance D1, the subsequent processing is performed with this input value as the evaluation target data. That is,
(2) Data of an input value for a predetermined number of lines L2, which is a second predetermined number of lines set in advance, is acquired as a next line input value from the line of the time next to the line for which the evaluation target data is acquired.
(3) The distance d between the evaluation target data and each line input value is obtained.
(4) When the distance d between the evaluation target data and each next line input value is within the predetermined distance D2 as the second predetermined distance set in advance and the next line input value is the predetermined number N or more set in advance, the evaluation is performed. The target data is regarded as a new overhead wire rather than noise, a new class number is given to set a new class, and the evaluation target data is used as a representative value of the new class.
(5) When the distance d to the evaluation target data is within the predetermined distance D2 set in advance and the next line input value is less than the predetermined number N set in advance, the evaluation target data is regarded as noise rather than an overhead wire, Delete the evaluation target data.
(6) In the case where a plurality of evaluation target data exist in (4) above in one line and a plurality of evaluation target data are determined to be overhead lines, the distance d from the evaluation target data is within a predetermined distance D2 set in advance. A new class number is assigned in descending order of the number of input values in the next line, and the evaluation target data corresponding to the new class number is set as the representative value of the corresponding new class.

  The data that associates the new class and the representative value set by the discovery phase processing unit 4c is stored in the memory 4e as overhead line data of the new class.

  The predetermined class number C described above corresponds to the number of overhead lines (for example, 2 [lines] for a single catenary, 4 [lines] for a double catenary), and the predetermined number of lines L2 is the number of lines used for verification and a predetermined distance. D2 is a permissible distance judged as one overhead wire, and the predetermined number N is for determining how many input values are within the predetermined line number L2 and the predetermined distance D2 to make the evaluation target data the representative value of the new class. It is a threshold.

  The reverse tracking phase processing unit 4d, based on the overhead line position data input through the memory 4e and the overhead line data of the new class, only reverses the time axis when the new class is set by the discovery phase processing unit 4c. If there is an input value (hereinafter referred to as previous line input value) whose distance from the representative value of the new class is within the predetermined distance D2 by going back by the predetermined number of lines L3 as the third predetermined number of lines, Processing for classifying the new class set by the discovery phase processing unit 4c into the same class is performed.

  For example, since the beginning of the overhead line 2 is an overlap section, the height variation of the overhead line 2 often becomes severe. Therefore, in the discovery phase process, the input value corresponding to several overhead lines 2 from the beginning of the overhead line 2 may be determined to be noise. Therefore, the reverse tracking phase processing unit 4d detects the input value corresponding to the overhead line 2 from the input values determined to be noise in the range from the beginning of the overhead line 2 to several lines, and the number from the beginning of the overhead line 2 is detected. The overhead line 2 can be also measured for the line portion.

Hereinafter, details of the processing by the reverse tracking phase processing unit 4d (hereinafter referred to as reverse tracking phase processing) will be described.
(1) When a new class is set in the discovery phase process, the representative value is set as the discovery point and the subsequent processes are performed.
(2) The previous line input value for the predetermined number of lines L3 is acquired retroactively from the discovery point. When the line number for which a new class is set is smaller than the predetermined line number L3, the previous line input value is acquired from all the lines in the direction opposite to the time axis with respect to the line for which the discovery point was acquired.
(3) Of the acquired previous line input values, the input values that have already been classified into classes in the previous tracking phase processing are excluded (set to deviation, height = 0, 0) and do not belong to the class. Only input value.
(4) The tracking phase process with the discovery point as a representative value is performed on the line immediately before the discovery point. Similarly, for the line two lines before the discovery point, the line three lines before, ... And the lines corresponding to the predetermined number of lines L3, the process similar to the tracking phase process is performed with the discovery point as a representative value.
(5) Among the data obtained in (4) above, the input value corresponding to the same class as the discovery point is overwritten and reflected on the post-class distribution overhead line data stored in the memory 4e.

  Here, the above-described predetermined line number L3 is the number of lines tracing the previous line input value backward from the discovery point.

The flow of the overhead line position measuring process by the overhead line position measuring apparatus according to the present embodiment will be briefly described below with reference to FIG.
As shown in FIG. 4, first, the tracking phase process described above is performed (step S1). Subsequently, the above-described discovery phase processing is performed on the input values that have not been classified into classes in the tracking phase processing (step S2). Subsequently, it is determined whether or not a new class has been set by the discovery phase process (step S3), and if the new class has not been set (NO), the process proceeds to step S6. On the other hand, if a new class is set (YES), the new class is added to the tracking target (step S4), the above-mentioned reverse tracking phase process is performed (step S5), and the process proceeds to step S6. In step S6, it is determined whether or not it is the last line (whether or not all the lines have been processed) (step S6), and if it is the last line (YES), the process ends. On the other hand, if it is not the final line (NO), the overhead line position data of the next line is acquired (step S7), and the process returns to step S1.

  The overhead wire position measuring method according to the present embodiment will be specifically described with reference to FIGS. 5 to 19. In the following description, as an example, the predetermined distance D1 = 100 [mm], the predetermined distance D2 = 30 [mm], the predetermined line number L1 = 10 [lines], the predetermined line number L2 = 10 [lines], the predetermined line number. It is assumed that L3 = 20 [pieces], a predetermined number N = 6 [pieces], a predetermined number of classes C = 2 [pieces], and there is no existing class at time t1.

  Further, in the examples shown in FIGS. 5 to 19, the position of the input value in the deviation direction is shown for each line, and the position in the height direction is omitted. Further, a shown in FIG. 5 to FIG. 19 indicates an unclassified input value, a ′ indicates evaluation target data, and b indicates an input value classified into a class.

  When the overhead line position is measured in this embodiment, first, as shown in FIG. 5, the tracking phase process is performed on the overhead line position data at time t1. In the example shown in FIG. 5, there is one input value a at time t1, but there is no representative value of the class, so the process proceeds to the discovery phase process.

  In the discovery phase process, at time t1, there is a class with an empty representative value and there is no existing class, so the input value a is set as the evaluation target data a ′ (see FIG. 6).

  Therefore, as indicated by the dashed line in FIG. 7, an input value that is a predetermined number of lines L1 (here, up to time t11) and within a predetermined distance D2 from time t2 following time t1 when the evaluation target data a ′ is acquired. (Next line input value) a is acquired. In the example shown in FIG. 7, since eight (> N) input values a exist within the predetermined number of lines L1 and the predetermined distance D2, a new class c1 is added as shown in FIG. The data a ′ is classified into a new class c1, and the classified input value b becomes a representative value of the new class c1.

  Then, the reverse tracking phase process is performed. However, in the example shown in FIG. 8, since there is no input value classified into the new class c1 before the time t1, subsequently, as shown in FIG. 9, the overhead line position data at the time t2. Then, the tracking phase process is performed. In the example shown in FIG. 9, two input values a exist at time t2.

  As shown in FIG. 10, the input value a on the left side of the figure is a distance d between the representative value of the class c1 (the input value b classified into the class c1 at time t1) and the input value a is a predetermined distance D1. Therefore, the average value with the representative value of the class c1 is updated as a new representative value. Further, the value of the missing data count is reset to 0.

  Next, since the distance d between the input value a on the right side of the figure and the representative value of the class c1 is the predetermined distance D1 or more, it is not classified into the class c1 and the discovery phase process is subsequently performed. Here, since there is a class whose representative value is empty at time t2 and the distance between the input value a and the representative value of the class c1 is the predetermined distance D1 or more, the input value a is evaluated as shown in FIG. Data a '.

  Therefore, as indicated by the dashed line in FIG. 12, an input value (next here to t12) within a predetermined number of lines L1 and a predetermined distance D2 from the time t3 next to the time when the evaluation target data a ′ is acquired (next Line input value) a is acquired. In the example shown in FIG. 12, since the input values a existing within the predetermined number of lines L1 and within the predetermined distance D2 are 3 (<N), the evaluation target data a ′ is regarded as noise, and the evaluation target data a ′ shown in FIG. Deleted as shown.

  Since no new class has been set in the discovery phase process, the tracking phase process is subsequently performed on the overhead line position data at time t3 as shown in FIG. In the example shown in FIG. 14, two input values a exist at time t3.

  As shown in FIG. 15, the input value a on the left side of the figure is the average value of the representative value of the class c1 (the input value b classified into the class c1 at the time t1 and the input value b classified into the class c1 at the time t2. Since the distance d between the input value a and the representative value is smaller than the predetermined distance D1, the average value of the input value a and the representative value is updated as a new representative value, and the value of the missing data count is 0. Is reset to.

  Further, the input value a on the right side of the figure is not classified into the class c1 because the distance d from the representative value of the class c1 is the predetermined distance D1 or more, and subsequently the discovery phase process is performed. Here, since there is a class whose representative value is empty and the distance between the input value a and the representative value of the class c1 is a predetermined distance D1 or more, the input value a becomes the evaluation target data a ′ as shown in FIG. Become.

  Therefore, as indicated by the dashed line in FIG. 17, an input value (a predetermined number of lines L1 (here, up to t13)) and within a predetermined distance D2 from a time t4 next to the time t3 when the evaluation target data a ′ is acquired ( Next line input value) a is acquired. In the example shown in FIG. 17, since 10 (> N) input values a exist within the predetermined number of lines L1 and the predetermined distance D2, a new class c2 is added as shown in FIG. The data a ′ is classified into the new class c2, and the classified input value b becomes the representative value of the new class c2.

  Subsequently, the reverse tracking phase process is performed, but in the example shown in FIG. 18, since there is no input value classified into the new class c2 before the time t3, the tracking phase process for the overhead line position data at the time t4 is performed next.

  In this way, by repeating the tracking phase process, the discovery phase process, and the reverse tracking phase process, it is possible to finally remove noise and appropriately cluster the two overhead lines 2 as shown in FIG.

  According to the overhead line position measuring device and the overhead line position measuring method according to the present embodiment configured as described above, the displacement and height of the overhead line 2 obtained by a simple device using the uniaxial scanning range sensor 3 can be obtained. On the other hand, by providing a threshold value (predetermined number of lines L2) that allows a loss and determining that the same overhead line 2 is present if the loss is within the threshold value, the data has a loss. Even in such a case, the overhead line 2 can be accurately determined without determining that the overhead line 2 has ended.

  For example, depending on the parameter of the range sensor 3 and the state of the reflecting surface of the overhead line 2, the overhead line 2 cannot be measured by the range sensor 3, and the input value may be lost. Even in such a case, in the present embodiment, if the number of continuous defects is less than the predetermined line number L1, it can be tracked as shown in FIG. By determining that the step 2 is completed, it is possible to allow the loss and determine the same overhead line.

  Further, the distance d between the representative value and the input value of the existing class set corresponding to the overhead line 2 is obtained, and the distance d is within a predetermined distance D1 [mm] as a first predetermined distance set in advance. When a certain input value exists, the input value having the smallest distance d from the representative value of the existing class is classified into the existing class, so that even if there are a plurality of overhead lines 2, each overhead line 2 It becomes possible to manage the position data for each.

  In addition, the deviation and height of the overhead line obtained by a simple device using the uniaxial scanning type range sensor 3 is calculated from the input value at a certain time and the overhead line position data up to a time before that time. By using the distance d from the representative value of the class, it is possible to detect, as the overhead line 2, a portion such as the beginning of the overhead line 2 that is easily determined to be noise in the related art.

  In the above-described embodiment, the example in which the overhead line position measurement process is performed in the order of the tracking phase process, the discovery phase process, and the reverse tracking phase process is shown. However, for example, the discovery phase process, the reverse tracking phase process, and the tracking phase process are performed in this order. And so on. Further, the predetermined distances D1 and D2, the predetermined number of lines L1, L2 and L3, and the predetermined number N are not limited to the examples described above, and may be set as necessary.

  INDUSTRIAL APPLICABILITY The present invention can be applied to an overhead wire position measuring device and an overhead wire position measuring method for measuring the height and deviation from the roof of a vehicle to the overhead wire using a uniaxial scanning range sensor.

1 vehicle 2 overhead line 3 range sensor 4 arithmetic unit 4a overhead line position calculation unit 4b tracking phase processing unit 4c discovery phase processing unit 4d reverse tracking phase processing unit 4e memory 5 storage device A measurement range B detection range a unclassified input value a 'Evaluation target data b Input value classified into class c Missing c1, c2 class

Claims (14)

In an overhead line position measuring device comprising a uniaxial scanning range sensor and an arithmetic means for measuring an overhead line based on the data acquired by the range sensor,
The calculation means,
An overhead line position calculation unit that calculates the position of the measurement target as an input value based on the data acquired by the range sensor,
When the input value obtained from one line belongs to the existing class set corresponding to the overhead line, the input value is classified into the existing class, while the input value does not belong to the existing class. A tracking phase processing unit that counts the number of defects and determines that the catenary has ended when the defects continue for at least the first predetermined number of lines,
The tracking phase processing unit acquires an input value for a second predetermined number of lines from the line next to the line that has not acquired an input value that has not been classified into the existing class, and the existing value based on the acquired input value. When it is determined that an input value not classified into a class corresponds to an overhead line, a new class is set, and a discovery phase processing unit that makes the input value not classified into the existing class a representative value of the new class is included. An overhead line position measuring device characterized in that When the computing unit sets a new class in the discovery phase processing unit, the input value belonging to the new class is tracked in the direction opposite to the time axis with respect to the line before the line from which the representative value of the new class is acquired. The overhead line position measuring apparatus according to claim 1, further comprising an inverse tracking phase processing unit that classifies the input value into the new class when there is an input value belonging to the new class. The tracking phase processing unit obtains a distance between the representative value of the existing class and an input value obtained from the one line, and the distance between the representative value of the existing class is the smallest and Classify input values within a predetermined distance into the existing class,
When the number of the existing classes is less than a predetermined number of classes, the discovery phase processing unit inputs an input value acquired from a line of the second predetermined number of lines that is not classified into the existing class. If there is a predetermined number or more within a second predetermined distance from the value, a new class is set and the input value not classified into the existing class is set as the representative value of the new class,
The reverse tracking phase processing unit traces an input value for a third predetermined number of lines in a direction opposite to the line before the line from which the representative value of the new class is acquired, and the representative value of the new class. 3. The overhead line position measuring apparatus according to claim 2, wherein the input values having the smallest distance to and within the first predetermined distance are classified into the new class. When the tracking phase processing unit has an input value classified into the existing class, the average value of the input value and the representative value of the existing class is updated as a new representative value of the existing class. 4. The overhead line position measuring device according to claim 3, wherein the missing data count is reset, and when there is no input value belonging to the existing class, the representative value is not updated and 1 is added to the missing data count value. .. The overhead line position measuring apparatus according to claim 3 or 4, wherein the discovery phase processing unit deletes input values that do not belong to the existing class and the new class as noise. When the discovery phase processing unit has a plurality of input values corresponding to the new class by the discovery phase processing unit, the number of input values whose distance from the representative value is within the first predetermined distance is large in the line. The overhead line position measuring apparatus according to any one of claims 3 to 5, wherein a new class is assigned with priority to ones. 7. The inverse tracking phase processing unit obtains an input value belonging to the new class in a reverse direction on a time axis, excluding the input values already classified into the existing class. The overhead line position measuring device according to any one of items. In the overhead line position measuring method for measuring the overhead line based on the data acquired by the uniaxial scanning range sensor,
An overhead line position calculating step of calculating the position of the measurement object as an input value based on the data acquired by the range sensor,
When the input value obtained from one line belongs to the existing class set corresponding to the overhead line, the input value is classified into the existing class, while the input value does not belong to the existing class. A tracking phase processing step of counting the number of defects and determining that the overhead line has ended when the defects continue for a first predetermined number of lines or more,
The input value for the second predetermined number of lines is acquired from the line next to the line for which the input value not classified in the existing class is acquired in the tracking phase processing step, and the existing value is acquired based on the acquired input value. When it is determined that an input value that is not classified into a class corresponds to an overhead line, a new class is set, and a discovery phase processing step that sets the input value that is not classified into the existing class as a representative value of the new class is included. An overhead line position measuring method characterized by the above. When a new class is set in the discovery phase processing step, the input values belonging to the new class are tracked in the direction opposite to the line before the line from which the representative value of the new class is acquired and the new class. 9. The overhead line position measuring method according to claim 8, further comprising a reverse tracking phase processing step of classifying the input value into the new class when there is an input value belonging to. The tracking phase processing step obtains a distance between the representative value of the existing class and an input value obtained from the one line, and the distance between the representative value of the existing class is the smallest and Classify input values within a predetermined distance into the existing class,
In the discovery phase processing step, when the number of the existing classes is less than a predetermined number of classes, the input value acquired from the second predetermined number of lines is an input that is not classified into the existing class. If there is a predetermined number or more within a second predetermined distance from the value, a new class is set and the input value not classified into the existing class is set as the representative value of the new class,
The reverse tracking phase processing step traces an input value for a third predetermined number of lines in the direction opposite to the line before the line from which the representative value of the new class is acquired, and the representative value of the new class. 10. The overhead line position measuring method according to claim 9, wherein the input values having the smallest distance to and within the first predetermined distance are classified into the new class. In the tracking phase processing step, when there is an input value classified into the existing class, the average value of the input value and the representative value of the existing class is updated as a new representative value of the existing class. 11. The overhead line position measuring method according to claim 10, wherein while resetting the missing data count, when there is no input value belonging to the existing class, the representative value is not updated and 1 is added to the missing data count value. .. The overhead line position measuring method according to claim 10 or 11, wherein the discovery phase processing step deletes input values that do not belong to the existing class and the new class as noise. In the discovery phase processing step, when there are a plurality of input values corresponding to the new class by the discovery phase processing step, the number of input values whose distance from the representative value is within the first predetermined distance is large in the line. The overhead line position measuring method according to any one of claims 10 to 12, wherein a new class is assigned with priority to ones. 14. The inverse tracking phase processing step obtains an input value belonging to the new class in a backward direction on a time axis, excluding the input values already classified into the existing class. The overhead wire position measuring method according to any one of items.

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