TW201811588A - Insulator detection device and insulator detection method - Google Patents

Abstract

To provide an insulator detection device and insulator detection method capable of detecting an insulator using a simple configuration while suppressing cost, an insulator detection device is provided with a uniaxial-scanning-type range measurement sensor (2) that is disposed on the roof of a vehicle and is for acquiring at least the distance and angle to an overhead line and a calculation device (3) that has an overhead line position calculation unit (3a) for detecting the height and deviation of a trolley wire (4) on the basis of the data acquired by the range measurement sensor (2). The calculation device (3) is provided with an overhead line periphery data point measurement unit (3b) and insulator determination processing unit (3c) for detecting an insulator on the basis of the number of data points in the data acquired by the range measurement sensor (2).

Description

Obstacle detection device and method

The present invention relates to a hindrance detection device and a hindrance detection method.

As equipment for electrified railways, overhead lines (hereinafter referred to as overhead lines) and rails (hereinafter referred to as guide rails) are mainly listed. These have become important maintenance equipment during railway operation. In the use of electrified railway vehicles, overhead lines will contact the current collecting device whenever the electrified railway vehicle passes. As a result, the overhead line gradually wears out, and there is a risk of accidental failure when it is eventually replaced. In addition, the guide rails are bent, deformed, damaged, and worn due to the operation of the electric train. If these developments are left unattended, there may be accidents such as derailment of the electrified railway vehicles. Therefore, in order to quickly grasp the parts needing attention due to the wear of overhead lines or guide rails, etc., and the positions of the parts needing attention of overhead lines or guide rails (for example, there is a need to travel a few kilometers from a certain location) Information such as parts to pay attention to is important from the aspect of maintenance management. In the case of maintenance of equipment such as overhead lines or guide rails, use maintenance-dedicated vehicles or land-based vehicles, etc., and if the result of the test is to detect a situation requiring attention, the position of the vehicle must be estimated from the information obtained Pay attention to the location of the part. Here, the position of the vehicle can be grasped by detecting the position of the support set on the ground. In this case, the detection of the support becomes very important. The shape of the support is different in the tunnel section and the bright section. In the tunnel section, an obstacle for insulation is provided between the support and the overhead line. That is, in a tunnel section, a support can be detected indirectly by detecting an obstacle. Previously, as a technique for detecting obstacles, there is known a detection device for rigid body wire to support obstacles, which is provided with a laser light source and a video camera on the upper part of the roof of the test vehicle. Covering the width of the overhead line, rigid body overhead line, and obstacles generates a slit image obtained by a light beam from a laser light source, and performs image processing to detect the obstacles (for example, see Patent Document 1 below). On the other hand, an overhead line detection device is also known which measures an overhead line by a range sensor provided on the roof of a vehicle, and calculates the height of the overhead line by a computing device based on the obtained measurement results. Or deviation (see, for example, Patent Document 2 below). [Prior Art Literature] [Patent Literature] [Patent Literature 1]] Japanese Patent Laid-Open No. 2005-147879 [Patent Literature 2]] Japanese Patent Laid-Open No. 2010-243416

[Problems to be Solved by the Invention] Here, the conventional obstacle detection device has a problem that requires a laser light source, a high-sensitivity camera, and a computing device, which are costly. Therefore, an object of the present invention is to provide a hindrance detection device and a hindrance detection method capable of suppressing a cost with a simple structure and performing a hindrance detection. [Technical means for solving the problem] The obstacle detection device of the first invention for solving the above-mentioned problems is characterized by having: an axis-scanning type field detection sensor which is arranged on the roof of the vehicle and obtains at least the distance to the overhead line and Angle data; and a computing device having a wire position calculation unit that detects the height and deflection of the wire based on the data obtained by the range sensor; and the arithmetic device includes an obstacle detection unit, The obstacle detection unit obtains the number of pieces of data from the data obtained by the measurement area sensor, and detects the obstacles based on the obtained number of pieces of data. In addition, the obstacle detection device of the second invention is characterized in that the above-mentioned obstacle detection section includes: a wire-peripheral data piece number measuring section which decides to perform obstacle detection based on the position data of the wire calculated by the wire-position calculating section. The area of the obstacle is the obstacle detection area, and the number of the above-mentioned data pieces in the obstacle detection area is obtained; and the obstacle determination processing unit determines whether there is an obstacle based on the number of the above-mentioned data pieces. In addition, the obstacle detection device of the third invention is characterized in that the above-mentioned obstacle determination processing unit is determined when the number of data pieces is larger than a central value and a standard deviation based on the number of data pieces in the obstacle detection area of a specific line. If it is a certain value, it is judged as an obstacle. In addition, the obstacle detection method of the fourth invention is characterized in that it acquires data on the distance and angle between the sensor and the structure located above the vehicle, which is obtained by a field sensor installed on the roof of the vehicle. Obtain the number of data pieces, and detect obstacles based on the number of obtained data pieces. Furthermore, the obstacle detection method of the fifth invention is characterized in that an area where the detection of the obstacle is performed based on the above-mentioned data is determined as the obstacle detection area, and the number of the above-mentioned data pieces is obtained from the detection area of the obstacle, based on the above-mentioned data piece Check whether there are obstacles. In addition, the obstacle detection method of the sixth invention is characterized in that when the number of data pieces is larger than a specific value determined based on a central value and a standard deviation of the number of data pieces in the obstacle detection area of a specific line, the determination is made as Obstructive. [Effects of the Invention] According to the obstacle detection device and the obstacle detection method of the present invention, the cost can be suppressed with a simple structure and the obstacle detection can be performed.

Hereinafter, the obstacle detection device and the obstacle detection method of the present invention will be described with reference to the drawings. In this specification, terms are defined as follows. "Offset" = railway term, which is the distance from the position where the pantograph is in contact with the overhead line to the center of the pantograph. "Line" = The measurement surface obtained when the measurement area sensor is scanned relative to the sleeper. For example, when the range sensor measures at 25 Hz, the number of lines obtained in one second is 25 lines. [Embodiment] Hereinafter, the details of the obstacle detection device and the obstacle detection method according to the embodiment of the present invention will be described with reference to FIGS. 1A to 8. As shown in FIGS. 1A and 1B, the obstacle detection device of this embodiment is configured to include: a field detection sensor 2 that can be installed on the roof of the vehicle 1 to measure the overhead line 4; and a computing device 3 that is provided. Inside vehicle 1. An example of an obstacle is shown in FIG. 2. In Fig. 2, 5 is a support, 6 is an obstacle, 7 is a saddle, and 8 is a rigid body wire. The measurement area sensor 2 measures the distance to the measurement object by projecting laser light radially about an axis parallel to the traveling direction of the vehicle 1 and receiving the reflected light. In this embodiment, the measurement range sensor 2 scans the measurement range (scanning angle 270 °) shown in FIG. 1A and FIG. 1B at 1080 steps, thereby the angular resolution ω becomes 0.25 °. The computing device 3 calculates the height D _H or the offset D _{B of the} overhead line 4 based on the measurement result of the measurement area sensor 2. As shown in FIG. 3, the computing device 3 includes a wire position calculation unit 3 a, a wire-peripheral data number measurement unit 3 b, an obstacle determination processing unit 3 c, and a memory 3 d. The line position calculation unit 3a obtains data (angle and distance. The area sensor data is hereinafter referred to) obtained by scanning the measurement range A by the range sensor 2, and calculates the line based on the range sensor data. Position (height D _H and offset D _B, etc.). Here, the symbol B shown in FIG. 1A and FIG. 1B is an overhead line detection area set based on the deviation of the height direction and the horizontal direction of the overhead line 4 in the measurement range A when calculating the overhead line position. In addition, the measurement of the line position is performed by a known method (for example, the parameters of paragraphs 0032 to 0056 of the above-mentioned Patent Document 2), and detailed descriptions thereof are omitted here. The measurement unit 3b for the number of data around the line is based on the line position obtained by the line position calculation unit 3a, and specifies the range of height and deflection to determine the detection area C of the obstacle (see FIG. 2). The number of laser data in the obstacle detection area C (hereinafter referred to as the number of data pieces) is to obtain the number of data pieces of the block contained between the rigid body wire 8 as shown in FIG. 5 and FIG. 7. This processing is performed on the scan data of a specific line (for example, thousands of lines) together. Moreover, the obstacle detection area C is based on the position or shape of the rigid body line 8 and the distance to the top. For example, by setting the position of the overhead line 4 to (0,0), the origin (x ₀ , y) is specified relatively. ₀ ), and determined by setting the width W and the height H. In addition, x ₀ and width W are set so that at least the hinder 6 is included in the range of the offset direction of the obstacle detection area C, and y ₀ and height H are set in the range of the up and down direction of the obstacle detection area C as The range is set from the position lower than the overhead line 4 to the position higher than the obstacle 6 and lower than the top. The obstacle determination processing unit 3c detects the obstacle 6 based on the number of data pieces obtained by the number of data pieces measurement unit 3c around the line. That is, the number of data pieces in the obstacle detection area C tends to be around the overhead line 4 compared with the case where only the rigid body wire 8 is present as shown in FIGS. 4 and 5 (the case where there is no obstacle 6). The number of data pieces obtained, and when there are obstacles 6 as shown in FIG. 6 and FIG. 7, the number of data pieces obtained around the overhead line 4 is large. The obstacle determination processing unit 3c detects the obstacle 6 using this tendency. Specifically, the median value m and the standard deviation s of the number of data pieces located in the obstacle detection area C of a specific line are obtained. If the line to be determined is the i-th line and the number of data pieces of the i-th line is Di, then when the following formula (1) is satisfied, it is determined that there is an obstacle 6 on the i-th line. Di> m + (decision coefficient) ﹡ s (1) Here, the decision coefficient is a coefficient used in the judgment of an obstacle. Note that L in FIGS. 4 and 6 represents a line. Memory 3d stores various data. Next, the processing of the obstacle detection device of this embodiment will be briefly described using FIG. 8. As shown in FIG. 8, when detecting the obstacle 6 in this embodiment, first, collect the distance data obtained by the range sensor 2 (step S1), based on the distance data collected by the line position calculation unit 3 a. Then, the position of the overhead line 4 is calculated (step S2). Then, based on the position of the overhead line 4 calculated by the overhead position calculation unit 3a, the number of data pieces around the overhead line measurement unit 3b measures the number of data pieces around the overhead line 4 (step S3), and based on the measured specific line According to the number of data, the obstacle 6 is detected by the obstacle determination processing unit 3c (step S4). According to the obstructor detection device and the obstructor detection method of the present embodiment thus constituted, the overhead line 4 is measured based on the deflection and height of the overhead line 4 obtained by a simple device using the one-axis scanning type area sensor 2. When the number of surrounding pieces of data is greater than the number of pieces of data of other lines, it is determined that there is an obstacle 6 on the line, thereby detecting the obstacle 6 and thus the support 5 can be detected indirectly. Here, the conventional method is a method using a so-called light-cutting method, that is, the laser slit light is irradiated, and the shape of the interfering part reflected by the laser light is measured using a camera. However, in this method, two cameras and a laser are required, which are costly and complicated. In contrast, the hinder detection device and the hinder detection method of this embodiment have the advantages of being able to suppress the cost and perform the detection of the hinder 6 with a simple configuration of a scanning laser (field detection sensor 2). . Furthermore, it also has the advantage of being able to measure the height of the overhead line 4 by the measurement area sensor 2 used in the detection of the son 6. [Industrial Applicability] The present invention can be applied to an obstacle detection device and an obstacle detection method.

1‧‧‧ vehicle

2‧‧‧ measuring field sensor

3‧‧‧ Computing Device

3a‧‧‧Wire position calculation unit

3b‧‧‧Measurement Department

3c‧‧‧Impact judgment processing unit

3d‧‧‧Memory

4‧‧‧ overhead line

5‧‧‧ support

6‧‧‧ hinder

7‧‧‧ Support saddle

8‧‧‧ rigid body wire

A‧‧‧Measurement range

B‧‧‧ Detection range

C‧‧‧ Obstacle detection area

D _B ‧‧‧ Deviation of overhead line

D _H ‧‧‧ height of overhead line

H‧‧‧ Height of obstacle detection area

L‧‧‧ line

Steps S1 ～ S4‧‧‧‧

W‧‧‧ Width of obstacle detection area

FIG. 1A is a front view schematically showing an application example of an obstacle detection device according to an embodiment of the present invention. FIG. 1B is a side view schematically showing an application example of the obstacle detection device according to the embodiment of the present invention. Fig. 2 is a perspective view showing an example of an obstacle. Fig. 3 is a block diagram showing the structure of an obstacle detection device according to the first embodiment of the present invention. FIG. 4 is an explanatory diagram showing an example of rigid body wire viewed from directly below. FIG. 5 is an explanatory diagram showing an example of detection of an obstacle shown in FIG. 4. FIG. FIG. 6 is an explanatory diagram showing a part where an obstructor exists when viewed from directly below. FIG. 7 is an explanatory diagram showing an example of detection of an obstacle shown in FIG. 6. FIG. 8 is a flowchart showing a flow of an obstacle detection process according to the first embodiment of the present invention.

Claims (6)

An obstacle detection device, comprising: an axis-scanning type area sensor, which is arranged on the roof of a vehicle and obtains at least distance and angle data of an overhead line; and a computing device having an overhead line position calculation unit The above-mentioned line position calculation unit detects the height and deviation of the line based on the data obtained by the above-mentioned range sensor; and the computing device includes an obstacle detection unit, and the above-mentioned obstacle detection unit obtains from the above-mentioned area sensor. Obtain the number of data from the data, and detect obstacles based on the number of the obtained data. For example, the obstacle detection device according to claim 1, wherein the above-mentioned obstacle detection section includes: a line-peripheral data piece number measurement section that determines an area where the detection of the obstacle is performed based on the position data of the line calculated by the line-position calculating section; Obstacle detection area, to obtain the number of the above-mentioned data in the obstacle detection area; and the obstacle determination processing section, which determines the presence or absence of an obstacle based on the above-mentioned number of data pieces. For example, if the obstacle detection device of item 2 is requested, the above-mentioned obstacle judgment processing section is performed when the number of data pieces is greater than a specific value determined based on the central value and standard deviation of the number of data pieces in the obstacle detection area of the specific line , Determined to be a hindrance. A method for detecting obstacles, which is characterized by obtaining data on the distance and angle of a structure located above the vehicle, obtained by a field sensor provided on the roof of the vehicle, and obtaining the number of data from the above data. And the obstacle is detected based on the number of the obtained information. For example, the obstacle detection method of claim 4, wherein the area where the detection of the obstacle is performed based on the above-mentioned data is the obstacle detection area, and the number of the above-mentioned data pieces is obtained from the detection area of the obstacle, and based on the above-mentioned data number, Determine whether there is an obstacle. If the obstacle detection method of item 5 is requested, when the number of the above-mentioned data pieces is greater than a specific value determined based on the central value and the standard deviation of the number of data pieces in the above-mentioned obstacle detection area of a specific line, it is determined as an obstacle .