WO2018051738A1 - 碍子検出装置及び碍子検出方法 - Google Patents

碍子検出装置及び碍子検出方法 Download PDF

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Publication number
WO2018051738A1
WO2018051738A1 PCT/JP2017/029852 JP2017029852W WO2018051738A1 WO 2018051738 A1 WO2018051738 A1 WO 2018051738A1 JP 2017029852 W JP2017029852 W JP 2017029852W WO 2018051738 A1 WO2018051738 A1 WO 2018051738A1
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WO
WIPO (PCT)
Prior art keywords
insulator
data
data points
detecting
overhead line
Prior art date
Application number
PCT/JP2017/029852
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English (en)
French (fr)
Japanese (ja)
Inventor
亀山　悟
勇介 渡部
Original Assignee
株式会社 明電舎
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社 明電舎 filed Critical 株式会社 明電舎
Priority to CN201780055804.3A priority Critical patent/CN109716057A/zh
Publication of WO2018051738A1 publication Critical patent/WO2018051738A1/ja

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B60M1/28—Manufacturing or repairing trolley lines

Definitions

  • the present invention relates to an insulator detecting device and an insulator detecting method.
  • the electric railway facilities mainly include overhead lines (hereinafter referred to as trolley lines) and tracks (hereinafter referred to as rails). Each of these is an important maintenance facility for operating the railway.
  • the trolley line comes into contact with the current collector every time the electric railway vehicle passes while operating the electric railway vehicle. For this reason, the trolley wire gradually wears out, and if it is not replaced, it may eventually break and cause an accident. In addition, the rails are bent, distorted, scratched, worn, etc. due to train operation, and if these progresses are left unattended, there is a risk of causing an accident such as derailment of an electric railway vehicle.
  • the position of the vehicle can be grasped by detecting the position of the support installed on the ground.
  • the detection of the support is very important.
  • the shape of the support differs between the tunnel section and the light section, and an insulator is provided between the support and the overhead line in the tunnel section. That is, in the tunnel section, the support can be detected indirectly by detecting the insulator.
  • a laser light source and a video camera are installed on the top of the roof of the inspection vehicle, and a light beam from the laser light source is generated with a width that covers the trolley wire, rigid trolley wire, and insulator.
  • a trolley wire measuring device that measures a trolley wire by a range sensor installed on the roof of a vehicle and calculates the height, displacement, etc. of the trolley wire by an arithmetic device based on the obtained measurement result Is also known (see, for example, Patent Document 2 below).
  • the conventional insulator detection device has a problem that it requires a cost such as a laser light source, a high-sensitivity camera, and a calculation device.
  • an object of the present invention is to provide an insulator detecting apparatus and an insulator detecting method capable of detecting an insulator while suppressing cost with a simple configuration.
  • An insulator detecting apparatus for solving the above-mentioned problems is as follows.
  • a uniaxial scanning range sensor that is installed on the roof of the vehicle and acquires data of distance and angle to at least the overhead line;
  • An arithmetic unit having an overhead line position calculating unit that detects the height and displacement of the overhead line based on data acquired by the range sensor;
  • the arithmetic device includes an insulator detecting unit that obtains the number of data points from the data acquired by the range sensor and detects an insulator based on the obtained data points.
  • An insulator detecting apparatus is The insulator detector is An overhead wire surrounding data point measurement unit that determines an insulator detection region that is an area for detecting the insulator based on the position data of the overhead line calculated by the overhead line position calculation unit, and obtains the number of data points in the insulator detection region; And an insulator determination processing unit that determines presence or absence of insulators based on the number of data points.
  • An insulator detecting apparatus is The insulator determination processing unit determines that there is an insulator when the data score is larger than a predetermined value determined based on a median value and a standard deviation of the number of data points in the insulator detection region for a predetermined line. To do.
  • An insulator detecting method is Acquire data of distance and angle to the structure above the vehicle acquired by a range sensor installed on the roof of the vehicle, Obtain the data score from the data, An insulator is detected based on the obtained data points.
  • An insulator detecting method is Determining an insulator detection area that is an area for detecting the insulator based on the data; Obtain the data score from within the insulator detection area, The presence or absence of insulators is determined based on the number of data points.
  • An insulator detecting method is It is determined that there is an insulator when the number of data points is larger than a predetermined value determined based on a median value and a standard deviation of the number of data points in the insulator detection area for a predetermined line.
  • the insulator can be detected while suppressing the cost with a simple configuration.
  • FIG. 2 shows an example of an insulator.
  • 5 is a support
  • 6 is a lever
  • 7 is a support saddle
  • 8 is a rigid overhead wire.
  • the range sensor 2 measures the distance to the measurement object by projecting a laser beam in a radial pattern around an axis parallel to the traveling direction of the vehicle 1 and receiving the reflected light.
  • the range sensor 2 scans the measurement range A (scan angle 270 °) shown in FIGS. 1A and 1B in 1080 steps, and the angular resolution ⁇ is 0.25 °.
  • Calculation unit 3 calculates the height D H and offset D B, etc. of the trolley wire 4 based on the measurement result by the range sensor 2. As illustrated in FIG. 3, the arithmetic device 3 includes an overhead line position calculation unit 3 a, an overhead line surrounding data point measurement unit 3 b, an insulator determination processing unit 3 c, and a memory 3 d.
  • the overhead line position calculation unit 3a acquires data (angle and distance; hereinafter referred to as range sensor data) obtained by scanning the measurement range A with the range sensor 2, and based on the range sensor data, the overhead line position ( Height D H and displacement D B ).
  • range sensor data data obtained by scanning the measurement range A with the range sensor 2
  • the overhead line position ( Height D H and displacement D B ).
  • reference numeral B shown in FIG. 1A and FIG. 1B indicates an overhead line detection region that is set in the measurement range A based on the deviation in the height direction and the horizontal direction of the trolley wire 4 when calculating the overhead line position. It is.
  • the overhead line position is measured using a known method (for example, see paragraphs 0032 to 0056 of Patent Document 2 above), and detailed description thereof is omitted here.
  • the overhead wire surrounding data point measurement unit 3b determines the insulator detection region C (see FIG. 2) by designating the height and deviation range with reference to the overhead wire position obtained by the overhead wire position calculation unit 3a, and the overhead wire position data From this, the number of laser data in the insulator detection area C (hereinafter referred to as the number of data points) is measured, and the number of data points of the lump including the rigid body wire 8 as shown in FIGS. 5 and 7 is obtained. This process is performed collectively for scan data for a predetermined line (for example, several thousand lines).
  • the insulator detection region C has a relative origin (x 0 , y 0 ) with the position of the trolley wire 4 being (0, 0), for example, depending on the position and shape of the rigid overhead wire 8 and the distance to the ceiling. It is determined by specifying and setting the width W and height H.
  • X 0 and width W are set so that at least the insulator 6 is included in the range of the displacement direction of the insulator detection region C, and y 0 and height H are the trolley lines in the vertical direction of the insulator detection region C. It is set to be a range from a position lower than 4 to a position higher than the insulator 6 and lower than the ceiling.
  • the insulator determination processing unit 3c detects the insulator 6 based on the data points obtained by the overhead wire surrounding data point measuring unit 3b. That is, the number of data points in the lever detection area C is as shown in FIG. 4 and FIG. 5 with respect to the number of data points obtained around the trolley wire 4 when only the rigid body wire 8 is present (when the lever 6 is not present). 6 and FIG. 7, when the insulator 6 is present, the number of data points obtained around the trolley line 4 tends to increase.
  • the insulator determination processing unit 3c uses this tendency to detect the insulator 6. Specifically, the median value m and the standard deviation s of the number of data points in the insulator detection area C for a predetermined line are obtained.
  • the line to be determined is the i-th line and the number of data points of the i-th line is Di
  • the i-th line has the insulator 6.
  • the decision coefficient is a coefficient used for the insulator determination.
  • L in FIG.4 and FIG.6 has shown the line.
  • the memory 3d stores various data.
  • step S1 the distance data acquired by the range sensor 2 is collected (step S1), and the distance data collected by the overhead line position calculation unit 3a is collected. Based on this, the position of the trolley wire 4 is calculated (step S2). Subsequently, the number of data points around the trolley wire 4 is measured by the overhead wire surrounding data point measuring unit 3b based on the position of the trolley wire 4 calculated by the overhead line position calculating unit 3a (step S3), An insulator 6 is detected by the insulator determination processing unit 3c based on the number of data points (step S4).
  • the deviation and height of the trolley wire 4 obtained by a simple device using the uniaxial scanning type range sensor 2. Based on the above, the number of data points around the trolley line 4 is measured, and when the value is larger than the number of data points of other lines, it is determined that the insulator 6 is present on the line. It is possible to detect and indirectly detect the support 5.
  • the lever detecting apparatus and the lever detecting method according to the present embodiment have an advantage that the lever 6 can be detected while suppressing the cost with a simple configuration of one scanning laser (the range sensor 2). There is. Furthermore, there is an advantage that the height of the trolley wire 4 can be measured by the range sensor 2 used for detecting the insulator 6.
  • the present invention can be applied to an insulator detecting device and an insulator detecting method.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Insulators (AREA)
  • Electric Cable Installation (AREA)
PCT/JP2017/029852 2016-09-13 2017-08-22 碍子検出装置及び碍子検出方法 WO2018051738A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201780055804.3A CN109716057A (zh) 2016-09-13 2017-08-22 绝缘子检测装置和绝缘子检测方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016-178543 2016-09-13
JP2016178543A JP6311757B2 (ja) 2016-09-13 2016-09-13 碍子検出装置及び碍子検出方法

Publications (1)

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WO2018051738A1 true WO2018051738A1 (ja) 2018-03-22

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JP (1) JP6311757B2 (zh)
CN (1) CN109716057A (zh)
MY (1) MY178813A (zh)
TW (1) TWI641515B (zh)
WO (1) WO2018051738A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
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CN110852986A (zh) * 2019-09-24 2020-02-28 广东电网有限责任公司清远供电局 双串绝缘子自爆的检测方法、装置、设备及存储介质

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JP7481998B2 (ja) 2020-10-30 2024-05-13 株式会社日立プラントコンストラクション 無人走行台車用の電車線摩耗測定装置、電車線摩耗測定用無人走行台車、電車線摩耗測定用無人走行台車の操作プログラム
CN116907412B (zh) * 2023-09-12 2023-11-17 农业农村部南京农业机械化研究所 农机的行距偏差检测方法、装置及系统

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JP2001021321A (ja) * 1999-07-12 2001-01-26 East Japan Railway Co トロリ線支持碍子の高さ測定装置
JP2007076516A (ja) * 2005-09-14 2007-03-29 Universal Kiki Kk 鉄道設備用検測車
JP2010230527A (ja) * 2009-03-27 2010-10-14 Kawasaki Heavy Ind Ltd 鉄道レール締結緩み検査装置及び方法
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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TW201811588A (zh) 2018-04-01
CN109716057A (zh) 2019-05-03
JP6311757B2 (ja) 2018-04-18
TWI641515B (zh) 2018-11-21
JP2018044816A (ja) 2018-03-22
MY178813A (en) 2020-10-20

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