JP6311757B2 - Insulator detecting device and insulator detecting method - Google Patents

Description

  The present invention relates to an insulator detecting device and an insulator detecting method.

  As electric railway facilities, there are mainly 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 contacts 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.

  Because of this, in order to quickly grasp the point of caution due to wear on the trolley wire or rail, and to respond to this, the position of the point of caution on the trolley wire or rail (for example, how many kilometers you traveled from a certain point) It is an important matter from the viewpoint of maintenance and management to specify information such as the location that requires attention at the location.

  When performing maintenance on equipment such as trolley wires and rails, maintenance vehicles and track-and-rail vehicles are used, and if a point of caution is detected as a result of inspection, the position of the vehicle when the data was acquired The position of a point requiring attention is estimated from the above.

  Here, the position of the vehicle can be grasped by detecting the position of the support installed on the ground. In this case, 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.

  Conventionally, as a technique for detecting an 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. 2. Description of the Related Art A rigid body support insulator detecting device that detects an insulator by capturing an obtained slit image with a video camera and performing image processing is known (for example, see Patent Document 1 below).

  On the other hand, 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).

JP 2005-147879 A JP 2010-243416 A

  Here, the conventional insulator detection device has a problem that it requires a high cost because a laser light source, a high-sensitivity camera, and a calculation device are required.

  Therefore, an object of the present invention is to provide an insulator detection apparatus and an insulator detection method capable of detecting an insulator while suppressing cost with a simple configuration.

An insulator detecting apparatus according to a first invention for solving the above-mentioned problems is as follows.
A single range sensor of uniaxial scanning is installed to obtain data of the distance and angle of up to at least the overhead line on the roof of the vehicle,
An arithmetic unit having an overhead line position calculation unit for detecting the height and deviation of the overhead line based on the data acquired by the range sensor;
The range sensor projects a laser beam radially around an axis parallel to the traveling direction of the vehicle, and measures the distance to the measurement object by receiving the reflected light.
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 according to the second invention is
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 calculation unit for detecting the height and deviation of the overhead line based on the data acquired by the range sensor;
With
The arithmetic device has a lever detection unit that calculates a data score from data acquired by the range sensor and detects a lever based on the obtained data score;
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 according to the third invention 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 according to the fourth invention is
The distance and angle to the structure above the vehicle acquired by a single range sensor installed on the roof of the vehicle and projecting laser light radially around an axis parallel to the traveling direction of the vehicle Get the data,
Obtain the data score from the data,
An insulator is detected based on the obtained data points.

An insulator detecting method according to the fifth invention is
Calculate the position data of the overhead line based on the data,
Determining an insulator detection area, which is an area for detecting an insulator based on the position 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 according to the sixth invention 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 detecting method for detecting an insulator based on the obtained data score,
Calculate the position data of the overhead line based on the data,
Determining an insulator detection area that is an area for detecting the insulator based on the position data and obtaining the data score from within the insulator detection area;
By determining that there is an insulator when the data score is larger than a predetermined value determined based on the median value and standard deviation of the data points in the insulator detection area for a predetermined line, the insulator is determined based on the data score. It is characterized by determining the presence or absence of .

  According to the lever detecting apparatus and the lever detecting method according to the present invention, the lever can be detected while suppressing the cost with a simple configuration.

FIG. 1A is a front view schematically showing an application example of an insulator detection apparatus according to an embodiment of the present invention, and FIG. 1B is an application example of an insulator detection apparatus according to an embodiment of the present invention. FIG. It is a perspective view which shows an example of a lever. It is a block diagram which shows the structure of the insulator detection apparatus which concerns on Example 1 of this invention. It is explanatory drawing which shows the example which looked at the rigid body overhead wire from right under. It is explanatory drawing which shows the example of a detection of the insulator shown in FIG. It is explanatory drawing which shows the example which looked at the location where a insulator exists from right below. It is explanatory drawing which shows the example of a detection of the insulator shown in FIG. It is a flowchart which shows the flow of the insulator detection process which concerns on Example 1 of this invention.

Hereinafter, an insulator detection apparatus and an insulator detection method according to the present invention will be described with reference to the drawings.
In this specification, terms are defined as follows.
"Deviation" = railway terminology, the distance from the center of the pantograph where the pantograph contacts the trolley line.
“Line” = Measurement surface obtained by scanning the sleeper direction with a range sensor. For example, when the range sensor measures at 25 Hz, the number of lines obtained per second is 25 lines.

  Hereinafter, details of the insulator detecting apparatus and the insulator detecting method according to the embodiment of the present invention will be described with reference to FIGS.

As shown in FIG. 1, the insulator detection device according to the present embodiment includes a range sensor 2 installed on a roof of a vehicle 1 so that a trolley wire 4 can be measured, and an arithmetic device 3 installed inside the vehicle 1. And is configured.
FIG. 2 shows an example of an insulator. In FIG. 2, 5 is a support, 6 is a lever, 7 is a support saddle, and 8 is a rigid overhead wire.

  The range sensor 2 measures the distance to the measurement object by projecting laser light in a radial pattern around an axis parallel to the traveling direction of the vehicle 1 and receiving the reflected light. In the present embodiment, the range sensor 2 scans the measurement range A (scan angle 270 °) shown in FIG. 1 in 1080 steps, and thereby the angular resolution ω 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 / distance; hereinafter referred to as range sensor data) obtained by scanning the measurement range A shown in FIG. 1 by the range sensor 2, and based on the range sensor data. The overhead line position is calculated. Here, a symbol B shown in FIG. 1 is an overhead line detection region 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. 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).
Note that 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. Assuming that the line to be determined is the i-th line and the number of data points of the i-th line is Di, when the following expression (1) is satisfied, it is determined that the i-th line has the insulator 6.
Di> m + (decision coefficient) × s (1)
Here, the decision coefficient is a coefficient used for the insulator determination.
Moreover, L in FIG.4 and FIG.6 has shown the line.

  The memory 3d stores various data.

Next, processing by the insulator detection apparatus according to the present embodiment will be briefly described with reference to FIG.
As shown in FIG. 8, when detecting the insulator 6 in this embodiment, first, 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).

  According to the lever detection device and the lever detection method according to the present embodiment configured as described above, the displacement 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.

  Here, in the conventional method, the concept of a so-called optical cutting method is used, in which laser slit light is irradiated and the shape of the insulator portion projected by the laser light is measured using a camera. However, this method requires a configuration of two cameras and a laser, and there is a problem that the cost is high and the apparatus configuration is complicated.

  On the other hand, 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 apparatus and an insulator detecting method.

DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Range sensor, 3 ... Arithmetic unit, 3a ... Overhead wire position calculation part, 3b ... Overhead wire surrounding data point measurement part, 3c ... Insulator determination processing part, 3d ... Memory, 4 ... Trolley line, 5 ... Support things, 6 ... insulator, 7 ... supporting saddle, 8 ... rigid overhead wire, a ... measurement range, B ... detection range, C ... insulator detection area, D _B ... excursions of the trolley wire, D _H ... contact wire height, L: Line, H: Height of the insulator detection area, W: Width of the insulator detection area

Claims (6)

A single range sensor of uniaxial scanning is installed to obtain data of the distance and angle of up to at least the overhead line on the roof of the vehicle,
An arithmetic unit having an overhead line position calculation unit for detecting the height and deviation of the overhead line based on the data acquired by the range sensor;
The range sensor projects a laser beam radially around an axis parallel to the traveling direction of the vehicle, and measures the distance to the measurement object by receiving the reflected light.
An insulator detection device comprising: an insulator detection unit that obtains the number of data points from data acquired by the range sensor and detects an insulator based on the obtained data points. 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 calculation unit for detecting the height and deviation of the overhead line based on the data acquired by the range sensor;
With
The arithmetic device has a lever detection unit that calculates a data score from data acquired by the range sensor and detects a lever based on the obtained data score;
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;
碍 operation detection device you; and a determining insulator determination processing unit whether a insulator on the basis of the data points. 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. The insulator detection device according to claim 2. The distance and angle to the structure above the vehicle acquired by a single range sensor installed on the roof of the vehicle and projecting laser light radially around an axis parallel to the traveling direction of the vehicle Get the data,
Obtain the data score from the data,
An insulator detection method, wherein an insulator is detected based on the obtained data score. Calculate the position data of the overhead line based on the data,
Determining an insulator detection area, which is an area for detecting an insulator based on the position data;
Obtain the data score from within the insulator detection area,
5. The method for detecting an insulator according to claim 4, wherein presence or absence of an insulator is determined based on the number of data points. 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 detecting method for detecting an insulator based on the obtained data score,
Calculate the position data of the overhead line based on the data,
Determining an insulator detection area that is an area for detecting the insulator based on the position data and obtaining the data score from within the insulator detection area;
By determining that there is an insulator when the data score is larger than a predetermined value determined based on the median value and standard deviation of the data points in the insulator detection area for a predetermined line, the insulator is determined based on the data score. 碍 operation detection how to wherein the <br/> the presence or absence of determining.

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