JP4685494B2 - Trolley wire position measuring device - Google Patents

Trolley wire position measuring device Download PDF

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JP4685494B2
JP4685494B2 JP2005108424A JP2005108424A JP4685494B2 JP 4685494 B2 JP4685494 B2 JP 4685494B2 JP 2005108424 A JP2005108424 A JP 2005108424A JP 2005108424 A JP2005108424 A JP 2005108424A JP 4685494 B2 JP4685494 B2 JP 4685494B2
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trolley wire
vehicle
trolley
position measuring
pantograph
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JP2006282128A (en
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誠 庭川
精二 田林
広幸 紙谷
文男 沖本
功 成瀬
康喜 中倉
泰隆 寺田
信生 山中
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Meidensha Corp
Central Japan Railway Co
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Central Japan Railway Co
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Description

本発明は、トロリー線位置測定装置に関する。詳しくは、車両の屋根上に設置したカメラにより取得した画像を処理することによってトロリー線の高さ、偏位、押し上げ量の計測及び曲引金具検知等を行う装置に関する。   The present invention relates to a trolley wire position measuring apparatus. More specifically, the present invention relates to an apparatus for measuring the height, displacement, and push-up amount of a trolley wire, detecting bent metal fittings, and the like by processing an image acquired by a camera installed on the roof of a vehicle.

鉄道分野においては、電車線の保全のためトロリー線の保守を行う必要がある。トロリー線の保守とは、トロリー線の摩耗や高さ、偏位、押し上げ量の計測、また曲引金具検知等を行い、これらの項目についてそれぞれが正常な数値や位置にあるかを管理するものであり、これらの項目を定期的に計測することで未然の事故防止に役立てている。   In the railway field, it is necessary to maintain the trolley line for the maintenance of the train line. The maintenance of the trolley wire is to measure whether the trolley wire is worn, height, displacement, push-up amount, bent metal fitting detection, etc., and whether these items are in normal values and positions. These items are regularly measured to help prevent accidents.

トロリー線の高さとは車両の上方に設備されたトロリー線とレールとの高低差であり、通常４５００ｍｍ（新幹線では５０００ｍｍ）程度である。また、トロリー線の偏位とはトロリー線の水平方向の位置であり、通常は車両の進行方向に対しパンタグラフ中心から左右に±２５０ｍｍ（新幹線では±３００ｍｍ）程度となっている。   The height of the trolley line is the difference in height between the trolley line installed above the vehicle and the rail, and is usually about 4500 mm (5000 mm for the Shinkansen). The deviation of the trolley line is the horizontal position of the trolley line, and is usually about ± 250 mm (± 300 mm on the Shinkansen) from the center of the pantograph to the left and right of the traveling direction of the vehicle.

従来、トロリー線の高さや偏位等の測定には、例えば車両の屋根上にトロリー線を照らすナトリウムランプを設置し、車両を走行させながらトロリー線で反射された光を受光ミラー及び折り返しミラーを介して受光カメラへ導いて反射光を撮影し、その反射光の位置からトロリー線の偏位等を計測し、更に小型パンタグラフにより高さ等を計測するもの（例えば、非特許文献１）、或いは複数台のカメラを用いてパンタグラフ付近を撮影し、この撮影された複数の画像に基づいてトロリー線の位置を計測するもの（特許文献１）等がある。   Conventionally, for measuring the height and displacement of the trolley wire, for example, a sodium lamp that illuminates the trolley wire is installed on the roof of the vehicle, and the light reflected by the trolley wire while the vehicle is running is provided with a light receiving mirror and a folding mirror. To the light-receiving camera through which the reflected light is photographed, the displacement of the trolley wire is measured from the position of the reflected light, and the height is measured by a small pantograph (for example, Non-Patent Document 1), or There is a technique (Patent Document 1) that photographs the vicinity of a pantograph using a plurality of cameras and measures the position of a trolley line based on the photographed images.

また、トロリー線の押し上げ量とは車両通過時にパンタグラフにより押し上げられたときとパンタグラフの影響を受けないときのトロリー線の高さの差であり、従来、車両が通らない間にトロリー線にマーカを設置し、通過前のマーカ位置と通過時のマーカ位置を地上から計測し、このマーカ位置の差から押し上げ量を測定している。   The push-up amount of the trolley line is the difference between the height of the trolley line when it is pushed up by the pantograph when passing through the vehicle and when it is not affected by the pantograph. It is installed, the marker position before passing and the marker position when passing are measured from the ground, and the push-up amount is measured from the difference between the marker positions.

また、曲引金具とはトロリー線を吊り上げる金具で、経年変化等により曲引金具の位置が正常の範囲を外れるとパンタグラフに接触する等の事故に繋がるおそれがあるため、定期的に曲引金具の位置を計測する必要がある。   In addition, bent metal fittings are hoisting trolley wires that may cause accidents such as contact with the pantograph if the position of the bent metal fittings deviates from the normal range due to secular change. It is necessary to measure the position.

従来、曲引金具等の位置の計測には、曲引金具等に向けたレーザ光源を設け、曲引金具等からの反射光をレーザセンサが取得したときにカメラにより曲引金具等の画像を採取し、この画像を処理することにより曲引金具の角度を算出する、レーザセンサによる測定装置（例えば、特許文献２）、或いは接触センサを鉛直上方に設置しこのセンサに接触する物体の有無によって曲引金具の位置が正常であるかどうかを検知する、検測用パンタグラフによる測定装置（例えば、特許文献３）などが用いられている。   Conventionally, for measuring the position of a bent metal fitting, a laser light source directed toward the bent metal fitting is provided, and when a reflected light from the bent metal fitting is acquired by a laser sensor, an image of the bent metal fitting is obtained by a camera. A laser sensor measuring device (for example, Patent Document 2) that calculates the angle of the bent metal fitting by sampling and processing this image, or depending on the presence or absence of an object that touches the sensor installed vertically A measuring device using a pantograph for inspection (for example, Patent Document 3) that detects whether the position of the bent metal fitting is normal is used.

特開２００３−３４１３８９号公報JP 2003-341389 A 特開２０００−３４３９８６号公報JP 2000-343986 A 特開昭５７−８０５０５号公報JP 57-80505 A 久須美 俊一、 “軌陸車を用いた電車線検測装置の開発”、[online]、１１４回鉄道総研月例発表会要旨、[平成１６年８月２０日検索]、インターネット〈ＵＲＬ：http://www.rtri.or.jp/infoce/getsu09/g114_5.html〉Shunichi Kusumi, “Development of a train line inspection device using a railroad vehicle”, [online], Abstracts of the 114th Railway Research Institute Monthly Presentation, [Search August 20, 2004], Internet <URL: http: // www.rtri.or.jp/infoce/getsu09/g114_5.html>

しかしながら、上述した非特許文献１においてはミラー制御装置や高周波電源などの付帯設備が必要であるため、計測装置が比較的大型となる問題がある。さらに得られた測定結果は単純な測定値として残るだけなので、正常値の範囲外の測定値が検出された場合であっても、その測定値が本当にトロリー線を示すものなのか、または単にノイズによるものなのか判別できないという問題がある。   However, since the non-patent document 1 described above requires ancillary equipment such as a mirror control device and a high frequency power supply, there is a problem that the measuring device becomes relatively large. Furthermore, since the obtained measurement result remains as a simple measurement value, even if a measurement value outside the normal range is detected, the measurement value really indicates a trolley line or simply noise. There is a problem that it is not possible to determine whether it is due to.

また、従来の方法でトロリー線の押し上げ量を計測する場合、全走行区間にわたってトロリー線の押し上げ量を計測するには、線路を移動しながら一地点の計測工程であるマーカ取り付け、計測及び取り外しの工程を繰り返さなければならず、効率が悪いという問題がある。   Also, when measuring the trolley wire push-up amount by the conventional method, to measure the trolley wire push-up amount over the entire travel section, the marker attachment, measurement and detachment which are the measurement process at one point while moving the track There is a problem that the process must be repeated and the efficiency is poor.

更に、特許文献２においては、安定化電源などの付帯設備が必要で、計測装置が大型となる問題がある。また、特許文献３においては、計測用にしか使用しないパンタグラフが必要で、高価な検測用パンタグラフを導入しなければならない問題と、接触センサが最も風にさらされる場所にあり、騒音源となる問題がある。   Furthermore, in patent document 2, incidental facilities, such as a stabilized power supply, are required, and there exists a problem that a measuring device becomes large. In Patent Document 3, a pantograph that is used only for measurement is necessary, and an expensive inspection pantograph must be introduced, and the contact sensor is in a place most exposed to the wind and becomes a noise source. There's a problem.

このようなことから本発明は、簡素な装置で効率よくトロリー線の測定を行うことのできるトロリー線の位置測定装置を提供することを目的とする。   In view of the above, an object of the present invention is to provide a trolley wire position measuring device capable of efficiently measuring a trolley wire with a simple device.

上記の課題を解決するための本発明に係るトロリー線の位置測定装置は、車両の屋根上であって、鉛直上方にパンタグラフがない位置に設けられると共に、鉛直上方に向けられ前記車両の進行方向に対して左右に配置された二台の近接センサと、前記近接センサの出力値の論理和に応じて前記近接センサ上方のトロリー線の映像を取得する一台のカメラと、前記カメラの出力する映像信号を記録する画像記録部と、前記画像記録部から取得した映像信号を解析して、前記トロリー線の高さ及び偏位、前記トロリー線を支持する金具の角度及び支障物の有無を計測する画像処理部とを有することを特徴とする。 A trolley wire position measuring device according to the present invention for solving the above-mentioned problems is provided on a roof of a vehicle at a position where there is no pantograph vertically above, and is directed vertically upward and the traveling direction of the vehicle The two proximity sensors arranged on the left and right, one camera that acquires an image of the trolley line above the proximity sensor according to the logical sum of the output values of the proximity sensor, and the output of the camera An image recording unit that records the video signal, and an analysis of the video signal acquired from the image recording unit, and measures the height and displacement of the trolley wire, the angle of the metal fitting that supports the trolley wire, and the presence or absence of obstacles And an image processing unit.

本発明に係るトロリー線の位置測定装置は、車両の屋根上に鉛直上方に向けられ前記車両の進行方向に対して左右に配置された二台の近接センサと、前記近接センサの出力値の論理和に応じて前記近接センサ上方のトロリー線の映像を取得する一台のカメラと、前記カメラの出力する映像信号を記録する画像記録部と、前記画像記録部から取得した映像信号を解析する画像処理部とを有するトロリー線の位置測定装置を二組使用し、第一の前記トロリー線の位置測定装置は進行方向に対し先頭のパンタグラフを有する車両より前のいずれか一つの車両の屋根上に、かつ第二の前記トロリー線の位置測定装置はパンタグラフを有する車両の屋根上にそれぞれ設置し、前記第一及び第二のトロリー線の位置測定装置により前記トロリー線の高さをそれぞれ測定し、計測位置を同期させた後、それぞれの前記トロリー線の高さの差分を取ることを特徴とする。 The position measuring device for a trolley wire according to the present invention includes two proximity sensors that are vertically oriented on a roof of a vehicle and arranged on the left and right with respect to the traveling direction of the vehicle, and logic of an output value of the proximity sensor. One camera that acquires the video of the trolley line above the proximity sensor according to the sum, an image recording unit that records the video signal output from the camera, and an image that analyzes the video signal acquired from the image recording unit Two sets of trolley line position measuring devices having a processing unit are used, and the first trolley line position measuring device is on the roof of any one vehicle before the vehicle having the leading pantograph in the traveling direction. The second trolley line position measuring device is installed on the roof of a vehicle having a pantograph, and the height of the trolley line is set by the first and second trolley line position measuring devices. Respectively measured, after synchronizing the measurement position, characterized in that a difference of height of each of the trolley wire.

本発明に係るトロリー線の位置測定装置よれば、二台の近接センサと一台のカメラでトロリー線の高さ、偏位、曲引金具の角度、支障物の有無を一括して計測することが可能であり、装置の小型化、効率の良化に繋がる。また、本発明に係るトロリー線の位置測定装置を二組使用すれば、一度の走行で必要に応じた区間のトロリー線の押し上げ量も同時に測定することが可能であるため、更に効率良く作業を行うことができる。   According to the trolley wire position measuring apparatus according to the present invention, the height of the trolley wire, the displacement, the angle of the bent metal fitting, and the presence or absence of obstacles can be collectively measured with two proximity sensors and one camera. It is possible to reduce the size of the device and improve the efficiency. In addition, if two sets of trolley wire position measuring devices according to the present invention are used, it is possible to simultaneously measure the push-up amount of the trolley wire in the section as needed in one run, so work can be performed more efficiently. It can be carried out.

以下、本発明によるトロリー線の位置測定装置の最良の実施形態を図に基づいて説明する。図１は本実施形態の構成例を示す図であり、１は車両、２及び３はレーザ方式や赤外線方式等のセンサである近接センサ（以下、単に近接センサという）、４は論理和回路、５はＩＴＶカメラ、６は画像記録部、７は画像処理部、８はトロリー線、９は曲引金具、１０は電車線柱、１１はレール、１２は投光器である。   Hereinafter, the best embodiment of the position measuring device of the trolley wire according to the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating a configuration example of the present embodiment, in which 1 is a vehicle, 2 and 3 are proximity sensors (hereinafter simply referred to as proximity sensors) that are sensors such as a laser system and an infrared system, and 4 is an OR circuit, Reference numeral 5 denotes an ITV camera, 6 denotes an image recording unit, 7 denotes an image processing unit, 8 denotes a trolley wire, 9 denotes a bent metal fitting, 10 denotes a train line pole, 11 denotes a rail, and 12 denotes a projector.

近接センサ２及び３とＩＴＶカメラ５は車両１の屋根上に設置する。近接センサ２及び３は鉛直上方に向けて、進行方向に対して左右に間隔をあけた状態で設置し、またＩＴＶカメラ５は近接センサ２及び３の前方に、近接センサ２及び３上方のトロリー線８の画像を取得できる角度で設置する。尚、画像記録部６及び画像処理部７は車両内に設置する。   The proximity sensors 2 and 3 and the ITV camera 5 are installed on the roof of the vehicle 1. Proximity sensors 2 and 3 are installed vertically above the left and right with respect to the traveling direction, and ITV camera 5 is located in front of proximity sensors 2 and 3 and a trolley above proximity sensors 2 and 3. It is installed at an angle at which an image of the line 8 can be acquired. The image recording unit 6 and the image processing unit 7 are installed in the vehicle.

近接センサ２及び３の出力は論理和回路４に入力される。論理和回路４はこれらの論理和をトリガ信号としてＩＴＶカメラ５に入力し、ＩＴＶカメラ５はトリガ信号に応じて画像取得の有無を決定する。これにより例えば曲引金具９が近接センサ３を通過したときは、ＩＴＶカメラ５によって図２に示すような画像が得られ、これを画像記録部６において記録し、記録された画像を画像処理部７において画像処理することでトロリー線８の高さ、偏位、曲引金具９の角度及び支障物の有無を求める。   The outputs of the proximity sensors 2 and 3 are input to the OR circuit 4. The logical sum circuit 4 inputs these logical sums as trigger signals to the ITV camera 5, and the ITV camera 5 determines whether or not to acquire an image according to the trigger signals. Thus, for example, when the bent metal fitting 9 passes the proximity sensor 3, an image as shown in FIG. 2 is obtained by the ITV camera 5, and this is recorded in the image recording unit 6, and the recorded image is recorded in the image processing unit. 7, the height and displacement of the trolley wire 8, the angle of the bent metal fitting 9, and the presence or absence of an obstacle are obtained.

以下、図３に示すフローチャートに基づいて画像処理の手順を説明する。
（１）記録された画像を入力する（ステップＳ１）。
（２）入力された画像についてエッジ検出及び直線検出を行う（ステップＳ２，Ｓ３）。
（３）（２）の検出結果に基づいて縦方向及び横方向に延びる線（以下、それぞれ縦線、横線という）をそれぞれ抽出する（ステップＳ４，Ｓ５）。
（４）上記縦線及び横線の交点座標ｘ及びｙを求め、このｘ及びｙに基づいてそれぞれトロリー線の実際の偏位及び高さを求める（ステップＳ６）。なお、画像上の交点座標ｘ，ｙから、実際の偏位及び高さを求めるための変換には、既に広く一般的に知られている方法を使用すればよい。
（５）ステップＳ５により抽出した横線の角度を求め、これに基づいて曲引金具の角度を求める（ステップＳ７）。
（６）二値化処理を行って支障物を抽出する（ステップＳ８）。
（７）入力された全ての画像の処理が終了するまで（２）から（６）の処理を繰り返す（ステップＳ９）。 The image processing procedure will be described below based on the flowchart shown in FIG.
(1) A recorded image is input (step S1).
(2) Edge detection and straight line detection are performed on the input image (steps S2 and S3).
(3) Based on the detection results of (2), lines extending in the vertical and horizontal directions (hereinafter referred to as vertical lines and horizontal lines, respectively) are extracted (steps S4 and S5).
(4) The intersection coordinates x and y of the vertical line and the horizontal line are obtained, and the actual displacement and height of the trolley line are obtained based on the x and y, respectively (step S6). For the conversion for obtaining the actual deviation and height from the intersection coordinates x, y on the image, a method that is already widely known may be used.
(5) The angle of the horizontal line extracted in step S5 is obtained, and the angle of the bent metal fitting is obtained based on this (step S7).
(6) A binarization process is performed to extract obstacles (step S8).
(7) The processing from (2) to (6) is repeated until the processing of all input images is completed (step S9).

このような処理を行うことによって、例えば図２に示す画像について前述した画像処理を行った場合、トロリー線８が縦線、曲引金具９が横線として抽出され、トロリー線８の高さ、偏位、及び曲引金具９の角度が得られる。なお図１及び図２において破線で囲んだ部分のように、例えばＩＴＶカメラ５で撮影した画像についてＩＴＶカメラ５の姿勢と、通常のトロリー線８の高さ及び偏位の範囲等からトロリー線８及び曲引金具９位置の正常な範囲を予め計算して設定しておき、画像処理工程において設定した範囲のみに処理を制限すれば、画像処理の精度が増し、誤検出の防止に繋がる。   By performing such processing, for example, when the above-described image processing is performed on the image shown in FIG. 2, the trolley line 8 is extracted as a vertical line, and the bent metal fitting 9 is extracted as a horizontal line. And the angle of the bent metal fitting 9 are obtained. 1 and 2, the trolley line 8 is determined from the posture of the ITV camera 5, the height of the normal trolley line 8, the range of the deviation, and the like of the image taken by the ITV camera 5, for example. If the normal range of the position of the bent metal fitting 9 is calculated and set in advance, and processing is limited to only the range set in the image processing step, the accuracy of the image processing increases, and erroneous detection is prevented.

従って、本実施形態によるトロリー線の位置測定装置によれば、
（１）二台の近接センサ２及び３とＩＴＶカメラ５による一枚の画像から、トロリー線８の高さ、偏位、曲引金具９の角度、及び支障物を計測できるため、計測の効率が良い、
（２）二台の近接センサ２及び３とＩＴＶカメラ５だけで計測できるため、屋根上の装置を小型化できる、
（３）画像記録部６に画像が記録されているため、必要に応じて画像を再確認することができる、
等の利点がある。 Therefore, according to the trolley wire position measuring apparatus according to the present embodiment,
(1) Since the height of the trolley wire 8, the displacement, the angle of the bent metal fitting 9, and the obstacle can be measured from one image by the two proximity sensors 2 and 3 and the ITV camera 5, the measurement efficiency Is good,
(2) Since it can measure only with the two proximity sensors 2 and 3 and the ITV camera 5, the apparatus on the roof can be reduced in size.
(3) Since the image is recorded in the image recording unit 6, the image can be reconfirmed as necessary.
There are advantages such as.

なお、本実施形態においてはＩＴＶカメラを近接センサの前方に設けたが、これに限らず必要に応じて後方に設ける等しても構わない。また、検出されたトロリー線の高さ、偏位、曲引金具の角度等の測定値が正常値の範囲内か或いは範囲外かを判定する機能を設ける等してもよい。   In the present embodiment, the ITV camera is provided in front of the proximity sensor. However, the present invention is not limited to this, and it may be provided in the rear if necessary. In addition, a function may be provided for determining whether measured values such as the detected height of the trolley wire, the displacement, and the angle of the bent metal fitting are within the normal value range or out of the normal value range.

本発明によるトロリー線の位置測定装置の一実施例を図に基づいて説明する。図４に示すように、本実施例はトロリー線の位置測定装置を二組用いてトロリー線８の測定を行うものである。図４中、１ａ及び１ｂは車両、２ａ、３ａ、２ｂ及び３ｂは近接センサ、４ａ及び４ｂは論理和回路、５ａ及び５ｂはＩＴＶカメラ、６ａ及び６ｂは画像記録部、７ａ及び７ｂは画像処理部、８はトロリー線、９は曲引金具、１０は電車線柱、１１はレール、１２ａ及び１２ｂは投光器、１３はパンタグラフであり、近接センサ２ａ及び３ａとＩＴＶカメラ５ａ、また近接センサ２ｂ及び３ｂとＩＴＶカメラ５ｂの配置は上述した実施形態における近接センサ２及び３とＩＴＶカメラ５の配置と同様とする。なお、上述した実施形態と重複する構成については説明を省略する。   An embodiment of a trolley wire position measuring apparatus according to the present invention will be described with reference to the drawings. As shown in FIG. 4, the present embodiment measures the trolley wire 8 using two sets of trolley wire position measuring devices. 4, 1a and 1b are vehicles, 2a, 3a, 2b and 3b are proximity sensors, 4a and 4b are OR circuits, 5a and 5b are ITV cameras, 6a and 6b are image recording units, and 7a and 7b are image processing units. , 8 is a trolley wire, 9 is a bent metal fitting, 10 is a train pole, 11 is a rail, 12a and 12b are projectors, 13 is a pantograph, proximity sensors 2a and 3a and ITV camera 5a, and proximity sensor 2b and The arrangement of 3b and the ITV camera 5b is the same as the arrangement of the proximity sensors 2 and 3 and the ITV camera 5 in the above-described embodiment. In addition, description is abbreviate | omitted about the structure which overlaps with embodiment mentioned above.

二組のトロリー線の位置測定装置は、一組はパンタグラフ１１による押し上げの影響のないトロリー線８、他の一組はパンタグラフ１１によって押し上げの影響を受けるパンタグラフ１１近傍のトロリー線８についてそれぞれ測定するものとする。これにより、曲引金具９に吊り下げられた部分のトロリー線８のパンタグラフ１１による押し上げ量を計測することが可能となる。   Two sets of trolley line position measuring devices measure one set of trolley lines 8 that are not affected by the push-up by the pantograph 11 and the other set of trolley lines 8 near the pantograph 11 that are affected by the push-up by the pantograph 11. Shall. As a result, it is possible to measure the amount by which the pantograph 11 pushes up the trolley wire 8 of the portion suspended from the bent metal fitting 9.

以下、本実施例の作用を説明する。例えば車両１ａはパンタグラフを有しない先頭車両、車両１ｂはパンタグラフ１１を有する車両としてそれぞれの屋根上にトロリー線の位置測定装置を設置し、それぞれのトロリー線の位置測定装置において上述した実施形態１と同様の計測を行う。また更に、トロリー線８の押し上げ量を求めるために、車両１ａ及び車両１ｂにおいて測定したトロリー線８の高さの比較を行う。ただし、車両１ａと車両１ｂとでは計測位置が離れているため、高さデータを同一位置に同期させ、この同期した高さデータの差分を押し上げ量とする。   Hereinafter, the operation of this embodiment will be described. For example, the vehicle 1a is a leading vehicle that does not have a pantograph, and the vehicle 1b is a vehicle that has a pantograph 11, and a trolley line position measuring device is installed on each roof. The same measurement is performed. Furthermore, in order to obtain the push-up amount of the trolley wire 8, the height of the trolley wire 8 measured in the vehicle 1a and the vehicle 1b is compared. However, since the measurement positions of the vehicle 1a and the vehicle 1b are separated from each other, the height data is synchronized with the same position, and the difference between the synchronized height data is set as the push-up amount.

以下、同期方法について図５を用いて図４に示す構成を例に説明する。まず、車両１ａと車両１ｂがある地点を通過する時刻をそれぞれＴ及びｔとし、このときのトロリー線８の高さをそれぞれｈa（Ｔ），ｈb（ｔ）とする。また、車両１ａから車両１ｂまでの距離をｄ、自動列車制御装置（ＡＴＣ）で使用される車両の速度情報をｖ（ｔ）とすると、図５において高さｈb（ｔ）は時刻Ｔ＋ｄ／ｖ（ｔ）に最も近い時刻に測定された高さであると考えられる。 Hereinafter, the synchronization method will be described with reference to FIG. 5 using the configuration shown in FIG. 4 as an example. First, the times when the vehicle 1a and the vehicle 1b pass through a certain point are T and t, respectively, and the height of the trolley wire 8 at this time is h a (T) and h b (t), respectively. Also, assuming that the distance from the vehicle 1a to the vehicle 1b is d and the vehicle speed information used in the automatic train control device (ATC) is v (t), the height h b (t) in FIG. It is considered that the height is measured at the time closest to v (t).

通常、速度情報ｖ（ｔ）には誤差があるため時刻Ｔ＋ｄ／ｖ（ｔ）と時刻ｔとは一致しない。しかし、速度情報ｖ（ｔ）の誤差に対し、計測点となる曲引金具９のサンプリング間隔（設置間隔）である時刻ｔと時刻ｔ＋１との間隔は、誤差に比べて十分大きいため、時刻Ｔ＋ｄ／ｖ（ｔ）に最も近い時刻ｔを探索し、この時刻ｔにおけるトロリー線８の高さｈb（ｔ）を得ることで、速度情報ｖ（ｔ）の誤差に影響されることなく同一地点のトロリー線８の押し上げ量を得ることができる。なお、図５中においては説明のため誤差を誇張して示している。また、本実施例においてパンタグラフ付近のトロリー線を測定する装置をパンタグラフを有する車両に設置する例を示したが、これに限らず、パンタグラフ付近のトロリー線の画像を取得できれば良い。 Usually, since the speed information v (t) has an error, the time T + d / v (t) does not match the time t. However, since the interval between the time t and the time t + 1, which is the sampling interval (installation interval) of the bent metal fitting 9 as the measurement point, is sufficiently larger than the error with respect to the error of the speed information v (t), the time T + d By searching for the time t closest to / v (t) and obtaining the height h b (t) of the trolley line 8 at this time t, the same point is obtained without being affected by the error of the speed information v (t). The amount by which the trolley wire 8 is pushed up can be obtained. In FIG. 5, the error is exaggerated for explanation. Moreover, although the example which installs the apparatus which measures the trolley line near a pantograph in the vehicle which has a pantograph in the present Example was shown, it should just acquire the image of the trolley line near a pantograph.

次に、二組のトロリー線の位置測定装置の設置箇所について説明する。上述したように、車両１ａは先頭車両とし、例えば、車両１ｂを第一パンタグラフと呼ばれる、進行方向に対して先頭のパンタグラフ１１を有する車両としてそれぞれにトロリー線の位置測定装置を設置すれば、単純な押し上げ量が測定できる。また、車両１ａは先頭車両とし、車両１ｂを進行方向に対して先頭から二番目の第二パンタグラフを有する車両として、それぞれにトロリー線の位置測定装置を設置すれば、パンタグラフ１１による複雑な過渡振動の押し上げ量が計測できる。   Next, the installation location of the two sets of trolley wire position measuring devices will be described. As described above, the vehicle 1a is a leading vehicle. For example, if the vehicle 1b is referred to as a first pantograph and has a leading pantograph 11 with respect to the traveling direction, a trolley line position measuring device is installed for each vehicle. Can be measured. Further, if the vehicle 1a is a leading vehicle, the vehicle 1b is a vehicle having a second pantograph second from the beginning in the traveling direction, and a trolley wire position measuring device is installed in each vehicle, complicated transient vibrations caused by the pantograph 11 will occur. Can be measured.

従って上述したように、従来はマーカを一点ずつ地上から計測し手間がかかるという問題があったが、本実施例によるトロリー線の位置測定装置によれば、走行した区間のトロリー線の押し上げ量を一括して測定することができるため、効率が良いという利点がある。なお、トロリー線の位置測定装置として特許文献１、特開２００２−１３９３０５、又は特願２００３−３５４６３６に開示されるものを使用しても同様の効果を奏する。   Therefore, as described above, conventionally, there is a problem that it takes time to measure the markers one by one from the ground, but according to the trolley wire position measuring device according to the present embodiment, the amount of push-up of the trolley wire in the traveled section can be increased. Since it can measure in a lump, there is an advantage that efficiency is good. Note that the same effect can be obtained by using a trolley wire position measuring device disclosed in Japanese Patent Application Laid-Open No. 2002-139305 or Japanese Patent Application No. 2003-354636.

本発明は、車両の屋根上に設置したカメラにより取得した画像を処理することによってトロリー線の高さ、偏位、押し上げ量の計測及び曲引金具検知等を行うトロリー線測定装置に利用可能である。   INDUSTRIAL APPLICABILITY The present invention can be used for a trolley wire measuring device that measures the height, displacement, push-up amount, bent metal fitting detection, and the like of a trolley wire by processing an image acquired by a camera installed on the roof of the vehicle. is there.

本発明の最良の実施形態の構成例を示す模式図である。It is a schematic diagram which shows the structural example of the best embodiment of this invention. 本発明の最良の実施形態の曲引金具が通過する瞬間の画像例を示す模式図である。It is a schematic diagram which shows the example of an image of the moment when the bending metal fitting of the best embodiment of this invention passes. 本発明の最良の実施形態の画像処理過程を示すフローチャートである。It is a flowchart which shows the image processing process of the best embodiment of this invention. 実施例１の構成例を示す模式図である。3 is a schematic diagram illustrating a configuration example of Example 1. FIG. 実施例１によるトロリー線高さの計測例を示すグラフである。4 is a graph showing an example of measuring the trolley line height according to Example 1.

符号の説明Explanation of symbols

１，１ａ，１ｂ 車両
２，２ａ，２ｂ，３，３ａ，３ｂ 近接センサ
４，４ａ，４ｂ 論理和回路
５，５ａ，５ｂ ＩＴＶカメラ
６，６ａ，６ｂ 画像記録部
７，７ａ，７ｂ 画像処理部
８ トロリー線
９ 曲引金具
１３ パンタグラフ 1, 1a, 1b Vehicle 2, 2a, 2b, 3, 3a, 3b Proximity sensor 4, 4a, 4b OR circuit 5, 5a, 5b ITV camera 6, 6a, 6b Image recording unit 7, 7a, 7b Image processing unit 8 Trolley wire 9 Curved fitting 13 Pantograph

Claims (2)

車両の屋根上であって、鉛直上方にパンタグラフがない位置に設けられると共に、鉛直上方に向けられ前記車両の進行方向に対して左右に配置された二台の近接センサと、前記近接センサの出力値の論理和に応じて前記近接センサ上方のトロリー線の映像を取得する一台のカメラと、前記カメラの出力する映像信号を記録する画像記録部と、前記画像記録部から取得した映像信号を解析して、前記トロリー線の高さ及び偏位、前記トロリー線を支持する金具の角度及び支障物の有無を計測する画像処理部とを有することを特徴とするトロリー線の位置測定装置。 Two proximity sensors provided on the roof of the vehicle at a position where there is no pantograph vertically above, and arranged vertically on the right and left with respect to the traveling direction of the vehicle, and the output of the proximity sensor One camera that acquires an image of a trolley line above the proximity sensor according to a logical sum of values, an image recording unit that records a video signal output from the camera, and a video signal acquired from the image recording unit An apparatus for analyzing the position of a trolley wire, comprising: an image processing unit that analyzes and measures the height and displacement of the trolley wire, the angle of a bracket that supports the trolley wire, and the presence or absence of an obstacle . 車両の屋根上に鉛直上方に向けられ前記車両の進行方向に対して左右に配置された二台の近接センサと、前記近接センサの出力値の論理和に応じて前記近接センサ上方のトロリー線の映像を取得する一台のカメラと、前記カメラの出力する映像信号を記録する画像記録部と、前記画像記録部から取得した映像信号を解析する画像処理部とを有するトロリー線の位置測定装置を二組使用し、
第一の前記トロリー線の位置測定装置は進行方向に対し先頭のパンタグラフを有する車両より前のいずれか一つの車両の屋根上に、かつ第二の前記トロリー線の位置測定装置はパンタグラフを有する車両の屋根上にそれぞれ設置し、前記第一及び第二のトロリー線の位置測定装置により前記トロリー線の高さをそれぞれ測定し、計測位置を同期させた後、それぞれの前記トロリー線の高さの差分を取ることを特徴とするトロリー線の位置測定装置。 Two proximity sensors that are directed vertically upward on the roof of the vehicle and arranged to the left and right with respect to the traveling direction of the vehicle, and the trolley wire above the proximity sensor according to the logical sum of the output values of the proximity sensor A trolley wire position measuring device comprising: one camera that acquires video; an image recording unit that records a video signal output from the camera; and an image processing unit that analyzes the video signal acquired from the image recording unit. Use two sets,
The first trolley line position measuring device is on the roof of any one vehicle in front of the vehicle having the first pantograph in the traveling direction, and the second trolley line position measuring device is a vehicle having the pantograph. The height of each trolley wire is measured by the first and second trolley wire position measuring devices, and the measurement position is synchronized, and then the height of each trolley wire is measured. A trolley wire position measuring device characterized by taking a difference.
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