JP7374835B2 - Relative position monitoring device for overhead wires and pantographs - Google Patents

Description

The present invention relates to a relative position monitoring device for an overhead wire and a pantograph.

BACKGROUND ART Devices that are installed on vehicles running on rails and measure overhead wires are known (for example, see Patent Documents 1 and 2).

Japanese Patent Application Publication No. 2015-178978 Japanese Patent Application Publication No. 2015-148522

By the way, some vehicles used in factories and the like have a plurality of pantographs, and each of the plurality of pantographs receives power by contacting one of the plurality of overhead wires. In such vehicles, each pantograph is narrow. For this reason, even if the amount of deviation between the position of the pantograph and the position of the overhead wire is small, the pantograph may move away from the overhead wire, causing problems in receiving power to the vehicle. Therefore, it is important to monitor the contact state of each of the plurality of pantographs with the corresponding overhead wire so as to prevent any of the pantographs from coming off the overhead wire. However, in Patent Documents 1 and 2, there is no mention of a vehicle in which a plurality of pantographs come into contact with different overhead wires.

In view of the above circumstances, an object of the present invention is to provide a relative position monitoring device between an overhead wire and a pantograph, which can detect the relative position of a pantograph and an overhead wire in a vehicle where a plurality of pantographs come into contact with different overhead wires. .

The gist of the present invention is the following relative position monitoring device between an overhead wire and a pantograph.

(1) An area sensor installed in a vehicle having a plurality of pantographs that individually contact a plurality of overhead wires arranged in parallel, the area sensor providing directivity to the plurality of overhead wires that are in contact with the plurality of pantographs. an area sensor that transmits a beam having a characteristic and receives reflected waves generated by transmitting the beam;
an overhead wire position detection unit that detects the position of each of the overhead wires from received data obtained by the area sensor;
have.

(2) The relative position monitoring device between the overhead wire and the pantograph according to 1, wherein one area sensor is provided, and the beam is transmitted from the one area sensor toward a plurality of the overhead wires.

(3) The area sensor is arranged in line with the pantograph near the center in the vehicle width direction of the vehicle among the plurality of pantographs, and the overhead wire according to the above 1 or 2, and pantograph relative position monitoring equipment.

(4) The overhead wire position detection unit detects the position of the overhead wire using a plurality of coordinate data included in the received data for each of the overhead wires, according to any one of 1 to 3 above. Relative position monitoring device for overhead wires and pantographs.

(5) The relative position monitoring device between the overhead wire and the pantograph according to 4 above, wherein the position of the overhead wire includes a center position of the overhead wire.

(6) The overhead wire position detection unit detects the contour shape of each overhead wire using a plurality of points specified by a plurality of coordinate data included in the received data and a predetermined approximate expression. The relative position monitoring device for an overhead wire and a pantograph according to 4 or 5 above.

(7) further comprising an area setting section,
The area setting unit sets an area for each of the plurality of overhead lines,
7. The relative position monitoring device between an overhead wire and a pantograph according to any one of items 4 to 6 above, wherein the overhead wire position detection unit detects the position of the overhead wire in each of the areas.

(8) The relative position monitoring between the overhead wire and the pantograph according to 7 above, wherein the overhead wire position detection unit detects, for each area, whether the position of the overhead wire within the area is within a predetermined permissible area. Device.

(9) The relative position monitoring device of the overhead wire and pantograph according to 8 above, wherein the overhead wire position detection unit generates an error signal indicating an abnormality when the position of the overhead wire within the area is outside the permissible area. .

(10) further comprising a display section,
The overhead wire according to any one of items 1 to 9 above, wherein the display section displays an error when receiving an error signal indicating an abnormality regarding the relative position of the overhead wire and the pantograph from the overhead wire position detection section. Pantograph relative position monitoring device.

According to the present invention, the relative positions of pantographs and overhead wires can be detected in a vehicle where a plurality of pantographs are in contact with different overhead wires.

FIG. 1 is a schematic side view showing a relative position monitoring device for an overhead wire and a pantograph according to an embodiment of the present invention, and the main parts of a vehicle to be monitored by this monitoring device. FIG. 2 is a perspective view for explaining the contact state between the vehicle and the overhead wire. FIG. 3 is a schematic perspective view of the main parts showing an example of the contact state between the pantograph of the vehicle and the overhead wire, as seen from below the overhead wire. FIG. 4 is a plan view of the main parts for explaining the configuration for detecting overhead wires. FIG. 5 is a block diagram showing the electrical configuration of the monitoring device. FIG. 6 is a conceptual diagram for explaining areas set by the area setting section. FIG. 7 is a conceptual explanatory diagram for explaining a procedure for the overhead wire position detection unit to detect an overhead wire. FIG. 8 is a diagram showing an example of a display screen of a display device. FIG. 9 is a flowchart showing an example of the flow of processing operations in the monitoring device. FIG. 10 is a perspective view showing the surrounding arrangement of an area sensor and a protective cover according to a modification. FIG. 11 is a drawing showing the protective cover, FIG. 11(A) is a plan view, FIG. 11(B) is a front view, and FIG. 11(C) is a side view. FIG. 12 is a drawing showing an area sensor and a stay, FIG. 12(A) is a perspective view, and FIG. 12(B) is a side view.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

FIG. 1 is a schematic side view showing a relative position monitoring device 1 for an overhead wire and a pantograph according to an embodiment of the present invention, and the main parts of a vehicle 100 to be monitored by the monitoring device 1. FIG. 2 is a perspective view for explaining the contact state between the vehicle 100 and the overhead wires L1, L2, and L3. FIG. 3 is a schematic perspective view of the main parts showing an example of the contact state between the pantographs 101, 102, 103 of the vehicle 100 and the overhead wires L1, L2, L3, as seen from below the overhead wires L1, L2, L3. It shows the condition. FIG. 4 is a plan view of main parts for explaining a configuration for detecting overhead wires L1, L2, and L3.

Referring to FIGS. 1 to 4, a relative position monitoring device 1 between an overhead wire and a pantograph (hereinafter also simply referred to as monitoring device 1). are used to monitor the relative positions of the overhead wires L1, L2, L3 and the pantographs 101, 102, 103. A plurality of overhead wires L1, L2, and L3 are provided (three in this embodiment), and are supported by pillars (not shown) and arranged substantially horizontally. The overhead wires L1, L2, and L3 are arranged at substantially the same height and extend substantially parallel to each other. The overhead wires L1, L2, and L3 are elongated conducting wires, and tend to be bent, horizontally tilted, and vertically tilted. The overhead wires L1, L2, and L3 are installed, for example, to supply electric power to the vehicle 100 to drive a motor (not shown) as a prime mover of the vehicle 100. A vehicle 100 runs below overhead wires L1, L2, and L3.

The vehicle 100 is, for example, a railroad vehicle, and runs on railroad tracks laid in a factory or the like. In this embodiment, a pedestal 105 is installed on the roof 104 of the vehicle 100. A plurality of (in this embodiment, three) pantographs 101, 102, and 103 are installed on the pedestal 105. In this embodiment, the pantographs 101, 102, and 103 are arranged so as to be inclined with respect to the extending direction of the overhead wires L1, L2, and L3. The pantograph 102 is arranged below the central overhead wire L2. The pantographs 101 and 103 are arranged below the overhead wires L1 and 3 on both the left and right sides.

The pantograph 101 is provided with a roller 101b supported by a stay 101a. The roller 101b of the pantograph 101 contacts the overhead wire L1 and receives electric power from the overhead wire L1. Similarly, the pantographs 102 and 103 are provided with rollers 102b and 103b supported by corresponding stays 102a and 103a, respectively. Of the pantographs 102 and 103, rollers 102b and 103b contact the corresponding overhead wires L2 and L3 and receive electric power from the overhead wires L2 and L3.

The monitoring device 1 monitors the relative position between the overhead wire L1 and the roller 101b of the pantograph 101, the relative position between the overhead wire L2 and the roller 102b of the pantograph 102, and the relative position between the overhead wire L3 and the roller 103b of the pantograph 103. In this embodiment, the monitoring device 1 is installed in a vehicle 100.

The monitoring device 1 includes an area sensor 2, a processing device 3 connected to the area sensor 2, an input device (input section) 4 and a display device (display section) 5 connected to the processing device 3. There is.

Note that although this embodiment will be described using an example in which the processing device 3, input device 4, and display device 5 are installed in the vehicle 100, this does not have to be the case. For example, at least one of the processing device 3, the input device 4, and the display device 5 is installed in a control room (not shown) provided outside the vehicle 100, and configured to be capable of wired or wireless communication with the area sensor 2. It's okay.

As described above, the area sensor 2 is installed in the vehicle 100 having a plurality of pantographs 101, 102, 103 that individually contact a plurality of overhead wires L1, L2, L3 arranged in parallel. The area sensor 2 transmits a directional beam to a plurality of overhead wires L1, L2, and L3 that are in contact with a plurality of pantographs 101, 102, and 103, and receives reflected waves generated by transmitting this beam. In this embodiment, the area sensor 2 is a sensor that measures the distance from the area sensor 2 to the overhead wires L1, L2, and L3 as detection targets. In this embodiment, the area sensor 2 is a range sensor, also referred to as a LiDAR (Light Detection and Ranging) sensor.

The area sensor 2 of this embodiment includes a light emitting part and a light receiving part, and the light emitting part transmits laser light as beams B1, B2, and B3, and receives reflected light generated by transmitting the beams B1, B2, and B3. Receive it at the department. The beams B1, B2, B3 and their reflected waves pass through the reception/emission window 2e of the area sensor 2. In this embodiment, one area sensor 2 is provided, and beams B1, B2, and B3 are transmitted from one area sensor 2 toward a plurality of overhead wires L1, L2, and L3. The area sensor 2 performs scanning by irradiating laser beams B1, B2, and B3 toward each of the overhead wires L1, L2, and L3 and at least one of the rollers 101b, 102b, and 103b that contact the corresponding overhead wires L1, L2, and L3. do. The area sensor 2 has a predetermined step angle (for example, about 0.1°), and emits beams B1, B2, and B3 while changing the angle at which the laser beam is emitted for each step angle. Thereby, the area sensor 2 can detect the direction to the area sensor 2 and the distance to the signal reflection location. The area sensor 2 detects the distance to the signal reflection point in each of a plurality of directions by repeating the scanning operation. In this embodiment, the area sensor 2 is arranged in line with the pantograph 102 of the plurality of pantographs 101, 102, 103, which is closer to the center of the vehicle 100 in the vehicle width direction X, in the vehicle length direction Z of the vehicle 100. The measurement results of the area sensor 2 are output to the processing device 3.

Note that the area sensor 2 may be a radar sensor or the like that emits radio waves such as microwaves or millimeter waves.

In this embodiment, the processing device 3 is a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). Note that the processing device 3 may have a configuration including an FPGA (Field Programmable Gate Array), may be formed using a PLC (Programmable Logic Controller), or may be formed using a sequence circuit or the like. It's okay. The processing device 3 exhibits various functions in a programmatic manner when the CPU executes programs stored in a storage device such as a ROM or a hard disk (HDD).

FIG. 5 is a block diagram showing the electrical configuration of the monitoring device 1. As shown in FIG. Referring to FIGS. 1 to 5, processing device 3 is electrically connected to area sensor 2, input device 4 including a keyboard and mouse, and display device 5 such as a liquid crystal display. Further, as described above, the processing device 3 functions as the control section 31, the area setting section 32, and the overhead wire position detection section 33 by the CPU executing the program.

The control unit 31 controls the processing device 3 . The area setting unit 32 is provided to select signals from predetermined areas AR1, AR2, and AR3 from among the signals from the area sensor 2. The area setting unit 32 sets areas AR1, AR2, AR3 including the contact positions of the respective overhead wires L1, L2, L3 and the corresponding pantographs 101, 102, 103 for each of the overhead wires L1, L2, L3.

FIG. 6 is a conceptual diagram for explaining areas AR1, AR2, and AR3 set by the area setting unit 32. Referring to FIGS. 1 to 6, areas AR1, AR2, and AR3 are areas seen from area sensor 2. FIG.

Area AR1 is a two-dimensional rectangular area centered on center point AR1a. The center point AR1a is, for example, the center point of the overhead wire L1 when the overhead wire L1 is parallel to the vehicle length direction Z of the vehicle 100 and is in contact with the center of the roller 101b in the width direction. The area setting unit 32 sets four corner points of a rectangular area AR1 centered on the center point AR1a.

Area AR2 is a two-dimensional rectangular area centered on center point AR2a. The center point AR2a is, for example, the center point of the overhead wire L2 when the overhead wire L2 is parallel to the vehicle length direction Z of the vehicle 100 and is in contact with the center of the roller 102b in the width direction. The area setting unit 32 sets four corner points of a rectangular area AR2 centered on the center point AR2a.

Area AR3 is a two-dimensional rectangular area centered on center point AR3a. The center point AR3a is, for example, the center point of the overhead wire L3 when the overhead wire L3 is parallel to the vehicle length direction Z of the vehicle 100 and is in contact with the center of the roller 103b in the width direction. The area setting unit 32 sets four corner points of a rectangular area AR3 centered on the center point AR3a. Areas AR1, AR2, and AR3 may be set according to a worker's operation of input device 4, or may be set automatically according to a predetermined program.

The overhead wire position detection unit 33 detects the position of each overhead wire L1, L2, and L3 from the received data obtained by the area sensor 2. In this embodiment, the overhead wire position detection section 33 detects the positions of the overhead wires L1, L2, and L3 within the areas AR1, AR2, and AR3 set by the area setting section 32. That is, the overhead wire position detection unit 33 detects the positions of the overhead wires L1, L2, and L3 within the areas AR1, AR2, and AR3 for each of the areas AR1, AR2, and AR3. Specifically, first, the overhead wire position detection unit 33 detects the scan angle (the angle around the area sensor 2 in plan view and the elevation angle from the area sensor 2 to the signal reflection point) and the signal reflection point obtained by the area sensor 2. Load detection data that determines the distance to and. The detection data includes coordinate data of a plurality of detection points P. Then, by performing a predetermined process based on this data, the contour shapes of the overhead wires L1, L2, and L3 and the coordinates of the center points L1a, L2a, and L3a are estimated.

FIG. 7 is a conceptual explanatory diagram for explaining the procedure by which the overhead wire position detection unit 33 detects the overhead wires L1, L2, and L3. Referring to FIGS. 1 to 7, the overhead wire position detection unit 33 reads detection data as described above. The detection data at this time is data obtained by the area sensor 2 in one detection operation (scanning operation for one revolution around the area sensor 2 in plan view). Next, the overhead wire position detection unit 33 detects the coordinate data of the detection point P of the detection data in the area AR1 in order to detect the overhead wire L1. That is, the overhead wire position detection unit 33 detects the position of the overhead wire L1 using a plurality of coordinate data included in the received data from the area sensor 2.

As shown in FIG. 4, the overhead wires L1, L2, and L3 are detected so that elliptical cut surfaces appear by a plurality of beams from the area sensor 2 disposed below the overhead wire L2. Furthermore, the beam does not reach the rear side portions of the overhead wires L1, L2, and L3 when viewed from the area sensor 2. Therefore, among the plurality of detection points specified by the detection data, the detection points P within the area AR1 are concentrated at locations facing the area sensor 2, as shown in FIG. Since the overhead wire position detection unit 33 performs detection on the assumption that the shapes of the overhead wires L1, L2, and L3 are elliptical in advance, processing is performed on the premise that the plurality of detection points P are the results of detecting a part of the elliptical shape. I do.

In this embodiment, the overhead wire position detection unit 33 detects the contour shape of the overhead wire L1 using a plurality of detection points P specified by a plurality of coordinate data included in the received data and a predetermined approximation formula. do. In this embodiment, the outline shape of the ellipse of the overhead wire L1 is calculated from a plurality of detection points P using a least squares method as an approximate formula. Since the method of detecting the elliptical shape of an ellipse from a plurality of detection points P using the least squares method is well known, detailed explanation will be omitted.

Note that an equation other than the least squares method may be used as the above approximate equation. For example, an approximation formula is used in which a plurality of ellipses with a constant ratio of the major axis and the minor axis but different major axes are superimposed on the detection point P, and the ellipse that overlaps with the most detection points P is estimated to be the outline shape of the overhead wire L1. It's okay.

The overhead wire position detection unit 33 calculates the elliptical shape of the overhead wire L1, and also calculates the coordinates of the center point L1a of this ellipse. The overhead wire position detection unit 33 defines this center point L1a as the position of the overhead wire L1.

The overhead wire position detection unit 33 performs the same procedure for calculating the elliptical shape of the overhead wire L1 and calculating the center point L1aa of the ellipse as described above for the areas AR2 and AR3. Thereby, the overhead wire position detection unit 33 calculates the elliptical shapes of the overhead wires L2 and L3 and the center points L2a and L3a of the ellipses.

After detecting the center points L1a, L2a, L3a of the overhead wires L1, L2, L3, the overhead wire position detection unit 33 detects the center points L1a, L2a, L3a of the overhead wires L1, L2, L3 in each area AR1, AR2, AR3. , L3 is within a predetermined permissible area.

The overhead wire position detection unit 33 determines, for example, a deviation amount Δ as a distance from the area center point AR1a to the center point L1a in the vehicle width direction X with respect to the overhead wire L1. If the deviation amount Δ regarding the overhead wire L1 is zero or more than zero and less than a predetermined first threshold value, the overhead wire position detection unit 33 determines that the overhead wire L1 is within the permissible area. Further, if the deviation amount Δ regarding the overhead wire L1 is greater than or equal to a predetermined first threshold value and less than a predetermined second threshold value, the overhead wire position detection unit 33 determines that the overhead wire L1 exists within the permissible area. However, it is determined that there is a risk that it will deviate from the permissible area. Further, if the deviation amount Δ regarding the overhead wire L1 is equal to or greater than a predetermined second threshold value, the overhead wire position detection unit 33 determines that the overhead wire L1 is outside the permissible area. The overhead wire position detection unit 33 generates an error signal indicating an abnormality when the position of the overhead wire L1 within the area AR1 is outside the permissible area.

The overhead wire position detection unit 33 also makes determinations about the overhead wires L2 and L3 using the same criteria as for the overhead wire L1.

The overhead wire position detection unit 33 outputs data specifying the above-described determination results for the overhead wires L1, L2, and L3 to the display device 5.

The display device 5 displays the detection results of the overhead wire position detection section 33 and the like. The display device 5 is, for example, a liquid crystal monitor. The display device 5 performs display based on the data output from the processing device 3. FIG. 8 is a diagram showing an example of a display screen of the display device 5. As shown in FIG. Referring to FIGS. 1 to 8, the display screen includes a display lamp 51, a coordinate display section 52, and an explanatory text display section 53.

The display lamp 51 indicates the status of each of the overhead wires L1, L2, and L3. The display lamps 51 include a left overhead line lamp 511 as a lamp indicating the status of the overhead line L1, a middle overhead line lamp 512 as a lamp indicating the status of the overhead line L2, and a right overhead line lamp 513 as a lamp indicating the status of the overhead line L3. have. These lamps 511, 512, and 513 perform display according to the detection result of the overhead wire position detection section 33.

For example, the indicator lamp 51 displays green when the deviation amount Δ of the center point of the overhead wire in the vehicle width direction X from the area center point is zero or less than a first threshold, and when the deviation amount Δ Yellow is displayed when the deviation amount Δ is greater than or equal to the second threshold and less than the second threshold, and red is displayed when the deviation amount Δ is greater than or equal to the second threshold. As described above, when the deviation amount Δ is equal to or greater than the second threshold, the overhead wire position detection unit 33 generates an error signal indicating an abnormality. When the display lamp 51 receives this error signal, it displays the above-mentioned, for example, red color as an error display. That is, the display device 5 displays an error when receiving an error signal indicating an abnormality regarding the relative position of the overhead wire and the pantograph from the overhead wire position detection unit 33.

In FIG. 8, a state in which the shift amount Δ of the left overhead wire L1 is equal to or greater than the second threshold value and the left overhead wire lamp 511 is displayed in red is shown by cross hatching. Further, a state in which the shift amount Δ of the right overhead wire L3 is greater than or equal to the first threshold value and less than the second threshold value and the right overhead wire lamp 513 is displayed in yellow is indicated by hatching. Further, a state in which the shift amount Δ of the overhead wire L2 is zero or less than the first threshold value and the overhead wire lamp 512 is displayed in green is shown without hatching.

The coordinate display section 52 shows the amount of deviation of the corresponding overhead wire center points (L1a, L2a, L3a) from the area center points (AR1a, AR2a, AR3a) in the vehicle width direction X and the vertical direction (Y direction). In FIG. 8, in the vehicle width direction, the deviation amount Δ of the left overhead wire L1 is a large value that is greater than or equal to the second threshold, and the deviation amount Δ of the right overhead wire L3 is a larger value that is greater than or equal to the first threshold and less than the second threshold. An example is shown in which the deviation amount Δ of the overhead wire L2 is less than the first threshold value. The display lamp 51 displays a display according to this shift amount Δ.

The explanatory text display section 53 performs a display according to the amount of deviation Δ of the overhead wires L1, L2, and L3 in the vehicle width direction X. In FIG. 8, as an example, it is shown that the left overhead wire L1 is out of the permissible area, that the middle overhead wire L2 is within the permitted area, and that there is a possibility that the right overhead wire L3 is out of the permitted area. .

FIG. 9 is a flowchart showing an example of the flow of processing operations in the monitoring device 1. As shown in FIG. When explaining with reference to FIG. 9, the explanation will be made with reference to figures other than FIG. 9 as appropriate.

Referring to FIG. 9, in the monitoring operation in the monitoring device 1, first, the area sensor 2 performs a scanning operation in the detection range around the area sensor 2 (step S1). Thereby, the area sensor 2 irradiates the area including areas AR1, AR2, and AR3 with beams B1, B2, and B3, and receives reflected waves of the beams B1, B2, and B3.

Next, the processing device 3 receives coordinate data indicating the detection result from the area sensor 2 (step S2). The overhead wire position detection unit 33 of the processing device 3, which has received the coordinate data from the area sensor 2, calculates the elliptical shapes of the corresponding overhead wires L1, L2, and L3 for the areas AR1, AR2, and AR3 (step S3). Next, the overhead wire position detection unit 33 calculates the coordinates of the center points AR1a, AR2, AR3 of the overhead wires L1, L2, L3 from the calculated elliptical shape (step S4). Next, the overhead wire position detection unit 33 detects the coordinates of the center points AR1a, AR2a, AR3a of the areas AR1, AR2, AR3 and the coordinates of the corresponding center points AR1a, AR2, AR3 of the overhead wires L1, L2, L3 in the vehicle width direction. The amount of deviation Δ from that is determined (step S5). Then, the overhead wire position detection unit 33 outputs data to the display device 5 so as to display the overhead wires L1, L2, and L3 according to the deviation amount Δ, and causes the display device 5 to perform the display (step S6). The monitoring device 1 repeatedly performs this process.

As described above, according to the present embodiment, the monitoring device 1 corresponds to each pantograph 101, 102, 103 in the vehicle 100 where the plurality of pantographs 101, 102, 103 contact different overhead wires L1, L2, L3. The relative position with the overhead wires L1, L2, and L3 can be detected. In the vehicle 100 having the narrow pantographs 101, 102, 103, the pantographs 101, 102, 103 are particularly likely to come off the overhead wires L1, L2, L3. Therefore, by using such a monitoring device 1, the possibility that the pantographs 101, 102, 103 will come off from the overhead wires L1, L2, L3 can be discovered at an early stage. As a result, any disadvantage caused by the suspension of operation of the vehicle 100 can be minimized or eliminated.

Further, according to the present embodiment, a beam is transmitted from one area sensor 2 toward a plurality of overhead wires L1, L2, and L3. According to this configuration, there is no need to use a plurality of area sensors 2, and the monitoring device 1 can be manufactured at low cost.

Further, according to the present embodiment, the area sensor 2 is arranged in line with the pantograph 102 near the center of the vehicle 100 in the vehicle width direction X in the vehicle length direction Z of the vehicle 100. According to this configuration, the detection accuracy of the overhead wires L1 and L3 by the area sensor 2 can be further improved.

Further, according to the present embodiment, the overhead wire position detection unit 33 detects the positions of the overhead wires L1, L2, and L3 using a plurality of coordinate data obtained by the area sensor 2. According to this configuration, the overhead wire position detection unit 33 can recognize the shapes of the overhead wires L1, L2, and L3 with higher accuracy using a plurality of coordinate data.

Further, according to the present embodiment, the overhead wire position detection unit 33 detects the center positions (center points L1a, L2a, L3a) of the overhead wires L1, L2, and L3. According to this configuration, the calculation load required for determining the positions of the overhead wires L1, L2, and L3 can be reduced.

Further, according to the present embodiment, the overhead wire position detection unit 33 uses a plurality of points specified by a plurality of coordinate data obtained by the area sensor 2 and a predetermined approximation formula to determine the contours of the overhead wires L1, L2, and L3. Detect shapes. According to this configuration, the calculation load necessary for the overhead wire position detection unit 33 to estimate the shapes of the overhead wires L1, L2, and L3 can be reduced.

Further, according to the present embodiment, the overhead wire position detection unit 33 detects the positions of the overhead wires L1, L2, and L3 within the areas AR1, AR2, and AR3 for each of the areas AR1, AR2, and AR3. According to this configuration, one area sensor 2 can accurately detect a plurality of overhead wires L1, L2, L3 by determining the positions of overhead wires L1, L2, L3 by dividing into areas AR1, AR2, and AR3.

According to the present embodiment, the overhead wire position detection unit 33 determines whether the positions of the overhead wires L1, L2, and L3 within the areas AR1, AR2, and AR3 are within a predetermined allowable area for each of the areas AR1, AR2, and AR3. Detect. According to this configuration, since the detection operation is performed separately for the plurality of areas AR1, AR2, and AR3, the calculation load can be further reduced, and erroneous detection of the positions of the overhead wires L1, L2, and L3 can be suppressed.

Further, according to the present embodiment, the overhead wire position detection unit 33 generates an error signal indicating an abnormality when the positions of the overhead wires L1, L2, and L3 within the areas AR1, AR2, and AR3 are outside the permissible areas. The display device 5 that has been given the error signal then displays the error. According to this configuration, a warning can be issued when the positional deviation of the overhead wires L1, L2, L3 is large, and it is possible to more reliably suppress pantographs 101, 102, 103 from coming off from the overhead wires L1, L2, L3.

The embodiments of the present invention have been described above. However, the invention is not limited to the embodiments described above. The present invention can be modified in various ways within the scope of the claims. In addition, below, the points different from the above-mentioned embodiment will be mainly explained, and the same components will be given the same reference numerals in the figures and detailed explanation will be omitted.

<Modified example>
FIG. 10 is a perspective view showing the arrangement around the area sensor 2 and the protective cover 10 according to a modification. 11 is a drawing showing the protective cover 10, FIG. 11(A) is a plan view, FIG. 11(B) is a front view, and FIG. 11(C) is a side view. FIG. 12 is a drawing showing the area sensor 2 and the stay 14, FIG. 12(A) is a perspective view, and FIG. 12(B) is a side view.

Referring to FIGS. 10 to 12(B), the modified example mainly differs from the embodiment in that it includes a protective cover 10 that protects the area sensor 2. Beams B1, B2, and B3 are transmitted toward overhead wires L1, L2, and L3 that are installed in a vehicle 100 having pantographs 101, 102, and 103 that receive power from overhead wires L1, L2, and L3, and are in contact with pantographs 101, 102, and 103. An area sensor 2 serving as a sensor is protected from wind and rain by a protective cover 10.

In a modified example, the area sensor 2 is housed in a protective cover 10 installed on beams 106, 106 installed on the roof of the vehicle 100. The protective cover 10 is fixed to the beams 106, 106 at the center of the vehicle 100 in the vehicle width direction X, and is located below the overhead wire L2. In this embodiment, the protective cover 10 is formed in a cylindrical shape. Note that the protective cover 10 may have any shape as long as it can accommodate the area sensor 2, and may have a polygonal cylindrical shape, for example.

The protective cover 10 includes a base 11, a cover body 12 in which a window portion 22 is formed, a lid 13 that covers the upper part of the cover body 12, and a stay 14 installed in the cover body 12.

The base 11 is formed in a shape that follows the shape of the lower end of the cover body 12, and in this embodiment, is formed in a disc shape. The base 11 is placed on beams 106, 106 that are spaced apart in the longitudinal direction Z of the vehicle 100, and is fixed to the beams 106, 106 using fixing members such as screw members (not shown). A through hole 11a is formed in the base 11, through which a cable 15 connected to the area sensor 2 passes. A cover body 12 is attached to the base 11.

The cover main body 12 forms a housing space in which the area sensor 2 is housed. The cover main body 12 is installed on the base 11, and may be integrally molded with the base 11, or may be fixed to the base 11 with an adhesive, screws, or the like.

The cover body 12 accommodates the area sensor 2. The cover main body 12 is arranged to surround the area sensor 2.

The cover main body 12 has a lower cylinder part 16 surrounding the lower part 2a of the area sensor 2, and an upper cylinder part 17 surrounding the upper part 2b of the area sensor 2.

The lower cylinder part 16 is formed in a cylindrical shape in this embodiment. A lower part of the lower cylinder part 16 is fixed to the base 11. The upper cylinder part 17 is formed in a cylindrical shape in this embodiment. The lower part of the upper cylinder part 17 is fitted into, for example, the outer peripheral part of the lower cylinder part 16, and the upper cylinder part 17 is detachable from the lower cylinder part 16. In this embodiment, the lower part of the upper cylinder part 17 and the upper part of the lower cylinder part 16 are configured to be detachable using a fixing member such as a screw member 18. In this embodiment, a plurality (three) of screw members 18 are provided at equal intervals in the circumferential direction of the cover body 12. The screw member 18 is, for example, screwed to a nut (not shown) disposed within the lower cylinder part 16 and fixed to the lower cylinder part 16. The screw member 18 projects to the outside of the cover body 12 in a state in which it is screwed to the nut. The upper cylinder part 17 can be removed from the lower cylinder part 16 by turning the screw member 18 with fingers and removing the screw member 18 from the nut, the lower cylinder part 16, and the upper cylinder part 17.

A lid 13 is attached to the upper end of the upper cylinder part 17. The lid 13 is provided to cover the space inside the cover main body 12 from above, and is formed in, for example, a disk shape. The lid 13 may be integrally molded with the upper cylinder part 17 as in this embodiment, or may be configured to be detachable from the upper cylinder part 17.

The area sensor 2 is supported by a stay 14 within the cover main body 12 having the above configuration. In this embodiment, the stay 14 is a sheet metal member and is installed on the base 11.

The stay 14 includes a lower plate 19, an inclined portion 20 extending obliquely upward from one edge of the lower plate 19, and a rib 21 reinforcing the inclined portion 20.

The lower plate 19 is a rectangular portion placed on the base 11, and is fixed to the base 11 using fixing members such as screws. The lower plate 19 is integrally formed with the inclined portion 20. The inclined portion 20 is formed in an inclined shape that extends upward in the longitudinal direction Z of the vehicle 100, for example, toward the front. The area sensor 2 is attached to the upper surface of the inclined portion 20 facing the overhead wires L1, L2, and L3. The area sensor 2 is fixed to the inclined portion 20 using a fixing member such as a screw, for example. With this configuration, the lower part 2a including the lower end 2c of the area sensor 2 is surrounded by the lower cylindrical part 16, and the upper part 2b including the upper end 2d is surrounded by the upper cylindrical part 17. Further, the light receiving/emitting window 2e of the area sensor 2 faces obliquely upward to the rear of the vehicle 100, and faces the overhead wires L1, L2, and L3. The light receiving/emitting window 2e is formed in a shape including a part of a cylinder. A cable 15 extends from the bottom surface of the area sensor 2 and passes through the through hole 11a.

The rib 21 is a plate member that connects the inclined portion 20 and the lower plate 19 and extends perpendicularly to the vehicle width direction X, and is fixed to the inclined portion 20 and the lower plate 19 by, for example, welding.

The light emitting/receiving window 2e of the area sensor 2 faces a window portion 22 formed in the cover body 12. The window portion 22 is a portion through which the sensing beams B1, B2, and B3 from the area sensor 2 pass, and through which reflected waves generated when the area sensor 2 transmits the beams B1, B2, and B3 pass. The window portion 22 is designed to prevent the protective cover 10 from blocking the beams B1, B2, and B3 irradiated from the receiving/emitting window 2e of the area sensor 2 to the overhead wires L1, L2, and L3, and to prevent the area sensor 2 from blocking the beams B1, B2, and B3 emitted from the receiving and emitting windows 2e of the area sensor 2 to It is preferable that the area exposed to the outside be minimized. In this embodiment, the window portion 22 is a through hole formed in an arc shape when viewed from the area sensor 2 installed in the vehicle 100. The window portion 22 is formed in an arcuate shape in which the height of the portion located below the overhead wire L2 is higher than the height of the portion located below the overhead wires L1 and L3. Further, the thickness of the window portion 22 (slit width in the vertical direction) is set to a value that allows the beams B1, B2, and B3 and the reflected waves of these beams B1, B2, and B3 to pass, and is set to, for example, several mm. has been done.

As explained above, according to the protective cover 10, since the area sensor 2 is housed in the cover body 12, it is possible to prevent the area sensor 2 from being directly exposed to wind and rain. Therefore, the area sensor 2 can be protected from the external environment such as wind. Moreover, since the window portion 22 through which the beams B1, B2, B3 and their reflected waves can pass is formed, measurement of the overhead wires L1, L2, L3 by the area sensor 2 is not hindered. As described above, the beam B1 is directed toward the overhead wires L1, L2, L3 installed in the vehicle 100 having the pantographs 101, 102, 103 that receive power from the overhead wires L1, L2, L3 and in contact with the pantographs 101, 102, 103. Regarding the area sensor 2 that transmits B2 and B3, the detection accuracy of the area sensor 2 can be ensured while being protected from the external environment such as wind and rain.

Further, according to the protective cover 10, the window portion 22 is formed in an arc shape when viewed from the area sensor 2. According to this configuration, the area in which the protective cover 10 can cover the area sensor 2 can be increased while allowing the beams B1, B2, B3 and their reflected waves to pass through.

Further, according to the protective cover 10, the upper cylinder part 17 of the cover main body 12 is configured to be detachable from the lower cylinder part 16. According to this configuration, by removing the upper cylinder part 17, maintenance efficiency can be improved, such as being able to easily clean dust attached to the area sensor 2 during operation of the area sensor 2.

Moreover, according to the protective cover 10, both the cover body 12 and the area sensor stay 14 can be firmly supported by the base 11.

INDUSTRIAL APPLICATION This invention is widely applicable as a relative position monitoring device of an overhead wire and a pantograph.

1 Relative position monitoring device between overhead wire and pantograph 2 Area sensor 5 Display device (display section)
32 Area setting unit 33 Overhead line position detection unit 100 Vehicles 101, 102, 103 Pantograph AR1, AR2, AR3 Areas B1, B2, B3 Beams L1, L2, L3 Overhead lines L1a, L2a, L3a Center point of overhead line X Vehicle width direction Z Vehicle Long direction

Claims (10)

An area sensor installed on a vehicle running on a railway track, the sensor having a plurality of pantographs individually contacting a plurality of overhead wires arranged in parallel, the area sensor having a plurality of pantographs that individually contact a plurality of overhead wires that are in contact with the plurality of overhead wires arranged in parallel. an area sensor that transmits a directional beam and receives reflected waves generated by transmitting the beam;
an overhead wire position detection unit that detects the position of each of the overhead wires from received data obtained by the area sensor;
Equipped with
The area sensor is arranged such that when looking at each of the overhead wires from the area sensor, the outline shape of each of the overhead wires has a shape including a part of an elliptical shape,
The overhead wire position detection unit calculates the outline shape of each overhead wire and the position of each overhead wire from the received data using a formula for calculating an elliptical shape. The apparatus for monitoring the relative position of an overhead wire and a pantograph according to claim 1, wherein one area sensor is provided, and the beam is transmitted from the one area sensor toward a plurality of the overhead wires. The overhead wire according to claim 1 or 2, wherein the area sensor is arranged in line with the pantograph near the center in the vehicle width direction of the vehicle among the plurality of pantographs in the vehicle length direction of the vehicle. Pantograph relative position monitoring device. The overhead wire position detection unit detects the position of the overhead wire using a plurality of coordinate data included in the received data for each of the overhead wires. and pantograph relative position monitoring equipment. The relative position monitoring device between an overhead wire and a pantograph according to claim 4, wherein the position of the overhead wire includes a center position of the overhead wire. 4 . The overhead wire position detection unit detects the contour shape of each overhead wire using a plurality of points specified by a plurality of coordinate data included in the received data and a predetermined approximation formula for each of the overhead wires. Or the relative position monitoring device of an overhead wire and a pantograph according to claim 5. It further includes an area setting section,
The area setting unit sets an area for each of the plurality of overhead lines,
The relative position monitoring device between an overhead wire and a pantograph according to any one of claims 4 to 6, wherein the overhead wire position detection unit detects the position of the overhead wire within each of the areas. 8. The relative position monitoring device between an overhead wire and a pantograph according to claim 7, wherein the overhead wire position detection unit detects, for each area, whether the position of the overhead wire within the area is within a predetermined permissible area. 9. The relative position monitoring device between an overhead wire and a pantograph according to claim 8, wherein the overhead wire position detection unit generates an error signal indicating an abnormality when the position of the overhead wire within the area is outside the permissible area. further comprising a display section,
The display section displays the amount of positional deviation of the corresponding overhead wire with respect to each of the pantographs, and displays an error when receiving an error signal indicating an abnormality regarding the relative position of the overhead wire and the pantograph from the overhead wire position detection section. The relative position monitoring device for an overhead wire and a pantograph according to any one of claims 1 to 9.

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