JP4448268B2 - Utility pole position detection method and route abnormal part image recording apparatus using this method - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a utility pole position detection method and an abnormal part image recording device for a route using this method. More specifically, the present invention is mounted on a test car or a test car, and the stationary part of an abnormal part such as a trolley line can be stopped without going to the site. The present invention relates to an apparatus for recording an abnormal part of a route so that a picture can be efficiently collected with a smaller number of images.
[0002]
[Prior art]
A vehicle such as a train on a train track travels by receiving electric power from the pantograph in sliding contact with the trolley line. A sliding plate is attached to the upper part of the pantograph, and the trolley wire contacts this. This sliding board is usually formed of a soft copper wire as compared with the trolley wire. The vehicle obtains necessary electric power from the trolley line through the sliding plate. The lower surface (sliding surface or sliding surface) of the trolley wire and the upper surface of the pantograph (sliding plate) are gradually worn by mutual sliding contact. The trolley wire is alternately displaced in the left-right direction for each supporting power pole so that the wear on the pantograph side does not concentrate on a part. The amount of wear and displacement of the trolley wire is equipped with a measuring device in an electric inspection vehicle, etc., and is periodically measured and recorded on the VTR etc. along with the distance from the reference position (and the pole number). The amount of wear is measured along with the location.
[0003]
For example, a trolley wire abnormality may be observed when an image recorded on a VTR or the like is observed and checked in this trolley wire wear amount measuring apparatus. In such a case, conventionally, a person goes to the site and confirms the state, or photographs the state.
[0004]
[Problems to be solved by the invention]
For example, when the trolley wire abnormality is confirmed on-site, the number of man-hours for manpower increases. Also, if the person's confirmation does not convince another person, reconfirmation is necessary.
In order to solve such a problem, an abnormal portion of the trolley line is photographed, but a clear image cannot be captured with a conventional VTR or the like. Therefore, it is conceivable to capture abnormal locations on the trolley line with a high-density still image while running on the inspection vehicle, but the problem when imaging with a high-density still image is the location of the abnormal location. This is the data processing amount.
[0005]
By the way, it is difficult to shoot a trolley line abnormality spot even if a still image is collected by checking its position in the current running state of the inspection vehicle according to the kilometer data from the reference position measured and recorded in the past. is there. This is because the position of the abnormal location changes depending on the running state when the test vehicle is run. The kilometer of the actual running state changes from time to time due to slipping of wheels, wheel wear, brake differential, and the like. Reference points (reference points P) are provided at intervals of 10 km for correction of kilometer data of the current railway track. At that time, the position of the abnormal location specified by the current travel distance and the distance data measured in the past is misaligned as the actual travel state differs from the previous measurement state, and the order of several meters or more. Therefore, it is difficult to take a still image of the location of the abnormal part because the integration error has a positional deviation. If you shoot dozens of still images over a certain section, it is possible to capture still images of abnormal locations, but if the number of still images increases, the amount of data processing becomes enormous. The load becomes so large that it cannot actually be processed. In addition, if the number of still images at the abnormal location increases, a lot of useless still images are collected, and there is a problem that it takes time and effort to extract necessary ones.
[0006]
In order to reduce the number of still images to be taken, it is necessary to detect the position of an abnormal part with as high a precision as possible. However, as described in the conventional utility pole position detection, Japanese Patent Application Laid-Open No. 57-25101, the distance pulse is integrated from the reference point (reference point P) every 10 km to obtain the actual travel distance. It is considered that the utility pole is detected by applying a gate from the current pole position data to the next utility pole detection position, but there is a problem that errors in the next utility pole occur as the error from the reference position accumulates and the distance from the reference pole position increases. is there. In other words, when there are multiple pole detection signals in the gate, the signal position detected first is set apart from the center of the gate to make it true. For this reason, the gate to the next utility pole will shift. There is a problem that the following detection mistake of the utility pole occurs.
Of course, it is conceivable to use a large gate width or to detect a utility pole without a gate, but detection noise increases, and it is impossible for railway tracks with many obstacles such as bent metal fittings and trolley wire support fittings. close.
Therefore, it is considered best to detect the utility pole in front of the abnormal position and specify the abnormal part by measuring the distance from it. It is conceivable to detect the position of each power pole by setting the gate to the next power pole position based on the previously detected power pole. The next utility pole may not be detected due to the difference. It is a problem if it is a power pole of a target to be detected. If there is a leak in the detection of the immediately preceding utility pole, the amount of measurement deviation up to the position of the trolley wire abnormality location becomes large, and even if the number of images is increased, there is a possibility that a still image of an appropriate abnormality location cannot be obtained.
An object of the present invention is to solve such a problem of the prior art, and can detect a position of a power pole with higher accuracy suitable for detecting a position of a still image image or the like of an abnormal portion such as a trolley line. An object of the present invention is to provide a utility pole position detection method.
Another object of the present invention is to provide a route abnormal part image recording apparatus capable of efficiently collecting still images of abnormal parts such as trolley lines with a smaller number of sheets using the above-mentioned utility pole position detection method. There is.
[0007]
[Means for Solving the Problems]
The features of the utility pole position detection method of the present invention for achieving such an object are the distance data measured for the utility pole provided on the railway track with reference to the predetermined measurement reference position of the railway track, and the traveling of the inspection vehicle In the utility pole position detection method that detects the actual utility pole position by setting the gate corresponding to the position of the utility pole based on the distance and obtaining the utility pole detection signal in this gate, the detected position of the utility pole is used as a reference Based on the measured distance data, the first gate is set as the gate at the next utility pole position, and based on the distance data measured using the measurement reference position as the reference, the second gate is set as the gate at the next utility pole position. Thus, the utility pole detection signal is obtained at either the first gate or the second gate to detect the actual utility pole position, and the measurement reference position for a particular utility pole is viewed. When the difference between the actual pole detection position and the pole position based on the distance data from the measurement reference position of the pole is less than a predetermined error, the pole detection position of the pole is changed to the measurement reference position. The second gate is set.
[0008]
Further, the feature of the abnormal part image recording device of the route of the present invention for achieving the above object is the first as a gate at the next power pole position based on the distance data measured on the basis of the position of the detected power pole. The second gate is set as the gate at the next power pole position based on the distance data measured with reference to the measurement reference position, and the power pole is detected at either the first gate or the second gate. There is a difference between the utility pole detection means that obtains a signal and detects the actual utility pole position, and the actual utility pole detection position as seen from the measurement reference position for a certain utility pole and the position of the utility pole based on the distance data as seen from the measurement reference position for a given utility pole. Different from the second gate setting means for changing the pole detection position of the utility pole to a measurement reference position and setting the second gate to the utility pole detection means when the error is below a predetermined error. An imaging means for taking a still image of an abnormal location by measuring the distance from the location of the utility pole to the location of the abnormal location or the distance to the front when the location of the utility pole immediately before the location is detected It is.
[0009]
[Action]
Thus, in the invention of this method, two system gates are set, and a utility pole detection signal is obtained under the OR condition. At this time, since the first gate is directly influenced by the actual traveling state at that time, a state in which the utility pole cannot be detected occurs. However, the leakage can be prevented at the position of the second gate set from the measurement reference position. Since the second gate is set by past measurement data from the measurement reference position, the actual traveling state may not be sufficiently reflected as the distance from the reference position increases. Therefore, as the distance from the measurement reference position increases, an accumulated error occurs, and it becomes impossible to prevent detection failure at the first gate. In order to prevent this leakage, the position is corrected using one of the positions of the utility pole actually detected in the actual traveling state as a reference position. As a result, the second gate is reset from there, so that the pole position can be detected almost certainly by the second gate when it is not detected by the first gate.
As a result, it is possible to detect the position of the power pole with higher accuracy suitable for detecting the position of a still image image or the like of an abnormal part of a route structure such as a trolley line.
[0010]
Further, in the apparatus of the present invention, the distance to the abnormal part is measured based on the position of the electric pole immediately before the abnormal part such as the trolley wire in the above-mentioned electric pole position detection, so that the still image video of the abnormal part When collecting images, even a small number of images can be reliably collected.
[0011]
【Example】
FIG. 1 is a block diagram of an image recording device for a trolley wire abnormal part to which the utility pole position detecting method and abnormal line image recording device of the present invention are applied, and FIG. 2 is an embodiment of the electric pole position detecting method of the present invention. Flowchart of still image recording processing by image recording apparatus, FIG. 3 is an explanatory diagram of the specific contents, FIG. 4 is an explanatory diagram of detection of a power pole position at two gates, and FIG. 5 is a reference power pole position It is explanatory drawing of this correction process.
In FIG. 1, reference numeral 10 denotes an image recording device for an abnormal portion of a trolley line, which is a utility pole detection sensor 11, an infrared LED light source 12, and a high-speed camera (two-dimensional) mounted on the roof of the inspection vehicle 20. A CCD camera (hereinafter referred to as camera) 13, an A / D conversion circuit (A / D) 14, and an image data processing device 15.
Here, the relationship between the utility pole detection sensor 11, the infrared LED light source 12, and the camera 13 is installed on the roof of the inspection vehicle 20, as shown in the figure, and the camera 13 has an elevation angle of about 4 degrees. It is aimed hollow. On the other hand, the infrared LED light source 12 is provided at the same position as the utility pole detection sensor 11, and irradiates a spot-like light beam (see FIG. 1) vertically.
[0012]
The utility pole detection sensor (infrared sensor) 11 is actually performed by detecting a support beam (arms projecting laterally) that supports the trolley wire 1 attached to each utility pole. Each telephone pole is detected by receiving the reflected light of the beam. In the utility pole detection, various supports such as bent support brackets are detected, and there are many noise signals, so a gate is set corresponding to the utility pole position, and the detection signal in that gate is used as the utility pole detection signal. Yes.
Therefore, the utility pole detection signal closest to the abnormal location of the trolley wire is obtained, the distance pulse PL from there to the abnormal location of the trolley wire is obtained from the location of the utility pole as a reference, and this pulse is counted. Then, the travel distance to the abnormal point is measured (calculated), the measurement program of the image data processing device 15 is started, and the shutter of the camera 13 is operated at a predetermined cycle for a predetermined number of times. As a result, the still image video of the trolley line 1 is collected by the plurality of cameras 13, and the data is transferred to the external storage device 157 and recorded together with the position data at that time.
The utility pole detection sensor 11 includes a photodiode 111, an amplifier (AMP) 112, and a comparator (COM) 113, and the threshold level is adjusted by the comparator 113, or sensitivity adjustment is performed on the reflected light from the trolley wire 1. Made. As a result, a detection signal from which noise has been removed is output, and the signal within the gate is output as the utility pole detection signal d.
Reference numeral 16 denotes a distance pulse generation circuit which generates a pulse (distance pulse PL) for each predetermined travel distance by a detector such as a rotary encoder that rotates by engaging with the travel wheel. The distance pulse PL generated from the distance pulse generation circuit 16 is taken into the image data processing device 15 via the interface 155 of the image data processing device 15, and the travel distance is measured based on this.
[0013]
The image data processing device 15 includes an MPU 151, a memory 152, a CRT display 153, an image memory 154, and an interface 155, and these circuits are connected to each other by a bus 156. Then, the utility pole detection signal d is sent to the MPU 151 as an interrupt signal via the interface 155. The MPU 151 sets a gate based on past measurement data in a range covering the utility pole detection position, and within this gate range. Is treated as a true utility pole detection signal d. Then, it is determined whether or not the power pole two abnormal places before the trolley wire has been detected, and when it is two places ahead, an abnormal place (actually a little before the abnormal place) is based on the past measurement data. Is measured by counting the distance pulse PL in the current running state. Further, it is determined whether or not a power pole immediately before the abnormal portion of the trolley wire has been detected. If a power pole is detected, the distance count value from the power pole before the second is reset when the power pole is one. Then, counting of the distance pulse PL from the immediately preceding utility pole to the abnormal part is started, and the abnormal part is measured and specified from the past measurement data.
In this way, the camera 13 is operated slightly before the abnormal part, and a plurality of still image images are taken at a predetermined cycle. This period is determined based on the traveling speed, and is set so that about 4 to 8 sheets are collected at intervals of about 20 cm to 30 cm including the abnormal part of the trolley wire. In addition, even if it is a space | interval of about 20 cm-30 cm, if it considers from the visual field range of one image, a continuous image can be extract | collected.
Here, if the number of pixels of the captured image of the camera 13 is a color image of 512 × 480 pixels (dots), the image data for one frame is A / D converted by the A / D 14 in one imaging and the image The data is taken into the data processor 15 and stored in the image memory 154. A plurality of images are stored in the image memory 154.
[0014]
The memory 152 stores a gate setting / electric pole detection program 21, an imaging position determination program 22, a still image collection program 23, and a reference electric pole setting program 24. From the target electric pole before the target position of the trolley line abnormality location and its electric pole A data area 25 for storing the distances is provided. Then, the still image collection program 23 is executed by the MPU 151 at a position in front of the trolley line abnormality portion, and the still image obtained by collecting the data from the A / D 14 in the image memory 154 is temporarily recorded, and this is stored in the external storage device 157. Compressed and transferred.
In the external storage device 157 such as a hard disk connected via the interface 155, distance data measured in the past from the reference point P to each power pole position is stored as the power pole position measurement data 158. This distance data is obtained as regression data from the distance data for each power pole measured a plurality of times in the past.
There are places where there is no utility pole, such as near the entrance of the tunnel, but this is due to detection of the one corresponding to the utility pole.
[0015]
When this program is executed by the MPU 151, the gate setting / electric pole detection program 21 determines the next electric pole detection position based on the measured distance data (electric pole position measurement data 158) and the current travel distance for each of the past electric pole positions. A gate with a predetermined width is set before and after. As the gate width in this case, an appropriate width is adopted based on past experience. As shown in FIG. 3, the gate width is a distance pulse PL generated by the current running on the basis of the front pole position. And the distance traveled to the next utility pole 4 determined by the measured distance data is set to be the center of the gate. This gate is referred to as the first gate 2 here. Separately from this, with the reference position P set every 10 km as a reference, the next utility pole 4 determined by the distance pulse PL generated by the current traveling and the measured distance data (electric pole position measurement data 158). The second gate 3 is set around the travel distance up to. The entire gate for detecting the utility pole detection signal d is in the range of the OR condition of the first gate 2 and the second gate 3.
[0016]
Here, the position of the utility pole 4 that is actually detected in one of the two gates is not often at the center of the set gate, and the actual utility pole detection position changes according to the traveling state at that time. Therefore, the first gate 2 set as the next utility pole position is shifted from the position of the second gate 3 with the actual utility pole position detected at a certain gate as a reference. At these gates, the position of the utility pole 4 based on the current travel distance actually detected by the utility pole detection signal d is calculated as the converted distance S1 from the reference point P. This converted distance S1 becomes distance data (current measurement data) of an actual utility pole detection position measured by the current travel distance viewed from the measurement reference position P for a certain utility pole at the current travel distance. On the other hand, let S2 be the distance to the utility pole 4 based on the already measured reference position P obtained from the utility pole position measurement data 158 at the current travel distance.
In FIG. 3, the width of the second gate 3 is slightly larger than the width of the first gate 2. Also, an ideal case is shown, and there is no deviation between the gate positions of both, but in practice, when setting the next gate, the reference of the first gate 2 is the current running state detected each time Therefore, it is different from the position of the second gate 3 based on the already measured data with the reference point P as a reference. Therefore, a deviation occurs between them.
In addition, the position of the utility pole 4 actually detected in these gates depends on the traveling state of the inspection vehicle at that time, and depends on where it is detected on the gate, so it is the same as the past measurement position. Not exclusively.
[0017]
It is determined whether or not the utility pole detection signal d is present in the gate set by the gates of the first and second OR conditions, and it is determined where the signal is generated when it is in the gate. Is the current position of the utility pole 4.
By the way, since there are a large number of supports such as a bent metal fitting and a trolley wire support metal in addition to the support metal at the position of the electric pole 4, there are usually a plurality of detection signals in the gate. . In this case, the detection signal closest to the center position of the gate among the plurality of detection signals is adopted as the utility pole detection signal d. The detected actual position S1 of the utility pole 4 depends on the relationship shown in FIG. 4, which will be described later.
Since the utility poles 4 are usually installed at intervals of about 50 m, there are about 200 utility poles 4 between the utility pole 4 at the reference position P and the utility pole 4 at the next reference position P. Therefore, the position of the first gate 2 changes according to the traveling state between the utility poles 4 at that time. On the other hand, the position of the second gate 3 changes according to the running state accumulated from the reference position P.
[0018]
Now, when the electric pole 4 to be detected in the first gate 2 does not enter when there is a large error between the past measured distance between the electric poles 4 and the measured distance due to the current running state in the running state between certain poles 4 There is. In this case, the utility pole 4 is detected by the second gate 3 to prevent the detection of the utility pole due to the fluctuation of the running state between the utility poles 4. However, since the second gate 3 is based on the reference position P set every 10 km, the error is accumulated as the distance from the reference position P increases. In order to correct this error, here, a utility distance 4 is set as a new reference utility pole between reference positions P by a reference utility pole setting program 24 to be described later, and the distance measured thereafter is cumulatively measured based on this. Then, the second gate 3 is set. This avoids a utility pole detection leak. This prevents a utility pole detection leak before the trolley wire abnormality point.
[0019]
When the electric pole 4 is detected, the imaging position determination program 22 determines whether the electric pole 4 is the electric pole two before the trolley wire abnormality point or the electric pole one before, and when the electric pole 4 is one of the electric poles Then, the count value of the distance pulse PL is calculated from the actually detected position of the utility pole 4, and the distance to the abnormal part is measured. In this case, in the case of the power pole two before, the distance to the next power pole 4 + the distance from the next power pole 4 to the abnormal position of the trolley wire −α or not, depending on the distance pulse PL, to the abnormal position Measure the distance and detect the start point of shooting. It should be noted that -α is determined in accordance with the set amount slightly before the abnormal part. At this time, the distance to the next utility pole 4 is obtained from the utility pole position measurement data 158. The distance from the next utility pole 4 (target utility pole) to the abnormal location from this position is a value separately input as the distance from the target utility pole to the abnormal value. The distance between the utility pole 4 immediately before the abnormal location and the abnormal location is input in advance and stored in the data area 25 in the memory 152.
Further, in this program, when the utility pole 4 is detected, it is also determined whether or not it is a post of the reference point P. As a result, when the reference point P is detected, the utility pole detection is started with this as a reference.
When a power pole in front of the abnormal point is detected, the measured value from the power pole in front of the second point is reset, and the distance from the power pole 4 detected in accordance with the distance pulse PL from the power pole in front of the distance to the abnormal point The distance to the abnormal part is measured depending on whether or not the distance becomes −α.
With the setting of α, for example, the still image collection program 23 is called at about 150 cm before the abnormal position.
[0020]
When this program is executed by the MPU 151, the still image collection program 23 activates the camera 13 and operates the shutter at a cycle corresponding to a travel distance of about 30 cm to collect 4 to 8 still images. Each frame (or one field) of data stored in the memory 154 is compressed and transferred to the external storage device 157.
The reference utility pole setting program 24 is replaced with the reference position P set every 10 km, and the error is seen from the past measurement value in the travel distance of the intermediate utility pole 4 between the reference position P and the reference position P. Set a small number of utility poles 4 as reference poles, add the mileage as a new starting point, and convert past measured distance data to those from the new starting point (detected reference pole position) Based on this, the second gate 3 is set for each utility pole 4. Thereby, the position error of the second gate 3 with respect to the subsequent utility pole 4 is reduced, and the accuracy is improved.
The setting of the reference pole is such that when a certain pole 4 is detected, the kilometer integrated value S1 of the detected position from the reference point P calculated by the distance pulse PL to the pole 4 (measured distance by current running) When the error between the current travel distance from the reference point P and the accumulated value S2 (past measurement distance) to the utility pole corresponding to the past measurement data up to the utility pole 4 is ΔS. It is determined whether S2 | <ΔS. When the above condition is satisfied, when | S1-S2 | <ΔS, as shown in FIG. 3, the detected utility pole 4 is used as a reference utility pole Pa and the reference position P is referred to with reference to the utility pole position measurement data 158. The distance S1 to the detected reference power pole Pa is set as the integrated distance M on the past measurement data. Thereby, the integrated distance to the detection position of the utility pole 4 is corrected to the distance M. Alternatively, it is detected each time by calculating the difference between the distance S1 and the past measurement data from the reference point P to the detected reference pole Pa with reference to the pole position measurement data 158 as an integration error ΔM every time the pole is detected. When ΔM <ΔS, the accumulated distance to the detection position of the utility pole 4 is corrected with the error ΔM by the error ΔM.
As a result, the center of the position of the second gate 3 of the detected utility pole is pulled back to the actually detected utility pole position, and the counting error is reduced by starting counting from the reference point P.
The error ΔS is obtained from the past measurement data as a limit value of error values that can be adopted as the reference utility pole.
[0021]
That is, the position where the second gate 3 is set up to the subsequent detection pole 4 by the distance pulse PL is calculated from the following equation by measuring the kilometer integration value Sa from the reference point Pa.
S2 = Sa + M
Sa is an integrated value of the travel distance calculated by the distance pulse PL with reference to the reference power pole Pa at the position of the actually detected power pole 4.
Thereby, the integrated value of the travel distance is changed from the reference point P to the reference utility pole Pa. Here, if the error of the accumulated distance M to the reference pole P is Δd1, and the error of the accumulated distance Sa for a certain pole is Δd2, the total error is Δd1 + Δd2, but the first error is set from the reference point P. When the position of the second gate 3 is shifted to the position of the actually detected reference pole P, the distance error of the second gate 3 starts from there, and the accumulated error added to the subsequent setting error of the second gate Becomes substantially Δd 2 and is reduced and corrected.
[0022]
Actually, since the position determined by the distance pulse PL generated at a constant interval and the position where the utility pole detection signal is generated are different in the distance pulse PL, detection of the position of the utility pole 4 by two gates is shown in FIG. It is done in such a relationship.
FIG. 4A is an explanatory diagram of the relationship between the first and second gates and the generation timing of the utility pole detection signal d. The positions determined by the distance pulse PL of the first gate 2 are (1) to (4), and the positions determined by the distance pulse PL in the second gate 3 are (I) to (IV).
Since the distance pulse PL and the utility pole detection signal d are rarely generated in correspondence with each other, it is assumed that they do not occur in correspondence with each other. In this case, the distance is given with priority as shown in FIG. It is assumed that it is a pulse generation position and the actual utility pole detection position based on the utility pole detection signal d is measured by the distance pulse PL there.
In FIG. 4B, (1) and (2) in the input signal column 51 of the first gate 2 are between positions (1) and (2) where the utility pole detection signal d is determined by the distance pulse PL. In this case, the position at (2) in the priority result column 52 becomes the actual utility pole detection position. The same applies hereinafter. Of course, when the distance pulse PL substantially matches the utility pole detection signal d, the position is the utility pole detection position.
Similarly, (I) and (II) in the input signal column 53 of the second gate 3 are cases where the utility pole detection signal d is generated between (I) and (II), and the position at that time has priority. The position of the position (II) measured by the distance pulse PL in the result column 54 becomes the actual utility pole detection position. The same applies hereinafter. Of course, as described above, when the distance pulse PL substantially matches the utility pole detection signal d, the position is the utility pole detection position.
[0023]
In this way, the position of the utility pole is detected by the gate of the OR condition of the first gate 2 and the second gate 3, and the gate is set by setting the position of the second gate 3 as the reference utility pole Pa. Thus, the utility pole 4 immediately before the abnormal portion of the trolley wire is reliably detected.
Thus, it becomes possible to measure the distance based on the utility pole 4 immediately before the abnormal part of the trolley line by detecting the electric pole of the first gate 2, and to reduce the distance error to the abnormal part in the current running state. . However, in consideration of the case where the utility pole 4 immediately before the abnormal portion of the trolley wire cannot be detected, here, for the sake of safety, as described above, the double safety based on the detection of the previous utility pole is used. The sex is secured.
[0024]
Hereinafter, the still image collection process at the abnormal location will be described with reference to the flowchart of FIG.
First, referring to the measurement data between the power poles 4 in the past corresponding to the power pole position measurement data 158, the position (reference point P) of the target power pole (the power pole 4 immediately before the abnormal position) in front of the target position of the trolley line abnormal position. (Posts every 10 km), the distance from this position or the pole number) and the distance from the pole to the abnormal part are input and stored in the data area 25 of the memory 152 (step 101), and then the reference point P Is started (see step 102, post P in FIG. 3). Then, it is determined whether or not the utility pole is detected by receiving the utility pole detection signal d to determine whether or not the utility pole is detected in the OR gates of the first gate 2 and the second gate 3 (step 103). If the determination is NO, the process returns to step 103 and enters a utility pole detection waiting loop.
[0025]
In such a detection loop, when the utility pole 4 is detected, the answer is YES. At this time, the imaging position determination program 22 is called and executed by the MPU 151 to determine whether the utility pole 4 is in front of the target utility pole. (Step 104) When it is NO, it is determined whether or not it is a target utility pole (Step 105), and when it is NO, it is determined whether or not it is a post utility pole at the reference point P (Step 106). When the answer is NO, the gate setting / electric pole detection program 21 is called and executed by the MPU 151, and the distance traveled by the distance pulse PL at this pole detection position is calculated as the converted kilometer integrated value S1 from the reference point P. (Step 107), with reference to the utility pole position measurement data 158, the accumulated value S2 of kilometers from the reference point P that has already been measured to the detected utility pole 4 is read (Step 108), and | S1-S2 | <ΔS Is determined (step 109).
Here, when NO, it is determined whether or not the process is finished (step 110), and when the process is not finished, the process returns to step 103 to enter the next utility pole detection.
[0026]
In such a process, the determination in step 109 is YES, and if the difference | S1-S2 | between the kilometer distance from the reference point P and the kilometer distance for each utility pole 4 is equal to or less than the error ΔS, the detected utility pole is changed to the reference utility pole Pa. It is set and the position of the reference point P is set to the actual position where the reference utility pole Pa is detected, and it is determined whether or not the process is finished (step 110). If not finished, the process returns to step 103. Further, when the determination in step 106 is YES, the process returns to step 102 using that as a reference point P.
Further, when YES is determined in step 104, the detected pole position is set as the pole 4 in front of the target pole, and the distance pulse PL is counted from the position of the pole 4 actually detected with the detected position of the pole 4 as a reference. Then, it is determined whether or not the distance to the next utility pole 4 + the distance from the next utility pole 4 to the abnormal location−α, and the distance to the abnormal location is measured according to the distance pulse PL (step 104a). Thus, when the determination is YES, the process proceeds to step 105c (described later). Thereby, the distance to the abnormal part is measured according to the distance pulse PL.
If “YES” is determined in Step 105, the previous measurement value in Step 104 a is reset using the detected utility pole position as the target utility pole, and the determination / distance measurement process in Step 104 a is stopped (Step 105 a), and the detected utility pole 4 It is determined whether or not the distance to the abnormal location is -α, and the distance to the abnormal location is measured according to the distance pulse PL (step 105b). When the step 104a or the distance measurement here is completed, the still image collection program 23 is called to take a plurality of still images (step 105c), stored in the image memory, and transferred to the external storage device ( Step 105d).
[0027]
FIG. 5 is an explanatory diagram of a correction process for correcting the position of the reference power pole position Pa.
In FIG. 5, the detected position of the reference power pole position Pa is corrected using the position between the two previous detection power poles, and the actual position is moved back and forth.
The correction is made such that the measurement distance S1 = a2 from the reference point P of the detection position of the previous detection electric pole 6 and the measurement distance S1 = a1 from the reference point P of the detection position of the previous detection electric pole 7; If the distance to the reference utility pole 8 (reference utility pole Pa) is S1 = a0, the utility pole 6 and the utility pole 7 obtained from the distance (a1-a2) between the previous and previous utility poles and the utility pole position measurement data 158. A difference Δa from the past measurement data is calculated, and the position of the reference power pole Pa is moved with the reference power pole Pa as (a0−a1) −Δa. However, when the distance (a1−a2) is larger than the measurement data, the difference Δa is treated as a positive value, and when the distance (a1−a2) is smaller than the measurement data, the difference Δa is treated as a negative value.
Thereby, a highly accurate setting is made. However, the value is smaller than Δa <ΔS.
[0028]
As described above, in the embodiment, the utility pole is detected by detecting the utility pole by the first gate and compensating for the leakage by the utility pole detection of the second gate, but the detection position of the second gate is shown in FIG. (I), (II), (1), (2), (3), (4), (III), (IV), the first gate and the second gate are overlapped with the first gate. The power pole may be detected at the same time, and processing may be performed so as to give priority to the power pole detection position of the first gate.
[0029]
【The invention's effect】
As described above, according to the present invention, two systems of gates are set, and a utility pole detection signal is obtained under the OR condition. At this time, since the first gate is directly affected by the actual traveling state at that time, a state in which the utility pole cannot be detected occurs, but one of the positions of the utility pole actually detected in the actual traveling state is used as a reference. Since the position is corrected as the position and the second gate is re-established therefrom, the position of the utility pole can be detected almost certainly by the second gate when it is not detected by the first gate.
Furthermore, in the apparatus of the present invention, the abnormal part is measured based on the position of the utility pole in front of the abnormal part of the trolley wire in the above-mentioned electric pole position detection, so even when a still image image of the abnormal part is taken, even with a small number of images You can definitely get it.
As a result, it is possible to detect the position of the power pole with higher accuracy suitable for detecting the position of a still image image or the like of the trolley line abnormality portion.
[Brief description of the drawings]
BRIEF DESCRIPTION OF DRAWINGS FIG. 1 is a block diagram of an image recording device for an abnormal part of a trolley line to which the utility pole position detection method and an abnormal part image recording device for a route according to the present invention are applied.
FIG. 2 is a flowchart of still image recording processing by an image recording apparatus as an embodiment of the utility pole position detection method of the present invention.
FIG. 3 is an explanatory diagram of specific contents thereof.
FIG. 4 is an explanatory diagram regarding detection of a utility pole position in two gates, and (a) is an explanatory diagram of a relationship between a position determined by a distance pulse and a generation timing of a utility pole detection signal; b) is an explanatory diagram of priorities for positions determined by distance pulses.
FIG. 5 is an explanatory diagram of a correction process for a reference power pole position.
[Explanation of symbols]
1 ... trolley line, 2 ... first gate, 3 ... second gate,
4, 6, 7, 8 ... electric pole, 11 ... electric pole detection sensor,
12 ... Infrared LED light source, 13 ... Camera,
14 ... A / D conversion circuit (A / D),
15 ... Image data processing device, 151 ... MPU,
152 ... Memory, 153 ... CRT display,
154 ... Image memory, 155 ... Interface,
156: Bus, 157: External storage device.
21 ... Gate setting / electric pole detection program,
22 ... Imaging position determination program,
23. Still image collection program,
24 ... reference pole setting program, 25 ... data area.

Claims (6)

The gate is set corresponding to the position of the power pole based on the distance data measured for the power pole provided on the railway track with reference to a predetermined measurement reference position of the railway track and the travel distance of the inspection vehicle. In the utility pole position detection method of detecting the actual utility pole position by obtaining the utility pole detection signal in the gate,
A first gate is set as the gate at the next utility pole position based on the measured distance data with the detected pole position as a reference, and based on the measured distance data with the measurement reference position as a reference A second gate is set as the gate at the next utility pole position, and the utility pole detection signal is obtained at any one of the first gate and the second gate to detect the actual utility pole position; and At the current travel distance, the difference between the actual utility pole detection position seen from the measurement reference position for a certain utility pole and the position of the utility pole based on the distance data seen from the measurement reference position for the given utility pole is less than a predetermined error The utility pole position is characterized in that the utility gate detection position of the utility pole is changed to the measurement reference position and the second gate is set based on the measurement reference position. Way out. 2. The utility pole position detection method according to claim 1, wherein the utility pole detection signal is closest to the center of the gate among the plurality of detection signals in the first or second gate. The gate is set corresponding to the position of the power pole based on the distance data measured for the power pole provided on the railway track with reference to a predetermined measurement reference position of the railway track and the travel distance of the inspection vehicle. An abnormal part image recording device for a route that detects the actual pole position by obtaining a utility pole detection signal in the gate and records a still image of the abnormal part of the route,
A first gate is set as the gate at the next utility pole position based on the measured distance data with the detected utility pole position as a reference, and based on the measured distance data with the measurement reference position as a reference. The utility pole detection means for setting the second gate as the gate at the next utility pole position and obtaining the utility pole detection signal at either the first gate or the second gate to detect the actual utility pole position. When,
At the current travel distance, the difference between the actual utility pole detection position seen from the measurement reference position for a certain utility pole and the position of the utility pole based on the distance data seen from the measurement reference position for the given utility pole is less than a predetermined error. A second gate setting means for causing the utility pole detection means to set the second gate by changing the utility pole detection position of the certain utility pole to the measurement reference position,
When a power pole immediately before an abnormal point on the route is detected and its position is obtained, the distance from the power pole position to the abnormal point or the distance to the front is measured to shoot a still image of the abnormal point. An abnormal part image recording device for a route characterized by comprising imaging means. 4. The abnormal part image recording device for a route according to claim 3, wherein the utility pole detection signal is the closest to the center of the gate among the plurality of detection signals in the first or second gate. The imaging means measures the distance from the position of the utility pole to the location of the abnormal location or the distance before the location when the location of the utility pole two before the abnormal location of the route is detected, and the 1 When the previous power pole is detected and its position is obtained, the measurement is stopped, and the distance from the power pole position immediately before the abnormal location on the route to the abnormal location or the distance to the front is measured and The abnormal part image recording device for a route according to claim 4, wherein a still image of the abnormal part is photographed. The abnormal part image recording device of a route according to claim 5, wherein the abnormal part of the route is an abnormal part of a trolley line.

Images