Trolley car wire displacement measurement system

Abstract

To provide a trolley car wire displacement measurement system that is able to easily extract data corresponding to a place on a track required by a worker, from displacement data in the entire range of a measurement section.SOLUTION: A trolley car wire displacement measurement system 1 includes: measurement sensors 31a to 31c mounted on a measurement moving body 10 traveling along a track 101; a displacement data generation unit that generates displacement data, based on a measurement target distance measured by the measurement sensors 31a to 31c; a plurality of installation members installed at intervals along the track 101; a detection sensor 32 provided in the measurement moving body 10 and configured to detect the installation members; a data extraction processing unit that extracts data corresponding to installation places of the installation members out of the displacement data, based on a detection signal output from the detection sensor 32; and an extracted data storage unit that stores the data.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a contact line position deviation measuring system. [Background technology]

[0002] Conventionally, there has been known a contact line position deviation measurement system which is applied to a transportation system in which electric power is supplied to vehicles traveling on a predetermined track from a contact line extending along the track, and which measures the amount of position deviation of the contact line from a designed position.

[0003] Patent Document 1 discloses a measurement system including a measurement vehicle that travels on a track as an example of such a contact wire position deviation measurement system. The measurement vehicle is provided with a detection piece that moves in contact with the contact wire, a sensor that measures the horizontal distance (distance in the track width direction) to the detection piece, a sensor that detects the height movement of the detection piece, a centering mechanism having a center pin, and a sensor that measures the amount of movement of the center pin in the track width direction. The centering mechanism is configured to always position the center pin in the center between the left and right guide rails by a link mechanism. The measurement system further includes a calculator. The calculator calculates the distance in the track width direction of the contact wire based on the contact surface of the guide rail by subtracting the amount of movement of the center pin in the track width direction measured by the sensor from the distance in the track width direction to the detection piece measured by the sensor. The calculator also calculates the distance in the height direction of the contact wire based on the guide rail based on the distance in the height direction of the detection piece detected by the sensor. The distance calculated by the calculator is displayed as time-series graph data on a recording paper or a display (see FIG. 4 of Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Utility Model Registration No. 2542765 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the conventional contact line positional deviation measurement system shown in Patent Document 1, the contact line positional deviation amount is continuously measured by a calculator over the entire section from the measurement start position to the measurement end position by the measuring mobile body, and recorded on a recording paper (or display). This poses a problem in that it takes a great deal of effort and time for an operator to read desired data (for example, the contact line positional deviation amount at a predetermined inspection point) from this recording paper (or display).

[0006] The present invention has been made to solve the above-mentioned problems, and has an object to provide an overhead contact line position deviation measurement system that enables an operator to easily extract data corresponding to a location on the track that is required by the operator, from position deviation data over the entire range of the measurement section. [Means for solving the problem]

[0007] A contact line positional deviation measurement system according to one aspect of the present invention is applied to a transportation system including a guide rail extending along a track, vehicles that run while being guided by the guide rail, and a contact line that extends along the track and supplies power to the vehicles running along the track, and measures an amount of positional deviation of the contact line in a predetermined direction from a designed position of the contact line, the contact line positional deviation measurement system including a measurement moving body that runs on the track while being guided by the guide rail, a measurement sensor that is mounted on the measurement moving body and measures a distance to the contact line in the predetermined direction or a displacement of the distance as a measurement target distance, and acquires the measurement target distance measured by the measurement sensor at a predetermined sampling rate while the measurement moving body runs in a predetermined measurement section set on the track, and calculates an amount of positional deviation of the contact line in the predetermined direction at each position in the track extension direction based on the acquired measurement target distance, thereby determining a position deviation of the contact line. the positional deviation data generation unit generating positional deviation data as measured data based on the positional deviation data generated by the measurement device; a plurality of installation members installed at intervals along the track; a detection sensor provided on the measurement vehicle and configured to detect objects present at designed installation locations of the plurality of installation members and outputting a detection signal when the object is detected; a data extraction processing unit executing a determination process to determine whether the object detected by the detection sensor is the installation member or not, and if it is determined that the object is the installation member, executing a data extraction process to identify data from the positional deviation data corresponding to the installation location of the object determined to be the installation member in the determination process based on the detection signal of the object output from the detection sensor and extract the identified data as installation member corresponding data; and an extracted data storage unit storing the installation member corresponding data extracted by the data extraction processing unit.

[0008] According to this configuration, the data extraction processing unit can automatically extract the installed member corresponding data corresponding to the location where the installed member is installed from the positional deviation data generated by the positional deviation data generation unit. Therefore, for example, by installing multiple installed members at locations (predetermined inspection locations) where an operator wants to know the amount of positional deviation of the contact line, the operator can easily know the amount of positional deviation of the contact line at the location he or she needs from the huge amount of positional deviation data over the entire measurement section.

[0009] The plurality of installation members preferably comprise a plurality of existing members utilized in the transportation system and spaced apart from one another along the track.

[0010] According to this configuration, costs can be reduced by using existing parts provided in the transportation system as the plurality of installation members.

[0011] It is preferable that each of the installation members is provided on each of the electric rail support parts.

[0012] This configuration makes it possible to easily obtain positional deviation data (data corresponding to installed components) in the vicinity of the installation locations of the electric wire support parts, which is particularly important in reducing the amount of positional deviation of the electric wire. By evaluating the positional deviation of the electric wire at the positions corresponding to the electric wire support parts for the long, continuous electric wire based on this data, workers can easily and accurately perform maintenance (position correction) according to the amount of deviation.

[0013] Each of the multiple electric line support parts has an insulator mounting plate on which insulators supporting the electric line are attached, a support member supporting the insulator mounting plate, and a fixing bar which functions as a reference member for adjusting the height of the insulator mounting plate, is attached to and stacked on the insulator mounting plate from the inside in the track width direction, and is fixed together with the insulator mounting plate to the support member by bolts, and it is preferable that each of the installation members consists of the fixing bar.

[0014] According to this configuration, by employing a fixed bar, which can be simplified in shape compared to an insulator mounting plate or the like, as the installation member, it becomes easier for the detection sensor to detect the installation member (fixed bar).

[0015] The detection sensor is configured to set the magnitude of the detection signal output by the detection sensor to a first level when it detects an object present at a designed placement location of the fixing bar, and to output the magnitude of the detection signal output by the detection sensor to a second level when it detects an object present at a designed placement location of the bolt, and the data extraction processing unit is configured, when executing the determination process, to count a bar count value which is the number of times the detection signal is received when the level of the detection signal received from the detection sensor is the first level, and to count a total count value which is the number of times the detection signal is received when the level of the detection signal received from the detection sensor is within a range from the first level to the second level, and to determine whether or not a condition is satisfied that a ratio of the bar count value to the total count value is equal to or greater than a predetermined ratio and that the magnitude of the total count value is within a predetermined range corresponding to the designed length of the fixing bar along the track extension direction, and to determine that the condition is satisfied when it is determined that the condition is satisfied, and to determine that the object detected by the detection sensor is the fixing bar.

[0016] According to this configuration, the fixed bar can be detected by simple processing based on the detection signal output from the detection sensor, without performing complex image processing using an image sensor or the like.

[0017] In this way, when a detection process based on a count value of a detection signal output from a detection sensor is adopted, the detection sensor is preferably a one-dimensional non-contact sensor.

[0018] This makes it possible to detect the fixed bar using an inexpensive configuration.

[0019] The data extraction processing unit counts a trigger count value each time it determines in the determination process that the object is the installation member, and based on the trigger count value, identifies a sequence number indicating which installation member is the installation member among multiple installation members, counting from the side closest to the measurement start position, and is configured to correspond the installation member corresponding data extracted by executing the data extraction process to the sequence number of the installation member corresponding to the installation member corresponding data, and store them in the extracted data storage unit.

[0020] According to this configuration, when an operator refers to the installation component correspondence data, the operator can also refer to the sequential number of the installation component corresponding to the installation component correspondence data, thereby easily identifying which of the multiple installation components the position deviation amount data contained in the installation component correspondence data corresponds to.

[0021] The data extraction processing unit is further configured to store installation member position data that corresponds the sequence number of the installation member to position information of the installation member on the orbit, and when the trigger count value is counted, the data extraction processing unit estimates the traveling distance of the measurement moving body in a specified section based on the sequence number of the installation member identified based on the trigger count value and the installation member position data, and if the estimated traveling distance differs from the actual traveling distance of the measurement moving body in the specified section, determine that the sequence number identified based on the trigger count value is incorrect, and re-identify the sequence number of the installation member based on the actual traveling distance of the measurement moving body and the installation member position data, or cancel the count of the trigger count value.

[0022] According to this configuration, the ordinal number of the installation member detected by the detection sensor can be accurately identified. That is, if the ordinal number of the installation member is identified based only on the trigger count value (the number of times the installation member is detected by the detection sensor), if the detection sensor erroneously detects the installation member, the data extraction processing unit cannot accurately identify the ordinal number of the installation member. In contrast, in this configuration, the travel distance of the measurement moving body at the current time is estimated based on the installation member position data in which the ordinal number of each installation member is associated with its position information, and if the estimated travel distance differs from the actual travel distance, the ordinal number of the installation member is re-identified (re-identified) based on the actual travel distance or the count of the trigger count value is canceled, so that the accuracy of identifying the ordinal number of the installation member detected by the detection sensor can be improved. Effect of the Invention

[0023] According to the present invention, there is provided a contact line position deviation measurement system that can easily extract data corresponding to a location on the track that an operator requires from among position deviation data over the entire range of the measurement section. [Brief description of the drawings]

[0024] [Figure 1] 1 is a longitudinal sectional view taken along a track width direction, showing a schematic configuration of a transportation system to which an electric train line position deviation measurement system according to an embodiment of the present invention is applied. [Diagram 2] FIG. 4 is a schematic view of the trolley support part as viewed from the inside in the track width direction. [Diagram 3] FIG. 3 is a schematic cross-sectional view taken along line III-III in FIG. 2. [Figure 4] 1 is a vertical cross-sectional view taken along the track width direction, showing a schematic configuration of a trolley line position deviation measuring system. FIG. [Diagram 5] FIG. 2 is a plan view showing a measurement carriage (measurement moving body). [Figure 6] FIG. [Figure 7] 11 is a schematic diagram showing a state in which the sensor support member is mounted on the measuring cart in a reversed left-right manner. FIG. [Figure 8] FIG. 2 is a block diagram showing the configuration of a control system for executing a position deviation measuring process. [Figure 9] FIG. 11 is an explanatory diagram for explaining a formula for calculating the amount of positional deviation of the electric rail when the traveling position of the measuring cart is in a predetermined design position. [Figure 10] FIG. 1 is an explanatory diagram for explaining factors that cause measurement errors in measurement data obtained by a position deviation measuring sensor, in which (a) shows a state in which the running position of the measuring cart is in a predetermined design position, (b) shows a state in which the running position of the measuring cart is shifted in the height direction (y direction) and the track width direction (x direction) from the design position, and (c) is a schematic diagram showing a state in which the running position of the measuring cart is tilted in the roll direction from the design position. [Figure 11] FIG. 11 is an explanatory diagram for explaining the details of a height deviation correction process and a width deviation correction process executed by a trolley line position deviation amount calculation unit. [Figure 12] FIG. 11 is an explanatory diagram for explaining the contents of a tilt correction process executed by a train line position deviation amount calculation unit. [Figure 13] 11 is a flowchart illustrating the process executed by a data extraction processing unit. [Figure 14] 11 is a flowchart illustrating the process executed by a data extraction processing unit. [Figure 15] FIG. 9 is a view equivalent to FIG. 8 and shows a modified example. [Figure 16] FIG. 11 is a schematic diagram showing an example of fixing bar position data stored in a fixing bar position data storage unit in the electric train wire position deviation measurement system according to the modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

[0026] FIG. 1 is a schematic cross-sectional view taken along the track width direction, showing a transportation system 100 to which an overhead contact line position deviation measuring system 1 according to an embodiment of the present invention is applied.

[0027] The contact line positional deviation measurement system 1 measures the amount of positional deviation from a designed position of a contact line 104 (described later) that is provided in this transportation system 100. The contact line positional deviation measurement system 1 will be described in detail later.

[0028] The transportation system 100 includes a pair of guide rails 102 extending along the extension direction of the track 101, vehicles 103 that run along the track while being guided by the pair of guide rails 102, and three electric train lines 104 that extend along the extension direction of the track 101 and supply power to the running vehicles 103.

[0029] The track 101 has a track surface 101a and a pair of side walls 101b extending upward from both ends of the track surface 101a. Note that, although this embodiment shows the track 101 having the pair of side walls 101b, the present invention is also applicable to a form in which the track has a side wall only on either the left or right side in the width direction.

[0030] A pair of running paths 101c are provided on the track surface 101a, spaced apart in the width direction and extending in the running direction of the vehicle 103. The upper surfaces of the pair of running paths 101c form a running surface 101d with which the left and right running wheels 103a provided on the vehicle 103 come into contact while rotating.

[0031] The pair of guide rails 102 extend over the entire length of the track 101 to regulate the running direction of the vehicle 103. Specifically, the pair of guide rails 102 are fixed to the inner surfaces of a pair of side walls 101b of the track 101, respectively. Each guide rail 102 protrudes inward in the track width direction from the inner surface of the side wall 101b. The protruding end face of each guide rail 102 abuts against guide wheels 103b provided on the left and right of the vehicle 103 to guide the vehicle 103 along the track 101. Note that, in the transportation system 100 of this embodiment, a side guide system is adopted in which the pair of guide rails 102 guide both sides in the width direction of the vehicle 103, but this is not limited thereto. For example, a center guide system that guides the center of the vehicle 103 in the width direction may be adopted.

[0032] The three electric train lines 104a to 104c are arranged so as to face the side of the vehicle 103. Specifically, the three electric train lines 104a to 104c are arranged at intervals from each other in the vertical direction inside one side wall 101b of the track 101 (the side wall 101b located on the left side of the vehicle in FIG. 1). Each of the electric train lines 104a to 104c extends over the entire length of the track 101. Each of the electric train lines 104a to 104c is supported by the one side wall 101b via a plurality of electric train line support parts 105 (described later) arranged at intervals in the extension direction of the track 101. Each of the electric train lines 104a to 104c is arranged above and inside the guide rail 102 provided on the one side wall 101b in the track width direction. Each of the electric train lines 104a-104c contacts a current collector 103c provided on the vehicle 103 to supply three-phase AC power to the vehicle 103. Of the three electric train lines 104a-104c, the electric train line 104a in the first row from the top corresponds to phase A of the three-phase AC power, the electric train line 104b in the second row corresponds to phase B of the three-phase AC power, and the electric train line 104c in the third row corresponds to phase C of the three-phase AC power.

[0033] [Structure of the overhead contact line support section] 2 is a schematic diagram of the electric train line support part 105 as viewed from the inside in the track width direction. As shown in this figure, each of the electric train line support parts 105 has a support pole 110 extending in the vertical direction, an insulator mounting plate 106 fixed to the support pole 110, three insulators 107a to 107c attached to the insulator mounting plate 106, and a bow-shaped fixing bar 108 used when fixing the insulator mounting plate 106 to the support pole 110. Each of the electric train lines 104a to 104c is supported by each of the insulators 107a to 107c.

[0034] The insulator mounting plate 106 is made of a flat member having a lightening hole 106e in the center. Long holes 106d extending in the vertical direction are formed on both sides in the plate width direction (left-right direction in FIG. 2) at the upper and lower ends of the lightening hole 106e in the insulator mounting plate 106. The insulator mounting plate 106 is fixed to a support 110 by four fixing bolts 109 inserted into the long holes 106d.

[0035] The insulator mounting plate 106 has a first insulator mounting portion 106a to which the insulator 107a is attached, a second insulator mounting portion 106b to which the insulator 107b is attached, and a third insulator mounting portion 106c to which the insulator 107c is attached. The first insulator mounting portion 106a and the third insulator mounting portion 106c are provided at an end portion on one side in the plate width direction of the insulator mounting plate 106 with a gap therebetween in the vertical direction. The second insulator mounting portion 106b is provided at the center in the vertical direction of the end portion on the other side in the plate width direction of the insulator mounting plate 106. Each of the insulator mounting portions 106a to 106c has a seat portion and a mounting hole such as a screw hole (all not shown) for mounting the insulator 107a to 107c.

[0036] The fixing bar 108 is disposed so as to overlap the insulator mounting plate 106 from the inside in the track width direction (the front side of the paper in FIG. 2) while spanning the two upper long holes 106d in the insulator mounting plate 106. The fixing bar 108 functions as a part of a height adjustment mechanism 115 for adjusting the height position of the insulator mounting plate 106 (see FIG. 3).

[0037] [Height adjustment mechanism] Next, the height adjustment mechanism 115 will be described with reference to Fig. 3. Fig. 3 is a schematic cross-sectional view taken along line III-III in Fig. 2.

[0038] The height adjustment mechanism 115 has a male threaded shaft 111 extending in the vertical direction and the fixed bar 108 .

[0039] A male screw portion is formed over the entire outer circumferential surface of the male screw shaft 111 in the vertical direction. The male screw shaft 111 passes through a horizontal protruding portion 106f that protrudes from the back surface side of the insulator mounting plate 106 in the vertical direction. A screw hole that screws into the male screw shaft 111 is formed through the horizontal protruding portion 106f in the vertical direction.

[0040] Similarly, a horizontal protrusion 108a is formed on the back side of the fixed bar 108. The horizontal protrusion 108a protrudes horizontally from the center of the fixed bar 108 in the longitudinal direction (the same direction as the plate width direction) to the back side. The horizontal protrusion 108a is formed with a U-shaped groove 108b that is approximately U-shaped in plan view and opens to the protruding side. An engagement portion 111a is formed at the lower end of the male screw shaft 111 to engage with the U-shaped groove 108b so as to be immovable in the vertical direction. The engagement portion 111a has a shaft portion 111b that penetrates the U-shaped groove 108b in the vertical direction and a pair of disk portions 111c connected to both ends of the shaft portion 111b, and is configured to restrict the vertical movement of the male screw shaft 111 relative to the horizontal protrusion 108a by the pair of disk portions 111c. When adjusting the height of the insulator mounting plate 106, the four fixing bolts 109 are loosened and the male threaded shaft 111 is rotated around its axis. This causes the insulator mounting plate 106 to move up and down along the male threaded shaft. After completing the adjustment of the height position of the insulator mounting plate 106, the position of the insulator mounting plate 106 is fixed by tightening the fixing nut 112 at the upper end of the male threaded shaft 111.

[0041] [Train line position deviation measurement system] FIG. 4 is a schematic cross-sectional view showing the electric contact line positional deviation measurement system 1. The electric contact line positional deviation measurement system 1 includes a measurement cart 10 (an example of a measurement moving body) that travels on a travel path 101c guided by a guide rail 102. The measurement cart 10 is a cart for measuring the amount of positional deviation from the design positions (so-called design positions) of the electric contact lines 104a to 104c, and is provided separately from the vehicle 103. In this example, the measurement cart 10 is connected to another powered vehicle (for example, the vehicle 103) via a connecting mechanism (not shown), and is pulled along the track 101 by the powered vehicle. The connecting mechanism is detachably attached to, for example, the front end and the rear end of the measurement cart 10. By making the connecting mechanism detachable in this way, a connecting mechanism having an appropriate configuration according to the moving direction of the measurement cart 10 can be appropriately used.

[0042] [Configuration of measuring cart] Next, the configuration of the measuring cart 10 will be described with reference to Fig. 4, Fig. 5 and Fig. 6. Fig. 5 is a plan view showing the measuring cart 10, and Fig. 6 is a side view showing the measuring cart 10 as seen from the left side of the vehicle. In the following description, the terms front side, rear side, left side and right side refer to the front side of the vehicle, rear side of the vehicle, left side of the vehicle and right side of the wheels of the measuring cart 10, unless otherwise specified.

[0043] The measuring cart 10 has a rectangular frame plate 11, four running wheels 13, four guide wheels 15, four branch wheels 16, a sensor support member 17, and a control box 18.

[0044] The four running wheels 13 are supported at both ends of a pair of front and rear axles 12 supported by a frame plate 11. Each running wheel 13 rotates while in contact with the traveling road surface 101d. A detection gear (not shown) for detecting the traveling distance of the measuring cart 10 is attached to one of the pair of axles 12 so as to rotate integrally. A rotation speed measurement sensor 36 (only shown in FIG. 8 described later) is attached to the underside of the frame plate 11, which measures the rotation speed of the detection gear by detecting the passage of the teeth of the detection gear. The control box 18 accommodating the controller 50 described later is arranged on the upper surface of the frame plate 11.

[0045] The four guide wheels 15 contact the left and right guide rails 102 to regulate the running direction of the measuring cart 10 to the normal running direction along the track 101 (the regulated running direction determined by design). Specifically, the four guide wheels 15 consist of two guide wheels 15 supported on the frame plate 11 via the front support frame 14 and two guide wheels 15 supported on the frame plate 11 via the rear support frame 14. Each support frame 14 has a horizontal support beam 14a extending in the left-right direction and a pair of left and right connecting beams 14b that connect the longitudinal middle portion of the horizontal support beam 14a to the frame plate 11. Each guide wheel 15 is supported on both ends of each horizontal support beam 14a so as to be rotatable around a vertical axis. The two left guide wheels 15 rotate while contacting the guide surface 102a of the left guide rail 102, and the two right guide wheels 15 rotate while contacting the guide surface 102a of the right guide rail 102.

[0046] The four branch wheels 16 are arranged coaxially with the guide wheels 15 on the lower side of the horizontal support beam 14a. When the measuring cart 10 travels through the branching portion of the track 101, each branch wheel 16 is hooked onto a movable guide plate (not shown) provided on the track 101 to steer the traveling direction of the measuring cart 10.

[0047] [Configuration of sensor support member] The sensor support member 17 supports three positional deviation measuring sensors 31a to 31c, a trigger sensor 32 (an example of a detection sensor), a pair of left and right height measuring sensors 33a, 33b for detecting inclination angles, a carriage height direction measuring sensor 34, and a carriage width direction measuring sensor 35. The sensor support member 17 is detachably attached to the upper surface of the frame plate 11 of the measurement carriage 10. In the following description, the three positional deviation measuring sensors 31a to 31c will be referred to as sensors 31 when there is no need to distinguish them from one another, and similarly, the pair of left and right height measuring sensors 33a, 33b for detecting inclination angles will be referred to as sensors 33 when there is no need to distinguish them from one another.

[0048] 4 to 6, the sensor support member 17 has a widthwise extending portion 17a, a vertical column portion 17b, a lateral protruding portion 17c, and a pair of left and right lower protruding portions 17d, 17e. In this example, the sensor support member 17 is formed by connecting a plurality of members by welding, but is not limited thereto, and may be formed by connecting a plurality of members by fastening members such as bolts, or may be an integrally molded product by casting or the like.

[0049] The widthwise extending portion 17a is made of a beam member having a rectangular cross section and extending in the vehicle width direction along the upper surface of the frame plate 11. The widthwise extending portion 17a is detachably fixed to the upper surface of the frame plate 11 via bolts or the like. Both ends of the widthwise extending portion 17a in the vehicle width direction are located outside both ends of the frame plate 11 in the vehicle width direction. The bogie width direction measuring sensor 35 is attached to the left end face of the widthwise extending portion 17a.

[0050] The vertical column portion 17b is a rectangular column member extending upward from the left end of the upper surface of the widthwise extending portion 17a. The three position deviation measuring sensors 31a to 31c are attached to the left side surface of the vertical column portion 17b at intervals from each other in the up-down direction.

[0051] The side protrusion 17c is a rectangular protrusion protruding leftward from the left side surface of the vertical column 17b, and is located between the uppermost positional deviation measuring sensor 31a and the middle positional deviation measuring sensor 31b. The trigger sensor 32 is attached to the tip surface of the side protrusion 17c.

[0052] The pair of lower protrusions 17d, 17e are arranged with a gap in the vehicle width direction (left-right direction). The left lower protrusion 17d is a vertical plate connected to the underside of a portion of the widthwise extension 17a that protrudes leftward from the frame plate 11, and the right lower protrusion 17e is a vertical plate connected to the underside of a portion of the widthwise extension 17a that protrudes rightward from the frame plate 11. Both front-rear end portions of the left lower protrusion 17d protrude outward in the front-rear direction from the widthwise extension 17a in a plan view (see Figs. 5 and 6). The bogie height direction measuring sensor 34 is attached to the front end portion of the underside of the lower protrusion 17d, and the left inclination angle detection height measuring sensor 33a is attached to the rear end portion. On the other hand, the right lower protrusion 17e is formed so that both front and rear end surfaces are flush with the front and rear side surfaces of the widthwise extension portion 17a, and a right inclination angle detection height measuring sensor 33b is attached to its underside.

[0053] The sensor support member 17 is configured to be detachable in a left-right inverted manner with respect to the measuring cart 10. That is, in Fig. 4 to Fig. 6, the sensor support member 17 is attached to the measuring cart 10 so that the vertical column portion 17b is located at the left end portion of the measuring cart 10, but it can also be attached in a left-right inverted manner so that the vertical column portion 17b is located at the right end portion of the measuring cart 10.

[0054] FIG. 7 is a schematic diagram showing an inverted mounting state in which sensor support member 17 is inverted left and right with respect to a predetermined mounting state.

[0055] As shown in this figure, the sensor support member 17 is configured so that it can be mounted on the measuring cart 10 in a left-right inverted manner based on a predetermined mounting state (a mounting state in which the amount of positional deviation of the electric rails 104a-104c located on the left side of the measuring cart 10 can be measured, which is a state shown by a two-dot chain line in FIG. 7). The solid line in FIG. 7 indicates the inverted mounting state after this left-right inversion. The sensor support member 17 is configured so that the support positions of the sensors 31-35 by the sensor support member 17 before and after left-right inversion are linearly symmetrical across the center line L in the vehicle width direction of the measuring cart 10 when viewed from the front-rear direction of the vehicle.

[0056] [Configuration of each sensor] Next, with reference to Figs. 4 to 6, the sensors 31 to 35 supported by the sensor support member 17 will be described. In this example, the sensors 31 to 35 are configured by laser displacement sensors capable of measuring the change in distance to the object to be measured, and detect the difference between the distance to the object to be measured and a preset reference distance. This reference distance is the distance from each of the sensors 31 to 35 to the object to be measured when the train lines 104a to 104c are arranged at the design position and the measurement cart 10 is positioned at the design position (an example of a predetermined running position). The reference distance may be set by actually performing a calibration test using the sensors 31 to 35, or may be set by theoretical calculation based on the designed geometric positional relationship and the output voltage characteristics of the sensors 31 to 35. In this calibration test and theoretical calculation, the position of the measurement cart 10 does not necessarily have to be the design position.

[0057] The positional deviation measuring sensors 31a to 31c are disposed at heights corresponding to the design positions of the respective electric rails 104a to 104c. The positional deviation measuring sensors 31a to 31c measure a difference distance ΔX' between the distance in the track width direction (X direction) to the respective electric rails 104a to 104c, which are the measurement objects, and the previously set reference distance (the distance corresponding to the design positions of the electric rails 104a to 104c). In addition, the positional deviation measuring sensors 31a to 31c measure a difference distance ΔY' between the distance in the height direction (Y direction) to the respective electric rails 104a to 104c, which are the measurement objects, and the previously set reference distance (the distance corresponding to the design positions of the electric rails 104a to 104c). The positional deviation measuring sensors 31a to 31c output voltage signals corresponding to the measured difference distance ΔX' in the track width direction and the difference distance ΔY' in the height direction at a predetermined sampling rate.

[0058] The trigger sensor 32 is a sensor for detecting the fixed bar 108 (an example of an installation member) provided on each of the electric rail support parts 105 arranged along the track 101.

[0059] The trigger sensor 32 is composed of, for example, a one-dimensional laser displacement sensor. The two-dot chain line in Fig. 2 indicates a measurement line M through which the center position of the laser light emitted from the trigger sensor 32 (the extension position of the measurement axis of the trigger sensor 32) passes. The trigger sensor 32 is disposed so that, when viewed from the track width direction (the direction perpendicular to the paper surface of Fig. 2), this measurement line M passes through the center position of a pair of fixing bolts 109 for fixing the fixing bar 108.

[0060] The object to be measured by the trigger sensor 32 is the fixed bar 108, but during the travel of the measuring cart 10, various objects arranged on the track 101 other than the fixed bar 108 pass within the detection range of the trigger sensor 32. For this reason, in this example, in order to prevent the trigger sensor 32 from erroneously detecting objects other than the fixed bar 108, a lower detection threshold voltage V1 of the fixed bar 108, an upper detection threshold voltage V2 of the fixed bar 108, and an upper detection threshold voltage V3 of the fixing bolts 109 located at both ends of the fixed bar 108 are set as thresholds of the detection voltage output by the trigger sensor 32, and detection processing of the fixed bar 108 is performed based on these threshold voltages V1 to V3. These threshold voltages V1 to V3 may be stored in a storage medium provided in the controller 50, which will be described later, for example.

[0061] The pair of left and right height measuring sensors 33a, 33b for detecting tilt angle are sensors provided to detect the tilt angle in the roll direction based on the design position (one example of a predetermined running position) of the measurement cart 10. Each height measuring sensor 33a, 33b for detecting tilt angle is composed of a one-dimensional laser displacement sensor that measures the displacement of the distance in the height direction from the left and right running road surfaces 101d. The controller 50, which will be described later, calculates the tilt angle based on the difference in the measured distance (measurement value) by the pair of left and right height measuring sensors 33a, 33b for detecting tilt angle. Thus, the pair of left and right height measuring sensors 33a, 33b for detecting tilt angle function as tilt angle measuring sensors. Each height measuring sensor 33a, 33b for detecting tilt angle outputs a detection signal of the measured difference distance in the height direction at a predetermined sampling rate.

[0062] The carriage height direction measuring sensor 34 is a sensor for detecting the amount of positional deviation in the height direction from the design position of the measuring carriage 10. In this example, the carriage height direction measuring sensor 34 is configured with a one-dimensional laser displacement sensor. The carriage height direction measuring sensor 34 measures the difference distance between the distance from the left running road surface 101d and the reference distance as the amount of positional deviation in the height direction of the measuring carriage 10.

[0063] The bogie width direction measuring sensor 35 is a sensor for measuring the amount of positional deviation in the track width direction from a predetermined running position of the measuring bogie 10. In this example, the bogie width direction measuring sensor 35 is configured with a one-dimensional laser displacement sensor. The bogie width direction measuring sensor 35 measures the difference between the distance to the guide surface 102a of the left guide rail 102 and the designed distance as the amount of positional deviation in the width direction of the measuring bogie 10.

[0064] [Configuration of measurement and control system] 8 is a block diagram showing the configuration of a measurement control system of the electric contact wire positional deviation measurement system 1. This measurement control system includes a controller 50. The controller 50 is configured by a computer having a CPU, ROM, and RAM. The controller 50 is connected to each of the sensors 31-35 so as to be able to send and receive signals, and measures (calculates) the amount of positional deviation of the electric contact wires 104a-104b based on the signals from each of the sensors 31-35.

[0065] Specifically, the controller 50 has a bogie inclination angle calculation unit 51, a contact line position deviation amount calculation unit 52, a data extraction processing unit 53, a measurement data storage unit 54, an extracted data storage unit 55, and a wireless communication unit 56. The functions of the bogie inclination angle calculation unit 51, the contact line position deviation amount calculation unit 52, and the data extraction processing unit 53 are realized by the controller 50 executing a predetermined computer program. Each of the storage units 54 and 55 is constituted by a storage medium such as a ROM, a RAM, or a magnetic storage device.

[0066] The cart inclination angle calculation unit 51 calculates the inclination angle in the roll direction of the measurement cart 10 based on the difference in distance measured by the pair of left and right height measurement sensors 33a, 33b for detecting inclination angle. The cart inclination angle calculation unit 51 and the pair of left and right height measurement sensors 33a, 33b for detecting inclination angle constitute a inclination angle detection unit.

[0067] The contact wire positional deviation amount calculation unit 52 calculates the positional deviation amount ΔX in the track width direction and the positional deviation amount ΔY in the height direction from the design position of each contact wire 104a-104c based on the track width direction differential distance ΔX' and the height direction differential distance ΔY' output at a predetermined sampling rate from each of the positional deviation measurement sensors 31a-31c. Strictly speaking, the differential distance ΔX', differential distance ΔY', positional deviation amount ΔX, and positional deviation amount ΔY should be distinguished by different notations because they apply to each of the three contact wires 104a-104c, but for the sake of simplicity, they will be simply written as ΔX', ΔY', ΔX, and ΔY and will not be distinguished.

[0068] FIG. 9 is an explanatory diagram for explaining a formula for calculating the amount of positional deviation of the electric rail when the traveling position of the measuring cart 10 is in a predetermined design position.

[0069] As can be seen from this figure, when the measuring cart 10 is in the design position, the positional deviation amounts ΔX, ΔY of the respective train lines 104a to 104c are equal to the differential distances ΔX', ΔY' measured by the positional deviation measuring sensors 31a to 31c.

[0070] However, when the traveling position of the measuring cart 10 deviates from the design position, it becomes necessary to correct the measurement errors of the position deviation measuring sensors 31a to 31c caused by this deviation.

[0071] FIG. 10 is an explanatory diagram for explaining the reason why the measurement errors of the position deviation measuring sensors 31a to 31c occur, where (a) shows a state where the traveling position of the measuring cart 10 is in a predetermined design position (one example of a predetermined traveling position), (b) shows a state where the traveling position of the measuring cart 10 is shifted from the design position in the height direction (y direction) and the track width direction (x direction), and (c) is a schematic diagram showing a state where the traveling position of the measuring cart 10 is tilted in the roll direction with respect to the design position. In this figure, for easy understanding, the electric rails 104a to 104c are collectively shown as one square, the position deviation measuring sensors 31a to 31c are also collectively shown as one square, and the shape of the measuring cart 10 is simplified and shown as a horizontally long rectangle. Moreover, the electric rails 104a to 104c in a state where a position deviation occurs are shown by solid lines, and a state where no position deviation occurs (design position) is shown by two-dot chain lines. The triangular hatched area in the figure shows a typical detection range of the measurement object by the position deviation measuring sensor 31c. As shown in FIG. 10(b), when the measurement cart 10 is displaced in the track width direction and height direction, the detection range of the position deviation measuring sensor 31c moves diagonally downward to the right compared to FIG. 10(a). Also, as shown in FIG. 10(c), when the measurement cart 10 is tilted in the roll direction, the detection range of the position deviation measuring sensor 31c is slightly tilted upward compared to FIG. 10(a). In this way, the change in the position of the detection range of the position deviation measuring sensor 31c causes an error in the difference distances ΔX' and ΔY' measured by the position deviation measuring sensor 31c.

[0072] In this embodiment, in order to correct this measurement error, the contact wire positional deviation calculation unit 52 executes a height deviation correction process, a width deviation correction process, and an inclination correction process when calculating the positional deviation amounts ΔX and ΔY of each of the contact wires 104a to 104c.

[0073] FIG. 11 is an explanatory diagram for explaining the details of the height deviation correction process and the width deviation correction process executed by the electric rail position deviation amount calculation unit 52.

[0074] In the height deviation correction process, the position deviation amount ΔY in the height direction (y direction) of the measuring cart 10 measured (detected) by the cart height direction measurement sensor 34 is L The difference distance ΔY′ in the height direction (y direction) measured by the positional deviation measuring sensors 31a to 31c is corrected based on the above, thereby calculating the positional deviation amount ΔY in the height direction. The specific calculation formula is shown in the following formula (1).

[0075] ΔY = ΔY' - ΔY L ………………(1) In the width deviation correction process, the position deviation amount ΔX of the measuring cart 10 in the track width direction (x direction) measured (detected) by the cart width direction measurement sensor 35 is G The difference distance ΔX' in the track width direction (x direction) measured by each of the positional deviation measuring sensors 31a to 31c is corrected based on the above, to calculate the positional deviation amount ΔX in the track width direction. The specific calculation formula is shown in the following formula (2).

[0076] ΔX=ΔX'-ΔX G ………………(2) FIG. 12 is an explanatory diagram for explaining the contents of the tilt correction process executed by the electric rail positional deviation amount calculation unit 52.

[0077] In the tilt correction process, the differential distance ΔX' and the differential distance ΔY' measured by each of the position deviation measuring sensors 31a to 31c are corrected based on the tilt angle θ in the roll direction of the measurement cart 10 calculated by the cart tilt angle calculation unit 51.

[0078] Specifically, if the origin is the center position in the width direction of the left driving road surface 101d, a coordinate system with no inclination is defined as the xy coordinate system, and a coordinate system rotated by θ in the roll direction (clockwise direction in the figure) is defined as the x'-y' coordinate system, the transformation equation for a certain point from the x'-y' coordinate system to the xy coordinate system is given by the following equation (3).

[0079]

number

[0080] Therefore, focusing on a certain point, if the coordinate value in the tilted coordinate system is (x', y'), the coordinate value (x, y) in a non-tilted coordinate system can be expressed by the following equation (4) by expanding the determinant of equation (3). (x,y)=(x'cosθ+y'sinθ,-x'sinθ+y'cosθ)…(4) Where: Let (x,y)=(x'+dx,y'+dy), then dx and dy are correction values ​​relating to the rotational movement of the coordinate system.

[0081] By incorporating the correction value due to this rotational movement into the above equations (1) and (2), the following equations (5) and (6) are obtained.

[0082] ΔY = (ΔY' + dy) - (ΔY L +dy L ) =(ΔY'-ΔY L )+(dy-dy L ) ≒(ΔY' -ΔY L )+dy…(5) Also, ΔX=(ΔX'+dx)-(ΔX G +dx G ) =(ΔX'-ΔX G ) + (dx-dx G )……(6) Note that dx and dy are correction values ​​for the rotational movement of the contact line position, and dx G is a correction value for the rotational movement of the guide rail 102, and dy L is a correction value for the rotational movement of the height of the measuring cart 10. L is small and is therefore approximated to 0.

[0083] The contact line positional deviation amount calculation unit 52 calculates the positional deviation amounts ΔX, ΔY of each of the contact lines 104a to 104c based on the formulas (5) and (6), and stores the calculated positional deviation amounts ΔX, ΔY in the measurement data storage unit 54.

[0084] Then, while the measurement cart 10 travels from a predetermined measurement start position to a measurement end position (predetermined measurement section) on the track 101, the contact line position deviation amount calculation unit 52 calculates the position deviation amounts ΔX, ΔY of each contact line 104a-104c based on the formulas (5) and (6) at each position in the track extension direction of each contact line 104a-104c (each position determined by the sampling rate of the sensor 31 and the traveling speed of the measurement cart 10). Then, the contact line position deviation amount calculation unit 52 calculates the position deviation amounts ΔX, ΔY of each contact line 104a-104c at each position in the track extension direction of the contact lines 104a-104, and stores them as position deviation data in the measurement data storage unit 54. Thus, the contact line position deviation amount calculation unit 52 functions as a position deviation data generation unit.

[0085] The data extraction processing unit 53 executes a determination process to determine whether or not the object detected by the trigger sensor 32 is the fixed bar 108. When the data extraction processing unit 53 determines that the object is the fixed bar 108, the data extraction processing unit 53 executes a data extraction process to identify data corresponding to the installation location of the fixed bar 108 from the data of the positional deviation amounts ΔX, ΔY stored in the measurement data storage unit 54, and to extract the positional deviation amounts ΔX, ΔY of each of the electric rails 104a to 104c in the identified data as fixed bar corresponding data (installed member corresponding data).

[0086] The data extraction processing unit 53 counts the number of times the fixed bar 108 is detected as a trigger count value. Then, the data extraction processing unit 53 specifies the sequence number of the fixed bar 108 detected by the trigger sensor 32 (the fixed bar 108 that triggered the execution of the data extraction process) based on the trigger count value every time the data extraction process is executed. This sequence number is given in advance to each fixed bar 108 as a consecutive number such as 1st, 2nd, 3rd, etc., counting from the side closer to the measurement start position in the extension direction of the track 101.

[0087] The data extraction processing unit 53 stores in the extracted data storage unit 55 the data of the positional deviation amounts ΔX, ΔY of each of the electric train lines 104a to 104c extracted by the data extraction process in association with the sequence number of the fixed bar 108 that triggered this extraction process (the fixed bar 108 detected by the trigger sensor 32 immediately before executing this extraction process).

[0088] The wireless communication unit 56 transmits information such as the execution status of the measurement process to the mobile terminal 19 via a wireless LAN such as Wi-fi. The mobile terminal 19 is, for example, a portable terminal such as a tablet terminal or a smartphone carried by a maintenance worker of the electric train lines 104a to 104c. In addition, operations such as starting and ending the measurement process may be performed remotely by operating the mobile terminal 19.

[0089] 13 and 14 are flowcharts for explaining the processing contents executed by the data extraction processing unit 53. This flowchart includes a data extraction process (step S13) and a detection process (steps S0 to S12) of the fixed bar 108 that serves as a trigger for the execution of the data extraction process.

[0090] In step S0, the trigger count value is set to 0 and stored in the RAM.

[0091] In step S1, the threshold value of the detection voltage of the above-described trigger sensor 32 is read. Specifically, the detection lower limit threshold voltage V1 (detection signal) corresponding to the design position of the outer end in the track width direction of the fixed bar 108 (see FIG. 2) (the rear end in the direction perpendicular to the paper surface of FIG. 2), the detection upper limit threshold voltage V2 (detection signal) corresponding to the design position of the inner end in the track width direction of the fixed bar 108 (the front end in the direction perpendicular to the paper surface of FIG. 2), and the detection upper limit threshold voltage V3 (detection signal) corresponding to the design position of the inner end in the track width direction of the fixing bolt 109 (the front end in the direction perpendicular to the paper surface of FIG. 2) are read. In this example, V1 < V2 < V3, which means that the higher the detection voltage Vo, the closer the distance between the detection object and the trigger sensor 32. Note that the relationship between this detection voltage Vo and the distance is an example, and it is not limited to this. For example, depending on the settings and types of the sensors used, it may mean that the lower the detection voltage, the farther the distance.

[0092] And the voltage level from the detection lower limit threshold voltage V1 to the detection upper limit threshold voltage V2 corresponds to the first level which is the magnitude of the detection signal output when an object existing at the designed arrangement position of the fixed bar 108 is detected, and the voltage level of the detection upper limit threshold voltage V3 corresponds to the second level which is the magnitude of the detection signal output when an object existing at the designed arrangement position of the bolt 109 (the head of the bolt 109 in this example) is detected.

[0093] In step S2, the overall detection count value, which is the detection count value of the entire fixing mechanism composed of the fixed bar 108 and the fixing bolt 109, is set to 0 and stored in the RAM.

[0094] In step S3, the bar detection count value, which is the detection count value of the fixed bar 108, is set to 0 and stored in the RAM.

[0095] In step S4, the detection voltage Vo output from the trigger sensor 32 is acquired.

[0096] In step S5, it is determined whether the detection voltage Vo acquired in step S4 is equal to or higher than the lower detection threshold voltage V1 of the fixing bar 108 (see FIG. 2) and equal to or lower than the upper detection threshold voltage V3 of the fixing bolt 109. This determination process essentially determines whether the detection target detected by the trigger sensor 32 is an object present at a location corresponding to the design location of the fixing mechanism including the fixing bar 108. If the determination is NO, the process proceeds to step S10 (see FIG. 14) described later, whereas if the determination is YES, the process proceeds to step S6.

[0097] In step S6, the total detection count value is incremented by one and stored in the RAM.

[0098] In step S7, it is determined whether the total detection count value at the current time is less than a predetermined threshold value. If this determination is NO, that is, if the total detection count value is equal to or greater than the predetermined threshold value, it can be determined that the length of the object detected by the trigger sensor 32 (the length in the running direction of the measuring cart 10) is longer than the length of the fixed bar 108 (that is, the detected object is not the fixed bar 108), so the process returns to step S2 and resets both the total detection count value and the bar detection count value to 0 (steps S2 and S3). In other words, the detection process of the fixed bar 108 based on the detection voltage Vo output from the trigger sensor 32 is stopped. On the other hand, if the determination in step S7 is YES, that is, if the bar detection count value is less than the predetermined threshold value, there remains a possibility that the detected object is the fixing mechanism including the fixed bar 108, so the detection process is continued and the process proceeds to step S8.

[0099] In step S8, it is determined whether the detection voltage Vo acquired in step S4 is equal to or higher than the lower detection threshold voltage V1 of the fixing bar 108 (see FIG. 2) and equal to or lower than the upper detection threshold voltage V2 of the fixing bar 108. This determination process essentially determines whether the detection target detected by the trigger sensor 32 is an object present at a location corresponding to the designed arrangement location of the fixing bar 108. If this determination is NO, the process returns to step S4, whereas if the determination is YES, the process proceeds to step S9.

[0100] In step S9, the bar detection count value described above is incremented by one and stored in the RAM.

[0101] In step S10 (see FIG. 14), which is reached when the determination in step S7 is NO, it is determined whether the magnitude of the total detection count value is within a predetermined range. In this determination process, it is essentially determined whether the length of the object detected by the trigger sensor 32 in the track extension direction corresponds to the length of the fixed bar 108 in the track extension direction. The predetermined range corresponds to the design length of the fixed bar 108 along the track extension direction, and is set in advance according to the length of the fixed bar 108 and the running speed of the measuring cart 10 during measurement. If this determination is NO, it is determined that the object detected by the trigger sensor 32 is not the fixed bar 108, and the process returns to step S2. On the other hand, if this determination is YES, there remains a possibility that the object detected by the trigger sensor 32 is the fixed bar 108, so the process proceeds to step S11 and continues.

[0102] In step S11, it is determined whether or not the ratio of the bar detection count value to the total detection count value at the current time (=bar detection count value / total detection count value) is equal to or greater than a predetermined ratio. In this determination process, it is essentially determined whether or not the ratio between the length of the fixing bar 108 in the track extension direction and the length of the part of the fixing bar 108 that does not overlap with the head of the fixing bolt 109 in the track extension direction is equal to or greater than the ratio. In this example, the predetermined ratio is set to, for example, 1 / 2. If the determination in this step S11 is NO, it is determined that the object detected by the trigger sensor 32 is not the fixing bar 108, and the process returns to step S2. On the other hand, if the determination is YES, it is determined that the object detected by the trigger sensor 32 is the fixing bar 108, and the process proceeds to step S12.

[0103] In step S12, the trigger count value is incremented by one and stored in the RAM.

[0104] In step S13, the data extraction process described above is executed. In this data extraction process, a data section (a section corresponding to the installation location of the fixed bar 108) in which the bar detection count value is counted is specified from the time series data of the detection voltage Vo acquired from the trigger sensor 32, and the positional deviation amounts ΔX and ΔY of each of the electric rails 104a to 104c in the specified data section are extracted from the measurement data storage unit 54. In addition, based on the trigger count value at the current time, the sequence number of the fixed bar 108 detected by the trigger sensor 32 is specified, and the specified sequence number and the extracted data are associated with each other and stored in the extracted data storage unit 55 as fixed bar corresponding data. Regarding the sequence number of the fixed bar 108, the sequence number of the fixed bar 108 can be calculated as the trigger count value by focusing on the fact that the trigger count value increases by one every time the trigger sensor 32 detects the fixed bar 108.

[0105] In step S14, the travel distance of the measuring cart 10 from the measurement start position to the current position is calculated based on the signal from the rotation speed sensor 36, and it is determined based on this travel distance whether the measuring cart 10 has reached the measurement end position. If the determination is NO, the process returns to step S2, whereas if the determination is YES, the process ends.

[0106] As described above, in this embodiment, the differential distances ΔX', ΔY' in the track width direction and height direction measured by the position deviation measuring sensors 31a to 31c are corrected based on the tilt angle θ in the roll direction of the measuring cart 10 to calculate the position deviation amounts ΔX, ΔY of the contact wires 104a to 104c from the design positions thereof. This makes it possible to suppress a decrease in the measurement accuracy of the position deviation amounts ΔX, ΔY of the contact wires 104a to 104c caused by the tilt of the measuring cart 10 in the roll direction.

[0107] In addition, in this embodiment, the differential distances ΔX', ΔY' are corrected based on the tilt angle θ in the roll direction, which has a larger effect on the measurement errors of the train wires 104a to 104c than the tilt angle in the yaw direction or the tilt angle in the pitch direction, so that it is possible to efficiently suppress a decrease in the measurement accuracy of each of the positional deviation amounts ΔX', ΔY.

[0108] In addition, in this embodiment, the tilt angle θ in the roll direction of the measuring cart 10 is detected using the height measurement sensors 33a, 33b for detecting tilt angles, which are two one-dimensional sensors arranged at a distance in the vehicle width direction, thereby reducing costs compared to the case of using a two-dimensional sensor such as an image sensor.

[0109] Furthermore, in this embodiment, the difference distance ΔY′ in the height direction measured by the position deviation measuring sensors 31a to 31c is calculated as the position deviation amount ΔY L By performing the correction based on this, it is possible to suppress a decrease in the measurement accuracy of the amount of positional deviation ΔY in the height direction of the train wires 104a to 104c caused by the positional deviation of the measuring cart 10 in the height direction.

[0110] Furthermore, in this embodiment, the difference distance ΔX′ in the track width direction measured by the position deviation measuring sensors 31a to 31c is calculated as the position deviation amount ΔX G By performing the correction based on this, it is possible to suppress a decrease in the measurement accuracy of the amount of positional deviation ΔX of the train lines 104a to 104c in the track width direction caused by the positional deviation of the measuring cart 10 in the track width direction.

[0111] In this embodiment, the sensor support member 17 is configured to be mounted on the measuring cart 10 with one side in the track width direction reversed (left and right reversed) based on a predetermined mounting state. Regardless of whether the train lines 104a to 104c are arranged on the left or right side of the measuring cart 10, the position deviation measurement process can be performed using the measuring cart 10.

[0112] Moreover, in this embodiment, the sensor support member 17 is configured so that the support positions of the sensors 31-35 are line-symmetrical across the center line L in the width direction of the measuring cart 10 in a predetermined mounting state and an inverted mounting state (see FIG. 7). Therefore, regardless of whether the contact wires 104a-104c are arranged on the left or right side of the measuring cart 10, the positions of the contact wires 104a-104c can be measured with high accuracy.

[0113] In this embodiment, the position deviation measuring sensors 31a to 31c are configured as non-contact sensors that can measure the measurement target distance (difference distances ΔX', ΔY' in this embodiment) without contacting the electric rails 104a to 104c. Therefore, compared with a case in which the position deviation measuring sensors 31a to 31c are configured as contact sensors, the configuration can be simplified to suppress the occurrence of failures and improve space efficiency.

[0114] In this embodiment, the position deviation measuring sensors 31a to 31c are configured by two-dimensional non-contact sensors capable of measuring the measurement target distance (difference distances ΔX', ΔY' in this embodiment) in two directions, the track width direction and the height direction. This makes it possible to reduce the number of sensors used and simplify the configuration compared to the case where one-dimensional non-contact sensors are used.

[0115] In the present embodiment, data corresponding to the installation position of the fixing bar 108 provided on the contact line support part 105 is extracted as fixing bar corresponding data from among the positional deviation data generated by the contact line positional deviation amount calculation unit 52, so that the worker can easily and quickly recognize the positional deviation data near the contact line support part 105 from a huge amount of positional deviation data over the entire measurement section of the contact lines 104a to 104c. Therefore, the worker can easily know the positional deviation amount of the contact lines 104a to 104c at the part he / she needs (near the contact line support part 105 in the present embodiment). In addition, by evaluating the positional deviation of the contact lines 104a to 104c at the position corresponding to the contact line support part 105 for the contact lines 104a to 104c that extend continuously and long, maintenance (position correction) according to the positional deviation amount can be easily and accurately performed.

[0116] In addition, in this embodiment, the data extraction processing unit 53 is configured to count the bar count value when the level of the detection signal received by the trigger sensor 32 is equal to or higher than the lower detection threshold voltage V of the fixed bar 108 and equal to or lower than the upper detection threshold voltage V2 (first level), and to count the total count value when the level of the detection signal received by the trigger sensor 32 is equal to or higher than the lower detection threshold voltage V1 of the fixed bar and equal to or lower than the upper detection threshold voltage V3 (within a range from the first level to the second level). The data extraction processing unit 53 is configured to determine whether or not the condition is satisfied that the ratio of the bar count value to the total count value is equal to or higher than a predetermined ratio and the magnitude of the total count value is within a predetermined range corresponding to the designed length of the fixed bar 108 along the track extension direction, and if it is determined that the condition is satisfied (YES in step S11), to determine (determine) that the object detected by the trigger sensor 32 is the fixed bar 108 and count the trigger count value.

[0117] According to this, it is possible to detect the fixed bar 108 by simple processing based on the detection voltage output from the one-dimensional trigger sensor 32, without performing complex image processing using an image sensor or the like. Therefore, it is possible to detect the fixed bar 108 with an inexpensive configuration.

[0118] (Modification) Figure 15 is a diagram equivalent to Figure 8, showing a modified example. This modified example differs from the above embodiment in that the controller 50 further includes a fixed bar position data storage unit 57, and the fixed bar position data (one example of installation member position data; see Figure 16) stored in the fixed bar position data storage unit 57 is used to identify the sequence number of the fixed bar 108. Note that the same components as those in the above embodiment are given the same reference numerals, and detailed description thereof will be omitted.

[0119] 16 is a diagram showing an example of fixed bar position data. This fixed bar position data is configured by associating the sequence number of the fixed bar 108, which is an installation member, with the position information of each fixed bar 108. In this example, the position information of each fixed bar 108 is the distance from the measurement start position on the track 101 (the position where the measuring cart 10 starts traveling).

[0120] In this modification, when the data extraction process is executed, the data extraction processing unit 53 first identifies the sequence number of the fixed bar 108 detected in the detection process that triggered the execution of the data extraction process as equal to the trigger count value, as in the embodiment, but the subsequent process is different from that in the embodiment 1. That is, the data extraction processing unit 53 identifies the sequence number of the fixed bar 108, and then estimates the travel distance (for a predetermined section) from the travel start position of the measuring cart 10 to the current position based on the identified sequence number and the position information of the fixed bar 108 corresponding to the sequence number defined in the fixed bar position data. Then, the data extraction processing unit 53 determines whether this estimated travel distance matches the actual travel distance calculated based on the measurement signal of the rotation speed measurement sensor 36, and if it is determined that they match, it determines that there is no error in the identified sequence number, whereas if the estimated travel distance and the calculated actual travel distance are different, it determines that the identified sequence number is incorrect. If the data extraction processing unit 53 determines that there is an error in the sequence number, it refers to the fixed bar position data and identifies the sequence number of the fixed bar 108 that is located at a position corresponding to the calculated actual travel distance as the correct sequence number.

[0121] A specific example of this will be described with reference to the fixed bar position data shown in Fig. 16. That is, if the sequence number of the fixed bar 108 identified based on the trigger count value is No. 4, the corresponding position information of the fixed bar 108 is 205 m from the measurement start position, so the data extraction processing unit 53 estimates the current travel distance of the measurement cart 10 to be 205 m. On the other hand, if the actual travel distance calculated based on the signal from the rotation speed measurement sensor 36 is 162 m, No. 3, which is the sequence number of the fixed bar 108 at the position corresponding to the calculated actual travel distance of 162 m, is identified as the correct sequence number.

[0122] Therefore, according to the modified example, it is possible to prevent an error from occurring in the sequence number of the fixed bar 108 associated with the fixed bar corresponding data extracted by the data extraction processing unit 53. Therefore, a maintenance worker can accurately identify the location where the misalignment of the contact lines 104a to 104c occurs based on the fixed bar corresponding data, and can efficiently and accurately perform maintenance and inspection work on the contact lines 104a to 104c.

[0123] As another modified example, the interval between adjacent fixed bars 108 may be defined as the position information of each fixed bar 108 included in the fixed bar position data.

[0124] In this case, the data extraction processing unit 53 detects the sequence number of the fixed bar 108 as being equal to the trigger count value, as in the above embodiment, but the counting process of the trigger count value is different from the above embodiment. That is, the data extraction processing unit 53 calculates the actual travel distance of the measurement cart 10 in the section (predetermined section) from the previous count time to the current count time based on the measurement signal from the rotation speed measurement sensor 36 every time the trigger count value is counted, and determines whether the calculated actual travel distance matches the travel distance estimated based on the fixed bar position data (the section between the fixed bar 108 corresponding to the previous trigger count value specified in the fixed bar position data and the fixed bar 108 corresponding to the current trigger count value), and if it determines that they do not match, it determines that an erroneous detection of the fixed bar 108 has occurred and cancels the current count of the trigger count value. This makes it possible to correctly count the trigger count value, and by extension, to improve the accuracy of identifying the sequence number of the fixed bar 108 based on the trigger count value. According to this modification, it is possible to obtain the same effects as the above modification. Moreover, according to this modified example, even if the travel distance of the measuring cart 10 becomes long and an accumulated error occurs in the calculated value of the actual travel distance based on the detection signal of the rotation speed measuring sensor 36, the sequence number of the fixed bar 108 can be accurately determined.

[0125] (Other embodiments) Although the overhead contact line positional deviation measuring system 1 according to the embodiment of the present invention has been described above, the present invention is not limited to this, and for example, the following embodiment can be adopted.

[0126] (1) In the above embodiment and each modified example, the contact line position deviation measurement system 1 is applied to the transportation system 100 having three contact lines 104a to 104c, but the present invention is not limited to this, and the number of contact lines may be more than three or less than three. As an example, when DC power is supplied to the vehicle 103, the number of contact lines may be two.

[0127] (2) In the above embodiment and each modification, each of the positional deviation measuring sensors 31a to 31c is configured by a displacement sensor that measures the displacement of the distance, but the present invention is not limited thereto, and may be, for example, a distance sensor that measures the absolute distance, such as an ultrasonic sensor, or other sensors that measure the distance by image processing. In this case, the controller 50 calculates the difference distances ΔX', ΔY' between the distance (absolute distance) measured by the distance sensor and a predetermined reference distance, and the calculated difference distances ΔX', ΔY' are corrected to calculate the positional deviation amounts ΔX, ΔY. In this case, the positional deviation measuring sensors 31a to 31c (distance sensors that measure the absolute distance) and the controller 50 constitute a difference distance detection unit. Similarly, distance sensors that measure the absolute distance may be adopted for the other sensors 32 to 36. The calculation of the difference distances ΔX', ΔY' may be performed by a calculation device (for example, a mobile terminal 19) that is not mounted on the measuring cart 10.

[0128] (3) In the above embodiment and each modified example, the inclination angle in the roll direction (an example of a predetermined inclination direction) of the measuring cart 10 is detected, but this is not limited to this. For example, the inclination angle in the yaw direction or the inclination angle in the pitch direction may be detected, and the differential distances ΔX', ΔY' may be corrected based on the detected inclination angle.

[0129] (4) In the above embodiment and each modified example, the inclination angle detection sensor for detecting the inclination angle of the measuring cart 10 is composed of a pair of left and right height measurement sensors 33a, 33b for detecting inclination angle. However, it is not necessary to use two sensors, and the sensor may be composed of an angle sensor such as a gyroscope.

[0130] (5) In the above embodiment and each modified example, the contact wire positional deviation measurement system 1 measures the amount of positional deviation in the track width direction and height direction (an example of a predetermined direction) of each contact wire 104a to 104c, but is not limited thereto, and may measure the amount of positional deviation in a diagonal direction intersecting the track width direction, for example. In this case, the diagonal direction corresponds to the predetermined direction.

[0131] (6) In the above embodiment and each modified example, the measuring cart 10 is driven by the power of another powered vehicle (for example, by towing), but the present invention is not limited to this. For example, a human-powered driving method may be adopted. In the human-powered driving method, a push mechanism including a push handle or the like is provided on the measuring cart 10, and the measuring cart 10 is driven by human power via the push mechanism. The push mechanism is preferably detachably attached to, for example, the front end or rear end of the measuring cart 10. This allows a push mechanism of an appropriate configuration to be used depending on the moving direction of the measuring cart 10.

[0132] (7) In the above embodiment and each modification, the traveling method of the measuring cart 10 is not limited to a traveling method towed by another powered vehicle or a traveling method using human power, but may be, for example, a self-propelled traveling method. In this case, the measuring cart 10 is equipped with a power source such as a motor or an engine, and the measuring cart 10 travels by itself using the power generated by the power source.

[0133] (8) In addition, in the above embodiment and each modified example, each of the sensors 31 to 35 is configured as a non-contact sensor. However, this is not limited to this, and the sensors may be configured as a contact sensor such as a differential transformer.

[0134] (9) In addition, in the above embodiment and each modified example, when the data extraction processing is performed by the data extraction processing unit 53, outliers may be detected and removed based on the Smirnoff-Grubbs test. Also, peculiar numerical values ​​occurring at the joints of the wall members constituting the track 101 (joints of the travelling road surface) and the joints of the guide rail 102 may be removed by setting a threshold value in advance.

[0135] (10) In addition, in the above embodiment and each modified example, the fixed bar 108, which is an existing member provided in the transportation system 100, is described as an example of an installation member detected by the trigger sensor 32. However, this is not limited to this, and for example, the insulator mounting plate 106 may be detected as an adjustment member.

[0136] (11) In addition, in the above embodiment and each modified example, a one-dimensional trigger sensor 32 is used as a sensor for detecting the fixed bar 108. However, this is not limited to this, and an image sensor such as a CMOS camera may also be used.

[0137] (12) In the above embodiment and modified example, all the positional deviation data measured by the positional deviation measuring sensors 31a to 31c are stored in the measurement data storage unit 54, but this is not limiting, and the previously measured positional deviation data may be deleted every time the data extraction processing unit 53 stores fixed bar corresponding data (data extracted from the positional deviation data) in the extracted data storage unit 55. In this case, there is no need to provide a non-volatile storage medium for storing the measurement data storage unit 54, and the required memory capacity is also reduced, which ultimately reduces the cost of the entire system.

[0138] (13) In addition, in the above-mentioned embodiment and modified examples, only the measuring probes of the sensors 31 to 35 may be mounted on the measuring cart 10, and the calculation unit built into the sensor in a digital sensor or the like may be eliminated, and the calculation function may be assigned to another calculation device (e.g., a mobile terminal 19) located away from the measuring cart 10.

[0139] (14) In the above embodiment and modified examples, the pair of left and right height measuring sensors 33a, 33b for detecting tilt angles and the vehicle height direction measuring sensor 34 have a common function of measuring the height direction distance or the displacement of the distance (see item (2) above), but the former is provided to detect the tilt angle of the measuring vehicle 10 (roll angle in the above embodiment and modified examples), and the latter is provided to detect the amount of positional deviation of the measuring vehicle 10 in the height direction, and therefore the names are differentiated in the above embodiment and modified examples. In this regard, focusing on the common function of measuring the height direction distance or the displacement of the distance, the sensors corresponding to these three sensors 33a, 33b, and 34 may all be configured as sensors of the same type. In this case, the three sensors corresponding to the three sensors 33a, 33b, and 34 may have both the role of detecting the amount of positional deviation of the measuring vehicle 10 in the height direction and the role of detecting the tilt angle (roll angle) of the measuring vehicle 10. Specifically, for example, the three sensors are used to measure the height distance between the installation site of each sensor on the measuring cart 10 and the surface facing it, or the displacement of the distance, and the controller 50 calculates (detects) the height misalignment amount of the measuring cart 10 and the tilt angle of the measuring cart 10 based on the measurements by the three sensors. When calculating the height misalignment amount of the measuring cart 10, for example, the average value of the measurements by the three sensors may be used, or the measurement value by any one of the three sensors may be used, or the average value of the measurements by any two sensors may be used. In addition, when detecting the tilt angle (roll angle) of the measuring cart 10, for example, the measurements by any two sensors (which may be offset in the front-rear direction) spaced apart from each other in the left-right direction among the three sensors may be used. Note that the number of sensors is not limited to three, and the minimum number is two sensors spaced apart from each other in the left-right direction. As an example, in the above embodiment, the trolley height direction measurement sensor 34 may be eliminated, and at least one of the pair of left and right height measurement sensors 33a, 33b for detecting inclination angles (even the average value of the measurement values ​​if both are used) may be used (combined) to detect the amount of positional deviation in the height direction of the measuring trolley 10. [Explanation of symbols]

[0140] 1. Contact line position deviation measurement system 10 Measuring trolley (measuring mobile object) 31a Position deviation measurement sensor (measurement sensor) 31b Position deviation measurement sensor (measurement sensor) 31c Position deviation measurement sensor (measurement sensor) 52 Electric line position deviation amount calculation unit (position deviation data generation unit) 53 Data extraction processing section 55 Extracted data storage unit 100 Transportation Systems 101 orbit 102 Guide rail 103 vehicles 104a Tram line 104b Train Line 104c electric train line 105 Tramway support section 108 Fixed bar (installation member, existing member) 109 Fixing bolt ΔX Position deviation amount ΔY Position deviation amount V1 Lower detection threshold voltage of fixed bar (first level) V2 Upper detection threshold voltage of fixed bar (1st level) V3 Upper detection threshold voltage for fixing bolts (2nd level)

Claims

1. A contact line position deviation measurement system is applied to a transportation system including a guide rail extending along a track, vehicles that run while being guided by the guide rail, and a contact line that extends along the track and supplies power to the vehicles that run along the track, the contact line position deviation measurement system measuring an amount of position deviation in a predetermined direction from a design position of the contact line, a measuring movable body that travels along the track while being guided by the guide rail; a measurement sensor mounted on the measuring vehicle and configured to measure a distance to the electric rail along the predetermined direction or a change in the distance as a measurement target distance; a position deviation data generating unit that acquires the measurement target distance measured by the measurement sensor at a predetermined sampling rate while the measurement moving body travels in a predetermined measurement section set on the track, and calculates a position deviation amount of the electric contact line in the predetermined direction at each position in the track extension direction of the electric contact line based on the acquired measurement target distance, and generates the calculated position deviation data; A plurality of mounting members disposed at intervals along the track; a detection sensor provided on the measurement moving body, configured to be able to detect an object present at a design installation location of the plurality of installation members, and outputting a detection signal when the object is detected; a data extraction processing unit that executes a determination process to determine whether the object detected by the detection sensor is the installation member, and when it is determined that the object is the installation member, executes a data extraction process to identify data from the positional deviation data that corresponds to an installation location of the object that has been determined to be the installation member in the determination process based on the detection signal of the object output from the detection sensor, and to extract the identified data as installation member corresponding data; and an extracted data storage unit that stores the installation component corresponding data extracted by the data extraction processing unit.

2. 2. The overhead contact line position deviation measuring system according to claim 1, The plurality of installation members are utilized in the transportation system and comprise a plurality of existing members arranged at intervals along the track.

3. 2. The overhead contact line position deviation measuring system according to claim 1, The transportation system includes a plurality of contact line support units arranged along the track at intervals and supporting the contact line, The installation members are provided on the respective contact line support portions.

4. 4. The overhead contact line position deviation measuring system according to claim 3, Each of the electric rail support parts includes an insulator mounting plate on which an insulator supporting the electric rail is mounted, a support member supporting the insulator mounting plate, and a fixing bar which functions as a reference member for adjusting the height of the insulator mounting plate, is attached to the insulator mounting plate from the inside in the track width direction, and is fastened together with the insulator mounting plate to the support member by a bolt; Each of the installation members is composed of the fixed bar.

5. 5. The overhead contact line position deviation measuring system according to claim 4, the detection sensor is configured to set the magnitude of the detection signal output by the detection sensor to a first level when an object present at a location where the fixing bar is designed to be disposed, and to set the magnitude of the detection signal output by the detection sensor to a second level when an object present at a location where the bolt is designed to be disposed, the data extraction processing unit is configured, when executing the determination process, to count a bar count value which is the number of times the detection signal is received when the level of the detection signal received from the detection sensor is the first level, and to count a total count value which is the number of times the detection signal is received when the level of the detection signal received from the detection sensor is within a range from the first level to the second level, to determine whether or not a condition is satisfied that a ratio of the bar count value to the total count value is equal to or greater than a predetermined ratio and that the magnitude of the total count value is within a predetermined range corresponding to a design length of the fixed bar along the track extension direction, and to determine that the object detected by the detection sensor is the fixed bar when it is determined that the condition is satisfied.

6. 6. The overhead contact line position deviation measuring system according to claim 5, The contact line position deviation measuring system, wherein the detection sensor is a one-dimensional non-contact sensor.

7. 3. The overhead contact line position deviation measuring system according to claim 1, the data extraction processing unit counts a trigger count value each time it is determined in the determination process that the object is the installation member, and based on the trigger count value, identifies a sequence number indicating which installation member is the installation member among a plurality of installation members, counting from the side closest to the measurement start position, and the installation member corresponding data extracted by executing the data extraction process is associated with the sequence number of the installation member corresponding to the installation member corresponding data, and is configured to store them in the extracted data storage unit.

8. 8. The overhead contact line position deviation measuring system according to claim 7, A position data storage unit stores installation member position data in which the sequence number of the installation member is associated with position information of the installation member on the track, the data extraction processing unit, when counting the trigger count value, estimates a travel distance of the measurement moving body in a specified section based on the sequence number of the installed component identified based on the trigger count value and the installed component position data, and, if the estimated travel distance differs from the actual travel distance of the measurement moving body in the specified section, determines that the sequence number identified based on the trigger count value is incorrect and re-identifies the sequence number of the installed component based on the actual travel distance of the measurement moving body and the installed component position data, or cancels the count of the trigger count value.

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