Overhead line equipment measuring device and overhead line equipment measuring method

Abstract

To provide an overhead wire facility measuring device and an overhead wire facility measuring method capable of saving calibration work for correcting an error, and having high accuracy and excellent work efficiency.SOLUTION: An overhead wire facility measuring device comprises a plurality of ranging sensors 3, and an estimating device 5 that estimates a position of an overhead wire facility from ranging data 15 from the plurality of ranging sensors 3. The estimating device 5 comprises: a data group identifying unit 9 that identifies a type of data group of the ranging data 15; a representative value calculating unit 11 that calculates a representative value representing the data group based on the identification result of the data group identifying unit 9; and a position estimating unit 13 that estimates the position of the overhead wire facility from the representative value.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an overhead line equipment measuring device and an overhead line equipment measuring method. [Background technology]

[0002] The overhead contact line equipment for overhead contact line systems, which are installed above the tracks of the contact line, generally includes a contact wire and a suspension wire that suspends the contact wire. The contact wire is suspended from the suspension wire by overhead wire fittings such as hangers. In order for trains to receive power through the pantograph and operate normally, the overhead contact line equipment that supplies power to the pantograph must be installed in the position specified by the design. To ensure normal operation of trains, it is necessary to measure the positions of these overhead contact line equipment.

[0003] In Patent Document 1, two range finder sensors are used to measure the position of overhead line equipment, and the deviation and height of the overhead line are measured. This document discloses a method for appropriately filling in missing data when there is a lack of data. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2014-169936 A Summary of the Invention [Problem to be solved by the invention]

[0005] Normally, a sensor may contain measurement errors, so in order to further improve the measurement accuracy in Patent Document 1, it is possible to correct the measurement data by taking into account the measurement errors contained in the sensor itself. Here, since the measurement error of the sensor also varies depending on the surface material of the measurement object, when correcting the error, it is necessary to use different correction values ​​depending on the measurement object. In addition, it becomes necessary to obtain calibration data for calculating the correction values ​​in advance depending on the type of measurement object. Therefore, there is a risk that the work to improve the accuracy will become complicated.

[0006] The present invention has been made in consideration of the above-mentioned circumstances, and the problem that the present invention aims to solve is to provide an overhead line equipment measurement device and an overhead line equipment measurement method that are highly accurate and efficient, and that can omit calibration work for correcting errors. [Means for solving the problem]

[0007] In order to solve the above problems, the present invention employs the following means. That is, the overhead line equipment measurement device of the present invention comprises a plurality of range sensors and an estimation device that estimates the position of the overhead line equipment from the range data from the plurality of range sensors, and the estimation device comprises a data group identification unit that identifies a type of data group of the range data, a representative value calculation unit that calculates a representative value representing the data group based on the identification result of the data group identification unit, and a position estimation unit that estimates the position of the overhead line equipment from the representative value. According to the present invention, the estimation device calculates a representative value from the range data obtained from each range sensor and estimates the position of the overhead line equipment from this representative value, so that the position of the overhead line equipment can be obtained efficiently with high accuracy.

[0008] In one aspect of the present invention, the data group identification unit identifies whether the data group is a data group concentrated within a range close to a single point, or a data group within a region approximated by a straight line. In this aspect, the data group obtained from the range measurement sensor is identified as either a data group concentrated within a range close to a single point or a data group within a region approximated by a straight line, so that the data group can be clearly identified.

[0009] In one aspect of the present invention, when the data group is a group of data that is clustered within a range close to a single point, the representative value calculation unit calculates an average value of the data group as the representative value, and when the data group is a group of data that is within a region that is approximated by a straight line, the representative value calculation unit calculates the equation of the straight line as the representative value. In this aspect, either the average value of the data group or the equation of a straight line approximating the data group is calculated as the representative value depending on the type of data group, so that an appropriate representative value can be calculated based on the type of data group.

[0010] In one aspect of the present invention, when the representative value is the average value of the data group, the position estimation unit calculates an equation of a straight line passing through the origin of the range sensor and the two points of the representative value, and estimates the position of the overhead line equipment based on the intersection of the lines passing through the two points of each range sensor, and when the representative value is the equation of the straight line, estimates the position of the overhead line equipment based on the equation of the straight line of the representative value of each range sensor. In this aspect, depending on the type of data group, the position of the overhead line equipment is estimated based on the intersection of the straight line equations of each range sensor or based on the straight line equation of a representative value, so that the position of the overhead line equipment can be accurately and precisely estimated depending on the type of overhead line equipment.

[0011] The overhead line equipment measurement method of the present invention includes acquiring range data using multiple range sensors, identifying a type of a data group of the range data, calculating a representative value from the data group based on the identified type of the data group, and estimating a position of the overhead line equipment from the calculated representative value. According to the present invention, a representative value is calculated from the range data obtained from each range sensor, and the position of the overhead line equipment is estimated from this representative value, so that the position of the overhead line equipment can be obtained efficiently with high accuracy.

[0012] In one aspect of the present invention, identifying the type of the data group includes identifying whether the data group is a data group concentrated within a range close to a single point, or a data group within a region approximated by a straight line. In this aspect, the data group obtained from the range measurement sensor is identified as either a data group concentrated within a range close to a single point or a data group within a region approximated by a straight line, so that the data group can be clearly identified.

[0013] In one aspect of the present invention, calculating the representative value includes calculating an average value of the data group as the representative value when the data group is a data group that is clustered within a range close to a single point, and calculating the equation of the line as the representative value when the data group is a data group that is within a region that is approximated by a straight line. In this aspect, either the average value of the data group or the equation of a straight line approximating the data group is calculated as the representative value depending on the type of data group, so that an appropriate representative value can be calculated based on the type of data group.

[0014] In one aspect of the present invention, estimating the position of the overhead line equipment includes calculating an equation of a straight line passing through the origin of the range sensor and the two points of the representative value when the representative value is the average value of the data group, estimating the position of the overhead line equipment based on the intersection of the lines passing through the two points of each range sensor, and estimating the position of the overhead line equipment based on the equation of the straight line of the representative value of each range sensor when the representative value is the equation of the straight line. In this aspect, depending on the type of data group, the position of the overhead line equipment is estimated based on the intersection of the straight line equations of each range sensor or based on the straight line equation of a representative value, so that the position of the overhead line equipment can be accurately and precisely estimated depending on the type of overhead line equipment. Effect of the Invention

[0015] According to the present invention, it is possible to provide an overhead line equipment measuring device and an overhead line equipment measuring method that are highly accurate and have good work efficiency and that can omit the calibration work for correcting errors. [Brief description of the drawings]

[0016] [Figure 1] 1 is a schematic diagram showing a configuration of an overhead line equipment measuring device according to an embodiment of the present invention; [Diagram 2] 1 is a schematic diagram showing a configuration of an overhead line equipment measuring device according to an embodiment of the present invention; [Diagram 3] 4 is a flowchart showing an operation of the overhead line equipment measuring device according to the embodiment of the present invention. [Figure 4] 1 is a functional block diagram showing a configuration of an overhead line equipment measuring device according to an embodiment of the present invention. [Diagram 5] 1 is a schematic diagram showing measurement of an overhead line equipment position by a range sensor of an overhead line equipment measurement device according to an embodiment of the present invention. FIG. [Figure 6] 1 is a schematic diagram showing measurement of an overhead line equipment position by a range sensor of an overhead line equipment measurement device according to an embodiment of the present invention. FIG. [Figure 7] 1 is a diagram illustrating a method for calculating a position of an overhead line facility according to an embodiment of the present invention. [Figure 8] 1 is a schematic diagram showing measurement of an overhead line equipment position by a range sensor of an overhead line equipment measurement device according to an embodiment of the present invention. FIG. [Figure 9] 1 is a schematic diagram showing measurement of an overhead line equipment position by a range sensor of an overhead line equipment measurement device according to an embodiment of the present invention. FIG. [Figure 10] 1 is a schematic diagram showing measurement of an overhead line equipment position by a range sensor of an overhead line equipment measurement device according to an embodiment of the present invention. FIG. [Figure 11] 1 is a schematic diagram showing measurement of an overhead line equipment position by a range sensor of an overhead line equipment measurement device according to an embodiment of the present invention. FIG. [Figure 12] 1 is a schematic diagram showing measurement of an overhead line equipment position by a range sensor of an overhead line equipment measurement device according to an embodiment of the present invention. FIG. [Figure 13] 1 is a schematic diagram showing measurement of an overhead line equipment position by a range sensor of an overhead line equipment measurement device according to an embodiment of the present invention. FIG. [Figure 14] 1 is a diagram illustrating a method for calculating a position of an overhead line facility according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings. (Embodiment) FIG. 1 is a schematic diagram showing the configuration of an overhead line equipment measuring device according to an embodiment of the present invention. FIG. 4 is a functional block diagram showing the configuration of an overhead line equipment measuring device according to an embodiment of the present invention. As shown in FIG. 1, the overhead line equipment measuring device 1 according to this embodiment includes a plurality of range sensors 3 and an estimation device 5 that estimates the position of the overhead line equipment from the range data from the plurality of range sensors 3. The range sensors 3 in this embodiment are three range sensors 3a, 3b, and 3c provided on the vehicle roof 27 of the vehicle 25. FIG. 1 shows a plane perpendicular to the traveling direction of the vehicle, and the range sensors 3 are arranged so that the origin is located on this same plane on the vehicle roof 25.

[0018] FIG. 5 is a diagram for explaining the measurement of the position of the overhead line equipment by the range sensor 3. The range sensor 3 is a sensor that measures the position of a detected object, and may be, for example, a laser range finder (LRF). The laser range finder changes the projection direction of a laser beam by a certain angle, generates angle data representing the direction in which the detected object exists from the angle at which the reflected light is detected, and generates distance data representing the distance to the detected object from the time from when the laser beam is projected to when the reflected light is detected. As shown in FIG. 5, the range sensor 3 uses a laser to scan the spatial plane on the vehicle roof 27 in a fan shape from the origin J of the sensor (the light source of the sensor) and obtains multiple angles θ and distances d of the data group T corresponding to the trolley wire 19.

[0019] As shown in Fig. 4, the estimation device 5 includes a data storage unit 7 that stores range data 15 and various processing results of the range data 15, a data group identification unit 9 that identifies the type of data group of the range data 15, a representative value calculation unit 11 that calculates a representative value representing the data group based on the identification result of the data group identification unit 9, and a position estimation unit 13 that estimates the position of the overhead line equipment from the representative value. The estimation device 5 may be, for example, an information processing device such as a personal computer. Each functional block may be software or a program executed by a CPU or GPU in the information processing device. The data storage unit 7 may be configured with a storage device such as an HDD (hard disk drive) or SSD (solid state drive) mounted on the information processing device.

[0020] Fig. 3 is a flowchart showing the operation of the overhead line equipment measuring device 1 in this embodiment. The operation of the overhead line equipment measuring device 1 in this embodiment will be described in the order of processing with reference to Fig. 3, Fig. 1 and Fig. 4. (1) When the overhead line equipment measuring device 1 starts operating (S00), the range sensors 3a, 3b, and 3c each acquire range data 15 (S01). (2) The acquired range data 15 is sent to and stored in the data storage unit 7 of the estimation device 5 shown in Fig. 4. The estimation device 5 performs loop processes shown in S02 and S10 of the flowchart in Fig. 3, which are repeated the same number of times as the number of measurement targets of the overhead line equipment, and loop processes shown in S03 and S07, which are repeated the same number of times as the number of sensors.

[0021] (3) The range data 15 is output to the data group identification unit 9 (S04), and the data group identification unit 9 identifies whether the data group of the range data 15 (described in detail later) is a data group concentrated within a range close to a single point, or a data group within an area approximated by a straight line, and transmits the identification result to the data storage unit 7 to store it (S05).

[0022] (4) The range data 15 and the results of the data group identification are sent to the representative value calculation unit 11. As described in detail later, when the data group is a data group that is concentrated within a range close to a single point, the representative value calculation unit 11 calculates the average value of the data group as a representative value, and when the data group is a data group within a region that is approximated by a straight line, it calculates the equation of the line as a representative value, and sends the representative value to the data storage unit 7 to store it (S06).

[0023] (5) The above steps (3) and (4) are repeated for each sensor (loop of S03 to S07). (6) The representative value for each sensor is sent to the position estimation unit 13 (S08). When the representative value obtained in the above process (4) is the average value of the data group, the position estimation unit 13 calculates an equation of a straight line passing through the origin of the range sensor and the two points of the representative value, and estimates the position of the overhead line equipment based on the intersection of the lines passing through the two points of each range sensor, and when the representative value is an equation of a straight line, estimates the position of the overhead line equipment based on the equation of the straight line of the representative value of each range sensor (S09), as will be described in detail later. (7) The above process (5) (loop of S03 to S07) and process (6) are repeated the number of times equal to the number of overhead line equipment to be measured (loop of S02 to S10). (8) When the position estimation of the overhead line equipment has been completed for the number of measurement targets, the series of operations ends (S11).

[0024] <Identification of data group type> Next, the identification of the type of data group in the above process (3) will be described. Figures 9 to 13 are diagrams for explaining the range data obtained by the overhead line equipment 17. In these figures, the overhead line equipment 17 is composed of a contact wire 19, a suspension wire 21, and a hanger 23. Here, the identification of the type of data group means identifying whether the data group is the data group T of the range data 15 obtained by the contact wire 19 shown in the above-mentioned Figure 5, or the data group S of the range data 15 obtained by the overhead line fitting (hanger) 23 shown in Figure 9.

[0025] The data group T shown in FIG. 5 is identified as a data group based on the contact wire 19 based on whether it is a data group that is gathered in a range close to one point. If the average value and variance of the data group coordinates are within a predetermined range, the data group T is identified as a data group based on the contact wire 19. Alternatively, the data group T may be identified based on the ratio of the long and short diameters of the confidence ellipse H of the data group T. FIG. 8 shows an example in which the contact wire 19 and the suspension wire 21 are present. As shown in FIG. 8, the data group T' is obtained for the suspension wire 21. The determination of whether it is the contact wire 19 or the suspension wire 21 is made based on the average value in the height direction. In addition, in order to obtain accurate data, a process of removing outliers may be performed. In this case, outliers may be detected by simply removing the maximum and minimum values, or by using the range of the confidence ellipses H and H' of the two-dimensional normal distribution using the Mahalanobis distance, or more robust processes such as Modified Stahel-Donoho (MSD) and Minimum Covariance Determinant (Fast-MCD) may be adopted.

[0026] The data group S from the overhead line fittings (hanger) 23 shown in Fig. 9 is identified based on whether the average value and variance of the data group coordinates are within a predetermined range. The average value of the hanger is between that of the contact wire and the suspension wire, and the variance is large in the vertical direction and small in the horizontal direction. Alternatively, a linear approximation equation may be obtained, and if the correlation coefficient is equal to or greater than a predetermined threshold, the data group S may be identified as being from the overhead line fittings (hanger) 23. Outliers may be removed by detecting them using a confidence interval of linear approximation using the Mahalanobis distance, or more robust processing such as Modified Stahel-Donoho (MSD) or Minimum Covariance Determinant (Fast-MCD) may be adopted.

[0027] <Calculation of representative value> Next, the calculation of the representative value in the process of (4) above will be described. In the process of (3) above, if the statistical value of the data group identifies the data group as being within a range close to one point, the average value of the coordinates of the data group is calculated as the representative value. Alternatively, as another example of the representative value, as shown in FIG. 5, the median angle θ and the distance d at that angle may be used as the representative value. The calculation of the representative value is performed for each sensor, but when the sensors are installed at least on the left and right of the vehicle, the distance d and the angle θ may be calculated after combining the data groups of the sensors. The calculation of this representative value uses the data of the data group after the above-mentioned removal of outliers has been performed.

[0028] 9, when the data group S is a data group within an area approximated by a straight line, the coefficient of the equation of the approximated straight line is calculated as the representative value. Alternatively, as a simple calculation example, the average value m of the x coordinate (the coordinate in the left-right direction on the paper) of the data group may be calculated, and x=m may be used as the representative value. The data of the data group after the above-mentioned outliers have been removed is used to calculate this representative value.

[0029] <Estimation of the location of overhead line equipment> Next, the estimation of the position of the overhead line equipment in the process of (6) above will be described. First, the case where the representative value is the average value of the data group will be described. FIG. 6 is a diagram showing the measurement of the position of the overhead line equipment by the three range measurement sensors 3a, 3b, and 3c in this embodiment. As shown in FIG. 6, in the process of (4) above, when the representative values ​​u1, u2, and u3 obtained by each range measurement sensor 3a, 3b, and 3c are representative values ​​from a data group that is gathered within a range close to one point, the position estimation unit 13 calculates, for each range measurement sensor, the equation of a straight line that passes through the origins J1, J2, and J3 of each range measurement sensor 3a, 3b, and 3c and the two points of the representative values ​​u1, u2, and u3.

[0030] Specifically, the calculation of the straight line equation will be explained using the range measurement sensor 3a as an example. When the line connecting the sensor light source (sensor origin) J1 and the representative value u1 of the overhead line position is plotted on the xy coordinate axis with the vehicle center and the vehicle roof as the origin O, it can be expressed by the following equation.

[0031]

number

[0032] At this time, the slope of the line is a 1 is the angle θ to the overhead line 1 Therefore, it can be calculated by the following formula:

[0033]

number

[0034] In addition, the straight line in [Equation 1] is the sensor light source (w 1 ,h 1 ) through the line a 1 Since it is a straight line, b 1 can be calculated using the following formula:

[0035]

number

[0036] In addition, θ 1 When the angle is 90°, the equation (1) becomes:

[0037]

number

[0038] This is repeated for the remaining sensors to calculate the equation of the straight line in [Equation 1] or [Equation 4] as shown in FIG. 6. As shown in FIG. 6, the equations of the straight lines E1, E2, and E3 corresponding to the range sensors 3a, 3b, and 3c are obtained. FIG. 7 is an enlarged view of the contact wire 19 in FIG. 6. After calculating the equations of the straight lines E1, E2, and E3 for all range sensors 3a, 3b, and 3c, the coordinates A(x a ,y a ), B(x b ,y b ), C(x c ,y c ) is calculated.

[0039] Here, the line E1:y=a 1 x+b 1 and E3:y=a 3 x+b 3 Intersection point A(x a ,y a ) can be calculated using the following formula:

[0040]

number

[0041] Similarly, the intersection point B(x b ,y b ) and the intersection point C(x c ,y c ) to find the positions of the three points ABC. The validity of the measurement result can be determined if the distance between the intersection point and the sensor light source is within the sensor measurement distance d ± the allowable error range. Here, the barycentric coordinates G(x g , y g ) is the deviation and height of the overhead line, so the coordinate position of G is calculated using the following formula.

[0042]

number

[0043] This makes it possible to measure the deviation and height of overhead lines with high accuracy without requiring calibration data.

[0044] Next, the estimation of the position of the overhead line facility when the representative value is an approximation of a straight line will be described. As described above, Figs. 9 to 13 are diagrams for explaining the range data obtained by the overhead line facility 17, and in these diagrams, a data group of data from the overhead line fittings 23 is obtained. Figs. 9, 10, and 11 respectively show data groups obtained by the range sensors 3a, 3b, and 3c. As shown in Figs. 9, 10, and 11, when the representative value obtained by each range sensor 3a, 3b, and 3c in the process of (4) above is an approximation of a straight line, the position estimation unit 13 performs the following process.

[0045] Since the overhead contact fitting 23 is thick, there is a difference in the measurement positions between the left and right sensors (FIGS. 9 to 11). As shown in FIG. 9 and FIG. 10, the range measurement sensors 3a and 3b can obtain a data group on the left side of the overhead contact fitting 23. As shown in FIG. 11, the range measurement sensor 3c can obtain a data group on the right side of the overhead contact fitting 23. Based on the appearance positions of these data groups, as shown in FIG. 12, the data groups obtained by the range measurement sensors 3a and 3b are grouped together to calculate an approximate straight line L on the left side. On the other hand, as shown in FIG. 13, an approximate curve R on the right side is calculated from the data group obtained by the range measurement sensor 3c. Finally, as shown in FIG. 14, when a straight line C at the center is obtained from these approximate straight lines L and R, this straight line C becomes an estimated value of the position of the overhead contact fitting 23. By obtaining the center data in this way, it is possible to calculate the position of the overhead contact fitting 23 without performing calibration.

[0046] As described above, in this embodiment, a data group of the range data 15 from the multiple range sensors 3 is identified, a representative value is calculated based on the identification result, and the position of the overhead line equipment 17 is estimated from the representative value. Therefore, it is possible to provide an overhead line equipment measurement device and an overhead line equipment measurement method that can omit the calibration work for correcting errors and have high accuracy and good work efficiency. Since the representative value is calculated based on the identification result of the data group, it is possible to grasp the appropriate positions corresponding to the shapes of the contact wire 19, the suspension wire 21, and the overhead line metal fittings 23. In addition, since the position of the overhead line equipment is estimated using all the data from the multiple range sensors 3, the accuracy of the estimated value can be improved. Since there is no need to create calibration data in advance for error correction, it is possible to save work and improve work efficiency.

[0047] (Modification) 2 and 8 are diagrams showing an overhead line equipment measuring device 10 according to this modification. The range measurement sensor 3 in this modification is provided with four range measurement sensors 3a, 3b, 3c, and 3d on the vehicle roof 27 of a vehicle 25. When the three range measurement sensors 3a, 3b, and 3c are used for measurement as in the above embodiment, the overhead line equipment may be positioned such that the overhead line 21 is in the shadow of the contact wire 19 and measurement is not possible. To avoid this, as shown in FIG. 8, measurement is performed using four range measurement sensors 3a, 3b, 3c, and 3d. As a result, even if some of the range measurement sensors are unable to perform measurement, the deviation and height of the overhead line can be calculated from the measurement results of the remaining range measurement sensors.

[0048] In FIG. 8, the range sensors 3a, 3b, and 3c can measure the overhead line 21, but the range sensor 3d cannot measure the overhead line 21 because it is in the shadow of the contact wire 19. In this case, the range data of the range sensors 3a, 3b, and 3c are used to estimate the position of the overhead line equipment by the same process as in the above embodiment. This avoids cases where measurement is impossible, suppresses a decrease in measurement accuracy, and enables highly accurate measurement of the overhead line equipment. In the measurement of the contact wire 19 or the overhead line 21, if all the data of the four range sensors 3a, 3b, 3c, and 3d are obtained, the center of gravity of a rectangle formed by the intersections of four lines obtained from each range sensor may be obtained as an estimate of the position of the overhead line equipment, instead of the center of gravity of a triangle. In addition, the number of range sensors is not limited to this, and may be further increased if possible. In this case, the center of gravity of a polygon formed by the intersections of lines obtained from the range sensors may be obtained as an estimate of the position of the overhead line equipment. Furthermore, when two range measurement sensors are used, the intersection of lines connecting each range measurement sensor and the representative value may be obtained as an estimate of the position of the overhead line equipment. [Explanation of symbols]

[0049] 1, 10 Overhead line equipment measuring device 3, 3a, 3b, 3c, 3d range sensor 5 Estimation device 9 Data group identification section 11 Representative value calculation section 13 Position estimation part 15. SAR Data

Claims

1. A plurality of range finder sensors; an estimation device that estimates a position of the overhead line equipment from the range data from the plurality of range sensors, The estimation device comprises: a data group identification unit that identifies whether the data group of the range measurement data is a data group based on a contact wire or a data group based on an overhead contact wire; a representative value calculation unit that calculates a representative value indicating a specific position of the data group when the data group of the range measurement data is a data group due to the contact wire, and calculates a representative value indicating an approximation line obtained by linearly approximating the data group of the range measurement data when the data group of the range measurement data is identified as a data group due to the overhead contact wire; and a position estimation unit that, when the data group of the range data is a data group due to the contact wire, estimates the position of the overhead line equipment using the intersection of straight lines connecting the multiple range sensors and a representative value, and, when the data group of the range data is identified as a data group due to the overhead line fittings, estimates the position of the overhead line equipment using the center line of opposing approximation straight lines obtained when linearly approximating the data group of the multiple range sensors.

2. Acquiring range data using multiple range sensors; Identifying whether the data group of the range data is a data group based on a contact wire or a data group based on an overhead contact wire; calculating a representative value indicating a specific position of the data group when the data group of the range measurement data is a data group due to the contact wire, and calculating a representative value indicating an approximation line obtained by linearly approximating the data group of the range measurement data when the data group of the range measurement data is identified as a data group due to the overhead contact wire; When the data group of the range measurement data is a data group due to the contact wire, estimating a position of the overhead line equipment using an intersection point of a straight line connecting the plurality of range measurement sensors and a representative value, and when the data group of the range measurement data is identified as a data group due to the overhead line fittings, estimating a position of the overhead line equipment using a center line of opposing approximation straight lines obtained when linearly approximating the data group of the plurality of range measurement sensors; A method for measuring overhead line equipment.

Images