WO2017057522A1 - Device and method for inspecting object above vehicle - Google Patents
Device and method for inspecting object above vehicle Download PDFInfo
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- WO2017057522A1 WO2017057522A1 PCT/JP2016/078740 JP2016078740W WO2017057522A1 WO 2017057522 A1 WO2017057522 A1 WO 2017057522A1 JP 2016078740 W JP2016078740 W JP 2016078740W WO 2017057522 A1 WO2017057522 A1 WO 2017057522A1
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- laser scan
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
Abstract
[Problem] To measure a measurement object above a vehicle such that when a plurality of rotary laser scan sensors are disposed on the roof of the vehicle within a measurement region, the laser lights do not interfere with each other. [Solution] In a case when a plurality of rotary laser scan sensors 41-44 are installed on the roof of a vehicle 9, the rotary laser scan sensors are installed in parallel along a direction substantially orthogonal to the direction in which the vehicle advances. The rotary scan directions of the rotary laser scan sensors are set so as to all be the same direction (e.g., a counterclockwise direction) with respect to the direction in which the vehicle advances. The rotary phases of the rotary laser scan sensors are set so as to differ by a phase quantity divided by the number of sensors installed. For example, the rotary laser scan sensors are subjected to synchronous control such that the phases differ by 120° when there are three sensors and by 90° when there are four sensors. The two end sensors 41, 44 of four or more rotary laser scan sensors installed in parallel are controlled to phases that do not produce interference with each other, and an inspection is made of a prescribed measurement object present above the vehicle in a region in which the laser lights do not interfere with each other.
Description
本発明は、電車車両などの上空に存在する架線（トロリ線）などの被測定物の状態を測定する車両上空物検測装置及び方法に関する。
The present invention relates to an on-vehicle sky object inspection apparatus and method for measuring the state of an object to be measured such as an overhead line (trolley line) existing above a train car or the like.
電車車両の上空には架線（トロリ線）、イヤー、イヤー碍子、ハンガーなどの架線設備が設けられている。特に、トロリ線については、レールに対して垂直方向及び水平方向に適切な相対位置に配置されているかどうかを測定するようにしたトロリ線の高さ・偏位測定装置が特許文献１に記載されている。
There are overhead lines such as overhead lines (trolley lines), ears, ear insulators, hangers, etc. above the train cars. In particular, Patent Document 1 describes a trolley wire height / deviation measuring device that measures whether or not a trolley wire is disposed at an appropriate relative position in the vertical and horizontal directions with respect to the rail. ing.
特許文献１に記載のものは、車両上に搭載する高さ・偏位測定装置を、トロリ線にレーザ光を照射して、その反射光路長でトロリ線までの距離を測定するレーザ距離センサと、トロリ線にレーザ光を走査するポリゴンミラーと、レーザ光の投光方向を計測するロータリーエンコーダと、トロリ線の高さ、偏位を算出する演算装置とで構成している。
このようなポリゴンミラーを用いたものは、装置自体が非常に大型のため、専用の検測車に搭載し、その検測車を数カ月に１回程度の周期で運行させることによって測定を行っている。Patent Document 1 discloses a height / deviation measuring device mounted on a vehicle, a laser distance sensor that irradiates a trolley wire with laser light and measures the distance to the trolley wire by its reflected light path length; A polygon mirror that scans the trolley line with laser light, a rotary encoder that measures the direction in which the laser light is projected, and an arithmetic unit that calculates the height and displacement of the trolley line.
A device using such a polygon mirror is so large in size that it is mounted on a dedicated inspection vehicle, and measurement is performed by operating the inspection vehicle once every few months. Yes.
このようなポリゴンミラーを用いたものは、装置自体が非常に大型のため、専用の検測車に搭載し、その検測車を数カ月に１回程度の周期で運行させることによって測定を行っている。
A device using such a polygon mirror is so large in size that it is mounted on a dedicated inspection vehicle, and measurement is performed by operating the inspection vehicle once every few months. Yes.
最近では、小型の回転式レーザスキャンセンサを営業車両の屋根上に搭載可能かつ車両限界に支障せず客室内に取り付け可能とした測定装置が提案されている。回転式レーザスキャンセンサは、レーザを回転するスキャン方式を採用しているため、営業車両の列車速度が４０［ｋｍ］以下でないと十分な測定性能を発揮できない。そこで、最高速度１３０［ｋｍ］に対応可能とするために、回転式レーザスキャンセンサを複数台並列に屋根上に配置することが提案されている。
Recently, a measuring device has been proposed that allows a small rotary laser scan sensor to be mounted on the roof of a commercial vehicle and can be installed in a passenger room without hindering vehicle limitations. Since the rotary laser scan sensor employs a scanning system that rotates a laser, sufficient measurement performance cannot be exhibited unless the train speed of the business vehicle is 40 km or less. In order to cope with the maximum speed of 130 [km], it has been proposed to arrange a plurality of rotary laser scan sensors on the roof in parallel.
しかしながら、回転式レーザスキャンセンサを屋根上に複数台配置した場合、少なくとも２台のセンサからそれぞれ出射されたレーザ光同士が相互に干渉する領域が存在することとなり、車両上空の被測定物によってはレーザ光が同時に照射され、正確に測定できない場合がある。
However, when a plurality of rotary laser scan sensors are arranged on the roof, there are areas where the laser beams emitted from at least two sensors interfere with each other, and depending on the object to be measured above the vehicle, In some cases, the laser beam is irradiated at the same time, and accurate measurement cannot be performed.
本発明は、上述の点に鑑みてなされたものであり、複数の回転式レーザスキャンセンサを車両の屋根上に配置した場合に、それぞれのレーザ光が相互干渉しないように車両上空の被測定物を測定することのできる車両上空物検測装置及び方法を提供することを目的とする。
The present invention has been made in view of the above points, and when a plurality of rotary laser scan sensors are arranged on the roof of a vehicle, an object to be measured above the vehicle so that the respective laser beams do not interfere with each other. It is an object of the present invention to provide a vehicle sky object inspection device and method capable of measuring the above.
本発明に係る車両上空物検測定装置の第１の特徴は、車両の進行方向に対して略直交する方向に沿って前記車両屋根上に並列に設置された複数の回転式レーザスキャンセンサ手段群と、前記回転式レーザスキャンセンサ手段群を回転走査方向が同じで、それぞれの回転位相が前記回転式レーザスキャンセンサ手段群の設置台数で分割した位相分ずつ異なるように制御する制御手段と、前記回転式レーザスキャンセンサ手段群からの検出信号に基づいて前記車両の屋根上空に存在する被測定物を検測する検測手段とを備えたことである。
この発明は、複数の回転式レーザスキャンセンサ手段群を車両屋根上に設置する場合に、車両の進行方向に対して略直交する方向に沿って並列に設置している。このとき、各回転式レーザスキャンセンサ手段の回転走査方向を、車両の進行方向に対して全て同じ方向（例えば反時計方向）となるようにしている。さらに、各回転式レーザスキャンセンサ手段の回転位相を設置台数で分割した位相分ずつ異なるようにしている。例えば、３台設置した場合は、それぞれの位相が１２０°異なるようにし、４台設置した場合は、９０°異なるようにする。このように各回転レーザスキャンセンサ手段を設置し、それぞれを同期制御することによって、レーザ光が相互干渉しないような領域である車両上空に存在する所定の被測定物を検測することができるようになる。 A first feature of the vehicle airborne object inspection / measurement device according to the present invention is a group of a plurality of rotary laser scan sensor means installed in parallel on the vehicle roof along a direction substantially orthogonal to the traveling direction of the vehicle. And a control means for controlling the rotational laser scan sensor means group so that the rotational scanning direction is the same, and the respective rotational phases are different from each other by the number of phases divided by the number of installed rotational laser scan sensor means groups, and And a measurement means for measuring the object to be measured existing above the roof of the vehicle based on a detection signal from the rotary laser scan sensor means group.
In the present invention, when a plurality of rotary laser scan sensor means groups are installed on the vehicle roof, they are installed in parallel along a direction substantially orthogonal to the traveling direction of the vehicle. At this time, the rotational scanning directions of the rotary laser scanning sensor means are all set to the same direction (for example, counterclockwise) with respect to the traveling direction of the vehicle. Further, the rotational phase of each rotary laser scan sensor means is made to differ by the phase divided by the number of installed units. For example, when three are installed, the phases are different by 120 °, and when four are installed, they are different by 90 °. Thus, by installing each rotary laser scan sensor means and controlling each of them synchronously, it is possible to measure a predetermined object to be measured over the vehicle, which is an area where the laser beams do not interfere with each other. become.
この発明は、複数の回転式レーザスキャンセンサ手段群を車両屋根上に設置する場合に、車両の進行方向に対して略直交する方向に沿って並列に設置している。このとき、各回転式レーザスキャンセンサ手段の回転走査方向を、車両の進行方向に対して全て同じ方向（例えば反時計方向）となるようにしている。さらに、各回転式レーザスキャンセンサ手段の回転位相を設置台数で分割した位相分ずつ異なるようにしている。例えば、３台設置した場合は、それぞれの位相が１２０°異なるようにし、４台設置した場合は、９０°異なるようにする。このように各回転レーザスキャンセンサ手段を設置し、それぞれを同期制御することによって、レーザ光が相互干渉しないような領域である車両上空に存在する所定の被測定物を検測することができるようになる。 A first feature of the vehicle airborne object inspection / measurement device according to the present invention is a group of a plurality of rotary laser scan sensor means installed in parallel on the vehicle roof along a direction substantially orthogonal to the traveling direction of the vehicle. And a control means for controlling the rotational laser scan sensor means group so that the rotational scanning direction is the same, and the respective rotational phases are different from each other by the number of phases divided by the number of installed rotational laser scan sensor means groups, and And a measurement means for measuring the object to be measured existing above the roof of the vehicle based on a detection signal from the rotary laser scan sensor means group.
In the present invention, when a plurality of rotary laser scan sensor means groups are installed on the vehicle roof, they are installed in parallel along a direction substantially orthogonal to the traveling direction of the vehicle. At this time, the rotational scanning directions of the rotary laser scanning sensor means are all set to the same direction (for example, counterclockwise) with respect to the traveling direction of the vehicle. Further, the rotational phase of each rotary laser scan sensor means is made to differ by the phase divided by the number of installed units. For example, when three are installed, the phases are different by 120 °, and when four are installed, they are different by 90 °. Thus, by installing each rotary laser scan sensor means and controlling each of them synchronously, it is possible to measure a predetermined object to be measured over the vehicle, which is an area where the laser beams do not interfere with each other. become.
本発明に係る車両上空物検測定装置の第２の特徴は、前記第１の特徴に記載の車両上空物検測装置において、前記回転式レーザスキャンセンサ手段群は３台以上を有し、前記検測手段は、前記回転式レーザスキャンセンサ手段群の中でレーザ出射方向が前記進行方向を見て第１象限に位置している状態にあるときの第１の回転式レーザスキャンセンサ手段から出射されるレーザ光線と、前記第１の回転式レーザスキャンセンサ手段よりも右側に配置された前記回転式レーザスキャンセンサ手段群の中でレーザ出射方向が前記進行方向を見て第２象限に位置する状態にあるときの第２の回転式レーザスキャンセンサ手段から出射されるレーザ光線とが、相互に干渉する位置よりも前記車両屋根から上空に離間した位置に存在する被測定物を検測することである。
各回転式レーザスキャンセンサ手段のレーザ出射方向が第１象限に位置し、その回転式レーザスキャンセンサ手段よりも右側に配置された回転式レーザスキャンセンサ手段のレーザ出射方向が第２象限に位置するときに、互いのレーザ光線は干渉する可能性がある。この発明では、相互に干渉する可能性のある位置よりも車両屋根から上空に離間した位置に存在する被測定物を検測するようにした。これによって、それぞれのレーザ光が相互干渉しないように車両上空の被測定物を測定できるようになる。 According to a second aspect of the vehicle airborne object inspection and measurement device according to the present invention, in the vehicle airborne object inspection and measurement device according to the first feature, the rotary laser scan sensor means group includes three or more units, The inspection means emits from the first rotary laser scan sensor means when the laser emission direction is located in the first quadrant as seen in the traveling direction in the rotary laser scan sensor means group. Of the laser beam and the rotary laser scan sensor means arranged on the right side of the first rotary laser scan sensor means, the laser emission direction is located in the second quadrant as seen in the traveling direction. The object to be measured is located at a position farther away from the vehicle roof than the position where the laser beam emitted from the second rotary laser scan sensor means in the state interferes with each other. Is Rukoto.
The laser emission direction of each rotary laser scan sensor means is located in the first quadrant, and the laser emission direction of the rotary laser scan sensor means arranged on the right side of the rotary laser scan sensor means is located in the second quadrant. Sometimes the laser beams of each other can interfere. In the present invention, the object to be measured is measured at a position farther away from the vehicle roof than a position that may interfere with each other. This makes it possible to measure an object to be measured above the vehicle so that the respective laser beams do not interfere with each other.
各回転式レーザスキャンセンサ手段のレーザ出射方向が第１象限に位置し、その回転式レーザスキャンセンサ手段よりも右側に配置された回転式レーザスキャンセンサ手段のレーザ出射方向が第２象限に位置するときに、互いのレーザ光線は干渉する可能性がある。この発明では、相互に干渉する可能性のある位置よりも車両屋根から上空に離間した位置に存在する被測定物を検測するようにした。これによって、それぞれのレーザ光が相互干渉しないように車両上空の被測定物を測定できるようになる。 According to a second aspect of the vehicle airborne object inspection and measurement device according to the present invention, in the vehicle airborne object inspection and measurement device according to the first feature, the rotary laser scan sensor means group includes three or more units, The inspection means emits from the first rotary laser scan sensor means when the laser emission direction is located in the first quadrant as seen in the traveling direction in the rotary laser scan sensor means group. Of the laser beam and the rotary laser scan sensor means arranged on the right side of the first rotary laser scan sensor means, the laser emission direction is located in the second quadrant as seen in the traveling direction. The object to be measured is located at a position farther away from the vehicle roof than the position where the laser beam emitted from the second rotary laser scan sensor means in the state interferes with each other. Is Rukoto.
The laser emission direction of each rotary laser scan sensor means is located in the first quadrant, and the laser emission direction of the rotary laser scan sensor means arranged on the right side of the rotary laser scan sensor means is located in the second quadrant. Sometimes the laser beams of each other can interfere. In the present invention, the object to be measured is measured at a position farther away from the vehicle roof than a position that may interfere with each other. This makes it possible to measure an object to be measured above the vehicle so that the respective laser beams do not interfere with each other.
本発明に係る車両上空物検測定装置の第３の特徴は、前記第２の特徴に記載の車両上空物検測装置において、前記回転式レーザスキャンセンサ手段群の前記第１及び第２の回転式レーザスキャンセンサ手段が両端以外の位置に設置されていることである。
この発明は、車両屋根上に並列に設置されている３台以上の回転式レーザスキャンセンサ手段群の中で互いにレーザ光線の干渉する可能性のある第１及び第２の回転式レーザスキャンセンサ手段を、両端に設置しないものである。第１及び第２の回転式レーザスキャンセンサ手段から出射されたレーザ光線が相互に干渉する可能性のある位置の高さ（車両屋根からの距離）は、両センサの離間距離に依存するので、第１及び第２の回転式レーザスキャンセンサ手段を両端に設置しないことによって、レーザ光線が相互に干渉する可能性のある位置の高さ（車両屋根からの距離）を最も高い位置から低い位置に変更することができ、測定可能範囲を大幅に向上できる。 According to a third aspect of the above-mentioned vehicle airborne object inspection / measurement device according to the present invention, in the vehicle airborne object inspection / measuring apparatus described in the above second feature, the first and second rotations of the rotary laser scan sensor means group. The laser scanning sensor means is installed at a position other than both ends.
The present invention relates to first and second rotary laser scan sensor means in which laser beams may interfere with each other among a group of three or more rotary laser scan sensor means installed in parallel on a vehicle roof. Is not installed at both ends. Since the height (distance from the vehicle roof) at which the laser beams emitted from the first and second rotary laser scan sensor means may interfere with each other depends on the separation distance between the two sensors, By not installing the first and second rotary laser scanning sensor means at both ends, the height (distance from the vehicle roof) where the laser beams may interfere with each other is lowered from the highest position to the lower position. It can be changed and the measurable range can be greatly improved.
この発明は、車両屋根上に並列に設置されている３台以上の回転式レーザスキャンセンサ手段群の中で互いにレーザ光線の干渉する可能性のある第１及び第２の回転式レーザスキャンセンサ手段を、両端に設置しないものである。第１及び第２の回転式レーザスキャンセンサ手段から出射されたレーザ光線が相互に干渉する可能性のある位置の高さ（車両屋根からの距離）は、両センサの離間距離に依存するので、第１及び第２の回転式レーザスキャンセンサ手段を両端に設置しないことによって、レーザ光線が相互に干渉する可能性のある位置の高さ（車両屋根からの距離）を最も高い位置から低い位置に変更することができ、測定可能範囲を大幅に向上できる。 According to a third aspect of the above-mentioned vehicle airborne object inspection / measurement device according to the present invention, in the vehicle airborne object inspection / measuring apparatus described in the above second feature, the first and second rotations of the rotary laser scan sensor means group. The laser scanning sensor means is installed at a position other than both ends.
The present invention relates to first and second rotary laser scan sensor means in which laser beams may interfere with each other among a group of three or more rotary laser scan sensor means installed in parallel on a vehicle roof. Is not installed at both ends. Since the height (distance from the vehicle roof) at which the laser beams emitted from the first and second rotary laser scan sensor means may interfere with each other depends on the separation distance between the two sensors, By not installing the first and second rotary laser scanning sensor means at both ends, the height (distance from the vehicle roof) where the laser beams may interfere with each other is lowered from the highest position to the lower position. It can be changed and the measurable range can be greatly improved.
本発明に係る車両上空物検測定装置の第４の特徴は、前記第２又は第３の特徴に記載の車両上空物検測装置において、前記第１及び第２の回転式レーザスキャンセンサ手段が互いに隣り合うように前記車両屋根上に並列に設置されていることである。
この発明は、車両屋根上に並列に設置されている３台以上の回転式レーザスキャンセンサ手段群の中で互いにレーザ光線の干渉する可能性のある第１及び第２の回転式レーザスキャンセンサ手段を、両センサの離間距離が最も小さくなる、互いに隣り合う位置に設置したものである。これによって、レーザ光線が相互に干渉する可能性のある位置の高さ（車両屋根からの距離）を最も低い位置に変更することができ、測定可能範囲を大幅に向上できる。 According to a fourth aspect of the on-vehicle airborne object inspection / measurement device according to the present invention, in the on-vehicle airborne object inspection device according to the second or third aspect, the first and second rotary laser scan sensor means include: It is installed in parallel on the vehicle roof so as to be adjacent to each other.
The present invention relates to first and second rotary laser scan sensor means in which laser beams may interfere with each other among a group of three or more rotary laser scan sensor means installed in parallel on a vehicle roof. Are installed at positions adjacent to each other so that the distance between the two sensors is the smallest. Thereby, the height (distance from the vehicle roof) at which the laser beams may interfere with each other can be changed to the lowest position, and the measurable range can be greatly improved.
この発明は、車両屋根上に並列に設置されている３台以上の回転式レーザスキャンセンサ手段群の中で互いにレーザ光線の干渉する可能性のある第１及び第２の回転式レーザスキャンセンサ手段を、両センサの離間距離が最も小さくなる、互いに隣り合う位置に設置したものである。これによって、レーザ光線が相互に干渉する可能性のある位置の高さ（車両屋根からの距離）を最も低い位置に変更することができ、測定可能範囲を大幅に向上できる。 According to a fourth aspect of the on-vehicle airborne object inspection / measurement device according to the present invention, in the on-vehicle airborne object inspection device according to the second or third aspect, the first and second rotary laser scan sensor means include: It is installed in parallel on the vehicle roof so as to be adjacent to each other.
The present invention relates to first and second rotary laser scan sensor means in which laser beams may interfere with each other among a group of three or more rotary laser scan sensor means installed in parallel on a vehicle roof. Are installed at positions adjacent to each other so that the distance between the two sensors is the smallest. Thereby, the height (distance from the vehicle roof) at which the laser beams may interfere with each other can be changed to the lowest position, and the measurable range can be greatly improved.
本発明に係る車両上空物検測定装置の第５の特徴は、前記第１、第２、第３又は第４の特徴に記載の車両上空物検測装置において、前記回転式レーザスキャンセンサ手段群の各回転式レーザスキャンセンサ手段から少なくとも水平方向に出射されるレーザ光を遮光する遮光手段を有することである。
これは、回転式レーザスキャンセンサ手段の走査可能な範囲が１８０°以上ある場合、隣接する回転式レーザスキャンセンサ手段にレーザ光が照射する可能性があるので、水平方向に出射するレーザ光を遮光する遮光手段を各センサ間に設けるようにしたものである。これによって、他のセンサからのレーザの入射を防ぐことができる。 According to a fifth aspect of the vehicle airborne object inspection and measurement device according to the present invention, in the vehicle airborne object inspection device according to the first, second, third or fourth feature, the rotary laser scan sensor means group. And a light shielding means for shielding laser light emitted at least in the horizontal direction from each of the rotary laser scan sensor means.
This is because when there is a scannable range of the rotary laser scan sensor means of 180 ° or more, the laser light may be irradiated to the adjacent rotary laser scan sensor means, so the laser light emitted in the horizontal direction is shielded. The light shielding means is provided between the sensors. As a result, laser incidence from other sensors can be prevented.
これは、回転式レーザスキャンセンサ手段の走査可能な範囲が１８０°以上ある場合、隣接する回転式レーザスキャンセンサ手段にレーザ光が照射する可能性があるので、水平方向に出射するレーザ光を遮光する遮光手段を各センサ間に設けるようにしたものである。これによって、他のセンサからのレーザの入射を防ぐことができる。 According to a fifth aspect of the vehicle airborne object inspection and measurement device according to the present invention, in the vehicle airborne object inspection device according to the first, second, third or fourth feature, the rotary laser scan sensor means group. And a light shielding means for shielding laser light emitted at least in the horizontal direction from each of the rotary laser scan sensor means.
This is because when there is a scannable range of the rotary laser scan sensor means of 180 ° or more, the laser light may be irradiated to the adjacent rotary laser scan sensor means, so the laser light emitted in the horizontal direction is shielded. The light shielding means is provided between the sensors. As a result, laser incidence from other sensors can be prevented.
本発明に係る車両上空物検測定方法の第１の特徴は、車両の進行方向に対して略直交する方向に沿って前記車両屋根上に並列に配置された複数の回転式レーザスキャンセンサ手段群を用いて、前記車両の屋根上空に存在する被測定物を検測する車両上空物検測方法において、記回転式レーザスキャンセンサ手段群は、回転走査方向が同じでそれぞれの回転位相を、前記回転式レーザスキャンセンサ手段群の設置台数で分割した位相分ずつ異なるように設定してあることである。
これは、前記車両上空物検測定装置の第１の特徴に対応した車両上空物検測定方法の発明である。 The first feature of the vehicle airborne object inspection and measurement method according to the present invention is that a plurality of rotary laser scan sensor means groups arranged in parallel on the vehicle roof along a direction substantially orthogonal to the traveling direction of the vehicle. In the vehicle over-the-air object inspection method for detecting an object to be measured above the roof of the vehicle, the rotary laser scan sensor means group has the same rotational scanning direction and the respective rotational phases. It is set to be different for each phase divided by the number of installed rotary laser scan sensor means groups.
This is an invention of an on-vehicle air quality measuring method corresponding to the first feature of the above-mentioned on-vehicle air quality measuring device.
これは、前記車両上空物検測定装置の第１の特徴に対応した車両上空物検測定方法の発明である。 The first feature of the vehicle airborne object inspection and measurement method according to the present invention is that a plurality of rotary laser scan sensor means groups arranged in parallel on the vehicle roof along a direction substantially orthogonal to the traveling direction of the vehicle. In the vehicle over-the-air object inspection method for detecting an object to be measured above the roof of the vehicle, the rotary laser scan sensor means group has the same rotational scanning direction and the respective rotational phases. It is set to be different for each phase divided by the number of installed rotary laser scan sensor means groups.
This is an invention of an on-vehicle air quality measuring method corresponding to the first feature of the above-mentioned on-vehicle air quality measuring device.
本発明に係る車両上空物検測定方法の第２の特徴は、前記第１の特徴に記載の車両上空物検測方法において、３台以上を有する前記回転式レーザスキャンセンサ手段群の中でレーザ出射方向が前記進行方向を見て第１象限に位置している状態にあるときの第１の回転式レーザスキャンセンサ手段から出射されるレーザ光線と、前記第１の回転式レーザスキャンセンサ手段よりも右側に配置された前記回転式レーザスキャンセンサ手段群の中でレーザ出射方向が前記進行方向を見て第２象限に位置する状態にあるときの第２の回転式レーザスキャンセンサ手段から出射されるレーザ光線とが、相互に干渉する位置よりも前記車両屋根から上空に離間した位置に存在する被測定物を検測することである。
これは、前記車両上空物検測定装置の第２の特徴に対応した車両上空物検測定方法の発明である。 A second feature of the vehicle airborne object inspection and measurement method according to the present invention is the vehicle airborne object inspection and measurement method according to the first feature, wherein a laser is included in the rotary laser scan sensor means group having three or more units. From the first rotary laser scan sensor means, the laser beam emitted from the first rotary laser scan sensor means when the emission direction is in the first quadrant when viewed in the traveling direction, and from the first rotary laser scan sensor means Is also emitted from the second rotary laser scan sensor means when the laser emission direction is located in the second quadrant as viewed in the traveling direction in the group of rotary laser scan sensor means arranged on the right side. This is to measure the object to be measured present at a position spaced above the vehicle roof from a position where the laser beams interfere with each other.
This is an invention of an on-vehicle air quality measuring method corresponding to the second feature of the above-mentioned on-vehicle air quality measuring device.
これは、前記車両上空物検測定装置の第２の特徴に対応した車両上空物検測定方法の発明である。 A second feature of the vehicle airborne object inspection and measurement method according to the present invention is the vehicle airborne object inspection and measurement method according to the first feature, wherein a laser is included in the rotary laser scan sensor means group having three or more units. From the first rotary laser scan sensor means, the laser beam emitted from the first rotary laser scan sensor means when the emission direction is in the first quadrant when viewed in the traveling direction, and from the first rotary laser scan sensor means Is also emitted from the second rotary laser scan sensor means when the laser emission direction is located in the second quadrant as viewed in the traveling direction in the group of rotary laser scan sensor means arranged on the right side. This is to measure the object to be measured present at a position spaced above the vehicle roof from a position where the laser beams interfere with each other.
This is an invention of an on-vehicle air quality measuring method corresponding to the second feature of the above-mentioned on-vehicle air quality measuring device.
本発明に係る車両上空物検測定方法の第３の特徴は、前記第２の特徴に記載の車両上空物検測方法において、前記回転式レーザスキャンセンサ手段群の前記第１及び第２の回転式レーザスキャンセンサ手段を両端以外の位置に設置することである。
これは、前記車両上空物検測定装置の第３の特徴に対応した車両上空物検測定方法の発明である。 According to a third aspect of the vehicle airborne object inspection measuring method according to the present invention, in the vehicle airborne object inspection measuring method according to the second feature, the first and second rotations of the rotary laser scan sensor means group. The type laser scan sensor means is installed at a position other than both ends.
This is an invention of an on-vehicle air quality measuring method corresponding to the third feature of the above-mentioned on-vehicle air quality measuring device.
これは、前記車両上空物検測定装置の第３の特徴に対応した車両上空物検測定方法の発明である。 According to a third aspect of the vehicle airborne object inspection measuring method according to the present invention, in the vehicle airborne object inspection measuring method according to the second feature, the first and second rotations of the rotary laser scan sensor means group. The type laser scan sensor means is installed at a position other than both ends.
This is an invention of an on-vehicle air quality measuring method corresponding to the third feature of the above-mentioned on-vehicle air quality measuring device.
本発明に係る車両上空物検測定方法の第４の特徴は、前記第２又は第３の特徴に記載の車両上空物検測方法において、前記第１及び第２の回転式レーザスキャンセンサ手段が互いに隣り合うように前記車両屋根上に並列に設置したことである。
これは、前記車両上空物検測定装置の第４の特徴に対応した車両上空物検測定方法の発明である。 According to a fourth aspect of the vehicle airborne object inspection measuring method according to the present invention, in the vehicle airborne object inspection measuring method according to the second or third feature, the first and second rotary laser scan sensor means include: It was installed in parallel on the vehicle roof so as to be adjacent to each other.
This is an invention of an on-vehicle air quality measuring method corresponding to the fourth feature of the above-mentioned on-vehicle air quality measuring device.
これは、前記車両上空物検測定装置の第４の特徴に対応した車両上空物検測定方法の発明である。 According to a fourth aspect of the vehicle airborne object inspection measuring method according to the present invention, in the vehicle airborne object inspection measuring method according to the second or third feature, the first and second rotary laser scan sensor means include: It was installed in parallel on the vehicle roof so as to be adjacent to each other.
This is an invention of an on-vehicle air quality measuring method corresponding to the fourth feature of the above-mentioned on-vehicle air quality measuring device.
本発明に係る車両上空物検測定方法の第５の特徴は、前記第１、第２、第３又は第４の特徴に記載の車両上空物検測方法において、前記回転式レーザスキャンセンサ手段群の各回転式レーザスキャンセンサ手段から少なくとも水平方向に出射されるレーザ光を遮光したことである。
これは、前記車両上空物検測定装置の第５の特徴に対応した車両上空物検測定方法の発明である。 A fifth feature of the vehicle airborne object inspection and measurement method according to the present invention is the vehicle airborne object inspection method according to the first, second, third or fourth feature, wherein the rotary laser scan sensor means group. The laser beam emitted at least in the horizontal direction from each of the rotary laser scan sensor means is shielded.
This is an invention of an on-vehicle air quality measuring method corresponding to the fifth feature of the above-mentioned on-vehicle air quality measuring device.
これは、前記車両上空物検測定装置の第５の特徴に対応した車両上空物検測定方法の発明である。 A fifth feature of the vehicle airborne object inspection and measurement method according to the present invention is the vehicle airborne object inspection method according to the first, second, third or fourth feature, wherein the rotary laser scan sensor means group. The laser beam emitted at least in the horizontal direction from each of the rotary laser scan sensor means is shielded.
This is an invention of an on-vehicle air quality measuring method corresponding to the fifth feature of the above-mentioned on-vehicle air quality measuring device.
本発明によれば、複数の回転式レーザスキャンセンサを車両の屋根上に配置した場合に、それぞれのレーザ光が相互干渉しないように車両上空の被測定物を測定することができる。
According to the present invention, when a plurality of rotary laser scan sensors are arranged on the roof of a vehicle, it is possible to measure an object to be measured above the vehicle so that the respective laser beams do not interfere with each other.
以下、図面に基づいて本発明の車両上空物検測装置の実施の形態としてトロリ線測定装置を例に説明する。図１は、トロリ線測定装置を搭載する営業車両の一例を模式的に示す図である。図１において、トロリ線測定装置４は、４台の回転式レーザスキャンセンサ４１～４４と、センサ制御部７と、測定装置８とから構成される。４台の回転式レーザスキャンセンサ４１～４４は、回転移動するレーザ測長センサを用いて空間を面状に走査するものである。回転式レーザスキャンセンサ４１～４４は、トロリ線１の存在する空間すなわちトロリ線１の偏位方向にレーザ光を面状に走査して車両上空（屋根上）のトロリ線１からの反射光を受光し、レーザ測長センサとトロリ線１との間の距離と角度を測定するものである。
Hereinafter, a trolley wire measurement device will be described as an example of an embodiment of the vehicle airborne object inspection device of the present invention based on the drawings. FIG. 1 is a diagram schematically illustrating an example of a business vehicle equipped with a trolley wire measurement device. In FIG. 1, the trolley wire measuring device 4 includes four rotary laser scan sensors 41 to 44, a sensor control unit 7, and a measuring device 8. The four rotary laser scan sensors 41 to 44 scan the space in a plane using a laser length sensor that rotates and moves. The rotary laser scan sensors 41 to 44 scan the laser light in a plane in the space where the trolley line 1 exists, that is, the direction of displacement of the trolley line 1 and reflect the reflected light from the trolley line 1 over the vehicle (on the roof). It receives light and measures the distance and angle between the laser length measurement sensor and the trolley wire 1.
４台の回転式レーザスキャンセンサ４１～４４は、営業車両９の屋根上であって車両進行方向（図面の前後方向）に対して略垂直方向（図面の左右方向）にそれぞれ所定の間隔で並列配置される。回転式レーザスキャンセンサ４２と回転式レーザスキャンセンサ４３とは、例えば６００［ｍｍ］以上離間した位置に設置される。回転式レーザスキャンセンサ４２，４３は、車両９の左右中心からは約３００［ｍｍ］以上離間した位置にそれぞれ設置される。回転式レーザスキャンセンサ４１と回転式レーザスキャンセンサ４２との間、回転式レーザスキャンセンサ４３と回転式レーザスキャンセンサ４４と間は、例えば、約３００［ｍｍ］程度離間した位置に配置されることが望ましい。回転式レーザスキャンセンサ４１～４４の走査角度は、約１８０度である。この走査角度は一例であり、１８０度以上の場合もこれ以下の場合もある。従って、この実施の形態のように複数の回転式レーザスキャンセンサ４１～４４を並列配置した場合、被測定物の位置に応じて、複数の回転式レーザスキャンセンサ４１～４４から出射されたレーザ光同士がそれぞれ干渉する場合がある。この実施の形態では、回転式レーザスキャンセンサ４１～４４の走査時の位相角度を異ならせ、それぞれを同期制御している。この同期制御の詳細については後述する。
The four rotary laser scan sensors 41 to 44 are arranged on the roof of the business vehicle 9 in parallel at a predetermined interval in a substantially vertical direction (left and right direction in the drawing) with respect to the vehicle traveling direction (front and rear direction in the drawing). Be placed. The rotary laser scan sensor 42 and the rotary laser scan sensor 43 are installed, for example, at positions separated by 600 [mm] or more. The rotary laser scan sensors 42 and 43 are respectively installed at positions separated from the center of the vehicle 9 by about 300 [mm] or more. The rotary laser scan sensor 41 and the rotary laser scan sensor 42, and the rotary laser scan sensor 43 and the rotary laser scan sensor 44, for example, are arranged at positions separated by about 300 [mm]. Is desirable. The scanning angle of the rotary laser scan sensors 41 to 44 is about 180 degrees. This scanning angle is an example, and may be 180 degrees or more or less. Therefore, when a plurality of rotary laser scan sensors 41 to 44 are arranged in parallel as in this embodiment, the laser beams emitted from the plurality of rotary laser scan sensors 41 to 44 according to the position of the object to be measured. Each may interfere with each other. In this embodiment, the phase angle at the time of scanning of the rotary laser scan sensors 41 to 44 is varied, and each is controlled synchronously. Details of this synchronization control will be described later.
センサ制御部７は、４台の回転式レーザスキャンセンサ４１～４４からの検出器信号及び回転式レーザスキャンセンサ４１～４４の屋根上における設置位置に基づいて、トロリ線１の高さ偏位座標を算出して、測定装置８に出力する。測定装置８は、センサ制御部７のオペレーションとデータ収録を行う。センサ制御部７及び測定装置８は、営業用の車両９内の適当な箇所に設置される。なお、センサ制御部７を回転式レーザスキャンセンサ４１～４４と同じ屋根上に配置し、測定装置８を営業車両の床下に配置してもよいし、これ以外の場所に配置してもよい。
Based on the detector signals from the four rotary laser scan sensors 41 to 44 and the installation positions of the rotary laser scan sensors 41 to 44 on the roof, the sensor control unit 7 coordinates the height deviation of the trolley wire 1. Is calculated and output to the measuring device 8. The measuring device 8 performs operation of the sensor control unit 7 and data recording. The sensor control unit 7 and the measuring device 8 are installed at appropriate locations in the business vehicle 9. The sensor control unit 7 may be disposed on the same roof as the rotary laser scan sensors 41 to 44, and the measuring device 8 may be disposed under the floor of the business vehicle, or may be disposed at other locations.
回転式レーザスキャンセンサ４１～４４の間には、水平方向に出射するレーザ光を遮光する遮光板５１～５３が設けられている。回転式レーザスキャンセンサ４１～４４の走査可能な範囲が１８０°以上の場合、隣接する回転式レーザスキャンセンサ同士に隣接する回転式レーザスキャンセンサから出射するレーザ光が照射される可能性がある。そこで、この実施の形態では、水平方向に出射するレーザ光を遮光する遮光手段として遮光板５１～５３をそれぞれ回転式レーザスキャンセンサ４１～４４の間に設けている。なお、この遮光板５１～５３に代えて、回転式レーザスキャンセンサ４１～４４自体に出射防止用及び／又は入射防止用の遮光膜を設けるようにしてもよい。また、回転式レーザスキャンセンサ４１～４４の走査可能な範囲を１８０°よりも小さくし、隣接する回転式レーザスキャンセンサにレーザ光が出射されないようにしてもよい。
Between the rotary laser scan sensors 41 to 44, light shielding plates 51 to 53 for shielding the laser light emitted in the horizontal direction are provided. When the scannable range of the rotary laser scan sensors 41 to 44 is 180 ° or more, there is a possibility that laser light emitted from the adjacent rotary laser scan sensors is irradiated with the adjacent rotary laser scan sensors. Therefore, in this embodiment, light shielding plates 51 to 53 are provided between the rotary laser scan sensors 41 to 44 as light shielding means for shielding the laser light emitted in the horizontal direction. Instead of the light shielding plates 51 to 53, the rotary laser scan sensors 41 to 44 themselves may be provided with light shielding films for preventing emission and / or preventing incidence. Further, the scanable range of the rotary laser scan sensors 41 to 44 may be made smaller than 180 ° so that the laser beam is not emitted to the adjacent rotary laser scan sensors.
図２は、図１の４台の回転式レーザスキャンセンサの同期制御の一例を示す図である。図２では、回転式レーザスキャンセンサ４１～４４のレーザ出射方向は、それぞれの回転中心から延びる矢印４１ａ～４４ａで示してある。回転式レーザスキャンセンサ４１～４４のレーザ走査方向（回転走査方向）は、それぞれの回転中心を中心とする点線円の矢印４１ｃ～４４ｃで示してある。すなわち、図２において、紙面奥行き方向が電車進行方向の場合、回転式レーザスキャンセンサ４１～４４のレーザ走査方向（回転走査方向）は反時計方向となり、紙面手前方向が電車進行方向の場合、時計方向となる。
FIG. 2 is a diagram showing an example of synchronous control of the four rotary laser scan sensors in FIG. In FIG. 2, the laser emission directions of the rotary laser scan sensors 41 to 44 are indicated by arrows 41a to 44a extending from the respective rotation centers. The laser scanning direction (rotational scanning direction) of the rotary laser scan sensors 41 to 44 is indicated by dotted circle arrows 41c to 44c centering on the respective rotation centers. That is, in FIG. 2, when the depth direction of the paper surface is the train traveling direction, the laser scanning direction (rotational scanning direction) of the rotary laser scan sensors 41 to 44 is counterclockwise, and when the front side of the paper surface is the train traveling direction, Direction.
回転式レーザスキャンセンサ４１～４４の配置は次のようになっている。回転式レーザスキャンセンサ４１と回転式レーザスキャンセンサ４２との距離はＬ１２、回転式レーザスキャンセンサ４３と回転式レーザスキャンセンサ４４との距離はＬ３４、回転式レーザスキャンセンサ４１と回転式レーザスキャンセンサ４４との距離はＬ１４、回転式レーザスキャンセンサ４２と回転式レーザスキャンセンサ４３との距離はＬ２３である。すなわち、それぞれの回転式レーザスキャンセンサ４１～４４は、距離Ｌ１２，Ｌ２３，Ｌ３４，Ｌ１４に相当するだけ離間して配置してある。また、距離Ｌ１２と距離Ｌ３４は同じ値である。なお、距離Ｌ１２，Ｌ２３，Ｌ３４をそれぞれ同じとして、回転式レーザスキャンセンサ４１～４４をそれぞれ等間隔に配置してもよい。
The arrangement of the rotary laser scan sensors 41 to 44 is as follows. The distance between the rotary laser scan sensor 41 and the rotary laser scan sensor 42 is L12, and the distance between the rotary laser scan sensor 43 and the rotary laser scan sensor 44 is L34. The rotary laser scan sensor 41 and the rotary laser scan sensor 41 are rotated. The distance between the rotary laser scan sensor 42 and the rotary laser scan sensor 43 is L23. That is, the respective rotary laser scan sensors 41 to 44 are spaced apart by a distance corresponding to the distances L12, L23, L34, and L14. The distance L12 and the distance L34 are the same value. The distances L12, L23, and L34 may be the same, and the rotary laser scan sensors 41 to 44 may be arranged at equal intervals.
回転式レーザスキャンセンサ４１の矢印４１ａのレーザ出射方向を基準０°とした場合、回転式レーザスキャンセンサ４２の矢印４２ａのレーザ出射方向は－９０°、回転式レーザスキャンセンサ４３の矢印４３ａのレーザ出射方向は－１８０°、回転式レーザスキャンセンサ４４の矢印４４ａのレーザ出射方向は－２７０°、それぞれ位相が９０°遅れている。
When the laser emission direction of the arrow 41a of the rotary laser scan sensor 41 is 0 ° as a reference, the laser emission direction of the arrow 42a of the rotary laser scan sensor 42 is −90 °, and the laser of the arrow 43a of the rotary laser scan sensor 43 is laser. The emission direction is −180 °, the laser emission direction of the arrow 44a of the rotary laser scan sensor 44 is −270 °, and the phase is delayed by 90 °.
図３は、図２に示すような位相遅れにおいて、回転式レーザスキャンセンサ４１～４４のレーザ出射方向が徐々に変化した場合の様子を示す図である。図３（Ａ）は、回転式レーザスキャンセンサ４１のレーザ出射方向が第１象限（４５°）に、回転式レーザスキャンセンサ４２のレーザ出射方向が第４象限（－４５°）に、回転式レーザスキャンセンサ４３のレーザ出射方向が第３象限（－１３５°）に、回転式レーザスキャンセンサ４４のレーザ出射方向が第２象限（－２２５°）に位置することを示す。以下同様に、図３（Ｂ）は、回転式レーザスキャンセンサ４１のレーザ出射方向が第２象限（１３５°）に位置する場合、図３（Ｃ）は、回転式レーザスキャンセンサ４１のレーザ出射方向が第３象限（２２５°）に位置する場合、図３（Ｄ）は、回転式レーザスキャンセンサ４１のレーザ出射方向が第４象限（３１５°）に位置する場合における各回転式レーザスキャンセンサ４２～４４のレーザ出射方向をそれぞれ示す。
FIG. 3 is a diagram showing a state in which the laser emission directions of the rotary laser scan sensors 41 to 44 are gradually changed in the phase delay as shown in FIG. In FIG. 3A, the laser emission direction of the rotary laser scan sensor 41 is in the first quadrant (45 °), and the laser emission direction of the rotary laser scan sensor 42 is in the fourth quadrant (−45 °). This indicates that the laser emission direction of the laser scan sensor 43 is in the third quadrant (-135 °) and the laser emission direction of the rotary laser scan sensor 44 is in the second quadrant (-225 °). Similarly, FIG. 3B shows a case where the laser emission direction of the rotary laser scan sensor 41 is located in the second quadrant (135 °), and FIG. When the direction is located in the third quadrant (225 °), FIG. 3D shows each rotary laser scan sensor when the laser emission direction of the rotary laser scan sensor 41 is located in the fourth quadrant (315 °). The laser emission directions 42 to 44 are respectively shown.
図３において、回転式レーザスキャンセンサ４１～４４から出射するレーザ光線が相互に干渉する可能性があるのは、図３（Ａ）に示す回転式レーザスキャンセンサ４１のレーザ出射方向が第１象限に位置し、回転式レーザスキャンセンサ４４のレーザ出射方向が第２象限に位置する場合である。すなわち、各回転式レーザスキャンセンサ４１～４４のレーザ出射方向が第１象限に位置し、その回転式レーザスキャンセンサよりも右側に配置された回転式レーザスキャンセンサのレーザ出射方向が第２象限に位置するときに、互いのレーザ光線は干渉する可能性がある。
In FIG. 3, the laser beams emitted from the rotary laser scan sensors 41 to 44 may interfere with each other because the laser emission direction of the rotary laser scan sensor 41 shown in FIG. And the laser emission direction of the rotary laser scan sensor 44 is in the second quadrant. That is, the laser emission direction of each of the rotary laser scan sensors 41 to 44 is located in the first quadrant, and the laser emission direction of the rotary laser scan sensor arranged on the right side of the rotary laser scan sensor is in the second quadrant. When located, the laser beams can interfere with each other.
図４は、図３（Ａ）に示す回転式レーザスキャンセンサのレーザ光線が相互干渉する状態を示す。回転式レーザスキャンセンサ４１のレーザ出射方向が第１象限の１５°，３０°，４５°，６０°，７５°に位置し、回転式レーザスキャンセンサ４４のレーザ出射方向が第２象限の１０５°，１２０°、１３５°、１５０°、１６５°に位置する場合に、双方のレーザ光線は領域Ｒ１～Ｒ５で相互に干渉することとなる。この領域Ｒ１～Ｒ５は、回転式レーザスキャンセンサ４１と回転式レーザスキャンセンサ４４との中間点を中心とする、半径が距離Ｌ１４の約２分の１に相当する円弧上に存在することとなる。領域Ｒ３が最も屋根上の最上部に位置し、その高さは距離Ｌ１４の約２分の１（Ｌ１４／２）すなわちＬ１４／２である。従って、この領域Ｒ３よりも上方が図２に示すような位相遅れで走査される回転式レーザスキャンセンサ４１～４４の測定可能範囲となる。
FIG. 4 shows a state in which the laser beams of the rotary laser scan sensor shown in FIG. The laser emission direction of the rotary laser scan sensor 41 is located at 15 °, 30 °, 45 °, 60 °, and 75 ° in the first quadrant, and the laser emission direction of the rotary laser scan sensor 44 is 105 ° in the second quadrant. , 120 °, 135 °, 150 °, and 165 °, the two laser beams interfere with each other in the regions R1 to R5. The regions R1 to R5 are present on an arc whose radius is about one half of the distance L14 with the center point between the rotary laser scan sensor 41 and the rotary laser scan sensor 44 as the center. . The region R3 is located at the uppermost part on the roof, and its height is about one half of the distance L14 (L14 / 2), that is, L14 / 2. Therefore, the range above the region R3 is a measurable range of the rotary laser scan sensors 41 to 44 that are scanned with a phase delay as shown in FIG.
回転式レーザスキャンセンサ４１と回転式レーザスキャンセンサ４４との距離Ｌ１４が、例えば、約１２００［ｍｍ］であると、車両の屋根から領域Ｒ３までの距離は約６００［ｍｍ］となり、トロリ線１の測定に支障が生じることになる。この距離を小さくするには、回転式レーザスキャンセンサ４１と回転式レーザスキャンセンサ４４との距離Ｌ１４を小さくすることで対応することができるが、距離Ｌ１４を小さくすることには限界がある。
If the distance L14 between the rotary laser scan sensor 41 and the rotary laser scan sensor 44 is about 1200 [mm], for example, the distance from the vehicle roof to the region R3 is about 600 [mm], and the trolley line 1 This will hinder measurement. This distance can be reduced by reducing the distance L14 between the rotary laser scan sensor 41 and the rotary laser scan sensor 44, but there is a limit to reducing the distance L14.
図５は、図２の回転式レーザスキャンセンサの配置を入れ換えて、それぞれの位相遅れの関係が配置方向に沿って異なるようにした実施の形態を示す図である。図５では、図２に示した回転式レーザスキャンセンサ４２と回転式レーザスキャンセンサ４４との配置を入れ換えて、距離Ｌ１４を小さくなるようにした。また、この配置交換によって、各回転式レーザスキャンセンサ４１～４４のレーザ出射方向が第１象限に位置し、その回転式レーザスキャンセンサよりも右側に配置された回転式レーザスキャンセンサのレーザ出射方向が第２象限に位置する関係は、図５（Ａ）に示した回転式レーザスキャンセンサ４１と回転式レーザスキャンセンサ４２の場合以外に、図５（Ｂ）に示す回転式レーザスキャンセンサ４３と回転式レーザスキャンセンサ４２の場合と、図５（Ｃ）に示す回転式レーザスキャンセンサ４４と回転式レーザスキャンセンサ４３の場合とで、それぞれ発生するようになる。すなわち、互いのレーザ光線の干渉する可能性は増加する。
FIG. 5 is a diagram showing an embodiment in which the arrangement of the rotary laser scan sensor in FIG. 2 is exchanged so that the relationship between the respective phase delays varies along the arrangement direction. In FIG. 5, the arrangement of the rotary laser scan sensor 42 and the rotary laser scan sensor 44 shown in FIG. 2 is interchanged to reduce the distance L14. Further, by this arrangement replacement, the laser emission direction of each of the rotary laser scan sensors 41 to 44 is positioned in the first quadrant, and the laser emission direction of the rotary laser scan sensor arranged on the right side of the rotary laser scan sensor. Is located in the second quadrant, in addition to the rotary laser scan sensor 41 and the rotary laser scan sensor 42 shown in FIG. 5A, the rotary laser scan sensor 43 shown in FIG. This occurs in the case of the rotary laser scan sensor 42 and in the case of the rotary laser scan sensor 44 and the rotary laser scan sensor 43 shown in FIG. That is, the possibility that the laser beams interfere with each other increases.
図５（Ａ）において、回転式レーザスキャンセンサ４１と回転式レーザスキャンセンサ４２のレーザ光が相互干渉する領域Ｒ６までの車両屋根からの距離は、距離Ｌ１４の約２分の１（Ｌ１４／２）すなわち約１５０［ｍｍ］となる。図５（Ｂ）において、回転式レーザスキャンセンサ４３と回転式レーザスキャンセンサ４２のレーザ光が相互干渉する領域Ｒ７までの車両屋根からの距離は、距離Ｌ３２の約２分の１（Ｌ３２／２）、すなわち約１５０［ｍｍ］となる。一方、図５（Ｃ）において、回転式レーザスキャンセンサ４４と回転式レーザスキャンセンサ４３のレーザ光が相互干渉する領域Ｒ８までの車両屋根からの距離は、距離Ｌ４３の約２分の１（Ｌ４３／２）すなわち約３００［ｍｍ］となる。従って、図５に示す回転式レーザスキャンセンサの配置によって、領域Ｒ８よりも上方が図５に示すような位相遅れで走査される回転式レーザスキャンセンサ４１～４４の測定可能範囲となる。なお、回転式レーザスキャンセンサ４１～４４を等間隔、すなわち距離Ｌ１４，Ｌ４３，Ｌ３２を等しくすることによって、距離Ｌ１４，Ｌ４３，Ｌ３２はそれぞれ最小となり、測定可能範囲を拡大することができる。
In FIG. 5A, the distance from the vehicle roof to the region R6 where the laser beams of the rotary laser scan sensor 41 and the rotary laser scan sensor 42 interfere with each other is approximately one half of the distance L14 (L14 / 2). ) That is, about 150 [mm]. In FIG. 5B, the distance from the vehicle roof to the region R7 where the laser beams of the rotary laser scan sensor 43 and the rotary laser scan sensor 42 interfere with each other is about one half of the distance L32 (L32 / 2). ), That is, about 150 [mm]. On the other hand, in FIG. 5C, the distance from the vehicle roof to the region R8 where the laser beams of the rotary laser scan sensor 44 and the rotary laser scan sensor 43 interfere with each other is about one half of the distance L43 (L43). / 2) That is, about 300 [mm]. Therefore, the arrangement of the rotary laser scan sensors shown in FIG. 5 makes the measurable range of the rotary laser scan sensors 41 to 44 scanned with a phase delay as shown in FIG. 5 above the region R8. Note that the distances L14, L43, and L32 can be minimized and the measurable range can be expanded by making the rotary laser scan sensors 41 to 44 equally spaced, that is, the distances L14, L43, and L32 are equal.
図６は、図５の回転式レーザスキャンセンサの配置を入れ換えて、それぞれの位相遅れの関係が配置方向に沿って異なるようにした別の実施の形態を示す図である。図６では、図５の回転式レーザスキャンセンサ４３と回転式レーザスキャンセンサ４４との配置を入れ換えて、これらが相互に干渉しないように配置した。すなわち、図２の回転式レーザスキャンセンサ４２を回転式レーザスキャンセンサ４４の位置に配置し、回転式レーザスキャンセンサ４３及び回転式レーザスキャンセンサ４４を左側にずらした場合に相当する。この配置交換によって、各回転式レーザスキャンセンサ４１～４４のレーザ出射方向が第１象限に位置し、その回転式レーザスキャンセンサよりも右側に配置された回転式レーザスキャンセンサのレーザ出射方向が第２象限に位置する関係が、図６（Ａ）に示す回転式レーザスキャンセンサ４１と回転式レーザスキャンセンサ４４の場合と、図６（Ｂ）に示す回転式レーザスキャンセンサ４３と回転式レーザスキャンセンサ４２の場合とで、それぞれ発生するようになる。すなわち、互いのレーザ光線の干渉する可能性は図５の場合よりも減少する。
FIG. 6 is a diagram showing another embodiment in which the arrangement of the rotary laser scan sensor in FIG. 5 is changed so that the relationship between the respective phase delays is different along the arrangement direction. In FIG. 6, the arrangement of the rotary laser scan sensor 43 and the rotary laser scan sensor 44 in FIG. 5 is interchanged so that they do not interfere with each other. That is, this corresponds to the case where the rotary laser scan sensor 42 of FIG. 2 is arranged at the position of the rotary laser scan sensor 44 and the rotary laser scan sensor 43 and the rotary laser scan sensor 44 are shifted to the left. With this arrangement replacement, the laser emission directions of the rotary laser scan sensors 41 to 44 are positioned in the first quadrant, and the laser emission direction of the rotary laser scan sensor arranged on the right side of the rotary laser scan sensor is the first. The relationship between the two quadrants is the case of the rotary laser scan sensor 41 and the rotary laser scan sensor 44 shown in FIG. 6A, and the case of the rotary laser scan sensor 43 and the rotary laser scan shown in FIG. This occurs in the case of the sensor 42, respectively. That is, the possibility that the laser beams interfere with each other is less than in the case of FIG.
図６（Ａ）において、回転式レーザスキャンセンサ４１と回転式レーザスキャンセンサ４３のレーザ光が相互干渉する領域Ｒ９までの車両屋根からの距離は、距離Ｌ１４の約２分の１（Ｌ１４／２）すなわち約４５０［ｍｍ］となる。図６（Ｂ）において、回転式レーザスキャンセンサ４３と回転式レーザスキャンセンサ４２のレーザ光が相互干渉する領域ＲＡまでの車両屋根からの距離は、距離Ｌ３２の約２分の１（Ｌ３２／２）、すなわち約４５０［ｍｍ］となる。従って、図６に示す回転式レーザスキャンセンサの配置によって、領域Ｒ９，ＲＡよりも上方が図６に示すような位相遅れで走査される回転式レーザスキャンセンサ４１～４４の測定可能範囲となる。なお、回転式レーザスキャンセンサ４３と回転式レーザスキャンセンサ４４の離間距離Ｌ３４を小さくすることによって、距離Ｌ１４，Ｌ３２を小さくすることができ、測定可能範囲を拡大することができる。
In FIG. 6A, the distance from the vehicle roof to the region R9 where the laser beams of the rotary laser scan sensor 41 and the rotary laser scan sensor 43 interfere with each other is about one half of the distance L14 (L14 / 2). ), That is, about 450 [mm]. In FIG. 6B, the distance from the vehicle roof to the region RA where the laser beams of the rotary laser scan sensor 43 and the rotary laser scan sensor 42 interfere with each other is about one half of the distance L32 (L32 / 2). ), That is, about 450 [mm]. Therefore, the arrangement of the rotary laser scan sensor shown in FIG. 6 makes the measurable range of the rotary laser scan sensors 41 to 44 scanned above the regions R9 and RA with a phase delay as shown in FIG. Note that by reducing the separation distance L34 between the rotary laser scan sensor 43 and the rotary laser scan sensor 44, the distances L14 and L32 can be reduced, and the measurable range can be expanded.
図７は、３台の回転式レーザスキャンセンサの同期制御の一例を示す図である。図２では、４台の回転式レーザスキャンセンサ４１～４４を用いた場合について説明したが、以下、３台の回転式レーザスキャンセンサを用いた場合について説明する。この場合は、回転式レーザスキャンセンサ４１の矢印４１ａのレーザ出射方向を基準０°とした場合、回転式レーザスキャンセンサ４２の矢印４２ａのレーザ出射方向は１２０°、回転式レーザスキャンセンサ４３の矢印４３ａのレーザ出射方向は２４０°、それぞれ位相が遅れている。従って、図７（Ａ）に示すように、回転式レーザスキャンセンサ４１のレーザ出射方向が第１象限に位置するときに、回転式レーザスキャンセンサ４３のレーザ出射方向が第２象限に位置するという関係が成立する。
FIG. 7 is a diagram illustrating an example of synchronous control of three rotary laser scan sensors. In FIG. 2, the case where the four rotary laser scan sensors 41 to 44 are used has been described. Hereinafter, the case where the three rotary laser scan sensors are used will be described. In this case, when the laser emission direction of the arrow 41a of the rotary laser scan sensor 41 is set to 0 ° as a reference, the laser emission direction of the arrow 42a of the rotary laser scan sensor 42 is 120 °, and the arrow of the rotary laser scan sensor 43 The laser emission direction of 43a is 240 °, and the phase is delayed. Accordingly, as shown in FIG. 7A, when the laser emission direction of the rotary laser scan sensor 41 is located in the first quadrant, the laser emission direction of the rotary laser scan sensor 43 is located in the second quadrant. A relationship is established.
図７（Ｂ）は、図７（Ａ）に示す回転式レーザスキャンセンサのレーザ光線が相互干渉する状態を示す。回転式レーザスキャンセンサ４１のレーザ出射方向が第１象限の１５°，３０°，４５°に位置し、回転式レーザスキャンセンサ４３のレーザ出射方向が第２象限の１３５°、１５０°、１６５°に位置する場合に、双方のレーザ光線は領域ＲＢ，ＲＣ，ＲＤで相互に干渉することとなる。領域ＲＣが屋根上の最上部に位置し、その高さは距離Ｌ１３の０．２９倍（０．２９×Ｌ１３）、すなわち約１７５［ｍｍ］となる。従って、この領域ＲＣよりも上方が図７に示すような位相遅れで走査される回転式レーザスキャンセンサ４１～４３の測定可能範囲となる。なお、図７（Ｂ）において、回転式レーザスキャンセンサ４３と回転式レーザスキャンセンサ４２の配置を入れ換えた場合、双方のレーザ光線は領域ＲＥで相互に干渉することとなる。このときの高さは、距離Ｌ１２の０．２９倍（０．２９×Ｌ１２）、すなわち約３５０［ｍｍ］となる。これは、図２の場合とほぼ同様の測定可能範囲である。
FIG. 7B shows a state where the laser beams of the rotary laser scan sensor shown in FIG. 7A interfere with each other. The laser emission direction of the rotary laser scan sensor 41 is located at 15 °, 30 °, 45 ° in the first quadrant, and the laser emission direction of the rotary laser scan sensor 43 is 135 °, 150 °, 165 ° in the second quadrant. The two laser beams will interfere with each other in the regions RB, RC and RD. The region RC is located on the top of the roof, and its height is 0.29 times the distance L13 (0.29 × L13), that is, about 175 [mm]. Therefore, the region above the region RC is a measurable range of the rotary laser scan sensors 41 to 43 that are scanned with a phase delay as shown in FIG. In FIG. 7B, when the arrangement of the rotary laser scan sensor 43 and the rotary laser scan sensor 42 is exchanged, both laser beams interfere with each other in the region RE. The height at this time is 0.29 times the distance L12 (0.29 × L12), that is, about 350 [mm]. This is a measurable range almost the same as in the case of FIG.
図８は、図１のトロリ線測定装置の全体構成を示すブロック図である。センサ制御部７は、回転式レーザスキャンセンサ４１～４４に接続された高さ偏位演算パソコン７１～７４を含んで構成される。高さ偏位演算パソコン７１～７４は、ＣＰＵ（Ｃｅｎｔｒａｌ Ｐｒｏｃｅｓｓｉｎｇ Ｕｎｉｔ）とメモリとＨＤＤ（Ｈａｒｄ Ｄｉｓｋ Ｄｒｉｖｅ）とＤＩＯ（ｄｉｓｋ ｉｎｐｕｔ－ｏｕｔｐｕｔ ｉｎｔｅｒｆａｃｅ）とがそれぞれバスで接続されたパソコンで構成される。
FIG. 8 is a block diagram showing the overall configuration of the trolley wire measuring apparatus of FIG. The sensor control unit 7 includes height deviation calculation personal computers 71 to 74 connected to the rotary laser scan sensors 41 to 44. The height deviation calculation personal computers 71 to 74 are each composed of a personal computer in which a CPU (Central Processing Unit), a memory, a HDD (Hard Disk Drive), and a DIO (disk input-output interface) are connected by a bus.
高さ偏位演算パソコン７１～７４は、各回転式レーザスキャンセンサ４１～４４からのトロリ線位置検出信号をメモリに取り込む。高さ偏位演算パソコン７１～７４は、取り込んだＨＤＤ内の高さ偏位座標変換プログラムによって回転式レーザスキャンセンサ４１～４４の配列位置に基づいて、トロリ線の高さ（軌道面基準）であるＸ座標とトロリ線の偏位（軌道面を基準とした左右位置）であるＹ座標に変換し、メモリに格納する。高さ偏位演算パソコン７１～７４には、車両距離情報が入力され、車両移動位置の同期がなされる。
The height deviation calculation personal computers 71 to 74 fetch the trolley line position detection signals from the rotary laser scan sensors 41 to 44 into the memory. The height deviation calculation personal computers 71 to 74 calculate the height of the trolley line (based on the raceway surface) based on the arrangement position of the rotary laser scan sensors 41 to 44 by the height deviation coordinate conversion program in the HDD. A certain X coordinate and a Y coordinate which is a deviation of the trolley line (left and right position with respect to the orbital plane) are converted and stored in a memory. Vehicle distance information is input to the height deviation calculation personal computers 71 to 74, and the vehicle movement positions are synchronized.
測定装置８は、データ収録パソコン８１及び外部記録媒体８２を含んで構成される。データ収録パソコン８１は、ＣＰＵとメモリとＨＤＤとＤＩＯとがそれぞれバスで接続されたパソコンで構成される。測定装置８のデータ収録パソコン８１、センサ制御部７内の高さ偏位演算パソコン７１～７４は、それぞれＬＡＮで接続されている。測定装置８は、センサ制御部７から測定データを受け取り、外部記録媒体８２にデータ収録を行う。
The measuring device 8 includes a data recording personal computer 81 and an external recording medium 82. The data recording personal computer 81 includes a personal computer in which a CPU, a memory, an HDD, and a DIO are connected by a bus. The data recording personal computer 81 of the measuring device 8 and the height deviation computing personal computers 71 to 74 in the sensor control unit 7 are connected by a LAN. The measurement device 8 receives measurement data from the sensor control unit 7 and records data in the external recording medium 82.
なお、上述の実施の形態では、複数の回転式レーザスキャンセンサとして３台の場合と４台の場合を例に説明したが、これ以上の回転式レーザスキャンセンサを車両屋根上に設置してもよい。
上述の実施の形態では、トロリ線を測定する場合を例に説明したが、トロリ線以外のイヤー、イヤー碍子、ハンガーなどの車両上空に存在する架線設備等又はこれ以外の物体を測定する場合にも同様に適用できる。 In the above-described embodiment, the case where there are three and four rotary laser scan sensors has been described as an example. However, even if more rotary laser scan sensors are installed on the vehicle roof, Good.
In the above-described embodiment, the case where the trolley wire is measured has been described as an example. Can be applied similarly.
上述の実施の形態では、トロリ線を測定する場合を例に説明したが、トロリ線以外のイヤー、イヤー碍子、ハンガーなどの車両上空に存在する架線設備等又はこれ以外の物体を測定する場合にも同様に適用できる。 In the above-described embodiment, the case where there are three and four rotary laser scan sensors has been described as an example. However, even if more rotary laser scan sensors are installed on the vehicle roof, Good.
In the above-described embodiment, the case where the trolley wire is measured has been described as an example. Can be applied similarly.
１…トロリ線
４…トロリ線測定装置
４１，４２，４３，４４…回転式レーザスキャンセンサ
５１，５２，５３…遮光板
７…センサ制御部
７１…高さ偏位演算パソコン
８…測定装置
８１…データ収録パソコン
８２…外部記録媒体
９…車両 DESCRIPTION OFSYMBOLS 1 ... Trolley wire 4 ... Trolley wire measuring device 41, 42, 43, 44 ... Rotary laser scan sensor 51, 52, 53 ... Shading plate 7 ... Sensor control part 71 ... Height deviation calculation personal computer 8 ... Measuring device 81 ... Data recording personal computer 82 ... external recording medium 9 ... vehicle
４…トロリ線測定装置
４１，４２，４３，４４…回転式レーザスキャンセンサ
５１，５２，５３…遮光板
７…センサ制御部
７１…高さ偏位演算パソコン
８…測定装置
８１…データ収録パソコン
８２…外部記録媒体
９…車両 DESCRIPTION OF
Claims (10)
- 車両の進行方向に対して略直交する方向に沿って前記車両屋根上に並列に設置された複数の回転式レーザスキャンセンサ手段群と、
前記回転式レーザスキャンセンサ手段群を回転走査方向が同じで、それぞれの回転位相が前記回転式レーザスキャンセンサ手段群の設置台数で分割した位相分ずつ異なるように制御する制御手段と、
前記回転式レーザスキャンセンサ手段群からの検出信号に基づいて前記車両の屋根上空に存在する被測定物を検測する検測手段と
を備えたことを特徴とする車両上空物検測装置。 A plurality of rotary laser scan sensor means installed in parallel on the vehicle roof along a direction substantially perpendicular to the traveling direction of the vehicle;
Control means for controlling the rotational laser scan sensor means group so that the rotational scanning direction is the same, and the respective rotational phases are different from each other by the number of phases divided by the number of installed rotational laser scan sensor means groups;
An over-the-vehicle object inspection device comprising: inspection means for detecting an object to be measured that is present above the roof of the vehicle based on a detection signal from the rotary laser scan sensor means group. - 請求項１に記載の車両上空物検測装置において、前記回転式レーザスキャンセンサ手段群は３台以上を有し、前記検測手段は、前記回転式レーザスキャンセンサ手段群の中でレーザ出射方向が前記進行方向を見て第１象限に位置している状態にあるときの第１の回転式レーザスキャンセンサ手段から出射されるレーザ光線と、前記第１の回転式レーザスキャンセンサ手段よりも右側に配置された前記回転式レーザスキャンセンサ手段群の中でレーザ出射方向が前記進行方向を見て第２象限に位置する状態にあるときの第２の回転式レーザスキャンセンサ手段から出射されるレーザ光線とが、相互に干渉する干渉位置よりも前記車両屋根から上空に離間した位置に存在する被測定物を検測することを特徴とする車両上空物検測装置。 2. The vehicle sky object inspection device according to claim 1, wherein the rotary laser scan sensor means group includes three or more units, and the inspection means includes a laser emission direction in the rotary laser scan sensor means group. Of the laser beam emitted from the first rotary laser scan sensor means when viewed in the first quadrant when viewed in the traveling direction, and on the right side of the first rotary laser scan sensor means Laser emitted from the second rotary laser scan sensor means when the laser emission direction is in the second quadrant when viewed in the traveling direction in the group of rotary laser scan sensor means arranged in A vehicle over-the-air object inspection apparatus for detecting an object to be measured present at a position spaced above the vehicle roof from an interference position where light beams interfere with each other.
- 請求項２に記載の車両上空物検測装置において、前記回転式レーザスキャンセンサ手段群の前記第１及び第２の回転式レーザスキャンセンサ手段が両端以外の位置に設置されていることを特徴とする車両上空物検測装置。 3. The vehicle over-the-air object inspection apparatus according to claim 2, wherein the first and second rotary laser scan sensor means of the rotary laser scan sensor means group are installed at positions other than both ends. The vehicle sky object inspection device.
- 請求項２又は３に記載の車両上空物検測装置において、前記第１及び第２の回転式レーザスキャンセンサ手段が互いに隣り合うように前記車両屋根上に並列に設置されていることを特徴とする車両上空物検測装置。 4. The vehicle over-the-air object inspection device according to claim 2, wherein the first and second rotary laser scanning sensor means are installed in parallel on the vehicle roof so as to be adjacent to each other. The vehicle sky object inspection device.
- 請求項１、２、３又は４に記載の車両上空物検測装置において、前記回転式レーザスキャンセンサ手段群の各回転式レーザスキャンセンサ手段から少なくとも水平方向に出射されるレーザ光を遮光する遮光手段を有することを特徴とする車両上空物検測装置。 5. The over-the-air vehicle inspection device according to claim 1, wherein the laser beam emitted from each rotary laser scan sensor means of the rotary laser scan sensor means group is shielded at least in a horizontal direction. A vehicle sky object inspection device characterized by comprising means.
- 車両の進行方向に対して略直交する方向に沿って前記車両屋根上に並列に配置された複数の回転式レーザスキャンセンサ手段群を用いて、前記車両の屋根上空に存在する被測定物を検測する車両上空物検測方法において、
前記回転式レーザスキャンセンサ手段群は、回転走査方向が同じでそれぞれの回転位相を、前記回転式レーザスキャンセンサ手段群の設置台数で分割した位相分ずつ異なるように設定してあることを特徴とする車両上空物検測方法。 Using a plurality of rotary laser scan sensor groups arranged in parallel on the vehicle roof along a direction substantially perpendicular to the traveling direction of the vehicle, the object to be measured existing above the roof of the vehicle is detected. In the vehicle sky inspection method to measure,
The rotary laser scan sensor means group has the same rotational scanning direction, and each rotational phase is set to be different by the phase divided by the number of installed rotary laser scan sensor means groups. A method for detecting objects above the vehicle. - 請求項６に記載の車両上空物検測方法において、３台以上を有する前記回転式レーザスキャンセンサ手段群の中でレーザ出射方向が前記進行方向を見て第１象限に位置している状態にあるときの第１の回転式レーザスキャンセンサ手段から出射されるレーザ光線と、前記第１の回転式レーザスキャンセンサ手段よりも右側に配置された前記回転式レーザスキャンセンサ手段群の中でレーザ出射方向が前記進行方向を見て第２象限に位置する状態にあるときの第２の回転式レーザスキャンセンサ手段から出射されるレーザ光線とが、相互に干渉する干渉位置よりも前記車両屋根から上空に離間した位置に存在する被測定物を検測することを特徴とする車両上空物検測方法。 7. The vehicle sky object inspection method according to claim 6, wherein, in the rotary laser scan sensor means group having three or more units, the laser emission direction is located in the first quadrant as viewed in the traveling direction. Laser light emitted from the first rotary laser scan sensor means at a certain time, and laser emission in the rotary laser scan sensor means group disposed on the right side of the first rotary laser scan sensor means The laser beam emitted from the second rotary laser scan sensor means when the direction is in the second quadrant as seen from the traveling direction is above the vehicle roof above the interference position where they interfere with each other. A method for detecting an object on a vehicle, characterized by measuring an object to be measured present at a position spaced apart from each other.
- 請求項７に記載の車両上空物検測方法において、前記回転式レーザスキャンセンサ手段群の前記第１及び第２の回転式レーザスキャンセンサ手段を両端以外の位置に設置することを特徴とする車両上空物検測方法。 8. The vehicle over-the-air inspection method according to claim 7, wherein the first and second rotary laser scan sensor means of the rotary laser scan sensor means group are installed at positions other than both ends. Sky object inspection method.
- 請求項７又は８に記載の車両上空物検測方法において、前記第１及び第２の回転式レーザスキャンセンサ手段が互いに隣り合うように前記車両屋根上に並列に設置したことを特徴とする車両上空物検測方法。 9. The vehicle airborne object inspection method according to claim 7 or 8, wherein the first and second rotary laser scan sensor means are installed in parallel on the vehicle roof so as to be adjacent to each other. Sky object inspection method.
- 請求項６、７、８又は９に記載の車両上空物検測方法において、前記回転式レーザスキャンセンサ手段群の各回転式レーザスキャンセンサ手段から少なくとも水平方向に出射されるレーザ光を遮光したことを特徴とする車両上空物検測方法。 10. The method of detecting an object above the vehicle according to claim 6, 7, 8 or 9, wherein at least a laser beam emitted from each rotary laser scan sensor means of the rotary laser scan sensor means group is shielded at least in a horizontal direction. A vehicle over-the-air inspection method.
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