JP6487269B2 - Current collector monitoring system - Google Patents

Description

  The present invention relates to a current collector monitoring system.

  Railway vehicles have a current collector on the roof. The current collector has a structure in which the current collector boat is supported by a current collecting arm. The current collector boat includes a boat body and a sliding plate attached to the upper surface thereof. The current collector presses the sliding plate of the current collector boat against the lower edge of the overhead wire, and takes in electricity from the overhead wire to the train (see Patent Document 1).

Japanese Patent No. 4386253

  Various abnormalities may occur in the current collector. For example, a bird may collide with a current collecting boat, the current collecting boat may be deformed, or a foreign object may adhere to the current collecting boat. The present invention has been made in view of the above points, and an object thereof is to provide a current collector monitoring system that enables early detection of an abnormality related to a current collector.

  A first current collector monitoring system according to the present invention includes a current collector unit for measuring a current collected by a current collector, and whether the current state corresponds to a preset abnormal state. A current collecting current state determining unit for determining whether or not the current collecting current state corresponds to the abnormal state, and obtaining an image including a current collecting boat included in the current collecting device within an angle of view; An image recognition unit, an event recognition unit for recognizing an event relating to the current collecting boat in the image, an event determination unit for determining whether the event corresponds to a preset abnormal event, and the event And a determination result output unit that outputs a signal including the determination result of the determination unit.

  According to the first current collector monitoring system of the present invention, it is possible to detect an abnormality related to the current collector early. In addition, the first current collector monitoring system of the present invention acquires an image on the condition that the state of the collected current corresponds to an abnormal state. Therefore, it is possible to reduce the burden of processing executed by the current collector monitoring system, as compared with a method of constantly acquiring images.

  The second current collector monitoring system of the present invention determines a vibration measurement unit for measuring the vibration of a current collector boat provided in the current collector, and whether or not the state of vibration corresponds to a preset abnormal state. An image acquisition unit that acquires an image including the current collector boat in an angle of view on the condition that the vibration state corresponds to the abnormal state; and An event recognition unit for recognizing an event related to the event, an event determination unit for determining whether the event corresponds to a preset abnormal event, and a determination result for outputting a signal including the determination result of the event determination unit And an output unit.

  According to the second current collector monitoring system of the present invention, it is possible to detect an abnormality related to the current collector early. Moreover, the 2nd collector monitoring system of this invention acquires an image on condition that the state of the vibration in a current collector boat corresponds to an abnormal state. Therefore, it is possible to reduce the burden of processing executed by the current collector monitoring system, as compared with a method of constantly acquiring images.

1 is a block diagram illustrating a configuration of a current collector monitoring system 1. FIG. FIG. 4 is an explanatory diagram showing the arrangement of the current collector 3, the first camera 23, the second camera 25, the acceleration sensor 27, and the first clamp meter 29. It is a flowchart showing the process which the current collector monitoring system 1 performs. It is a flowchart showing the process which the current collector monitoring system 1 performs. It is a flowchart showing the process which the current collector monitoring system 1 performs.

Embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
1. Configuration of Current Collector Monitoring System 1 The configuration of the current collector monitoring system 1 will be described with reference to FIGS. The current collector monitoring system 1 is a system mounted on a railway vehicle. This railway vehicle includes a current collector 3 shown in FIG. One railway vehicle includes a plurality of current collectors 3, and the current collector monitoring system 1 is provided for each current collector 3. Hereinafter, the current collector 3 monitored by the current collector monitoring system 1 may be referred to as a current collector 3 corresponding to the current collector monitoring system 1.

The current collector 3 is installed on the roof 5 of the railway vehicle. The current collector 3 includes insulators 7 and 9, a base 11, a current collecting boat 13, and a current collecting arm 15.
The insulators 7 and 9 fix the base 11 on the roof 5. The current collecting arm 15 supports the current collecting boat 13 by extending obliquely upward from one side of the base 11 in the front-rear direction (traveling direction of the railway vehicle) to the other side. The current collecting arm 15 can swing in the direction of the arrow shown in FIG. 2, and is biased in a direction to push up the current collecting boat 13 by a spring (not shown).

  The current collector boat 13 is in contact with an overhead line (not shown) and takes electricity into the railway vehicle from this overhead line. The electricity taken into the current collector boat 13 is sent to the power distribution cable 17 through a cable (not shown) passing through the current collector 3. A windshield 19 for reducing wind noise generated by the current collector 3 is provided on the roof 5.

  As shown in FIG. 1, the current collector monitoring system 1 includes a control device 21, a first camera 23, a second camera 25, an acceleration sensor 27, a first clamp meter 29, a second clamp meter 31, a vehicle speed. A sensor 33, a GPS 35, an output current sensor 37, a cab monitor 39, a communication device 41, a vehicle control unit 45, and a storage unit 47 are provided.

  The control device 21 is a known computer including a CPU, RAM, ROM, and the like. The control device 21 executes processing to be described later with a program stored in the ROM. The control device 21 functionally includes a collected current measurement unit 49, a collected current state determination unit 51, a vibration measurement unit 53, a vibration state determination unit 55, an image acquisition unit 57, an event recognition unit 59, an event determination unit 61, A determination result output unit 63, a vehicle control unit 65, a control result output unit 67, and a vehicle information acquisition unit 69 are provided. The function of each unit will be described later.

  The first camera 23 is installed on the roof 5 as shown in FIG. The current collecting boat 13 is included in the angle of view of the first camera 23. The first camera 23 has a sensitivity wavelength that is preferable for recognizing the current collecting boat 13 in the captured image.

The second camera 25 is installed on the roof 5 as shown in FIG. The current collecting boat 13 is included in the angle of view of the second camera 25. In the captured image, the second camera 25
It has a preferable sensitivity wavelength for recognizing arc light generated between the current collecting boat 13 and the overhead wire.

  The acceleration sensor 27 is installed in the current collector boat 13 as shown in FIG. The acceleration sensor 27 can measure the acceleration of the current collecting boat 13 in the vertical direction, the front-rear direction, and the width direction (direction orthogonal to the paper surface in FIG. 2).

  As shown in FIG. 2, the first clamp meter 29 is configured to collect a collected current (hereinafter referred to as a corresponding collected current) in the distribution cable 17 connected to the current collector 3 corresponding to the current collector monitoring system 1. Measure the value.

  The second clamp meter 31 is for collecting current in the distribution cable 17 connected to the current collector 3 adjacent to the current collector 3 corresponding to the current collector monitoring system 1 (hereinafter referred to as adjacent current collector). Measure the value.

  The vehicle speed sensor 33 measures the speed of the railway vehicle. The GPS 35 acquires the position of the railway vehicle. The output current sensor 37 measures the output current value of the railway vehicle (current value of the driving current for the railway vehicle).

  The cab monitor 39 is a monitor provided on the cab of the railway vehicle and capable of displaying images. The communication device 41 is a device that can perform wireless communication with a command station 43 that exists outside the railway vehicle. The vehicle control unit 45 is configured to control the speed of the railway vehicle and the like. The storage unit 47 is composed of a hard disk drive or the like and can store various information.

2. Processing executed by the current collector monitoring system 1
Processing that the current collector monitoring system 1 (especially the control device 21) repeatedly executes at a predetermined cycle will be described with reference to FIG. In step 1 of FIG. 3, the collected current measuring unit 49 uses the first clamp meter 29 to measure the value of the corresponding collected current continuously for a predetermined time. In addition, the collected current measuring unit 49 uses the second clamp meter 31 to measure the value of the adjacent collected current continuously for a predetermined time. The measurement result is stored in the storage unit 47.

  In step 2, the vibration measurement unit 53 uses the acceleration sensor 27 to continuously measure the acceleration of the current collecting boat 13 for a predetermined time. As a result, data in which the acceleration of the current collecting boat 13 changes in time series is obtained. This data is data representing the vibration of the current collecting boat 13. In Step 2, in addition to the acceleration measurement, the vehicle speed sensor 33 is used to measure the speed of the railway vehicle. Data in which the acceleration of the current collecting boat 13 changes in time series and the speed of the railway vehicle are stored in the storage unit 47 in association with each other.

  In step 3, the collected current state determination unit 51 determines whether or not the collected current state measured in step 1 corresponds to a preset abnormal state. The abnormal states include the following (a1) to (a3).

  (A1) A state in which the magnitude of the corresponding current collection current deviates from a preset normal range. Note that the normal range may be a range having an upper limit value and a lower limit value, a range having only an upper limit value, or a range having only a lower limit value.

  (A2) A state in which the occurrence frequency of the no-current state is equal to or greater than a threshold in the measurement result of the corresponding collected current Here, the no-current state means a state where the value of the corresponding collected current is 0 or a value close thereto. The occurrence frequency means the number of occurrences of no-current state per unit time.

(A3) A state where the difference in current value between the corresponding current collection current and the adjacent current collection current (the deviation in the magnitude of the current collection current between the current collectors) is equal to or greater than the threshold value
If the state of the collected current corresponds to any one of the above (a1) to (a3), the process proceeds to step 4; otherwise, the process proceeds to step 13.

In step 4, the collected current state determination unit 51 determines whether or not the degree of the abnormal state is significant.
For example, in the abnormal state (a1), if the difference between the magnitude of the corresponding collected current and the upper limit value or the lower limit value of the normal range exceeds a predetermined value, it is determined that the degree of the abnormal state is significant. In other cases, it is determined that the degree of abnormal state is not significant.

  In the case of the abnormal state (a2), if the difference between the occurrence frequency of the no-current state and the threshold value exceeds a predetermined value, it is determined that the degree of the abnormal state is remarkable, otherwise Therefore, it is determined that the degree of abnormal state is not remarkable.

  In the case of the abnormal state (a3), the degree of the abnormal state is significant if the difference between the bias of the collected current between the current collectors and the threshold exceeds a predetermined value. Otherwise, it is determined that the degree of abnormal condition is not significant.

If the abnormal state is remarkable, the process proceeds to step 5, and if the abnormal state is not significant, the process proceeds to step 6.
In step 5, the determination result output unit 63 outputs an abnormal signal to the cab monitor 39 and transmits the abnormal signal to the command station 43 using the communication device 41. The cab monitor 39 displays a warning image according to the abnormality signal.

In step 6, the image acquisition unit 57 acquires an image using the first camera 23 and the second camera 25. The acquired image is stored in the storage unit 47.
In step 7, the event recognition unit 59 recognizes an event related to the current collector boat 13 in the image acquired in step 6. Events related to the current collecting boat 13 include the shape of the current collecting boat 13, adhesion of foreign matter to the current collecting boat 13, operation of the current collecting boat 13 (for example, the period of vertical movement, amplitude of vertical movement, etc.), And the arc light generated between the current collecting boat 13 and the overhead wire.

  The shape of the current collecting boat 13, the adhesion of foreign matter to the current collecting boat 13, the operation of the current collecting boat 13, and the inclination of the current collecting boat can be recognized in an image acquired using the first camera 23. Further, the arc light generated between the current collecting boat 13 and the overhead wire can be recognized in an image acquired using the second camera 25.

It should be noted that a known image recognition technique (for example, a pattern recognition technique) can be used for recognizing the event related to the current collector boat 13.
In step 8, the event determination unit 61 determines whether or not the event related to the current collector boat 13 recognized in step 7 corresponds to a preset abnormal event. Abnormal events include the following.

The difference between the shape of the current collecting boat 13 recognized in the image acquired in step 6 and the original shape of the current collecting boat 13 (the degree of deformation of the current collecting boat 13) is equal to or greater than a predetermined threshold.
A foreign object is attached to the current collecting boat 13, and the size of the foreign object is equal to or greater than a predetermined threshold value.

The mode of operation of the current collecting boat 13 deviates from the preset normal range. For example, the amplitude and period in the vertical movement of the current collecting boat 13 are out of the normal range.
-The inclination of the current collector boat 13 is equal to or greater than the threshold value.

・ The frequency of arc light generation is greater than or equal to the threshold value.
-The duration of one arc light is greater than or equal to the threshold value.
If the event related to the current collector boat 13 is an abnormal event, the process proceeds to step 9, and if not, the process proceeds to step 12.

  In step 9, the determination result output unit 63 outputs a signal including a determination result that the event related to the current collector boat 13 is an abnormal event (hereinafter referred to as an abnormal event signal) to the cab monitor 39 and the communication device. 41 is transmitted to the command station 43. The cab monitor 39 displays an image notifying that an abnormal event has occurred in response to the abnormal event signal.

  The determination result output unit 63 also outputs vehicle information together with the abnormal event signal to the cab monitor 39 and transmits it to the command station 43. The vehicle information is information including the speed of the railway vehicle, the position of the railway vehicle, and the output current value of the railway vehicle. The cab monitor 39 displays vehicle information.

  The speed of the railway vehicle is acquired by the vehicle information acquisition unit 69 using the vehicle speed sensor 33. In addition, the position of the railway vehicle is acquired by the vehicle information acquisition unit 69 using the GPS 35. The output current value of the railway vehicle is acquired by the vehicle information acquisition unit 69 using the output current sensor 37.

  The determination result output unit 63 also outputs the image acquired in step 6 together with the abnormal event signal and vehicle information to the cab monitor 39 and transmits it to the command station 43. The cab monitor 39 displays the image.

  In step 10, the vehicle control unit 65 performs control to reduce the speed of the railway vehicle using the vehicle control unit 45. The control for reducing the speed may be control (notch down or notch off) for reducing the driving current of the railway vehicle, or may be control for applying a brake.

In step 11, the control result output unit 67 outputs a signal peculiar to the case where the processing of step 10 is performed to the cab monitor 39 and transmits it to the command station 43.
On the other hand, if a negative determination is made in step 8, the process proceeds to step 12 where the determination result output unit 63 outputs a signal including a determination result that the event related to the current collector boat 13 is not an abnormal event to the cab monitor 39, It transmits to the command center 43.

  If a negative determination is made in step 3, the process proceeds to step 13. In step 13, the vibration state determination unit 55 determines whether or not the vibration state of the current collecting boat 13 that appears in the data acquired in step 2 corresponds to a preset abnormal state. The abnormal states include the following (b1) and (b2).

(B1) A state in which the amplitude of vibration is greater than or equal to a threshold value.
(B2) A state in which the ratio R of the amplitude at the second speed (high speed) higher than the first speed to the amplitude at the speed of the railway vehicle at the first speed (low speed) is less than the threshold. The first speed and the second speed can be set in advance. Further, the first speed and the second speed can be sections having a certain width with respect to the speed.

  For (b2), the ratio R is calculated as follows. If the data acquired in the previous step 2 is data acquired at the first speed, the data acquired at the second speed in the past is read from the storage unit 47. Then, the ratio R is calculated from the data acquired in the previous step 2 and the data read from the storage unit 47.

  If the data acquired in the previous step 2 is the data acquired at the second speed, the data acquired in the past at the first speed is read from the storage unit 47. Then, the ratio R is calculated from the data acquired in the previous step 2 and the data read from the storage unit 47.

If the state of vibration corresponds to the above (b1) or (b2), the process proceeds to step 14;
In step 14, the vibration state determination unit 55 determines whether or not the degree of the abnormal state is significant.

  For example, in the abnormal state (b1), if the difference between the amplitude of vibration and the threshold value exceeds a predetermined value, it is determined that the degree of the abnormal state is significant, and otherwise, the abnormal state It is judged that the degree of is not remarkable.

  In the abnormal state (b2), if the difference between the amplitude ratio R and the threshold value exceeds a predetermined value, it is determined that the degree of the abnormal state is remarkable. Judge that the degree of condition is not significant.

If the abnormal state is remarkable, the process proceeds to step 15, and if the abnormal state is not significant, the process proceeds to step 6.
In step 15, the determination result output unit 63 outputs an abnormality signal to the cab monitor 39 and transmits the abnormality signal to the command station 43 using the communication device 41. The cab monitor 39 displays a warning image according to the abnormality signal.

3. Effects of current collector monitoring system 1 (1A) The current collector monitoring system 1 acquires an image including the current collector boat 13 within the angle of view, and recognizes and recognizes an event related to the current collector boat 13 in the image. Determine whether the event is an abnormal event. Furthermore, the current collector monitoring system 1 outputs a signal including the determination result. As a result, the crew of the railway vehicle and the staff of the command station 43 can detect an abnormality related to the current collector boat 13 at an early stage.

  (1B) The current collector monitoring system 1 acquires an image on the condition that the current collecting current state corresponds to an abnormal state or the vibration state in the current collector boat corresponds to an abnormal state. Therefore, it is possible to reduce the burden of processing executed by the current collector monitoring system 1 as compared with a method of constantly acquiring images.

  (1C) The current collector monitoring system 1 sets the above (a1) to (a3) as the abnormal state related to the state of the collected current. As a result, it is possible to more correctly determine whether or not the state of the collected current corresponds to an abnormal state.

  (1D) The current collector monitoring system 1 sets (b1) and (b2) as an abnormal state related to the vibration state in the current collector boat 13. This makes it possible to more correctly determine whether or not the vibration state corresponds to an abnormal state.

  (1E) The current collector monitoring system 1 includes, as events related to the current collector boat 13, the shape of the current collector boat 13, the attachment of foreign matter to the current collector boat 13, the operation of the current collector boat 13, the inclination of the current collector boat 13, And arc light generated between the current collecting boat 13 and the overhead wire is recognized. This makes it possible to detect a wide range of abnormalities related to the current collector boat 13.

(1F) The current collector monitoring system 1 reduces the speed of the railway vehicle when the event related to the current collector boat 13 corresponds to an abnormal event. As a result, the safety of the railway vehicle is improved.
(1G) When the current collector monitoring system 1 decreases the speed of the railway vehicle, it outputs a signal specific to that case. As a result, the crew of the railway vehicle and the staff of the command station 43 can easily understand the situation of the railway vehicle.

  (1H) The current collector monitoring system 1 outputs image data to the cab monitor 39 and transmits it to the command station 43. As a result, the crew of the railway vehicle and the staff of the command station 43 can easily understand the situation of the current collector 3.

(1I) The current collector monitoring system 1 outputs vehicle information to the cab monitor 39 and transmits it to the command station 43. As a result, the crew of the railway vehicle and the staff of the command station 43 can easily understand the situation of the railway vehicle.
<Second Embodiment>
Since the basic configuration of the second embodiment is the same as that of the first embodiment, the description of the common configuration will be omitted, and differences will be mainly described.

The current collector monitoring system 1 (particularly the control device 21) of the present embodiment repeatedly executes the process shown in FIG. 4 at a predetermined cycle.
In step 21 of FIG. 4, the collected current measuring unit 49 uses the first clamp meter 29 to measure the value of the corresponding collected current continuously for a predetermined time. In addition, the collected current measuring unit 49 uses the second clamp meter 31 to measure the value of the adjacent collected current continuously for a predetermined time. The measurement result is stored in the storage unit 47.

  In step 22, the collected current state determination unit 51 determines whether or not the collected current state measured in step 21 corresponds to a preset abnormal state. The determination method is the same as in the first embodiment. If the collected current state corresponds to an abnormal state, the process proceeds to step 23, and if not, the process ends.

  In step 23, the collected current state determination unit 51 determines whether or not the degree of the abnormal state is significant. The determination method is the same as in the first embodiment. If the abnormal state is significant, the process proceeds to step 24, and if the abnormal state is not significant, the process proceeds to step 25.

  In step 24, the determination result output unit 63 outputs an abnormality signal to the cab monitor 39 and transmits an abnormality signal to the command station 43 using the communication device 41. The cab monitor 39 displays a warning image according to the abnormality signal.

Steps 25 to 31 are the same as steps 6 to 12 in the first embodiment.
According to the second embodiment described in detail above, in addition to the effects (1A), (1C), (1E) to (1I) of the first embodiment described above, the following effects are obtained.

(2A) The current collector monitoring system 1 acquires an image on the condition that the state of the current collector corresponds to an abnormal state. Therefore, it is possible to reduce the burden of processing executed by the current collector monitoring system 1 as compared with a method of constantly acquiring images.
<Third Embodiment>
Since the basic configuration of the third embodiment is the same as that of the first embodiment, the description of the common configuration will be omitted, and differences will be mainly described.

The current collector monitoring system 1 (particularly the control device 21) of the present embodiment repeatedly executes the process shown in FIG. 5 at a predetermined cycle.
In step 41 of FIG. 5, the vibration measurement unit 53 uses the acceleration sensor 27 to continuously measure the acceleration of the current collector boat 13 for a predetermined time. As a result, data in which the acceleration of the current collecting boat 13 changes in time series is obtained. This data is data representing the vibration of the current collecting boat 13. In step 41, in addition to the acceleration measurement, the vehicle speed sensor 33 is used to measure the speed of the railway vehicle. Data in which the acceleration of the current collecting boat 13 changes in time series and the speed of the railway vehicle are stored in the storage unit 47.

  In step 42, the vibration state determination unit 55 determines whether or not the vibration state of the current collecting boat 13 appearing in the data acquired in step 41 corresponds to a preset abnormal state. The determination method is the same as in the first embodiment.

When the vibration state corresponds to the abnormal state, the process proceeds to step 43, and when the vibration state does not correspond to the abnormal state, the process ends.
In step 43, the vibration state determination unit 55 determines whether or not the degree of the abnormal state is significant. The determination method is the same as in the first embodiment. If the abnormal state is significant, the process proceeds to step 44. If the abnormal state is not significant, the process proceeds to step 45.

  In step 44, the determination result output unit 63 outputs an abnormality signal to the cab monitor 39 and transmits an abnormality signal to the command station 43 using the communication device 41. The cab monitor 39 displays a warning image according to the abnormality signal.

The processing in steps 45 to 51 is the same as the processing in steps 6 to 12 in the first embodiment.
According to the third embodiment described in detail above, in addition to the effects (1A) and (1D) to (1I) of the first embodiment described above, the following effects can be obtained.

(3A) The current collector monitoring system 1 acquires an image on the condition that the state of vibration in the current collector boat 13 corresponds to an abnormal state. Therefore, it is possible to reduce the burden of processing executed by the current collector monitoring system 1 as compared with a method of constantly acquiring images.
<Other embodiments>
As mentioned above, although embodiment of this invention was described, this invention can take a various form, without being limited to the said embodiment.

  (1) The abnormal state related to the collected current is not limited to the above-described one, and can be set as appropriate. Moreover, the abnormal state regarding the vibration of the current collecting boat 13 is not limited to the above-mentioned thing, and can be set suitably.

(2) Events relating to the current collecting boat 13 recognized in the image are not limited to those described above, and can be set as appropriate.
(3) The current collector monitoring system 1 may include one camera. In that case, in the image acquired by the one camera, the shape of the current collecting boat 13, the attachment of foreign matter to the current collecting boat 13, the operation of the current collecting boat 13, the inclination of the current collecting boat 13, and the arc light are recognized. can do.

  (4) One current collector monitoring system 1 may monitor a plurality of current collectors 3.

DESCRIPTION OF SYMBOLS 1 ... Current collector monitoring system, 3 ... Current collector, 5 ... Roof, 7, 9 ... Isogo, 11 ... Base, 13
DESCRIPTION OF SYMBOLS ... Current collecting boat, 15 ... Current collecting arm, 17 ... Power distribution cable, 19 ... Windshield, 21 ... Control device, 23 ... First camera, 25 ... Second camera, 27 ... Acceleration sensor, 29 ... First clamp Meter 31, second clamp meter 33 33 vehicle speed sensor 35 GPS, 37 output current sensor 39 cab monitor 41 communication unit 43 command station 45 vehicle control unit 47 memory 49: Current collecting current measuring unit 51: Current collecting current state judging unit 53 ... Vibration measuring unit 55 ... Vibration state judging unit 57 ... Image acquisition unit 59 ... Event recognition unit 61 ... Event judgment unit 63 ... Judgment result output unit, 65 ... Vehicle control unit, 67 ... Control result output unit, 69 ... Vehicle information acquisition unit

Claims (9)

A current collecting unit for measuring the current collected by the current collector;
A current collecting current state determination unit for determining whether or not the state of the current collecting current corresponds to a preset abnormal state;
An image acquisition unit that acquires an image including a current collecting boat included in the current collector in an angle of view, on condition that the current collecting current state corresponds to the abnormal state;
In the image, an event recognition unit for recognizing an event related to the current collector boat;
An event determination unit for determining whether the event corresponds to a preset abnormal event;
A determination result output unit that outputs a signal including a determination result of the event determination unit;
A current collector monitoring system comprising:   The abnormal state includes (a1) a state in which the magnitude of the collected current is out of a preset normal range, (a2) a state in which the occurrence frequency of a no-current state is equal to or greater than a threshold value, 2. The current collector monitoring system according to claim 1, wherein the current collector current monitoring system is one or more selected from the group consisting of a state in which a bias of a current collecting current between current collectors is equal to or greater than a threshold value. A vibration measuring unit for measuring the vibration of the current collecting boat included in the current collector;
A vibration state determination unit for determining whether or not the vibration state corresponds to a preset abnormal state;
An image acquisition unit that acquires an image including the current collecting boat in an angle of view, on condition that the state of vibration corresponds to the abnormal state;
In the image, an event recognition unit for recognizing an event related to the current collector boat;
An event determination unit for determining whether the event corresponds to a preset abnormal event;
A determination result output unit that outputs a signal including a determination result of the event determination unit;
A current collector monitoring system comprising:   The abnormal state is (b1) a state where the amplitude of vibration is equal to or greater than a threshold, and / or (b2) the first relative to the amplitude when the speed of the vehicle equipped with the current collector is the first speed. The current collector monitoring system according to claim 3, wherein the ratio of the amplitude at the second speed higher than the speed is less than a threshold value.   The events include the shape of the current collecting boat, the attachment of foreign matter to the current collecting boat, the operation of the current collecting boat, the inclination of the current collecting boat, and the arc generated between the current collecting boat and the overhead line. The current collector monitoring system according to claim 1, wherein the current collector monitoring system is one or more selected from the group consisting of light.   6. The vehicle control unit according to claim 1, further comprising a vehicle control unit that performs control to reduce a speed of a vehicle on which the current collector is mounted when the event corresponds to the abnormal event. The current collector monitoring system described.   The current collector monitoring system according to claim 6, further comprising: a control result output unit that outputs a signal specific to the vehicle control unit when the vehicle control unit performs control for reducing the speed of the vehicle.   The current collector monitoring system according to claim 1, wherein the determination result output unit also outputs data of the image. A vehicle information acquisition unit that acquires vehicle information including one or more selected from the group consisting of a speed of a vehicle equipped with the current collector, a position of the vehicle, and an output current value of the vehicle;
The current collector monitoring system according to claim 1, wherein the determination result output unit also outputs the vehicle information.

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