CN102869535B - Train car position measurement device for electric railway maintenance - Google Patents
Train car position measurement device for electric railway maintenance Download PDFInfo
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- CN102869535B CN102869535B CN201180021685.2A CN201180021685A CN102869535B CN 102869535 B CN102869535 B CN 102869535B CN 201180021685 A CN201180021685 A CN 201180021685A CN 102869535 B CN102869535 B CN 102869535B
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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
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- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Train Traffic Observation, Control, And Security (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Provided is a train car position measurement device for electric railway maintenance, which is capable of specifying with a high degree of precision the relationship between the traveling position and the transit time of a train car, wherein the train car position measurement device for electric railway maintenance is provided with: a line sensor (1); an image creation unit (10) for using images captured by the line sensor (1) to create a template image and an input image; a memory (12) for saving the template image and the input image created in the image creation unit (10); a template creation processor (13) for extracting SIFT feature values from the saved template image, creating template data, and storing the template data in the memory (12); a SIFT feature value extraction processor (14) for extracting SIFT feature values from the input image and storing said SIFT feature values in the memory (12); and a hangar position detection processor (15) for searching for corresponding points between the SIFT feature values of the template data and the SIFT feature values of the input image that have been saved, detecting a hangar position in the input image, and storing the hangar position in the memory (12).
Description
Technical field
The present invention relates to the train car position measurement device for electric railway maintenance of the traveling-position measuring the electric railway maintenance vehicle used in stringing and track etc. are safeguarded, particularly, relate to and obtain the traveling-position of electric railway maintenance vehicle and the train car position measurement device for electric railway maintenance by the relation between the moment by image procossing.
Background technology
As the equipment of electric railway, mainly exemplify stringing and track.When each railway runs, these become important service equipment.In the process using electric railway vehicle, when each electric railway vehicle passes through, stringing contacts with current collecting equipment.Therefore, stringing gradually wears away, and likely when not changing ruptures the most at last and causes having an accident.In addition, track bends due to the operation of electric car, deformation, damage, wearing and tearing etc., if let alone these development, will the accidents such as the derailing of electric railway vehicle be caused.
Thus, what cause in order to the wearing and tearing etc. promptly grasped due to stringing, track will note position, and this is tackled, from the aspect of maintenance management, determine that the information of the position (such as, exist will note position etc. in the position having travelled several kilometers from certain place) will noting position of stringing, track becomes important item.
Current, when carrying out the maintenance of the equipment such as stringing, track, working service special-purpose vehicle, rail convertible car etc., when detecting the result obtained and will noting position for detecting, the position (for example, referring to following patent documentation 1) at position will be noted according to the dead reckoning of vehicle when obtaining these data.
At this, as the method for position determining vehicle, in the past, such as, there is the method for use automatic train control device (ATC), rotary encoder, there is following feature separately.
Automatic train control device controls the position of train, the device of speed, was the system for vehicle drive originally, but in this automatic train control device, is provided with the structure to the position of outside communication train, the information of speed.Therefore, when using the position of automatic train control device determination vehicle, what utilize this automatic train control device determines to safeguard the position (for example, referring to following patent documentation 2) of special-purpose vehicle with the structure carried out communicating in outside.
In addition, when using rotary encoder to determine the position of vehicle, based on the rotating speed of the wheel obtained by rotary encoder, according to the rotating speed of this wheel and the circumferential length of wheel, with certain place for the operating range (for example, referring to following patent documentation 3) of vehicle is tried to achieve in reference position.
Prior art document
Patent documentation 1: Japanese Unexamined Patent Publication 2008-89523 publication
Patent documentation 2: Japanese Unexamined Patent Publication 2006-248412 publication
Patent documentation 3: Japanese Unexamined Patent Publication 2004-17700 publication
Non-patent literature
Non-patent literature 1: Teng Ji is great to extend, " Gradient ベ mono-ス feature extraction-SIFT と HOG-" (" feature extraction-SIFT and HOG-based on Gradien "), information processing association research report CVIM 160,2007 years, p.211-224
Summary of the invention
But, when utilizing above-mentioned automatic train control device in the past, except arranging except sending and receiving devices in vehicle side, also need to arrange transceiver with fixed intervals in rail side, so when being arranged on the line district of long distance, there is the problem of number increase, consuming cost.
In addition, rotary encoder is the structure being measured operating range by the rotation angle of counting wheel, so there are the following problems: due to the trains such as braking, ramp driving do not advance and wheel rotation, or due to sliding of wheel, wheel do not rotate and error additivity that train produces in the local such as to advance increase, thus worry the position that is difficult to determine to note position.
Therefore, in automatic train control device in the past, considering, linear transducer camera is set on the ceiling of vehicle (following, be called linear transducer), suspender is detected by carrying out image procossing (template matches, rim detection etc.) to the image near the stringing photographed by this linear transducer, according to the moment photographing this suspender determine vehicle traveling-position and by the relation between the moment, thus eliminate above-mentioned error.
But, if suspender self is by tractive or suspender tiltedly show in picture updip obliquely, when then detecting suspender by template matches, worry in the precise decreasing detected with suspender during the contrasting of template, in addition, when detecting suspender by rim detection, because longitudinal edge weakens, so worry the precise decreasing that suspender detects.
According to above situation, the object of the present invention is to provide and a kind ofly can determine the traveling-position of vehicle and the train car position measurement device for electric railway maintenance by the relation between the moment accurately.
Feature for the train car position measurement device for electric railway maintenance of the 1st invention solved the problem is to possess:
Linear transducer, the image of the suspension line of the suspender of shooting stringing, suspended support stringing;
The image making photographed by described linear transducer is template image and input picture by image making portion;
Storage part, is kept at the described template image and described input picture that make in described image making portion;
Template construct handling part, extracts SIFT feature amount from the described template image that described storage part is preserved, and makes template data and is saved in described storage part;
SIFT feature amount extraction process portion, extracts SIFT feature amount and is saved in described storage part from the described input picture that described storage part is preserved; And
Check processing portion, suspender position, searches for the corresponding point of the SIFT feature amount of the described template data that described storage part is preserved and the SIFT feature amount of described input picture, detects the suspender position in described input picture and is saved in described storage part.
Feature for the train car position measurement device for electric railway maintenance of the 2nd invention solved the problem is, in the train car position measurement device for electric railway maintenance of the 1st invention, also to possess:
Moment recording treatmenting part, according to the suspender position on the described input picture that sample frequency and the described storage part of described linear transducer are preserved, calculating detects the moment of described suspender and time data is saved in described storage part.
For the train car position measurement device for electric railway maintenance of the 3rd invention solved the problem, it is characterized in that, in the train car position measurement device for electric railway maintenance of the 1st invention or the 2nd invention,
In check processing portion, described suspender position, when there is last suspender position, exchange last suspender position and the tilt data of suspension line and stringing, and to carry out above suspender position be once the calculating that benchmark limits next processing region of processing region.
Feature for the train car position measurement device for electric railway maintenance of the 4th invention solved the problem is, in the train car position measurement device for electric railway maintenance of the 3rd invention,
In check processing portion, described suspender position, expansion next processing region described.
According to the present invention, can provide and can determine the traveling-position of vehicle and the train car position measurement device for electric railway maintenance by the relation between the moment accurately.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the structure of the train car position measurement device for electric railway maintenance that the 1st embodiment of the present invention is shown.
Fig. 2 is the block diagram of the structure of the train car position measurement device for electric railway maintenance that the 1st embodiment of the present invention is shown.
Fig. 3 is the process flow diagram of the handling procedure illustrated in the train car position measurement device for electric railway maintenance of the 1st embodiment of the present invention.
Fig. 4 is the figure of the example of the template image illustrated in the train car position measurement device for electric railway maintenance of the 1st embodiment of the present invention.
Fig. 5 is the figure of the example of the SIFT feature amount of the template data illustrated in the train car position measurement device for electric railway maintenance of the 1st embodiment of the present invention.
Fig. 6 is the figure of the example of the input picture illustrated in the train car position measurement device for electric railway maintenance of the 1st embodiment of the present invention.
Fig. 7 is the figure of the example of the corresponding point search processing region of the SIFT feature amount illustrated in the train car position measurement device for electric railway maintenance of the 1st embodiment of the present invention.
Fig. 8 is the block diagram of the structure of the train car position measurement device for electric railway maintenance that the 2nd embodiment of the present invention is shown.
Fig. 9 is the process flow diagram of the handling procedure illustrated in the train car position measurement device for electric railway maintenance of the 2nd embodiment of the present invention.
Figure 10 is the figure of the example of next processing region illustrated in the train car position measurement device for electric railway maintenance of the 2nd embodiment of the present invention.
Figure 11 illustrates the figure extending the example of next processing region in the train car position measurement device for electric railway maintenance of the 3rd embodiment of the present invention.
The explanation of Reference numeral
1: linear transducer; 2: illumination; 3: process PC; 4: suspender position; 5: next processing region; 10: image making portion; 11,12: storer; 13: template construct handling part; 14:SIFT Characteristic Extraction handling part; 15: check processing portion, suspender position; 16: moment recording treatmenting part; 100: vehicle; 101: stringing; 102: suspender; 103: suspension line; 104: structure
Embodiment
Hereinafter, with reference to the accompanying drawings of the embodiment of train car position measurement device for electric railway maintenance of the present invention.
Embodiment 1
Below, the 1st embodiment of train car position measurement device for electric railway maintenance of the present invention is described.
The feature of the train car position measurement device for electric railway maintenance of the present embodiment is, use the linear transducer be arranged on the ceiling of vehicle, make linear transducer towards sleeper direction, and towards oblique upper, suspension line and stringing are taken, obtain SIFT(Scale ?Invariant FeatureTransform: Scale invariant features transform) characteristic quantity (with reference to above-mentioned non-patent literature 1) is as being vulnerable to size, the image feature amount of the variable effect rotated, and obtain the corresponding point with the SIFT feature amount extracted from the image of template obtained in advance, thus detection suspender.
First, the summary of the train car position measurement device for electric railway maintenance of the present embodiment is described.
Fig. 1 is the schematic diagram of the summary of the train car position measurement device for electric railway maintenance that the present embodiment is shown.
As shown in Figure 1, the train car position measurement device for electric railway maintenance of the present embodiment possesses: in order to take the image of suspension line 103 of suspender 102 of stringing 101, suspended support stringing 101, the ceiling of vehicle 100 is arranged towards sleeper direction and towards oblique upper and in FIG with the linear transducer 1 of the shooting line place shooting image shown in arrow L; Take image in order to linear transducer 1 also can be utilized in night, tunnel and be arranged at the illumination 2 of the periphery of linear transducer 1; And preserve the image that utilizes linear transducer 1 to photograph and carry out the process PC 3 be arranged in vehicle 100 of image procossing.And linear transducer 1 is connected for sending view data with process PC 3.In addition, the direct of travel representing vehicle 100 with the direction shown in arrow A in Fig. 1.
Next, the structure of the train car position measurement device for electric railway maintenance of the present embodiment is described.
Fig. 2 is the block diagram of the structure of the train car position measurement device for electric railway maintenance that the present embodiment is shown.
As shown in Figure 2, the train car position measurement device for electric railway maintenance of the present embodiment possesses: image making portion 10, is template image and input picture by the image making utilizing linear transducer 1 to photograph; Storer 11, is kept at the template image and input picture that make in image making portion 10; Template construct handling part 13, the template image preserved from storer 11 extracts SIFT feature amount and makes template data and be saved in storer 12; SIFT feature amount extraction process portion 14, the input picture preserved from storer 11 extracts SIFT feature amount and is saved in storer 12; Check processing portion, suspender position 15, the corresponding point of the SIFT feature amount of the template data that searching storage 12 is preserved and the SIFT feature amount of input picture, the suspender position in detected image is also saved in storer 12; And moment recording treatmenting part 16, the moment of suspender 102 detected according to the suspender position calculation on the image that sample frequency and the storer 12 of linear transducer 1 are preserved, and time data is saved in storer 12.
In addition, in the present embodiment, process PC 3 play image making portion 10, storer 11,12, template construct handling part 13, SIFT feature amount extraction process portion 14, check processing portion, suspender position 15 and moment recording treatmenting part 16 function.In addition, storer 11 and storer 12 also can be set to common storer.
Next, the handling procedure in the train car position measurement device for electric railway maintenance of the present embodiment is described.
Fig. 3 is the process flow diagram of the treatment process illustrated in the train car position measurement device for electric railway maintenance of the present embodiment.
As shown in Figure 3, as the treatment process in the train car position measurement device for electric railway maintenance of the present embodiment, first, in step P10, obtain the image of template from linear transducer 1.In addition, as shown in Figure 4, template image is set to and has cut out the image that shooting has the part of 1 suspender 102.
Next, in step P11, extract SIFT feature amount from template image, and make template data.In addition, as in Fig. 5 with shown in bullet, SIFT feature amount has multiple on template image, makes the template data that they are whole.In addition, try to achieve method about SIFT feature amount, use the method described in above-mentioned non-patent literature 1, there is omitted herein explanation.
Next, in step P12, be input picture by image making portion 10 by the image making photographed by linear transducer 1.In addition, as shown in Figure 6, about input picture, the longitudinal axis is height, and transverse axis is the time.
Next, in step P13, extract SIFT feature amount from input picture.
Next, in step P14, the corresponding point of carrying out the SIFT feature amount of template data and the SIFT feature amount of input picture are searched for, and detect the whole suspender position in input picture.In addition, in the detection method of suspender position, the Euclidean distance of the SIFT feature amount of calculation template data and whole SIFT feature amounts of input picture, is set to corresponding point by what become minimum value.In addition, similarly, the whole SIFT feature amounts for template data obtain Euclidean distance, and detect suspender position according to the point of each correspondence.
At this, so-called Euclidean distance refers to and to carry out square the difference of the SIFT feature amount of template data and the SIFT feature amount of input picture, and calculates their total root sum square.Specifically, SIFT feature amount is the characteristic quantity of 128 dimensions.Therefore, when calculating Euclidean distance, then as shown in following formula (1).
[formula 1]
In above-mentioned formula (1), V represents SIFT feature amount, the V of input picture
trepresent that SIFT feature amount, the d of template data represent Euclidean distance.
In addition, usually, Euclidean distance is that minimum position only occurs 1 point in 1 width input picture.In addition, according to the travel speed of vehicle 100, there is the possibility of taking multiple suspender 102 in 1 width input picture, in such a state, whole suspenders 102 cannot be detected.
But, be in the input picture of time at the transverse axis taken by linear transducer 1, can not at one time on there is multiple suspender 102.Therefore, in the present embodiment, as in Fig. 7 with shown in dotted line, 1 width input picture is temporally divided into rectangle, carries out corresponding point search, thus accomplish to detect multiple suspender 102.In addition, it is any for dividing width, but is substantially set to degree same with the width of template data.
Next, in step P15, according to the suspender position calculation moment detected, and record the moment.As shown in Figure 6, the transverse axis of input picture is the time.And, can according to the suspender position calculation moment on the sample frequency of linear transducer 1 and input picture.
Such as, when the sample frequency of linear transducer 1 is 1kHz and detects suspender 102 at the 100th line of time-axis direction, the shooting time of each line is 1 [sec] ÷ 1000 [Hz]=0.001 [sec], because suspender 102 detected at the 100th line, institute thinks 0.001 [sec] × 100 [line]=0.1 [sec].
Finally, in step P16, repeat step P12 ~ 16, until end process for whole input pictures, terminate a series of process in the train car position measurement device for electric railway maintenance of the present embodiment at the time point for whole input picture end for the treatment of.
As described above, according to the train car position measurement device for electric railway maintenance of the present embodiment, by carrying out the corresponding point search process employing the SIFT feature amount of template data and the SIFT feature amount of input picture, as shown in Figure 6, even if when suspender 102 is present in same position with the structure 104 of surrounding, also suspender 102 can be detected, so can prevent from suspender 102 not detected.
In addition, according to the train car position measurement device for electric railway maintenance of the present embodiment, the SIFT feature amount with robustness is changed relative to yardstick, rotation, brightness because use, so do not need according to yardstick, rotation, brightness change and prepare the whole circumstances time template data, even if when having yardstick, rotation, brightness change, as long as there is a template data just can detect, so the detection efficiency of suspender 102 can be improved.
Embodiment 2
Below, the 2nd embodiment of train car position measurement device for electric railway maintenance of the present invention is described.
The train car position measurement device for electric railway maintenance of the present embodiment is the structure roughly the same with the train car position measurement device for electric railway maintenance of the 1st embodiment, but difference is, when there is last suspender position, using the suspender position of last time as benchmark, limit processing region, thus realize the high speed of process.
Next, the structure of the train car position measurement device for electric railway maintenance of the present embodiment is described.
Fig. 8 is the block diagram of the structure of the train car position measurement device for electric railway maintenance that the present embodiment is shown.
As shown in Figure 8, the structure of the train car position measurement device for electric railway maintenance of the present embodiment is roughly the same with the structure of the train car position measurement device for electric railway maintenance of the 1st embodiment, but difference is, in check processing portion, suspender position 15, when on existing, suspender once detects position, the tilt data of the suspender position that handing-over is last and suspension line 103 and stringing 101, and to carry out above suspender position be once the calculating that benchmark defines next processing region of processing region.
Next, the handling procedure in the train car position measurement device for electric railway maintenance of the present embodiment is described.
Handling procedure in the train car position measurement device for electric railway maintenance of the present embodiment is roughly the same with the handling procedure of the train car position measurement device for electric railway maintenance of the 1st embodiment, but difference is, add when on existing when suspender position once, with the suspender position of last time for benchmark and limit the computing of next processing region of processing region.
About SIFT feature amount, to carry out in the process calculated too spended time, so need the high speed realizing process.Because being in proportion of the time required for the calculating of SIFT feature amount and processing region, as long as so processing region can be limited just can process efficiently.At this, because suspender 102 is necessarily present between suspension line 103 and stringing 101, and the possibility being present in the vergence direction of suspension line 103 and stringing 101 is large, as long as so can detect first suspender 102, just can limit processing region.Thus, because next processing region can be limited according to the inclination of suspension line 103 and stringing 101, so the high speed processed can be realized.
Fig. 9 is the process flow diagram of the handling procedure illustrated in the train car position measurement device for electric railway maintenance of the present embodiment.
As shown in Figure 9, as the handling procedure in the train car position measurement device for electric railway maintenance of the present embodiment, first, in step P10, obtain the image of template from linear transducer 1.In addition, as shown in Figure 4, template image is set to and has cut out the image that shooting has the part of a suspender 102.
Next, in step P11, extract SIFT feature amount from template image, and make template data.In addition, as in Fig. 5 with shown in black circle, SIFT feature amount has multiple on template image, so make its whole template data.In addition, try to achieve method about SIFT feature amount, on the books in above-mentioned non-patent literature 1, therefore there is omitted herein explanation.
Next, in step P12, be input picture by image making portion 10 by the image making photographed by linear transducer 1.In addition, as shown in Figure 6, the longitudinal axis of input picture is height, and transverse axis is the time.
Next, in step P20, when on existing when suspender position once, in step P21, perform the computing of next processing region.In addition, when on not existing when suspender position once, in step P13, suspender position check processing is carried out according to input picture entirety.
Next, in step P21, from the 1st width image, detect suspender 102, detect position 4 according to the suspender of the 1st width, the inclination of suspension line 103 and stringing 101 determines next processing region 5.Specifically, as shown in Figure 10, when the inclination of suspension line 103 and stringing 101 is lower right, because suspender 102 is present between suspension line 103 and stringing 101, so the possibility being present in the vergence direction of suspension line 103 and stringing 101 is large.Therefore, with the suspender position 4 of the 1st width for benchmark, determine next processing region 5 at the vergence direction of suspension line 103 and stringing 101.
In addition, by Figure 10 using the dot-and-dash line shown in A, B as the gap of image, the left side of dot-and-dash line A is set to the 1st width image, will the 2nd width image is set between dot-and-dash line A and dot-and-dash line B, the right side of dot-and-dash line B is set to the 3rd width image.
Next, in step P14, in next processing region 5 or in integral image, carry out suspender position check processing.
Next, in step P15, according to the suspender position calculation moment detected, and record the moment.
Finally, in step P16, when on existing when suspender position once, repeat step P12 ~ 15, until there is no input picture, at the time point for whole input picture end for the treatment of, terminate a series of process in the train car position measurement device for electric railway maintenance of the present embodiment.
As described above, according to the train car position measurement device for electric railway maintenance of the present embodiment, except the effect that the train car position measurement device for electric railway maintenance of the 1st embodiment obtains, by processing region being defined as next processing region 5, the high speed processed can also be realized.
Embodiment 3
Below, the 3rd embodiment of train car position measurement device for electric railway maintenance of the present invention is described.
The train car position measurement device for electric railway maintenance of the present embodiment is the structure roughly the same with the train car position measurement device for electric railway maintenance of the 2nd embodiment, but difference is, when processing region being defined as the process of next processing region 5, improve suspender position detection accuracy by expanding next processing region 5.
Next, the handling procedure in the train car position measurement device for electric railway maintenance of the present embodiment is described.
The gap of image will be set in Figure 11 with the dot-and-dash line shown in A, the left side of dot-and-dash line A be set to the 1st width image, the right side of dot-and-dash line A is set to the 2nd width image.As shown in figure 11, when photographing suspender 102 at the gap of image, SIFT feature amount is different characteristic quantity, so likely cannot detect suspender 102.Therefore, as shown in figure 11, by the scope of next processing region 5 being expanded to the part comprising a upper image, i.e. the 1st width image, thus the suspender 102 photographed at image gap can be detected.
As described above, according to the train car position measurement device for electric railway maintenance of the present embodiment, except the effect that the train car position measurement device for electric railway maintenance that can obtain the 2nd embodiment plays, by expanding next processing region 5, as shown in figure 11, even if when the gap of image photographs suspender 102, also precision can detect suspender 102 excellently.
Utilizability in industry
The present invention is applicable to the train car position measurement device for electric railway maintenance being applied to the position measuring the electric railway vehicle used in the maintenance of stringing and track etc.
Claims (3)
1. a train car position measurement device for electric railway maintenance, is characterized in that, possesses:
Linear transducer, the image of the suspension line of the suspender of shooting stringing, suspended support stringing;
The image making photographed by described linear transducer is template image and input picture by image making portion;
Storage part, is kept at the described template image and described input picture that make in described image making portion;
Template construct handling part, the described template image preserved from described storage part extracts SIFT feature amount, makes template data and is saved in described storage part;
SIFT feature amount extraction process portion, the described input picture preserved from described storage part extracts SIFT feature amount and is saved in described storage part; And
Check processing portion, suspender position, searches for the corresponding point of the SIFT feature amount of the described template image that described storage part is preserved and the SIFT feature amount of described input picture, detects the suspender position in described input picture, and is saved in described storage part,
In check processing portion, described suspender position, when on existing when suspender position once, receive last suspender position and the tilt data of suspension line and stringing, and to carry out above suspender position be once the calculating that benchmark limits next processing region of processing region.
2. train car position measurement device for electric railway maintenance according to claim 1, is characterized in that, also possesses:
Moment recording treatmenting part, according to the suspender position on the described input picture that sample frequency and the described storage part of described linear transducer are preserved, calculates the moment described suspender being detected, and time data is saved in described storage part.
3. train car position measurement device for electric railway maintenance according to claim 1 and 2, is characterized in that,
In check processing portion, described suspender position, expansion next processing region described.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2010104866A JP5423567B2 (en) | 2010-04-30 | 2010-04-30 | Vehicle position measuring device for electric railway maintenance |
| JP2010-104866 | 2010-04-30 | ||
| PCT/JP2011/059139 WO2011136020A1 (en) | 2010-04-30 | 2011-04-13 | Train car position measurement device for electric railway maintenance |
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| Publication Number | Publication Date |
|---|---|
| CN102869535A CN102869535A (en) | 2013-01-09 |
| CN102869535B true CN102869535B (en) | 2015-03-25 |
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| CN201180021685.2A Expired - Fee Related CN102869535B (en) | 2010-04-30 | 2011-04-13 | Train car position measurement device for electric railway maintenance |
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| JP (1) | JP5423567B2 (en) |
| KR (1) | KR101414370B1 (en) |
| CN (1) | CN102869535B (en) |
| TW (1) | TWI448399B (en) |
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| JP5987195B2 (en) * | 2012-12-25 | 2016-09-07 | 株式会社明電舎 | Rigid overhead wire support component inspection system |
| JP2014198524A (en) * | 2013-03-29 | 2014-10-23 | 株式会社日立ハイテクノロジーズ | Overhead wire inspection method and apparatus |
| JP6225362B2 (en) * | 2013-11-11 | 2017-11-08 | 株式会社明電舎 | Train self-position estimation device |
| US9669850B2 (en) | 2014-09-08 | 2017-06-06 | Genscape Intangible Holding, Inc. | Method and system for monitoring rail operations and transport of commodities via rail |
| JP6450971B2 (en) * | 2015-01-30 | 2019-01-16 | 株式会社明電舎 | Trolley wire wear measuring device and trolley wire wear measuring method |
| JP6427797B2 (en) * | 2015-03-13 | 2018-11-28 | 株式会社明電舎 | Hanger detection device by image processing |
| JP6311757B2 (en) * | 2016-09-13 | 2018-04-18 | 株式会社明電舎 | Insulator detecting device and insulator detecting method |
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- 2011-04-13 CN CN201180021685.2A patent/CN102869535B/en not_active Expired - Fee Related
- 2011-04-13 WO PCT/JP2011/059139 patent/WO2011136020A1/en active Application Filing
- 2011-04-13 KR KR1020127028353A patent/KR101414370B1/en active IP Right Grant
- 2011-04-15 TW TW100113285A patent/TWI448399B/en not_active IP Right Cessation
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Also Published As
| Publication number | Publication date |
|---|---|
| JP5423567B2 (en) | 2014-02-19 |
| CN102869535A (en) | 2013-01-09 |
| JP2011230722A (en) | 2011-11-17 |
| KR20120134149A (en) | 2012-12-11 |
| KR101414370B1 (en) | 2014-07-01 |
| TWI448399B (en) | 2014-08-11 |
| WO2011136020A1 (en) | 2011-11-03 |
| TW201144108A (en) | 2011-12-16 |
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