JP2007223474A - Railroad facility inspection method using long image and device therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a railroad facility inspection method using a long image and the device therefore which mounts a camera on a moving rolling stock and can precisely inspect a state of the railroad facility. <P>SOLUTION: The railroad facility inspection device using the long image is equipped with a camera which is mounted on the moving rolling stock, an additional kind of sensor which is mounted on the rolling stock and monitors the railroad facility, and a processing device which synchronizes the long image obtained by the camera and the processing device with a time series data obtained by the sensor, and detects the railroad facility. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a railway facility inspection method and apparatus using a long image.

  Conventionally, a system for converting a video image into a continuous seamless and low distortion panoramic image and making it into a database has been proposed. Inspecting the appearance of roads and power transmission lines is disclosed (Patent Document 1 below).

On the other hand, in the field of railways, it is considered to use images that are visualized to inspect railway vehicles and railway facilities.
JP 2003-9144 A WO 01/15081 A2 publication

  However, in the above-described conventional system, inspection objects that cannot be viewed at a time because of the wide range are simply converted into a panoramic image having no continuous joints and less distortion, and the database is created.

  On the other hand, in the field of railways, research is being conducted to inspect the state of railway facilities for maintenance by combining long images of railway facilities and other types of data.

  In view of the above situation, the present invention provides a railroad facility inspection method and apparatus using a long image in which a camera is mounted on a railcar as a moving body and the state of the railroad facility can be accurately inspected. For the purpose.

In order to achieve the above object, the present invention provides
[1] In the railway facility inspection method using a long image, an image of the railway facility is captured by a camera mounted on a moving railway vehicle, and the length of the railway facility is detected using a processing device from the captured image. A scale image is generated, and the railway facility is inspected by comparing the long image with reference data stored in advance.

  [2] In the railway facility inspection method using the long image according to [1], as the long image of the railroad facility, a partial image is selected from the center of each image frame of the camera, and the partial images are combined. It is characterized by producing | generating by this.

  [3] In the railway facility inspection method using the long image according to [2], the partial image width of the image frame is selected on the basis of a movement amount of the railway vehicle.

  [4] In the railway facility inspection method using the long image according to [3], the partial image width is wide when the movement amount of the railway vehicle is large, and is narrow when the movement amount is small. Features.

  [5] In the railway facility inspection method using the long image according to any one of [1] to [4], the long image generated by the camera and the processing device is an image obtained by photographing a track. It is characterized by that.

  [6] In the railway facility inspection method using the long image according to any one of [1] to [4], the long image generated by the camera and the processing device is an image of the inner surface of the tunnel. It is characterized by being.

  [7] In the railway facility inspection method using the long image according to any one of [1] to [4], the long image generated by the camera and the processing device is an image of a bridge. It is characterized by that.

  [8] In the railway facility inspection method using the long image according to any one of [1] to [4], the long image generated by the camera and the processing device is an image of the platform. It is characterized by that.

  [9] In the railway facility inspection method using the long image according to any one of [1] to [4] above, the long image generated by the camera and the processing device photographs a slope along the railroad line. It is characterized by being an image.

  [10] In the railway facility inspection method using a long image, a long image is generated by a camera and a processing device mounted on a moving railway vehicle, and at the same time, a different type of sensor is used for the camera. Information is obtained, information from the sensor is normalized in synchronization with the long image, and information combined with the long image is acquired.

  [11] In the railway facility inspection method using the long image according to [10], the pantograph mounted on the railway vehicle moved by the sensor and the sound of the overhead wire sliding, vibration, separation, or arc light are inspected. It is characterized by doing.

  [12] In the railway facility inspection method using the long image according to [10], the sensor measures the shape of the inner surface of the tunnel through which the railway vehicle passes, and detects the clearance between the vehicle and the tunnel, the deformation of the tunnel, and the crack. It is characterized by inspecting.

  [13] In the railway facility inspection method using the long image according to [10], the vibration of the vehicle is measured by the sensor and the laying state of the track is inspected.

  [14] In a railway facility inspection apparatus using a long image, a long image is generated from a camera mounted on a moving railway vehicle and an image of the railway facility photographed by the camera, and the railway facility is inspected. And a processing device.

  [15] In a railway facility inspection apparatus using a long image, a camera mounted on a moving railway vehicle, a sensor different from the camera mounted on the railway vehicle and monitoring the railway facility, The image processing apparatus includes a processing device that generates a long image from an image acquired by a camera, performs normalization by synchronizing the long image and data acquired by the sensor, and acquires inspection data of a railway facility.

  [16] In the railway facility inspection apparatus using the long image according to [15], the sensor is a sensor for inspecting the sound, vibration, separation, or arc light of the pantograph and the overhead wire of the railway vehicle. It is a feature.

  [17] In the railway facility inspection apparatus using the long image according to [15], the sensor is a sensor that measures a shape of an inner surface of a tunnel through which the railway vehicle passes.

  [18] In the railway facility inspection apparatus using the long image according to [15], the sensor is a vibration sensor that inspects the laying state of the track.

  ADVANTAGE OF THE INVENTION According to this invention, a camera is mounted in the rail vehicle as a moving body, and the state of a railroad facility can be test | inspected exactly.

  A railroad facility inspection method and apparatus using a long image according to the present invention includes a camera mounted on a moving railcar and a sensor different from the camera mounted on the railcar and photographing the railroad facility. And a processing device that generates a long image from an image captured by the camera, synchronizes the long image and data acquired by the sensor, performs normalization, and acquires inspection data of the railway facility It comprises. Therefore, the state of the railway facility can be accurately inspected.

  Hereinafter, embodiments of the present invention will be described in detail.

  FIG. 1 is a schematic diagram of a railway facility inspection apparatus using a long image (SLIm: Super Long Imaging) according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating the principle of acquiring a long image of a railway facility. FIG. 4 is a diagram showing a railway facility using a long image obtained as a result, and FIG. 4 is a block diagram of an inspection apparatus for the railway facility.

  First, in FIG. 4, 1 is a railcar, 2 is a camera mounted on the railcar 1, 3 is a processing device that processes information from the camera 2, 4 is a railroad facility for editing information from the camera 2 ( Here, the long image editing section of the track 10), 5 is the long image of the railway facility edited by the editing section 4, 6 is the railway facility reference data stored in advance, and 5A is the long image data. A feature extraction unit that extracts features, 6A is a feature extraction unit that extracts features from the reference data 6, and 7 is a comparison that compares the features of the long image data extracted by the feature extraction units 5A and 6A with the features of the reference data. Reference numeral 8 denotes a determination unit for the comparison result, and reference numeral 9 denotes an output unit for the determination result.

  Acquisition of a long image of a railway facility will be described with reference to FIGS. 2 and 4.

  Here, in order to photograph the track 10 as a railway facility, the camera 2 is mounted at a position where the track 10 of the railway vehicle 1 can be photographed from above. At this time, the focus, aperture, and angle of view of the camera are adjusted while looking through the viewfinder of the camera 2. In particular, the track 10 as a railway facility is adjusted so as to be always parallel to the end of the image frame 2A of the camera 2. In order to make the present invention function efficiently, the mounting position, the angle of view, and the like of the camera 2 are accurately set so that the captured image captures the subject to be photographed from the normal direction.

  Therefore, first, the railway vehicle 1 is caused to travel on the track 10. Then, as shown in FIG. 2A, the processing device 3 selects a partial image 2B from the center of each image frame 2A, and the partial images 2B are combined to generate a trajectory 10 as shown in FIG. The whole image (long image data 2C of the railway facility) is created.

  A long image of the railroad track 10 thus generated is shown in FIG.

  Therefore, as shown in FIG. 4, a feature extraction unit 5 </ b> A that creates a long image 5 of the trajectory 10 acquired by the processing device 3 and extracts pre-stored reference data 6 from the long image. The comparison unit 7 compares the features through the feature extraction unit 6A that extracts the features from the reference data, the determination unit 8 determines whether an abnormality or the like has occurred in the trajectory 10, and obtains the inspection result information from the output unit 9. be able to.

  Here, the railroad facility is described as an example of a railroad, but various types of railroad facilities can be inspected using a long image of the railroad facility. The inspection methods for various railway facilities are described below.

(1) Inspection of current collecting surface of overhead wire FIG. 5 is a schematic diagram of the inspection of the current collecting surface of the overhead wire showing an embodiment of the present invention.

  In this figure, 11 is an overhead line, 12 is a railway vehicle, 13 is a camera, 14 is a processing device, 15 is an editing unit, 16 is a long image of a railway facility edited by the editing unit 15, and 16A is long image data. A feature extraction unit for extracting features from the reference numeral 17, reference data for railway facilities stored in advance, 17 A a feature extraction unit for extracting features from the reference data 17, and 18 a feature of long image data and a feature of reference data The comparison unit 19 compares the determination results, 19 is the comparison result determination unit, and 20 is the determination result output unit.

  In this embodiment, the camera 13 is mounted on the railway vehicle 12, and an image of the contact surface of the overhead line 11 with which the pantograph contacts is acquired. Therefore, it is possible to inspect abnormal wear or damage such as wavy wear on the overhead wire 11.

  In FIG. 5, the image of the overhead line 11 is taken into the processing device 14 to create long image data, and the characteristics of the extracted long image data and the characteristics of the reference data are compared by the comparison unit 18. Abnormal wear or damage such as wavy wear can be determined by the determination unit 19, and the result information can be obtained from the output unit 20. In this way, the overhead line can be inspected using the acquired long image.

(2) Tunnel Inspection FIG. 6 is a schematic diagram of a tunnel inspection apparatus showing an embodiment of the present invention.

  In this figure, 21 is a tunnel, 22 is a railway vehicle, 23 is a camera, 24 is a processing device, 25 is an editing unit, 26 is a long image of a railway facility edited by the editing unit 25, and 26A is long image data. A feature extracting unit for extracting features from the reference numeral 27, reference data of railway facilities stored in advance, 27A a feature extracting unit for extracting features from the reference data 27, and 28 a feature of long image data and a feature of reference data The comparison unit 29 compares the determination results, 29 is a determination unit for the comparison results, and 30 is an output unit for the determination results.

  In this embodiment, a camera 23 is mounted on the railway vehicle 22 so as to photograph the inner surface of the tunnel 21 as a railway facility, and an image of the tunnel 21 is acquired.

  Then, the image of the tunnel 21 is taken into the processing device 24 to generate a long image 26, the characteristics of the extracted long image data and the characteristics of the reference data are compared by the comparison unit 28, and the tunnel 21 is cracked. The occurrence location or the like can be determined by the determination unit 29, and the inspection result information can be obtained from the output unit 30. In this way, a tunnel as a railway facility can be inspected using the generated long image.

(3) Bridge Inspection FIG. 7 is a schematic diagram of a bridge inspection apparatus showing an embodiment of the present invention.

  In this figure, 31 is a pier, 32 is a bridge / girder, 33 is a railway vehicle, 34 is a camera, 35 is a processing device, 36 is an editing unit, 37 is a long image of a railway facility edited by the editing unit 36, 37A is a feature extraction unit that extracts features from long image data, 38 is reference data stored in advance for railway facilities, 38A is a feature extraction unit that extracts features from reference data 38, and 39A is a feature of long image data. The comparison unit 39B compares the reference data with the characteristics of the reference data, 39B is a determination unit for the comparison result, and 39C is an output unit for the determination result.

  In this embodiment, a camera 34 is mounted on a railway vehicle 33 so as to photograph a bridge (girder) 32 as a railway facility, and an image of the bridge 32 is acquired.

  Then, the image of the bridge 32 is taken into the processing device 35 to generate a long image 37, and the characteristics of the extracted long image data and the characteristics of the reference data are compared by the comparison unit 39A, and the determination unit 39B The damaged portion of the bridge 32 can be determined, and the inspection result information can be obtained from the output unit 39C. In this manner, the bridge 32 as a railway facility can be inspected using the acquired long image.

(4) Inspection of Platform Congestion Level FIG. 8 is a schematic diagram of a platform congestion level inspection apparatus showing an embodiment of the present invention.

  In this figure, 41 is a platform, 42 is a railway vehicle, 43 is a camera, 44 is a processing device, 45 is an editing unit, 46 is a long image of a railway facility edited by the editing unit 45, and 46A is long image data. A feature extraction unit for extracting features from 47, 47 is pre-stored reference data for railway facilities, 47A is a feature extraction unit for extracting features from reference data 47, and 48 is a feature of long image data and a feature of reference data. 49 is a comparison result determination unit, and 50 is a determination result output unit.

  In this embodiment, a camera 43 is mounted on the railway vehicle 42 so as to photograph the platform 41 as a railway facility, and an image of the platform 41 is acquired.

  Then, the image of the platform 41 is taken into the processing device 44 to generate a long image 46, and the characteristics of the extracted long image data and the characteristics of the reference data are compared with each other by the comparison unit 48. The degree can be determined by the determination unit 49, and the inspection result information can be obtained from the output unit 50. Thus, the congestion degree in the platform 41 as a railway facility can be inspected using the acquired long image.

(5) Inspection of the slope along the railroad track FIG. 9 is a schematic diagram of the inspection device for the slope along the railroad according to the embodiment of the present invention, and FIG. 10 shows a long image of the slope along the railroad track. It is.

  In these drawings, 51 is a slope along the railway, 52 is a railway vehicle, 53 is a camera, 54 is a processing device, 55 is an editing unit, 56 is a long image of a railway facility edited by the editing unit 55, 56A. Is a feature extraction unit that extracts features from long image data, 57 is reference data of railway facilities stored in advance, 57A is a feature extraction unit that extracts features from reference data 57, and 58 is a feature of long image data. A comparison unit for comparing the characteristics of the reference data 57, 59 is a determination unit for the comparison result, and 60 is an output unit for the determination result.

  In this embodiment, a camera 53 is mounted on the railway vehicle 52 so as to photograph the slope 51 along the railroad as a railway facility, and an image of the slope 51 along the railroad track is acquired.

  Then, the image of the slope 51 is taken into the processing device 54 to generate a long image 56, and the characteristics of the extracted long image data and the characteristics of the reference data are compared by the comparison unit 58. The determination unit 59 can determine the degree of instability, and the inspection result information can be obtained from the output unit 60. In this way, it is possible to inspect the risk on the slope 51 as a railway facility using the acquired long image.

  Next, when acquiring a long image of such a railroad facility and providing another type of sensor and combining the time series data synchronized with the long image from that sensor to inspect the facility of the railroad facility explain.

  FIG. 11 is a schematic view of a railway facility inspection apparatus including a camera for obtaining a long image and another type of sensor according to another embodiment of the present invention.

  In this figure, a railcar 62 traveling on a track 61 is provided with a camera 63 for inspecting a railway facility (here, the track 61) and a processing device 64 for processing information from the camera 63, and other types. The sensor 66 is arranged.

  FIG. 12 is a schematic diagram of an inspection apparatus for a railway facility having a camera for obtaining a long image, a pantograph, and a sensor for capturing sound, vibration, separation, or arc light that the overhead wire slides, according to another embodiment of the present invention. .

  For example, a sensor 74 that captures sound, vibration, separation, or arc light is disposed on the roof of the railway vehicle 71, and the sound, vibration, separation, or arc light that the pantograph 75 and the overhead line 76 slide are captured, and the camera 72 and the long image of the overhead wire obtained from the processing device 73 are detected as time series data.

  FIG. 13 is a schematic diagram of a railway facility inspection apparatus having a camera for obtaining a long image and a sensor for measuring the shape of the inner surface of the tunnel according to another embodiment of the present invention.

  In the tunnel inspection, the crack 86 generated in the tunnel 85 can be inspected by using the sensor 84 for measuring the shape of the inner surface of the tunnel. Even in this case, the time series data acquired from the sensor 84 is combined with the long image of the tunnel 85 obtained by the camera 82 and the processing device 83 so as to synchronize with the long image of the tunnel 85, and the tunnel 85 is combined. It is possible to accurately inspect the crack occurrence site.

  As described above, depending on the purpose of the inspection of the railway facility, analog or digital data such as the sound of the pantograph and the overhead wire slid and the vibration of the vehicle is recorded in synchronization with the frame image of the railway facility. Since the long image of the railway facility is processed by the processing device, the partial image of the image frame is selected based on the vehicle movement amount. The partial image width is variable, for example, the partial image width is wide when the movement amount is large, and the width is narrow when the movement amount is small. In order to display such long image data and data of other types of sensors together, it is necessary to synchronize the data from the sensor with the long image data and normalize the data.

  If the data for other types of sensors is intensity data, normalization is simple because the data does not change through the normalization process. However, when normalizing data having a characteristic in frequency, the data quality may change due to normalization, and normalization is performed in consideration of this.

  Further, a vibration sensor can be arranged as the sensor in FIG. 11 to inspect the track laying state.

  As described above, when the long image technique is used, it is possible to capture the entire image of the railway facility, and to inspect the railway facility by combining the image and other types of information.

  In addition, this invention is not limited to the said Example, A various deformation | transformation is possible based on the meaning of this invention, and these are not excluded from the scope of the present invention.

  The railway facility inspection method and apparatus using the long image of the present invention can be used as various inspection apparatuses for railway facilities.

It is a schematic diagram of a railroad facility inspection apparatus using a long image (SLIm: Super Long Imaging) showing an embodiment of the present invention. It is a figure which shows the acquisition principle of the long image of the railway facility which shows the Example of this invention. It is a figure which shows the railroad facility using the elongate image obtained as a result of using this invention. It is a schematic diagram of a railway facility inspection apparatus showing an embodiment of the present invention. It is a schematic diagram of a test | inspection of the current collection surface of an overhead wire which shows the Example of this invention. It is a schematic diagram of a tunnel inspection apparatus showing an embodiment of the present invention. It is a schematic diagram of the bridge inspection apparatus showing an embodiment of the present invention. It is a schematic diagram of the inspection apparatus of the platform congestion degree which shows the Example of this invention. It is a schematic diagram of the inspection apparatus of the slope along a railroad which shows the Example of this invention. It is a figure which shows the elongate image of the slope of a railway line which shows the Example of this invention. It is a schematic diagram of the inspection apparatus of the railway facility which comprises the camera which acquires the elongate image which shows the other Example of this invention, and another kind of sensor. It is a schematic diagram of the inspection apparatus of a railroad facility which has a sensor which captures the sound, vibration, separation line, or arc light which the camera which acquires the long image which shows the other Example of this invention, a pantograph, and an overhead line slide. It is a schematic diagram of the inspection apparatus of a railroad facility which has a sensor which measures the shape of the inner surface of a tunnel and the camera which acquires the elongate image which shows the other Example of this invention.

Explanation of symbols

1,12,22,33,42,52,62,71,81 Railcar 2,13,23,34,43,53,63,72,82 Camera 2A Image frame 2B Partial image 2C Whole image of railroad facility 3 , 14, 24, 35, 44, 54, 64, 73, 83 Processing device 4, 15, 25, 36, 45, 55 Editing unit 5, 16, 26, 37, 46, 56 Long image
5A, 16A, 26A, 37A, 46A, 56A Feature extraction unit for extracting features from long image data 6, 17, 27, 38, 47, 57 Reference data 6A, 17A, 27A, 38A, 47A, 57A From reference data Feature extraction unit for extracting features 7, 18, 28, 39A, 48, 58 Comparison unit 8, 19, 29, 39B, 49, 59 Determination unit 9, 20, 30, 39C, 50, 60 Output unit 10 Trajectory 11, 76 Overhead line 21, 85 Tunnel 31 Bridge pier 32 Bridge / girder 41 Platform 51 Slope along railway line 61 Track 66, 74 Sensor 75 Pantograph 84 Sensor measuring the inner shape of tunnel 86 Crack

Claims (18)

  An image of the railway facility is taken with a camera mounted on the moving railway vehicle, a long image of the railway facility is generated from the taken image using a processing device, and the long image is stored in advance. A railroad facility inspection method using a long image, wherein the railroad facility is inspected in comparison with reference data.   The railway facility inspection method using a long image according to claim 1, wherein the long image of the railroad facility is generated by selecting a partial image from the center of each image frame of the camera and combining the partial images. Railway facility inspection method using a long image characterized by the above.   The railway facility inspection method using a long image according to claim 2, wherein the partial image width of the image frame is selected on the basis of a movement amount of the rail vehicle. Inspection method.   The railway facility inspection method using a long image according to claim 3, wherein the partial image width is wide when the movement amount of the railway vehicle is large, and is narrow when the movement amount is small. Railway facility inspection method using scale images.   The railway facility inspection method using the long image according to any one of claims 1 to 4, wherein the long image generated by the camera and the processing device is an image obtained by photographing a track. Railway facility inspection method using scale images.   The railway facility inspection method using the long image according to any one of claims 1 to 4, wherein the long image generated by the camera and the processing device is an image obtained by photographing an inner surface of a tunnel. Railway facility inspection method using long images.   The railway facility inspection method using the long image according to any one of claims 1 to 4, wherein the long image generated by the camera and the processing device is an image obtained by photographing a bridge. Railway facility inspection method using scale images.   The railway facility inspection method using the long image according to any one of claims 1 to 4, wherein the long image generated by the camera and the processing device is an image of a platform. Railway facility inspection method using scale images.   The railway facility inspection method using the long image according to any one of claims 1 to 4, wherein the long image generated by the camera and the processing device is an image obtained by photographing a slope along a railway line. Railway facility inspection method using long images that are characteristic.   A long image is generated by a camera and a processing device mounted on a moving railway vehicle, and at the same time, another type of information is obtained by a sensor different from the camera, and the information from the sensor is converted into the long image. A railway facility inspection method using a long image, wherein normalization is performed in synchronization with the long image, and information combined with the long image is acquired.   11. The railway facility inspection method using a long image according to claim 10, wherein a pantograph mounted on a railway vehicle moved by the sensor and an overhead line sliding sound, vibration, separation, or arc light is inspected. Railway facility inspection method using long images.   The railway facility inspection method using the long image according to claim 10, wherein the sensor measures the shape of the inner surface of the tunnel through which the railway vehicle passes, and inspects the clearance between the vehicle and the tunnel, the deformation of the tunnel, and the crack. Railway facility inspection method using long images that are characteristic.   The railway facility inspection method using a long image according to claim 10, wherein the vibration of the vehicle is measured by the sensor and the laying state of the track is inspected by the sensor. (A) a camera mounted on a moving railway vehicle;
(B) A railway facility inspection apparatus using a long image, comprising: a processing device that generates a long image from an image of the railway facility photographed by the camera and inspects the railway facility. (A) a camera mounted on a moving railway vehicle;
(B) a sensor of a type different from the camera mounted on the railway vehicle and monitoring railway facilities;
(C) a processing device that generates a long image from an image acquired by the camera, performs normalization by synchronizing the long image and data acquired by the sensor, and acquires inspection data of a railway facility; A railway facility inspection apparatus using a long image.   16. The railway facility inspection apparatus using a long image according to claim 15, wherein the sensor is a sensor that inspects a pantograph and an overhead wire sliding sound, vibration, separation, or arc light of the railway vehicle. Railway facility inspection equipment using long images.   The railway facility inspection apparatus using a long image according to claim 15, wherein the sensor is a sensor for measuring a shape of an inner surface of a tunnel through which the railway vehicle passes. Inspection device.   16. The railway facility inspection apparatus using a long image according to claim 15, wherein the sensor is a vibration sensor for inspecting a laying state of the track.

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