JP2007315833A - Pantograph slider measuring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To measure accurately the thickness of a slider by image processing by acquiring data equivalent to data acquired when a vehicle is operated at set speed and imaged at an imaging reference position, even if the vehicle does not run actually at the set speed. <P>SOLUTION: Two light sources 10 for irradiating linear light in the vertical direction toward the side face of the slider 4 are provided obliquely with respect to the slider 4 on the same side as a CCD camera 11 to a pantograph 3 relative to the traveling direction of the vehicle 1. An image processing means acquires an imaging actual distance to a position of the slider imaged by the CCD camera 11 and a camera, from a tilt angle of each light source and the interval between two linear lights reflecting on a slider image imaged by the camera, and operates the slider 4 thickness in the slider image imaged by the camera as the slider thickness acquired when being imaged at an imaging setting position, by an imaging setting distance of the camera to the imaging setting position of the slider and the imaging actual distance set so that the slider 4 is to be imaged by the CCD camera 11. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a pantograph slide plate measuring device, and more particularly to a pantograph slide plate measuring device that accurately measures the wear state of a slide plate in a pantograph from image data taken by a camera.

  The pantograph slide board measuring device automatically measures the thickness of the pantograph slide board by image processing while the vehicle is running as a repair facility for a railway vehicle or the like.

  In a conventional pantograph slide board measuring device, when a pantograph boat board in a running vehicle is detected by a timing sensor, illumination light is irradiated on the slide board from a light source installed in the forward direction of the vehicle based on the detection signal. At the same time, the camera captures the side of the scrubber.

  Since there is a delay due to the rise time in the camera, the detection signal of the timing sensor is given to the light source through a delay circuit so that the imaging of the camera and the illumination light irradiation on the sliding plate are synchronized, and the camera captures clear images. I try to get data.

  The light source and the camera may be installed at a position on the rear side of the pantograph in the traveling direction of the vehicle, and may be arranged to take an image of the side surface of the sliding plate from the rear.

  In addition, there are the following patent documents as examples of such prior art.

JP 10-47932 A

  In the image processing for measuring the thickness of the slab, the ratio (calibration coefficient) between the size of the unit pixel constituting the imaging and the unit length of the slab is determined, and the actual slab is determined from the length of the slab in the imaging. It is converted into the length. In this case, the position of the sliding plate to be imaged by the camera is set, and a timing sensor is installed so that the image can be captured at the timing when the vehicle reaches this reference position.

  However, this setting is made after setting the traveling speed of the vehicle. The traveling speed of the vehicle is not constant, and in the case of a vehicle that travels faster than the set speed, the position of the sliding plate is set from the set imaging position. However, the sliding plate will appear larger than when shooting at the set imaging position. Then, the thickness of the sliding plate measured by the image processing may be larger than the new thickness.

  Conversely, in a vehicle that travels slower than the set speed, the position of the slide plate is farther from the camera than the set imaging position, and the slide plate appears smaller than when shooting at the set imaging position. In this case, in the extreme case, the thickness of the slide plate measured by image processing is smaller than the thickness set to be replaced due to wear, and it is not time to replace, but the slide plate should be replaced There is a risk of getting out.

  In the arrangement where the light source and camera are installed at the rear side of the pantograph in the traveling direction of the vehicle and the side surface of the sliding plate is imaged from the rear, the thickness of the captured sliding plate is opposite to the above. When the running speed is fast, the sliding board appears small, and when it is slow, it appears large.

  In any case, it is necessary to drive the vehicle so that the vehicle reaches the imaging reference position and to repeat the imaging until the traveling speed reaches the set speed.

  If the accuracy is low in this way, the pantograph sliding plate measuring device loses its reliability as a repair facility such as a railway vehicle.

  Therefore, the object of the present invention is to obtain data equivalent to driving at a set speed even when the vehicle is not driven at a set speed and taking an image at a reference position for image pickup, and accurately adjusting the thickness of the sliding plate by image processing. An object of the present invention is to provide a pantograph sliding plate measuring device capable of measuring.

  A feature of the present invention that achieves the above object is that a pantograph slide plate in a traveling vehicle is imaged by a camera installed in front of or behind the vehicle in the traveling direction of the pantograph, and imaged by an image processing means. In the pantograph sliding plate measuring device that measures the thickness of the sliding plate from the captured image, two light sources that irradiate the line-shaped light perpendicularly to the side surface of the sliding plate on the same side as the camera for the pantograph in the traveling direction of the vehicle The image processing means is provided so as to be inclined with respect to the sliding plate, and the image processing means is configured to detect the angle of each light source and the interval between two line-shaped lights reflected in the image of the sliding plate captured by the camera. The actual imaging distance to the position is obtained, and the imaging setting distance of the camera and the imaging actual distance to the imaging setting position of the sliding board where the camera is set to image the sliding board are determined. It lies in that is adapted to calculate the thickness of the contact strip when capturing the thickness of sliding plate in the imaging setting position in the image of the sliding plate captured by the camera.

  According to the device of the present invention, the actual imaging distance from the camera to the position of the slide board imaged by the camera can be obtained, and thereby the thickness of the slide board in the image taken by the camera is imaged at the imaging setting position. Therefore, if the sliding plate is within the field of view of the camera and can be imaged, it is possible to obtain an accurate sliding plate thickness with reasonable imaging of the sliding plate. The vehicle does not have to travel at the set speed, and it does not take time and effort to repeat imaging.

  Hereinafter, an embodiment of the device of the present invention will be described with reference to the drawings.

  In FIG. 1, 1 is a train (vehicle) traveling on the rail 2 from the right side to the left side in the figure, 3 is a pantograph of the train 1, 4 is a slip plate attached to the pantograph 3, and 5 is a slip plate 4. An overhead line for supplying electric power to the train 1, 6 is a train detection sensor for detecting the entry of the train 1, 7 is a pantograph detection sensor for detecting the pantograph 3 on the train 1, and 8 is a train installed at the head position of the train 1. 1 is a vehicle number transmitter that converts the train number (vehicle number) that identifies 1 into a signal and transmits it wirelessly, 9 is a vehicle number receiver that receives the transmission wave of the vehicle number transmitter 8, and 10 is the train 1 that enters. A laser light output device (light source) for irradiating the collimated line laser beam extending in the vertical direction on the sliding plate 4 in the pantograph 3, 11 a CCD camera for photographing the reflection of the laser light reflected on the sliding plate 4 together with the pantograph 3, 12 Is a column It is a train detection sensor that detects one of the exit.

  The sliding plates 4 extend in a direction (hereinafter abbreviated as the width direction) perpendicular to the traveling direction of the train 1 in which the rails 2 extend, and two pantographs 3 are provided before and after the traveling direction of the train 1. It has been. Each sliding plate 4 is pivotally supported by the pantograph 3 at the center in the width direction.

  The laser beam output device 10 and the CCD camera 11 are installed with a slight depression angle with respect to the sliding plate 4 in the pantograph 3 slightly above the overhead line 5 so as not to obstruct the travel of the train 1.

As shown in FIG. 4, two laser beam output devices 10 are installed in the width direction, and are arranged so that the laser beams intersect with the sliding plate 4 horizontally at an angle θ. Therefore, two vertical line-like bright shadows 4 a or bright shadows 4 b are reflected on the sliding plate 4. The bright shadow 4a and the bright shadow 4b will be described later.

  One CCD camera 11 may be installed at the center in the width direction. However, when one camera cannot capture the entire length of the sliding plate 4, a plurality of CCD cameras 11 are installed and images are connected to form one sliding plate 4. To be able to grasp the total length of The CCD camera 11 may have another configuration as long as it can capture an image in the form of digital electronic data and perform image processing.

  FIG. 2 shows a schematic electrical system of a pantograph slide board measuring apparatus according to the present invention. Train detection sensors 6 and 12, a panta detection sensor 7, a car number receiver 9, a CCD camera 11, and a laser light output device. 10 and the like are connected to the measurement control device 20, and an image processing device 30, a monitor 40, and an operation terminal 50 such as a keyboard are further connected to the measurement control device 20.

  Although not shown, the measurement control device 20 and the image processing device 30 are each provided with an internal storage device and an external storage device.

  The measurement control device 20 controls the entire pantograph slide board measurement device shown in FIG. 2, and the image processing device 30 performs image processing on the image obtained by the CCD camera 11 via the measurement control device 20, and displays the image in the image. The thickness of the sliding plate 4 is calculated from the dimension of the bright shadow 4a or the bright shadow 4b.

  FIG. 3 shows a software flow for calculating the thickness of the sliding plate 4 performed by the pantograph sliding plate measuring device of FIG.

  In step 100 of FIG. 3, as shown in FIG. 1, the train 1 travels on the rail 2 and the head is detected by the train detection sensor 6 and is repeatedly executed.

  When the train detection sensor 6 detects the entry of the train 1, the process proceeds to step 200 where the vehicle number receiver 9 receives the vehicle number specifying the train 1 transmitted by the vehicle number transmitter 8, and the measurement control device 20. Store the car number in (take in). Then, the process proceeds to step 300, and the detection of the pantograph 3 by the pantograph detection sensor 7 is repeated and executed.

  When the pantograph sensor 7 detects the pantograph 3, the process proceeds to step 400, where the CCD camera 11 together with the pantograph 3 captures the brightness of the collimated line laser beam irradiated by the laser beam output device 10 and reflected on the slide plate 4. Shooting and imaging data are stored in the storage device of the measurement control device 20.

  The imaging data is sent to the image processing apparatus 30, and the process proceeds to the calculation of the thickness of the sliding plate 4 in step 500. And it progresses to step 600 irrespective of completion | finish of thickness calculation of the sliding board 4 in the image processing apparatus 30, and repeats detecting the rear-end part of the train 1 by the train detection sensor 12, and if a rear-end part is detected. Then, the series of flow is finished. The image processing apparatus 30 continues to calculate the thickness of the sliding plate 4 independently, and upon completion of the calculation, the calculation result is linked to the vehicle number and the shooting date and time and stored in the storage device, and the process ends.

  The monitor 40 displays the processing status in the measurement control device 20 and the image processing device 30, and further displays the input settings and calculation results of the operation terminal 50. The setting input of the operation terminal 50 is also stored in the storage device in the measurement control device 20 or the image processing device 30 and used for calculating the thickness of the sliding plate 4.

  Hereinafter, the calculation of the thickness of the sliding plate 4 in step 500 will be described in detail.

  In the setting of the pantograph sliding plate measuring device in FIG. 2, if the point where the pantograph detection sensor 7 detects the pantograph 3 is P1 in step 300 in FIG. 1, the CCD camera 11 irradiates the laser light output device 10 in step 400. A point where the image of the reflected laser beam is photographed together with the pantograph 3 is P2. That is, even if the pantograph 3 is detected and the CCD camera 11 is operated immediately, there is a delay due to the rise time in the CCD camera 11 and the imaging is delayed. Therefore, the point P2 is reached after an arbitrary time has elapsed since the pantograph 3 was detected. Assuming that the pantograph 3 has arrived and the point P2 is set as the imaging setting position of the sliding plate 4, when the CCD camera 11 takes an image (imaging), the thickness of the sliding plate 4 is accurately calculated from the image. ing.

  That is, it is determined how much the size of the sliding plate 4 corresponds to the size of one pixel constituting the image at the point P2, and how many pixels the sliding plate 4 has been photographed is counted. This is because the thickness of the scraper plate 4 is calculated.

  If the pantograph 3 is not located at the point (imaging setting position of the sliding plate 4) P2 after an arbitrary period of time due to the traveling situation of the train 1, for example, if the traveling is further forward, the sliding plate 4 is Since the camera 11 is close to the camera 11, the sliding plate 4 is greatly imaged by the CCD camera 11.

  FIG. 4 shows the positional relationship of the sliding plate 4 and the CCD camera 11 as viewed from above the rail 2 with respect to the train 1 of FIG.

  In FIG. 4, the distance (imaging setting distance) from the CCD camera 11 to the point P2 is L1, the point where the CCD camera 11 images the sliding plate 4 is P3, and the CCD camera 11 to the CCD camera 11 images the sliding plate 4. The distance to the point P3 (imaging actual distance) is L2, and the deviation between the imaging setting distance L1 and the actual imaging distance L2 is distance L3.

  Also, let α be the interval between the radiant shadows 4a of the two laser beams on the sliding plate 4 at the imaging setting position (point) P2, and radiate the two laser beams on the sliding plate 4 at the point (imaging execution position) P3. Let the interval of 4b be δ. Further, the thickness of the sliding plate 4 in the bright shadow 4a is t1, and the thickness of the sliding plate 4 in the bright shadow 4b is t2.

If the optical axis of the CCD camera 11 is located at the center of the interval α or interval δ and the positional deviation between the bright shadow 4a and the bright shadow 4b is γ, the interval α and the interval δ have the following relationship.
(Equation 1) δ = α + 2γ
The imaging setting distance L1 is a known value, but the actual imaging distance L2 varies, and the deviation distance L3 is expressed by the following equation from the positional deviation γ.
(Equation 2) L3 = γ / tanθ
The actual imaging distance L2 is expressed by the following equation from Equation 1 and Equation 2.
(Expression 3) L2 = L1-L3
= L1-γ / tanθ
= L1- (δ-α) / 2tanθ
In the above equation 3, the interval δ between the bright shadows 4b of the two laser beams can be obtained from the imaging of the CCD camera 11, so that even if the actual imaging distance L2 varies, it can be calculated by image processing.

The thickness t1 of the sliding plate 4 in the bright shadow 4a becomes the thickness t2 of the sliding plate 4 in the bright shadow 4b in inverse proportion to the distance.
(Expression 4) t2 = t1 × (L1 / L2)
Therefore, in the image processing apparatus 30, even if the CCD camera 11 images the sliding plate 4 at the point P3 at an arbitrary position, the two laser beams on the sliding plate 4 to be imaged at the imaging setting position (point) P2. The thickness t1 of the sliding plate 4 at the bright shadow 4a can be obtained by the following equation from Equations 3 and 4.
(Expression 5) t1 = t2 × (L2 / L1)
= T2 × ((L1− (δ−α) / 2tanθ) / L1)
= T2 × (1− (δ−α) / (2 × L1 × tan θ))
In Equation 5, if δ = α, the radiance 4b of the two laser beams is the imaging setting position (point).
The image of the plate 4 is taken with P2. If δ <α, the imaging setting position (point)
In this case, the sliding plate 4 is picked up at the imaging setting position (point) P2 by the equation 5 and the sliding plate 4 at the shining shadow 4a of the two laser beams on the sliding plate 4 to be imaged. Can be converted into a thickness t1.

Now, as described above, each sliding plate 4 is pivotally supported by the pantograph 3 at the central portion in the width direction, so that each sliding plate 4 rotates in two ways with respect to the overhead wire 5 to obtain a CCD camera. 11 may not face the sliding plate 4 in some cases. Then, even if image processing is performed as it is, the exact thickness of the sliding plate 4 cannot be obtained.

  In the first rotation mode, the left and right sides (width direction end portions) of each sliding plate 4 rotate back and forth with respect to the overhead wire 5 and shift.

  FIG. 5A shows a state where the sliding plate 4 is viewed from the CCD camera 11 side, and FIG. 5B shows a state where the sliding plate 4 is viewed from the overhead line 5.

  It is assumed that the left side of the slidable plate 4 is away from the CCD camera 11 and the right side is rotated at an angle θa so that the right end approaches the CCD camera 11. The difference (t3−t4) is obtained as the thickness t3 of the sliding plate 4 in the left bright shadow 4ba and the thickness t4 of the sliding plate 4 in the right bright shadow 4bb. If a real number appears, it is assumed that it is rotating. In this case, since a difference may occur due to wear on the sliding plate 4, it is preferable to determine an allowable value for determination for distinction.

  Since the sliding plate 4 is straight, when the sliding plate 4 is directly facing the CCD camera 11, the reduction degree of the left shadow 4ba with respect to the laser light shadow 4b is equal to the expansion degree of the right shadow 4bb.

  Accordingly, the thickness t3 of the sliding plate 4 in the left shining shadow 4ba and the thickness t4 of the sliding plate 4 in the right shining shadow 4bb are respectively expressed by the formula 5 in the sliding plate 4 to be imaged at the imaging setting position (point) P2. If the thicknesses t1a and t1b of the sliding plate 4 at the radiant shadow 4a of the two laser beams are obtained and the average value ((t1a + t1b) / 2) is obtained, the sliding plate 4 faces the CCD camera 11. The thickness t1 can be obtained. Here, in using Equation 5, the distance δ between the right and left bright shadows 4ba and 4bb differs depending on the rotation of the sliding plate 4 as compared to when facing directly, but from the rotation angle θa. In this case, it is assumed that the gap δ between the bright shadows 4ba and 4bb is used as a slight difference.

In FIG. 5, the difference δ between the left and right bright shadows 4b (4ba to 4bd) is obtained from the gap α between the bright shadows 4a of the laser beam on the sliding plate 4 at the imaging setting position (point) P2. If there is, the thickness of the sliding plate 4 is first obtained by the above-mentioned averaging, and the imaging setting position (point) is further calculated by the equation (5).
What is necessary is just to convert into the thickness of the sliding board 4 in P2.

  Further, in the second rotation mode, the left and right sides (width direction end portions) of the sliding plate 4 rotate up and down with respect to the overhead wire 5 and shift.

  FIG. 6A shows a state where the sliding plate 4 is viewed from the CCD camera 11, and FIG. 6B shows a relationship between the dimension t 5 of the bright shadow 4 b on the sliding plate 4 and the actual thickness t 1 of the sliding plate 4. ing.

  It is assumed that the left and right sides (width direction end portions) of the sliding plate 4 are displaced vertically with respect to the overhead wire 5 at the rotation angle θb.

A shift ε between the center positions of the right and left bright shadows 4bc and 4bd is obtained by image processing. The deviation ε between the center positions of the left and right bright shadows 4bc and 4bd is calculated. If the calculation result is zero, the sliding plate 4 is not rotated with respect to the overhead wire 5, and if it is a real number, it is determined that it is rotating. To do.

If the distance between the right and left bright shadows 4bc and 4bd is δ, the rotation angle θb of the sliding plate 4 can be obtained by the following equation (6).
(Equation 6) tanθb = ε / δ
As shown in FIG. 6B, the angle formed by any one of the right and left bright shadows 4bc, 4bd and the thickness direction of the sliding plate 4 is the rotation angle θb of the sliding plate 4, and thus the thickness of the sliding plate 4 The length t1 can be obtained from Equation 7 from the dimension t5 of one of the left and right bright shadows 4bc and 4bd and the rotation angle θb.
(Expression 7) t1 = t5 × cos θb
In FIG. 6, the difference δ between the right and left bright shadows 4b (4ba to 4bd) is obtained from the gap α of the bright shadow 4a of the laser beam on the sliding plate 4 at the imaging setting position (point) P2. If there is, the thickness of the sliding plate 4 is first obtained by Equation 7, and further converted to the thickness of the sliding plate 4 at the imaging setting position (point) P2 by Equation 5.

  Therefore, even if the vehicle (train) does not travel at the set speed, data equivalent to that operated at the set speed and imaged at the imaging reference position can be obtained, and the thickness of the sliding plate 4 can be accurately measured by image processing. .

It is a figure showing roughly the train which runs on a rail. It is a figure which shows the schematic electric system of the pantograph slip board measuring device which becomes this invention. It is a figure which shows the soft flow of thickness calculation of the slab performed with the pantograph slab measurement apparatus of FIG. It is a figure which shows the positional relationship which looked at the sliding board and CCD camera from the upper direction of a rail in FIG. It is a figure explaining the state which the sliding board rotated back and forth with respect to the overhead wire in FIG. It is a figure explaining the state which the sliding board rotated up and down with respect to the overhead wire in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Train (vehicle), 2 ... Rail, 3 ... Pantograph, 4 ... Grinding plate, 5 ... Overhead wire, 6, 12 ... Train detection sensor, 7 ... Panta detection sensor, 10 ... Laser beam output device (light source), 11 ...
CCD camera.

Claims (2)

A pantograph sliding plate for a pantograph in a traveling vehicle is imaged by a camera installed in front of or behind the traveling direction of the vehicle with respect to the pantograph, and the thickness of the sliding plate is measured from the image captured by the image processing means. In the measuring device,
Two light sources that irradiate linear light in the direction perpendicular to the side surface of the sliding plate are provided on the same side as the camera with respect to the pantograph in the traveling direction of the vehicle, and are inclined with respect to the sliding plate. The camera captures the sliding plate by obtaining an actual imaging distance from the angle and the interval between the two line-shaped lights reflected in the image of the sliding plate captured by the camera to the position of the sliding plate captured by the camera and the camera. When the imaging setting distance of the camera to the imaging setting position of the sliding plate set to be the power and the thickness of the sliding plate in the image of the sliding plate imaged by the camera at the imaging setting position are captured at the imaging setting position A pantograph slip plate measuring device characterized in that it calculates the thickness of a slip plate. 2. The pantograph slide plate measuring apparatus according to claim 1, wherein each of the light sources is provided so as to be horizontally inclined with respect to the slide plate.

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