JP2008089523A - Wear measurement device for trolley wire - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To surely and easily measure wear over the whole section of a trolley wire, without being affected by a structure in the periphery of the trolley wire. <P>SOLUTION: An inspection vehicle 1 is mounted with a line sensor 5 laid along a scanning direction perpendicular to a trolley wire laying direction and a floodlight 6, a pantagraph contact face of the trolley wire is photographed with travel of the inspection vehicle, and an image signal therein is stored in a storage device 8 by a computer 7. Brightness signals of a scanning line obtained by the line sensor are aligned time-serially to create a line sensor image, a binarized line sensor image is obtained based on the line sensor image, an edge of a trolley wire worn part is detected based on the binarized line sensor image, and an actual width of the trolley wire worn part is found based on the total width of the trolley wire with respect to an edge data and a trolley wire height viewed from the line sensor. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an apparatus for measuring wear on a pantograph contact surface of a trolley wire, and more particularly to a wear measurement device for obtaining a width of a pantograph contact surface from a photographed image of the trolley wire and obtaining a thickness of the trolley wire from this width. .

  A trolley wire that supplies electric power to an electric railway vehicle comes into contact with a current collector (pantograph) each time the vehicle passes. For this reason, the trolley wire gradually wears while the electric railway vehicle is operated, and if it is not replaced, it eventually breaks and causes an accident. Therefore, the trolley wire has a wear limit, and the trolley wire is replaced based on the wear limit to ensure the safety of the electric railway vehicle.

  There are two main methods for measuring the wear of the trolley wire: a method of directly measuring the thickness of the trolley wire, and a method of measuring the width of the trolley wire wear portion and converting the thickness of the trolley wire from this wear width. It is done.

  As a method of directly measuring the thickness of the trolley wire, first, there is a method of measuring the thickness of the trolley wire using a ruler such as a caliper. This is a method in which the thickness of the trolley wire portion that the operator wants to measure is manually measured using a ruler such as a vernier caliper, and the thickness of the trolley wire to be measured can be reliably obtained. On the other hand, the measurement is laborious and cannot be automated, so it is difficult to measure a long distance section.

  Another method for directly measuring the thickness of the trolley wire is to use an optical sensor. This is done by pressing the rotating roller against the trolley wire, and measuring the amount of light received at the trolley wire portion sandwiched between the devices with a laser irradiation device and a light receiving device attached so that the trolley wire is sandwiched between the roller stands. The thickness of the wire is converted. Although this method can continuously measure the thickness of the trolley wire, it is necessary to operate at low speed because it involves contact with the trolley wire. In addition, it is impossible to use the unit where there is a structure that collides with the sensor such as air section and anchor, and it is necessary to move the device away from the measurement position so that it does not collide with the existing structure. .

  As a method of measuring the width of the trolley wire wear portion, there is a method of measuring the trolley wire wear portion by irradiating a sodium lamp or laser light (see, for example, Patent Document 1). This is because the cross section at the bottom of the trolley wire has a round gourd shape, and the trolley wire becomes wider as the trolley wire is flattened due to wear. Convert to thickness.

  As a method for measuring the width of the trolley wire wear portion, the position of the light receiving portion with the line sensor is precisely measured so that the reflected light from the trolley wire wear portion when irradiated from a light source such as a sodium lamp or laser light is received by regular reflection. The trolley wire wear portion is whitened out by imaging strong light due to regular reflection, and the width of the trolley wire wear portion is obtained from the width of the whiteout portion that has received the strong light.

This method is non-contact and can be operated at high speed. However, it is easily affected by noise such as clamps sandwiching the trolley wire and structures reflected in the background, and if there is a wrong measurement result due to some noise, there is no way to check it. Eventually, the problem area is confirmed by using a method of directly measuring the thickness of the trolley wire. In addition, it is necessary to receive regular reflection light by precisely adjusting the irradiation direction and focus of the light source and the light receiving direction of the light receiving device.
JP-A-10-194015

  As described above, the trolley wire wear measurement method includes a method of directly measuring the thickness of the trolley wire using a ruler such as a caliper, a method of directly measuring the thickness of the trolley wire using an optical sensor, and a trolley wire wear portion. There is a method in which the width of the wire is measured by irradiating with a sodium lamp or laser light, and the thickness of the trolley wire is converted from the worn portion, but each has the following problems.

  (1) In the method of directly measuring the thickness of the trolley wire using a ruler such as a vernier caliper, since the operator performs the measurement manually, the measurement is troublesome and cannot be automated. It is difficult to measure in time.

  (2) In the case of a method of directly measuring the thickness of the trolley wire using an optical sensor, it is necessary to operate at a low speed because it involves contact between the rotating roller and the trolley wire. In addition, since the trolley wire is sandwiched between the sensors, it cannot be used where there are structures that collide with sensors such as points, air sections, and anchors. It is necessary to move the device away from the measurement position so that it does not collide where it exists.

  (3) In the method of measuring the width of the trolley wire wear part by irradiating a sodium lamp or laser light and converting the thickness of the trolley wire from the wear width, first prepare special illumination light such as sodium lamp or laser light. In particular, when using laser light, it is necessary to consider the influence on the human body, so care must be taken in handling.

  In addition, it is easily affected by noise such as clamps sandwiching the trolley wire and structures reflected in the background, and there is no way to confirm the wrong measurement result due to some noise. There is no means for confirming the cause of a problem portion, and eventually it takes time to confirm using a method of directly measuring the thickness of the trolley wire. Further, it is necessary to precisely adjust the irradiation direction and focus of the light source and the light receiving direction of the light receiving device so as to receive specularly reflected light.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a trolley wire wear measuring device that reliably and easily measures wear over the entire section of the trolley wire without being affected by the structure around the trolley wire.

  In order to solve the above-mentioned problems, the present invention basically moves a line sensor in the scanning line direction perpendicular to the laying direction of the trolley line along the trolley line, and the line sensor causes the trolley line to be moved. The pantograph contact surface is photographed, and the luminance signals of the scanning lines obtained by this line sensor are arranged in time series to create a line sensor image. From this line sensor image, a binarized line sensor image that emphasizes the worn part of the trolley line is obtained. In this case, the edge of the trolley wire wear part is detected from this binarized line sensor image, the entire width of the trolley wire is obtained from this edge data, and the trolley wire wear measurement value is obtained. Features.

(1) Move the line sensor in the scanning line direction perpendicular to the laying direction of the trolley line to be measured for wear along the trolley line, and photograph the pantograph contact surface (wear part) of the trolley line with this line sensor. Means for obtaining a line sensor image in which the luminance signals of the scanning lines obtained by the line sensor are arranged in time series;
Binarization processing means for obtaining a binarized line sensor image in which a worn portion of a trolley line is emphasized by binarization processing on the line sensor image;
Edge detection means for detecting edges on both sides of the wear part on the binarized line sensor image;
An overall width detecting means for obtaining a distance between edge points on both sides of the binarized line sensor image as an overall width of a worn portion of a trolley line;
Wear calculating means for obtaining the actual width of the worn portion of the trolley wire from the overall width;
It is provided with.

(2) The wear calculation means includes:
Height detection means for obtaining the height of the trolley line viewed from the line sensor from the overall width and the camera parameter of the line sensor;
Wear part width calculating means for obtaining the actual width of the wear part of the trolley wire from the overall width and the height of the trolley wire,
It is provided with.

(3) The edge detection means includes:
Means for performing, for each row of the binarized line sensor image, processing for taking out the difference between the positions of the left side and the right side of the edge as the width of the worn portion for all rows of the image;
Means for calculating a difference between a maximum width and a minimum width at each edge width of all lines of the image;
And a means for determining the wavy wear of the friction portion when the difference between the maximum width and the minimum width is large.

(4) For the binarized line sensor image in which the edge of the trolley wire wear part is detected,
Means for extracting a portion corresponding to the trolley line of the edge image as a lump;
A unit that extracts a continuous portion from the upper part to the lower part of the image as a trolley line image and removes other locally existing chunks as noise is provided.

  (5) The binarization processing unit calculates a histogram of luminance of the entire processed image, and performs saturation when the number of pixels of luminance in the high level band exceeds a threshold obtained from a normal trolley line reflection area in the image. Means for determining that the image is awake is provided.

  (6) The wear part width calculating means includes means for determining that the image is causing saturation when the trolley wire wear part width is larger than the trolley line main line.

  (7) If the size of the trolley line exceeds the experimentally obtained threshold, the binarization processing unit determines that the background image is binarized and is raised, and the trolley line image It is characterized by having a means for removing from.

  (8) The image processing apparatus includes a means for superimposing the edge image detected by the edge detection means on the line sensor image to obtain an overlay display image.

  (9) The present invention is characterized by comprising means for removing noise from the binarized line sensor image obtained by the binarization processing means.

  (10) The binarization processing means automatically sets a threshold for binarization processing by a discriminant analysis binarization method.

  As described above, according to the present invention, wear measurement over the entire section of the trolley wire can be reliably and easily performed without being affected by the structure around the trolley wire. Specifically, the following effects are obtained.

  (1) Since it is a non-contact method, it can be operated at high speed, and a long distance section can be measured in a short time.

  (2) Because the line sensor is installed at a position away from existing structures such as points, air sections, and anchors due to the structure of the device, it is a method for directly measuring the thickness of the trolley wire using a rotating roller and an optical sensor. In comparison, it is not necessary to consider a collision with an existing structure, and continuous measurement can be performed even in a place where the existing structure exists.

  (3) The trolley wire wear width can be calculated without inputting the height parameter of the trolley wire from the outside.

  (4) Basically, it is possible to capture line sensor images in all trolley line sections, and trolley line wear measurement can be performed over the previous section.

  (5) There is no need to use special lighting.

  (6) It is not necessary to consider the influence on the human body as compared with the method using laser light, and handling is simplified.

  (7) Since it is not necessary to receive the reflected light of the trolley wire wear part by regular reflection, there is no trouble of performing precise alignment between the light source and the light receiving device.

  (8) Since the line sensor image of the measurement section remains, for the portion having a problem as trolley wire wear, the problem portion can be confirmed by looking at the image of the portion.

  (9) It is possible to determine and detect wavy wear on the pantograph contact surface of the trolley wire. Furthermore, various information such as the frequency and location of the wavy wear can be acquired and used for maintenance and replacement of the trolley wire.

  (10) Noise such as existing structures can be deleted, and only the trolley wire can be extracted, erroneous detection can be suppressed, and a more accurate trolley wire wear width can be obtained.

(11) Saturation can be detected from the line sensor image, and erroneous measurement can be reduced. (12) No false detection even when no trolley line is present in the image.

  (13) It is possible to create a situation that makes it easy for the user of the apparatus to determine which part is worn by seeing the image and easily determine it.

  (14) By adopting the discriminant analysis binarization method, a good threshold value can be determined regardless of the intensity of imaging brightness due to trolley line displacement or the like, and more accurate wear measurement can be performed.

(Embodiment 1)
FIG. 1 is a configuration diagram of a trolley wire wear measuring apparatus showing an embodiment of the present invention. The inspection vehicle 1 collects current from the trolley line 3 by the pantograph 2 equipped on the roof, and enables traveling on the rail 4 along the trolley line 3 by driving the motor of the wheel, like the passenger vehicle.

  The inspection vehicle 1 is provided with a line sensor 5 and an illumination lamp 6 as a photographic image input means for the trolley wire 3 on the roof, and a measurement computer 7 and a recording device 8 are mounted indoors.

  The line sensor 5 is moved along the trolley line in the scanning line direction perpendicular to the laying direction of the trolley line to be subjected to wear measurement, and images the pantograph contact surface of the trolley line. For this reason, the line sensor 5 is installed on the roof of the inspection vehicle 1 so as to look up vertically, and its scanning line is installed so as to be perpendicular to the traveling direction of the inspection vehicle 1 (laying direction of the trolley line). The scanning line is set to cross the trolley line 3. The illumination lamp 6 only needs to be able to illuminate the vicinity of the photographing area of the trolley wire 3 by the line sensor 5, and a general illumination lamp is used.

  The measuring computer 7 takes in the luminance signals of the scanning lines obtained by the line sensor 5 as the inspection vehicle 1 travels, arranges the luminance signals in time series, creates a line sensor image (planar image), and generates a trolley line. 3 are sequentially stored in a recording device 8 such as a hard disk. The measuring computer 7 or another computer obtains the width of the worn portion of the trolley wire 3 by image processing on the line sensor image recorded in the recording device 8, and determines the thickness of the trolley wire 3 from the obtained worn portion width. To do.

  FIG. 2 shows a flowchart for obtaining the trolley wire wear portion width, and FIG. 3 shows a functional configuration by computer resources and software for realizing this processing. Details of the image processing will be described below with reference to these drawings and FIGS. 4 and 5.

(S1) Acquisition of Line Sensor Image As described above, the line sensor image is acquired by the line sensor 5, the measurement computer 7, and the recording device 8. In FIG. 3, an image signal acquired from the line sensor 5 is created by the line sensor image creation unit 7 </ b> A of the measurement computer 7 and written in a predetermined memory area 8 </ b> A of the recording device 8. As the acquisition of the line sensor image, the line sensor image stored in the memory area 8A of the recording device 8 is transferred to the memory 11 such as a working memory.

(S2) Binary processing Since the worn portion of the trolley wire is a portion where the trolley wire has been scraped by a pantograph, it has a stronger gloss than a portion that is not worn. For this reason, even on the line sensor image, the worn portion of the trolley line is photographed as a belt-like portion having a luminance value different from that of the background portion.

  Therefore, in the binarization processing unit 12 in FIG. 3, a threshold is set so as to separate a trolley wire wear portion (pantograph contact surface) photographed in a band shape and other background portions (existing structures, etc.), and the threshold is set. The binarization process is performed on the line sensor image to emphasize the worn portion of the trolley line (hereinafter referred to as “binarized line sensor image”). By this processing, the trolley wire wear portion is white and the background portion is black on the binarized line sensor image (see FIG. 4).

  Note that the threshold value in the binarization process can be appropriately set manually, but the discriminant analysis binarization method is used to cope with the difference in the trolley line displacement and the intensity of the reflected light from the trolley line. Can do. This discriminant analysis binarization method is a method in which a threshold value is automatically determined by computer processing in accordance with an image. When the binarization is performed, the threshold value is determined so that the variance ratio between the intra-class variance and the inter-class variance regarding the background and the pattern area is maximized. With this process, a relatively good threshold value can be determined for any image, and a wear part can be extracted.

(S3) Noise removal of the binarized line sensor image When a binarized line sensor image is created from the line sensor image by binarization processing, it is fine as it is depending on the scratches on the trolley wire wear part and the state of the background part. May be included. Therefore, the noise removal processing unit 13 in FIG. 3 removes these noises by an expansion / contraction processing method of binarization processing, an image noise removal method using a median filter or a smoothing filter, and the like.

(S4) Edge detection of trolley wire wear portion Edges on both sides of the trolley wire wear portion shown in white on the binarized line sensor image from which noise and existing structures have been removed are detected. When these edge points are searched from the left for a certain line, the point where the background black changes to the white of the wear part is the edge point on the left side of the wear part and the point where the wear part white changes to the background black. It can be detected as an edge point on the right side of the worn portion. The trolley wire wear portion edge detection unit 14 in FIG. 3 detects the edge of the trolley wire wear portion with respect to one binarized line sensor image by performing the processing from the top to the bottom of the image (FIG. 3). 5).

(S5, S6) trolley line overall width detection and trolley line height calculation The trolley line height measurement processing unit 15 in FIG. 3 is preset with the thickness of the trolley line. The overall width is extracted and calculated by image processing, and the overall width value and the camera parameters of the line sensor (lens focal length, sensor width, number of sensor pixels and actual size (mm) with respect to one pixel (pixel)) By calculating from the resolution (mm / pixel), the height of the trolley wire viewed from the line sensor is calculated.The height data of this trolley wire is the wear for obtaining the actual width of the worn portion of the trolley wire from the following overall width. It is provided as a calculation means.

(S7) Calculation of the trolley wire wear part width The trolley wire wear part width calculation unit 16 in FIG. 3 uses one of the line data of the trolley wire wear part detected from the binarized line sensor image. The distance between the edge points on both sides on the scanning line is obtained as the width on the image of the worn part of the trolley line. At this time, it is a degree of the actual dimension (mm) with respect to one pixel (pixel) from the height from the line sensor to the trolley line, the lens focal length, the sensor width, and the number of sensor pixels obtained by the trolley line height measurement processing unit 15. The image resolution (mm / pixel) is calculated, and the actual width (actual width value) of the trolley wire wear portion is obtained by multiplying the width of the trolley wire wear portion on the image by the image resolution.

  The edge data, the trolley wire wear part, the line sensor image used for the calculation, the data indicating the corresponding line number, etc. are recorded in the recording device 8 etc., and these data are recorded on the trolley wire wear degree and its position (inspection vehicle). And the travel position).

(Embodiment 2)
As one of the trolley wire wear states, there is wear in which the wear portion has a wave (hereinafter referred to as wave wear). In the case of this wave-like wear, the binarized image also displays the wear part one after another in an island shape, and there is a case where abnormal output such as the wear width is sharply narrowed without being able to measure the wear width well appears. .

  In the present embodiment, in the image processing of the first embodiment, wavy wear is determined and detected, and various information such as the frequency and location of the wavy wear that has occurred on the trolley wire is acquired. This process refers to the wear width data obtained in the “calculation process of the trolley wire wear part width” in the first embodiment, and with respect to the edge detection image of the trolley wire wear part, By detecting whether or not the difference between the small portions has exceeded the threshold value, a process for determining the wear surface that is undulated, which is characteristic of the wave wear, as the wave wear is added.

  The flowchart of this process is shown in FIG. 6 and is different from FIG. 2 in that a wavy wear detection process (S8) is added. In FIG. 6, the discriminant analysis binarization method is used as the binarization processing S2. Moreover, the structure of this apparatus is shown in FIG. 7, and the trolley wire wear part edge detection part 14 is provided with a wavy wear detection function.

  As a result, an error can be output, and the wavy wear can be determined and detected, and various information such as the frequency and location of the wavy wear can be acquired.

(Embodiment 3)
In the image processing according to the first embodiment, when an existing structure is imaged, the trolley wire wear width at that location may be very large output by the structure. That is, since the trolley line is a single straight line, images are continuously captured from the upper part to the lower part of the screen. Other existing structures are imaged locally (see FIG. 8).

  From these characteristics, in this embodiment, before performing the “calculation of the trolley wire wear portion width” in the first embodiment, the edge image is compared with the binarized line sensor image in which the edge of the trolley wire wear portion is detected. Sort the white part (corresponding to the trolley line), extract the edge image as a lump, determine the lump that is continuous from the top to the bottom of the screen as a trolley line, and other local clamps Only the trolley line is extracted except for existing structures such as cocoons and insulators (see FIG. 9).

  The flowchart of this process is shown in FIG. 10, and the point which added the trolley line extraction process (S9) differs from FIG. In FIG. 10, the discriminant analysis binarization method is used as the binarization processing S2. Moreover, the structure of this apparatus is shown in FIG. 11, and the trolley wire wear part edge detection part 14 is set as the trolley line extraction function.

  This eliminates noise such as existing structures and extracts only the trolley wire, thereby suppressing false detection and obtaining a more accurate trolley wire wear width.

(Embodiment 4)
In the image processing of the first embodiment, there is a case where a phenomenon called saturation occurs when the light of strong light from the illuminating lamp 6 is regularly reflected on the wear surface and enters the lens of the camera of the line sensor. In this case, the width of the trolley wire wear portion at that location may be determined to be very large.

  In the present embodiment, when the trolley wire wear portion is emphasized by the “binarization process” in the first embodiment, saturation determination is performed in order to process an image causing a phenomenon called saturation as an error.

  If you draw a histogram with the brightness of the entire line sensor image on the horizontal axis and the number of pixels on the vertical axis, normally there will not be a significantly protruding part as shown in FIG. 12, but when saturation occurs. As a characteristic, strong light enters the lens, so that the luminance is kept at a high level over a wide range (see FIG. 13).

  Since this luminance change is a state that cannot be normal, this embodiment is used, and when a pixel in a high level band exceeds a threshold obtained from a normal trolley reflection area in the image in the luminance histogram of the image, it causes saturation. It is determined that the image is an image, and an error is output.

  A flowchart of this process is shown in FIG. 14, which is different from FIG. 2 in that a high-intensity pixel number discrimination process (S10) is added to the binarized image. In FIG. 14, the discriminant analysis binarization method is used as the binarization processing S2. The configuration of this apparatus is shown in FIG. 15, and the noise removal processing unit 13 is provided with a saturation error processing function.

  Thereby, saturation detection can be performed and wear measurement errors can be reduced.

(Embodiment 5)
As described above, the phenomenon of saturation occurs when the light from a strong light is regularly reflected on the wear surface and enters the lens. Due to this saturation, when performing “calculation of trolley wire wear part width” in the first embodiment, an image captured by strong reflected light may appear as a jagged image in which the wear part is larger than the trolley line main line. (See FIG. 16).

  A flowchart of this process is shown in FIG. 17, which is different from FIG. 2 in that a trolley line width discriminating process (S11) is added in the calculation process of the trolley line wear part width. In FIG. 17, the discriminant analysis binarization method is used as the binarization processing S2. The configuration of this apparatus is shown in FIG. 18, and the trolley wire wear part width calculation part 15 is provided with a saturation error processing function.

  Thereby, in this embodiment, when a wear width larger than the trolley main line is detected, it is determined as saturation, so that saturation can be detected and wear measurement errors can be reduced.

(Embodiment 6)
In the image processing according to the first embodiment, when “binarization processing” is performed, if a trolley line is not captured in the binarized line sensor image, the background becomes low by the discriminant analysis binarization method even in a low luminance background. And a large noise is generated.

  In this phenomenon, since the size of the trolley line is almost determined, the white portion exceeds the experimentally obtained threshold value. Using this, in the present embodiment, it is determined that the white portion is raised by binarizing the background, and all the black portions are made black and removed from the trolley line image.

  A flowchart of this process is shown in FIG. 19, which is different from FIG. 2 in that a trolley line presence determination process (S12) is added in the binarization process. In FIG. 19, the discriminant analysis binarization method is used as the binarization processing S2. The configuration of this apparatus is shown in FIG. 20, and the binarization processing unit 12 is provided with a trolley line presence determination processing function.

  Thereby, even when no trolley line exists in the image, erroneous detection can be prevented, and wear measurement errors can be reduced.

(Embodiment 7)
In the image processing of the first embodiment, the trolley wire wear part image can be confirmed with the naked eye. At the time of this confirmation, if the edge image is overlaid and displayed on the original image (line sensor image) or the aspect ratio of the horizontally extended image is improved, the worn portion of the trolley line can be easily seen.

  FIG. 21 shows an example of an original image in (a), an example of an edge image of the original image in (b), and by overlaying these original image and the edge image, an overlay display image shown in (c) is obtained. As a result, there is an advantage that it is obvious to the user where the treated portion is treated.

  FIG. 22 shows a configuration example of this apparatus, and an overlay image display unit 17 is added as an image display processing function of the monitor.

The block diagram of the abrasion measuring apparatus of the trolley wire which shows Embodiment 1 of this invention. A flow chart of wear part width measurement of a trolley wire (embodiment 1). Functional block diagram of a trolley wire wear measuring device (Embodiment 1). The example of the binarization line sensor image of a trolley wire wear part. An example of edge detection of a trolley wire wear part. The flowchart of the wear part width | variety measurement of a trolley wire (Embodiment 2). Functional configuration diagram of a trolley wire wear measuring device (second embodiment). An example of how existing structures (insulators, clamps) are reflected. Example of removing an existing structure. The flowchart of the wear part width | variety measurement of a trolley wire (Embodiment 3). Functional configuration diagram of a trolley wire wear measuring device (Embodiment 3). The histogram example of a normal trolley wire wear image. The histogram example of the wear image of a saturation state. Flowchart of wear part width measurement of trolley wire (Embodiment 4). Functional configuration diagram of a trolley wire wear measuring device (Embodiment 4). An example of imaging when saturation occurs. 10 is a flowchart for measuring a worn portion width of a trolley wire (Embodiment 5). Functional configuration diagram of a trolley wire wear measuring device (Embodiment 5). A flowchart of measurement of a wear part width of a trolley wire (sixth embodiment). Functional block diagram of a trolley wire wear measuring device (Embodiment 6). An example of creating an overlay display image. Functional block diagram of a trolley wire wear measuring device (Embodiment 7).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Inspection vehicle 2 Pantograph 3 Trolley wire 4 Rail 5 Line sensor 6 Illumination lamp 7 Measuring computer 8 Recording device

Claims (10)

A line sensor that is in the scanning line direction perpendicular to the laying direction of the trolley wire to be subjected to wear measurement is moved along the trolley line, and the pantograph contact surface (wear part) of the trolley wire is photographed by this line sensor. Means for obtaining a line sensor image in which luminance signals of scanning lines obtained by the line sensor are arranged in time series;
Binarization processing means for obtaining a binarized line sensor image in which a worn portion of a trolley line is emphasized by binarization processing on the line sensor image;
Edge detection means for detecting edges on both sides of the wear part on the binarized line sensor image;
An overall width detecting means for obtaining a distance between edge points on both sides of the binarized line sensor image as an overall width of a worn portion of a trolley line;
Wear calculating means for obtaining the actual width of the worn portion of the trolley wire from the overall width;
A trolley wire wear measuring device comprising: The wear calculating means includes
Height detection means for obtaining the height of the trolley line viewed from the line sensor from the overall width and the camera parameter of the line sensor;
Wear part width calculating means for obtaining the actual width of the wear part of the trolley wire from the overall width and the height of the trolley wire,
The trolley wire wear measuring device according to claim 1, comprising: The edge detection means includes
Means for performing, for each row of the binarized line sensor image, processing for taking out the difference between the positions of the left side and the right side of the edge as the width of the worn portion for all rows of the image;
Means for calculating a difference between a maximum width and a minimum width at each edge width of all lines of the image;
The trolley wire wear measuring device according to claim 1, further comprising means for determining that the frictional portion is wavy when the difference between the maximum width and the minimum width is large. For the binarized line sensor image detected at the edge of the trolley wire wear part,
Means for extracting a portion corresponding to the trolley line of the edge image as a lump;
And a means for extracting a continuous portion from the upper part to the lower part of the image as a trolley line image and removing other locally existing chunks as noise. The wear measuring apparatus of the trolley wire of any one of 1-3.   The binarization processing means calculates a histogram of the brightness of the entire processed image, and causes saturation when the number of pixels of brightness in the high-level band exceeds a threshold obtained from the normal trolley line reflection area in the image. The trolley wire wear measuring device according to any one of claims 1 to 4, further comprising means for determining an image.   6. The wear part width calculating means comprises means for determining that the image is causing saturation when the trolley wire wear part width is larger than the trolley line main line. The trolley wire wear measuring device described.   In the case where the binarization processing means has an area where the size of the trolley line exceeds an experimentally determined threshold, this part determines that the background image is binarized and is raised, and removes it from the trolley line image. The trolley wire wear measuring device according to any one of claims 1 to 6, wherein the trolley wire wear measuring device is provided.   The trolley wire wear measurement according to any one of claims 1 to 7, further comprising means for superimposing an edge image detected by the edge detection means on the line sensor image to obtain an overlay display image. apparatus.   The trolley wire wear measuring apparatus according to any one of claims 1 to 8, further comprising means for removing noise from a binarized line sensor image obtained by the binarization processing means.   The trolley wire wear measurement according to any one of claims 1 to 9, wherein the binarization processing means automatically sets a threshold value of the binarization processing by a discriminant analysis binarization method. apparatus.