JP2009281951A - Curved pull fitting measuring device by image processing - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To measure an installation angle of a curved pull fitting, safely by a small device. <P>SOLUTION: This device includes a projector 1 for irradiating visible light, a camera 2 for imaging the curved pull fitting 6, an image recording part 3 for recording an image by the camera 2, and an image processing part 4 for determining an installation angle of the curved pull fitting 6 by performing image-processing of an image input from the image recording part 3. The image processing part 4 detects edges in the image by image processing, determines whether the curved pull fitting is imaged in the image or not based on the amount of the detected edges, detects a vertical edge extending in the vertical direction among edges as a trolley line 5, and detects an edge in contact with the vertical edge in a T-shape as the curved pull fitting 6. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a curve fitting measuring apparatus that detects and measures a curve fitting that fixes a trolley wire of an electric railway, and obtains an image with a camera installed on the roof of a train, processes the image, and then draws the curve fitting. The present invention relates to an apparatus for measuring a curved metal fitting by image processing for detecting / measuring.

In a curved section of an electric railway, the trolley line is secured by a curved metal fitting supported by a train line support column provided on the side of the track, and the trolley line is configured to follow the track without moving inside the curve. Has been. In such a curved metal fitting, in order to prevent a contact accident due to the following causes, the position of the curved metal fitting is periodically measured.
1) As the trolley wire is pushed up by the pantograph during traveling of the vehicle, the curved metal fitting moves and contacts the pantograph.
2) The curved metal fittings are moved by the wind (hereinafter referred to as traveling wind) generated by the traveling of the vehicle or sudden strong winds, and come into contact with the pantograph.
3) The position of the curve fitting changes due to the aging of the ground equipment including the curve fitting and comes into contact with the pantograph.

  Conventionally, as a method for measuring the position of the curved metal fitting, a measurement method using laser light irradiation (for example, see Patent Document 1), a measurement method using a pantograph for measurement (for example, see Patent Document 2 and Non-Patent Document 1), etc. It has been known.

  The measurement method using laser light irradiation is a method of measuring the position of the curved metal fitting by acquiring the reflection position of the laser light irradiated to the curved metal fitting.

  The measurement method using a pantograph for inspection is a method in which a contact sensor is installed on the pantograph vertically upward like a tactile sensation, the contact sensor detects the presence or absence of contact with an object, and the curving fitting close to the pantograph is detected. is there.

JP 2000-343986 A JP 57-80505 A Ikemoto, 5 others, “A Consideration of Obstacle Backcheck”, Railway Electrical Technical Forum Proceedings, February 24, 2006, Vol.19th p.25-28

  However, in the measurement method using laser light irradiation described above, the laser light is attenuated as the distance from the laser light source to the point to be measured becomes longer. Therefore, the laser light with an output exceeding class 2 is directed upward as much as possible. Although it is preferable to use a device that irradiates, the configuration of the device has become complicated, for example, it is necessary to take safety measures to prevent laser light from entering the human eye.

  In addition, in the measurement method using the inspection pantograph, there is a problem that it is necessary to introduce an inspection pantograph that is expensive in proportion to the traveling speed of the vehicle, which increases the cost of the apparatus. Furthermore, since the pantograph for inspection generates wind noise, and this wind noise becomes a noise source, there is a current situation that efforts are made to eliminate the pantograph for inspection. In addition, since the contact sensor is installed at the position most exposed to the traveling wind, there is a problem that it becomes a noise source in the same manner as the pantograph for inspection.

  SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an apparatus for measuring a curved metal fitting by image processing that solves the above-described problems.

  According to a first aspect of the present invention for solving the above-described problems, a curved metal fitting measuring device by image processing is installed in a vehicle, and a projector that irradiates visible light above the vehicle during traveling, and a vehicle installed and traveling A camera that captures a curved bracket that passes above the vehicle, an image recording unit that records the video of the camera, and an upper part of the vehicle that is captured in the video by processing the video input from the image recording unit An image processing unit for determining an installation angle of the curved fitting that passes through the image processing unit. The image processing unit detects an edge in the video by image processing, and the curved drawing bracket captures an image in the video based on the detected amount of the edge. Curved fitting detection means for determining whether or not a trolley line is detected, trolley line detection means for detecting a vertical edge extending in the vertical direction among the edges as a trolley line, and a curved edge that touches the vertical edge in a T-shape And having a curved pulling bracket detecting means for detecting as come fittings.

  An apparatus for measuring a curved metal fitting by image processing according to a second aspect of the present invention for solving the above-described problem is a projector that is installed in a vehicle and irradiates the pantograph with visible light during traveling, and is installed in the vehicle and is traveling. A camera that captures the curved bracket that passes above the pantograph, an image recording unit that records the video of the camera, and an image processing unit that processes the video input from the image recording unit and passes above the vehicle imaged in the video An image processing unit for determining an installation angle of the curved drawing metal fitting, and the image processing unit performs pattern matching between the video and the model image set in advance, and video based on a correlation value between the video and the model image Curved bracket detection means for determining whether or not a curved bracket is imaged inside, and an edge in the image is detected by image processing, and a vertical edge extending in the vertical direction is detected among the edges. And having a trolley wire detecting means for detecting as Lee line and a curve pull bracket detecting means for detecting an edge in contact with the T-shape in a vertical edge as a curve pull bracket.

  According to a third aspect of the present invention for solving the above-described problem, the curved metal-fitting measuring apparatus according to the first or second aspect includes a plurality of cameras, and the image processing unit is based on the video of each camera. Second, determine the coordinates of the actual intersection based on the intersection of the detected vertical edge and horizontal edge in the image, and determine whether or not the curved fitting is imaged in the video based on the coordinates of the actual intersection It has the above-mentioned curve drawing metal fitting detection means.

  According to a fourth aspect of the present invention, there is provided a curve drawing metal fitting measuring apparatus according to a fourth aspect of the present invention, wherein the image processing unit detects the installation angle of the curve drawing metal fitting detected in any one of the first to third inventions. When the angle is smaller than a preset angle, an abnormality determination is output.

  According to the above-described curve drawing metal fitting measuring apparatus by image processing according to the first invention, a projector that is installed in a vehicle and irradiates visible light above the vehicle while traveling, a projector that is installed in the vehicle, and A camera that captures a curved bracket that passes above, an image recording unit that records video from the camera, and a curve that passes above the vehicle imaged in the video by processing the video input from the image recording unit An image processing unit for obtaining an installation angle of the pulling bracket, wherein the image processing unit detects an edge in the video by image processing, and whether or not the curved pulling bracket is imaged in the video based on the detected amount of the edge Curved fitting detecting means for determining whether or not, a trolley line detecting means for detecting a vertical edge extending in the vertical direction among the edges as a trolley line, and an edge contacting the vertical edge in a T-shape as a curved fitting Since to have a curved pulling bracket detecting means detect, safe and can measure the installation angle of the curve pull fitting in apparatus constructed in compact, thereby improving convenience. Further, since the image recording unit is provided, when an abnormality is detected, it is possible to view the image and visually recognize the state of the curved metal fitting.

  According to the apparatus for measuring a curved metal fitting by image processing according to the second invention described above, a projector that is installed in a vehicle and irradiates the pantograph with visible light during traveling, and is installed in the vehicle and passes above the pantograph during traveling. A camera that captures a curve fitting that passes through, an image recording unit that records the video of the camera, and a curve fitting that passes above the vehicle imaged in the video by processing the video input from the image recording unit An image processing unit for determining the installation angle of the image, and the image processing unit performs pattern matching between the video and the preset model image, and draws a curve in the video based on a correlation value between the video and the model image. Curved fitting detection means that determines whether or not the bracket is imaged, and an edge in the image is detected by image processing, and the vertical edge of the edge extending in the vertical direction is defined as a trolley line. Since it has a trolley wire detection means for detecting and a curve fitting detection means for detecting an edge that touches a vertical edge as a curved fitting as a curve fitting, The installation angle can be measured, and convenience is improved. Further, since the image recording unit is provided, when an abnormality is detected, it is possible to view the image and visually recognize the state of the curved metal fitting.

  According to the above-described curve drawing metal fitting measuring apparatus by image processing according to the third invention, a plurality of cameras are provided, and the intersections in the images of the vertical edge and the horizontal edge detected by the image processing unit based on the images of the respective cameras. Based on the above, the coordinates of the actual intersection are obtained, and based on the coordinates of the actual intersection, there is a second curve fitting detection unit that determines whether or not the curve fitting is imaged in the video. In addition to the effects of the first or second invention, it is possible to prevent erroneous detection of the curved metal fitting, and to measure the curved metal fitting with higher accuracy.

  According to the curved metal fitting measuring apparatus by image processing according to the fourth invention described above, the image processing unit outputs an abnormality determination when the detected installation angle of the curved metal fitting is smaller than a preset angle. Therefore, in addition to the effects of the first to third inventions, it is possible to reliably recognize whether or not the installation angle of the curved metal fitting is normal, and the convenience is further improved.

  Embodiments of the present invention will be described in detail in the following examples.

  A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an explanatory view showing an installation example of a curved metal fitting measuring apparatus by image processing according to the present embodiment, and FIG. 2 is a flowchart showing a processing procedure by an image processing unit of the curved metal fitting measuring apparatus by image processing according to the present embodiment. 3 is an explanatory diagram illustrating an example of an image captured in the present embodiment, and FIG. 4 is an explanatory diagram illustrating another example of an image captured in the present embodiment.

  As shown in FIG. 1, in this embodiment, the curved metal fitting measuring apparatus by image processing is mainly composed of one projector 1, one camera 2, an image recording unit 3, and an image processing unit 4. . The projector 1 emits visible light that illuminates the trolley wire 5 and the curved fitting 6 and the camera 2 is arranged so that the portion illuminated by the projector 1 such as the trolley wire 5 and the curved fitting 6 enters the field of view 2a. It is fixed to the roof of the business vehicle 7 or the like. Note that the curved metal fitting 6 is supported by a train line support pillar 9 provided on the side of the track 8 and supports the trolley line 5. The curved metal fitting 6 is actually provided at the curved portion of the line 8, but is shown linearly in FIG.

  The image recording unit 3 records images continuously captured by the camera 2, and the image processing unit 4 performs image processing on the image recorded in the image recording unit 3 to detect and position the curve drawing metal fitting 6. . The image recording unit 3 and the image processing unit 4 are installed inside the vehicle 7.

  Hereinafter, the flow of processing in the image processing unit 4 will be described with reference to FIG. As shown in FIG. 2, in the image processing unit 4, first, images are input from the image recording unit 3 at regular time intervals (step SA1). Here, the image captured by the camera 2 and recorded in the image recording unit 3 is mainly an image in which the trolley wire 5 is imaged above the vehicle 7 as shown in FIG. 3 or a vehicle as shown in FIG. 7 and the trolley wire 5 in addition to the image of the curved drawing metal 6. Such an image is input to the image processing unit 4.

  Subsequently, image processing is performed on a preset image processing target range of the input image (hereinafter referred to as input image), an edge is detected from the image processing target range (step SA2), and FIG. The number of edges (hereinafter referred to as edge amount) n extending in the u direction shown in FIG. 4 is counted (step SA3).

  For example, when an edge is detected for an image processing target range A surrounded by a broken line in the image as shown in FIG. 3, the detected edge is obtained by extracting the trolley line 5 in the v direction in the figure. The edge extending in the u direction in the figure is hardly detected. On the other hand, when an edge is detected for the image processing target range A surrounded by a broken line in the image as shown in FIG. 4, the figure is obtained by extracting the curved fitting 6 in addition to the trolley line 5. Many edges extending in the middle u direction are detected.

  Therefore, following the processing in step SA3, it is determined whether or not the edge amount n is equal to or greater than a preset threshold value N in order to determine the presence or absence of the curved metal fitting 6 (step SA4). Since this threshold value N varies depending on the lens of the camera 2 and the installation position of the camera 2, it is preferable to obtain this threshold value experimentally.

  If the result of determination in step SA4 is that the number of edges extending in the u direction is less than the threshold value N (No), it is determined that no curved fitting is captured in the input image, and processing returns to step SA1. On the other hand, if the number of edges extending in the u direction is greater than or equal to the threshold value N (Yes), then an edge extending in the v direction is extracted and detected as a trolley line 5 (step SA5).

  Subsequently, out of the edges extending in the u direction, those in contact with the trolley wire 5 detected in step SA5 are extracted, and among these, the tip of which is connected to the trolley wire 5 in a T-shape is extracted from the curved fitting 6 (Step SA6).

  When the curved metal fitting 6 is detected in the input image, the inclination angle θ of the curved metal fitting 6 with respect to the u direction is obtained and set as the installation angle of the curved metal fitting 6 (step SA7), and then the inclination angle θ is preset. It is determined whether the angle is larger than the angle Θ (step SA8). If the result of determination in step SA8 is that the tilt angle θ is greater than the preset angle Θ, it is determined that the position of the curve fitting 6 is normal (step SA9), and the tilt angle θ is greater than the preset angle Θ. If it is smaller, the curve-drawing metal fitting has moved, and an abnormality determination that considers that there is a possibility of contact with the pantograph is output (step SA10).

  The processes in steps SA1 to SA10 are continued until the image input is completed (step SA11).

  As described above, the apparatus for measuring a curved metal fitting by image processing according to the present embodiment takes an image of the trolley wire 5 with the camera 2 installed on the vehicle 7, and among the edges extracted from the image, Based on the amount of the edge extending in the u direction, it is determined whether or not the curved metal fitting 6 is captured in the input image. If it is determined that the curved metal fitting 6 is imaged, the curved metal fitting 6 Is determined, and based on the obtained inclination angle θ, it is determined whether or not the position of the curve fitting 6 is normal.

  With such a configuration, according to the curved metal fitting measuring apparatus by image processing according to the present embodiment, the projector 1 that irradiates visible light can be used as an illumination device that illuminates the trolley wire 5 and the like. Measurements can be made. Further, it is possible to measure a curved metal fitting at a small size and at low cost. Furthermore, since the input image is recorded in the image recording unit 3, it is possible to view the abnormal state by viewing the recorded image, and convenience is improved.

  In addition, the detection of the trolley line 5 by the above-described image processing is performed by a known method as described in, for example, Japanese Patent Laid-Open Nos. 2002-139305, 2002-279409, and 2003-341389. You may detect using.

  A second embodiment of the present invention will be described with reference to FIGS. FIG. 5 is an explanatory view showing an installation example of the curve-fitting metal measuring device by image processing according to the present embodiment, and FIG. 6 shows the flow of processing in the image processing unit of the curve-fitting metal measuring device by image processing according to the present embodiment. FIG. 7 is an explanatory diagram illustrating an example of an image captured in the present embodiment, and FIG. 8 is an explanatory diagram illustrating another example of an image captured in the present embodiment.

  As shown in FIG. 5, the present embodiment is an example in which a curved fitting measuring apparatus using image processing is applied to a position where the pantograph 10 can be imaged. The projector 1 includes the pantograph 10, the trolley wire 5, the curved fitting 6 and the like. The camera 2 is fixed to the roof of the business vehicle 7 or the like so that the visible light to illuminate is irradiated and the portion of the pantograph 10 that contacts the trolley line 5 enters the visual field 2a. Other configurations are substantially the same as the configurations illustrated in FIG. 1 and described in the first embodiment, and the same members are denoted by the same reference numerals, and redundant description is omitted.

  Hereinafter, the processing flow in the image processing unit 4 will be described with reference to FIG. As shown in FIG. 6, in the image processing unit 4, first, images are input from the image recording unit 3 at regular time intervals (step SB1). Here, in this embodiment, the image captured by the camera 2 and recorded in the image recording unit 3 is mainly an image in which the vehicle 7, the pantograph 10 and the trolley line 5 are captured as shown in FIG. As shown in FIG. 6, in addition to the vehicle 7, the pantograph 10, and the trolley line 5, the curved fitting 6 is captured, and such an image is input to the image processing unit 4.

  Subsequently, pattern matching between the model image registered in advance and the input image is performed (step SB2), and the correlation value q is acquired (step SB3). As a model image used for pattern matching, an image in which only the pantograph 10 and the trolley line 5 are shown in advance, that is, an image in which the curved fitting 6 other than the pantograph 10 and the trolley line 5 is not shown, is acquired. Register this.

  For example, the image as shown in FIG. 8 is compared with the correlation value q in the case of performing pattern matching between the image processing target range A surrounded by a broken line in the image as shown in FIG. 7 and the model image. The correlation value q is low when pattern matching between the image processing target range A surrounded by the middle broken line and the model image is performed.

  Therefore, following the process of step SB3, it is determined whether or not the correlation value q acquired in step SB3 is equal to or less than a preset threshold value Q in order to determine the presence or absence of the curve fitting (step SB4). Since the threshold value Q varies depending on the lens of the camera 2 and the installation position of the camera 2, it is preferable to obtain the threshold value experimentally.

  As a result of the determination in step SB4, if the pattern matching correlation value q is larger than the threshold value Q (No), it is assumed that the curve fitting 6 is not captured in the input image, and the process returns to step SB1. On the other hand, when the correlation value q of pattern matching is equal to or less than the threshold value Q (Yes), it is considered that the curved fitting 6 is captured in the input image, and then an edge extending in the v direction in FIG. Is detected as a trolley wire 5 (step SB5).

  Subsequently, out of the edges extending in the u direction, those in contact with the trolley wire 5 detected in step SB5 are extracted, and among these, the tip of which is connected to the trolley wire 5 in a T shape is extracted from the curved drawing metal 6 (Step SB6).

  When the curved metal fitting 6 is detected in the input image, the inclination angle θ of the curved metal fitting 6 with respect to the u direction is obtained and set as the installation angle of the curved metal fitting 6 (step SB7), and then the inclination angle θ is preset. It is determined whether the angle is larger than the angle Θ (step SB8). As a result of the determination in step SB8, if the inclination angle θ is larger than the preset angle Θ, it is determined that the position of the curve fitting 6 is normal (step SB9), and the inclination angle θ is greater than the preset angle Θ. If it is smaller, it is assumed that the curved metal fitting has moved and may come into contact with the pantograph, and an abnormality determination is output (step SB10).

  The processes in steps SB1 to SB10 are continued until the input of the image is completed (step SB11).

  As described above, the apparatus for measuring a curved metal fitting by image processing according to the present embodiment takes an image of the trolley wire 5 with the camera 2 installed in the vehicle 7, and a model registered in advance with this image. When pattern matching with an image is performed, it is determined whether or not the curved fitting 6 is captured in the input image based on the acquired correlation value q, and when it is determined that the curved fitting 6 is captured. Is for determining the inclination angle θ of the curved metal fitting 6 and determining whether or not the position of the curved metal fitting 6 is normal based on the obtained inclination angle θ.

  With such a configuration, according to the curved metal fitting measuring apparatus by image processing according to the present embodiment, the projector 1 that irradiates visible light can be used as an illumination device that illuminates the trolley wire 5 and the like. Measurements can be made. Further, it is possible to measure a curved metal fitting at a small size and at low cost. Furthermore, since the input image is recorded in the image recording unit 3, it is possible to view the abnormal state by viewing the recorded image, and convenience is improved.

  A third embodiment of the present invention will be described with reference to FIGS. FIG. 9 is an explanatory diagram showing an installation example of the curve-fitting metal measuring device by image processing according to the present embodiment, and FIG. 10 is a flowchart showing a processing procedure by the image processing unit of the curve-fitting metal measuring device by image processing according to the present embodiment. It is.

  In this embodiment, the camera 2 of the first embodiment shown in FIG. 1 is replaced with n cameras 2-1, 2-2,..., 2-n (the first camera 2-1 and the second camera in FIG. 9). (Except for 2-2), and the image processing unit 4 detects and measures the position of the curved metal fitting based on the images captured by the cameras 2-1, 2-2, ..., 2-n. Is to do. Other configurations are substantially the same as those shown in FIG. 1 and described above, and those having the same functions are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 9, in the present embodiment, the curved metal fitting measuring apparatus by image processing mainly includes one projector 1, n cameras 2-1, 2-2,..., 2-n, and an image recording unit. 3 and the image processing unit 4. The cameras 2-1, 2-2,..., 2-n are arranged in parallel in the direction orthogonal to the traveling direction of the vehicle 7, and illuminated by the projector 1 such as the trolley wire 5 and the curved fitting 6. Each of these parts is fixed to the roof of the business vehicle 7 or the like so as to enter the field of view.

  The image recording unit 3 records images continuously captured by the cameras 2-1, 2-2,..., 2-n, and the image processing unit 4 performs image processing on the images recorded in the image recording unit 3. Thus, the detection and position measurement of the curved metal fitting 6 are performed.

  Hereinafter, the flow of processing in the image processing unit 4 will be described with reference to FIG. As shown in FIG. 10, the image processing unit 4 first inputs the images of the cameras 2-1, 2-2,..., 2-n from the image recording unit 3 at regular time intervals (step SC1-1). , SC1-2, ..., SC1-n).

  Subsequently, the means of the first embodiment or the second embodiment described above is used from within the preset image processing target range of the input image captured by each of the cameras 2-1, 2-2, ..., 2-n. The curve fitting 6 is detected (steps SC2-1, SC2-2,..., SC2-n), and it is determined whether or not the curve fitting 6 is detected in each input image (step SC3-1, step SC3-1). SC3-2, ..., SC3-n).

  As a result of the determination, when it is determined that there is no curve drawing metal fitting (No), the process returns to the process of step SC1. On the other hand, if it is determined that there is a curved fitting (Yes), an edge extending in the v direction is subsequently extracted and detected as a trolley line 5 (steps SC4-1, SC4-2,..., SC4-n). .

Subsequently, for each input image determined to have the curved fitting 6, the coordinates (u ₁ , v ₁ ) of the intersection points p ₁ , p ₂ ,..., _Pn on the image of the trolley line 5 and the curved fitting 6. , (U ₂ , v ₂ ),..., (U _n , v _n ) are calculated (steps SC5-1, SC5-2,..., SC5-n).

  Thereafter, the coordinates (x, y, z) of the actual intersection P of the trolley line 5 and the curve fitting 6 are calculated based on the coordinates in the image of these intersections (step SC6), and this intersection P is set in advance. It is determined whether or not it is located in the space S (step SC7). Here, the space S is a space set in advance as a range of a normal installation position of the curved metal fitting. For example, the space S has a range in the x direction of about 600 m and a range in the y direction of about 1000 mm. Further, the range in the z direction is set to about 1000 mm, and is set to be wide if the traveling speed is fast and narrow if it is slow according to the traveling speed.

  If the intersection P is not located in the space S as a result of the determination in step SC7 (No), the detection of the curve fitting 6 by steps SC3-1, SC3-2, ..., SC3-n is regarded as a false detection. Thus, the process returns to steps SC1-1, SC1-2,.

  On the other hand, as a result of the determination in step SC7, when the intersection point P is located in the preset space S (Yes), it is considered that the curve fitting 6 is present in the input image, and from the coordinates (x, y) of the intersection point P. x is the deviation of the intersection point P, y is the height of the intersection point P, and then the line extending from the intersection point P in the v direction and touching the trolley line in a T-shape is regarded as the curved fitting 6 and the edge of this line is extracted. Then, the inclination angle θ of the extracted edge with respect to the u direction is obtained, and this is set as the installation angle of the curved metal fitting 6 (step SC9).

  These processes are continued until image input is completed (step SC10).

As described above, the apparatus for measuring a curved metal fitting by image processing according to the present embodiment uses n cameras 2-1, 2-2,. Images are picked up, the coordinates of the actual intersection P are calculated using the intersections p ₁ , P ₂ ,..., P _n of the trolley line 5 and the curve fitting 6 obtained from each image, and based on the calculation results. It is determined whether or not the curved fitting 6 is present in the input image.

  By adopting such a configuration, according to the curved metal fitting measuring apparatus by image processing according to the present embodiment, in addition to the effects of the first and second embodiments described above, erroneous detection of the curved metal fitting 6 is prevented. Therefore, it is possible to measure the curved metal fitting with higher accuracy.

  The present invention can be applied to an apparatus for measuring a curved metal fitting by image processing.

It is a block diagram of the curved metal fitting measuring apparatus by the image processing which concerns on Example 1 of this invention. It is a flowchart which shows the flow of a process in the image process part of Example 1 of this invention. It is explanatory drawing which shows the example of an image of the camera of Example 1 of this invention. It is explanatory drawing which shows the other example image of the camera of Example 1 of this invention. It is a block diagram of the curve metal fitting measuring apparatus by the image processing which concerns on Example 2 of this invention. It is a flowchart which shows the flow of a process in the image process part of Example 2 of this invention. It is explanatory drawing which shows the example of an image of the camera of Example 2 of this invention. It is explanatory drawing which shows the other example image of the camera of Example 2 of this invention. It is a block diagram of the curve metal fitting measuring device by the image processing which concerns on Example 3 of this invention. It is a flowchart which shows the flow of a process in the image process part of Example 3 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Light projector 2,2-1,2-2 Camera 3 Image recording part 4 Image processing part 5 Trolley wire 6 Support metal fitting 7 Vehicle 10 Pantograph

Claims (4)

A projector that is installed in a vehicle and emits visible light above the vehicle during traveling;
A camera that is installed in the vehicle and images a curved fitting that passes above the vehicle during travel;
The image recording unit for recording video of the camera;
An image processing unit that performs image processing on a video input from the image recording unit and obtains an installation angle of a curved fitting that passes above the vehicle imaged in the video;
Curved fitting detection means for detecting an edge in the video by image processing and determining whether a curved fitting is imaged in the video based on the detected amount of the edge. A trolley line detecting means for detecting a vertical edge extending in the vertical direction among the edges as a trolley line; and a curve fitting detecting means for detecting an edge contacting the vertical edge in a T shape as a curve fitting. An apparatus for measuring curved metal fittings by image processing. A projector that is installed in a vehicle and irradiates the pantograph with visible light while traveling;
A camera that is installed in the vehicle and images a curved fitting that passes above the pantograph during traveling;
The image recording unit for recording video of the camera;
An image processing unit that performs image processing on a video input from the image recording unit and obtains an installation angle of a curved fitting that passes above the vehicle imaged in the video;
Whether the image processing unit performs pattern matching between the video and a preset model image, and whether or not a curved fitting is captured in the video based on a correlation value between the video and the model image Curving metal fitting detection means for determining whether or not an edge in the video is detected by image processing, and a vertical edge extending in the vertical direction among the edges is detected as a trolley line; An apparatus for measuring a curved metal fitting by image processing, comprising: a curved metal fitting detecting means for detecting an edge contacting the character as a curved metal fitting. A plurality of the cameras;
The image processing unit obtains the coordinates of the actual intersection based on the intersection in the image of the vertical edge and the horizontal edge detected based on the video of each of the cameras, and based on the coordinates of the actual intersection The apparatus according to claim 1 or 2, further comprising: a second curve fitting detection unit that determines whether or not the curve fitting is captured in an image. 4. The abnormality determination is performed according to claim 1, wherein the image processing unit outputs an abnormality determination when the detected installation angle of the curved metal fitting is smaller than a preset setting angle. 5. Curved metal fitting measuring device by image processing.

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