JP2019043460A - Electric pole distance measuring device - Google Patents

Electric pole distance measuring device Download PDF

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JP2019043460A
JP2019043460A JP2017170835A JP2017170835A JP2019043460A JP 2019043460 A JP2019043460 A JP 2019043460A JP 2017170835 A JP2017170835 A JP 2017170835A JP 2017170835 A JP2017170835 A JP 2017170835A JP 2019043460 A JP2019043460 A JP 2019043460A
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vehicle
distance
image
measuring device
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JP7043761B2 (en
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宗久 坂田
Munehisa Sakata
宗久 坂田
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Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
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Meidensha Electric Manufacturing Co Ltd
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Abstract

To provide an electric pole distance measuring device capable of detecting a shortest horizontal distance to an electric pole with high accuracy regardless of the day and night.SOLUTION: An electric pole distance measuring device obtaining a shortest distance between a traveling vehicle 1 and an electric pole 2 installed on the side of a railroad track, includes: a region measuring sensor 11 for measuring a horizontal distance to a structure passing through the side of the vehicle 1; a photoelectric sensor 12 for detecting a structure passing immediately above the vehicle 1; and an image processing part 13 for obtaining a shortest distance to the electric pole 2 on the basis of a scan image created based on the horizontal distance to the structure that is obtained by the photoelectric sensor 12 and information on the structure passing immediately above the vehicle 1 that is obtained by the photoelectric sensor 12.SELECTED DRAWING: Figure 1

Description

本発明は、電柱距離測定装置に関する。   The present invention relates to a utility pole distance measuring device.

電車のトロリ線を支える電柱は電車が走行する建築限界の外側に位置する必要がある。従来、電柱が建築限界の外にあるかどうかを判断するため、車両に搭載したレーザー距離計により、当該車両の走行中に電柱までの水平距離を検出することが行われている。   The utility pole supporting the trolley wire of the train needs to be located outside the construction limit where the train runs. Conventionally, in order to determine whether a telephone pole is out of the construction limit, a horizontal distance to the telephone pole is detected during traveling of the vehicle by a laser distance meter mounted on the vehicle.

また、下記特許文献１には、列車前方にカメラを搭載し、カメラで撮影された画像中から電柱を検出する車両前方電柱位置検査装置が記載されている。   Further, Patent Document 1 below describes a vehicle front utility pole position inspection device which mounts a camera in front of a train and detects a utility pole from an image captured by the camera.

特開２０１５−１１６９１６号公報JP, 2015-116916, A

しかしながら、上述したように、レーザー距離計を用いて走行中の車両から線路横にある電柱までの水平距離を測定する場合、次のような問題点があった。
（１）車両の速度によって走査間隔にばらつきが生じるため、レーザー距離計によって取得したデータに基づいて作成される電柱の走査像が不定になり、走査像から電柱を抽出することが困難である。
（２）電柱が円柱の場合、レーザー距離計の走査間隔によって電柱までの水平距離が最短となる箇所で必ずしも測定できるとは限らず、精度が低下する可能性がある。精度を向上させるためには、前後の測定データを数学的手法により補完する（例えば、電柱の形状の近似式を求める等）必要があるが、電柱の走査像が不定であるため、このような補完を行うことが難しく、電柱までの最短の水平距離を求めることが困難である。 However, as described above, there are the following problems when measuring the horizontal distance from a traveling vehicle to a utility pole on the side of a track using a laser range finder.
(1) Since the scanning interval varies depending on the speed of the vehicle, the scanned image of the utility pole created based on the data acquired by the laser rangefinder becomes unstable, and it is difficult to extract the utility pole from the scanned image.
(2) When the utility pole is a cylinder, it can not always be measured at a place where the horizontal distance to the utility pole is shortest by the scanning interval of the laser distance meter, and the accuracy may be lowered. In order to improve the accuracy, it is necessary to complement the measurement data before and after (for example, to obtain an approximate expression of the shape of the utility pole) by a mathematical method, but since the scanning image of the utility pole is indefinite, such It is difficult to complement and it is difficult to find the shortest horizontal distance to the utility pole.

また、上述した特許文献１のように、カメラを用いて走行中の車両から線路横にある電柱までの水平距離を測定する場合、次のような問題があった。
（１）夜間はカメラ映像が暗くなるため、映像から電柱を特定することが難しく、測定できない。 Further, as described in Patent Document 1 described above, there are the following problems when measuring the horizontal distance from a traveling vehicle to a utility pole on the side of the track using a camera.
(1) The camera image becomes dark at night, so it is difficult to identify the utility pole from the image, and it can not be measured.

このようなことから本発明は、昼夜に関わらず電柱までの最短の水平距離を高精度に検出することが可能な電柱距離測定装置を提供することを目的とする。   Thus, the present invention has an object to provide a utility pole distance measuring device capable of detecting the shortest horizontal distance to the utility pole with high accuracy regardless of day and night.

上記の課題を解決するための第１の発明に係る電柱距離測定装置は、車両の走行中に、当該車両と線路横に設置された電柱との間の最短の水平距離を求める電柱距離測定装置であって、前記車両から当該車両の側方を通過する構造物までの水平距離を測定する測域センサーと、前記車両の直上を通過する構造物を検出する光電センサーと、前記測域センサーによって取得した前記構造物までの水平距離と、前記光電センサーによって取得した前記車両の直上を通過する構造物の情報とから前記電柱までの最短の水平距離を求める画像処理部とを備えることを特徴とする。   A power pole distance measuring device according to a first aspect of the present invention for solving the above-mentioned problems is a power pole distance measuring device for obtaining the shortest horizontal distance between the vehicle and a power pole installed beside the track while the vehicle is traveling. A range-finding sensor measuring a horizontal distance from the vehicle to a structure passing the side of the vehicle, a photoelectric sensor detecting a structure passing immediately above the vehicle, and the range-finding sensor And an image processing unit for obtaining a shortest horizontal distance to the utility pole from the acquired horizontal distance to the structure and the information on the structure passing immediately above the vehicle acquired by the photoelectric sensor. Do.

また、上記の課題を解決するための第２の発明に係る電柱距離測定装置は、第１の発明において、前記画像処理部は、前記測域センサーの測定誤差を平滑化して、前記測域センサーによって取得した前記電柱までの複数の測定点に基づいて前記電柱の近似円を推定し、前記測定点を補完して前記最短距離を求めることを特徴とする。   Further, in the power pole distance measuring device according to a second aspect of the present invention for solving the above-mentioned problems, in the first aspect, the image processing unit smoothes the measurement error of the range detection sensor The approximate circle of the utility pole is estimated based on a plurality of measurement points up to the utility pole acquired by the above, and the shortest distance is determined by complementing the measurement points.

また、上記の課題を解決するための第３の発明に係る電柱距離測定装置は、第１または第２の発明において、前記画像処理部は、前記測域センサーによって取得した前記車両から前記構造物までの水平距離に基づいて走査像を作成する走査像作成部を備えることを特徴とする。   Further, in the power pole distance measuring device according to a third aspect of the present invention for solving the above-mentioned problems, in the first or second aspect, the image processing unit may generate the structure from the vehicle acquired by the range measuring sensor. The apparatus is characterized by comprising a scanned image creation unit that creates a scanned image based on the horizontal distance up to.

また、上記の課題を解決するための第４の発明に係る電柱距離測定装置は、第３の発明において、前記画像処理部は、前記光電センサーによって取得した前記車両の直上を通過する構造物の情報に基づいて前記走査像中に存在する電柱像を抽出する電柱像特定部を備えることを特徴とする。   Further, in the power pole distance measuring device according to a fourth aspect of the present invention for solving the above-mentioned problems, in the third aspect, the image processing unit is a structure passing immediately above the vehicle acquired by the photoelectric sensor. A telephone pole image specifying unit for extracting a telephone pole image present in the scanned image based on information is characterized.

また、上記の課題を解決するための第５の発明に係る電柱距離測定装置は、第４の発明において、前記画像処理部は、前記電柱像に基づき前記車両から前記電柱までの最短の水平距離を求める電柱距離抽出部を備えることを特徴とする。   In the utility pole distance measuring device according to a fifth aspect of the present invention for solving the above-mentioned problems, in the fourth aspect, the image processing unit determines the shortest horizontal distance from the vehicle to the utility pole based on the utility pole image. It comprises the telephone pole distance extraction part which calculates | requires.

また、上記の課題を解決するための第６の発明に係る電柱距離測定装置は、第１から第５のいずれか一つの発明において、前記画像処理部は、前記光電センサーにより前記車両の直上を通過する構造物を検出したときに前記電柱が存在すると判断して前記走査像から前記電柱を抽出することを特徴とする。   In the utility pole distance measuring device according to a sixth aspect of the present invention for solving the above-mentioned problems, in the first to fifth aspect of the present invention, the image processing unit may be arranged directly above the vehicle by the photoelectric sensor. When a passing structure is detected, it is judged that the power pole is present, and the power pole is extracted from the scanning image.

本発明に係る電柱距離測定装置によれば、昼夜に関わらず高精度に電柱までの最短の水平距離を検出することができる。   According to the utility pole distance measuring device according to the present invention, the shortest horizontal distance to the utility pole can be detected with high accuracy regardless of day and night.

本発明の実施例に係る電柱距離測定装置を模式的に示す概略構成図である。BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram which shows typically the utility pole distance measuring apparatus which concerns on the Example of this invention. 測域センサーから電柱までの最短距離の例を示す模式図である。It is a schematic diagram which shows the example of the shortest distance from a ranging sensor to a telephone pole. 図１に示す画像処理部の構成を示すブロック図である。It is a block diagram which shows the structure of the image processing part shown in FIG. 図３に示す走査像作成部により走査像を作成した例を示す説明図である。It is explanatory drawing which shows the example which produced the scanning image by the scanning image production | generation part shown in FIG. 図４に示す走査像から電柱像を抽出した例を示す説明図である。It is explanatory drawing which shows the example which extracted the utility pole image from the scanning image shown in FIG. 電柱と測定点と最短距離との関係を示す説明図である。It is explanatory drawing which shows the relationship between a utility pole, a measurement point, and the shortest distance. 本発明の実施例に係る電柱距離測定装置による電柱までの最短距離測定の流れを示すフローチャートである。It is a flow chart which shows the flow of the shortest distance measurement to a utility pole by the utility pole distance measuring device concerning the example of the present invention.

以下、図面を参照しつつ本発明に係る電柱距離測定装置について説明する。
本発明は、電気鉄道において、走行している車両から、路線構造物で線路横に立っている電柱までの最短の水平距離を、測域センサーと光電センサーを用いて測定するものである。 Hereinafter, the utility pole distance measuring device according to the present invention will be described with reference to the drawings.
The present invention measures, in an electric railway, the shortest horizontal distance from a traveling vehicle to a utility pole standing next to a railway track by using a range finding sensor and a photoelectric sensor.

図１から図７を用いて本発明の実施例に係る電柱距離測定装置の詳細を説明する。
図１に示すように、本実施例に係る電柱距離測定装置は、車両１の屋根上に設置された測域センサー１１および光電センサー１２と、車両１の内部に設置された画像処理部（コンピューター）１３とを備えている。 The details of the utility pole distance measuring apparatus according to the embodiment of the present invention will be described with reference to FIGS. 1 to 7.
As shown in FIG. 1, in the power pole distance measuring device according to the present embodiment, a range measuring sensor 11 and a photoelectric sensor 12 installed on the roof of the vehicle 1 and an image processing unit installed inside the vehicle 1 (computer ) And 13).

測域センサー１１は、車両１の屋根上の側方に、枕木方向外側へ向けて走査方向が水平となるように設置されている。測域センサー１１は、サンプリング周波数に従って、走行中の車両１の側方を通過する路線構造物までの水平距離を測定する。具体的には、測域センサー１１を中心に線路方向に±Ｌ［ｍｍ］、枕木方向にＳ［ｍｍ］の範囲内にある路線構造物までの距離を測定する。測域センサー１１によって取得した路線構造物までの距離のデータ（以下、距離データ）は、画像処理部１３に入力される。   The range measuring sensor 11 is installed on the side of the roof of the vehicle 1 so that the scanning direction is horizontal toward the outside in the crosstie direction. The range measurement sensor 11 measures the horizontal distance to the route structure passing the side of the traveling vehicle 1 according to the sampling frequency. Specifically, the distance to the route structure within the range of ± L [mm] in the track direction and S [mm] in the crosstie direction with the range sensor 11 at the center is measured. Data (hereinafter, distance data) of the distance to the route structure acquired by the range measurement sensor 11 is input to the image processing unit 13.

光電センサー１２は、測域センサー１１の近傍に、鉛直上方に向けて設置される。光電センサー１２は、走行中の車両１の側方を通過する電柱２の上部から路線内側に延びて架線４を支持する架線支持物（水平梁）３を検出するために設けられる。すなわち、鉛直上方に向けて投光した光の架線支持物３による反射光を検知することにより架線支持物３を検出する。光電センサー１２によって取得した架線支持物３の有無のデータは、電柱位置検出信号として画像処理部１３に入力される。   The photoelectric sensor 12 is installed vertically upward in the vicinity of the range measurement sensor 11. The photoelectric sensor 12 is provided to detect an overhead wire support (horizontal beam) 3 which extends from the upper portion of the power pole 2 passing the side of the traveling vehicle 1 to the inside of the route and supports the overhead wire 4. That is, the overhead wire support 3 is detected by detecting the reflected light by the overhead wire support 3 of the light projected vertically upward. Data of the presence or absence of the overhead wire support 3 acquired by the photoelectric sensor 12 is input to the image processing unit 13 as a power pole position detection signal.

画像処理部１３は、測域センサー１１および光電センサー１２によって取得したデータを統合して、図２に示すような測域センサー１１から電柱２までの最短の水平距離Ｄを求める。画像処理部１３は、図３に示すように、走査像作成部１３ａと、電柱像特定部１３ｂと、電柱距離抽出部１３ｃと、メモリ１３ｄとを備えている。   The image processing unit 13 integrates data acquired by the range measurement sensor 11 and the photoelectric sensor 12 to obtain the shortest horizontal distance D from the range detection sensor 11 to the telephone pole 2 as shown in FIG. 2. As shown in FIG. 3, the image processing unit 13 includes a scan image creation unit 13a, a telephone pole image identification unit 13b, a telephone pole distance extraction unit 13c, and a memory 13d.

走査像作成部１３ａは、測域センサー１１から入力された距離データに基づいて、図４に示すような路線構造物の走査像を作成する。なお、図４において、Ｇ１およびＧ２は電柱２以外の路線構造物の走査像、Ｇ３は電柱２の走査像、Ｇ４は測域センサー１１の周辺の車両構造物の走査像を示す。   The scanned image creation unit 13 a creates a scanned image of the route structure as shown in FIG. 4 based on the distance data input from the range measurement sensor 11. In FIG. 4, G1 and G2 indicate scanning images of the route structure other than the electric pole 2, G3 indicates a scanning image of the electric pole 2, and G4 indicates a scanning image of a vehicle structure around the range detection sensor 11.

電柱像特定部１３ｂは、走査像作成部１３ａによって作成した路線構造物の走査像（図４に示す例ではＧ１〜Ｇ４。以下同様）および光電センサー１２から入力された電柱位置検出信号に基づいて走査像から図５に示すような電柱像を抽出する。電柱２は測域センサー１１に面している箇所しか走査されない（測域センサー１１に対向する箇所のみセンシングされる）ため、電柱２が円柱である場合、電柱像は図５に示すように測定点が円弧状（概ね半円状）に分布したものとなる。   The utility pole image identification unit 13 b is based on the scan image of the route structure created by the scan image creation unit 13 a (G1 to G4 in the example shown in FIG. 4. The same applies hereinafter) and the utility pole position detection signal input from the photoelectric sensor 12. A telephone pole image as shown in FIG. 5 is extracted from the scanned image. Since the utility pole 2 is scanned only at the location facing the range measurement sensor 11 (only the location facing the range determination sensor 11 is sensed), when the utility pole 2 is a cylinder, the image of the utility pole is measured as shown in FIG. The points are distributed in an arc shape (generally semicircular shape).

電柱距離抽出部１３ｃは、電柱像特定部１３ｂにより抽出した電柱像に基づいて電柱２までの最短距離を求める。具体的には、図６に示すように、測域センサー１１のサンプリング周波数（走査ピッチ）により、測域センサー１１で測定した測定点Ｐから必ずしも電柱２までの最短距離が得られるとは限らない。例えば、図６に示す例では、真の最短距離Ｄに対し、測定点Ｐから得られる最短距離Ｄ’が異なっていることが分かる。また、測域センサー１１自体の測定誤差によって生じるばらつきも測定値に含まれる。そこで、電柱距離抽出部１３ｃでは数学的手法によって測定誤差を平滑化して図５に示すような電柱２の近似円Ｃを推定し、測定点Ｐを補完した上で、電柱２までの最短距離を求める。   The utility pole distance extraction unit 13c obtains the shortest distance to the utility pole 2 based on the utility pole image extracted by the utility pole image specification unit 13b. Specifically, as shown in FIG. 6, the shortest distance from the measurement point P measured by the range detection sensor 11 to the utility pole 2 is not necessarily obtained by the sampling frequency (scanning pitch) of the range detection sensor 11 . For example, in the example shown in FIG. 6, it can be seen that the shortest distance D ′ obtained from the measurement point P is different from the true shortest distance D. Further, the variation caused by the measurement error of the range measurement sensor 11 itself is also included in the measurement value. Therefore, in the telephone pole distance extraction unit 13c, the measurement error is smoothed by the mathematical method to estimate the approximate circle C of the electric pole 2 as shown in FIG. 5, and the measurement point P is complemented. Ask.

メモリ１３ｄは、測域センサー１１から入力される距離データ、光電センサー１２から入力される電柱位置検出信号、走査像作成部１３ａにおいて作成された路線構造物の走査像、電柱像特定部１３ｂにおいて抽出した電柱像、電柱距離抽出部１３ｃにより求めた電柱２までの最短距離等を記憶する。   The memory 13d detects the distance data input from the range measurement sensor 11, the pole position detection signal input from the photoelectric sensor 12, the scan image of the route structure created by the scan image creation unit 13a, and the extraction by the pole image identification unit 13b. The stored utility pole image, the shortest distance to the utility pole 2 determined by the utility pole distance extraction unit 13c, and the like are stored.

続いて、図７を用いて本実施例に係る電柱距離測定装置による電柱２までの最短距離の測定処理の流れを簡単に説明する。   Then, the flow of measurement processing of the shortest distance to the utility pole 2 by the utility pole distance measuring device according to the present embodiment will be briefly described using FIG. 7.

図７に示すように、本実施例において電柱２までの最短距離を測定する場合は、まず、ステップＳ１Ａで光電センサー１２により車両１の直上を通過する架線支持物３のセンシングを行いつつ、ステップＳ１Ｂ−１で測域センサー１１により線路横にある路線構造物のセンシングを行い、ステップＳ１Ｂ−２で走査像作成部１３ａにより測域センサー１１によって取得した距離データに基づき路線構造物の走査像を作成する。   As shown in FIG. 7, in the case of measuring the shortest distance to the utility pole 2 in the present embodiment, first, in step S1A, the photoelectric sensor 12 senses the overhead wire support 3 passing directly above the vehicle 1, At S1B-1, the range measuring sensor 11 senses the route structure located beside the track, and at step S1B-2, the scanning image of the route structure is scanned based on the distance data acquired by the range measuring sensor 11 by the scanning image creation unit 13a. create.

ステップＳ１ＡおよびステップＳ１Ｂ−２に続いては、ステップＳ２で光電センサー１２により取得した電柱位置検出信号に基づいて電柱２の位置が検出されたか否かを判断する。ステップＳ２で電柱２の位置を検出したと判断した場合（ＹＥＳ）、ステップＳ３で電柱像特定部１３ｂにより走査像から電柱像を抽出する。一方、ステップＳ２で電柱２の位置を検出していないと判断した場合（ＮＯ）、ステップＳ１Ａ及びステップＳ１Ｂ−１に戻る。   Subsequent to step S1A and step S1B-2, it is determined whether or not the position of the utility pole 2 has been detected based on the utility pole position detection signal acquired by the photoelectric sensor 12 in step S2. If it is determined in step S2 that the position of the utility pole 2 has been detected (YES), the utility pole image specification unit 13b extracts a utility pole image from the scanned image in step S3. On the other hand, when it is determined that the position of the utility pole 2 is not detected in step S2 (NO), the process returns to step S1A and step S1B-1.

ステップＳ３に続いては、ステップＳ４で電柱距離抽出部１３ｃによりステップＳ３で抽出した電柱像に基づき上述したように測域センサー１１から電柱２までの最短距離を求めてこれを出力する。その後、ステップＳ５で測定を継続する場合（ＹＥＳ）はステップＳ１Ａ，Ｓ１Ｂ−１に戻り、測定を継続しない場合（ＮＯ）は一連の処理を終了する。   Following step S3, in step S4, the pole distance extraction unit 13c determines the shortest distance from the range measuring sensor 11 to the pole 2 as described above based on the pole image extracted in step S3, and outputs this. Thereafter, when the measurement is continued in step S5 (YES), the process returns to steps S1A and S1B-1, and when the measurement is not continued (NO), the series of processes is ended.

このように構成される本実施例に係る電柱距離測定装置によれば、測域センサー１１によって取得した距離データから作成した路線構造物の走査像と、光電センサー１２によって取得した電柱検出信号とに基づいて、走行中の車両１の側方を通過する電柱２のみを正確に抽出することができる。   According to the power pole distance measuring device according to the present embodiment configured as described above, the scanning image of the route structure created from the distance data acquired by the range detection sensor 11 and the power pole detection signal acquired by the photoelectric sensor 12 Based on this, it is possible to accurately extract only the utility pole 2 passing the side of the traveling vehicle 1.

また、電柱距離抽出部１３ｃにおいて測定誤差を平滑化し、電柱２の近似円を推定し、測定点Ｐを補完するようにしたことにより、車両１から電柱２までの最短の水平距離を高精度に求めることができる。さらに、カメラを用いず測域センサー１１を用いることにより、昼夜に関係なく測定を行うことができる。   In addition, the measurement error is smoothed in the utility pole distance extraction unit 13c, the approximate circle of the utility pole 2 is estimated, and the measurement point P is complemented, so that the shortest horizontal distance from the vehicle 1 to the utility pole 2 can be made with high accuracy. It can be asked. Furthermore, measurement can be performed regardless of day and night by using the range measurement sensor 11 without using a camera.

なお、本発明は上述した実施例に限定されるものではなく、本発明の趣旨を逸脱しない範囲で種々の変更が可能であることは言うまでもない。例えば、上述した実施例では、測域センサー１１を一台設ける例を示したが、測域センサー１１を車両１の進行方向に対して左右に一台ずつ設けて、走行中の車両１の左右側方を通過する路線構造物までの距離を測定してもよい。   The present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the spirit of the present invention. For example, although the example which provides one range measurement sensor 11 was shown in the example mentioned above, one range detection sensor 11 is provided on the left and right with respect to the advancing direction of the vehicle 1, and the left and right The distance to the route structure passing the side may be measured.

１ 車両
２ 電柱
３ 架線支持物
４ 架線
１１ 測域センサー
１２ 光電センサー
１３ 画像処理部
１３ａ 走査像作成部
１３ｂ 電柱像特定部
１３ｃ 電柱距離抽出部
１３ｄ メモリ
Ｃ 近似円
Ｐ 測定点
Ｇ１〜Ｇ４ 走査像 Reference Signs List 1 vehicle 2 power pole 3 wire support 4 wire 11 range sensor 12 photoelectric sensor 13 image processing unit 13a scan image creation unit 13b power pole image identification unit 13c power pole distance extraction unit 13d memory C approximate circle P measurement point G1 to G4 scan image

Claims (6)

車両の走行中に、当該車両と線路横に設置された電柱との間の最短の水平距離を求める電柱距離測定装置であって、
前記車両から当該車両の側方を通過する構造物までの水平距離を測定する測域センサーと、
前記車両の直上を通過する構造物を検出する光電センサーと、
前記測域センサーによって取得した前記構造物までの水平距離と、前記光電センサーによって取得した前記車両の直上を通過する構造物の情報とから前記電柱までの最短の水平距離を求める画像処理部と
を備えることを特徴とする電柱距離測定装置。 A power pole distance measuring device for obtaining a shortest horizontal distance between a vehicle and a power pole installed beside the track while the vehicle is traveling,
A range-finding sensor which measures a horizontal distance from the vehicle to a structure passing the side of the vehicle;
A photoelectric sensor for detecting a structure passing immediately above the vehicle;
An image processing unit for obtaining the shortest horizontal distance to the utility pole from the horizontal distance to the structure acquired by the range measurement sensor and the information of the structure passing immediately above the vehicle acquired by the photoelectric sensor Electric pole distance measuring device characterized by having. 前記画像処理部は、前記測域センサーの測定誤差を平滑化して、前記測域センサーによって取得した前記電柱までの複数の測定点に基づいて前記電柱の近似円を推定し、前記測定点を補完して前記最短距離を求める
ことを特徴とする請求項１記載の電柱距離測定装置。 The image processing unit smoothes a measurement error of the range measurement sensor, estimates an approximate circle of the pole based on a plurality of measurement points up to the pole obtained by the range sensor, and complements the measurement point. The electric pole distance measuring device according to claim 1, wherein the shortest distance is determined. 前記画像処理部は、前記測域センサーによって取得した前記車両から前記構造物までの水平距離に基づいて走査像を作成する走査像作成部を備える
ことを特徴とする請求項１または請求項２記載の電柱距離測定装置。 3. The image processing unit according to claim 1, further comprising: a scanned image creation unit configured to create a scanned image based on a horizontal distance from the vehicle acquired by the range measurement sensor to the structure. Telephone pole distance measuring device. 前記画像処理部は、前記光電センサーによって取得した前記車両の直上を通過する構造物の情報に基づいて前記走査像中に存在する電柱像を抽出する電柱像特定部を備える
ことを特徴とする請求項３記載の電柱距離測定装置。 The image processing unit includes a utility pole image specifying unit that extracts a utility pole image existing in the scanned image based on information of a structure passing immediately above the vehicle acquired by the photoelectric sensor. The power pole distance measuring device according to Item 3. 前記画像処理部は、前記電柱像に基づき前記車両から前記電柱までの最短の水平距離を求める電柱距離抽出部を備える
ことを特徴とする請求項４記載の電柱距離測定装置。 The power pole distance measuring device according to claim 4, wherein the image processing unit includes a power pole distance extraction unit for obtaining a shortest horizontal distance from the vehicle to the power pole based on the power pole image. 前記画像処理部は、前記光電センサーにより前記車両の直上を通過する構造物を検出したときに前記電柱が存在すると判断して前記走査像から前記電柱を抽出する
ことを特徴とする請求項１から請求項５のいずれか一つに記載の電柱距離測定装置。 2. The image processing unit according to claim 1, wherein the image processing unit extracts the power pole from the scanning image by determining that the power pole is present when the photoelectric sensor detects a structure passing immediately above the vehicle. The pole distance measuring device according to any one of claims 5 to 10.
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