JP2021148522A - Trapezoid overhead wire remaining height measuring apparatus and trapezoid overhead wire remaining height measuring method - Google Patents

Abstract

To provide a technique for measuring a remaining height of a trapezoid overhead wire having a trapezoid cross section.SOLUTION: A trapezoid overhead wire remaining height measuring apparatus 100 includes: an image acquisition part 101 for acquiring a line sensor image from a line sensor 11 arranged with a wear surface that is a bottom surface of a trapezoid overhead wire to be detected and side faces so that the surfaces can be imaged; a distance acquisition part 102 for acquiring distance data of the overhead wire; a wear detection part 103 for generating wear data including a central coordinate and a wear width of a wear surface of an overhead wire from a camera parameter of the line sensor acquiring the line sensor image, the distance data and the line sensor image; a side face detection part 104 for generating side face data including a side face central coordinate and a side face width of a trapezoid overhead wire from the line sensor image, the distance data, the camera parameter and the wear data; and a remaining height calculation part 105 for calculating the remaining height of the overhead wire from the wear data and the side face data, and generating the remaining height data.SELECTED DRAWING: Figure 4

Description

The present invention relates to a trapezoidal overhead wire residual height measuring device and a trapezoidal overhead wire residual height measuring method.

In general, the overhead wire that supplies electric power to an electric railway vehicle comes into contact with a current collector each time the vehicle passes through, so that the overhead wire gradually wears due to the operation of the electric railway vehicle and eventually breaks. ..
Therefore, the overhead wire is provided with a wear limit, and the stable operation of the electric railway vehicle is maintained by replacing the overhead wire with the wear limit as a guide.

Conventionally, as a method of measuring the wear state of the overhead wire, a method of directly measuring the thickness of the overhead wire and a method of measuring the width of the worn portion of the overhead wire and converting the thickness of the overhead wire from the width can be mentioned.
Patent Document 1, which is an example of the prior art, discloses a wear state measuring device that can accurately measure the width of the worn portion of the overhead wire and can be miniaturized.
The wear state measuring device disclosed in Patent Document 1 creates a line sensor image in which the width of the worn portion is photographed using a line sensor, saves this as an input image, and performs binarization processing to perform overhead wire wear. The part is emphasized, noise is removed, edge detection is performed, and the width of the worn part is measured by the detected edge.
In this way, the thickness of the overhead wire having a circular round cross section can be specified based on the accurately measured width of the worn portion.

Japanese Unexamined Patent Publication No. 2006-248411

However, the above-mentioned conventional technique has a problem that it cannot be applied to a trapezoidal overhead wire having a trapezoidal cross section.

The present invention has been made in view of the above, and an object of the present invention is to provide a technique for measuring the residual height of a trapezoidal overhead wire having a trapezoidal cross section.

The present invention, which solves the above-mentioned problems and achieves the object, acquires a line sensor image from a line sensor arranged so that the worn surface and the side surface, which are the bottom surface of the ladder overhead wire to be detected, can be imaged. From the camera parameters of the unit, the distance acquisition unit that acquires the distance data of the ladder overhead wire, the line sensor image, the distance data, and the line sensor that acquired the line sensor image, the center coordinates and wear of the worn surface of the ladder overhead wire. A wear detection unit that generates wear data including width, and a side surface detection unit that generates side data including side center coordinates and side width of the ladder overhead line from the line sensor image, distance data, camera parameters, and wear data. A ladder overhead wire residual height measuring device including a residual height calculation unit that calculates the residual height of the ladder overhead wire from the wear data and the side surface data and generates the residual height data.

In the ladder overhead wire residual height measuring device of the present invention, the image acquisition unit is on the side opposite to the first line sensor, which is the line sensor, from the side opposite to the worn surface of the ladder overhead wire and the side surface opposite to the side surface. Further line sensor images are acquired from the second line sensor arranged so that the side surface and the side surface can be imaged, and the remaining height calculation unit is from both the first line sensor and the second line sensor. It is preferable to calculate the remaining height of the ladder-shaped overhead wire based on the line sensor image.

In the trapezoidal overhead wire residual height measuring device of the present invention, it is preferable that the side surface data includes color information of the line sensor image.

Alternatively, the present invention acquires a line sensor image from a line sensor arranged so that the worn surface and the side surface, which are the bottom surface of the ladder overhead wire to be detected, can be imaged, and acquires distance data of the ladder overhead wire. That, the line sensor image, the distance data, and the camera parameters of the line sensor that acquired the line sensor image are used to generate wear data including the center coordinates and the wear width of the wear surface of the ladder overhead wire. Generate side surface data including the side center coordinates and side width of the ladder overhead line from the distance data, the camera parameters, and the wear data, and calculate the remaining height of the ladder overhead wire from the wear data and the side surface data. This is a method for measuring the residual height of a ladder overhead wire, which includes generating data on the residual height.

In the method for measuring the residual height of the trapezoidal overhead wire of the present invention, it is possible to image the worn surface of the trapezoidal overhead wire and the side surface opposite to the side surface from the side opposite to the first line sensor which is the line sensor. Obtaining a further line sensor image from the second line sensor arranged in, and the residual height of the trapezoidal overhead wire based on the line sensor images from both the first line sensor and the second line sensor. Is preferably included.

In the method for measuring the residual height of the trapezoidal overhead wire of the present invention, it is preferable that the side surface data includes the color information of the line sensor image.

According to the present invention, the residual height of a trapezoidal overhead wire having a trapezoidal cross section can be measured.

FIG. 1A is a schematic view showing a schematic configuration of a vehicle on which the trapezoidal overhead wire residual height measuring device according to the first embodiment is mounted. FIG. 1B is a diagram showing the positional relationship between the wear line sensor and the trapezoidal overhead wire. FIG. 2A is a cross-sectional view of a portion where a trapezoidal overhead wire to which the trapezoidal overhead wire residual height measuring device according to the present embodiment is applied is installed. FIG. 2B is an enlarged view of a cross section of the trapezoidal overhead wire shown in FIG. 2A. FIG. 3A is a cross-sectional view showing a trapezoidal overhead wire at a side angle α = 90 ° of the trapezoidal overhead wire. FIG. 3B is a cross-sectional view showing a trapezoidal overhead wire at a side angle α ≠ 90 ° of the trapezoidal overhead wire. FIG. 4 is a block diagram showing a configuration of a trapezoidal overhead wire residual height measuring device according to the first embodiment. FIG. 5 is a flowchart showing the operation of the trapezoidal overhead wire residual height measuring device according to the first embodiment. FIG. 6A is a diagram showing the positional relationship between the wear line sensor at the time of imaging the trapezoidal overhead wire and the trapezoidal overhead wire in the first embodiment. FIG. 6B is a diagram showing a correspondence relationship between the line sensor image of the trapezoidal overhead wire acquired in the positional relationship shown in FIG. 6A and the shape of the trapezoidal overhead wire. FIG. 7 is a flowchart showing the operation of the side surface detection process of the side surface detection unit included in the trapezoidal overhead wire residual height measuring device according to the first embodiment, and a diagram supplementing the flowchart. FIG. 8 is a diagram for explaining a residual height calculation process by the residual height calculation unit included in the trapezoidal overhead wire residual height measuring device according to the first embodiment. FIG. 9A is a schematic view showing a schematic configuration of a vehicle on which the trapezoidal overhead wire residual height measuring device according to the second embodiment is mounted. FIG. 9B is a diagram showing the positional relationship between the two wear line sensors and the trapezoidal overhead wire. FIG. 10 is a cross-sectional view showing a trapezoidal overhead wire that has been unevenly worn in the second embodiment. FIG. 11 is a block diagram showing the configuration of the trapezoidal overhead wire residual height measuring device according to the second embodiment. FIG. 12A is a schematic view showing a schematic configuration of a vehicle on which the trapezoidal overhead wire residual height measuring device according to the third embodiment is mounted. FIG. 12B is a diagram showing the positional relationship between the two color line sensors for wear and the trapezoidal overhead wire. FIG. 13 is a block diagram showing the configuration of the trapezoidal overhead wire residual height measuring device according to the third embodiment.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings.
However, the present invention is not limited to the description of the following embodiments.

(Embodiment 1)
FIG. 1A is a schematic view showing a schematic configuration of a vehicle 10 on which the trapezoidal overhead wire residual height measuring device according to the present embodiment is mounted.
In FIG. 1A, the wear line sensor 11 which is the first line sensor, the distance line sensor 12 which is the second line sensor, the illumination 13, the pantograph 14, the pantograph upper position 15, and the detection target. A trapezoidal overhead wire 16 and a scanning direction 17 of the distance line sensor 12 are shown.
The illumination 13 illuminates the imaged surface by the wear line sensor 11 which is the first line sensor and the distance line sensor 12 which is the second line sensor, and the illumination 13 exemplifies a white light source. be able to.

FIG. 1B is a diagram showing a positional relationship between the wear line sensor 11 and the trapezoidal overhead wire 16.
As shown in FIG. 1B, the wear line sensor 11 is arranged diagonally below the trapezoidal overhead wire 16.
The wear line sensor 11 is installed at a position where the wear surface, which is the bottom surface of the trapezoidal overhead wire 16, and the side surface can be imaged.
Specifically, the wear line sensor 11 is installed at a position diagonally below the trapezoidal overhead wire 16 on the roof of the vehicle 10 and deviated from the virtual center line extending in the vehicle length direction to any of the sleeper directions. The side surface of the trapezoidal overhead wire 16 is imaged.
The distance line sensor 12 is installed diagonally below the trapezoidal overhead wire 16 on the roof of the vehicle 10 and on a virtual center line extending in the vehicle length direction.
The scanning direction 17 of the distance line sensor 12 coincides with the vertical direction of the vehicle 10, and the scanning line of the distance line sensor 12 crosses the pantograph 14.
However, the present invention is not limited to this, and instead of the distance line sensor 12, an area sensor or a laser range finder is provided to measure the distance from the roof of the vehicle 10 to the trapezoidal overhead wire 16. It may be.

Since the trapezoidal overhead wire 16 comes into contact with the pantograph 14 which is a current collector every time the vehicle 10 passes through the trapezoidal overhead wire 16, the trapezoidal overhead wire 16 gradually wears due to the operation of the vehicle 10 and eventually breaks.

FIG. 2A is a cross-sectional view of a portion where the trapezoidal overhead wire 16 to which the trapezoidal overhead wire residual height measuring device according to the present embodiment is applied is installed.
As shown in FIG. 2A, the trapezoidal overhead wire 16 is sandwiched by a rigid body 20 which is a fixing bracket.
Further, the rigid body 20 is fixed to the gantry 22 by bolts 21.

FIG. 2B is an enlarged view of a cross section of the trapezoidal overhead wire 16 shown in FIG. 2A.
As shown in FIG. 2B, the height of the lowest point of the rigid body 20 is the height of the lowest point of the fixing bracket, the height of the lowest point of the trapezoidal overhead wire 16 is the height of the lowest point of the overhead wire, and the height of the lowest point of the fixing bracket and the lowest of the overhead wire. The height difference from the height of the point is defined as the residual height.

Here, the outer angle of the angle formed by the worn surface 160 and the side surface 161 of the trapezoidal overhead wire 16 is defined as the trapezoidal overhead wire side surface angle α.
FIG. 3A is a cross-sectional view showing the trapezoidal overhead wire 16 at a side angle α = 90 ° of the trapezoidal overhead wire.
FIG. 3B is a cross-sectional view showing the trapezoidal overhead wire 16 at a side angle α ≠ 90 ° of the trapezoidal overhead wire.
In FIG. 3B, the side angle of the trapezoidal overhead wire α> 90 °.

FIG. 4 is a block diagram showing the configuration of the trapezoidal overhead wire residual height measuring device 100 according to the present embodiment.
The trapezoidal overhead wire residual height measuring device 100 shown in FIG. 4 includes an image acquisition unit 101, a distance acquisition unit 102, a wear detection unit 103, a side surface detection unit 104, a residual height calculation unit 105, and a storage unit 106. , Equipped with.

The image acquisition unit 101 is an interface that receives a line sensor image from the wear line sensor 11 as an input and outputs the line sensor image to the storage unit 106.

The distance acquisition unit 102 is an interface that receives the line sensor image from the distance line sensor 12 as an input and outputs the distance data to the storage unit 106.
The distance acquisition unit 102 acquires a line sensor image, acquires the distance from the roof of the vehicle 10 to the trapezoidal overhead wire 16 based on the line sensor image, and outputs it as distance data.
However, as described above, an area sensor or a laser range finder may be provided instead of the distance line sensor 12 to measure the distance from the roof of the vehicle 10 to the trapezoidal overhead wire 16.

The wear detection unit 103 inputs the line sensor image, the distance data, and the camera parameters, and outputs the wear data to the storage unit 106.
Here, the camera parameter is the camera parameter of the wear line sensor 11.
The wear detection unit 103 performs binarization processing on the line sensor image, performs noise removal, performs edge detection, measures the width of the wear part by the detected edge, and generates wear data.
The wear data includes the center coordinates of the wear surface 160 and the wear width.

The side surface detection unit 104 inputs the line sensor image, distance data, camera parameters, and wear data, and outputs the side surface data to the storage unit 106.

The residual height calculation unit 105 inputs the wear data and the side surface data, and outputs the residual height data to the storage unit 106.

The storage unit 106 stores the data output from the image acquisition unit 101, the distance acquisition unit 102, the wear detection unit 103, the side surface detection unit 104, and the residual height calculation unit 105.

The distance acquisition unit 102, the wear detection unit 103, the side surface detection unit 104, and the residual height calculation unit 105 can be realized by a processor such as an MPU (Micro-Processing Unit) and a CPU (Central Processing Unit).
Further, the storage unit 106 can be realized by a recording medium such as a semiconductor memory and a magnetic disk.

Next, the operation of the trapezoidal overhead wire residual height measuring device 100 according to the present embodiment will be described.
FIG. 5 is a flowchart showing the operation of the trapezoidal overhead wire residual height measuring device 100 according to the present embodiment.
First, when the process is started, the distance acquisition unit 102 acquires the distance data (S1), the image acquisition unit 101 acquires the line sensor image (S2), and the wear detection unit 103 performs the wear detection process (S3). The side surface detection unit 104 performs the side surface detection process (S4), and the residual height calculation unit 105 calculates the residual height (S5).
Then, after performing the processes S2 to S5 for all the acquired images, the process ends.

FIG. 6A is a diagram showing the positional relationship between the wear line sensor 11 at the time of imaging of the trapezoidal overhead wire 16 and the trapezoidal overhead wire 16 in the present embodiment.
FIG. 6B is a diagram showing a correspondence relationship between the line sensor image of the trapezoidal overhead wire 16 acquired in the positional relationship shown in FIG. 6A and the shape of the trapezoidal overhead wire 16.
As shown in FIG. 6A, when the wear line sensor 11 on the roof of the vehicle 10 acquires the line sensor image of the trapezoidal overhead wire 16 illuminated by the illumination 13, the acquired line sensor image is as shown in FIG. 6B. , The side surface 161 is detected between the worn surface 160 and the rigid body 20.

FIG. 7 is a flowchart showing the operation of the side surface detection process of the side surface detection unit 104 included in the trapezoidal overhead wire residual height measuring device 100 according to the present embodiment, and a diagram supplementing the flowchart.
First, when the process is started, the side surface detection unit 104 acquires the wear data detected by the wear detection unit 103 (S11).
Here, the wear data includes the center coordinates and width of the wear surface 160, and the center coordinates of the wear surface 160 included in the wear data are pixels that are equidistant from the left and right edges detected by the wear detection unit 103. The coordinates.

Next, the side detection unit 104 has a range value of x times or more of the maximum residual height at that distance based on the distance data from the roof of the vehicle 10 to the trapezoidal overhead wire 16 and the geometric information of the trapezoidal overhead wire. Is calculated to calculate the range of the side surface (S12).
In addition, although the case where the edge detection is performed within the range of 1.5 times the maximum residual height in the non-weared state is illustrated here, the present invention is not limited to this, and the edge is not limited to this. It suffices if it can be easily detected, and it may be 0.5 times or more of the maximum residual height.

Next, the side surface detection unit 104 detects the edge on each edge side by the differential edge within the range of the side surface calculated in S12 (S13).

Next, the side surface detection unit 104 acquires side surface data from the edge detected in S13 (S14), and ends the process.
As shown in FIG. 7, the side surface data includes the side surface center coordinates and the side surface width.

FIG. 8 is a diagram for explaining the residual height calculation process by the residual height calculation unit 105 included in the trapezoidal overhead wire residual height measuring device 100 according to the present embodiment.

The residual height calculation unit 105 first converts the pixel data into mm data by the following formula (1).
The following equation (1) is obtained by reducing the dimension of the conversion equation between the image coordinates of the area camera and the spatial coordinates by one.

Here, u is the pixel value [pix], f is the focal length [pix], c is the image center position [pix], t ₁ is the camera deviation [mm], and t ₂ is the camera. The height is [mm], θ is the camera angle [deg], X is the target deviation [mm], and Y is the target height [mm].
Here, the coordinate system of the mm data has the center on the roof of the vehicle 10 as the origin, one direction (right direction) in the pillow direction as the x-axis, and the height direction as the y-axis.

First, as shown in FIG. 3A, a case where the trapezoidal overhead wire side angle α = 90 ° will be described.
_{The wear edge x coordinate on the side surface 161 side, which is the global coordinate of the pixel u 1} shown in FIG. 8, is known as the pixel value u, the focal length f, the pixel center position c, the camera deviation t _1, and the camera. It is calculated by the above equation (1) using the height t ₂ , the camera angle θ, and the wear end y coordinate.

Next, the lowest point y coordinate of the fixing bracket on the side surface 161 side, which is the global coordinate of the _{pixel u 2} shown in FIG. 8, is calculated.
Since the trapezoidal overhead wire side angle α = 90 °, the minimum point x coordinate of the fixing bracket is the same as the wear end x coordinate.
The lowest point y coordinate of the fixing bracket on the side surface 161 side, which is the global coordinate of the _{pixel u 2} shown in FIG. 8, is
Using the known pixel value u, focal length f, pixel center position c, camera deviation t ₁ , camera height t ₂ , camera angle θ, and fixing bracket minimum point x coordinates. , Calculated by the above equation (1).
Then, the difference between the y-coordinate of the lowest point of the fixing bracket and the y-coordinate of the worn end calculated as described above is the residual height.

Next, as shown in FIG. 3B, a case where the side angle α of the trapezoidal overhead wire is not α ≠ 90 ° will be described.
Here, too, the wear end x coordinate is calculated by the above equation (1) as in the case of the trapezoidal overhead wire side angle α = 90 °.

Next, in the case of a trapezoidal overhead wire side angle alpha ≠ 90 °, to calculate a fixed bracket lowest point y coordinate of the side face 161 side, the global coordinates of a pixel u ₂ shown in FIG.
At this time, the minimum point x coordinate of the fixing bracket is a value obtained by multiplying the lowest point y coordinate of the fixing bracket by tan (α).
_{The minimum point y coordinate of the fixing bracket on the side surface 161 side, which is the global coordinate of the pixel u 2} shown in FIG. 8, is the known pixel value u, the focal length f, the pixel center position c, and the camera deviation t ₁ . , The camera height t ₂ , the camera angle θ, and the minimum fixing point x coordinate are used to calculate by the above equation (1).
Then, the difference between the y-coordinate of the lowest point of the fixing bracket and the y-coordinate of the worn end calculated as described above is the residual height.

The residual height calculation unit 105 outputs the residual height calculated as described above to the storage unit 106 as residual height data.
This residual height data is compared with, for example, a predetermined predetermined wear limit value, and when the residual height falls below the predetermined wear limit value, the administrator performs maintenance of the trapezoidal overhead wire 16. It is possible to prevent disconnection of the trapezoidal overhead wire 16 during vehicle operation.

According to this embodiment, it is possible to measure the residual height of a trapezoidal overhead wire having a trapezoidal cross section.

(Embodiment 2)
In the first embodiment, a trapezoidal overhead wire having a worn surface that is worn substantially uniformly has been described as an example, but the present invention is not limited to this, and the worn surface is different because the residual heights at both ends of the trapezoidal overhead wire are different. It can also be applied to unevenly worn trapezoidal overhead wires that have an inclination.
In this embodiment, the same components as those in the first embodiment are designated by the same reference numerals.

FIG. 9A is a schematic view showing a schematic configuration of a vehicle 10 on which the trapezoidal overhead wire residual height measuring device according to the present embodiment is mounted.
FIG. 9B is a diagram showing the positional relationship between the wear line sensors 11 and 11a and the trapezoidal overhead wire 16.
As shown in FIG. 9A, the vehicle 10 on which the trapezoidal overhead wire residual height measuring device according to the present embodiment is mounted has a wear line sensor 11a which is a second wear line sensor with respect to the configuration of the first embodiment. Has been added.
The wear line sensor 11a is installed at a position where the wear surface and the side surface of the trapezoidal overhead wire 16 can be imaged from the side opposite to the wear line sensor 11.
Specifically, the wear line sensor 11a is installed diagonally below the trapezoidal overhead wire 16 on the roof of the vehicle 10 and on the side opposite to the wear line sensor 11 with reference to the virtual center line extending in the vehicle length direction. The side surface of the trapezoidal overhead wire 16 is imaged.

FIG. 10 is a cross-sectional view showing a trapezoidal overhead wire 16 that has been unevenly worn in the present embodiment.
In the present embodiment, as shown in FIG. 10, the wear surface of the trapezoidal overhead wire 16 sandwiched by the rigid body 20 which is a fixing bracket is an ideal wear surface formed when the entire wear surface is worn substantially uniformly. The uneven wear surface does not match.

FIG. 11 is a block diagram showing the configuration of the trapezoidal overhead wire residual height measuring device 100a according to the present embodiment.
In the ladder-shaped overhead wire residual height measuring device 100a shown in FIG. 11, a wear line sensor 11a is added to the ladder-shaped overhead wire residual height measuring device 100 shown in FIG. A wear-resistant residual height calculation unit 105a is provided.

The wear line sensor 11a, which is the second wear line sensor, captures an image of the side surface opposite to the wear line sensor 11 in the same manner as the wear line sensor 11 which is the first wear line sensor. The acquisition unit 101 inputs not only the line sensor image from the wear line sensor 11 but also the line sensor image from the wear line sensor 11a, and outputs this to the storage unit 106.
In FIG. 11, the data based on the wear line sensor 11 is given a “1”, the data based on the wear line sensor 11a is given a “2”, and the data based on the wear line sensor 11a is shown. Similar to the data based on the wear line sensor 11, the data is processed by each configuration in the ladder overhead wire residual height measuring device 100a.

Then, the residual height calculation unit 105a of the "residual height data 1" based on the line sensor image from the wear line sensor 11 and the "residual height data 2" based on the line sensor image from the wear line sensor 11a. Both are output to the storage unit 106.
Alternatively, the residual height calculation unit 105a also calculates the average value of the "residual height data 1" and the "residual height data 2", and outputs the converted residual height assuming that there is no uneven wear. You may.
As described in the first embodiment, these residual height data are compared with, for example, a predetermined wear limit value set in advance, and the residual height data 1, the residual height data 2, and the converted residual height are compared with each other. When any of them falls below a predetermined wear limit value, the administrator performs maintenance on the trapezoidal overhead wire 16 to prevent the trapezoidal overhead wire 16 from being broken during vehicle operation.

According to this embodiment, it is possible to measure the residual height of a trapezoidal overhead wire having a trapezoidal cross section even when the wear surface is an uneven wear surface.

(Embodiment 3)
In the first and second embodiments, the case where the line sensor image acquired by the wear line sensor is a monochrome image has been described, but since the material mainly used as the material of the ladder overhead wire 16 is copper, there is a lot of red information. , The accuracy of edge detection can be improved by using a red image rather than a monochrome image.
In this embodiment, a mode in which the wear line sensors 11 and 11a of the second embodiment are replaced with color line sensors to improve the accuracy of edge detection will be described.
In this embodiment, the same reference numerals are given to the same configurations as those in the first and second embodiments.

FIG. 12A is a schematic view showing a schematic configuration of a vehicle 10 on which the trapezoidal overhead wire residual height measuring device according to the present embodiment is mounted.
FIG. 12B is a diagram showing the positional relationship between the wear color line sensors 11b and 11c and the trapezoidal overhead wire 16.
In the vehicle 10 equipped with the ladder-shaped overhead wire residual height measuring device according to the present embodiment, as shown in FIG. 12A, the wear line sensor 11 in the configuration of the second embodiment is replaced with the wear color line sensor 11b. The wear line sensor 11a has been replaced with a wear color line sensor 11c.

FIG. 13 is a block diagram showing the configuration of the trapezoidal overhead wire residual height measuring device 100b according to the present embodiment.
The trapezoidal overhead wire residual height measuring device 100b shown in FIG. 13 is provided with a side surface detecting unit 104b that performs edge detection using color information instead of the side surface detecting unit 104 of the trapezoidal overhead wire residual height measuring device 100a of the second embodiment. Has been done.

The side surface detection unit 104b performs edge detection with high accuracy by using color information corresponding to the color of the trapezoidal overhead wire 16.
When the material of the trapezoidal overhead wire 16 is copper, a large amount of red information is included in the line sensor image of the trapezoidal overhead wire 16, so that the accuracy of edge detection can be improved by using the color information.

According to this embodiment, in addition to the effect of the second embodiment, it is possible to improve the accuracy of edge detection.

Although this embodiment has been described as a modification of the second embodiment, it can also be applied to a case where there is only one wear line sensor as a modification of the first embodiment.

Further, the present invention is not limited to the above-described embodiment, and includes various modifications in which components are added, deleted, or converted from the above-described configuration.

10 Vehicles 11, 11a Wear line sensor 11b, 11c Wear color line sensor 12 Distance line sensor 13 Lighting 14 Pantograph 15 Pantograph upper position 16 Ladder overhead wire 17 Distance line sensor 12 scanning direction 20 Rigid body 21 Bolt 22 Mount 100, 100a, 100b Ladder-shaped overhead wire residual height measuring device 101 Image acquisition unit 102 Distance acquisition unit 103 Wear detection unit 104, 104a Side detection unit 105, 105a Residual height calculation unit 106 Storage unit 160 Wear surface 161 Side surface

Claims (6)

An image acquisition unit that acquires a line sensor image from a line sensor arranged so that the wear surface and the side surface, which are the bottom surface of the trapezoidal overhead wire to be detected, can be imaged.
A distance acquisition unit that acquires distance data of the trapezoidal overhead line, and
A wear detection unit that generates wear data including the center coordinates and wear width of the wear surface of the trapezoidal overhead wire from the line sensor image, the distance data, and the camera parameters of the line sensor that acquired the line sensor image.
A side surface detection unit that generates side surface data including the side center coordinates and side width of the trapezoidal overhead wire from the line sensor image, the distance data, the camera parameters, and the wear data.
A trapezoidal overhead wire residual height measuring device including a residual height calculation unit that calculates the residual height of the trapezoidal overhead wire from the wear data and the side surface data and generates the residual height data. A second image acquisition unit is arranged so that the wear surface of the trapezoidal overhead wire and the side surface opposite to the side surface can be imaged from the side opposite to the first line sensor which is the line sensor. Get more line sensor images from the line sensor,
The trapezoidal overhead wire residual according to claim 1, wherein the residual height calculation unit calculates the residual height of the trapezoidal overhead wire based on the line sensor images from both the first line sensor and the second line sensor. Height measuring device. The trapezoidal overhead wire residual height measuring device according to claim 1, wherein the side surface data includes color information of the line sensor image. Acquiring a line sensor image from a line sensor arranged so that the wear surface and the side surface, which are the bottom surface of the trapezoidal overhead wire to be detected, can be imaged.
Acquiring the distance data of the trapezoidal overhead line,
To generate wear data including the center coordinates and wear width of the wear surface of the trapezoidal overhead wire from the line sensor image, the distance data, and the camera parameters of the line sensor that acquired the line sensor image.
To generate side surface data including the side center coordinates and side width of the trapezoidal overhead wire from the line sensor image, the distance data, the camera parameters, and the wear data.
A method for measuring the residual height of a trapezoidal overhead wire, which comprises calculating the residual height of the trapezoidal overhead wire from the wear data and the side surface data and generating the residual height data. A further line from the second line sensor arranged so that the worn surface of the trapezoidal overhead wire and the side surface opposite to the side surface can be imaged from the side opposite to the first line sensor which is the line sensor. Acquiring sensor images,
The method for measuring the residual height of a trapezoidal overhead wire according to claim 4, wherein the residual height of the trapezoidal overhead wire is calculated based on the line sensor images from both the first line sensor and the second line sensor. .. The method for measuring the residual height of a trapezoidal overhead wire according to claim 4, wherein the side surface data includes color information of the line sensor image.

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