JP3261199B2 - Pantograph frame deformation inspection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for inspecting the deformation of a pantograph framework of an electric vehicle.

[0002]

2. Description of the Related Art FIG. 6 shows an example of a pantograph used in a Shinkansen or the like. A pantograph 1 has a frame 11 in which a plurality of linear arms a, b, c... Are combined, and a boat attached to the upper end thereof. The lower part of the four arms is fixed on the roof of the electric vehicle 2 with insulators 13 interposed therebetween.
The boat 12 slides into contact with the trolley wire 3 to receive power, and the vehicle 2 runs. Since the trolley wire 3 changes in height depending on the section or location, each arm becomes a joint at each intersection point p and bends in accordance with the change in height. Trolley wire 3
When an abnormal situation such as failure or adhesion of obstacles occurs in the vehicle, the pantograph 1 of the running vehicle 2 may be shocked and the hull 12 or the framework 11 may be deformed, and the trolley wire 3
Power reception. The pantograph 1 is inspected regularly or irregularly in the inspection garage, and if there is a deformed portion, it is repaired. Inspection of these deformations in the past is exclusively visual inspection and is not always accurate.Inspection is dangerous and inefficient due to work on the roof, and has many disadvantages, such as safe, accurate and efficient automatic inspection. An inspection method is desired. With respect to the deformation of the hull 12, an optical deformation inspection system has been developed by the inventors of the present invention, and a "pantograph hull deformation detection and measurement system" has been filed for a patent. In this system, I
This system uses a TV camera to image the hull 12 of the vehicle entering, and analyzes the deformation by applying image processing technology. It is possible to accurately inspect the deformation and to expect safer and labor-saving inspection work. Have been.

[0003]

An object of the present invention is to automate the deformation inspection of the framework 11 following the above-described deformation inspection system for the boat body 12. Also in this case, an ITV camera is provided in the inspection garage, and the framework 11 is imaged without stopping the approaching vehicle 2, but this imaging has some necessary conditions. The first condition is that images must be taken so that the arms of the framework 11 do not overlap, and the second condition is that there is a considerable amount of brightness in the garage due to the presence of lighting equipment. It is to be. Next, the amount of deformation of the framework 11 is determined by comparison with the reference data. For comparison, image data of the framework accurately positioned at a predetermined position is required. However, since the framework moves together with the vehicle 2 without stopping and is continuously imaged, a control method for obtaining such image data is necessary, and this is the third condition. Regarding the above first condition, IT
The imaging direction of the V camera is set appropriately, and the illumination method is devised for the second condition. The third condition can be satisfied by, for example, transferring image data captured at a predetermined position by the ITV camera to the image processing unit at an appropriate timing. SUMMARY OF THE INVENTION It is an object of the present invention to provide an inspection apparatus that captures a frame by using an ITV camera while satisfying the above-described conditions, performs image processing on the image data, and inspects deformation.

[0004]

SUMMARY OF THE INVENTION The present invention relates to a deformation inspection apparatus for a pantograph frame, which is disposed opposite to inner walls on both sides of an inspection garage, and detects a hull of a pantograph of an approaching vehicle. And a hull detecting unit including a light receiving device, a lighting board that irradiates white light as a background of the pantograph, and a framework image capturing unit including an ITV camera that captures a silhouette of the framework of the pantograph illuminated with white light. Install at appropriate intervals in the approach direction. Further, it is provided at an appropriate place in the garage and includes a data processing device including an ITV control unit, an image processing unit, a memory, and a comparison and determination unit. The detection signal of the hull detected by the hull detection unit is input to the ITV control unit, the speed of the hull is calculated from the duration of the detection signal, the control timing is obtained, and the control signal is output to the ITV camera. Then, the image data of the captured silhouette of the framework is transferred to the image processing unit. By the image processing, the effective length of each arm of the framework and each of the two intersection angles formed by the arms intersecting at each of the left and right intersections are calculated, and the comparison unit calculates the length of each arm of the normal framework recorded in the memory. Then, each of the two intersection angles is compared with each other, and the amount of deformation of the framework is determined to check the quality. In the above, after the image data of the silhouette of the framework transferred to the image processing unit is binarized by image processing, the outline is traced to extract the outline of each arm, and the approximate straight line of each outline is obtained by the least square method. Is calculated to create respective linear equations.
The effective length of each arm is calculated by obtaining the coordinates of the intersection of each approximate line using each linear equation. Further, each of the two intersection angles is calculated by each linear equation with respect to each of the three approximate straight lines intersecting at each of the left and right intersections.

[0005]

In the above-mentioned frame deformation inspection apparatus, the hull of the pantograph of the vehicle entering the inspection garage is detected by the hull detection unit, and the detection signal is input to the ITV control unit of the data processing device, and the detection signal is output. Is calculated based on the continuation time, the control timing is obtained, and a control signal is output to the ITV camera. On the other hand, the pantograph moves to the position of the lighting board together with the vehicle, the background white light is irradiated, the silhouette of the framework is continuously imaged by the ITV camera, and the image data of the predetermined imaging position is obtained by the input control signal. It is transferred to the image processing unit. By the image processing, the effective length of each arm of the framework and each two intersection angles formed by each arm intersecting at each of the left and right intersections are calculated, and then, in the comparing unit, each arm of the normal framework recorded in the memory is compared. The length of the frame is compared with each of the two intersection angles to determine the amount of deformation of the framework, and the quality is checked. Here, the length of each arm will be explained anew. If the length of the normal arm is deformed, the distance between both ends will be shortened.
The meaning is unclear even if it is simply length. Therefore, in this paper, the distance between both ends of the deformed arm is distinguished from the normal arm length by the effective length. The image data transferred to the image processing unit is binarized by image processing, followed by contour tracing to extract the contour of each arm. An approximate straight line is calculated for each contour line by the least square method, and each straight line equation is created. The coordinates of the intersection of each approximate straight line are obtained by each straight line equation, and the effective length of each arm is obtained by calculating the difference between these coordinates. Further, the two intersection angles formed by the respective straight line equations with respect to the three approximate straight lines intersecting at each of the left and right one intersections are calculated. As described above, the deformation amount of the framework is automatically and accurately inspected without contact, and the conventional inspection method is made safe and efficient.

[0006]

1 to 5 show an embodiment of the present invention. FIG. 1 shows an arrangement diagram of the hull detection unit 5, the frame imaging unit 6, and the data processing device 7, and the inner walls 41a, 41b on both sides of the garage 4
The light emitting device 51 and the light receiving device 52 are arranged to face each other to constitute the boat body detecting unit 5, and similarly, the illumination board 61 and the ITV camera 62 are arranged to constitute the frame imaging unit 6, and the two are spaced D _1. And install it. Illumination board 61 is a milky white plastic plate slightly larger area than the framework 11 of the pantograph 1, made from a light source arranged on the back side, irradiates the white light L _T to the back of the framework 11. The ITV camera 62 is arranged in a direction in which all the arms of the framework 11 can be imaged, for example, slightly downward on the diagonally right side with respect to the center of the framework 11. However, the rear arm is unavoidable even if a portion where imaging is not possible occurs. The data processing device 7 is arranged at an appropriate place in the garage 4 and connected to the hull detecting unit 5 and the frame imaging unit 6 by cables (not shown). FIG. 2 shows a schematic block configuration of the data processing device 7, an ITV control unit 71 including a speed calculation circuit 711 and a control signal generation circuit 712, and a deformation inspection unit including an image processing unit 721, a memory 722, and a comparison determination unit 723. 72.

FIG. 3 illustrates the cooperative operation of the hull detecting unit 5 and the frame image pickup unit 6, where the length of the hull 12 is D ₀ , and the speed of the entering vehicle 2 is V (not necessarily constant). ). Detection light K _L than the light projector 51 is blocked between the length D ₀ by movement of the vehicle 2, the amount of light received by the light receiver 52 is lowered during the time t _0. The detection signal indicating the decrease time t ₀ is input to the speed calculation circuit 711 to obtain D ₀ / t ₀ = V.
The control timing D ₁ /
V = t ₁ is calculated, the control signal output by the control timing t _1, the framework being imaged to ITV camera 62
The image data of the eleventh silhouette is transferred to the memory 722 of the data processing device 7, temporarily stored, read out sequentially, and subjected to image processing.

Referring to FIG. 4, a method of processing image data in the image processing section 721 will be described. FIG. 4A shows an original image of the silhouette of the framework 11, and the framework 11 includes arms a, b, c, and d.
Left frame 11L, right frame 11R including arms e, f, g, h, and connecting arms i, j for connecting the two frames obliquely.
, And each arm has eight intersections p ₁ to
They are bought at p _8. However, the intersections p ₁ and p ₅ indicated by the dotted lines are shielded by the hull 12 and are not imaged. As described above, since the framework 11 is illuminated by the lighting equipment in the garage, the silhouette is not entirely black, and some bright places are mixed. When the number distribution of the light receiving pixels of the ITV camera 62 with respect to the brightness of the image data is measured,
The curve shown in (b) is obtained. The large number of portions concentrated on the small range of brightness on the horizontal axis corresponds to the framework 11, and the number dispersed on the large range of brightness is the lighting board 61 of the background.
Of white light. Therefore, L _s between the two
When the image data is binarized with a threshold value, clear image data can be obtained. This is followed by contour tracking, and each arm (a to j)
Is extracted. (c) shows a part of the extracted contour line r. Now, let both sides of the contour line r be r ₁ and r _2, and apply the least squares method to each of them to obtain the most approximated straight lines R ₁ and R _2.
Is calculated, and an approximate straight line _Rc with respect to the center between the two is calculated. However when both contour r _1, r ₂ are very close may be one of the straight lines R ₁ and the approximate straight line R _c. If the approximate straight line for each arm (a to j) is (a _{0 to} j ₀ ), the skeleton image shown in (d) is completed. Next, a straight line equation for each approximate straight line (a _{0 to} j ₀ ) is created, and the eight intersection points (p _{1 to} p ₁₎
The coordinates of ₈ ) are obtained, and the difference between the coordinates is calculated to calculate the length of each approximate straight line, that is, the effective length of each arm. Also,
The intersection points p ₂ and p ₈ of the left and right frames 11L and 11R are taken, and each of the three approximate straight lines (a ₀ , b ₀ , i ₀ ) and (g ₀ , h ₀ , j ₀ ) From the linear equation, the two intersection angles [θ _ab , θ
_bh ] and [θ _gh , θ _hj ]. The effective length and the two intersection angles of each arm obtained as described above are compared with the length of each arm and each two intersection angle of the normal framework 11 measured in advance and stored in the memory 722 by the comparison determination unit 723. It is compared with each other, and it is determined whether or not the deformation is allowed, based on the difference, that is, the magnitude of the amount of change. When the deformation is allowed, a good (OK) signal is given, and when the deformation is not allowed, a bad (NG) signal is given. Is output. Since the deformation of the framework 11 can be determined by the effective length of each arm and, at a minimum, the amount of change of each of the two intersection angles, the intersection angle may be the two intersection angles of the left and right intersections p ₁ and p ₅ .

FIG. 5 is a schematic flowchart showing an inspection procedure of the above-described deformation inspection apparatus. First, the vehicle 2 enters the garage 4 and the hull 12 is detected by the hull detecting unit 5.
A control signal is output from the ITV control unit 71. The ITV camera 62 continuously captures an image. When the frame 11 comes to a predetermined position, a control signal is input, and the image data at that time is transferred to the memory 722 and temporarily stored. Image processing unit 72
1, the image data is read out from the memory and the threshold L
calculates _s binarized, then extracted contour line r of each arm, each approximate straight line R _c is calculated, the linear equation is created more for each approximate line R _c. The coordinates of the eight intersection points p _{1 to} p ₈ are obtained from each linear equation,
The length of each approximate straight line, that is, the effective length of each arm is calculated from the difference between the coordinates of the intersections, and stored in the memory 722.
Each 2 crossing angle [theta _ab each of right and left first intersection p _2, p _8,
θ _bh ] and [θ _gh , θ _hj ] are calculated and stored in the memory 722 (10). Each of the calculated data is compared with each of the normal data in the comparison / determination unit 723, and the amount of deformation is calculated to determine the quality (11).
A signal is output (12).

[0010]

As described above, in the frame deformation inspection apparatus according to the present invention, a pantograph hull of a vehicle entering an inspection garage is detected, and a control signal at an appropriate timing is generated based on the detection signal. And controls the ITV camera to process image data of the silhouette of the framework with white background light, which is imaged at a predetermined position, and processes the effective length of each arm of the framework and each intersection at each of the left and right intersections. A method for calculating each of the two intersection angles formed by the arms, comparing the calculated data with the data of the normal length and the intersection angle of each of the normal arms, respectively, and obtaining a deformation amount of the framework to inspect the quality. The image processing method is disclosed in detail, and the deformation of the framework of the entering vehicle is safely and accurately and automatically inspected in a non-contact manner, contributing to labor saving in pantograph inspection work. There is a larger.

[Brief description of the drawings]

FIG. 1 shows an arrangement diagram of each part of a deformation inspection apparatus according to an embodiment of the present invention.

FIG. 2 shows a schematic block configuration of a data processing device 7;

FIG. 3 is an explanatory diagram of a cooperative operation between the hull detecting unit 5 and the frame imaging unit 6.

4A and 4B are explanatory diagrams of a method of processing image data by an image processing unit 721, wherein FIG. 4A is an original image of a silhouette of a framework 11, and FIG.
Respectively and contour r illustration of the method of determining the threshold value L _s, (c) is a diagram depicting the method for calculating the approximate straight line R _c, the skeleton image for (d) of the framework 11.

FIG. 5 shows an embodiment of a schematic flowchart of a deformation inspection procedure.

FIG. 6 is an external view showing an example of a pantograph used in a bullet train or the like.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Pantograph, 11 ... Frame, 11L ... Left frame, 11R ... Right frame, 12 ... Hull, 13 ... Insulator 2 ... Electric vehicle, simply vehicle, 3 ... Trolley line, 4 ... Inspection garage, simply garage, 41a, 41b ... inner walls on both sides, 5 ... boat detector, 51 ... light emitter, 52 ... light receiver, 6 ... frame imaging unit, 61 ... lighting board, 62 ... ITV camera, 7 ... data processing device, 71
… ITV control unit, 711… speed calculation circuit, 712… control signal generation circuit, 72… deformation inspection unit, 721… image processing unit, 722…
Memory 723: comparison / determination unit, K _L : detection light, D ₁ : interval between the hull detection unit and the frame imaging unit, D ₀ : length of the hull, V: vehicle approach speed, t ₀ : duration, t ₁ ... control timing, a to j
... each arm, R _c ... approximate line, a ₀ to j ₀ ... approximate line of each arm, p ₁ ~p ₈ ... each arm or intersection of the approximate line, theta ... arm or approximate line forming the intersection angle at the intersection.

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yasuo Takenaka 2-6-2 Otemachi, Chiyoda-ku, Tokyo Within Hitachi Electronics Engineering Co., Ltd. (72) Inventor Haruo Kanaya 1-1-1, Meieki, Nakamura-ku, Nagoya-shi, Aichi Prefecture No. 4 Tokai Passenger Railway Co., Ltd. (72) Katsuo Yamamoto 1-4-1 Meiji Station, Nakamura-ku, Nagoya City, Aichi Prefecture Tokai Passenger Railway Co., Ltd. (72) Inventor Minoru Niwa, Nakamura-ku, Nagoya City, Aichi Prefecture Station No. 1-4, Tokai Passenger Railway Co., Ltd. (56) References JP-A-60-177208 (JP, A) JP-A-62-115591 (JP, A) (58) Fields investigated (Int. . ^7, DB name) G01B 11/00 - 11/30

Claims (2)

(57) [Claims] 1. A hull detecting unit, which is disposed opposite to the inner walls on both sides of an inspection garage and comprises a projector and a photodetector for detecting a hull of a pantograph of an approaching vehicle, and as a background of the pantograph. Lighting board that emits white light,
And a frame image pickup unit composed of an ITV camera for picking up a silhouette of the pantograph frame irradiated with the white light, at an appropriate interval in the approach direction of the vehicle, and installed at an appropriate place in the garage. A data processing device including an ITV control unit, an image processing unit, a memory, and a comparison / determination unit; a detection signal of the hull detected by the hull detection unit is input to the ITV control unit; Calculating the moving speed of the hull from the continuation time, obtaining a control timing, outputting a control signal to the ITV camera, and transferring the captured image data of the silhouette of the framework to the image processing unit. Image processing, the effective length of each of the arms of the framework, and each of the two of each of the arms intersecting at each of the left and right intersections
Each intersection angle is calculated, and in the comparing section, the length of each arm of the normal framework recorded in the memory and each 2
A deformation inspection apparatus for a pantograph framework, wherein each of the intersection angles is compared with each other to determine the amount of deformation of the framework and inspect the quality. 2. After binarizing the image data of the silhouette of the framework transferred to the image processing unit by image processing,
The contours are traced to extract the contours of the respective arms, approximate straight lines of the respective contours are calculated by the least squares method, and respective straight line equations are created, and the coordinates of the intersections of the respective approximate straight lines are calculated by the respective straight line equations. 2. The method according to claim 1, further comprising calculating an effective length of each of the arms, and calculating each of the two intersection angles by using each of the straight line equations with respect to each of the three approximate straight lines intersecting at each of the left and right intersections. Pantograph framework deformation inspection device.