JP4056910B2 - Image processing inspection equipment for ground coil of magnetic levitation railway - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an image processing type inspection device for a ground coil of a magnetic levitation railway.
[0002]
[Prior art]
If the position of the ground coil of the magnetic levitation railway goes wrong from the normal position, it greatly affects the ride quality of the vehicle. Therefore, inspection of the position of the ground coil is indispensable.
[0003]
Conventionally, the ground coil position of a magnetically levitated railway has been measured by installing an electromagnetic or optical inspection device on a self-propelled vehicle dedicated to ground coil inspection. There is.
[0004]
FIG. 6 is a side view of such a conventional inspection vehicle.
[0005]
In this figure, 101 is an inspection vehicle, 102 is a driver's cab, 103 is a guideway deviation computing device, 104 is an engine room, 105 is a point detector, 106 is a traveling wheel, 107 is a guide wheel, and 108 is an electromagnetic inspection. A device or an optical inspection device, 110 is a guideway, and 111 is a ground coil. Although not shown here, it is necessary to provide a three-axis movement mechanism in order for the electromagnetic measurement device or the optical measurement device 108 to measure accurate position data.
[0006]
[Problems to be solved by the invention]
However, the conventional method described above has the following problems.
[0007]
(1) In the method using the electromagnetic inspection device, the position of the ground coil 111 using the voltage induced by the reaction magnetic field from the ground coil 111 of the magnetic field transmitted to the ground coil 111 from the inspection vehicle 101 side. To detect. However, in this method, when a magnetically levitated vehicle is run, the measurement device 108 is affected by the strong magnetic field when the ground coil 111 is energized, making accurate measurement impossible. It becomes impossible to carry out inspection by mounting the device 108.
[0008]
(2) In the method using an optical inspection device, since a laser displacement meter is used, when the surface of the ground coil 111 is wet due to rain or the like, it is accurately affected by the irregular reflection of light. Inspection is not possible.
[0009]
In view of the above situation, the present invention can be easily mounted on a magnetic levitation vehicle, and can be accurately measured without being affected by the magnetism and weather of the ground coil. An object is to provide an image processing type inspection apparatus for a coil.
[0010]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides
[1] In an image processing type inspection device for a ground coil of a magnetic levitation railway, a projector that is disposed on the inspection vehicle side and irradiates a measurement site of the ground coil, and is disposed on the inspection vehicle side, and the irradiation An imaging device that images the edge of the ground coil mounting recess of the guideway and the measurement site of the upper end of the ground coil, a coil center detection sensor that detects a center position in the traveling direction of the ground coil, An imaging device and a processing device connected to the coil center detection sensor, and of the imaging data by the imaging device, only the imaging data corresponding to the center position data in the traveling direction of the ground coil obtained by the coil center detection sensor Is extracted, and a deviation in the vertical position of the ground coil is measured by the processing device .
[0011]
[2] In the image processing type inspection device for the ground coil of the magnetic levitation railway,
(A) a projector that is arranged on the inspection vehicle side and that illuminates the measurement site of the ground coil;
(B) An imaging device that is disposed on the side of the inspection vehicle and images the irradiated measurement points of the ground coil mounting recess of the guideway, the upper end of the ground coil, and the left and right ends of the ground coil. When,
(C) a coil center detection sensor for detecting a center position in the traveling direction of the ground coil;
(D) a processing device connected to the imaging device and the coil center detection sensor;
[0012]
(E) in the imaging data by the imaging device, wherein the extracting only the imaging data corresponding to the traveling direction of the center position data of the ground coils obtained by the coil center detection sensor, the vertical position deviation of ground coils by the processing device Check
Characterized by gage the left and right positions enthusiasts have the ground coils with (f) imaging data of the left and right ends of the ground coils.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail.
[0014]
FIG. 1 is a schematic diagram of an image processing type inspection device for a ground coil of a magnetic levitation railway showing an embodiment of the present invention, and FIG. 2 is a measurement vehicle of the image processing type inspection device for the ground coil of the magnetic levitation railway. FIG. 3 is a schematic diagram showing the inside of the inspection vehicle showing an embodiment of the present invention.
[0015]
In these drawings, 1 is a test vehicle (may be a test vehicle or a business vehicle equipped with a test device), and 2 is a mounting portion of an image processing type test device for the ground coil of the test vehicle 1. 3 is a projector that is disposed on the side of the inspection vehicle 1 and irradiates the detection portion of the ground coil, and 4 is an imaging device that is fixed to the mounting portion 2 of the image processing type inspection device for the ground coil of the inspection vehicle 1 ( CCD camera) 5 is a coil center detection sensor for detecting the center position of the ground coil to be imaged in the traveling direction, 6 is a traveling wheel, 7 is a guide wheel, 11 is a guide way, 12 is a ground coil of the guide way 11 Mounting recess, 13 is the edge of the recess, 14 is a ground coil (for example, floating coil for L (levitation) type, floating coil + propulsion coil for PL (propulsion / levitation) type, PLG (propulsion / levitation / guide) type) Then, levitating coil + propulsion core Le + guidance coils)], 15 an upper end portion of the ground coils 14, 16 is a traveling path. Here, the ground coil image processing type inspection device is shown only on one side of the inspection vehicle, but actually it is desirable to arrange it on both sides of the inspection vehicle.
[0016]
Here, the coil center detection sensor 5 includes a laser receiving unit that detects reflection from the laser irradiation unit and the guideway 11 having the ground coil 14 of the laser. A gap is formed between adjacent ground coils 14, and the laser range distance is different between the location where the ground coil 14 is present and the location of the gap. Therefore, the gap position is detected, and the ground coil 14 is detected therefrom. The central position can be measured.
[0017]
Although the coil center detection sensor 5 is not shown, the projector 3 and the imaging device 4 may be arranged at intervals in the horizontal direction (advancing direction of the inspection vehicle) to detect the gap position based on the image. it can.
[0018]
As shown in these drawings, the ground-coil image processing type inspection device of the present invention has a projector 3, an imaging device (CCD camera) 4, a coil on both side surfaces (here, only one side is shown) of the inspection vehicle 1. A center detection sensor 5 is arranged.
[0019]
In addition, a laser gyro 21 and a travel path detector 22 are also provided as existing ones. Data from the image processing type inspection device of the present invention, travel path detection data, and the like are calculated by the arithmetic devices I, II (23, 24) Connected to the computer device 25 to perform data processing. A power supply device 26, a chart recorder 27, a laser printer 28, and the like are connected to the computer device 25. Reference numeral 29 denotes a laser reference device.
[0020]
Since it comprised in this way, the edge 13 of the recessed part 12 for ground coil attachment of the guideway 11 and the upper end part 15 of the ground coil 14 which are irradiation parts which the light projector 3 irradiates with a driving | running | working of the inspection vehicle 1 imaged. Images are taken by the device 4. In that case, if the image is simply captured, the amount of image data is extremely large. Therefore, the center position in the traveling direction of the ground coil 14 to be imaged is detected by the coil center detection sensor 5, and the center of the ground coil imaged by the imaging device 4 Only the position data is extracted, and the up-and-down position deviation of the ground coil 14 can be measured by the data processing device including the arithmetic devices I and II (23, 24) and the computer device 25.
[0021]
The deviation in the vertical position of the ground coil 14 is detected by determining the contrast of the image projected on the imaging device (CCD camera) 4 mounted on the inspection vehicle 1. That is, the luminance of the video signal output to the image pickup device (CCD camera) 4 is determined to identify and detect the position of the portion.
[0022]
In the above-described embodiment, the detection of the up / down position error of the ground coil has been described, but the detection of the position error in the left / right direction of the ground coil can also be performed as follows.
[0023]
FIG. 4 is a schematic diagram of a ground coil image processing type inspection device for a magnetically levitated railway according to another embodiment of the present invention, which detects a misalignment in the horizontal direction of the ground coil.
[0024]
In this figure, 31 is a guideway, 32 is a ground coil disposed on the guideway 31 [for example, a levitation coil in the L (levitation) type, a levitation coil + propulsion coil in the PL (propulsion / levitation) type, and a PLG (propulsion In the levitation / guide) type, a levitation coil + propulsion coil + guide coil)], 33 is fixed to the inspection vehicle, and the light emitter illuminates the left and right direction of the ground coil 32, and 34 is a ground coil of the inspection vehicle (not shown). It is an imaging device (CCD camera) fixed to a mounting portion of an image processing type inspection device.
[0025]
Since it comprised in this way, the position shift of the horizontal direction of a ground coil can be detected by imaging the left and right ends of the ground coil 32 using the imaging device (CCD camera) 34.
[0026]
FIG. 5 shows a case where both an up-and-down position error of the ground coil and a right-and-left position error of the ground coil are detected by the image processing type inspection device for the ground coil of the magnetic levitation railway according to the embodiment of the present invention. It is explanatory drawing of these, It is a schematic diagram which shows the scanning direction.
[0027]
As shown in FIG. 5, the guideway 41 has ground coils 42 and 43 having grooves 44, which are arranged in parallel on the left and right, and are vertically moved by an imaging device (CCD camera) of the CCD visual field 45. By scanning, it is possible to perform processing in the vertical direction of the ground coils 42 and 43, and to detect the top and bottom (high / low deviation) of the ground coil.
[0028]
Also, the left and right of the ground coil can be detected by scanning in the left and right direction by scanning in the left and right direction with the imaging device (CCD camera) of the CCD visual field 46.
[0029]
Incidentally, as an imaging device (CCD camera), for example, a pixel number of 1024 pixels, a scan rate of 18000 times / second, and a resolution of 0.1 mm are used.
[0030]
In addition, the inspection vehicle in the present invention may be an inspection-dedicated vehicle that performs inspection at 60 km / h, or a commercial vehicle that performs inspection at 500 km / h.
[0031]
In addition, this invention is not limited to the said Example, A various deformation | transformation is possible based on the meaning of this invention, and they are not excluded from the scope of the present invention.
[0032]
【The invention's effect】
As described above in detail, according to the present invention, the following effects can be obtained.
[0033]
(A) It can be easily mounted on a magnetically levitated vehicle, and it is possible to accurately detect the misalignment of the ground coil without being affected by the magnetism of the ground coil or the weather.
[0034]
(B) The position of the ground coil can be measured at an ultra-high speed of 500 km / h, and the measurement can be performed even in bad weather such as rainy weather.
[0035]
(C) The configuration can be simplified as compared with a method having an electromagnetic / photodetector having a three-axis moving mechanism that has been conventionally required.
[Brief description of the drawings]
FIG. 1 is a schematic diagram of an image processing type inspection device for a ground coil of a magnetic levitation railway showing an embodiment of the present invention.
FIG. 2 is a schematic diagram showing an arrangement on the inspection vehicle side of the image processing type inspection device for the ground coil of the magnetic levitation railway showing the embodiment of the present invention.
FIG. 3 is a schematic diagram showing the inside of the inspection vehicle showing the embodiment of the present invention.
FIG. 4 is a schematic view of an image processing type inspection device for a ground coil of a magnetic levitation railway showing another embodiment of the present invention.
FIG. 5 is configured to detect both an up-and-down position error of the ground coil and a left-right position error of the ground coil by the image processing type inspection device for the ground coil of the magnetic levitation railway according to the embodiment of the present invention. It is explanatory drawing in the case.
FIG. 6 is a side view showing a conventional inspection vehicle.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Inspection vehicle 2 Mounting part of image processing type inspection device of ground coil of inspection vehicle 3,33 Projector which irradiates the measurement part of ground coil 4,34 Imaging device (CCD camera)
DESCRIPTION OF SYMBOLS 5 Coil center detection sensor 6 Traveling wheel 7 Guide wheel 11, 31, 41 Guide way 12 Ground coil mounting recessed part 13 Edge of recessed part 14, 32, 42, 43 Ground coil 15 Upper end part of ground coil 16 Traveling path 21 Laser gyro 22 Traveling path detector 23, 24 Arithmetic unit I, II
25 Computer device 26 Power supply device 27 Chart recorder 28 Laser printer 29 Laser reference device 44 Groove 45 CCD field of view (vertical direction)
46 CCD field of view (left-right direction)

Claims (2)

(A) a projector that is arranged on the inspection vehicle side and that illuminates the measurement site of the ground coil;
(B) an imaging device that is disposed on the side of the inspection vehicle and that images the measurement site of the irradiated ground coil mounting recess of the guideway and the upper end of the ground coil, which is irradiated;
(C) a coil center detection sensor for detecting a center position in the traveling direction of the ground coil;
(D) a processing device connected to the imaging device and the coil center detection sensor;
(E) Only imaging data corresponding to the center position data in the traveling direction of the ground coil obtained by the coil center detection sensor is extracted from the imaging data obtained by the imaging device, and the ground position deviation of the ground coil is detected by the processing device. An image processing type inspection device for a ground coil of a magnetic levitation railway characterized by performing inspection. (A) a projector that is arranged on the inspection vehicle side and that illuminates the measurement site of the ground coil;
(B) An imaging device that is disposed on the side of the inspection vehicle and images the irradiated measurement points of the ground coil mounting recess of the guideway, the upper end of the ground coil, and the left and right ends of the ground coil. When,
(C) a coil center detection sensor for detecting a center position in the traveling direction of the ground coil;
(D) a processing device connected to the imaging device and the coil center detection sensor;
(E) in the imaging data by the imaging device, wherein the extracting only the imaging data corresponding to the traveling direction of the center position data of the ground coils obtained by the coil center detection sensor, the vertical position deviation of ground coils by the processing device Check
(F) an image processing type detector device of the maglev ground coil using the imaging data of the left and right ends of the ground coils, characterized in that gage the left and right positions enthusiasts have the ground coils.

Images