JP4216784B2 - Pantograph sliding plate inspection device - Google Patents

Description

  The present invention relates to a pantograph slip plate inspection apparatus for inspecting the wear amount and the like of a pantograph slide plate mounted on a roof of an electric vehicle.

  In the prior art pantast plate inspection apparatus, as described in Patent Document 1, the depth and width of the recesses are equal to or greater than a predetermined value with respect to the recesses having a predetermined change in the lateral thickness with respect to the lateral direction. In the case of, it was determined as a defect.

JP 2000-180128 A

  In the method of Patent Document 1, when the side surface side of the sliding plate, called roughening, is worn and the upper surface of the sliding plate is hardly worn, the edge of the portion is measured to determine the thickness of the sliding plate. The amount is judged as the wear amount of the sliding plate. Therefore, the purpose is to find the normal wear state of the wear plate, which is continuously worn in the width direction of the slide plate on the upper surface of the slide plate. It will be different from the thickness (wear amount).

  Accordingly, an object of the present invention is to provide a thickness of the desired slidable plate that is worn continuously on the side surface of the slidable plate and is worn on the side of the slidable plate. I was able to judge it as devastation. Accordingly, there is provided a pantograph slip plate inspection device that distinguishes and detects the thickness and roughness of the scrap plate that is originally worn continuously in the width direction of the slide plate.

  In order to achieve the above object, in the present invention, smoothing processing is performed using a lateral filter on the image so that only the side surface of the sliding plate is worn and the edge of the sliding plate that is not worn is not detected. Then, the thickness of the originally desired scraper that is continuously worn in the width direction of the scraper is determined, and then the brightness of the upper and lower edges of the scraper detected in the original image is measured. If it is within a predetermined value, it is determined that it is damaged.

  It is possible to obtain the thickness of the originally desired scraper that is continuously worn in the width direction of the scraper and to detect the damage.

  Embodiments will be described below with reference to the drawings.

  FIG. 1 is an overall configuration diagram of a pantograph slip plate inspection apparatus.

  As shown in FIG. 1, a pantograph sliding plate 4 is provided with a beam 17 provided in parallel with the beam 17 and a beam 17 provided so as to straddle the track 15 on a support column 16 provided in parallel with the track so as to be imaged obliquely from above. is there. The beam 17 is provided with a plurality of cameras 2 and flash illumination 10 (sometimes referred to as strobe illumination). Further, an arm 19 is extended from the column 16 or the beam 17 in the vehicle approaching direction or the exiting direction, and the pantograph detection sensor 5 and the flash illumination 20 for illuminating the upper part of the pantograph (the surface of the sliding plate) are provided on the arm 19 part. is there. In addition, a plurality of lighting devices (halogen lamps 11) for monitoring the state of equipment on the roof other than the pantograph are installed on the beam 18 so as to sandwich the track. Also, the rooftop equipment monitoring camera 3 is provided toward both ends of the entrance side beam 17 and the center of the exit side beam toward the inside of the beam 17. In addition, each apparatus in the figure has a symbol on the front side and symbol b on the rear side.

  When the vehicle detection sensor 6 for detecting the entry of the vehicle 25 is operated, the inspection apparatus (not shown) is turned on. After that, when the pantograph detection sensor 5 detects the pantograph 4, the vehicle approach direction on the beam 17 is changed. The flash illumination 20a that is attached to the flash illumination 10a and the pantograph detection sensor 5 and illuminates the upper part of the pantograph is turned on, and at the same time, the camera 2a in the vehicle entry direction photographs the vicinity of the pantograph sliding plate. At the same time, the halogen lamp 11 for monitoring equipment on the roof is turned on. The on-roof equipment monitoring camera 3 starts operating. Thereafter, when the pantograph detection sensor 5 in the vehicle exit direction detects passage of the pantograph, the flash illumination 10b in the vehicle exit direction and the flash illumination 20b attached to the pantograph detection sensor 5 are turned on, and at the same time, the camera 2b in the vehicle exit direction is pantographed. Take a picture near the sliding board. A receiver 9 for receiving vehicle information such as a train organization number is provided on the ground side of the vehicle, and a transmitter 8 for transmitting vehicle information such as a train organization number is provided at the head of the vehicle.

  FIG. 2 shows an outline of the control system configuration of each device in FIG. As shown in the figure, in this system, when divided roughly, it receives information from the panta-slip plate measuring device 35, the rooftop device imaging device 45, and the two devices, determines the thickness of the slideboard, and determines the state of the rooftop device. The information processing apparatus 50 stores an image to be monitored.

  As described above, the pantograph measuring device 35 mainly includes a plurality of sliding plate photographing cameras 2 for photographing a pantograph's sliding plate part, and light is mainly applied to the pantograph at a predetermined timing. A plurality of flash illuminations 10 and a slide plate upper surface illumination flash illumination 20 that illuminate the side surface, a pantograph detection sensor 5 that detects the passage of a pantograph at a predetermined position, the camera for photographing the slide plate 2 and the flash illumination 10 are controlled. For this purpose, it comprises a control unit 30 for measuring the thickness of the pantast plate. In addition to this, the control unit 30 for measuring the thickness of the pantast board receives signals from the receiver 9 for receiving the vehicle information such as the signals of the vehicle detection sensors 6 and 7 and the train formation number. Yes.

  The rooftop device imaging device 45 includes a plurality of rooftop device photographing cameras 3 for rooftop device photographing, and a rooftop device monitoring illumination 11 including a plurality of halogen lamps 11 for illuminating the rooftop. It consists of a rooftop monitoring control device 40. In addition, the panter detection sensor 5, the vehicle detection sensors 6 and 7, and the receiver 9 for receiving vehicle information such as the train organization number, which are used in the previous pantast plate measuring device 35, are shared. It is connected to the roof monitoring and control device 40 by a signal cable or the like. In addition, the pantast board measuring device 35 and the on-roof equipment imaging device 45 are connected to the information processing device 50 by an optical cable.

  The information processing device 50 manages data from the pantast board measuring device 35 and the rooftop device imaging device 45, notifies the monitor, and creates a form or the like. Note that the information processing apparatus 50 may acquire the amount of wear by acquiring image information captured by the camera 2 of the pantograph board measuring apparatus 35. The information processing apparatus 50 issues an alarm to prompt the replacement of the sliding board when it detects a sliding board that has caused abnormal wear from the amount of wear obtained by the panta-slip board measuring apparatus 35, or replaces the sliding board from the worn state. Is provided, and a function for notifying the monitoring person is provided. Further, the information processing apparatus 50 has a function of storing the image signal from the rooftop apparatus imaging apparatus 45 by adding the vehicle organization number and the imaging date and time. The supervisor also has a function that can monitor the state of the rooftop equipment in a moving image state.

  Next, details of the operation of each device will be described.

  First, in the pantast plate measuring device 35, when the vehicle detection sensor 6 first detects the entry of the vehicle 25 to the measurement position, the pantograph detection sensor 5 starts detecting the presence or absence of the pantograph 4, and the camera 2 for shooting the platen is also used. At the same time, the camera is ready for shooting. When the pantograph detection sensor 5 on the vehicle entry side detects the pantograph 4, the flash illumination 10a in the vehicle entry direction and the flash illumination 20a for irradiating the pantograph upper part of the pantograph are emitted, and at the same time, a plurality of sliding plate photographing cameras in the vehicle entry direction. 2a takes a picture of the pantograph near the sliding plate. Then, the captured image data is taken into the memory of the control unit 30 for measuring the thickness of the pantast board. The captured image data is subjected to image processing by the control unit 30 for measuring the thickness of the pantast board. Thereafter, when the pantograph detection sensor 5 on the vehicle exit side detects the pantograph 4, the flash illumination 10b in the vehicle exit direction and the flash illumination 20b for illuminating the top surface of the slide plate emit light, and at the same time, a plurality of camera 2b for photographing the slide plates in the vehicle exit direction. The vicinity of the pantograph slip plate is photographed, and the photographed image is taken into a memory in the control unit 30 for pantograph plate thickness measurement. Then, image processing is performed by the control unit 30 for measuring the thickness of the pantast board as in the vehicle entry side.

  In image processing, recognition processing is performed twice. The first time, the position of the boundary line (slip plate edge) between the top surface of the pantograph and the side surface of the slide plate is roughly detected in the captured image. In the second recognition process, the luminance feature component in the vicinity of the boundary position between the top surface of the sliding plate and the side surface of the sliding plate, which is roughly detected by the first recognition processing, is obtained with high accuracy, and the boundary position between the top surface of the sliding plate and the side surface of the sliding plate is obtained. To detect. By this processing, the entire screen is not measured, and only the desired boundary position can be measured with high accuracy and high speed.

  This image processing procedure is shown in the flowchart of FIG.

  In the mosaic process (step 151), images taken by a plurality of cameras are superimposed to create a single image. The overlapping position of the images is performed by matching the characteristic shape portions in each captured image. At this time, the distortion of the image generated at the time of shooting may be corrected.

  In the coarse positioning process (step 152), first, a binarization process is performed to detect an object that is a part of a pantograph having a luminance value higher than an arbitrary threshold value, and a location that is a feature amount of the object is detected. The threshold value may be stored in advance in the memory of the control unit 30 for measuring the thickness of the pantograph plate, or may be automatically set based on deviation information of the average luminance and luminance of the photographed image.

  In the present invention, the brightness difference between the top surface of the sliding plate and the side surface of the sliding plate is set to be large by adjusting the illuminance and the irradiation angle of the flash lights 10 and 20 in advance. Further, the aperture of the camera lens is adjusted so that the upper surface of the pantograph has a bright upper surface, a slightly dark side surface, and a dark background. Accordingly, by setting an arbitrary threshold value between the luminance values of the upper surface of the sliding plate and the side surface of the sliding plate, only the binarized object on the upper surface of the sliding plate can be measured. The bottom side of the object is a boundary position between the upper surface of the sliding plate and the side surface of the sliding plate, and roughly shows an edge portion of the detected sliding plate. In the binarization process, since measurement is performed in units of pixels, the detection accuracy varies by several pixels.

  Moreover, in the detection of the target object by binarization, the influence of noise may be large. Therefore, when several objects are detected at the same time, the area, length, and size in the width direction are checked. As a result, if it is different from the planned size, it is determined as noise and it is determined to be other than the pantograph. Further, when there is a variation in brightness and unevenness is generated in the binarized image, the concave portion is filled and the convex portion is deleted.

  Alternatively, the position of the auxiliary ground plate may be detected by pattern matching to obtain the boundary position between the top surface of the ground plate and the side surface of the ground plate.

  In the leveling process (step 153), the boundary position between the top surface of the left and right auxiliary slide plates and the side surface of the auxiliary slide plate of the pantograph is measured, the pantograph inclination is calculated from the measured left and right results of the pantograph, and the pantograph auxiliary slide plate with respect to the field of view. Rotate the captured image so that becomes horizontal. The rotational interpolation of the captured image can be measured with high accuracy by making the measurement object horizontal and vertical with respect to the pixels of the grid.

  In the edge detection process (step 154), the position where the luminance value changes most rapidly than the luminance difference between the upper surface of the sliding plate and the side surface of the sliding plate is measured as the boundary (slip plate edge) position. In the coarse positioning process (the first recognition process), the boundary position between the top surface of the ground plate and the side surface of the ground plate is roughly measured, and a measurement region for measuring the boundary position is set along the main measurement data. Then, the boundary position between the upper surface of the sliding plate and the side surface of the sliding plate is detected with high accuracy within the set measurement region.

  When the measurement area deviates from the boundary position between the upper surface and the side surface of the sliding plate, the measurement result of the adjacent pixel is diverted and automatically adjusted so that the measurement area center is located at the measurement result position. This makes it possible to set the measurement area small, and the center of the measurement area is always located at the boundary position between the upper surface of the sliding plate and the side surface of the sliding plate, and image data other than the boundary position between the upper surface of the sliding plate and the side surface of the sliding plate is stored. It becomes possible to eliminate. Accordingly, it is possible to prevent erroneous detection of side scratches and dirt as a boundary position between the upper surface of the sliding plate and the side surface of the sliding plate.

  As described above, the position of the boundary (slip plate edge) between the top surface of the slide plate and the side surface of the slide plate is detected. FIG. 4 shows the boundary between the top surface and the side surface of the sliding plate so that the black portion is the side surface of the sliding plate and the white portion shows the top surface of the sliding plate. As shown in FIG. 4, there is a case where a portion called roughness 101 occurs near this boundary. This rough damage 101 is one in which only the side surface of the sliding plate is worn and the upper surface of the sliding plate is hardly worn. In this case, if the edge of the roughened portion is measured to obtain the thickness of the ground plate, it differs from the thickness of the ground plate of the worn portion 100 that is continuously worn in the width direction of the top surface of the ground plate. . Therefore, before performing the edge detection processing, smoothing processing is performed using a horizontal filter to suppress a sudden change in luminance of the damaged portion so that the damaged portion is not detected as an edge. That is, since the brightness difference is smaller in the damaged portion than in the original edge portion, it is determined that the brightness is damaged when the brightness difference is equal to or less than a predetermined value.

  If there is a damaged part on the slidable plate, the overhead wire gets caught, and only that part is worn, leading to abnormal wear such as stepped wear, so it must be found early.

  Therefore, the damage detection process (step 155) is performed. As a method of detecting the roughness, there is a luminance difference between the upper and lower portions of the normal edge portion when detected by the edge detection process described above, but the luminance difference is small between the upper and lower portions of the edge portion of the damaged portion. Focused on that. In the roughness detection process, using the image before the smoothing process in the edge detection process, the brightness value of the upper part and the lower brightness value of the boundary position between the upper and lower sides of the sliding board measured by the edge detection process are obtained. If the luminance difference is less than or equal to a predetermined value and the state continues for a predetermined number of times, it is determined that the image is damaged, and the position is displayed on the screen and added to the data transmitted to the information processing device 50. did.

  Next, detection processing of the wear amount of the sliding plate (step 156) is performed. In the calculation of the wear amount of the sliding plate, the pixel position is converted into mm data by multiplying the detected boundary position data (pixel data) between the upper surface of the sliding plate and the side surface of the sliding plate by camera resolution in consideration of camera distortion and aberration.

  In many pantographs, the auxiliary scraper is made of a stainless steel material and is not affected by surface scraping. Therefore, the upper surface of the auxiliary sliding plate is set as the reference height, and the wear amount from the auxiliary sliding plate portion is detected as the wear amount of the sliding plate. Alternatively, the edge position of the bottom surface of the sliding plate may be measured, and the wear amount of the sliding plate when the bottom surface of the sliding plate is set as a reference height may be calculated.

  The detected wear amount of the sliding plate is transmitted to the information processing device 50 connected by the optical cable together with the vehicle formation number separately taken in by the control unit 30 for measuring the thickness of the pantast plate and is provided in the information processing device 50. Stored in the storage unit. Further, the information processing apparatus 50 obtains a change in the wear state of the slide plate using the measured thickness value and measurement date / time data of the slide plate of the same vehicle composition number previously measured and recorded, and the date and time that becomes the wear amount to be replaced. And the result can be notified. Further, the measured wear amount of the sliding plate is close to the wear amount value at which the sliding plate is to be replaced as the first reference value (caution reference value), and the worn amount to be replaced is the second reference value (warning standard). Value). When the measured value exceeds these reference values, the respective states are notified. That is, a warning alarm is issued when the value is between the first reference value and the second reference value, and a warning alarm is issued when the second reference value is exceeded. Further, when the sliding plate is abnormally worn or damaged, an alarm is immediately issued.

  Also, check that the measured data is correct. For example, in the same punter of the same knitting, the wear amount measured this time is estimated on the basis of data such as the measurement date and time and the wear amount at that time of the data measured and stored earlier, and the short period of time If the amount of wear increases, the possibility of measurement errors is high, and a warning to that effect is issued to the supervisor, and re-recognition is executed. Conversely, even when the wear amount of the sliding plate does not decrease for a long period of time, a warning can be issued to the supervisor and re-recognition can be executed.

  When a measurement error is determined as described above, a manual intervention system is provided to select and measure the boundary position between the upper and side surfaces of the sliding plate and the reference position from the image by the monitor, and to correct the error. It may be modified so that highly accurate measurement can be performed.

  In the above description, the pantast plate measuring device 35 has an image processing function and a function for obtaining the wear amount, and the information processing device 50 detects abnormal wear, notifies the supervisor, and past data. By providing such a record storage function, the load on the pantast plate measuring device 35 is reduced to speed up the processing.

  As in the present invention, by detecting a rough portion as a rough portion, it is possible to accurately grasp a wear portion generated by contact with a normal overhead wire and detect an accurate wear amount. In addition, it has become possible to predict the occurrence of abnormal wear in advance by notifying the supervisor of the occurrence of the damaged portion.

It is a figure which shows the arrangement | positioning of the camera and illumination for a pantograph and equipment on a roof. It is a block diagram of the roof top equipment inspection system of the present invention. It is the figure which showed the flow which calculates | requires a panta-slip board thickness. It is the figure which showed the rough outline and wear.

Explanation of symbols

2 ... pantograph imaging camera, 3 ... roof equipment monitoring camera, 4 ... pantograph, 5 ... panta detection sensor, 6, 7 ... vehicle detection sensor, 10 ... flash illumination, 20 ... flash illumination for the top surface of the sliding plate.

Claims (3)

An electric vehicle pantograph slip plate is imaged by a camera, and a panta-slip plate thickness measurement control unit that obtains a wear state of the slide plate by performing image processing on the captured image, and notification means for notifying a monitor of the result. In the pantograph sliding plate inspection device provided,
Illumination and imaging camera arranged so that the luminance difference between the upper surface and the side surface of a normal sliding plate without roughness is a predetermined value or more toward the sliding plate,
Among the images obtained by the imaging camera, the brightness of each of the image obtained at the top of the edge, which is the boundary between the top surface of the slide plate and the side surface of the slide plate, and the image obtained at the bottom of the edge are measured, and the brightness A damage determination unit that determines that the difference is less than or equal to a predetermined value ,
A slip plate wear amount calculation unit for calculating the wear amount of the slide plate is provided based on the edge detection position excluding the portion determined to be rough damage with the auxiliary slide plate upper surface or the slide plate lower surface as a reference height. A pantograph sliding plate inspection device. In the pantograph slip board inspection device according to claim 1,
An apparatus for inspecting a pantograph slip plate, wherein when occurrence of the rough damage is detected, the occurrence of the rough damage and the wear amount are distinguished and notified to a monitor. In contact strip inspection apparatus according to claim 1 or 2 Neu not Re or pantographs, the pantograph contact strip thickness measurement control unit, a value close to the value wear amount in advance sliding plate exchanging contact strip first 1 reference value and a value to be exchanged are stored as a second reference value, the measured value is compared with the first and second reference values, and the measured value is between the first reference value and the second reference value. An apparatus for inspecting a pantograph slipboard, characterized in that a warning alarm is issued in some cases, and a replacement alarm is issued if a second reference value is exceeded.

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