JP4635657B2 - Trolley wire wear measuring device by image processing - Google Patents

Description

  The present invention relates to trolley wire wear measurement by image processing, and more particularly to a measuring device for measuring the width of a worn portion of a trolley wire.

  The trolley wire for supplying electric power to the electric railway vehicle comes into contact with the current collector every time the vehicle passes. For this reason, the trolley wire gradually wears while the electric railway vehicle is operated, and if the worn trolley wire is not replaced, the trolley wire is eventually broken to cause an accident. Therefore, the trolley wire has a wear limit, and the trolley wire is replaced based on the wear limit to ensure the safety of the electric railway vehicle.

  The trolley wire wear can be measured by directly measuring the thickness of the trolley wire, measuring the width of the trolley wire wear (hereinafter referred to as the trolley wire wear width), and converting the trolley wire thickness from that width. It is roughly divided into two methods.

  As a method of directly measuring the thickness of the trolley wire, there is a method of measuring the thickness of the trolley wire using a ruler such as a caliper. This method can surely determine the thickness of the trolley wire of the part that the operator wants to measure. On the other hand, measurement is laborious and cannot be automated, so it is difficult to measure a long distance section.

  Another method for directly measuring the thickness of the trolley wire is to use an optical sensor. This consists of a laser beam irradiation device for irradiating a laser beam attached to the upper and lower rotation rollers and a laser beam for receiving the irradiated laser beam and measuring the amount of the received light. The amount of laser light received by a portion of the trolley wire sandwiched between the measuring devices is measured by a measuring device comprising a light receiving device, and the thickness of the trolley wire is converted from the amount of received light.

  This method can continuously measure the thickness of the trolley wire, but the measurement device and the trolley wire are in contact with each other, so it is necessary to measure at a low speed, and the measurement device sandwiches the trolley wire. Therefore, it is impossible to use the existing structure such as point, air section, anchor, etc. where the measuring device collides with the measuring device and the existing structure where these existing structures exist. It is necessary to temporarily separate the measuring device from the position where the measurement is performed so that it does not collide with an object.

  As a method of measuring the trolley wire wear part width, there is a method of measuring the trolley wire wear part width by irradiating a sodium lamp or laser light, and this method is disclosed in Non-Patent Document 1 below.

Sodium lamp type trolley wire wear measuring device http://www.rtri.or.jp/rd/sales/index.html

  This is because the cross section of the trolley wire has a round gourd shape, and the width of the shaved portion becomes wider as the round portion of the lower portion of the trolley wire is flattened due to wear. The thickness of the trolley wire is converted. The method for measuring the width of the worn portion of the trolley wire is to precisely position the light receiving portion with the line sensor so that the reflected light of the light irradiated from a light source such as a sodium lamp or laser light is received by regular reflection on the worn portion of the trolley wire. The trolley wire wear portion is whitened out by imaging strong light due to regular reflection, and the trolley wire wear portion width is obtained from the width of the white out portion that has received the strong light. This method is non-contact and can be operated at high speed.

  However, it is easily affected by noise such as clamps sandwiching the trolley wire and existing structures reflected in the background, and if an incorrect measurement result is obtained due to some noise, the measurement image is not recorded and confirmed In the end, it is necessary to confirm the portion where there is a problem as trolley wire wear by using a method of directly measuring the thickness of the trolley wire. In addition, it is necessary to precisely adjust the positions of the light source and the light receiving device so as to receive specularly reflected light.

  Trolley wire wear can be measured by directly measuring the thickness of the trolley wire using a ruler such as a caliper, directly measuring the thickness of the trolley wire using an optical sensor, and setting the width of the trolley wire wear portion to a sodium lamp. There is a method of measuring the thickness of the trolley wire from the wear width measured by irradiating with a laser beam, but these have the following problems.

  First, in the case of the method of directly measuring the thickness of the trolley wire using a ruler such as a caliper, since the operator performs the measurement manually, the measurement is troublesome and cannot be automated. It is difficult to measure in a short period.

  Second, in the case of the method of directly measuring the thickness of the trolley wire using an optical sensor, the rotating roller and the trolley wire are in contact with each other, so that existing structures such as points, air sections, and anchors that collide with the sensor are used. Therefore, it is impossible to use in a portion where the existing structure exists, and it is necessary to move the device away from the measurement position so that the existing structure does not collide.

  Thirdly, in the method of measuring the trolley wire wear part width by irradiating a sodium lamp or laser light and converting the thickness of the trolley wire from the wear width, first, special illumination light such as a sodium lamp or laser light is prepared. In particular, when laser light is used, it is necessary to consider the influence on the human body, so care must be taken in handling.

Next, it is easily affected by noise such as a clamp sandwiching the trolley wire or a structure reflected in the background, and eventually it takes time to confirm using a method of directly measuring the thickness of the trolley wire. In addition, it is necessary to precisely adjust the positions of the light source and the light receiving device so as to receive specularly reflected light.
An object of the present invention is to provide an apparatus for measuring a worn state of a trolley wire by image processing capable of accurately measuring the width of a worn portion of the trolley wire and improving work efficiency.

A trolley wire wear measuring device by image processing according to a first invention (corresponding to claim 1) that solves the above-mentioned problems is provided.
Line sensor image creating means for creating a line sensor image using a line sensor;
Binarization processing means to binarize the line sensor image by emphasizing the trolley wire wear part by performing binarization processing on the line sensor image ;
Noise removal processing means for removing noise from the binarized line sensor image;
Edge detection processing means for detecting the edge of the trolley wire wear part from the binarized line sensor image after noise removal and using it as edge data;
A trolley wire wear portion width calculation processing means for calculating a trolley wire wear portion width based on the trolley wire height data, which is trolley wire height data when the edge data and the line sensor are used as a reference;
Have
In the trolley wire wear part width calculation processing means,
Using one edge point on the calculation target line as a reference edge point, an approximate straight line of the edge point within the range set in the vicinity of the reference edge point is obtained,
A vertical straight line that is perpendicular to the approximate straight line and passes through the reference edge point is obtained,
An intersection of the vertical straight line and the edge that forms a pair with the reference edge point is detected as an edge intersection, and the distance between the reference edge point and the edge intersection is a trolley wire wear portion at the reference edge point A process for obtaining the width is added .

The above second solving the problem of the invention the trolley wire wear measuring device by image processing according to (corresponding to claim 2),
Line sensor image creating means for creating a line sensor image using a line sensor;
Binarization processing means to binarize the line sensor image by emphasizing the trolley wire wear part by performing binarization processing on the line sensor image;
Noise removal processing means for removing noise from the binarized line sensor image;
Edge detection processing means for detecting the edge of the trolley wire wear part from the binarized line sensor image after noise removal and using it as edge data;
A trolley wire wear portion width calculation processing means for calculating a trolley wire wear portion width based on the trolley wire height data, which is trolley wire height data when the edge data and the line sensor are used as a reference;
Have
In the trolley wire wear part width calculation processing means,
Two edge points on the measurement target line are set as reference edge points, respectively, and approximate lines of edge points within a range set in the vicinity of the two reference edge points are obtained. Find the sum of the errors with the edge points in the range
Obtain a vertical straight line that is perpendicular to the approximate straight line of the reference edge point with the smaller sum of errors and that passes through the reference edge point being measured,
An intersection of the vertical straight line and an edge that forms a pair with an edge having a reference edge point is detected as an edge intersection. It is characterized in that a process for obtaining the trolley wire wear part width at the reference edge point having the smaller sum is added.

The trolley wire wear state measuring apparatus using image processing according to the first and second inventions has the following effects.
First, since it is a measurement method in which the measuring device and the trolley wire are not in direct contact, high-speed operation is possible and a long distance can be measured in a short time.

  Second, because of the structure of the measuring device, a sensor is installed at a position away from existing structures such as points, air sections, anchors, etc., so that the thickness of the trolley wire is directly measured using a rotating roller and an optical sensor. In comparison, it is not necessary to consider a collision with an existing structure, and measurement can be performed even in a place where the existing structure exists.

Third, line sensor images can be captured in all sections, and image data of a trolley line in the measurement section and existing structures in the vicinity thereof can be acquired.
Fourth, it is not necessary to use special illumination such as a sodium lamp as the light source.
Fifth, it is not necessary to consider adverse effects on the human body as compared with the method using laser light, and handling is easy.

Sixth, since it is not necessary to receive the reflected light of the light irradiated to the worn portion of the trolley wire by regular reflection, there is no trouble of performing precise alignment between the light source and the light receiving device.
Seventh, since the image data in the measurement section remains, for the portion having a problem as the trolley wire wear portion, the problematic portion can be confirmed by looking at the image of the portion.

According to the wear state measuring device of the trolley wire by image processing according to the first invention, when the trolley wire is inclined with respect to the traveling direction of the inspection vehicle also to correct the inclination, more accurate contact wire The width of the worn part can be obtained.

According to the wear state measuring device of the trolley wire by image processing according to a second invention, to correct the inclination in a case where the trolley wire is inclined to the traveling direction of inspection vehicles, more accurate trolley wire wear The width of the trolley wire can be determined, and further, a more accurate trolley wire wear portion width can be obtained by dealing with the case where one of the trolley wire wear portions is cut into a flat shape such as a jagged or wavy shape.

  Hereinafter, an example of a trolley wire wear measuring apparatus using image processing according to an embodiment of the present invention will be described with reference to FIGS. 1 is a schematic diagram of an apparatus configuration according to an embodiment of the present invention, FIG. 2 is a diagram of a binarized line sensor image according to an embodiment of the present invention, and FIG. 3 is a diagram of edge detection according to the embodiment of the present invention. 4 is a flowchart according to the first embodiment, FIG. 5 is a schematic diagram of a device configuration according to the first embodiment, FIG. 6 is a schematic diagram of a device configuration according to the second embodiment, and FIG. 7 is a schematic diagram of a device configuration according to the third embodiment. FIG. 8 is a diagram of inclination correction of the trolley line according to the second embodiment, FIG. 9 is a diagram of inclination correction of the trolley line according to the third embodiment, and FIG. 10 is the height of the upper position of the pantograph according to the embodiment of the present invention. FIG. 11 is a schematic diagram of an apparatus configuration for measuring the height of the upper position of the pantograph according to the embodiment of the present invention.

  As shown in FIG. 1, there are a line sensor 11, a line sensor 12, an illumination 13, and a pantograph 14 on the roof of the inspection vehicle 10. In the apparatus according to the present embodiment, the line sensor 11 is used as an image acquisition unit, and an ordinary white light source is used for the illumination 13.

  The line sensor 11 is installed vertically upward on the roof of the inspection vehicle so that the scanning line direction 18 of the line sensor 11 is the same as the sleeper direction, and the scanning line of the line sensor 11 crosses the trolley line 16. To do. Further, the line sensor 12 is installed obliquely upward on the roof of the inspection vehicle so that the scanning line direction 19 of the line sensor 12 is the same as the vehicle vertical direction, and the scanning line of the line sensor 12 displays the pantograph 14. Try to cross. The apparatus configuration shown in FIG. 5 will be described below.

  As shown in FIG. 5, an image signal F50 of a scanning line obtained by photographing with the line sensor 11 is sent to the line sensor image creation unit 50. The line sensor image creation unit 50 arranges the scanning line image signals F50 in time series to create a line sensor image F51 and stores it in the memory 51. Further, the image signal F50 of the scanning line can be considered as a line. The line sensor image F50 stored in the memory 51 is stored in the memory 52 via the transmission line 57.

The binarization processing unit 53 performs binarization processing on the line sensor image F51 stored in the memory 52, and stores the binarized line sensor image F52 obtained thereby in the memory 52.
The noise removal processing unit 54 performs noise removal processing on the line sensor image F52 stored in the memory 52, and stores the binarized line sensor image F53 obtained by the noise removal processing in the memory 52.

  The trolley wire wear part edge detection processing unit 55 performs trolley line wear part edge detection processing on the noise-removed binarized line sensor image F 53 stored in the memory 52, and the edge data F 54 obtained thereby is stored in the memory 52. save.

  In the trolley wire wear part width calculation processing unit 56, the edge data F54 and the trolley line height data F55 stored in the memory 52 are subjected to a trolley wire wear part width calculation process, and the trolley wire wear part width data F58 obtained thereby is used. Save in the memory 52. Pantograph upper position height data F116 is used as the trolley line height data F55 used here. The pantograph upper position height data F116 is made available by connecting the transmission line 57 and the transmission line 118 and storing the pantograph upper position height data F116 stored in the memory 112 in the memory 52 (see FIG. 11). ).

Hereinafter, a flowchart for measuring the width of the worn portion of the trolley wire 16 shown in FIG. 4 will be described.
In S <b> 11, the scanning line (x-axis) image signals obtained from the line sensor 11 are arranged in time series (t-axis), and the line sensor image creating unit 50 creates a line sensor image F <b> 51 (planar image) in the memory 51. Save as input image.

  In S 12, the line sensor image F 51 is stored in the memory 52 via the transmission line 57. A threshold value for performing binarization processing is set so as to separate a trolley wire wear portion photographed in a strip shape from the line sensor image F51 and other background portions, and the binarization processing unit 53 uses the threshold value to set the line sensor image. A binarization process is performed on F51 to obtain a binarized line sensor image F52.

  The worn portion of the trolley wire 16 is a portion where the trolley wire 16 is scraped by the pantograph 14, and therefore has a higher gloss than the non-weared portion. Therefore, the worn portion of the trolley wire 16 also on the line sensor image F51. Is photographed as a band-like portion having a luminance value different from that of the background portion. By this processing, a binarized line sensor image F52 as shown in FIG. 2 is obtained. On the binarized line sensor image 26, the trolley line wear portion is represented by white 20 and the background portion is represented by black 21.

  In S13, noise is removed by performing expansion processing and contraction processing by the noise removal processing unit 54 on the binarized line sensor image F52 obtained by performing the binarization processing on the line sensor image F52. This processing is called noise removal processing. This is when the binarized line sensor image F52 obtained by performing binarization processing on the line sensor image F51 includes fine dot-like noise due to scratches on the worn portion of the trolley wire 16 and the state of the background portion. Because there is.

  In S14, the edges 22 on both sides of the worn portion of the trolley wire 13 represented by white 20 are detected by the trolley wire worn portion edge detection unit 55 on the binarized line sensor image F53 after noise removal. This process is called a trolley wire wear part edge detection process. When these edges are searched from the left for a certain line 23 in the binarized line sensor image, a point (hereinafter referred to as an up edge) that changes from the black 21 of the background to the white 20 of the worn part is referred to as an edge 24 on the left side of the worn part. Further, a point (hereinafter referred to as a down edge) that changes from the white 20 of the worn portion to the black 21 of the background can be detected as an edge point 25 on the right side of the worn portion. By performing this process for each line from the top to the bottom of the image, it is possible to detect the edge 30 of the worn portion of the trolley line related to one binarized line sensor image F53 as shown in FIG.

  In S15, using the edge data F54 on both sides of the trolley line wear portion detected from the binarized line sensor image F53, the distance 31 between the edges on one scanning line of the line sensor is calculated on the image of the trolley line wear portion. Calculate as the width of. This process is called a trolley wire wear part width calculation process.

  At this time, the image resolution [mm / pix] that is the degree of the actual dimension [mm] with respect to one pixel [pix] is calculated from the height from the line sensor 11 to the trolley line 16, the lens focal length, the sensor width, and the number of sensor pixels. Then, the width of the trolley wire wear portion is calculated by multiplying the image width of the trolley wire wear portion by the image resolution. The obtained edge data, trolley wire wear part width, line sensor image used for calculation, data indicating the corresponding scanning line, and the like are recorded in a recording unit (not shown).

  Here, for the height F55 from the line sensor 11 to the trolley line 16 used for the calculation, the height of the pantograph upper position 15 is measured, and the height of the pantograph upper position 15 is measured from the line sensor 11 to the trolley line 16. By using this height, it is used for calculating the width of the trolley wire wear portion in S15. The height of the pantograph upper position 15 is stored in the memory 52 through the transmission line 57.

  A line sensor 12 is provided to measure the height of the pantograph 14, and the line sensor 12 is installed in front of the pantograph 14 so that the scanning line direction of the line sensor 12 is from the bottom to the top of the pantograph 14. .

  The configuration of the pantograph height measuring apparatus shown in FIG. 11 will be described below. An image signal F110 of the scanning line obtained by photographing with the line sensor 12 is sent to the line sensor image creating unit 110. The line sensor image creation unit 110 arranges the scanning line image signals F110 in time series to create a line sensor image F111 and stores it in the memory 111. The line sensor image F111 stored in the memory 111 is stored in the memory 112 via the transmission line 118.

The binarization processing unit 113 performs binarization processing on the line sensor image F111 stored in the memory 112, and stores the binarized line sensor image F112 obtained thereby in the memory 112.
The pantograph width filter processing unit 114 performs pantograph width filter processing on the binarized line sensor image F112 stored in the memory 112, and stores the obtained pantograph width filtered pantograph trajectory image F113 in the memory 112.

  The pantograph trajectory trace filter processing unit 115 applies the pantograph trajectory trace filter process to the pantograph trajectory trace processed image P113 saved in the memory 112 and stores the obtained pantograph trajectory trace filtered pantograph trajectory image F114 in the memory 112. .

  The pantograph single-point filter processing unit 116 performs pantograph single-point filter processing on the pantograph trajectory trace-processed pantograph trajectory image F114 stored in the memory 112, and stores the obtained pantograph single-point filtered pantograph trajectory image F115 in the memory 112. To do.

  The pantograph upper position height calculation processing unit 117 performs a pantograph upper position height calculation process on the pantograph single-point filtered pantograph trajectory image F115 stored in the memory 112, and the obtained pantograph upper position height data F116 is stored in the memory 112. save.

Hereinafter, a flowchart of the pantograph upper position height measuring method shown in FIG. 10 will be described.
In S <b> 21, the scanning line (y-axis) image signals obtained from the line sensor 12 are arranged in time series (t-axis), and the line sensor image creation unit 110 creates a line sensor image F <b> 111 (planar image) in the memory 111. Save as input image.

  In S22, the binarization process is performed on the line sensor image F111. When the pantograph 14 is photographed by the line sensor 12, the existing structure 17 is photographed in the line sensor image F111 in the same manner as the pantograph 14. For this reason, it is necessary to separate the pantograph 14 from the existing structure 17.

  On the line sensor image F111, the pantograph 14 portion is photographed as a band-like portion having a luminance value different from that of the background portion. Therefore, a threshold value is set so as to separate the pantograph 14 portion photographed in a band shape from other background portions, and the binarization process is performed on the line sensor image F111 using the threshold value. At this time, the binarized line sensor image F112 is configured so that the pantograph 14 portion is white and the background portion is black.

  At this time, it is noted that the pantograph 14 portion appears on the binarized line sensor image F112 as a band having a certain width corresponding to the thickness of the pantograph 14, and the width of the pantograph 14 on the binarized line sensor image F112. The pantograph 14 part is detected by detecting a white part having the same width as.

  In S23, pantograph width filter processing is performed. One scanning line of the binarized line sensor image F112 is inspected in the scanning direction, and an up edge and a down edge are detected.

  The part where the interval between the up edge and the down edge on one scanning line falls within the set width is detected as the pantograph 14 part, and the down edge at that time is left as the upper part of the pantograph, and the other part is left. The trajectory of the upper position 15 of the pantograph is obtained by performing the process of setting the black. This process is called pantograph width filter process. An image representing the locus of the upper position of the pantograph created at this time is referred to as a pantograph locus image F113.

  However, when the trajectory of the pantograph upper position 15 is obtained by this pantograph width filter processing, a part that is not the pantograph upper position 15 may be detected in some parts. This occurs when an object other than the pantograph 14 such as the trolley line 16, the insulator, and the trolley line lifting wires comes close to the width of the pantograph 14 on the binarized line sensor image F112. Since this remains as noise in the pantograph trajectory image F113, these need to be deleted.

  In S24, a pantograph trajectory trace filter process is performed. Since the pantograph 14 is continuously present with a certain width on the binarized line sensor image F112, it is noted that the pantograph 14 exists as a continuous curve in the pantograph trajectory image F113. Point sequences shorter than the set length are deleted as noise. This process is called pantograph trajectory trace filter process.

  However, with noise elimination by this pantograph trajectory trace filter processing, it is possible to delete the noise part that becomes a short continuous dot sequence, but the noise part that satisfies the length set to be judged as the trajectory of the upper position of the pantograph Cannot be erased.

  As a noise elimination method different from the pantograph trajectory trace filter processing, since there is only one pantograph on the line sensor image, the top position of the pantograph is only one point on the scanning line of the line sensor, and it is detected by pantograph width filter processing. It is noted that most of the pantograph trajectory images are points at the upper position of the pantograph.

  In S25, a pantograph single point filter process is performed. When there are a plurality of trajectory points for one line in the line sensor scanning line direction with respect to the points of the pantograph trajectory image, the points closest to the average position of the trajectory store are taken as points at the upper position of the pantograph and the others are deleted. This process is called pantograph single point filter process.

  In S26, a pantograph upper position height calculation process is performed. The pantograph trajectory image from which noise is removed is converted to obtain the actual three-dimensional height at the top of the pantograph. For this conversion, projective conversion obtained from the installation position and orientation data of the line sensor is used.

  The pantograph upper position height obtained in this way is connected to the transmission line 118 (see FIG. 11) and the transmission line 57 (see FIG. 5), and the trolley line wear part width calculation processing unit 56 performs trolley line height data. Used as F55.

  In addition, since the height of the trolley wire is necessary for maintenance and inspection of the overhead wire, it may be measured in advance, so the value measured in advance should be used as the trolley wire height data F55. You can also.

  In the apparatus according to the present invention shown in FIG. 6, when the trolley wire wear part width calculation process S15 (see FIG. 4) is performed by the apparatus shown in the first embodiment, the trolley wire wear part calculation processing part 60 performs trolley line inclination correction. The attached trolley wire wear part calculation process is performed.

  As shown in FIG. 8, with respect to the left edge point 80 on the line 87 to be calculated, the edge point within the set range 81 in the vicinity is linearly approximated by a straight line 82, intersected perpendicularly to the straight line 82, and measured. An intersection point between the straight line 83 passing through the target edge point 80 and the other edge point 85 is detected, and a distance 86 between the edge point 80 to be calculated and the detected edge intersection point 85 is set as the edge point 80. It is obtained as the width of the trolley wire wear part.

  In the apparatus according to the present invention shown in FIG. 7, when the trolley wire wear part width calculation process S15 (see FIG. 4) is performed by the apparatus shown in the second embodiment, the trolley wire wear part calculation processing unit 70 corrects the trolley line inclination. The trolley wire wear part ruled line processing is performed.

  As shown in FIG. 9, for the left edge point 90 and the right edge point 91 on the measurement target line 102, the edge points in the set range 92 in the vicinity thereof are directly approximated by straight lines 93 and 94, An edge point 93 or edge point 94 having a smaller sum of approximation errors 95 and 96 when performing a linear approximation is taken as a measurement reference point, and a straight line 98 or a straight line 101 that passes through the measurement reference point and intersects the straight line 93 or the straight line 94 perpendicularly. The intersection with the other edge is obtained, and the distance between the measurement reference point and the detected edge intersection is obtained as the trolley wire wear part width at that point.

  For example, when the total error of the left edge 90 is smaller than that of the right edge 91, an intersection 99 between the straight line 98 passing through the measurement reference point 97 and perpendicular to the approximate straight line 93 and the other edge is obtained. The distance 100 between the measurement reference point 97 and the detected edge intersection 99 is obtained as the trolley wire wear part width at that point.

  The trolley wire wear measuring apparatus using image processing according to the present invention can be used for measuring trolley wire wear for supplying electric power to an electric railway.

It is a schematic diagram of the apparatus structure which concerns on the Example of this invention. It is a figure of the binarization line sensor image concerning the example of the present invention. It is a figure of the edge detection which concerns on the Example of this invention. 3 is a flowchart according to the first embodiment. 1 is a schematic diagram of an apparatus configuration according to Embodiment 1. FIG. 6 is a schematic diagram of a device configuration according to Embodiment 2. FIG. FIG. 6 is a schematic diagram of an apparatus configuration according to a third embodiment. FIG. 10 is a diagram illustrating inclination correction of a trolley line according to the second embodiment. FIG. 10 is a diagram of inclination correction of a trolley line according to the third embodiment. It is a flowchart which measures the height of the pantograph upper part position which concerns on the Example of this invention. It is a schematic diagram of the apparatus structure which measures the height of the pantograph upper part position which concerns on the Example of this invention.

Explanation of symbols

11 Line sensor 16 Trolley line 26 Binarized line sensor image 32 Edge detection 80, 97 Left edge point 102 Right edge point 82, 93, 94 Approximate line 83, 98, 101 Straight line 85 having an inclination perpendicular to the approximate line , 99 Edge intersection 23, 87, 102 lines

Claims (2)

Line sensor image creating means for creating a line sensor image using a line sensor;
Binarization processing means to binarize the line sensor image by emphasizing the trolley wire wear part by performing binarization processing on the line sensor image;
Noise removal processing means for removing noise from the binarized line sensor image;
Edge detection processing means for detecting the edge of the trolley wire wear part from the binarized line sensor image after noise removal and using it as edge data;
Possess a trolley wire worn portion width calculation processing means for calculating the trolley wire worn portion width based on the trolley wire height data is the height of the data of the trolley wire when based on the said edge data and the line sensor ,
In the trolley wire wear part width calculation processing means,
Using one edge point on the calculation target line as a reference edge point, an approximate straight line of the edge point within the range set in the vicinity of the reference edge point is obtained,
A vertical straight line that is perpendicular to the approximate straight line and passes through the reference edge point is obtained,
An intersection of the vertical straight line and the edge that forms a pair with the reference edge point is detected as an edge intersection, and the distance between the reference edge point and the edge intersection is a trolley wire wear portion at the reference edge point An apparatus for measuring trolley wire wear by image processing, characterized in that processing for obtaining width is added . Line sensor image creating means for creating a line sensor image using a line sensor;
Binarization processing means to binarize the line sensor image by emphasizing the trolley wire wear part by performing binarization processing on the line sensor image;
Noise removal processing means for removing noise from the binarized line sensor image;
Edge detection processing means for detecting the edge of the trolley wire wear part from the binarized line sensor image after noise removal and using it as edge data;
A trolley wire wear portion width calculation processing means for calculating a trolley wire wear portion width based on the trolley wire height data, which is trolley wire height data when the edge data and the line sensor are used as a reference;
Have
In the trolley wire wear part width calculation processing means,
Two edge points on the measurement target line are set as reference edge points, respectively, and approximate lines of edge points within a range set in the vicinity of the two reference edge points are obtained, and the approximate line and the set value are obtained. Find the sum of the errors with the edge points in the range
Obtain a vertical straight line that is perpendicular to the approximate straight line of the reference edge point with the smaller sum of errors and that passes through the reference edge point being measured,
The intersection of the vertical straight line and the edge that is paired with the edge with the reference edge point is detected as an edge intersection, and the distance between the reference edge point with the smaller sum of the errors and the edge intersection is calculated as the error. A trolley wire wear measuring apparatus using image processing, characterized in that a process for obtaining a trolley wire wear part width at a reference edge point having a smaller sum is added.

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