JP4685494B2 - Trolley wire position measuring device - Google Patents

Description

  The present invention relates to a trolley wire position measuring apparatus. More specifically, the present invention relates to an apparatus for measuring the height, displacement, and push-up amount of a trolley wire, detecting bent metal fittings, and the like by processing an image acquired by a camera installed on the roof of a vehicle.

  In the railway field, it is necessary to maintain the trolley line for the maintenance of the train line. The maintenance of the trolley wire is to measure whether the trolley wire is worn, height, displacement, push-up amount, bent metal fitting detection, etc., and whether these items are in normal values and positions. These items are regularly measured to help prevent accidents.

  The height of the trolley line is the difference in height between the trolley line installed above the vehicle and the rail, and is usually about 4500 mm (5000 mm for the Shinkansen). The deviation of the trolley line is the horizontal position of the trolley line, and is usually about ± 250 mm (± 300 mm on the Shinkansen) from the center of the pantograph to the left and right of the traveling direction of the vehicle.

  Conventionally, for measuring the height and displacement of the trolley wire, for example, a sodium lamp that illuminates the trolley wire is installed on the roof of the vehicle, and the light reflected by the trolley wire while the vehicle is running is provided with a light receiving mirror and a folding mirror. To the light-receiving camera through which the reflected light is photographed, the displacement of the trolley wire is measured from the position of the reflected light, and the height is measured by a small pantograph (for example, Non-Patent Document 1), or There is a technique (Patent Document 1) that photographs the vicinity of a pantograph using a plurality of cameras and measures the position of a trolley line based on the photographed images.

  The push-up amount of the trolley line is the difference between the height of the trolley line when it is pushed up by the pantograph when passing through the vehicle and when it is not affected by the pantograph. It is installed, the marker position before passing and the marker position when passing are measured from the ground, and the push-up amount is measured from the difference between the marker positions.

  In addition, bent metal fittings are hoisting trolley wires that may cause accidents such as contact with the pantograph if the position of the bent metal fittings deviates from the normal range due to secular change. It is necessary to measure the position.

  Conventionally, for measuring the position of a bent metal fitting, a laser light source directed toward the bent metal fitting is provided, and when a reflected light from the bent metal fitting is acquired by a laser sensor, an image of the bent metal fitting is obtained by a camera. A laser sensor measuring device (for example, Patent Document 2) that calculates the angle of the bent metal fitting by sampling and processing this image, or depending on the presence or absence of an object that touches the sensor installed vertically A measuring device using a pantograph for inspection (for example, Patent Document 3) that detects whether the position of the bent metal fitting is normal is used.

JP 2003-341389 A JP 2000-343986 A JP 57-80505 A Shunichi Kusumi, “Development of a train line inspection device using a railroad vehicle”, [online], Abstracts of the 114th Railway Research Institute Monthly Presentation, [Search August 20, 2004], Internet <URL: http: // www.rtri.or.jp/infoce/getsu09/g114_5.html>

  However, since the non-patent document 1 described above requires ancillary equipment such as a mirror control device and a high frequency power supply, there is a problem that the measuring device becomes relatively large. Furthermore, since the obtained measurement result remains as a simple measurement value, even if a measurement value outside the normal range is detected, the measurement value really indicates a trolley line or simply noise. There is a problem that it is not possible to determine whether it is due to.

  Also, when measuring the trolley wire push-up amount by the conventional method, to measure the trolley wire push-up amount over the entire travel section, the marker attachment, measurement and detachment which are the measurement process at one point while moving the track There is a problem that the process must be repeated and the efficiency is poor.

  Furthermore, in patent document 2, incidental facilities, such as a stabilized power supply, are required, and there exists a problem that a measuring device becomes large. In Patent Document 3, a pantograph that is used only for measurement is necessary, and an expensive inspection pantograph must be introduced, and the contact sensor is in a place most exposed to the wind and becomes a noise source. There's a problem.

  In view of the above, an object of the present invention is to provide a trolley wire position measuring device capable of efficiently measuring a trolley wire with a simple device.

A trolley wire position measuring device according to the present invention for solving the above-mentioned problems is provided on a roof of a vehicle at a position where there is no pantograph vertically above, and is directed vertically upward and the traveling direction of the vehicle The two proximity sensors arranged on the left and right, one camera that acquires an image of the trolley line above the proximity sensor according to the logical sum of the output values of the proximity sensor, and the output of the camera An image recording unit that records the video signal, and an analysis of the video signal acquired from the image recording unit, and measures the height and displacement of the trolley wire, the angle of the metal fitting that supports the trolley wire, and the presence or absence of obstacles And an image processing unit.

The position measuring device for a trolley wire according to the present invention includes two proximity sensors that are vertically oriented on a roof of a vehicle and arranged on the left and right with respect to the traveling direction of the vehicle, and logic of an output value of the proximity sensor. One camera that acquires the video of the trolley line above the proximity sensor according to the sum, an image recording unit that records the video signal output from the camera, and an image that analyzes the video signal acquired from the image recording unit Two sets of trolley line position measuring devices having a processing unit are used, and the first trolley line position measuring device is on the roof of any one vehicle before the vehicle having the leading pantograph in the traveling direction. The second trolley line position measuring device is installed on the roof of a vehicle having a pantograph, and the height of the trolley line is set by the first and second trolley line position measuring devices. Respectively measured, after synchronizing the measurement position, characterized in that a difference of height of each of the trolley wire.

  According to the trolley wire position measuring apparatus according to the present invention, the height of the trolley wire, the displacement, the angle of the bent metal fitting, and the presence or absence of obstacles can be collectively measured with two proximity sensors and one camera. It is possible to reduce the size of the device and improve the efficiency. In addition, if two sets of trolley wire position measuring devices according to the present invention are used, it is possible to simultaneously measure the push-up amount of the trolley wire in the section as needed in one run, so work can be performed more efficiently. It can be carried out.

  Hereinafter, the best embodiment of the position measuring device of the trolley wire according to the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating a configuration example of the present embodiment, in which 1 is a vehicle, 2 and 3 are proximity sensors (hereinafter simply referred to as proximity sensors) that are sensors such as a laser system and an infrared system, and 4 is an OR circuit, Reference numeral 5 denotes an ITV camera, 6 denotes an image recording unit, 7 denotes an image processing unit, 8 denotes a trolley wire, 9 denotes a bent metal fitting, 10 denotes a train line pole, 11 denotes a rail, and 12 denotes a projector.

  The proximity sensors 2 and 3 and the ITV camera 5 are installed on the roof of the vehicle 1. Proximity sensors 2 and 3 are installed vertically above the left and right with respect to the traveling direction, and ITV camera 5 is located in front of proximity sensors 2 and 3 and a trolley above proximity sensors 2 and 3. It is installed at an angle at which an image of the line 8 can be acquired. The image recording unit 6 and the image processing unit 7 are installed in the vehicle.

  The outputs of the proximity sensors 2 and 3 are input to the OR circuit 4. The logical sum circuit 4 inputs these logical sums as trigger signals to the ITV camera 5, and the ITV camera 5 determines whether or not to acquire an image according to the trigger signals. Thus, for example, when the bent metal fitting 9 passes the proximity sensor 3, an image as shown in FIG. 2 is obtained by the ITV camera 5, and this is recorded in the image recording unit 6, and the recorded image is recorded in the image processing unit. 7, the height and displacement of the trolley wire 8, the angle of the bent metal fitting 9, and the presence or absence of an obstacle are obtained.

The image processing procedure will be described below based on the flowchart shown in FIG.
(1) A recorded image is input (step S1).
(2) Edge detection and straight line detection are performed on the input image (steps S2 and S3).
(3) Based on the detection results of (2), lines extending in the vertical and horizontal directions (hereinafter referred to as vertical lines and horizontal lines, respectively) are extracted (steps S4 and S5).
(4) The intersection coordinates x and y of the vertical line and the horizontal line are obtained, and the actual displacement and height of the trolley line are obtained based on the x and y, respectively (step S6). For the conversion for obtaining the actual deviation and height from the intersection coordinates x, y on the image, a method that is already widely known may be used.
(5) The angle of the horizontal line extracted in step S5 is obtained, and the angle of the bent metal fitting is obtained based on this (step S7).
(6) A binarization process is performed to extract obstacles (step S8).
(7) The processing from (2) to (6) is repeated until the processing of all input images is completed (step S9).

  By performing such processing, for example, when the above-described image processing is performed on the image shown in FIG. 2, the trolley line 8 is extracted as a vertical line, and the bent metal fitting 9 is extracted as a horizontal line. And the angle of the bent metal fitting 9 are obtained. 1 and 2, the trolley line 8 is determined from the posture of the ITV camera 5, the height of the normal trolley line 8, the range of the deviation, and the like of the image taken by the ITV camera 5, for example. If the normal range of the position of the bent metal fitting 9 is calculated and set in advance, and processing is limited to only the range set in the image processing step, the accuracy of the image processing increases, and erroneous detection is prevented.

Therefore, according to the trolley wire position measuring apparatus according to the present embodiment,
(1) Since the height of the trolley wire 8, the displacement, the angle of the bent metal fitting 9, and the obstacle can be measured from one image by the two proximity sensors 2 and 3 and the ITV camera 5, the measurement efficiency Is good,
(2) Since it can measure only with the two proximity sensors 2 and 3 and the ITV camera 5, the apparatus on the roof can be reduced in size.
(3) Since the image is recorded in the image recording unit 6, the image can be reconfirmed as necessary.
There are advantages such as.

  In the present embodiment, the ITV camera is provided in front of the proximity sensor. However, the present invention is not limited to this, and it may be provided in the rear if necessary. In addition, a function may be provided for determining whether measured values such as the detected height of the trolley wire, the displacement, and the angle of the bent metal fitting are within the normal value range or out of the normal value range.

  An embodiment of a trolley wire position measuring apparatus according to the present invention will be described with reference to the drawings. As shown in FIG. 4, the present embodiment measures the trolley wire 8 using two sets of trolley wire position measuring devices. 4, 1a and 1b are vehicles, 2a, 3a, 2b and 3b are proximity sensors, 4a and 4b are OR circuits, 5a and 5b are ITV cameras, 6a and 6b are image recording units, and 7a and 7b are image processing units. , 8 is a trolley wire, 9 is a bent metal fitting, 10 is a train pole, 11 is a rail, 12a and 12b are projectors, 13 is a pantograph, proximity sensors 2a and 3a and ITV camera 5a, and proximity sensor 2b and The arrangement of 3b and the ITV camera 5b is the same as the arrangement of the proximity sensors 2 and 3 and the ITV camera 5 in the above-described embodiment. In addition, description is abbreviate | omitted about the structure which overlaps with embodiment mentioned above.

  Two sets of trolley line position measuring devices measure one set of trolley lines 8 that are not affected by the push-up by the pantograph 11 and the other set of trolley lines 8 near the pantograph 11 that are affected by the push-up by the pantograph 11. Shall. As a result, it is possible to measure the amount by which the pantograph 11 pushes up the trolley wire 8 of the portion suspended from the bent metal fitting 9.

  Hereinafter, the operation of this embodiment will be described. For example, the vehicle 1a is a leading vehicle that does not have a pantograph, and the vehicle 1b is a vehicle that has a pantograph 11, and a trolley line position measuring device is installed on each roof. The same measurement is performed. Furthermore, in order to obtain the push-up amount of the trolley wire 8, the height of the trolley wire 8 measured in the vehicle 1a and the vehicle 1b is compared. However, since the measurement positions of the vehicle 1a and the vehicle 1b are separated from each other, the height data is synchronized with the same position, and the difference between the synchronized height data is set as the push-up amount.

Hereinafter, the synchronization method will be described with reference to FIG. 5 using the configuration shown in FIG. 4 as an example. First, the times when the vehicle 1a and the vehicle 1b pass through a certain point are T and t, respectively, and the height of the trolley wire 8 at this time is h _a (T) and h _b (t), respectively. Also, assuming that the distance from the vehicle 1a to the vehicle 1b is d and the vehicle speed information used in the automatic train control device (ATC) is v (t), the height h _b (t) in FIG. It is considered that the height is measured at the time closest to v (t).

Usually, since the speed information v (t) has an error, the time T + d / v (t) does not match the time t. However, since the interval between the time t and the time t + 1, which is the sampling interval (installation interval) of the bent metal fitting 9 as the measurement point, is sufficiently larger than the error with respect to the error of the speed information v (t), the time T + d By searching for the time t closest to / v (t) and obtaining the height h _b (t) of the trolley line 8 at this time t, the same point is obtained without being affected by the error of the speed information v (t). The amount by which the trolley wire 8 is pushed up can be obtained. In FIG. 5, the error is exaggerated for explanation. Moreover, although the example which installs the apparatus which measures the trolley line near a pantograph in the vehicle which has a pantograph in the present Example was shown, it should just acquire the image of the trolley line near a pantograph.

  Next, the installation location of the two sets of trolley wire position measuring devices will be described. As described above, the vehicle 1a is a leading vehicle. For example, if the vehicle 1b is referred to as a first pantograph and has a leading pantograph 11 with respect to the traveling direction, a trolley line position measuring device is installed for each vehicle. Can be measured. Further, if the vehicle 1a is a leading vehicle, the vehicle 1b is a vehicle having a second pantograph second from the beginning in the traveling direction, and a trolley wire position measuring device is installed in each vehicle, complicated transient vibrations caused by the pantograph 11 will occur. Can be measured.

  Therefore, as described above, conventionally, there is a problem that it takes time to measure the markers one by one from the ground, but according to the trolley wire position measuring device according to the present embodiment, the amount of push-up of the trolley wire in the traveled section can be increased. Since it can measure in a lump, there is an advantage that efficiency is good. Note that the same effect can be obtained by using a trolley wire position measuring device disclosed in Japanese Patent Application Laid-Open No. 2002-139305 or Japanese Patent Application No. 2003-354636.

  INDUSTRIAL APPLICABILITY The present invention can be used for a trolley wire measuring device that measures the height, displacement, push-up amount, bent metal fitting detection, and the like of a trolley wire by processing an image acquired by a camera installed on the roof of the vehicle. is there.

It is a schematic diagram which shows the structural example of the best embodiment of this invention. It is a schematic diagram which shows the example of an image of the moment when the bending metal fitting of the best embodiment of this invention passes. It is a flowchart which shows the image processing process of the best embodiment of this invention. 3 is a schematic diagram illustrating a configuration example of Example 1. FIG. 4 is a graph showing an example of measuring the trolley line height according to Example 1.

Explanation of symbols

1, 1a, 1b Vehicle 2, 2a, 2b, 3, 3a, 3b Proximity sensor 4, 4a, 4b OR circuit 5, 5a, 5b ITV camera 6, 6a, 6b Image recording unit 7, 7a, 7b Image processing unit 8 Trolley wire 9 Curved fitting 13 Pantograph

Claims (2)

Two proximity sensors provided on the roof of the vehicle at a position where there is no pantograph vertically above, and arranged vertically on the right and left with respect to the traveling direction of the vehicle, and the output of the proximity sensor One camera that acquires an image of a trolley line above the proximity sensor according to a logical sum of values, an image recording unit that records a video signal output from the camera, and a video signal acquired from the image recording unit An apparatus for analyzing the position of a trolley wire, comprising: an image processing unit that analyzes and measures the height and displacement of the trolley wire, the angle of a bracket that supports the trolley wire, and the presence or absence of an obstacle . Two proximity sensors that are directed vertically upward on the roof of the vehicle and arranged to the left and right with respect to the traveling direction of the vehicle, and the trolley wire above the proximity sensor according to the logical sum of the output values of the proximity sensor A trolley wire position measuring device comprising: one camera that acquires video; an image recording unit that records a video signal output from the camera; and an image processing unit that analyzes the video signal acquired from the image recording unit. Use two sets,
The first trolley line position measuring device is on the roof of any one vehicle in front of the vehicle having the first pantograph in the traveling direction, and the second trolley line position measuring device is a vehicle having the pantograph. The height of each trolley wire is measured by the first and second trolley wire position measuring devices, and the measurement position is synchronized, and then the height of each trolley wire is measured. A trolley wire position measuring device characterized by taking a difference.

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