JP5298929B2 - Overhead line inspection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an overhead wiring inspection apparatus capable of uniformly photographing a trolley line regardless of the types and traveling positions of the trolley line. <P>SOLUTION: The overhead wiring inspection apparatus includes: a camera 2 installed on the roof of an inspection vehicle 1; a lighting system 3 installed on the roof of the inspection vehicle 1; and an on-vehicle computer 6 installed inside the inspection vehicle 1. Shutter speed of the camera 2 or illuminance of the lighting system 3, or both of them are controlled according to brightness around the inspection vehicle 1 by the on-vehicle computer 6. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to an overhead wire inspection device, and in particular, acquires an image of a trolley line and a pantograph with an imaging device mounted on a train, analyzes the acquired image with an image processing device, and dynamically states the trolley line and the pantograph The present invention relates to an overhead wire inspection device for detecting the above.

  In the conventional overhead wire inspection device, an imaging device is installed near the pantograph on the roof of a commercial train, and the image data from the imaging device is analyzed by the trolley wire wear measuring device, and the width of the worn portion of the trolley wire is accurately determined. There are some which are measured and the measuring apparatus is miniaturized (for example, see Patent Document 1).

JP 2006-244841 A

  In the overhead wire inspection apparatus as described above, it is preferable that the environment around the trolley line and the pantograph captured by the imaging device is in a uniform state suitable for image analysis of an image obtained by capturing these. .

  However, in the overhead wire inspection apparatus described in Patent Document 1, the reflection of the illumination irradiating the trolley line changes depending on the type of the trolley line, the reflection on the wall surface in the tunnel, the height of the trolley line, etc. The trolley line and pantograph to be imaged are imaged brightly or darkly depending on the location. Therefore, there is a problem that the difference between brightness and darkness increases depending on the location, and it may be difficult to perform analysis with high accuracy when performing image analysis.

  In view of the above, an object of the present invention is to provide an overhead wire inspection apparatus capable of photographing a measurement object in a uniform environment regardless of the type and travel position of the measurement object. .

An overhead wire inspection apparatus according to a first aspect of the present invention for solving the above-described problems includes an imaging unit installed on a roof of a vehicle, an illumination unit installed on the roof of the vehicle, and an interior of the vehicle And the vehicle-mounted processing means is configured to control the shutter speed of the imaging means and / or the illuminance of the illumination means according to the brightness of the surroundings of the vehicle. In the overhead wire inspection apparatus, the in-vehicle processing means includes a reference value set in advance that associates the brightness around the vehicle with the travel position of the vehicle and the brightness around the vehicle at the travel position. , the illuminance of the shutter speed or the illumination means of the imaging unit based on an output result of the traveling position detecting means for detecting a traveling position of the vehicle, or that it is configured to adjust both And butterflies.

In the overhead line inspection device according to the second invention, the in-vehicle processing unit is installed on the roof of the vehicle, and the imaging is performed based on an output result of an illuminance detection unit that detects brightness around the vehicle. The shutter speed of the means and / or the illuminance of the illumination means are adjusted.

The overhead wire inspection apparatus according to a third aspect is characterized in that the illuminance detection means is an illuminance detection camera, an illuminance meter, a luminance meter, or a combination thereof.

According to the overhead wire inspection apparatus according to the first invention described above, the imaging means installed on the roof of the vehicle, the illumination means similarly installed on the roof of the vehicle, and the in-vehicle processing installed inside the vehicle And the vehicle-mounted processing means is configured to control the shutter speed of the imaging means and / or the illuminance of the illumination means in accordance with the brightness around the vehicle. Therefore, the analysis accuracy is improved. Further, the in-vehicle processing means detects the brightness around the vehicle, a reference value set in advance that associates the travel position of the vehicle with the brightness around the vehicle at the travel position, and the travel position of the vehicle. Since it is configured to adjust the shutter speed of the image pickup means and / or the illuminance of the illumination means based on the output result of the position detection means, the overhead line can be photographed uniformly by the image pickup means, and more stable In particular, the analysis accuracy can be improved.

According to the overhead wire inspection apparatus according to the second invention, the in-vehicle processing means is installed on the roof of the vehicle, and the shutter speed of the imaging means is based on the output result of the illuminance detection means for detecting the brightness around the vehicle. Or it is configured to adjust the illuminance of the illumination means, or both, so there is no need to obtain the shutter speed of the imaging means corresponding to the traveling position and the illuminance of the illumination means in advance, so that the aging of equipment near the route, Even if a problem occurs, there is no need to update the information and the work efficiency is improved.

According to the overhead wire inspection apparatus according to the third aspect of the present invention, since the illuminance detection means is an illuminance detection camera, an illuminance meter, a luminance meter, or a combination thereof, it is possible to reliably detect the brightness around the vehicle. Analysis accuracy can be improved.

It is explanatory drawing which shows the example of installation of the overhead wire inspection apparatus which concerns on Example 1 of this invention. It is a block diagram which shows schematic structure of the overhead wire inspection apparatus which concerns on Example 1 of this invention. It is a conceptual diagram regarding the shutter speed adjustment of the overhead wire inspection apparatus which concerns on Example 1 of this invention. It is a conceptual diagram which shows the timing of shutter speed adjustment in the overhead wire inspection apparatus which concerns on Example 1 of this invention. It is explanatory drawing which shows the example of installation of the overhead wire inspection apparatus which concerns on Example 2 of this invention. It is a block diagram which shows schematic structure of the overhead wire inspection apparatus which concerns on Example 2 of this invention. It is a flowchart which shows the flow of control by the overhead wire inspection apparatus which concerns on Example 2 of this invention.

  Embodiments of an overhead wire inspection apparatus according to the present invention will be described below in detail with reference to the drawings.

A first embodiment of the overhead wire inspection apparatus according to the present invention will be described with reference to FIGS.
As shown in FIG. 1, in this embodiment, the overhead wire inspection apparatus includes a left CCD camera 21 and a right CCD camera 22 as imaging means installed on the roof of the inspection vehicle 1, and an upper line sensor as imaging means. The camera 23 and the lower line sensor camera 24, the two illumination devices 31, 32 as the illumination means, the left utility pole beam sensor 41 and the right utility pole beam sensor 42 as the travel position detection means, and the same as the travel position detection means It is comprised from the speed sensor 5 and the vehicle-mounted computer 6 as an vehicle-mounted processing apparatus installed in the inside of the inspection vehicle 1. FIG.

  Hereinafter, the CCD camera 21, 22 and the line sensor cameras 23, 24 are collectively referred to as the camera 2, the illumination devices 31, 32 are collectively referred to as the illumination device 3, and the utility pole beam sensors 41, 42 are collectively referred to as the utility pole beam sensor. 4 is displayed.

  The positions and angles of the left CCD camera 21 and the right CCD camera 22 are set so as to photograph the pantograph 1 a installed in the inspection vehicle 1. The left CCD camera 21 and the right CCD camera 22 are installed on the left and right with respect to the rail direction, respectively, and are configured to photograph the pantograph 1a in stereo. Image data photographed by the left CCD camera 21 and the right CCD camera 22 are input to an image recording unit 6A described later of the in-vehicle computer 6.

  The positions and angles of the upper line sensor camera 23 and the lower line sensor camera 24 are set so as to photograph the trolley line 7. The upper line sensor camera 23 and the lower line sensor camera 24 have different focal lengths, and the focal length of the lower line sensor 24 is set shorter than the focal length of the upper line sensor camera 23.

  Thereby, even if there is a height difference in the height of the trolley line 7 depending on the travel position of the inspection vehicle 1, the trolley line 7 is properly photographed by either the upper line sensor camera 23 or the lower line sensor camera 24. I can do it.

  The line sensor cameras 23 and 24 are installed so that the optical axis thereof is vertically upward in FIG. 1 and the scanning line direction is orthogonal to the traveling direction of the inspection vehicle 1. Image data photographed by the upper line sensor camera 23 and the lower line sensor camera 24 are input to the image recording unit 6A of the in-vehicle computer 6.

  The positions and angles of the illuminators 31 and 32 are set so as to illuminate portions of the pantograph 1a and the trolley line 7 that are photographed by the CCD cameras 21 and 22 and the line sensor cameras 23 and 24, respectively. As shown in FIG. 2, the illuminating device 3 includes an illumination dimming unit 3A and an illumination power source 3B, and is configured to be able to change the illuminance in a plurality of steps (for example, switching between three steps).

  The left utility pole beam sensor 41 and the right utility pole beam sensor 42 are sensors for detecting the utility pole beam 8a. Detection results obtained by these power pole beam sensors 41 and 42 are input to a control unit 6B described later of the in-vehicle computer 6.

  The speed sensor 5 is a sensor for detecting the vehicle speed of the inspection vehicle 1, and in this embodiment, the vehicle speed is detected using a rotary encoder. That is, the speed sensor 5 (rotary encoder) outputs a fixed number of pulses per vehicle revolution. By counting the number of pulses in the control unit 6B of the in-vehicle computer 6, the traveling distance and speed of the inspection vehicle 1 can be obtained.

  The in-vehicle computer 6 is a means for controlling the shutter speed of the camera 2 or the dimming of the lighting device 3 according to the traveling position of the inspection vehicle 1 while recording the image input from the camera 2. More specifically, the in-vehicle computer 6 includes an image recording unit 6A that records image data and a control unit 6B that controls the overhead wire inspection device as shown in FIG. A video signal is input as image data from the camera 2 to the image recording unit 6A. Further, the control unit 6B calculates the travel position (about kilometer) of the measurement vehicle 1 from the travel distance at that time based on the information input from the utility pole beam sensors 41 and 42 and the speed sensor 5, and corresponds to this travel position. A shutter speed adjustment signal and a dimming command are output to the camera 2 and the illumination device 3, respectively. The illumination dimming unit 3A receives the dimming command and outputs a dimming signal to the illumination power source 3B. Thereby, the illumination intensity of the illuminating device 3 is controlled.

  That is, in this embodiment, the control unit 6B of the in-vehicle computer 6 calculates the vehicle speed and the traveling position based on the detection value input from the utility pole beam sensor 4 and the pulse signal data input from the vehicle speed sensor 5. Here, in the present embodiment, adjustment of the shutter speed of the camera 2 for each preset range (traveling range) of the traveling position, together with information on the route facility (route facility data) and traveling route information (traveling route data). The value (for example, 1/2000 sec) and the illuminance level of the illumination 4 are stored in advance in the control unit 6B of the in-vehicle computer 6 as reference values (hereinafter referred to as a table) as information associated with the travel position. Then, according to the travel position calculated based on the inputs from the utility pole beam sensor 4 and the speed sensor 5, the control unit 6B outputs the shutter speed adjustment value and the illuminance level to the camera 2 and the illumination device 3, respectively.

  Here, a case where the control unit 6B controls the shutter speed of the camera 2 will be described in more detail as an example. In this embodiment, the control unit 6B includes an inspection source data acquisition unit 6Ba and a camera automatic shutter adjustment unit 6Bb as shown in FIG. The inspection source data acquisition unit 6Ba collates the table data of the shutter speed Vi with the travel position data, and based on the collation result, the shutter speed of the cameras 21, 22, 23, 24 corresponding to the travel position at that time point. The setting value Vi is acquired, and the camera automatic shutter adjustment unit 6Bb outputs the shutter speed adjustment value Vi acquired by the inspection source data acquisition unit 6Ba as a shutter speed adjustment signal. After the shutter speed is set, the inspection source data acquisition unit 6Ba acquires image data from the CCD cameras 21 and 22 and the line sensor cameras 23 and 24, and stores the image data along with the travel position data.

  Further, when an abnormality occurs in communication between the control unit 6B, the CCD cameras 21, 22 and the line sensor cameras 23, 24, it is determined that the shutter adjustment communication is abnormal, and the abnormality is output by the camera automatic shutter adjustment unit 6Bb. The When the occurrence of an abnormality is output, the control unit 6B performs a reset process on the communication port and attempts to recover the communication state. When the communication state between the control unit 6B and the CCD cameras 21, 22 and the line sensor cameras 23, 24 is restored, the camera automatic shutter adjustment unit 6Bb notifies the restoration.

  Although not shown, when the control unit 6B controls the illuminance of the illumination devices 31 and 32, the inspection source data acquisition unit 6Ba collates the illuminance table data of the illumination devices 31 and 32 with the travel position data. Based on the collation result, the illuminance setting values of the illuminating devices 31 and 32 corresponding to the travel position at that time are acquired, and the illuminating device automatic illuminance adjusting unit adjusts the illuminance of the illuminating devices 31 and 32. Thereby, the adjustment value Li of the illumination intensity according to each traveling position is output to the illuminating devices 31 and 32 as a dimming command.

  An example of adjusting the shutter speed of the camera 2 using FIG. 4 will be described. As shown in FIG. 4, the in-vehicle computer 6 (control unit 6B) controls the shutter speed of the camera 2 with the adjustment value V1, for example. When it is determined that the traveling position of the inspection vehicle 1 has reached P1 based on signals input from the utility pole beam sensors 41 and 42 and the speed sensor 5, the shutter speed of the camera 2 corresponding to the traveling range P1 to P2 is determined. The adjustment value V2 is output to the camera 2.

  Thus, the camera 2 captures the pantograph 1a and the trolley line 7 while the shutter speed is controlled by the adjustment value V2 while the traveling position travels in the section from P1 to P2.

  Subsequently, if it is determined that the traveling position of the inspection vehicle 1 has reached P2 based on signals input from the utility pole beam sensors 41 and 42 and the speed sensor 5, the shutter speed of the camera 2 corresponding to the traveling range P2 to P3. The adjustment value V3 is output to the camera 2. Thus, the camera 2 captures the pantograph 1a and the trolley line 7 while the shutter speed is controlled by the adjustment value V3 while the traveling position travels in the section from P2 to P3.

  In this way, the shutter speed adjustment values V4, V5... Corresponding to the travel ranges P3-P4, P4... Sequentially are output from the control unit 6B to the camera 2, and the camera 2 determines the shutter speed based on this. The pantograph 1a and the trolley line 7 are photographed in a controlled state. The instruction of the adjustment value of the shutter speed from the control unit 6B to the CCD cameras 21, 22 and the line sensor cameras 23, 24 is performed by, for example, RS232C serial communication.

  The image data of the pantograph 1a and the trolley wire 7 recorded in the image recording unit 6A is subjected to image processing while the inspection vehicle 1 is running or after the measurement is completed, and the behavior of the pantograph 1a, the wear state of the trolley wire 7, etc. Shall be analyzed.

  Although not shown, the control for the lighting device 3 is transmitted from the control unit 6B to the lighting device 3 so that the illuminance is preset for each traveling range, as in the control of the shutter speed of the camera 2. You just have to do it.

  In the present embodiment, the example in which the adjustment of the shutter speed of the camera 2 and the adjustment of the illuminance of the illumination device 3 are performed simultaneously is shown. However, the overhead wire inspection device according to the present invention is not limited to this. It goes without saying that either the adjustment of the shutter speed or the adjustment of the illuminance of the illumination device 3 may be performed, and various changes can be made without departing from the spirit of the present invention. In the present embodiment, an example in which the power pole beam sensors 41 and 42 and the speed sensor 5 are used as the travel position detection means is shown. However, the travel position of the test vehicle 1 is input from the power pole beam sensors 41 and 42 and the speed sensor 5. In addition to the calculation based on the received signal, only the speed sensor 5 may be used, information may be acquired from the ATC, information may be acquired from the GPS, or the like. Furthermore, in the present embodiment, an example in which two CCD cameras and two line sensor cameras are used has been shown. However, it is not always necessary to use two, and one or a plurality of them may be used as necessary. .

  According to the overhead wire inspection apparatus according to the above-described embodiment, by adding the function of controlling the camera 2 for each travel range preset in the in-vehicle computer 6 and changing the shutter speed of the camera 2 for each travel range. The trolley line 7 and the pantograph 1a can be photographed uniformly, and the analysis accuracy can be improved.

A second embodiment of the overhead wire inspection apparatus according to the present invention will be described with reference to FIGS.
As shown in FIG. 5, the overhead wire inspection apparatus according to the present embodiment is provided with illuminance detection means 9 as illuminance detection means in place of the table of the overhead wire inspection apparatus according to Embodiment 1 shown in FIG. The processing by the computer 6 is partly changed. Other configurations are substantially the same as those of the first embodiment described above, and hereinafter, members having the same functions are denoted by the same reference numerals and redundant description is omitted, and different configurations will be mainly described.

  The illuminance detection means 9 detects the brightness around the test vehicle 1 that is running. In this embodiment, the illuminance detection camera 91, the illuminance meter 92, and the luminance meter 93 shown in FIG. It shall be. These illuminance detection means 9 are compared with the CCD cameras 21 and 22 and the line sensor cameras 23 and 24 in order to reflect the detection results of the illuminance detection means 9 on the CCD cameras 21 and 22 and the line sensor cameras 23 and 24. It is installed in the forward direction of the vehicle 1. For example, the illuminance detection camera 91 is installed so as to photograph vertically upward.

  The camera image photographed by these illuminance detection cameras, the illuminance data detected by the illuminometer 92, and the luminance data detected by the luminance meter 93 are respectively input to the control unit 6B of the in-vehicle computer 6.

  The control unit 6B comprehensively determines the brightness around the inspection vehicle 1 based on the camera image input from the illuminance detection camera 91, the illuminance data input from the illuminance meter 92, and the luminance data input from the luminance meter 93. The shutter speed adjustment value is output to the camera 2 according to the determination result, and the dimming command is output to the illumination dimming unit 3A of the lighting device 3. The illumination dimming unit 3A receives the dimming command and outputs a dimming signal to the illumination power source 3B. Thereby, the illumination intensity of the illuminating device 3 is controlled.

  Although not shown, in the present embodiment, another illuminance detection means is installed on the opposite side of the illuminance detection means 9 with the utility pole beam sensors 41 and 42 interposed therebetween, as shown in FIG. Even when the inspection vehicle 1 travels in the direction opposite to the traveling direction shown in FIG.

  A control flow for the camera 2 and the illumination device 3 in this embodiment will be described with reference to FIG. As shown in FIG. 7, when adjusting the shutter speed of the camera 2 and the illuminance of the illumination device 3 using the illuminance detection means 9 while the inspection vehicle 1 is traveling, first, the illuminance detection camera 91, the illuminometer 92 and the data D1, D2, D3 respectively acquired by the luminance meter 93 are input to the control unit 6B of the in-vehicle computer 6 (step P1).

  Then, in the control unit 6B, a process of determining the illuminance around the inspection vehicle 1 from the camera image input from the illuminance detection camera 91 (step P2-1), and the inspection vehicle from the illuminance data input from the illuminance meter 92 The process for determining the illuminance around 1 (step P2-2) and the process for determining the illuminance around the inspection vehicle 1 from the luminance data input from the luminance meter 93 (step P2-3) are performed in parallel. Subsequently, an appropriate shutter speed of the camera 2 and an appropriate illuminance of the illumination device 3 are determined based on the determination result of the illuminance around the inspection vehicle 1 (step P3).

  Subsequently, an instruction to change to an appropriate shutter speed is output as a shutter speed adjustment signal to the camera 2 (step P4), and then the pantograph 1a is photographed by the camera 2 whose shutter speed has been adjusted (step P5). .

  In parallel with the processing of Step P4 and Step P5, a dimming command for appropriate illuminance is output to the lighting dimming unit 3A of the lighting device 3 (Step P6). Thereafter, the set value of the dimming command is output as a dimming signal from the lighting dimming unit 3A that has received the dimming command to the lighting power source 3B (step P7), and the power source of the setting value input in the lighting power source 3B is output ( In step P8), the illumination device 3 performs irradiation with an appropriate illuminance (step P9).

  By such processing, adjustment of the shutter speed of the camera 2 and the illuminating device 3 corresponding to the illuminance around the test vehicle 1 detected based on the outputs of the illuminance detection camera 91, the illuminance meter 92, and the luminance meter 93. It is configured to perform dimming.

  According to the overhead wire inspection device according to the present embodiment having such a configuration, compared to the overhead wire inspection device according to the first embodiment, the illuminance detection for detecting the ambient brightness of the measurement vehicle 1 at that time. By providing the means 9, there is no need to register in advance the shutter speed information of the camera 2 or the illuminance of the illuminating device 3 at the preset travel position in a table system, and the secular change of the equipment in the vicinity of the route has occurred. Even if you do not need to modify the table.

  In the above-described embodiment, an example is shown in which three devices, the illuminance detection camera 91, the illuminance meter 92, and the luminance meter 93 are used as the illuminance detection means 9, but the illuminance detection means 9 is limited to this. Instead, for example, only the illuminance detection camera 91, only the illuminance meter 92, only the luminance meter 93, or a combination of these two can be used without departing from the spirit of the present invention. Needless to say. Further, instead of the illuminance detection camera 91, the illuminance meter 92, and the luminance meter 93, other illuminance detection means may be used.

  Moreover, although the example which adjusts both adjustment of the shutter speed of the camera 2 and the illumination intensity of the illuminating device 3 was shown in the Example mentioned above, the shutter speed of the camera 2 is fixed and only the illumination intensity of the illuminating device 3 is adjusted. Alternatively, only the shutter speed of the camera 2 may be adjusted with the illuminance of the lighting device 3 fixed.

  The present invention is applicable to an overhead wire inspection apparatus using image processing.

DESCRIPTION OF SYMBOLS 1 Inspection vehicle 1a Pantograph 2 Camera 3, 31, 32 Illumination device 3A Illumination dimming part 3B Illumination power supply 4, 41, 42 Electric pole beam sensor 5 Speed sensor 6 Car-mounted computer 6A Image recording part 6B Control part 6Ba Acquiring measurement data Section 6Bb Camera automatic shutter adjustment section 7 Trolley line 8 Telephone pole 9 Illuminance detection means 21, 22 CCD camera 23, 24 Line sensor camera 91 Illuminance detection camera 92 Illuminance meter 93 Luminance meter

Claims (3)

Imaging means installed on the roof of the vehicle;
Lighting means also installed on the roof of the vehicle;
Vehicle-mounted processing means installed inside the vehicle,
In the overhead line inspection device configured to control the shutter speed of the imaging unit and / or the illuminance of the illumination unit according to the brightness around the vehicle, the on-vehicle processing unit Is a preset reference value obtained by associating the surrounding brightness of the vehicle with the running position of the vehicle and the surrounding brightness of the vehicle at the running position, and a running position for detecting the running position of the vehicle. An overhead wire inspection apparatus configured to adjust a shutter speed of the imaging unit and / or an illuminance of the illumination unit based on an output result of the detection unit. The in-vehicle processing means is installed on the roof of the vehicle, and based on the output result of the illuminance detection means for detecting the brightness around the vehicle, the shutter speed of the imaging means or the illuminance of the illumination means, or both The overhead wire inspection device according to claim 1, wherein the overhead wire inspection device is configured to adjust the angle. The overhead wire inspection device according to claim 2, wherein the illuminance detection means is an illuminance detection camera, an illuminance meter, a luminance meter, or a combination thereof.

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