JP5531291B2 - Image processing system for trains - Google Patents

Description

The present invention relates to a train-mounted image processing system that is mounted on a train traveling on a track and photographs the track, and more particularly, to a train-mounted image processing system that detects an image of a line-installed device installed along the track. . Trains include single-car trains and trams.
The present invention also relates to monitoring the operating state of equipment installed along the line subject to maintenance / security management.

  In a railway, a GPS receiver is mounted on a train traveling on a track together with an on-board device, the GPS receiver performs positioning by a satellite positioning system (Global Positioning System), and the on-board device displays the positioning result of the GPS receiver. Based on the use of route map data and the like to obtain the train position, it is possible to determine the arrival and departure of a streetcar at a stop (see Patent Document 1), to realize a signal advance warning device at low cost (see Patent Document 2), The vehicle operation status recording device can be realized with a small amount of equipment (see Patent Document 3), and the train position can also be grasped at the operation management center (see Patent Document 4).

Among them, in the vehicle driving status recording device (see Patent Document 3), the trajectory ahead of the train is taken with the first imaging device to obtain a forward trajectory image, and the driver's seat is taken with the second imaging device. The video is obtained, and the forward trajectory video and the driver's seat video are recorded together with the train position information obtained by using the GPS.
The video recorded in this way is useful for confirming the route conditions and driving conditions performed after the train travels.

On the other hand, a steady-state monitoring system that monitors the operating status of managed devices and equipment by attaching various sensors to signal security equipment that is subject to maintenance and security management, such as equipment installed along the line, has been put into practical use ( For example, refer nonpatent literature 1).
In this system, measurement data is collected from each sensor to the center via an information network, and the collected data and the operating state of the device are displayed on-line and recorded on the terminal.

Japanese Patent Laid-Open No. 2006-240478 JP 2007-159309 A JP 2008-221902 A JP 2009-234349 A

“History of Steady State Monitoring System Development” by DAIDO101, p. 2-9, issued by Daido Signal Co., Ltd. January 2002

However, in such a conventional steady-state monitoring system, sensors must be attached to equipment installed in a distributed manner along the railway. Therefore, when all the equipment is monitored, the number of sensors is necessarily large. Therefore, the cost increases. In addition, since each device is connected by wire to transmit information to the center, the signal cable is laid out over a long distance and the system becomes large, so it cannot be said that it can be easily introduced.
On the other hand, the above-mentioned vehicle driving situation recording device can take a line along an imaging device on the vehicle, so that the equipment introduction cost is relatively low, and the position of the train is obtained by using GPS to obtain position information. This is suitable for long distance measurement.
Therefore, it is technically possible to realize a railway-installed equipment operating state monitoring system as an image processing system for on-board installation that is inexpensive and easy to introduce by using GPS and image processing well for monitoring the operating conditions of equipment installed along the line. It becomes a difficult task.

  The train-mounted image processing system of the present invention (Solution 1) was created in order to solve such a problem. In the train-mounted image processing system mounted on a train traveling on a railroad track, An imaging device that captures the outside of the vehicle, a GPS receiver that performs positioning using a satellite navigation system, a train position detection unit that obtains a train position based on the positioning result of the GPS receiver, and a line installation that is installed along the track A line-installed device data storage unit for storing device position and device image data related to the device, and detecting the approach of the train position to the device position and capturing images taken by the imaging device at different approach positions A line installation device detection unit that detects the apparatus image from the image and compares the detection results to confirm the operation of the line installation device. The features.

  The train-mounted image processing system of the present invention is (the solution means 2), the train-mounted image processing system of the solution means 1, wherein the imaging device includes a first imaging device for forward trajectory imaging and a backward trajectory. A second imaging device for photographing, and the equipment installed along the line detects the image of the forward trajectory taken by the first imaging device before passing the train at the equipment position and the train after passing the equipment position. Image processing is performed on the image of the backward trajectory taken by the second imaging device.

  Further, the train-mounted image processing system of the present invention is (the solution means 3), the train-mounted image processing system of the above-mentioned solution means 2, wherein the along-line installation device detection unit takes the front taken by the first imaging device. When detecting the device image in the trajectory image, the image search position is determined based on the train position and the device position, but the device image is detected in the rear trajectory image taken by the second imaging device. In this case, the image search position is determined based on the detected image position for the image of the forward trajectory.

  In such a train-mounted image processing system of the present invention (Solution 1), it is possible to take a line along the vehicle with an imaging device on the vehicle, so the equipment introduction cost is relatively low, and GPS is used. Since the position information is obtained, the train position error does not accumulate, so the advantage of the vehicle operation status recording device that it is suitable for long distance measurement is inherited. In addition, the device position and the device image of the equipment installed along the line are stored, and referring to it, the detection of the approach to the device position, the capture of the outside image at a different approach position, and the detection of the device image from a plurality of outside images The operation of the equipment installed along the line is checked by comparing the image detection results.

As a result, changes in the status of installed equipment that operates in response to the approaching and passing of the train are confirmed by images, so sensors can be attached to many devices and each device can be wired as in a conventional steady state monitoring system. No need to connect. Therefore, since the cost and the system scale are reduced, it can be introduced more easily than the conventional steady state monitoring system.
Therefore, according to the present invention, it is possible to monitor the operation state of the equipment installed along the line with a train-mounted image processing system that is inexpensive and easy to introduce.

  In addition, the train-mounted image processing system of the present invention (solution means 2) is equipped with a second imaging device for backward trajectory imaging in addition to the first imaging device for forward trajectory imaging, and the equipment position The image of the forward trajectory taken by the first imaging device before passing the train and the image of the rear trajectory taken by the second imaging device after passing the train at the equipment position are subjected to image processing by the along-line equipment detector. For this reason, the detection results from the images before and after the train passing according to the equipment installed along the line are compared, so that the operating state of the railroad crossing breaker and the turning machine operating according to the train passing can be accurately monitored.

  Furthermore, in the train-mounted image processing system of the present invention (solution 3), the image search is performed twice or more for comparison, but the entire image is obtained from the outside image of the forward track taken by the first imaging device. Thus, when the equipment installed along the line detects a device image, the image search position is determined based on the train position and the device position. If known imaging conditions such as imaging device mounting specifications are added to these train positions and equipment positions, where the equipment image is located in the entire image can be determined by geometric calculation, the image search position is easy and Find quickly.

  In addition, when the entire image is obtained from the rear-trajectory video taken by the second imaging device, and the installation equipment detection unit detects the equipment image from the whole image, the search for the forward-trajectory image has already been made and determined. Since a new image search position is determined based on the known position, the image search position can be obtained more easily and quickly. For this reason, even if the image search is performed several times, the image processing can be completed in a short time, so that it is possible to check the operating state of the equipment installed along the line in real time. And if there is a device abnormality, early detection is made, and early repairs are made accordingly, so that the device quickly returns to normal, contributing to the prevention of accidents.

The structure etc. of the driving | running condition recording apparatus which is Example 1 of the image processing system for a train of this invention are shown, (a) is a top view of a train etc., (b) is an external appearance perspective view of a driving | running condition recording apparatus, (c) ) Is a block diagram of a data processing device (arithmetic device). The operation state of the train-mounted image processing system is shown, (a) is a plan view of a train, etc., (b) is a side view of the train, etc., (c) is an example of a forward trajectory image, and (d) is searched for that image. An example showing the position, (e) is a pattern example to be matched. The operational state of the train-mounted image processing system is shown, (a) shows an example of an image position found in a forward trajectory image, (b) shows an example of an image search position for a backward trajectory image, and (c) shows An example of a backward trajectory image, (d) is an example in which the search position is shown in the image, and (e) is a pattern example to be matched.

With respect to such a train-mounted image processing system of the present invention, a specific mode for carrying out this will be described with reference to Example 1 below.
The embodiment 1 shown in FIGS. 1 to 3 embodies all of the above-described solving means 1 to 3 (claims 1 to 3 at the beginning of the application), and records the operation status described in Patent Document 3 described above. Along with the equipment installed along the equipment 30 along the line 30, the equipment installed along the equipment installed along the line 47, and the imaging condition data 48, and the imaging apparatus 33 is used for taking a picture of the rear orbit outside the vehicle. This is realized in a manner incorporated in the recording device 30.

  A specific configuration of the driving status recording apparatus 30 which is an embodiment of the train-mounted image processing system of the present invention will be described with reference to the drawings. 1A and 1B show the structure of an operation status recording device 30, where FIG. 1A is a plan view of the installed train 20 and the like, FIG. 1B is an external perspective view of the operation status recording device 30, and FIG. It is a block diagram of 40 (arithmetic unit).

The driving status recording device 30 (see FIG. 1A) is mounted on the train 20 traveling on the rail 10 (track).
A driver's seat 21 is provided in the front portion of the leading vehicle of the train 20 (see FIG. 1 (a)), and a speedometer 22 and an altimeter 23 are equipped there (FIG. 1 (b)). reference).
The speedometer 22 is composed of, for example, a speed generator installed in the carriage unit, but the signal output unit is modified and connected to the driving status recording device 30 by a signal cable or the like, and the speed information V is recorded in the driving status. The data is sent to the device 30 at any time. The altimeter 23 also obtains altitude information H as needed and sends it to the driving status recording device 30, and a commercially available general-purpose product is sufficient.

  The driving status recording device 30 (see FIG. 1B) includes an imaging device 32 (first imaging device) that captures the forward trajectory 11 of the train 20, and an imaging device 33 (second imaging) that captures the rear trajectory 12 of the train 20. An imaging device), a GPS antenna 34 and a GPS receiver 35 for positioning by a satellite navigation system, a recording device 36 including a hard disk or the like and a sufficient storage capacity, and a programmable microprocessor system or a digital signal processor. A data processing device 40 that functions as a train position detection unit 41 and a recording control unit 44, and a housing 31 that houses a GPS receiver 35, a recording device 36, a data processing device 40, a power supply unit (not shown), and the like are provided. Yes. The casing 31 is installed in a vacant space under the driver's seat 21 or on the side.

The imaging device 32 (see FIGS. 1 (a) and 1 (b)) is composed of, for example, a CCD camera, and in the state where the shooting direction is directed to the forward track 11 (see the dashed line in FIG. 1 (a)), It is installed at the front end portion, for example, the foremost portion of the upper surface of the driver's seat 21, and the forward trajectory image D1 taken is sent to the data processing device 40 at any time by a video signal cable.
The imaging device 33 (see FIGS. 1A and 1B) is composed of, for example, a CCD camera, and in a state where the photographing direction is directed to the rear trajectory 12 (see the two-dot chain line in FIG. 1A), the train 20 The driver's seat video D2 is installed at the rear end of the rear of the vehicle, for example, at the rearmost part of the conductor's compartment, and is sent to the data processing device 40 through the video signal cable as needed.

The GPS antenna 34 is installed on the ceiling of the train 20 or the like, receives radio waves from a GPS (Global Positioning Satellite) satellite, and transmits the radio waves to the GPS receiver 35 at any time using a coaxial cable or the like.
The GPS receiver 35 performs positioning using a satellite positioning system (Global Positioning System) and, for example, obtains a positioning result [X, Y, Z] that is a set data of a latitude corresponding value X, a longitude corresponding value Y, and an altitude corresponding value Z. The data is sent to the data processor 40 as needed.

  The recording device 36 (see FIG. 1 (c)) is configured to hold the data by dividing it into a number of files. For example, the event information of the singular event is in text format along with the information on the occurrence time and the occurrence position It is accumulated as a file. Further, the forward trajectory video D1 and the backward trajectory video D2 are divided in units of time such as 30 seconds or 1 minute and recorded in a file in the MPEG (Moving Picture Experts Group) format of the digital moving image standard. Further, the date and time when the videos D1 and D2 were acquired are embedded in the file so that the shooting date and time can be understood.

The data processing device 40 (see FIG. 1 (c)) includes, for example, a train position detection unit 41, a recording control unit 44, a video processing unit 45, a line installation device detection unit 47, which are embodied by a program of a microprocessor, Map data 42, along-line installation device data 46, imaging condition data 48, and a built-in clock 43 that can be operated by a battery even when power supply is stopped.
The video processing unit 45 converts the forward trajectory video D1 and the rear trajectory video D2 into, for example, an AVI (Audio Video Interleave) format having a high degree of compression in the MPEG format and delivers it to the recording control unit 44, and forward trajectory video D1. In addition, the rear trajectory image D2 is also handed over to the installation equipment detector 47 along the line one frame at a time in response to the request for capturing.

The train position detection unit 41 acquires the positioning result [X, Y, Z] from the GPS receiver 35, corrects it in light of the map data 42, etc. By acquiring information V, acquiring altitude information H from altimeter 23, and reflecting speed information V and altitude information H in the positioning result [X, Y, Z] of GPS receiver 35, a more accurate train position Q [X, Y, Z] is obtained.
The train position detection unit 41 detects a singular event exceeding the stop position based on the train position Q [X, Y, Z], and detects a singular event exceeding the speed deviation based on the speed information V. Those unique events E are delivered to the recording control unit 44.

The recording control unit 44 receives the AVI format forward trajectory video D1 and the backward trajectory video D2 from the video processing unit 45, divides each of them in the above time unit, and further embeds the date and time T from the clock 43. And is recorded on the recording device 36.
Further, in addition to the above-described unique event E, the recording control unit 44 also handles scheduled recording information indicating that the divided units of the videos D1 and D2 are recorded as event information E, and these information is stored in the file of the recording device 36. In addition to write to.

The installed equipment data 46 along the rail line 10 (track) includes a set data of the equipment position N and the equipment image P in advance for each of the equipment installed along the rail 10 (track) for which an image is to be detected when approaching the train. Is set.
Typical examples of equipment installed along the line are traffic lights, railroad crossing breakers, turning machines, etc., and the image that has been taken is the device image P, which consists of one frame of the images D1 and D2. Smaller than the whole image. The equipment position N is defined by [X, Y, Z] like the train position Q.

  The imaging condition data 48 is an imaging condition M related to the mounting state of the imaging devices 32 and 33 on the train 20, and the imaging condition M related to the imaging device 32 includes a longitudinal difference ΔX between the train position Q and the imaging device 32. In addition to the horizontal difference ΔY and the vertical difference ΔZ, the horizontal tilt θ and the vertical tilt φ in the viewpoint direction of the imaging device 32 are also included. Also in the imaging condition M related to the imaging device 33, the front-rear direction difference ΔX, the left-right direction difference ΔY, the up-down direction difference ΔZ between the train position Q and the imaging device 33, the left-right inclination θ in the viewpoint direction of the imaging device 33, and the up-down direction An inclination φ is included. These imaging conditions M are also preset in the imaging condition data 48 as part of the initial setting.

  The along-line installation equipment detection unit 47 obtains the train position Q from the train position detection unit 41, selects the apparatus position N of the closest installation line equipment in the train traveling direction from the along-line installation equipment data 46, and It is confirmed that the train position Q has advanced to the place where the installed device is reflected in the forward track image D1. When a sufficient approach of the train position Q to the device position N is detected, one frame of the forward trajectory image D1 is captured as an entire image (D1), and the device image P paired with the train position Q at that time is captured. Are selected from the installed equipment data 46 along the line as a partial image to be detected.

  Further, the along-line installation device detection unit 47 searches the entire selected image (D1) by pattern matching to determine whether or not the device image P is included and where it exists. In order to shorten the image search time, the image search position that is the position where the search is started in the entire image (D1) is determined as the train position Q, the device position N, and the imaging condition. It is determined based on M. Since the calculation formula can be modified in various ways, the specific presentation will be omitted. However, regardless of the fractional error, the image search position is uniquely determined by the geometric relationship, regardless of the fractional error. .

When the image search position in the entire image (D1) is determined, pattern matching processing between the partial image and the device image P in the entire image (D1) is performed within an allowable time while expanding the search range centering on the image search position. It is supposed to repeat.
Furthermore, when the equipment installation detection unit 47 finds the device image P in the entire image (D1), the detection result of the device image P, that is, the detection position and the enlargement / reduction degree of the device image P in the entire image (D1), etc. Is temporarily stored for later comparison.

  Further, the along-line installation device detection unit 47 confirms the train position Q, captures the image D1, determines the image search position, pattern matching processing, and temporarily stores the image position until the train position Q reaches the device position N. The storage is repeated, and after the train position Q passes the equipment position N, the confirmation of the train position Q, the capture of the image D2, the determination of the image search position, and the pattern matching process are repeated. The main differences between before and after the passage are that the source of the image is switched from the forward trajectory image D1 to the backward trajectory image D2, and the procedure for determining the image search position is different before and after the passage to shorten the time and simplify it. There are no other differences.

  Further, when determining the image search position, the line-installed equipment detection unit 47 before the train position Q passes the equipment position N, one frame D1 of the forward trajectory 11 taken by the imaging device 32 as described above. Is set as the whole image (D1), and the image search position is determined based on the train position Q, the equipment position N, and the imaging condition M. After the train position Q passes the equipment position N, the imaging device 33 is determined. One frame D2 of the rear trajectory 12 taken in step 1 is used for the entire image (D2), and the entire image (D1) of the front trajectory 11 has already been searched and detected and is temporarily stored. Based on the determined image position, a new image search position in the whole image (D2) is determined. For example, the image search position is determined by, for example, obtaining the symmetrical position in the image of the determined image position by left-right reversal and then correcting it with the imaging condition M.

  Further, the line-installed equipment detection unit 47 detects that the train position Q has approached the equipment position N and then forwards the image taken by the imaging device 32 or the imaging device 33 at several different approach positions as described above. While capturing an image from the track image D1 and the back track image D2, the device image P is detected from the plurality of whole images (D1, D2), and the detection results are compared with each other, and the operation of the equipment installed along the line is detected. Confirm. Specifically, if the equipment installed along the line is a traffic signal, the equipment image P is detected for the entire image (D1) of the forward track 11 taken by the imaging device 32 at a different approach position before passing the train at the equipment position N. Further, the lamp portion is extracted to check whether the lighting state including the color is appropriate and whether the change is normal.

  If the railroad installation equipment is a railroad crossing breaker, the whole image (D1) of the forward track 11 taken by the imaging device 32 before passing the train at the equipment position N, and taken by the imaging device 33 after passing the train at the equipment position N. The device image P is detected from the entire rear trajectory 12 image (D2), and the part of the blocking rod is further extracted to check whether the railroad crossing is properly changed from the closed state to the open state. It is supposed to be. If the equipment installed along the line is a tipping machine, the switching state is confirmed. Furthermore, the device operation confirmation result R obtained in this way is transferred to the recording control unit 44 and recorded in the recording device 36.

  About the driving | running condition recording device 30 (train-mounted image processing system) of this Example 1, the use aspect and operation | movement are demonstrated referring drawings. 2A is a plan view of the train 20 or the like on which it is mounted, FIG. 2B is a side view of the train 20 or the like, FIG. 2C is an image example of the forward trajectory image D1, and FIG. An example showing the position (P0) and (e) are pattern examples P1 and P2 to be matched. 3A is an example in which the image position P4 is found in the forward trajectory image, FIG. 3B is an example in which the image search position P5 for the backward trajectory image D2 is shown, and FIG. 3C is the backward trajectory image. An example of D2, (d) is an example in which the search position P5 is shown in the image D2, and (e) is pattern examples P6 and P7 to be matched.

The operation status recording device 30 mounted on the train 20 is activated when the starting position of the train 20 is adjusted at the start station or the turn-back station, and is stopped after the train 20 is stopped at the end station or the turn-back station. In the meantime, the running state and the driving situation are recorded in the recording device 36 as digital data.
Specifically, the event information E is recorded in the recording device 36 in combination with the year / month / day / time T, the train position Q [X, Y, Z], the speed information V, etc., and the forward trajectory image D1 and the rear trajectory image D2 are recorded. The continuous video is divided into the above-mentioned time units and recorded in the recording device 36. In these pieces of recorded information, the date / time T at the time of the event is included in a part of the group data, the name of the divided file, etc., and can be used to correspond to each other.

  Further, while the train 20 is traveling, image detection and operation confirmation of the devices installed along the rails 10 are also performed by the along-lane installation device detection unit 47 in parallel with the recording of the operation state described above. More specifically, the train position Q is taken in from the train position detection unit 41, and the device position N of the closest installation equipment is selected from the installation equipment data 46, and the installation equipment is reflected in the forward track image D1. When it is confirmed that the train position Q has advanced, a frame of the forward trajectory image D1 is captured as an entire image (D1) (see FIG. 2C), and the train position Q at that time is combined with the train position Q. The device image P is selected from the line-installed device data 46 as a partial image to be detected.

As an example of the equipment image P, if the equipment installed along the line is a railroad crossing breaker, the image P1 in the closed state or the image P2 in the open state is used (see FIG. 2 (e)). An image in the main line side switching state and an image in the branch line side switching state are used. If the equipment installed along the line is a traffic light, an image in a blue lighting state or an image in a red lighting state is used (not shown).
Then, an image search position P0, which is a position where the search is started in the entire image (D1), is determined (see FIG. 2D), and the position calculation is performed using the map data 42 and the train position Q [X, Y, Z], device position N [X, Y, Z] and imaging condition M [ΔX, ΔY, ΔZ, θ, φ] based on the geometrical relationship (see FIGS. 2A and 2B). Done in a short time.

  Further, a partial image that matches the device images P1 and P2 is searched in the entire image (D1) while expanding the search range centering on the image search position P0, whereby the device image P, that is, the device image P1 or the device image is searched. When P2 is found in the entire image (D1), the detection position (P4) of the device image P in the entire image (D1), which is the detection result of the device image P, the enlargement / reduction degree, etc. are determined and detected later. Temporarily stored for result comparison. If the installation equipment along the railway is a railroad crossing breaker, whether the device image P matches the device image P1 and the closed state is detected, or whether the device image P matches the device image P2 and the open state is detected. This is also temporarily stored as a detection result. In the case of a switch, the switching state is detected. In the case of a traffic light, the lighting color is detected, and these are temporarily stored as detection results.

  Such a process is repeated before and after the train 20 passes along the installation equipment along the line, but after passing, the image is captured not from the forward trajectory video D1 but from the rear trajectory video D2, and the equipment image P Is searched for the entire image (D2) (see FIG. 3C). In addition, in the device image P that is paired with the train position Q after passing, device images P6 and P7 viewed in the opposite direction to that before passing are selected from the line-installed device data 46 as partial images to be detected. . Here, as a specific example when the equipment installed along the line is a railroad crossing breaker, an image P6 in an open state and an image P7 in a closed state are used (see FIG. 3E).

  After the passage, first, the image search position P5 that is the position where the search is started in the entire image (D2) is determined (see FIG. 3D), but the position calculation is different from that before the passage, and the forward trajectory 11 For the entire image (D1), the image position P4 that has already been searched and detected and is temporarily stored is referred to (see FIG. 3A), and the entire image (D2) is quickly determined based on the determined image position P4. ) Is determined (see FIG. 3B). Since the determined image position P4 is generally narrowed down to be smaller than the first image search position P0 (see FIG. 3A), the left-right symmetrical position in the image of the determined image position P4 is corrected by the imaging condition M and determined. Since the set image search position P5 is also reduced, the processing load of the image search is further reduced.

  Then, partial images matching the device images P6 and P7 are searched in the entire image (D2) while expanding the search range centering on the image search position P5, and thereby the device image P, that is, the device image P6 or the device image is searched. When P7 is found in the entire image (D2), the detection result of the device image P is a detection result (P8) of the device image P in the entire image (D2) and the enlargement / reduction degree, and the installation equipment along the railroad line Then, it is also determined whether the device image P matches the device image P6 and the open state is detected, or whether the device image P matches the device image P7 and the closed state is detected. In the case of a switch, the switching state is detected, and in the case of a traffic light, the lighting color is detected.

  And when the installation equipment along the line to be detected is a railroad crossing breaker, one or more whole images (D1) of the front track 11 taken before the train position Q passes the equipment position N, and the train position Q Whether or not the detected device image P has transitioned from the closed state to the open state with respect to one or more whole images (D2) of the rear trajectory 12 taken after passing through the device position N. In this way, it is determined that the equipment installed along the line is operating normally, and if not, it is determined that there is an abnormality.

In the case where the installation equipment along the line to be detected is a toppling machine, it is checked whether the whole image (D1) of the front track 11 and the whole image (D2) of the rear track 12 are normally switched, The operating state is determined. In the case of a traffic light, the entire image (D1) of two or more forward tracks 11 is checked for lighting and extinction, and further, a change in lighting color, and the operating state is determined.
In this way, when the train 20 equipped with the operation status recording device 30 travels on the rail 10, the operation state of the installation equipment along the line is confirmed one after another in real time. In addition, the device operation confirmation result R thus obtained is transferred from the along-line device detection unit 47 to the recording control unit 44 and recorded in the recording device 36.

[Others]
In the above embodiment, all of the imaging devices 32 and 33 are for shooting outside the vehicle. However, an imaging device for in-house shooting may be added to record, for example, a video of a driver's seat.

10 ... Rail (track), 11 ... Forward track, 12 ... Back track,
20 ... train, 21 ... driver's seat, 22 ... speedometer, 23 ... altimeter,
30 ... Driving status recording device (train-mounted image processing system),
31... Housing, 32... First imaging device (for photographing forward trajectory outside the vehicle),
33 ... Second imaging device (device for photographing a rear trajectory outside the vehicle),
34 ... GPS antenna, 35 ... GPS receiver, 36 ... recording device,
40 ... Data processing device, 41 ... Train position detection unit,
42: Map data, 43: Clock, 44: Recording control unit,
45 ... Video processing unit, 46 ... Stationary equipment data storage unit,
47 ... Installed equipment detection unit along the railway line, 48 ... Imaging condition data storage unit

Claims (2)

In a train-mounted image processing system mounted on a train traveling on a railroad track, an imaging device that captures the outside of the vehicle, a GPS receiver that performs positioning by a satellite navigation system, and a train position based on the positioning result of the GPS receiver A train position detection unit that obtains the data, a device data storage unit that stores data on the device position and the device image related to the device installed along the track, and detects the approach of the train position to the device position A line installation device detection unit that captures images taken by the imaging device at different approach positions, detects the device image from the plurality of images, and compares the detection results to confirm the operation of the line installation device. a train wheel mounting image processing system that features, the imaging device, a second imaging for the first imaging device and the rear track shooting for forward track shooting The equipment installed along the line detects the forward trajectory image taken by the first imaging device before passing the train at the equipment position and the second imaging device after passing the train at the equipment position. column wheel mounting image processing system that characterized in that that the image of the rear track in the target performs image processing. When the equipment installed along the railway line detects the equipment image in the image of the forward trajectory taken by the first imaging device, the image search position is determined based on the train position and the equipment position. When detecting the device image in the image of the backward trajectory taken by the second imaging device, the image search position is determined based on the detected image position of the image of the forward trajectory. The train-mounted image processing system according to claim 1 .

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