JP6277468B2 - Vehicle power pole position inspection device - Google Patents

Description

  The present invention relates to an apparatus for inspecting whether or not a power pole in front of a train is outside a building limit, and in particular, a vehicle front power pole position that performs a power pole position inspection based on an image of a camera mounted in front of the vehicle. The present invention relates to an inspection device.

The power pole that supports the trolley line of the train must be located outside the building limits where the train runs. As a method for inspecting where a power pole is located, it is common to manually measure using a scale or a distance meter.
Furthermore, a method for automatically inspecting the status of the equipment along the line using a camera mounted on the train has been proposed.

For example, in patent document 1 (Unexamined-Japanese-Patent No. 2011-201426 "Train-mounted image processing system"), the state of the apparatus installed along the line is confirmed by processing the image of the camera mounted in the train.
In addition, a method for detecting a surrounding object or a traveling region for an automobile has been proposed.

For example, in Patent Document 2 (Japanese Patent Application Laid-Open No. 2013-82376 “Parking Support Device”), parking is supported by measuring the distance between a surrounding object and a vehicle using an ultrasonic sonar mounted on an automobile.
In Patent Document 3 (Japanese Patent Laid-Open No. 2012-146135, “Boundary Detection Device and Boundary Detection Program”), a boundary of a traveling region in which a vehicle travels is detected.

JP 2011-201426 A JP 2013-82376 A JP 2012-146135 A

  As described above, the method of manually inspecting the pole position is a method that can be reliably measured. However, since it takes a long measurement time at one place, it is not suitable for the purpose of inspecting the pole position of a long section in a short period.

In the method of Patent Document 1, the operation of a device such as a signal installed along a line is confirmed using an image, but position measurement is not performed.
In the method of Patent Document 2, the distance to the surrounding object is measured by ultrasonic sonar and driving assistance is performed. Therefore, it is difficult to measure the distance unless the vehicle is close to the surrounding object at low speed.

In the method of Patent Document 3, the traveling lane can be detected on the image, but the position of the utility pole cannot be inspected.
The present invention is mainly a confirmation at the time of enforcement, and confirms whether the utility pole is in the design where it should be outside the building limits, and whether the utility pole is in an appropriate position at the time of repair. is there.

In addition, it does not confirm whether the utility pole is tilted and enters the inside of the building limit at the time of a disaster, but it can also be used for such confirmation by providing a margin at the building limit.
Furthermore, if the data is acquired a plurality of times, the tendency that the utility pole is approaching the building limit can be understood, and maintenance work can be performed ahead of schedule.

The vehicle front utility pole position inspection device according to claim 1 of the present invention that solves the above-mentioned problems is a vehicle front utility pole position inspection device that inspects whether or not the utility pole in front of the train is outside the building limit. A camera mounted on the front of the train so that the construction limit known from the design data based on the kilometer position on the track and the photographed power pole in the field of view separated by a reference distance along the line , An inspection controller for inspecting whether or not the utility pole is outside a building limit based on an image photographed by a camera, wherein the inspection controller detects the utility pole from an image photographed by the camera It is characterized by comprising a utility pole detection unit .

The vehicle front utility pole position inspection device according to claim 2 of the present invention for solving the above-mentioned problem is the vehicle front utility pole position inspection device according to claim 1 , wherein the inspection controller includes an image captured by the camera and the kilometer. And a front image photographing unit that associates the positions with each other.

The vehicle forward utility pole position inspection device according to claim 3 of the present invention that solves the above problem is the vehicle forward utility pole position inspection device according to claim 1 , wherein the utility pole detection unit is other than the partial image of the utility pole and the utility pole. A utility pole discriminator that has learned partial images in advance is used to move the rectangular collation range set in advance within the utility pole search range set in the image to detect the utility pole .

The vehicle forward utility pole position inspection device according to claim 4 of the present invention that solves the above problem is the vehicle forward utility pole position inspection device according to claim 1 , wherein the inspection controller is databased based on the kilometer position. Detected by the utility pole detection unit by using a perspective transformation formula that shows the relationship between the reference coordinate system set on the track and the camera coordinate system set on the camera based on the height of the utility pole The electric pole position measurement part which measures the three-dimensional position of the upper head of the said electric pole characterized by the above-mentioned is provided.

The vehicle forward utility pole position inspection apparatus according to claim 5 of the present invention that solves the above problem is the vehicle forward utility pole position inspection apparatus according to claim 4 , wherein the inspection controller is measured by the utility pole position measurement unit. A construction limit judging unit is provided for judging whether or not the three-dimensional position of the upper head of the utility pole is in contact with the construction limit.

The vehicle forward utility pole position inspection device according to claim 6 of the present invention that solves the above problem is the vehicle forward utility pole position inspection device according to claim 1, wherein the image taken by the camera and the building limit are displayed on the image. An inspection controller for assisting the visual inspection of the worker by superimposing and displaying is provided.

The vehicle front utility pole position inspection device according to claim 7 of the present invention for solving the above-mentioned problems is the vehicle front utility pole position inspection device according to claim 6 , wherein the inspection controller includes the image taken by the camera and the kilometer. And a front image photographing unit that associates the positions with each other.

The vehicle front utility pole position inspection apparatus according to claim 8 of the present invention for solving the above-mentioned problems is the vehicle front utility pole position inspection apparatus according to claim 6 , wherein the inspection controller is located at a reference distance from the camera. A virtual building limit setting unit for setting two virtual building limits obtained by moving the building limit in parallel on inspection planes separated by an inspection width at two front and rear positions is provided.

The vehicle forward utility pole position inspection apparatus according to claim 9 of the present invention that solves the above problem is the vehicle forward utility pole position inspection apparatus according to claim 8 , wherein the inspection controller is a reference coordinate system set on the track. and by using the perspective transform equation showing the relationship between the camera coordinate system set in the camera, the image on the position calculating unit of the construction gauge for calculating the image on the position of the construction gauge from the two virtual construction gauge It is characterized by providing.

Vehicle front utility pole position inspection apparatus according to claim 1 0 of the present invention to solve the above problems is the vehicle front utility pole position inspection device according to any one of claims 1 to 9, by providing the margin to the construction gauge It is characterized by.

Vehicle front utility pole position inspection apparatus according to claim 1 of the present invention to solve the above problems is the vehicle front utility pole position inspection apparatus according to claim 1 0, wherein the margin is provided on the inside in the curved portions of the line It is characterized by being able to.

(1) Based on an image taken with a camera mounted at the head of the train, it is possible to inspect whether or not there is a power pole outside the building limit where the train travels.
(2) Compared with the method of manually inspecting the pole position, the pole position in the long section can be inspected in a short period of time.
(3) Even if the train travels at a business speed, if the image in front of the vehicle can be taken, the position of the utility pole can be inspected based on that image.
(4) The building limit can be displayed on the image from the camera in front of the vehicle.

It is the schematic which shows the apparatus structure of the vehicle front utility pole position inspection apparatus by Example 1. FIG. It is a schematic diagram which shows the example of the image image | photographed with the camera. It is a whole flowchart of a vehicle forward utility pole position test | inspection by Example 1. FIG. 3 is a flowchart of photographing a front image according to the first embodiment. It is a flowchart of the utility pole detection by Example 1. FIG. It is a schematic diagram which shows the example of the position on the utility pole design in the visual field of a camera. It is a schematic diagram of learning of a telephone pole discriminator. It is a schematic diagram of utility pole position detection using a utility pole discriminator. It is a schematic diagram of a telephone pole upper head detection by template matching. It is a schematic diagram which shows the example of the collation value data obtained by template matching. It is a flowchart of judgment of the construction limit by Example 1. It is a schematic diagram which shows the example of a setting of the origin of a reference coordinate system. It is a schematic diagram which shows the example of a setting of a reference | standard coordinate system and a camera coordinate system. It is a schematic diagram of a utility pole coordinate system setting. It is a flowchart of the judgment of the construction limit by this invention. It is a schematic diagram which shows the example of a construction limit. It is a schematic diagram which shows the relationship between a construction limit coordinate system and a utility pole coordinate system. It is a schematic diagram of the process which calculates | requires the position of each point of the construction limit on an image. It is a schematic diagram which shows the example which displayed the output result on the monitor. It is a block diagram which shows the structural example of the controller for a test | inspection. It is a whole flowchart of a vehicle forward utility pole position inspection by Example 2. It is a flowchart of the setting of the virtual building limit J by Example 2. FIG. It is a schematic diagram which shows the relationship between a building limit and a reference coordinate system. 3 is a schematic diagram for obtaining a three-dimensional position of a virtual building limit J. FIG. FIG. 10 is a schematic diagram of processing for obtaining the position of each point of the building limit on the image according to the second embodiment. It is a schematic diagram which shows the example which displayed the result by Example 2 on the monitor. FIG. 6 is a block diagram illustrating a configuration example of an inspection controller according to a second embodiment.

    Hereinafter, the present invention will be described in detail with reference to embodiments shown in the drawings.

(Embodiment 1) Basic concept An object of the present invention is to provide a vehicle forward power pole position inspection device that inspects a power pole position based on an image of a camera mounted in front of the vehicle.
The equipment configuration of the vehicle front utility pole position inspection device of the present invention is shown in FIG.

The vehicle front utility pole position inspection device of the present invention is configured by a camera 2 that is installed at the head of the vehicle 1 and images the front, and an inspection controller 3 that stores and processes images.
In-vehicle illumination is used as illumination (not shown) for illuminating the front.

Further, the inspection controller 3 receives kilometer information indicating the position of the train 1 from the in-vehicle sensor controller 4 that controls various sensors of the vehicle 1. “Kilometer information” refers to the position on the track 9 that is how many kilometers from the station, and is also referred to as a kilometer position.
As shown in FIG. 1, the utility pole structure 5 that supports the trolley wire is installed along the track 9 so as to straddle the track 9 and the trolley wire.

The utility pole structure 5 is composed of utility poles 6 and 7 erected on both sides of the line 9 and a horizontal beam 8 horizontally passed to the upper ends of the utility poles 6 and 7.
As shown in FIG. 2, the building limit A and the upper part of the utility pole structure 5 enter the visual field V of the camera 2 at a position separated from the camera 2 installed in the vehicle 1 by a reference distance L (for example, 5 m). Adjust the lens when installing the camera.

An example of an image taken in front of the camera 2 is shown in FIG. A portion indicated by a dotted line in FIG. 2 is a building limit A corresponding to the same point on the utility pole structure 5 and the track 9. The construction limit A literally indicates the limit at which the vehicle 1 can exist, and is a substantially rectangular region in the image.
The heights of the power poles 6 and 7 on the line 9 are known because they are obtained from the design data, and the heights of the power poles with respect to the position on the line 9 (about kilometer) are stored in a database.

The inspecting controller 3 according to the present invention inspects whether or not the utility poles 6 and 7 are outside the building limit A based on the image taken by the camera 2, and the processing setting as shown in FIG. The unit 10, the storage unit 20, the front image capturing unit 30, the utility pole detection unit 40, the utility pole position measurement unit 50, the building limit determination unit 60, and the result output unit 70.
The process setting unit 10 sets various process parameters necessary for the utility pole inspection.

The storage unit 20 stores processing parameters and various data.
The front image capturing unit 30 inputs image data captured by the camera 2 and inputs kilometer information from the in-vehicle sensor controller 4, and associates image data at the time of photographing with kilometer information as photographing kilometer data. save.

In the utility pole detection unit 40, various types of data such as processing parameters and image data (including the kilometer data at the time of photographing and the track information) are input, and the top positions of the utility poles 6 and 7 and the utility poles 6 and 7 on the image are enclosed The rectangular range position is detected and saved as utility pole data.
In the utility pole position measurement unit 50, various data such as processing parameters and utility pole data (including shooting distance data and track information) are input, and various coordinate system data and the three-dimensional position of the top of the utility pole (three-dimensional utility pole) Calculate and save (referred to as position data).

  In the building limit judgment unit 60, various data such as processing parameters and utility pole 3D position data (including shooting distance data, coordinate system data, and track information) are input, and whether the utility pole is outside the building limit A or not. And the position of each point of the building limit A on the image is calculated and stored.

  The result output unit 70 outputs the determination result and the architectural limit data on the image. The output data is displayed on a monitor (not shown) as shown in FIG. 19, for example. In this example, “OK” as the determination result and the building limit A are superimposed and displayed together with the photographed image.

The vehicle front utility pole position inspection of the present invention is performed as follows according to the overall flowchart shown in FIG.
First, the front image is taken (step S1), then the utility pole is detected (step S2), the utility pole position is subsequently measured (step S3), and the building limit A is determined (step S4). ). Then, it is determined whether or not the process should be terminated (step S5). When the process is to be terminated, the process is terminated, and when not, the steps S1 to S4 are repeated.
Next, each procedure will be described in detail.

<Step S1>
“Shooting a front image” in step S1 is mainly performed by the front image capturing unit 30 in the following procedure according to the flowchart shown in FIG.
Step S11: A front image is taken by the camera 2.
Step S12: The kilometer information is received from the in-vehicle sensor controller 4.
Step S13: The captured image and kilometer information are stored in association with each other.
According to such a procedure, the tilt (posture) information of the camera 2 at the time of photographing can be obtained by referring to the database about the tilt in the left-right direction and the tilt in the front-rear direction of the track 9 from the database.

<Step S2>
The “electric pole detection” in step S2 is mainly performed by the electric pole detection unit 40 in the following procedure according to the flowchart shown in FIG.
Step S21: The search range B of the utility poles 6 and 7 on the image is set.
Step S22: A rectangular range surrounding the utility poles 6 and 7 in the search range B is detected.
Step S23: The position on the image of the upper head of the utility poles 6 and 7 is obtained.
Step S24: The upper head position of the utility poles 6 and 7 on the image and the rectangular range surrounding the utility poles 6 and 7 are stored.

<Step S21>
The following method is used for “setting the search range B of the utility poles 6 and 7” in step S21.
In other words, there is a section where the train 1 travels in a curve on the track 9, but since the distance between the telephone poles 6 and 7 to be photographed and the camera 2 is several meters, the bend of the track 9 is very small. It can be considered that the section from 2 to the utility poles 6 and 7 is substantially straight.
Moreover, the design position of the utility poles 6 and 7 can be obtained from the kilometer information at the time of photographing.

Based on these conditions, the utility pole design position C in the field of view V of the camera 2 is obtained as shown in FIG. The position C in the utility pole design is a bar-like line segment extending in the vertical direction, resembling the shape of the utility poles 6 and 7.
Further, as shown in FIG. 6, the search range B (indicated by a broken line in the figure) of the utility poles 6 and 7 is set by giving a preset lateral offset width to the position C in the power pole design in the camera field of view V. To do.
Alternatively, when the position C in the utility pole design cannot be obtained, the search range B of the utility poles 6 and 7 may be manually set on the image from the experience of operating the apparatus.

<Step S22>
The following method is used for “detecting a rectangular area surrounding the utility poles 6 and 7” in step S22.
That is, the utility pole position detection according to the present invention is performed by detecting an object using a discriminator as in JP 2012-28460 A.

First, as shown in FIG. 7, a large number of partial images Q1 of the utility poles 6 and 7 and partial images Q2 other than the utility poles are prepared, and the utility pole discriminator 42 is learned in advance through the learning device 41 using these images Q1 and Q2. . The learning of the utility pole identifier 42 may be performed separately offline.
Learning data obtained as a result of learning is input to the process setting unit 10 as part of the process parameters.

  Next, as shown in FIG. 8, by performing a raster scan within the search range B of the utility poles 6, 7, the collation range D of the rectangular utility pole discriminator is moved up, down, left, and right as shown by the arrows in the figure to learn. The utility pole position E is detected using the utility pole discriminator 42. The collation range D of the utility pole discriminator at the detected utility pole position E is “rectangular range surrounding the utility poles 6, 7” as indicated by the broken line in the figure.

  Note that Japanese Patent Application No. 2012-280536 [0005] states that “Patent Document 2 (Note, JP 2012-28460 A) discloses a component periphery after mounting on a substrate in order to inspect for the presence of components mounted on the substrate. A technology is disclosed in which a discriminator using a support vector machine is constructed in advance by learning the luminance information of the image, and after the discriminator is constructed, the discriminator determines the presence or absence of a component from the luminance information of the image. It is described.

  [0008] of Japanese Patent Application Laid-Open No. 2012-28460 states, “Here, the support vector machine is a known method for forming a two-class pattern discriminator. The support vector machine is sample data belonging to one class. And the sample data belonging to the other class determines a separation plane for separating them, and the separation plane identifies which class the given data belongs to. " ing.

<Step S23>
The “upper image position of the upper heads of the utility poles 6 and 7” in step S23 is obtained by the following method.
First, as shown in FIG. 9, a reference template image F of the upper part of the utility pole is prepared in advance.

  Next, as shown in FIG. 9, a utility pole upper head position search range G (shown by a broken line in the figure) is provided near the utility pole upper head position obtained from the detected utility pole position E, and the utility pole upper head position search range is provided. By moving the reference template image F up, down, left and right in the figure in G, template matching is performed by raster scan, and collation value data with the reference template image F of the electric pole upper head position search range G is obtained. .

Moreover, the example of collation value data is shown in FIG. Search for the position where the best matching value can be obtained from the matching value data, and further estimate the subpixel position in the vertical and horizontal directions of the image using the matching values around the position where the best matching value was obtained. Do.
Sub-pixel position estimation is performed by parabolic fitting. As shown in FIG. 10, the vertex position of the quadratic curve obtained by parabolic fitting is obtained as the position H of the upper head of the utility poles 6 and 7.

<Step S3>
“Measurement of the utility pole position” in step S3 is mainly performed by the utility pole position measurement unit 50 in the following procedure according to the flowchart shown in FIG.
Step S31: The reference coordinate system 100 is set.
Step S32: The camera position and orientation in the reference coordinate system 100 are obtained.
Step S33: The upper head three-dimensional position of the utility poles 6 and 7 in the reference coordinate system 100 is obtained.
Step S34: The utility pole coordinate system 200 is set.
Step S35: The coordinate system data including the camera position and orientation and the data of the three-dimensional position of the electric pole upper head are stored.

<Step S31>
The “setting of reference coordinate system 100” in step S31 uses the following method.
That is, examples of setting the reference coordinate system 100 are shown in FIGS. As shown in FIG. 12, the center position of the left and right rails is the origin 0, the vertical direction is the Y axis, and the horizontal direction is the X axis. That is, the X axis is taken in a direction perpendicular to the traveling direction of the train 1 on the horizontal plane. In FIG. 12A, since there is no difference in height between the left and right lines (rails) 9, the position of the rail upper surface is the origin 0 in the Y-axis direction. FIG. 12B shows a case where there is a height difference between the left and right rail upper surfaces, and the rail upper surfaces are inclined with respect to the horizontal X-axis. As shown in FIG. 13, the Z axis is the direction opposite to the traveling direction of the train 1 on the horizontal plane.

<Step S32>
The “camera position and orientation in the reference coordinate system 100” in step S32 is obtained by the following method.
That is, as shown in FIG. 13, the position of the camera 2 on the Z axis is set as a reference distance L from the camera 2 to the utility pole structure 5. That is, the distance on the Z axis between the reference coordinate system 100 and the camera coordinate system 300 is the reference distance L.

In addition, since the camera installation position in the vehicle 1 is obtained from the design data, the X-axis position and the Y-axis position of the camera 2 are determined by taking into account the inclination of the train 1 at the shooting point with respect to this design data. Set.
Further, the attitude of the camera 2 is referred to based on the kilometer information, and the tilt (orientation) information of the camera 2 at the time of shooting is obtained. An example of the camera coordinate system 300 set from the camera position and orientation is also shown in FIG.

<Step S33>
The “three-dimensional position of the upper heads of the utility poles 6 and 7 in the reference coordinate system 100” in step S33 is obtained by the following method.

  That is, on the image sensor in the camera coordinate system 300 that can be converted from the three-dimensional position (X, Y, Z) of the upper heads of the utility poles 6 and 7 in the reference coordinate system 100 and the position of the upper head of the utility poles 6 and 7 in the image. The projected positions (x, y, f) of the upper heads of the utility poles 6 and 7 can be expressed by the perspective transformation equations shown in equations (1) and (2). Here, a is a coefficient obtained from the camera posture, f is a lens focal length, and (X0, Y0, Z0) is a camera position in the reference coordinate system 100.

  Since the heights of the utility poles 6 and 7 corresponding to the shooting point are known in advance, Y in the equation (2) is known. Therefore, the position on the Z-axis of the utility poles 6 and 7 in the reference coordinate system 100 is obtained using Expression (2), and then the position on the X-axis of the utility poles 6 and 7 is obtained by substituting Z into Expression (1).

<Step S34>
The “electric pole coordinate system 200” is set in step S34 using the following method.
That is, as shown in FIG. 14, a coordinate system that is translated in the ZX plane of the reference coordinate system 100 by the three-dimensional position of the upper heads of the utility poles 6 and 7 is set in the utility pole coordinate system 200.

<Step S4>
The “determination of the building limit A” in step S4 is mainly performed by the building limit determining unit 60 in the following procedure according to the flowchart shown in FIG.
Step S41: The position of the utility pole kilometer at the time of photographing is obtained.
Step S42: The position of each point of the building limit A in the utility pole coordinate system 200 is obtained.
Step S43: The construction limit A is determined.
Step S44: The position of each point of the building limit A on the image is obtained.
Step S45: The determination result and the position of each point of the building limit A are stored.

<Step S41>
The “position of the power pole kilometer at the time of photographing” in step S41 is obtained by the following method.
That is, the reference distance L from the camera 2 to the utility pole structure 5 and the upper head Z-axis position of the utility poles 6 and 7 in the reference coordinate system 100 are added to the kilometer information corresponding to the image. This is about a kilometer of power pole at the time of shooting.

<Step S42>
The “position of each point of the building limit A in the utility pole coordinate system 200” in step S42 is obtained by the following method.
The building limit A at each kilometer position on the track 9 is known from the design data.
As shown in FIG. 16, the building limit A is set on a two-dimensional plane with the sleeper direction as the horizontal axis and the vertical direction with respect to the surface of the track 9 as the vertical axis.

When the building limit coordinate system 400 is set with the horizontal axis as the X axis and the vertical axis as the Y axis, the building limit A can be expressed on the XY plane of the utility pole coordinate system 200 as shown in FIG. it can.
This translates the origin of the construction limit coordinate system 400 to a position shifted by the position on the X-axis of the utility poles 6 and 7 in the reference coordinate system 100, and further, by the horizontal inclination of the track 9 at the kilometer position. This can be achieved by rotating the coordinate transformation.

<Step S43>
The “determination of building limit A” in step S43 is performed by the following method.
That is, when the position of each point of the building limit A in the utility pole coordinate system 200 is obtained, if there is a point of the building limit A having a value of 0 or more in the X-axis component of the utility pole coordinate system 200, it will come into contact with the utility pole. .
Therefore, the X-axis component of each point of the building limit A in the utility pole coordinate system 200 is examined, and if all are negative values, it is determined that the utility pole is outside the building limit A.

When considering safety, a safety width is provided in advance, and it is investigated whether or not a value obtained by subtracting the safety width from the value of the X-axis component at each point is a negative value.
In particular, in the curved part of the track 9, it is safer to set the building limit A with a margin inside.

<Step S44>
The “position of each point of the building limit A on the image” in step S44 is obtained by the following method.
That is, the camera position and orientation in the utility pole coordinate system 200 are calculated from the camera position and orientation in the reference coordinate system 100 and the positional relationship between the reference coordinate system 100 and the utility pole coordinate system 200.
As a result, a perspective transformation formula from the three-dimensional position of the point in the utility pole coordinate system 200 to the position on the image sensor in the camera coordinate system 300 is obtained.

  Next, as shown in FIG. 18, each point of the building limit A in the image N is obtained by converting each point of the building limit A in the utility pole coordinate system 200 to a position of N on the image by a perspective transformation formula. . In FIG. 18, P is a lens focus.

  The effect of this apparatus is as described in the column of the effect of the invention, and in particular, the utility poles 6 and 7 outside the building limit A where the train travels based on the image taken by the camera 2 mounted at the head of the train. It can be checked whether there is any.

Example 2 (device for assisting visual inspection of building limit A)
An object of the present invention is to provide a vehicle front utility pole position inspection device that inspects a utility pole position based on an image of a camera mounted in front of the vehicle, as in the first embodiment.

However, unlike the first embodiment, the position of the utility pole in front of the vehicle is not measured, and the building limit A at a position away from the camera 2 installed in the vehicle 1 by the reference distance L is taken into account in consideration of the vehicle inclination (monitor). Display above.
Regarding the judgment of whether or not the utility pole in front of the train is outside the building limit A, visual inspection of workers by superimposing and displaying the image taken with the camera 2 and the building limit A on the image (monitor) To do.

The vehicle front utility pole position inspection apparatus of the present invention basically uses the equipment configuration shown in FIG.
However, the inspection controller 3 according to the present invention assists the visual inspection of the worker by superimposing and displaying the image photographed by the camera 2 and the building limit A on the image, as shown in FIG. , Processing setting unit 10, storage unit 20, front image photographing unit 30, virtual building limit setting unit 80, building limit image position calculation unit 90, and result output unit 70.

The processing setting unit 10, the storage unit 20, and the front image capturing unit 30 are the same as those in the first embodiment.
The virtual building limit setting unit 80 inputs various data such as processing parameters and shooting distance data, sets the inspection plane M, calculates the three-dimensional position of the virtual building limit J, and generates various coordinate system data and virtual data. Store building limit data.

The building limit image position calculation unit 90 inputs various data such as processing parameters and shooting distance data, calculates the position on the image of each point of the virtual building limit J by perspective transformation, and sets the building limit data on the image. Save.
The result output unit 70 outputs the architectural limit data on the image. For example, the output data is displayed on a monitor (not shown) as shown in FIG. In this example, the captured image and the building limit are superimposed on the monitor.

The vehicle front utility pole position inspection of the present invention is performed as follows according to the overall flowchart shown in FIG.
First, a front image is taken (step T1), then a virtual building limit J is set (step T2), and then the position of the building limit A on the image is calculated (step T3). Then, it is determined whether or not the process should be terminated (step S4). When the process is to be terminated, the process is terminated, and when not, the steps T1 to T3 are repeated.
Next, each procedure will be described in detail.

<Step T1>
“Taking a front image” in step T1 is performed in the same manner as in the first embodiment.

<Step T2>
“Setting virtual building limit J” in step T2 is performed according to the following procedure according to the flowchart shown in FIG.
Step T21: The reference coordinate system 100 is set.
Step T22: The camera position and orientation in the reference coordinate system 100 are obtained.
Step T23: The three-dimensional position of the virtual building limit J in the reference coordinate system 100 is obtained.
Step T24: Coordinate system data including the camera position and orientation and virtual building limit J data are stored.

<Step T21>
For the “setting of the reference coordinate system 100” in step T21, the same method as in the first embodiment is used.

<Step T22>
The “camera position and orientation in the reference coordinate system 100” in step T22 is also obtained in the same manner as in the first embodiment.

<Step T23>
The “three-dimensional position of the virtual building limit J in the reference coordinate system 100” in step T23 is obtained mainly by the virtual building limit setting unit 80 by the following method.
That is, the construction limit at each kilometer position on the track 9 is known from the design data as described in the first embodiment (FIG. 16).

When the building limit coordinate system 400 is set with the horizontal axis as the X axis and the vertical axis as the Y axis, the building limit A can be expressed on the XY plane of the reference coordinate system 100 as shown in FIG. it can.
Considering the fact that the kilometer information obtained at the time of image shooting and the actual position of the vehicle 1 on the track 9 are slightly shifted, as shown in FIG. 24, the reference coordinate system 100 is inspected in both the positive and negative directions of the Z axis. Consider two inspection planes M separated by a width K.

  As shown in FIG. 24, the building limit A at the kilometer position of the origin of the reference coordinate system 100 is moved in parallel on two inspection planes M, thereby obtaining the three-dimensional position of the virtual building limit J.

<Step T3>
The “calculation of the building limit image position” in step T3 is mainly performed by the building limit image position calculation unit 90 by the following method.
First, a perspective transformation formula from the three-dimensional position of the point in the reference coordinate system 100 to the position on the image sensor in the camera coordinate system 300 is obtained.

  Next, as shown in FIG. 25, by converting each point of the virtual building limit J in the reference coordinate system 100 to a position of N on the image by a perspective transformation formula, the position of each point of the building limit A on the image N is determined. Ask. In FIG. 25, P is a lens focus.

  The effect of the present invention is as described in the column of the effect of the invention, and in particular, the utility pole 6 outside the building limit A where the train 1 travels based on the image taken by the camera 2 mounted at the head of the train train. , 7 can be visually inspected. Although automatic determination is not possible as in the first embodiment, even if it is difficult to detect the utility poles 6 and 7 due to backlight or bad weather, it is possible to make a visual determination by displaying the building limit A on the image. , The burden on the operator can be reduced.

  INDUSTRIAL APPLICABILITY The present invention can be widely used industrially as a device for inspecting whether or not a utility pole in front of a train is outside the building limit.

DESCRIPTION OF SYMBOLS 1 Train 2 Camera 3 Inspection controller 4 Car-mounted sensor controller 5 Electric pole structure 6,7 Electric pole 8 Horizontal beam 9 Line 10 Processing setting part 20 Storage part 30 Front image photographing part 40 Electric pole detection part 50 Electric pole position measurement part 60 Building limit judgment Part 70 result output part 80 virtual building limit setting part 90 building limit image position calculation part 100 reference coordinate system 200 power pole coordinate system 300 camera coordinate system 400 building limit coordinate system A building limit B search range of power pole C position on power pole design D Electric pole identifier verification range E Electric pole position F Electric pole upper head reference template image G Electric pole upper head position search range H Electric pole upper head position J Virtual building limit K Inspection width L Reference distance M Inspection plane N On image V Camera view

Claims (11)

In the vehicle front utility pole position inspection device that inspects whether the utility pole in front of the train is outside the building limits,
A camera mounted in front of the train so that the construction limit known from the design data based on the kilometer position on the track in the field of view separated by a reference distance along the track and the electric pole to be photographed can enter. Prepared ,
An inspection controller that inspects whether or not the utility pole is outside the building limit based on an image taken by the camera;
The inspection controller is:
A vehicle forward utility pole position inspection apparatus comprising a utility pole detection unit that detects the utility pole from an image photographed by the camera . In the vehicle front utility pole position inspection device according to claim 1 ,
The inspection controller is:
A vehicle forward utility pole position inspection apparatus comprising: a front image photographing unit that associates an image photographed by the camera with the kilometer position. In the vehicle front utility pole position inspection device according to claim 1 ,
The utility pole detection unit uses a utility pole discriminator that has previously learned a partial image of the utility pole and a partial image other than the utility pole, and moves a rectangular matching range set in advance within the utility pole search range set in the image. is allowed, the vehicle front utility pole position inspection device and detects the electric pole. In the vehicle front utility pole position inspection device according to claim 1 ,
The inspection controller is:
Based on the height of the utility pole in the database based on the kilometer position, use a perspective transformation formula indicating the relationship between the reference coordinate system set on the track and the camera coordinate system set on the camera Thus, a vehicle forward utility pole position inspection device comprising a utility pole position measurement unit that measures the three-dimensional position of the upper head of the utility pole detected by the utility pole detection unit. In the vehicle front utility pole position inspection device according to claim 4 ,
The inspection controller is:
A vehicle forward utility pole position inspection device comprising: a building limit judgment unit that judges whether or not a three-dimensional position of the upper head of the utility pole measured by the utility pole position measurement unit contacts the building limit. In the vehicle front utility pole position inspection device according to claim 1,
A vehicle front utility pole position inspection device comprising an inspection controller that assists a visual inspection of a worker by superimposing and displaying an image photographed by the camera and the building limit on the image. In the vehicle front utility pole position inspection device according to claim 6 ,
The inspection controller is:
A vehicle forward utility pole position inspection apparatus comprising: a front image photographing unit that associates an image photographed by the camera with the kilometer position. In the vehicle front utility pole position inspection device according to claim 6 ,
The inspection controller is:
It comprises a virtual building limit setting unit that sets two virtual building limits that are moved in parallel with the building limit on an inspection plane that is separated from the camera by a reference distance from a position that is a reference distance away from the camera by two inspection widths. A vehicle front power pole position inspection device. The vehicle front utility pole position inspection device according to claim 8 ,
The inspection controller is:
By using the perspective transformation equation showing the relationship between the camera coordinate system set in the the set reference coordinate system on the line camera, calculating an image on the position of the construction gauge from the two virtual construction gauge The vehicle front utility pole position inspection apparatus characterized by including an on-image position calculation unit for building limits. In the vehicle front utility pole position inspection device according to any one of claims 1 to 9 ,
A vehicle front utility pole position inspection device characterized in that a margin is provided at the building limit. In the vehicle front utility pole position inspection device according to claim 10 ,
The vehicle front utility pole position inspection apparatus, wherein the margin is provided inside a curved portion of the track.

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