JP6855712B2 - Turnout entry possibility judgment device and turnout entry possibility judgment method - Google Patents

Description

The present invention relates to a turnout entry possibility determination device for determining whether or not to enter a turnout which is an electric railway facility by image processing, and a turnout entry possibility determination method.

The railway is a large-scale transportation system that is long and has a huge amount of equipment. Railway equipment has multiple tracks, and turnouts are installed to pass between the multiple tracks. A turnout is a device with an orbital structure that divides one orbit into multiple orbits. When moving a railroad vehicle to another track, it is necessary to switch the opening and closing of the point part of the turnout. If the opening / closing direction of the turnout is different from the traveling direction of the railroad vehicle, there is a risk of causing a serious accident, and automatic recognition of the opening / closing direction of the turnout is desired.

In Patent Document 1 below, a mileage sensor is provided on the trolley, the mileage is counted by a pulse generated from the mileage sensor, and when the mileage matches the measurement position information of the branching device, the trolley is stopped. A branching device inspection device that measures a branching device using a laser displacement sensor is disclosed.

Further, in the following Patent Document 2 and the following Patent Document 3, microwaves are transmitted from an antenna mounted on a maintenance vehicle, and when this antenna passes directly above the ground element, the ground element that receives the microwave is built in the RF. -While transmitting the turnout information and passing position information written on the ID tag toward the antenna, it was mounted on the maintenance vehicle based on the movement of the operating motor of the turnout detected by the detector. The in-vehicle control box determines the opening direction information of the turnout, lights the opening button when the passing position information and the opening direction information match, and lights the non-opening button when the passing position information and the opening direction information do not match. A maintenance vehicle automatic stop device is disclosed in which the maintenance vehicle is automatically braked.

Further, in the following Patent Document 4 and the following Patent Document 5, it is possible to determine whether or not to enter or exit a speed limiting location such as in a branching device based on its own coordinate information obtained by receiving a GPS signal from a GPS satellite. An in-orbit moving body control device that enables this is disclosed.

Further, in Patent Document 6 below, two ground sensors are arranged at positions separated from the turnout, and an antenna for communicating with the ground sensor is arranged in the maintenance vehicle so that the maintenance vehicle approaches the turnout. When it enters the communication range with the ground sensor and acquires data from the ground sensor, the camera captures the zoomed-in image of the turnout and at the same time notifies by voice that it has approached the turnout, and the camera takes a picture by image processing. Disclosed is a turnout erroneous entry prevention device that detects the open state of the turnout from the image and displays it on the monitor and outputs an emergency brake signal when it is determined that the turnout is not open.

Japanese Patent No. 4857369 Japanese Patent No. 4750069 Japanese Patent No. 4199226 Japanese Patent No. 4573864 Japanese Patent No. 4121897 Japanese Patent No. 3583084

However, the turnout inspection device of Patent Document 1 requires a phase in which the position of the turnout is input to the data unit in advance, and does not automatically detect the turnout.

Further, since the maintenance vehicle automatic stop device of Patent Document 2 and Patent Document 3 determines whether or not to enter from the passing position information of the RF-ID, there is a problem that it is not possible to confirm whether or not to enter by an image, and the rear end of the turnout Since it is necessary to install the ground control box at the position, there is a problem that the installation work becomes complicated and costly.

Further, the in-orbit moving body control device of Patent Document 4 and Patent Document 5 stops the moving body when the moving body tries to travel while ignoring the speed limit in the speed limit location, and issues an alarm to the driver. It was intended to stop the moving body, and was not intended to determine whether or not to enter the branching device. Further, since the camera is not provided, there is a problem that it is not possible to confirm whether or not the entry is possible by using an image.

Further, the turnout erroneous entry prevention device of Patent Document 6 determines the presence or absence of a turnout by communicating with a ground sensor, and requires a number of ground sensors corresponding to the number of turnouts. There was a problem that it became complicated and costly.

Therefore, the present invention has a turnout entry possibility determination device and a turnout entry possibility determination method capable of specifying the position of the turnout with a simple configuration and determining whether or not the turnout can enter the turnout. The purpose is to provide.

The turnout entry propriety determination device according to the first invention for solving the above problems is
A turnout entry propriety determination device including a photographing means installed on the roof of the vehicle and photographing the railroad track in front of the vehicle and an image processing means for determining whether or not to enter the turnout based on the image photographed by the photographing means. And
The image processing means
An image input unit for inputting an image taken by the shooting means, and an image input unit.
A line detection unit that detects the line from an image input by the image input unit, and a line detection unit.
A turnout detection unit that detects the turnout from the image using the position on the image of the line detected by the line detection unit, and
Whether or not the turnout can be entered by recognizing the open state of the turnout from the position on the image of the line detected by the line detection unit and the position on the image of the turnout detected by the turnout detection unit. It is characterized by including a turnout open / close recognition unit for determining.

Further, the turnout entry propriety determination device according to the second invention for solving the above problems is
It is characterized by including a display means for displaying an image input by the image input unit and a determination result by the turnout open / close recognition unit.

Further, the turnout entry propriety determination device according to the third invention for solving the above problems is
It is characterized in that the turnout opening / closing recognition unit includes an alarm means for outputting an alarm when it is determined that the turnout cannot be entered.

Further, the turnout entry propriety determination device according to the fourth invention for solving the above problems is
The track detection unit detects track candidate points using the difference in brightness between the track and the gauge as a feature amount for a region on the image corresponding to a position separated from the vehicle by a certain distance, and the center coordinates between the track candidate points. To determine a line model in which the center coordinates and the position of the line are previously associated with each other according to the position of the center coordinates in the horizontal axis direction, and the feature amount evaluation points set for each line model are used as a reference. It is characterized in that the likelihood of a feature amount is calculated and the position having the highest likelihood is detected as a line detection point.

Further, the turnout entry propriety determination device according to the fifth invention for solving the above problems is
The turnout detection unit is characterized in that a linear portion existing in the gauge on the image and having a brightness within a predetermined range with respect to the brightness of the line detected by the line detection unit is detected as a part of the turnout. And.

Further, the turnout entry propriety determination device according to the sixth invention for solving the above problems is
The turnout open / close recognition unit of the turnout depends on the presence or absence of continuity of the brightness values between the line on the image detected by the line detection unit and the linear portion detected by the turnout detection unit. It is characterized by recognizing the open state.

Further, the method for determining whether or not a turnout can be entered according to the seventh invention for solving the above problems is described.
It is a method of determining whether or not to enter a turnout based on an image taken by a photographing means which is installed on the roof of the vehicle and photographs the railroad track in front of the vehicle.
An image input step of inputting an image captured by the photographing means, and
A line detection step of detecting the line from an image input in the image input step, and a line detection step.
A turnout detection step of detecting the turnout from the image using the position on the image of the line detected in the line detection step, and a turnout detection step.
Whether or not the turnout can be entered by recognizing the open state of the turnout from the position on the image of the line detected in the line detection step and the position on the image of the turnout detected in the turnout detection step. It is characterized by having a turnout open / close recognition process for determining.

Further, the method for determining whether or not a turnout can be entered according to the eighth invention for solving the above problems is described.
It is characterized in that an image taken by the photographing means and a result determined in the turnout opening / closing recognition step are displayed on the display means.

Further, the method for determining whether or not a turnout can be entered according to the ninth invention for solving the above problems is described.
It is characterized in that an alarm is output when it is determined in the turnout opening / closing recognition step that entry into the turnout is impossible.

Further, the method for determining whether or not a turnout can be entered according to the tenth invention for solving the above problems is described.
The track detection step detects track candidate points using the difference in brightness between the track and the gauge as a feature amount for a region on the image corresponding to a position separated from the vehicle by a certain distance, and the center coordinates between the track candidate points. To determine a line model in which the center coordinates and the position of the line are previously associated with each other according to the position of the center coordinates in the horizontal axis direction, and the feature amount evaluation points set for each line model are used as a reference. It is characterized in that the likelihood of a feature amount is calculated and the position having the highest likelihood is detected as a line detection point.

In addition, the method for determining whether or not a turnout can be entered according to the eleventh invention for solving the above problems is described.
The turnout opening / closing recognition step of the turnout depends on the presence or absence of continuity of the brightness values between the line on the image detected by the turnout detection unit and the linear portion detected by the turnout detection unit. It is characterized by recognizing the open state.

In addition, the method for determining whether or not a turnout can be entered according to the twelfth invention for solving the above problems is described.
The turnout opening / closing recognition step of the turnout depends on the presence or absence of continuity of the brightness values between the line on the image detected by the turnout detection unit and the linear portion detected by the turnout detection unit. It is characterized by recognizing the open state.

According to the turnout entry possibility determination device and the turnout entry possibility determination method according to the present invention, the position of the turnout can be specified with a simple configuration, and the possibility of entry into the turnout can be determined.

It is a schematic diagram which shows the structure of the turnout entry propriety determination apparatus which concerns on one Embodiment of this invention. It is a schematic diagram which shows an example of the image taken by the area camera of the turnout entry admissibility determination device shown in FIG. 1. It is a block diagram which shows the apparatus structure of the turnout entry propriety determination apparatus which concerns on one Embodiment of this invention. It is a schematic diagram which shows an example of a turnout. It is a schematic diagram which shows the result of detecting the line from the image shown in FIG. It is explanatory drawing which shows an example of the luminance distribution of the reference used for discriminating the line. It is explanatory drawing which shows the existence probability of the line obtained from the image shown in FIG. It is explanatory drawing which shows the relationship between the line center coordinates and a line model. It is explanatory drawing which shows the detection example of a turnout. It is a flowchart which shows the flow of the process by the turnout entry propriety determination apparatus which concerns on one Embodiment of this invention.

Hereinafter, an embodiment of the turnout entry possibility determination device and the turnout entry possibility determination method according to the present invention will be described with reference to FIGS. 1 to 10.

As shown in FIG. 1, the turnout entry possibility determination device according to the present embodiment includes an area camera 2 as a photographing means installed on the roof of an electric railway vehicle (hereinafter, simply referred to as “vehicle”) 1 and lighting. It is configured to include a device 3 and a personal computer 4 installed inside the vehicle 1.

The area camera 2 is installed in front of the roof of the vehicle 1 and photographs the track 5 on the traveling path side (in front of the vehicle 1) while the vehicle 1 is traveling. Further, the lens of the area camera 2 is selected according to conditions such as the traveling speed of the vehicle 1. The image taken by the area camera 2 is, for example, an image as shown in FIG.
The lighting device 3 illuminates the track 5 in the range photographed by the area camera 2.

As shown in FIG. 3, the personal computer 4 includes an image processing unit 41 as an image processing means, a monitor 42 as a display means, and a speaker 43 as an alarm means.

The image processing unit 41 is a part that analyzes the image taken by the area camera 2, recognizes the open state of the turnout 50 as shown in FIG. 4, and determines whether or not the vehicle 1 can enter the turnout 50. The equipment data unit 41a, the image input unit 41b, the line detection unit 41c, the turnout detection unit 41d, the turnout open / close recognition unit 41e, and the storage unit 41f are provided.

Here, the turnout 50 is a mechanism for branching the line 5 into a plurality of lines as shown in FIG. 4, and has a point portion 51, a lead portion 52, and a crossing portion 53. The point portion 51 is a portion where the tongue rail 50a for guiding the vehicle 1 to the traveling path side is installed. The lead portion 52 is a portion where a lead rail 50b connecting the tongue rail 50a and the crossing portion 53 is installed. The crossing portion 53 is a portion where the railroad tracks 5 intersect.

The equipment data unit 41a includes data on at least the installation height [mm] (hereinafter, camera height) of the area camera 2 and the installation angle [deg] (hereinafter, camera installation angle) of the area camera 2, and the reference brightness described later. This is the part where the distribution and the line model are input in advance.
The image input unit 41b is a portion for inputting image data captured by the area camera 2. This image data is sent to the line detection unit 41c and stored in the storage unit 41f.

The line detection unit 41c is based on the camera height [mm], the camera installation angle [deg], the reference brightness distribution and the line model acquired from the equipment data unit 41a, and the image data input from the image input unit 41b. , line detection points P _L as shown in FIG. _{5 (x L [pix],} y L [pix]), P R (x R [pix], y R [pix]) detected.

More specifically, the brightness values of the line 5 and the gauge are different on the image (see FIG. 6). Therefore, first, the brightness difference between the track 5 and the gauge is used as a feature quantity, and the brightness distribution as shown in FIG. 6 is used as a reference from the region A on the image corresponding to the local region separated from the vehicle 1 by a certain distance. A candidate for the track 5 (hereinafter referred to as a track candidate point) is detected, and the center coordinates C (x _C [pix], y _C [pix]) between the left and right track candidate points are obtained (see FIG. 8). Note that FIG. 7 shows the existence probability of the line 5 in the region A of the image shown in FIG.

Here, there is a strong correlation between the line center coordinates C in the region A and the shape of the line 5.
For example, as shown in FIG. 8A, when the shape of the line 5 is curved to the right with respect to the traveling direction, the line center coordinates C are usually in the left-right direction (traveling direction) of the image in the region A. It is located on the right side (hereinafter referred to as the horizontal axis direction).
Further, as shown in FIG. 8C, when the shape of the track 5 extends linearly toward the front in the vehicle traveling direction, the track center coordinates C are usually centered in the horizontal axis direction in the region A. Located in.
Further, as shown in FIG. 8E, when the shape of the line 5 is curved to the left with respect to the traveling direction, the line center coordinates C are usually located on the left side in the horizontal axis direction in the area A. ..

Therefore, the position in the horizontal axis direction of the line 5 and the position of the line center coordinate C in a plurality of areas (hereinafter collectively referred to as line detection areas) separated from each other by a predetermined distance before and after the area A and the course direction of the area A. The relationship between the above is statistically obtained in advance, and a model formula (line model) in which the line center coordinates C and the shape of the line 5 (feature amount evaluation point F) are associated with each other is created.

Then, when the position of the line center coordinate C is obtained from the line candidate point, the line model corresponding to the position of the line center coordinate C is determined. For example, the line model shown in FIG. 8B is used for the line center coordinate C shown in FIG. 8A, and the line model shown in FIG. 8D is used for the line center coordinate C shown in FIG. 8C. , The line model shown in FIG. 8 (f) is determined for the line center coordinates C shown in FIG. 8 (e).

After determining the line model, the feature amount (with line 5) in the line detection region is centered on the feature amount evaluation point F as shown in FIGS. 8 (b), (d), and (f) set for each line model. Calculate the likelihood of (brightness difference from the gauge). Then, each performs raster scan on line detection area, it detects the highest position likelihood of the above-described feature quantity, and this position is line detection point P _L, and P _R. Line detection point P _L, P _R is transmitted to the branch unit detecting unit 41d as the line position data [pix].

The turnout detection unit 41d detects the position (x [pix], y [pix]) of the turnout 50 based on the line position data and the image data input from the line detection unit 41c. As shown in FIGS. 9A to 9D, the turnout 50 (tongue rail 50a and lead rail 50b) is always present in the gauge of the line 5 detected by the line detection unit 41c. Therefore, in the gauge of the line 5 detected by the line detection unit 41c, a linear portion having a brightness value similar to that of the line 5 is extracted and detected as a turnout 50.

For example, in the examples shown in FIGS. 9A to 9D, the detection range shown by the broken line (the area within the railroad track and set within the range of a predetermined distance before and after the vehicle traveling direction with the area A in between). On the other hand, the position where the linear portion (the portion indicated by hatching in FIGS. 9A to 9D) having a brightness value similar to that of the line 5 detected by the line detection unit 41c exists is set as the position of the turnout 50. To detect. The detected position of the turnout 50 is sent to the turnout open / close recognition unit 41e together with the line position data as the turnout position data [pix]. The brightness value similar to that of the line 5 is a brightness value within a predetermined range set in advance with respect to the brightness value of the line 5.

The turnout open / close recognition unit 41e obtains the continuity between the tongue rail 50a and the line 5 by the brightness value based on the turnout position data, the line position data, and the image data input from the turnout detection unit 41d, and the turnout It recognizes the open state of 50, determines that entry is possible if the turnout 50 is open, outputs the determination result to the monitor 42, and determines that entry is not possible if the turnout 50 is not open. The result is output to the monitor 42 and the speaker 43.
For example, in the examples shown in FIGS. 9A to 9D, since the tongue rail 50a and the line 5 are not continuous and the turnout 50 is in the open state, it is determined that the entry is possible.

The monitor 42 displays an image taken by the area camera 2 and a determination result of admissibility of entry input from the turnout open / close recognition unit 41e on the screen.
The speaker 43 outputs an alarm (warning sound) based on the determination result of inaccessibility input from the turnout open / close recognition unit 41e.

Hereinafter, the flow of the turnout entry propriety determination process in the present embodiment will be briefly described with reference to FIG.

As shown in FIG. 10, in the present embodiment, the camera height data, the camera installation angle, the reference luminance distribution, and the line model are input in advance by the equipment data unit 41a (step S1).

Subsequently, the image data captured by the area camera 2 is input by the image input unit 41b (step S2). Then, the line detection unit 41c, the camera height data and the camera installation angle, the reference luminance distribution of the line detection points based on the line model and the image data P _L, P position of _{R (x L, y L)} , (x _R , y _R ) is obtained (step S3).

Thereafter, the splitter detection unit 41d, the image data and the line detection point P _L, the position of _{P R (x L, y L} ), based on the (x _R, y _R), for detecting a branching device 50 (step S4 ). If the turnout 50 is detected in step S4 (YES), the process proceeds to step S5, which will be described later. If the turnout 50 is not detected in step S4 (NO), the process returns to step S2.

In step S5, the turnout open / close recognition unit 41e recognizes the open state of the turnout 50 and determines whether or not to enter the turnout 50. If the turnout 50 cannot be entered in step S5 (NO), the monitor 42 displays that the turnout 50 cannot be entered (step S6), and the speaker 43 outputs a warning sound (step S7). If it is possible to enter the turnout 50 in step S5 (YES), the process proceeds to step S6 described above.
The above processing is performed until the shooting by the area camera 2 is completed (step S8).

According to the turnout entry possibility determination device and the turnout entry possibility determination method according to the present embodiment, the position of the turnout 50 is specified only from the image taken by the area camera 2, and the turnout 50 is possible to enter. Therefore, there is an advantage that a sensor or a control device is not required, and it is possible to determine whether or not to enter the turnout 50 at low cost with a simple configuration.

Further, since the images of the line 5 and the turnout 50 are continuously taken, the open state of the turnout 50 can be confirmed by the image when the warning sound of not being able to enter the turnout 50 is output. Has advantages.

Further, since it is possible to detect the turnout 50 far from the vehicle 1 by changing the lens of the area camera 2 as necessary, the speed and the stopping distance of the vehicle 1 are limited as compared with the conventional case. It also has the advantage of being reduced.
Needless to say, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

The present invention can be used for a turnout entry possibility determination device and a turnout entry possibility determination method.

1 Vehicle 2 Area camera 3 Lighting device 4 Personal computer 5 Line 41 Image processing unit 41a Equipment data unit 41b Image input unit 41c Line detection unit 41d Turnout detection unit 41e Turnout open / close recognition unit 41f Storage unit 42 Monitor 43 Speaker 50 Turnout 50a tongue rail 50b lead rail 51 point portions 52 lead portion 53 crossing portion P _R, P _L line detection points a region C line center coordinates F feature amount evaluation point on the image corresponding to the local area a predetermined distance from the vehicle

Claims (10)

A turnout entry propriety determination device including a photographing means installed on the roof of the vehicle and photographing the railroad track in front of the vehicle and an image processing means for determining whether or not to enter the turnout based on the image photographed by the photographing means. And
The image processing means
An image input unit for inputting an image taken by the shooting means, and an image input unit.
A line detection unit that detects the line from an image input by the image input unit, and a line detection unit.
A turnout detection unit that detects the turnout from the image using the position on the image of the line detected by the line detection unit, and
Whether or not the turnout can be entered by recognizing the open state of the turnout from the position on the image of the line detected by the line detection unit and the position on the image of the turnout detected by the turnout detection unit. Bei example and determining splitter closing recognizing section,
The track detection unit detects track candidate points using the difference in brightness between the track and the gauge as a feature amount for a region on the image corresponding to a position separated from the vehicle by a certain distance, and the center coordinates between the track candidate points. Is input in advance to the equipment data unit, and a line model in which the relationship between the center coordinates and the position of the line is statistically related in advance is determined according to the position of the center coordinates in the horizontal axis direction, and each line model is determined. A turnout entry possibility determination device characterized in that the likelihood of the feature amount is calculated with reference to the feature amount evaluation point set in 1 and the position having the highest probability is detected as a line detection point. The turnout entry possibility determination device according to claim 1, further comprising a display means for displaying an image input by the image input unit and a determination result by the turnout open / close recognition unit. The turnout entry possibility determination according to claim 1 or 2, wherein the turnout open / close recognition unit includes an alarm means for outputting an alarm when it is determined that the turnout cannot be entered. apparatus. The turnout detection unit is characterized in that a linear portion existing in the gauge on the image and having a brightness within a predetermined range with respect to the brightness of the line detected by the line detection unit is detected as a part of the turnout. The turnout entry possibility determination device according to any one of claims 1 to 3. The turnout open / close recognition unit determines the continuity of the brightness values between the line on the image detected by the line detection unit and the linear portion detected by the turnout detection unit. The turnout entry possibility determination device according to any one of claims 1 to 4, wherein the open state is recognized. It is a method of determining whether or not to enter a turnout based on an image taken by a photographing means which is installed on the roof of the vehicle and photographs the railroad track in front of the vehicle.
An image input step of inputting an image captured by the photographing means, and
A line detection step of detecting the line from an image input in the image input step, and a line detection step.
A turnout detection step of detecting the turnout from the image using the position on the image of the line detected in the line detection step, and a turnout detection step.
Whether or not the turnout can be entered by recognizing the open state of the turnout from the position on the image of the line detected in the line detection step and the position on the image of the turnout detected in the turnout detection step. possess a determining splitter closing recognition step a,
The track detection step detects track candidate points using the difference in brightness between the track and the gauge as a feature amount for a region on the image corresponding to a position separated from the vehicle by a certain distance, and the center coordinates between the track candidate points. Is input in advance to the equipment data unit, and a line model in which the relationship between the center coordinates and the position of the line is statistically related in advance is determined according to the position of the center coordinates in the horizontal axis direction, and each line model is determined. A method for determining whether or not a turnout can enter is characterized in that the likelihood of the feature amount is calculated with reference to the feature amount evaluation point set in 1 and the position having the highest likelihood is detected as a line detection point. The method for determining whether or not a turnout can be entered according to claim 6, wherein an image taken by the photographing means and a result of determination in the turnout opening / closing recognition step are displayed on the display means. The method for determining whether or not a turnout can be entered according to claim 6 or 7 , wherein an alarm is output when it is determined in the turnout open / close recognition step that the turnout cannot be entered. The turnout detection step detects as a part of the turnout a linear portion that exists in the gauge on the image and has a brightness within a predetermined range with respect to the brightness of the line detected by the line detection unit. > The method for determining whether or not a turnout can be entered according to any one of claims 6 to 8 , characterized in that. The turnout opening / closing recognition step of the turnout depends on the presence or absence of continuity of the brightness values between the line on the image detected by the turnout detection unit and the linear portion detected by the turnout detection unit. The method for determining whether or not to enter a turnout according to any one of claims 6 to 9 , wherein the open state is recognized.

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