JP7008001B2 - Non-contact pantograph contact force measuring device - Google Patents

Description

The present invention relates to a technique for measuring the contact force of a pantograph using image processing.

In electric railways, a method of supplying electric power from an overhead line to a vehicle via a pantograph is common. The contact force between the overhead wire and the pantograph changes due to the height fluctuation of the overhead wire, the vibration of the vehicle and the pantograph, and the like. If the fluctuation of the contact force becomes large, the pantograph may be separated from the overhead wire and an arc may be generated. Further, if the contact force is too large, the overhead wire will be severely worn.

Therefore, there is a need for a technique for measuring the contact force between the overhead wire and the pantograph. The following Patent Documents 1 to 3 disclose such a technique.

Japanese Unexamined Patent Publication No. 2011-232273 Japanese Unexamined Patent Publication No. 2009-244023

However, Patent Documents 1 and 2 can be applied only to a pantograph having a single row of boats because the camera is located on only one side of the pantograph.

In view of the above technical problems, the present invention makes it possible to measure the contact force between the overhead wire and the pantograph regardless of whether the boat has two rows or a pantograph that collects current. It is an object of the present invention to provide a type pantograph contact force measuring device.

The non-contact pantograph contact force measuring device according to the first invention for solving the above problems is
A non-contact pantograph contact force measuring device that measures a contact force between a pantograph having a boat body in contact with an overhead wire and a support portion that supports the boat body by a spring, and the overhead wire.
A pair of first markers arranged vertically above the side surface of the support portion and the side surface of the boat body in the vertical direction of the side surface of the support portion.
A first photographing means for collectively photographing a pair of the first markers, and
Based on the image captured by the first photographing means, each position of the pair of the first markers is detected, and the contact force is based on each position of the detected pair of the first markers and the speed of the vehicle. It is characterized by having a contact force calculation unit for obtaining the above.

The non-contact pantograph contact force measuring device according to the second invention for solving the above problems is
In the non-contact type pantograph contact force measuring device according to the first invention.
The support portions are arranged at both ends of the boat body in the sleeper direction.
The first marker is characterized in that it is arranged with respect to all the support portions and the vertically upper position of the side surface of all the support portions among the side surfaces of the boat body.

The non-contact pantograph contact force measuring device according to the third invention for solving the above problems is
In the non-contact type pantograph contact force measuring device according to the first or second invention.
The contact force calculation unit is
Based on each position of the pair of detected first markers, the reaction force of the spring, the damping force of the spring, and the inertial force are obtained.
Find the lift based on the speed
It is characterized in that the obtained reaction force, the damping force , the inertial force, and the resultant force of the lift force are obtained as the contact force.

The non-contact pantograph contact force measuring device according to the fourth invention for solving the above problems is
In the non-contact type pantograph contact force measuring device according to any one of the above 1 to 3 inventions.
The first marker is a striped pattern in which white lines and black lines are alternately arranged in the vertical direction.
The contact force calculation unit is characterized in that the position of the first marker is detected on one line in the vertical direction.

The non-contact pantograph contact force measuring device according to the fifth invention for solving the above problems is
In the non-contact type pantograph contact force measuring device according to the fourth invention.
The contact force calculation unit is
Template matching was performed using the template image corresponding to the first marker on one line in the vertical direction.
The vertical end of the white line is obtained by calculating the differential value of the luminance value.
It is characterized in that parabolic fitting is performed using the obtained differential values at the vertical end of the white line and both ends in the sleeper direction, and the position of the first marker is detected.

The non-contact pantograph contact force measuring device according to the sixth invention for solving the above problems is
In the non-contact type pantograph contact force measuring device according to the fifth invention.
The white lines are two or more lines having different widths in the vertical direction from each other.
The calculation of the differential value of the brightness value by the contact force calculation unit is performed with respect to the vertical upper end of the white line arranged at the upper end in the vertical direction or the vertical lower end of the white line arranged at the lower end in the vertical direction among the plurality of white lines. It is characterized by doing it.

The non-contact pantograph contact force measuring device according to the seventh invention for solving the above problems is
In the non-contact type pantograph contact force measuring device according to the first or second invention.
Of the side surface of the boat body, the second marker arranged at the center position in the sleeper direction,
Further provided with a second photographing means for photographing the second marker,
The contact force calculation unit is
The position of the second marker is detected based on the image taken by the second photographing means, and the position of the second marker is detected.
Based on the detected position of the second marker, the inertial force is obtained.
Based on each position of the pair of detected first markers, the reaction force of the spring and the damping force of the spring are obtained.
Find the lift based on the speed
It is characterized in that the obtained reaction force, the damping force , the inertial force, and the resultant force of the lift force are obtained as the contact force.

The non-contact pantograph contact force measuring device according to the eighth invention for solving the above problems is
In the non-contact type pantograph contact force measuring device according to the seventh invention.
The first marker and the second marker are striped patterns in which white lines and black lines are alternately arranged in the vertical direction, respectively.
The contact force calculation unit is characterized in that each position of the first marker and the second marker is detected on one line in the vertical direction.

The non-contact pantograph contact force measuring device according to the ninth invention for solving the above problems is
In the non-contact type pantograph contact force measuring device according to the eighth invention.
Template matching was performed using the template images corresponding to the first marker and the second marker on one line in the vertical direction.
The vertical end of the white line is obtained by calculating the differential value of the luminance value.
It is characterized in that parabolic fitting is performed using the obtained differential values at the vertical end of the white line and both ends in the sleeper direction, and the positions of the first marker and the second marker are detected.

The non-contact pantograph contact force measuring device according to the tenth invention for solving the above problems is
In the non-contact type pantograph contact force measuring device according to the ninth invention.
The white lines are two or more lines having different widths in the vertical direction from each other.
The calculation of the differential value of the brightness value by the contact force calculation unit is performed with respect to the vertical upper end of the white line arranged at the upper end in the vertical direction or the vertical lower end of the white line arranged at the lower end in the vertical direction among the plurality of white lines. It is characterized by doing it.

According to the non-contact type pantograph contact force measuring device according to the present invention, it is possible to measure the contact force between the overhead wire and the pantograph regardless of whether the boat has two rows or a pantograph that collects current. And.

It is a schematic diagram explaining the structure of the non-contact type pantograph contact force measuring apparatus which concerns on Example 1 of this invention. It is a schematic diagram explaining the structure of the contact force calculation part in Example 1 of this invention. It is a flowchart explaining the operation of the contact force calculation part in Example 1 of this invention. It is a schematic diagram which shows the image example of the marker photographed by the line sensor camera in Example 1 of this invention. It is a figure which shows an example of the template image in Example 1 of this invention. It is an image diagram explaining edge detection in Example 1 of this invention. It is a model diagram of the force acting on the pantograph in Example 1 of this invention. It is a schematic diagram explaining the structure of the non-contact type pantograph contact force measuring apparatus which concerns on Example 2 of this invention. It is a schematic diagram explaining the structure of the contact force calculation part in Example 2 of this invention. It is a schematic diagram explaining the structure of the non-contact type pantograph contact force measuring apparatus which concerns on Example 3 of this invention. It is a schematic diagram explaining the structure of the contact force calculation part in Example 3 of this invention. It is a schematic diagram which shows an example of the image taken by the area sensor camera in Example 3 of this invention.

Hereinafter, the non-contact type pantograph contact force measuring device according to the present invention will be described with reference to the drawings in Examples.

[Example 1]
First, the configuration of the non-contact type pantograph contact force measuring device according to this embodiment will be described with reference to FIG. FIG. 1 is a schematic diagram illustrating a non-contact type pantograph contact force measuring device according to this embodiment. The inside of the broken line frame P in FIG. 1 is a view of the vicinity of the pantograph as seen from the fluttering side.

As shown in FIG. 1, the pantograph 2 in contact with the overhead wire 1 is supported by a framework 4 fixed to the roof 3a of the vehicle and two boats that are supported by the framework 4 and extend in the direction of sleepers and come into contact with the overhead wire 1. It has bodies 5 and 6. The boat bodies 5 and 6 are arranged in parallel so as to be aligned with each other in the vehicle traveling direction.

At the upper end of the framework 4 in the vertical direction, a total of four support portions 7 to 10 are formed to support both ends of each of the boat bodies 5 and 6 in the sleeper direction. Further, inside each of the support portions 7 to 10, internal springs 7a to 10a extending in the vertical direction are provided.

That is, both ends of the hull 5 in the sleeper direction are supported by the internal springs 7a and 8a of the support portions 7 and 8, and both ends of the hull 6 in the sleeper direction are supported by the internal springs 9a and 10a of the support portions 9 and 10. ing.

The non-contact type pantograph contact force measuring device according to the present embodiment obtains the contact force between the overhead wire 1 and the pantograph 2 described above, and as shown in FIG. 1, the markers 11A to 14A, 11B to It includes a 14B (first marker), line sensor cameras 15 to 18, and a contact force calculation unit 23.

The figure in the broken line circle Q in FIG. 1 shows an enlarged view of the marker 13A as an example. As shown in this enlarged view, the markers 11A to 14A have a pattern in which two white lines are arranged on a black background, in other words, a striped pattern in which white lines and black lines are alternately arranged, and each support portion 7 to 10 is formed. Black and white striped patterns are provided so as to be arranged in the vertical direction with respect to the side surface A of the above.

Markers 11B to 14B have striped patterns consisting of white lines and black lines alternating in the vertical direction with respect to the vertically upper position B of each side surface A among the side surfaces of the boat bodies 5 and 6, respectively. It is provided so as to line up with. The markers 11A and 11B, the markers 12A and 12B, the markers 13A and the markers 13B, and the markers 14A and 14B are arranged at corresponding positions to form a pair of upper and lower markers.

The two white lines have different widths in the vertical direction, and the straight line on the lower side in the vertical direction is wider than the straight line on the upper side in the vertical direction.

Further, in the support portions 7 and 8 arranged at both ends of the boat body 5 on the fluttering side in the direction of the sleepers, the side surface A is the side surface on the fluttering side, and the position B is the side surface A on the side surface on the fluttering side of the boat body 5. The position is above the vertical direction of.

Further, in the support portions 9 and 10 arranged at both ends of the boat body 6 on the anti-flumbing side in the sleeper direction, the side surface A is the side surface on the anti-flumbing side, and the position B is the side surface on the anti-flumbing side of the boat body 6. The position of the side surface A in the vertical direction is upward.

As a result, the angle at which each marker faces becomes an optimum angle when taking into consideration the shooting by the line sensor cameras 15 to 18, which will be described later, and the shooting becomes easy.

The line sensor camera 15 fixes the markers 11A and 11B provided on the side surface A of the support portion 7 and the vertically upward position B thereof, respectively, to the roof 3a of the vehicle (tilted upward) so that the markers 11A and 11B can be collectively photographed. Has been done. Note that the shooting here means shooting one line in the vertical direction (the same applies to all subsequent line sensor cameras).

Similarly, in the line sensor cameras 16 to 18, the markers 12A to 14A and 12B to 14B provided on the side surfaces A of the support portions 8 to 10 and the vertically upper position B thereof can be collectively photographed. It is fixed to 3a on the roof of the vehicle.

That is, in this embodiment, the markers 11A to 14A and 11B to 14B arranged in the entire range of motion of the pantograph 2 are photographed by the line sensor cameras 15 to 18 provided as described above.

Further, the illumination 19 collectively illuminates the markers 11A and 11B, and similarly, the illuminations 20 to 22 collectively illuminate the markers 12A to 14A and 12B to 14B, respectively. These illuminations 19 to 22 are for improving the measurement accuracy of the luminance value described later.

However, the number of lights can be changed by, for example, simultaneously illuminating the markers 11A, 12A, 11B, 12B arranged at both ends of the boat body 5 in the sleeper direction with one light.

FIG. 2 is a block diagram illustrating the configuration of the contact force calculation unit 23. The contact force calculation unit 23 detects each position of the pair of upper and lower markers (on one line in the vertical direction) based on the images taken by the line sensor cameras 15 to 18, and the position of each detected marker and the position of each marker. The contact force between the overhead wire 1 and the pantograph 2 is obtained based on the speed of the vehicle 3. As shown in FIG. 2, the contact force calculation unit 23 includes a processing unit 24, a detection unit 25, and a calculation unit 26.

Images of markers 11A to 14A and 11B to 14B taken by the line sensor cameras 15 to 18, speed signals of the vehicle 3, and marker displacement described later are input to the processing unit 24. Then, the processing unit 24 creates image data based on the video and obtains the speed (vehicle speed) [m / s] of the vehicle 3 based on the speed signal.

The image data is input to the detection unit 25 from the processing unit 24. Then, the detection unit 25 obtains the marker displacement (marker position) [mm] based on the input image data.

The marker displacement and the vehicle speed are input to the calculation unit 26 from the processing unit 24. Further, the calculation unit 26 obtains a contact force [N] between the overhead wire 1 and the pantograph 2 (that is, the boat bodies 5 and 6) based on the input marker displacement and the vehicle speed.

The above is the description of the configuration of the non-contact type pantograph contact force measuring device according to this embodiment. Hereinafter, the operation of the contact force calculation unit 23 will be described in detail using the flowchart of FIG.

In step S1, the processing unit 24 receives images from the line sensor cameras 15 to 18.

Here, an image example of a pair of upper and lower markers 11A and 11B taken by the line sensor camera 15 is shown in FIG. 4 (a pair of upper and lower markers 12A to 14A and 12B to 14B taken by other line sensor cameras 16 to 18). The image of is similar in shape).

FIG. 4 is an image in which a fixed number of images scanned by a line sensor camera for one vertical line are arranged in a vertical direction in chronological order. That is, the horizontal axis of FIG. 4 is the vertical width of the markers 11A and 11B taken by the line sensor camera 15, and the vertical axis is time.

In step S2, the detection unit 25 detects each pair of upper and lower marker positions based on the image input from the processing unit 24. That is, the positions of the markers 11A and 11B taken by the line sensor camera 15, the positions of the markers 12A and 12B taken by the line sensor camera 16, the positions of the markers 13A and 13B taken by the line sensor camera 17, and the positions of the markers 13A and 13B taken by the line sensor camera 18. The positions of the markers 14A and 14B are detected.

Further, this detection is performed in two steps: rough position detection by template matching, and highly accurate position detection by edge detection and subpixel estimation.

First, for rough position detection by template matching, as shown in FIG. 5, matching with the template image 11AA corresponding to the marker on one line in the vertical direction prepared in advance is performed by the actual line sensor. Perform for each line (image per unit time) taken by the camera.

The template image 11AA shown in FIG. 5 corresponds to one of the upper and lower markers 11A and 11B (for example, 11A), and it is necessary to match each marker with the corresponding template image. (Of course, by making all the markers the same pattern, matching with each marker may be performed using only one template image).

ZNCC, which is a kind of normalized cross-correlation, is used for the similarity calculation between the template image and the image taken by the actual line sensor camera.

After roughly detecting the markers by the above template matching, as shown in gray scale in FIG. 6, of the two white lines in each detected marker, the lower end in the vertical direction of the lower white line in the vertical direction is detected by edge detection. Ask. This edge detection calculates the differential value of the luminance value.

Sub-pixel estimation performed after that is to perform parabolic fitting (search for the vertices of the quadratic curve) using the information of the differential values of the left and right 2 pixels of the edge (vertical lower end) position obtained by this edge detection. To detect the detailed marker position.

In step S3, the contact force F between the pantograph 2 and the overhead wire 1 is used by the calculation unit 26 based on the model of the force acting on the pantograph shown in FIG. 7 using the following calculation formulas (1) to (5).
_{Find c} . F _b is the spring reaction force of the internal spring (7a to 10a), F _d is the damping force of the internal spring (7a to 10a), _{Fine is the inertial force, Faero is} the lifting force, and N is the number of line sensor cameras (N is the number of line sensor cameras. In this embodiment, a total of four (15 to 18), K is the spring coefficient of the internal spring (7a to 10a), C _d is the damping coefficient, _M is the equivalent mass, CL is the lift coefficient, and x _u is the upper marker (x u). The 11B to 14B) positions, x _l are the lower marker (11A to 14A) positions, and V is the vehicle speed of the vehicle 3.

Here, the spring reaction force F _b , the spring damping force F _d , and the inertial force _Fine are the resultant forces of the values calculated based on the positions of the markers 11A to 14A and 11B to 14B corresponding to the respective internal springs 7a to 10a. Become. Lift F _aero is a force determined by the vehicle speed V.

Then, the resultant force of the spring reaction force F _b , the damping force F _d of the spring, the inertial force _{Fine, and the lift force Faero is} obtained as the contact force F _c .

以上が接触力算出部２３の動作説明である。

The above is the operation explanation of the contact force calculation unit 23.

However, in the present embodiment, the number of white lines of each marker is set to two, and the lower end of the vertical lower white line of each marker is obtained by the edge detection in step S2. The number of white lines in each marker is not limited to two or more, and among the plurality of white lines, the vertical direction of the white line arranged at the upper end or the lower end of the vertical upper end white line. By detecting the edge of the lower end, the result equivalent to that described in this embodiment can be obtained.

Since the non-contact pantograph contact force measuring device according to this embodiment measures the contact force of the pantograph by image analysis using a camera, it is not only operated during a power outage time such as at night using a maintenance vehicle, but also. It can also be applied to ordinary commercial vehicles.

In addition, by installing cameras on both the fluttering side and the anti-fluttering side of the pantograph, it is widely used not only in the pantograph of a single row of boats used in high-speed railways such as the Shinkansen, but also in general vehicles. It can also be applied to the pantograph of the two-row boat.

Further, in the pantograph of the two-row hull, the number of internal springs is larger than that of the one-row hull, and there are many measurement points. Therefore, the error at each measurement position has a great influence on the total contact force. Even in such a case, it is possible to measure the contact force with higher accuracy by obtaining the damping force of the spring by image processing and adding it to the calculation formula of the contact force.

[Example 2]
In this embodiment, in addition to the configuration of the non-contact type pantograph contact force measuring device according to the first embodiment, by further adding a marker, it is possible to cope with a case where a primary vibration mode is generated in the pantograph. be. Hereinafter, the parts overlapping with the first embodiment will be omitted as much as possible, and the differences from the first embodiment will be mainly described.

The configuration of the non-contact pantograph contact force measuring device according to this embodiment will be described with reference to FIG. FIG. 8 is a schematic view illustrating the non-contact type pantograph contact force measuring device according to the present embodiment (the inside of the broken line frame P in the figure is a view of the vicinity of the pantograph seen from the fluttering side).

As shown in FIG. 8, in the non-contact pantograph contact force measuring device according to the present embodiment, in addition to the configuration of the non-contact pantograph contact force measuring device according to the first embodiment, the markers 31, 32, the line sensor camera 33, and the like. It is equipped with 34 and lights 35 and 36.

The markers 31 and 32 have the same pattern as the markers 11A to 14A and 11B to 14B of the first embodiment, and are located at the center position C in the sleeper direction on the outer side surface of the boat bodies 5 and 6, that is, the boat body 5 on the fluttering side. If there is, it is provided at the center position C in the sleeper direction on the side surface facing the fluttering side, and in the case of the boat body 6 on the anti-fluttering side, it is provided at the center position C in the sleeper direction on the side surface facing the anti-fluttering side.

The line sensor cameras 33 and 34 are fixed (tilted upward) to the roof 3a of the vehicle so that the markers 31 and 32 can be photographed, respectively. Further, the illuminations 35 and 36 illuminate the markers 31 and 32, respectively. However, as described in the first embodiment, the number of illuminations may be any number as long as the markers 31 and 32 (and other markers) can be illuminated and the measurement accuracy of the luminance value can be improved.

Further, FIG. 9 is a block diagram illustrating the configuration of the contact force calculation unit 37. As shown in FIG. 9, the contact force calculation unit 37 includes a processing unit 38, a detection unit 39, and a calculation unit 40.

The processing unit 38 receives images from the line sensor cameras 15 to 18 and the line sensor cameras 33 and 34 in step S1 of the first embodiment.

In step S2 of the first embodiment, the detection unit 39 detects a pair of upper and lower marker positions (located at both ends of the boat bodies 5 and 6 in the sleeper direction) based on the image input from the processing unit 38. , The positions of the markers 31 and 32 at the center position C in the sleeper direction are also detected. The positions of the markers 31 and 32 are also detected in the same manner as in step S2 described in the first embodiment.

In step S3 of the first embodiment, the calculation unit 40 obtains the inertial force _Fine as the resultant force of the values calculated based on the positions of the markers 31 and 32 at the center position C in the pillow direction taken by the line sensor cameras 33 and 34 (the calculation unit 40). After x _u of the calculation formula (4) is the position of the markers 31 and 32), F _c is obtained based on the calculation formulas (1) to (5).

That is, normally, the hulls 5 and 6 vibrate as a whole (vertically up and down), but when the primary vibration mode occurs, the central part in the sleeper direction mainly vibrates (vertically up and down). .. According to the contact force calculation unit 37 of this embodiment, the inertial force is obtained based on the marker at the center position in the pillow direction, so that the contact force can be measured even when the primary vibration mode occurs. ..

In this way, the non-contact pantograph contact force measuring device according to the present embodiment is in addition to the non-contact pantograph contact force measuring device according to the first embodiment, when a primary vibration mode is generated in the pantograph. Can also be measured.

[Example 3]
In this embodiment, among the non-contact pantograph contact force measuring devices according to the first embodiment, the line sensor camera is changed to an area sensor camera. Hereinafter, the parts overlapping with the first embodiment will be omitted as much as possible, and the differences from the first embodiment will be mainly described.

The configuration of the non-contact pantograph contact force measuring device according to this embodiment will be described with reference to FIG. FIG. 10 is a schematic view illustrating a non-contact type pantograph contact force measuring device according to the present embodiment (the inside of the broken line frame P in the figure is a view of the vicinity of the pantograph seen from the fluttering side).

As shown in FIG. 10, the non-contact pantograph contact force measuring device according to the present embodiment is attached to the four line sensor cameras 19 to 22 in the configuration of the non-contact pantograph contact force measuring device according to the first embodiment. Instead, two area sensor cameras 41 and 42 are provided.

The area sensor camera 41 is fixed (tilted upward) to the fluttering side of the hull 5 on the roof of the vehicle 3a so that the markers 11A, 11B, 12A, and 12B are within the shooting range. The area sensor camera 42 is fixed (tilted upward) to the anti-fluttering side of the hull 6 on the roof of the vehicle 3a so that the markers 13A, 13B, 14A, and 14B are within the photographing range. As a result, the area sensor cameras 41 and 42 can capture all the markers arranged in the entire range of motion of the pantograph 2.

FIG. 11 is a block diagram illustrating the configuration of the contact force calculation unit 43. As shown in FIG. 11, the contact force calculation unit 43 includes a processing unit 44, a detection unit 25, and a calculation unit 26.

FIG. 12 is a schematic view showing an example of shooting with an area sensor camera. Although FIG. 12 shows only the area sensor camera 42, the area sensor camera 41 is the same for the boat body 5.

The processing unit 44 extracts only the line corresponding to the position of each marker from the images taken by the area sensor cameras 41 and 42 (that is, the position of each marker is detected on one line in the vertical direction).

Then, by arranging them in chronological order, a marker image is created for each position of the internal spring. As a result, it is possible to obtain an image equivalent to the image (see FIG. 4) taken by the line sensor cameras 15 to 18 in the first embodiment.

Therefore, the detection unit 25 and the calculation unit 26 can obtain the contact force between the overhead wire 1 and the pantograph 2 by performing the same operation as in the first embodiment.

The non-contact pantograph contact force measuring device according to the present embodiment has the same effect as that of the first embodiment even when the area sensor camera is used by the above-described configuration. As a matter of course, this embodiment can also be applied to the second embodiment.

The present invention is suitable as a non-contact type pantograph contact force measuring device that measures the contact force of a pantograph using image processing.

1 Overhead line 2 Pantograph 3 Vehicle 3a (Vehicle) Roof 4 Frame 5,6 Boat body 7-10 Support parts 7a-10a Internal springs 11A-14A, 11B-14B Markers (1st marker)
11AA Template image 15-18, 33,34 Line sensor Camera 19-22 Lighting 23,37,43 Contact force calculation unit 24,38,44 Processing unit 25,39 Detection unit 26,40 Calculation unit 31,32 Marker (second marker)
35, 36 Lighting 41, 42 Area sensor Camera A (on the support) Side B (on the side of the boat) Position C (on the side of the boat) Center position in the sleeper direction

Claims (9)

A non-contact pantograph contact force measuring device that measures a contact force between a pantograph having a boat body in contact with an overhead wire and a support portion that supports the boat body by a spring, and the overhead wire.
A pair of first markers arranged vertically above the side surface of the support portion and the side surface of the boat body in the vertical direction of the side surface of the support portion.
A first photographing means for collectively photographing a pair of the first markers, and
Based on the image captured by the first photographing means, each position of the pair of the first markers is detected, and the contact force is based on each position of the detected pair of the first markers and the speed of the vehicle . Equipped with a contact force calculation unit that obtains
The contact force calculation unit is
Based on each position of the pair of detected first markers, the reaction force of the spring, the damping force of the spring, and the inertial force are obtained.
Find the lift based on the speed
The obtained reaction force, the damping force, the inertial force, and the resultant force of the lift are obtained as the contact force.
A non-contact pantograph contact force measuring device. The support portions are arranged at both ends of the boat body in the sleeper direction.
The first marker according to claim 1, wherein the first marker is arranged with respect to all the support portions and the vertically upper position of the side surface of all the support portions among the side surfaces of the boat body. Non-contact pantograph contact force measuring device. The first marker is a striped pattern in which white lines and black lines are alternately arranged in the vertical direction.
The non-contact type pantograph contact force measuring device according to claim 1 or 2 , wherein the contact force calculation unit detects the position of the first marker on one line in the vertical direction. The contact force calculation unit is
Template matching was performed using the template image corresponding to the first marker on one line in the vertical direction.
The vertical end of the white line is obtained by calculating the differential value of the luminance value.
The non-contact type according to claim 3 , wherein parabolic fitting is performed using the obtained differential values at the vertical ends of the white line and both ends in the sleeper direction, and the position of the first marker is detected. Pantograph contact force measuring device. The white lines are two or more lines having different widths in the vertical direction from each other.
The calculation of the differential value of the brightness value by the contact force calculation unit is performed with respect to the vertical upper end of the white line arranged at the upper end in the vertical direction or the vertical lower end of the white line arranged at the lower end in the vertical direction among the plurality of white lines. The non-contact type pantograph contact force measuring device according to claim 4 , wherein the operation is performed. Of the side surface of the boat body, the second marker arranged at the center position in the sleeper direction,
Further provided with a second photographing means for photographing the second marker,
The contact force calculation unit is
The position of the second marker is detected based on the image taken by the second photographing means, and the position of the second marker is detected.
Instead of the inertial force obtained based on each position of the pair of detected first markers, the inertial force is obtained based on the detected position of the second marker.
The non-contact type pantograph contact force measuring device according to claim 1 or 2. The first marker and the second marker are striped patterns in which white lines and black lines are alternately arranged in the vertical direction, respectively.
The non-contact type pantograph contact force measuring device according to claim 6 , wherein the contact force calculation unit detects each position of the first marker and the second marker on one line in the vertical direction. The contact force calculation unit is
Template matching was performed using the template images corresponding to the first marker and the second marker on one line in the vertical direction.
The vertical end of the white line is obtained by calculating the differential value of the luminance value.
Claim 7 is characterized in that parabolic fitting is performed using the obtained differential values at the vertical ends of the white line and both ends in the sleeper direction, and the positions of the first marker and the second marker are detected. The non-contact pantograph contact force measuring device according to the above. The white lines are two or more lines having different widths in the vertical direction from each other.
The calculation of the differential value of the brightness value by the contact force calculation unit is performed with respect to the vertical upper end of the white line arranged at the upper end in the vertical direction or the vertical lower end of the white line arranged at the lower end in the vertical direction among the plurality of white lines. The non-contact type pantograph contact force measuring device according to claim 8 , wherein the operation is performed.

Images