KR101016024B1 - Contact wire measurement system in electric railway using stereo vision method - Google Patents

Abstract

The present invention relates to a catenary measuring system using a stereo vision method, a catenary measuring apparatus for extracting a catenary deviation and height data using a camera, a track measuring apparatus for real-time processing the state information and position information of the catenary measuring apparatus; And a power supply for supplying power to the catenary measuring apparatus, a user interface for checking a state change of the catenary deviation and height data, and collecting and analyzing data measured by the catenary measuring apparatus and the trajectory measuring apparatus. Data collection / analysis apparatus.

According to the present invention, since the vehicle line height and deviation are continuously measured automatically by the non-contact stereo vision method, it is possible to obtain high-precision vehicle line height and deviation data, shorten the detection time, and synchronize various measurement data in real-time to facilitate the user. It provides a user interface for operation, and provides systematic management of catenary lines by providing history management, data analysis function, and search function of various measurement data.

Catenary Measuring Devices, Stereo Cameras, Orbit Measuring Devices, Data Acquisition / Analysis Devices

Description

Contact wire measurement system in electric railway using stereo vision method}

The present invention relates to a catenary system using a stereo vision method, and more particularly, to a catenary line measurement using a stereo vision method to continuously measure maintenance check items such as catenary deviation / height using a non-contact stereo vision method. It's about the system.

An electric railway vehicle is an environmentally friendly transportation method that does not generate pollution since electricity is used as an energy source, and has advantages such as increased transportation capacity, energy saving, service improvement, and balanced urban development.

Such an electric railway vehicle (hereinafter, referred to as an "electric vehicle") travels by receiving electric power from a tram line installed on a track. Catenary lines are installed to have a certain height and deviation according to the regulations of electric railway facilities. Pantographs of electric vehicles, which are in direct contact with the catenary lines, are usually zigzag to allow the top surface to be uniformly worn.

Since the tramline is in direct contact with the pantograph of the electric vehicle to supply power, it is very important to precisely adjust the position so that there is no contact with the pantograph.

By the way, the previously used catenary measuring device is installed on the track where the pole is erected, and then measuring the deviation and height of the catenary lines using the horizontal and vertical rulers installed in the main body, there is a problem that accurate measurement is not made .

In addition, because the conventional tank line measuring device is bulky and heavy, it must be carried by a vehicle, and it is very difficult to install it on a track, and it is difficult to move to another point after measuring the height and the deviation of the tank line at one point. There is a problem that is very uncomfortable.

In addition, if an electric vehicle passes while the vehicle is being measured, several personnel are required to move the vehicle lane measuring device off the track while the vehicle is passing, and in the bridge or tunnel where there is no evacuation site, the measurement of the lane and the measurement device are moved. There is a problem that there is a great risk.

In order to solve this problem, Patent No. 10-0652838 uses a laser to accurately measure the height or deviation of the tram line, the distance between the pole and the rail, the height difference between the two rails, the volume of the tram line measuring device is small A light lane measurement system is disclosed that is light in weight and easy to move.

The catenary measuring system captures the reflected light from the object as a spot using a laser beam in a detection method using a laser, and scans the object or sensor to image the reflectance distribution of the object to handle a high reflectance object well, and at a low speed. Spot sensing is possible, and there is a characteristic of detecting minute defects well.

However, the sensing method using the camera captures the scattered light from the object as an image and determines defects in the image processing due to the color tone and color difference.The object having a high reflectance cannot be handled well, while the high speed and the wide range of sensing are possible. It is characterized by a good detection of defects.

The catenary measurement system must process and image the signal transmitted from the sensor by moving the sensor or object at high speed in order to obtain the same image obtained from the camera.

Therefore, in the future, the tramline measuring system should be able to measure the height and the deviation of the tramline with high accuracy by imaging a wide area at once by utilizing the characteristics of the sensing method using a camera.

Accordingly, an object of the present invention is to provide a catenary measuring system using a stereo vision method, which continuously measures the maintenance check item of the catenary using a non-contact stereo vision method, thereby reducing the detection time.

In addition, another object of the present invention is to provide a catenary measuring system using a stereo vision system to enable a systematic maintenance of the catenary system by providing a history management and data analysis function of various measurement data for the catenary.

It is still another object of the present invention to provide a catenary measuring system using a stereo vision system that is easily transported to a track by using a small and light weight device that is small in size and low in weight, or which is easily moved to another measuring point on the track.

In order to achieve the object of the present invention described above, a catenary system for measuring a lane line using a stereo vision system according to the present invention is to obtain stereoscopic image data of a deviation and a height of a catenary using a camera to extract the catenary deviation and height data. A tramline measuring device, an orbital measuring device for real-time processing of state information and position information of the catenary measuring device, a power supply for supplying power to the catenary measuring device, and searching for an abnormality of the tramline deviation and height; And a data collection / analysis device for accumulating search data to provide a user interface for checking a state change of the catenary deviation and height data, and collecting and analyzing data measured by the catenary measuring device and the trajectory measuring device. It features.

The catenary measuring system using the stereo vision method may further include a conveying device to enable orbital movement.

The camera is a stereo camera composed of two (Stereo camera), the stereo camera is characterized in that using a passive (passive) method.

The apparatus for measuring a tram line may include: a CCD sensor unit converting an image of the tram line photographed by the camera into an electrical form and transmitting the stereoscopic image data; And an image processing unit which receives the stereoscopic image data from the CCD sensor unit and performs image processing to extract the catenary deviation and height data.

The CCD sensor unit measures a disconnection section, an overlapping section, and an FRP section of the tramline at every measurement interval set by a user.

The trajectory measuring device obtains moving distance information of the tramline measuring apparatus in real time, calculates a current position of the tramline measuring apparatus on the basis of the detection start position, and extracts the detecting data for each pole in association with the electric pole information. A measurement sensor unit, a cant measurement sensor unit measuring a cant of a track, a gauge measurement sensor unit measuring a gauge and correcting the deviation data measured by the tramline measuring device based on the center of the measured gauge; And a power sensor unit configured to determine a power state of the catenary measuring apparatus and display the same to a user, and a sensor interface unit configured to communicate with the data collection / analysis apparatus to transmit and receive data.

The moving distance measuring sensor unit is characterized by using an encoder.

The cant measurement sensor unit is characterized in that using a tilt sensor.

The gauge measurement sensor unit is characterized by using two distance measuring sensors.

The power supply device includes a battery for supplying power, and a charger for recharging the power of the battery.

The data collection / analysis apparatus includes a user interface unit configured to establish a communication interface environment with a catenary measuring apparatus and a trajectory measuring apparatus, and check the state of the communication interface in real time, and display the user with the deviation of the catenary and height data, and the state of the catenary measuring apparatus. A data analysis unit for real-time synchronization of information and location information and a data synchronization unit provided to the user interface unit, and a search for abnormal positions of the tramline deviation and height; And a history management unit for accumulating the detection data of the catenary measuring apparatus and the trajectory measuring apparatus using the data analyzed by the data analyzing unit to check the state change of the catenary deviation and height data.

The user interface unit receives a detection start position from a user at a start point of detection, and connects the position information of the catenary measuring apparatus with the pole information based on the detection start position.

The user interface unit may display the catenary deviation and height data, cant, and gauge data at a predetermined value for each unit measurement interval.

The transport apparatus includes a basic frame on which the catenary measuring device, the track measuring device, and a power supply unit are seated, a wheel for moving the devices on the basic frame in the catenary, and a handle that is movable in the track. It features.

The conveying device may include a lamp for enabling night detection of the catenary measuring apparatus, or installing a laser lighting device between the two stereo cameras.

The handle is characterized in that the removable front and rear of the base frame.

The catenary measuring system using the stereo vision method is characterized in that it further comprises a telephone pole database including the measurement section, track information, measurement section branch office, establishment information, measurement section pole number, kilojeong information of the train line.

According to the catenary measuring system using the stereo vision method as described above, by automatically measuring the height and the deviation of the catenary in a non-contact stereo vision method, it is possible to obtain a high-precision data, it is possible to reduce the detection time.

In addition, according to the catenary measuring system using a stereo vision method of the present invention, by providing a user interface for the user to easily operate by synchronizing the various measurement data for the catenary in real time, the catenary height and deviation data, moving distance, By providing a history management, data analysis function, and search function of various measurement data such as cant and gauge data, it is effective to maintain the maintenance of the tram line systematically.

On the other hand, according to the catenary measuring system using the stereo vision system of the present invention, day and night detection is possible by using an illumination device using an LED or a laser beam, and in particular, an illumination device using a laser beam has two cameras, There is an effect that can provide a laser pointing point when measuring the deviation.

According to the catenary measuring system using the stereo vision method of the present invention, by using a compact and lightweight device to facilitate the transport to the track or to move to another measuring point on the track by the user to efficiently perform the detection work There is also.

As the invention allows for various changes and numerous embodiments, particular embodiments will be illustrated in the drawings and described in detail in the written description. However, this is not intended to limit the present invention to specific embodiments, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention. Like reference numerals are used for like elements in describing each drawing.

Usages used in this application are merely used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, the terms "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and are not construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

Hereinafter, with reference to the accompanying drawings, it will be described in detail a preferred embodiment of the present invention.

1 is an internal block diagram of a catenary measuring system using a stereo vision method according to an embodiment of the present invention, Figure 2 is a block diagram showing the internal configuration of a catenary measuring system using a stereo vision method according to an embodiment of the present invention. 3 is a structural diagram showing a geometry of a stereo matching system of a stereo camera applied to an embodiment of the present invention, and FIG. 4 is an appearance of a catenary measuring system using a stereo vision method according to a first embodiment of the present invention. 5 is a side view of a catenary system using a stereo vision method according to a first embodiment of the present invention, Figure 6 is a front line measurement using a stereo vision method according to a first embodiment of the present invention 7 is a plan view of a system, and FIG. 7 illustrates a low-lane of a front lane measurement system using a stereo vision system according to a first exemplary embodiment of the present invention. Degrees.

1 to 7, the tramline measuring system 1 using the stereo vision system according to the first embodiment of the present invention includes the tramline measuring apparatus 100, the trajectory measuring apparatus 200, the power supply apparatus 300, It includes, but is not limited to, the data collection / analysis apparatus 400, the transfer apparatus 500, and the pole pole DB 450.

The tramline measuring apparatus 100 obtains stereoscopic image data of the deviation and the height of the tramline using stereo cameras 10 and 11 to measure the trajectory deviation and the height data.

The height of the chariot line, which is the measurement target of the tramline measurement system 1 using the stereo vision system according to the embodiment of the present invention, is the distance from the tram line under which the electric vehicle is directly contacted and supplied with electricity on the rail plane, and the tramline deviation is the tram line at the center of the track. Means the horizontal distance of.

The stereo cameras 10 and 11 are designed to be waterproof and dustproof so as to withstand external shocks well, and the camera lens may be further provided with a protective cover made of tempered glass.

The stereo cameras 10 and 11 are described below using the geometry of the stereo matching system shown in FIG. 3.

The stereo cameras 10 and 11 apply a passive method, and two images captured by two stereo cameras 10 and 11 disposed on a base line b formed at an arbitrary distance. When the distance sum (disparity) between the subjects is obtained, and the focal length f of the lens is known, the distance between the subjects from the camera can be extracted using Equation 1 below. The stereo cameras 10 and 11 are configured in two units and are installed at both ends of the base frame 510, respectively.

이다. Where r is the distance between the subject and the camera, b is the baseline distance between the two cameras, f is the focal length of the camera lens, and d is the sum of the distances between the same subjects in the two images.

to be.

 The passive method described above is a distance measuring mechanism of a camera, and is based on optical distance measuring according to a triangular distance measuring method.

The catenary measuring apparatus 100 includes, but is not limited to, a Charged Coupled Device (CCD) sensor unit 110 and an image processor 120 for stereoscopic image capturing.

The CCD sensor unit 110 is a semiconductor memory device that converts an image exposed to a sensor into an electrical form and transmits (stores) the non-contact multi-CCD sensor. Section (maximum 3 lines), FRP section is measured.

Table 1 below shows the measurement range and measurement accuracy of the CCD sensor unit 110.

Height excursion Measuring range
4600mm to 5800mm + 400mm to -400mm Measuring precision
± 5mm or less ± 5mm or less

The CCD sensor unit 110 acquires the vehicle line deviation and height data every 10 mm at the measurement interval at a maximum speed of 4 km / h, and adjusts the measurement interval (10 mm, 50 mm, 100 mm, 200 mm, 500 mm) according to a user setting. In addition, the CCD sensor unit 110 transmits a synchronization signal to the data collection / analysis apparatus 400 to synchronize data with various sensors.

The image processing unit 120 performs real-time high-speed processing of the stereoscopic image data of the catenary lines measured by the CCD sensor unit 110, and extracts the catenary line deviation and height data from the three-dimensional image data through an image processing process to collect / analyze the data. Send to 400.

The image processor 120 should include a digital signal processor, a memory, an FPGA, and an interface means to process a large volume of stereoscopic image data at high speed.

In addition, the image processing unit 120 acquires both the deviation and height measurement data of the catenary for each section measured by the CCD sensor unit 110.

The trajectory measuring device 200 is for real-time processing the state information and the position information of the catenary measuring apparatus 100, and the moving distance measuring sensor 210, the cant measuring sensor 220, the gauge measuring sensor. 230, a power sensor 240, and a sensor interface 250.

Here, the moving distance measuring sensor unit 210 obtains moving distance information of the catenary measuring apparatus 100 in real time using an encoder, calculates a current position of the catenary measuring apparatus 100 based on the detection start position. In addition, the detection data for each pole is extracted in association with the pole information provided by the pole pole DB 450.

In addition, the moving distance measuring sensor unit 210 corrects the moving distance according to the forward / reverse state of the catenary measuring apparatus 100.

In addition, the cant measuring sensor unit 220 can measure the cant of the track using a tilt sensor in real time, and the gauge measuring sensor unit 230 measures the gauge in real time using two distance measuring sensors, and the image processor The deviation data processed at 120 is corrected based on the center of the measured gauge.

The power sensor unit 240 detects and displays the current power state of the catenary measuring apparatus 100 to the user, and the sensor interface unit 250 is the track measuring device 200 and the data collection / analysis apparatus 400. Send / receive data through RS232C communication.

The power supply device 300 has a structure capable of recharging the power supply so that the catenary measuring apparatus 100 can continuously measure a predetermined time (for example, 5 hours). The power supply 300 is a DC 24V battery power source, and must include a battery charger.

In addition, the data collection / analysis apparatus 400 collects and analyzes data measured by the catenary measuring apparatus 100 and the trajectory measuring apparatus 200, and searches for the abnormality of the catenary deviation and height, and then searches for the abnormality. Accumulate data to provide a user interface for checking the state change for the catenary deviation and height data.

To this end, the data collection / analysis apparatus 400 includes a user interface 410, a data synchronizer 420, a data analyzer 430, and a history manager 440.

Here, the user interface unit 410 provides a graphical user interface (GUI) so that the user can easily operate the catenary measuring apparatus 100, and is upgraded according to a user's request.

The user interface unit 410 sets a communication interface environment with various sensors, checks in real time the communication interface state of the catenary measuring apparatus 100 and the trajectory measuring apparatus 200 and checks whether there is an abnormality. Mark to.

The user interface unit 410 receives a detection start position from the user at the start of detection, and connects the position information of the tramline measuring apparatus 100 with the pole information provided by the pole DB 450 based on the detection start position.

The user interface unit 410 displays the declination and height data of the tramline, cant, and gauge data as a value for each unit measurement interval (10 mm), and also displays it in the form of a graph. The unit measurement interval is 50 mm, 100 mm, 200 mm. The setting can be changed at 500mm intervals.

The user interface unit 410 displays the location information of the catenary measuring apparatus 100 as a kilo (indication of the location point used for the maintenance of the track), and automatically displays the pole information at the measurement location. Search and mark with.

The user interface unit 410 may define the evaluation criteria for the set warning value for the measurement data, and modify and change the set warning value as shown in Table 2 below. In addition, when the measurement data exceeds the set warning value AV, a warning sound is generated and the warning value is displayed in color (red).

[Table 2] General Areas of Ground Sections

IV AV NI TV NI AV IV Height More than 5500 5500 5400 5200 ~ 5300 5000 4850 4850 or less excursion More than +250 +250 +230 ± 200 -230 -250 -250

In Table 2, TV (Target Value) is a target value, NI (No Intervention) is an allowable value, AV (Alert Value) is a warning value, and IV (Intervention Value) is an immediate complement value.

The data synchronizer 420 synchronizes the tramline deviation and height data obtained by the tramline measuring apparatus 100 and the moving distance, cant, and gauge data obtained by the trajectory measuring apparatus 200 in real time to the user interface unit 410. To provide.

This is because the sampling time of the deviation and height data acquired by the catenary measuring apparatus 100 and the moving distance, cant, and gauge data obtained by the track measuring apparatus 200 should have the same time code. The synchronization time point for this is set to the point in time at which the three-dimensional image is acquired by the vehicle lane measuring apparatus 100.

The deviation data acquired by the catenary measuring apparatus 100 should correct the deviation data based on the center of the gauge obtained by the gauge measurement sensor 230.

The data analyzer 430 provides the data detected by the catenary measuring apparatus 100 and the trajectory measuring apparatus 200 in a file of a predetermined form, and includes the following information.

― Measurement information (measurer, measurement date / time, detection operation information)

― Travel distance information (measurement position KPR)

― Jeonju information (Jeonju number, branch office, establishment)

― Catenary measurement information (height / deviation, gauge, cant)

The data analyzer 430 maintains the left side as the left side and the right side as the postal position while keeping the declination data back from each line without distinguishing the upper and lower lines irrespective of the measurement direction of the catenary measuring apparatus 100.

In addition, the data analysis unit 430 calculates and displays the median deviation and the median height between the previous week and the previous week, and provides the file in a predetermined form such as Excel. The data analysis unit 430 analyzes the measurement data and provides a search function for searching for the location of the tram line deviation / height or more.

That is, the search function of the data analysis unit 430 outputs search data for the abnormal point deviation / height in a list form, and selects the searched list item to check the abnormal point on the detection graph.

The history manager 440 receives the data analyzed by the data analyzer 430 and accumulates the detection data of the catenary measuring apparatus 100 and the trajectory measuring apparatus 200 to accumulate the state of the catenary height and deviation data. Be sure to confirm the change.

The data collection / analysis apparatus 400 includes a measurement time and end function, a sensor and stereo camera 10 and 11 setting function, a measurement data correction function setting, a detection data review function, a measurement data report function, and an abnormal section measurement in real time. It includes alarm display function.

As such, the data collection / analysis apparatus 400 is preferably an industrial notebook (Note-book) that is easy to carry and is resistant to external environments (waterproof and impact).

That is, the data collection / analysis apparatus 400 may include a keypad operated by a user, a memory for storing data, a data converter for performing data conversion for data communication, a display device for outputting current operation status or data, and measurement of an electric line. It is preferably at least one of a computer, a notebook computer, a data processing device, a multimedia processing device, and a communication terminal including a control device for performing input / output control, communication control, drive control of the device, and the like.

The transfer device 500 includes a basic frame 510, a handle 520, a wheel 530 to enable orbital movement, a lamp 600, and the like.

The basic frame 510 includes first and second horizontal frames 511 and 512, installation bars 513 on which cameras 10 and 11 and a lamp 600 are installed, and the horizontal frames 511 and 512. It consists of two vertical frames 514 for connecting the two support rods 515 for supporting the installation bar 513.

A moving groove 513a is formed in the installation bar 513 in the longitudinal direction, and the cameras 10 and 11 or the lighting lamp 600 move along the moving groove 513a so that the distance to the subject, the angle, Sharpness, etc. can be adjusted.

A handle 520 is installed at the center of the first horizontal frame 511, and the handle 520 is mounted in a detachable structure.

In this case, the tramline measurement system 1 using the stereo vision method of the present invention is formed of two horizontal frames 511 and 512, a vertical frame 514, and support bars 515, but each frame has a thickness or a material. It may be formed in one by differently.

The tramline measuring apparatus 100, the trajectory measuring apparatus 200, and the data collection / analysis apparatus 400 are mounted at both ends of the horizontal frames 511 and 512, and ends of the horizontal frames 511 and 512 are provided. Four wheels 530 are respectively installed. The wheel 530 is formed to slide on the rail of the tram line.

Conventionally, the tramline measuring device was transported to a point to be measured by using a vehicle or the like and installed on a track, but the tramline measuring system 1 using the stereo vision method of the present invention before / after the handle 520 was measured. Mounted according to the direction, when the user grasps the handle 520 and moves, the catenary measuring system 1 using the stereo vision system moves along the rail according to the moving direction.

Accordingly, the catenary measuring system 1 using the stereo vision method measures the declination and height of the catenary at a specific point and then moves along the rail of the catenary easily using the handle 520 and the wheels 530 when moving to another point. You can move to that point.

To this end, the transfer device 500 should be designed in consideration of the robustness and ease of movement so that the user can efficiently perform the detection task, the following conditions must be satisfied.

1) The basic frame of the transfer device 500 should be made firm.

2) The weight of the transfer device 500 should be manufactured to a weight of 26Kg or less in consideration of the ease of movement.

3) LED lamp 600 of sufficient brightness should be installed so that the catenary measuring system 1 using the stereo vision system can measure at night.

4) To protect the catenary measuring system (1) using the stereo vision system from external impact, and to provide a light and robust device enclosure for easy storage and vehicle movement.

5) No deformation of the device even after long-term use and storage.

Meanwhile, the pole pole DB 450 includes a measurement section route, track information, a measurement section branch office, office information, a measurement section pole number, and kilo-jeong information.

Next, FIG. 8 is a side view of the catenary measuring system using the stereo vision method according to the second embodiment of the present invention, FIG. 9 is a plan view of the catenary measuring system using the stereo vision method according to the second embodiment of the present invention. FIG. 10 is a bottom view of a catenary system for measuring a vehicle using a stereo vision system according to a second exemplary embodiment of the present invention.

8 to 10, the catenary measuring system using the stereo vision system according to the second embodiment of the present invention is configured similarly to the first embodiment, but instead of the lamp 600, a laser lighting apparatus ( 600a) differs in that it is installed between two cameras 10 and 11. At this time, in the second embodiment of the present invention, the same description as for the first embodiment will be omitted.

In particular, the laser illuminator 600a is disposed to be in the center of the installation bar 513, and two cameras 10 and 11 are installed on both sides of the installation bar 513, respectively. A moving groove 513a is formed in the installation bar 513 in the longitudinal direction, and the cameras 10 and 11 or the laser illuminator 600a move along the moving groove 513a to move the distance to the subject. You can adjust the angle, sharpness, etc.

In addition, the two wheels 530 shaft located in the front direction of the installation bar 513 is provided with a moving handle 520a that can be used when changing the moving direction.

The laser beam emitted from the laser illuminator 600a is a coherent electromagnetic wave having good continuous coherence, and has a small fluctuation range in frequency and is remarkably excellent in directivity, energy density, and concentration.

Therefore, the laser illuminator 600a can be used as illumination without day or night, and two cameras 10 and 11 can provide an indication point when measuring height and deviation.

That is, the laser beam is radiated to the center by the laser illuminator 600a, and the two cameras 100 on both sides of the installation bar 513 each have a first and second imaging area in a predetermined range. In this case, since the laser beam is positioned at a portion where the first and second photographing regions overlap, the position can be measured by calculating the center of gravity of the light using the laser beam as an indication point.

Hereinafter, the operation of the catenary measuring system using the stereo vision method according to the first and second embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

 FIG. 11 is a screen diagram illustrating a catenary system measurement control measurement screen using a catenary system using a stereo vision method according to an exemplary embodiment of the present invention.

1 to 11, the tramline measuring system 1 using the stereo vision system according to an embodiment of the present invention is easily installed at the point to be measured on the rails wired to the track to adjust the height and deflection of the tramline. Will be measured. At this time, the user carries the tramline measuring system 1 using a small, lightweight stereo vision system so as to be positioned on the vertical down rail of the tramline to be measured.

Measurement data items measured by the tramline measuring device 100 and the trajectory measuring device 200 include tramline deviation / height data, tramline deviation / height data for each pole, cant data, gauge data, and moving distance data.

The data collection / analysis apparatus 400 receives a control signal according to a measurement command input by a user and transmits the control signal to the catenary measuring apparatus 100, and the catenary measuring apparatus 100 is a data collection / analysis apparatus 400. The tramline at the corresponding point is searched according to the control signal of and the height and the deviation of the tramline are measured.

At this time, in the first embodiment of the present invention, the catenary measuring apparatus 100 uses a non-contact multiple CCD sensor using a lamp 600 provided at a predetermined distance on a straight line connecting two stereo cameras 10 and 11. The CCD sensor unit 110 of the method photographs the disconnection section of the tramline, the overlapping section of the maximum 3 lines, and the FRP section even at night and at night.

Meanwhile, in the second embodiment of the present invention, the laser illuminator 600a is installed at the center of the installation bar 513, and two stereo cameras 10 and 11 are disposed on both sides of the laser illuminator 600a. .

Therefore, when the laser beam is emitted from the laser illuminator 600a regardless of day or night, the two cameras 10 and 11 can measure the height and the deviation by using the laser beam as an instruction point.

In the first and second embodiments described above, the large volume stereoscopic image data captured by the two stereo cameras 10 and 11 is processed in real time by the image processor 120 at high speed, and the catenary deviation and height data are processed through an image processing process. Extract the data and transmit it to the data collection / analysis apparatus 400.

In this case, the stereo cameras 10 and 11 transmit a synchronization signal to the data collection / analysis apparatus 400 in order to synchronize data with various sensors installed in the orbit measuring apparatus 200.

The trajectory measuring device 200 includes a moving distance measuring sensor 210, a cant measuring sensor 220, and a gauge measuring sensor 230 to process the state information and the position information of the catenary measuring apparatus 100 in real time. ), A power sensor unit 240 and a sensor interface unit 250, each sensor unit 210 ~ 240 transmits the measurement data to the data collection / analysis device 400.

The data collection / analysis apparatus 400 sets a communication interface environment with the sensors 210 to 240. In addition, the data synchronizer 420 synchronizes the height and the deviation data, the moving distance, the cant, and the gauge data measured by the tramline measuring apparatus 100 and the trajectory measuring apparatus 200 in real time to the user interface unit 410. To provide.

As illustrated in FIG. 8, the user interface unit 410 displays the vehicle line height and the deviation data, the moving distance, the moving direction, the cant, and the gauge data as values for each unit measurement interval, and also displays them in a graph form.

The data collection / analysis apparatus 400 receives the measurement start position by the user at the start of the detection and measures the measurement position, and the position information and the electric pole DB of the catenary measuring system 1 using the stereo vision method based on the detection start position. It is connected to the information of the last week provided in 450).

In this case, the data collection / analysis apparatus 400 displays the position information of the catenary system 1 using the stereo vision system in kilo tablets, and automatically searches / displays the pole information at the measurement position.

The data collection / analysis apparatus 400 corrects the deviation data acquired by the tramway measurement apparatus 100 based on the gauge data acquired by the gauge measurement sensor 220.

The data analyzer 430 provides the tramline height and the deviation data, the movement distance, the cant, and the gauge data as an Excel file, and includes measurement information, movement distance information, pole information, and tramline measurement information.

The history management unit 440 outputs the search data for the abnormal position of the tram line deviation and height in the form of a list, and accumulates various measurement data so as to check the state change of the tram line height and the deviation data.

In addition, the data collection / analysis apparatus 400 includes a measurement time and end function, sensor and stereo camera 10 and 11 setting function, measurement data correction function setting, detection data review function, measurement data report function, and abnormal section. It provides real time alarm display function.

The tramline measuring apparatus 100 and the trajectory measuring apparatus 200 are fixedly installed in the transfer apparatus 500, and the data collection / analysis apparatus 400 has a structure that is easily removable and mounted on the transfer apparatus 500. It is desirable to be designed.

The transfer device 500 is manufactured in a small size and light weight so as to be smoothly operated manually by a user, and is a stable and light structure that can maintain measurement accuracy, and is separated and assembled for movement and storage up to a measurement point. .

In the above description, an embodiment in which a stereo camera and a lighting lamp are implemented for the front line measurement in the front line measurement system using the stereo vision method has been described. Differences in lighting characteristics and camera resolution may also determine the lane line area.

Although described with reference to the embodiments above, those skilled in the art will understand that the present invention can be variously modified and changed without departing from the spirit and scope of the invention as set forth in the claims below. Could be.

1 is an internal block diagram of a catenary system using a stereo vision method according to an embodiment of the present invention.

2 is a block diagram showing the internal configuration of a catenary system using a stereo vision method according to an embodiment of the present invention.

3 is a structural diagram showing a geometry of a stereo matching system of a stereo camera applied to an embodiment of the present invention.

4 is a block diagram showing the appearance of a catenary system using a stereo vision method according to a first embodiment of the present invention.

5 is a side view of a catenary system using a stereo vision method according to a first embodiment of the present invention.

6 is a plan view of a catenary system using a stereo vision method according to a first embodiment of the present invention.

FIG. 7 is a bottom view of a catenary measuring system using a stereo vision system according to a first exemplary embodiment of the present invention.

8 is a side view of a catenary system using a stereo vision method according to a second embodiment of the present invention.

9 is a plan view of a catenary system using a stereo vision method according to a second embodiment of the present invention.

FIG. 10 is a bottom view of a catenary measuring system using stereo vision according to a second exemplary embodiment of the present invention.

FIG. 11 is a screen diagram illustrating a catenary measurement control measurement screen using a catenary system using a stereo vision method according to an exemplary embodiment of the present invention.

*** Explanation of symbols for main parts of drawing ***

10, 11: stereo camera 100: catenary measuring apparatus

200: orbital measurement device 300: power supply device

400: data collection / analysis apparatus 500: transfer apparatus

600: lighting 600a: laser lighting device

Claims (19)

In the catenary measuring system, A catenary apparatus for extracting catenary deviation and height data using two stereo cameras using a passive method; An orbit measuring device configured to process state information and position information of the catenary measuring device in real time; A power supply including a battery for supplying power and a charger for recharging the battery; After searching for abnormalities of the tramline deviation and height, a user interface is provided to accumulate the search data to check the state change of the tramline deviation and height data, and the data measured by the tramline measuring device and the trajectory measuring device A data collection / analysis apparatus for collecting and analyzing; And It is configured to include; including a transfer device to enable the trajectory movement of the tramline measurement system, The trajectory measuring device obtains moving distance information of the tramline measuring apparatus in real time, calculates a current position of the tramline measuring apparatus on the basis of the detection start position, and extracts the detecting data for each pole in association with the electric pole information. A measurement sensor unit, a cant measurement sensor unit measuring a cant of a track, a gauge measurement sensor unit measuring a gauge and correcting the deviation data measured by the tramline measuring device based on the center of the measured gauge; It consists of a power sensor unit for grasping the power state of the catenary measuring apparatus to display to the user and a sensor interface unit for communicating with the data collection / analysis device to transmit and receive data, The data collection / analysis apparatus may include: a user interface unit configured to establish a communication interface environment with a catenary measuring apparatus and a trajectory measuring apparatus, and check a state of a communication interface in real time and display the user to a user; The apparatus for measuring a cable line by receiving data analyzed by the data synchronizer for searching the abnormal position of the tramline deviation and height, the data synchronizer provided to the user interface by real-time synchronization of state information and location information. And a history management unit for accumulating the detection data of the orbit measuring device to check the change of the state of the tramline deviation and height data. The transfer apparatus may include first and second horizontal frames on which the catenary measuring device, the track measuring device, and a power supply device are seated, a vertical frame connecting the first and second horizontal frames, and the stereo camera is settled. A base frame including an installation bar having a moving groove formed in a longitudinal direction, and a support bar for supporting the installation bar; Wheels installed at both ends of the first and second horizontal frames; And a handle coupled to the first horizontal frame to be detachably attached to the first horizontal frame. delete delete delete The method of claim 1, The catenary measuring apparatus, A CCD sensor unit for converting an image of a tram line photographed by the camera into an electrical form and transmitting the stereoscopic image data; And an image processing unit configured to receive the stereoscopic image data from the CCD sensor unit and to perform image processing to extract the catenary deviation and height data. The method of claim 5, And the CCD sensor unit measures a disconnection section, an overlapping section, and an FRP section of the tramline at every measurement interval set by a user. delete The method of claim 1, The moving distance measuring sensor unit using a stereo vision system, the front line measurement system using an encoder. The method of claim 1, The cant measurement sensor unit using a stereo vision system, the front line measurement system using a stereo vision method. The method of claim 1, The gauge measurement sensor unit is a front line measurement system using a stereo vision method, characterized in that using two distance measuring sensors. delete delete The method of claim 1, And the user interface unit receives a detection start position from a user at a detection start time, and connects the position information and the pole information of the catenary measurement apparatus based on the detection start position. The method of claim 1, And the user interface unit displays the tramline deviation and height data, cant, and gauge data at a predetermined value for each unit measurement interval. delete The method of claim 1, The catenary measuring system using a stereo vision method, characterized in that it further comprises a lamp for enabling night detection of the catenary measuring apparatus. The method of claim 1, Catenary measurement system using a stereo vision method, characterized in that the laser illumination device is installed between the two stereo cameras. delete The method of claim 1, The catenary measuring system using the stereo vision system further comprises a pole vision database including a measuring section, track information, a measuring section branch, a business information, a measuring section pole number, and kilo-jeong information of the tramline. Catenary measuring system using

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