KR101128835B1 - Measuring Apparatus for Height and stagger of trolley line using Line Scan Camera and Method thereof - Google Patents

Abstract

The present invention is a measurement unit comprising a two line scan camera for scanning the tram line to obtain an image and a jig fixed to the upper part of the train so that the two line scan cameras are located at the left and right of the tram line, respectively, vibration of the train, A sensor unit for outputting a detection signal for correcting an inclination and an inclination of the line scan camera, and detecting a position of the tram line from a pixel value obtained by correcting an image obtained from the line scan camera according to the detection signal, and And an image processing apparatus for tracking the angle between the scan camera and the detected tramline to measure the height and the deflection of the tramline and displaying the continuously measured height and the deflection on the monitor as a graph. Provides a vehicle lane height and deviation detection device using a scan camera.

According to the present invention, the line scan camera can be fixed to the upper part of a train or the upper part of a train maintenance vehicle to measure the height and the deviation of the tram line in a non-contact manner. High speed measurement is possible with speed.

Catenary, Railway, Line scan camera, Deviation, Pantograph

Description

Mechanism Apparatus for Height and stagger of trolley line using Line Scan Camera and Method

The present invention relates to a vehicle lane height and deviation detection device and a method thereof, and more particularly, to install a detection device having a line scan camera on a train and to process an image obtained from the line scan camera while the train is running. The present invention relates to a vehicle line height and deflection detecting apparatus and a method using a line scan camera that can measure the height and the deflection of a tank line in a non-contact manner.

The catenary is a line for supplying electricity to electric cars. There are various types of wires such as catenary and rigid bodies. Since the tramway is used at high voltages, it may pose a risk of shrinkage. Therefore, the deflection, which is the deflection of the height and the center of the rail, is limited and detected at regular intervals.

The height of the tramway is the lower part of the tramline where electric vehicles are directly contacted and supplied with electricity on the rail surface. Normally, the standard height of the tramline is about 5.2m, but the height of the tramline is regulated from 5m to 5.4m due to temperature change. . However, in bridges, tunnels, heavy snow sections, overpasses, and awnings above the platform, it is usually possible to lower it to 4.85m.

The deviation of the tramline is called the horizontal distance from the center of the track. If the declination of the tram line is too large, the current collector will leave the tram line and cause an accident. The declination of the tram line is fixed with a certain limit. Normally, the deviation of the tramline is within 250 mm from the track center plane modified in the track.

Normally, the tramline must give ZigZag deviation to the track center plane on the curved road, and even in the straight road, the current collector needs to be distributed on the effective surface and collect current. . As described above, the height and the deviation of the tramline are not constant according to the track, and are changed by the external environment such as temperature difference and mechanical contact with the pantograph, which is a current collector of the electric vehicle, so the value is measured every six months. .

As described above, the detection of the height and the deviation of the tramline is an essential condition for stable electric railway operation, and the accuracy of the height and the deviation detection device of the tramline should be high, not sensitive to the vibration of the vehicle, and contactless. In addition, it is necessary to measure the height and the deviation of the tram line in a wide section in a short time, so that the data processing speed should be high and should be detected while proceeding at the normal train operating speed.

However, the conventional height and deviation detection device is mounted on a wheeled device to be mounted on a separate test vehicle or moved on a rail, and the device is pushed and measured by a manpower. In addition, because of the use of laser, several lasers should be used to measure the overlapping area where the tank lines overlap each other, and high speed camera is used to acquire the image, which makes the image processing complicated and expensive high speed camera. There is a problem that the equipment should be provided.

The present invention has been made to solve the above problems, by installing a detection device having a line scan camera on the train and by processing the image obtained from the line scan camera while the train is running in a non-contact way It is an object of the present invention to provide an apparatus and method for detecting a vehicle lane height and deviation using a line scan camera capable of measuring the height and the deviation of the vehicle lane.

The tank line height and deviation detection device using the line scan camera of the present invention for realizing the above object is based on the front line of the two line scan camera and the two line scan camera to acquire the image by scanning the tram line A measuring unit including a jig fixed to an upper part of the train so as to be positioned at left and right sides, a sensor unit for outputting a detection signal for correcting a train's vibration, an inclination and an inclination of the line scan camera, and the line according to the detection signal Detects the position of the tram line from the pixel values obtained by correcting the image obtained from the scan camera, and measures the height and the deviation of the tram line by tracking the angle between the line scan camera and the detected tram line, and continuously measures the height of the tram line and Comprising an image processing device for displaying the deviation as a graph on a monitor It characterized.

In order to achieve a further object, a method for detecting a vehicle line height and deviation using a line scan camera of the present invention includes extracting pixel information of an image of a catenary line obtained from a line scan camera, detecting a position of the catenary line from the pixel information; Tracking the angle formed by the detected tramline and line camera, calculating the height and the deviation of the tramline from the tracked angle and displaying the continuously calculated height and the deviation graphically on a monitor; Characterized in that made.

In addition, the step of tracking the angle between the tramline and the line camera from the pixel information is compared with the angle tracked in the current frame and the angle of the previous frame when the current tracked angle is outside the range of ± 0.5 degrees of the angle of the previous frame. After storing the tracked angle in the temporary storage space, determining that the current tracked angle stored in the temporary storage space is the tramline to be tracked if there are 5 consecutive frames or more continuously within a range of ± 0.5 degrees. Characterized in that made.

According to the apparatus for detecting the height and the deviation of the tramline using the line scan camera according to the present invention, the line scan camera is fixed to the upper portion of the train or the upper portion of the train maintenance vehicle to measure the height and the deflection of the tramline in a non-contact manner. In the daytime, there is no need for a separate light source and high-speed measurement is possible with the fast response speed of the line scan camera.

In addition, by using a triangulation method, it is possible to measure on a relatively simple principle, and the measurement range can be adjusted only by adjusting the angle of the line scan camera. There is an advantage that can be measured accurately by determining the seniority.

Hereinafter, the configuration and operation of the preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of a vehicle line height and deviation detection device using a line scan camera according to the present invention.

As shown in FIG. 1, a vehicle line height and deviation detection device using a line scan camera according to the present invention includes a line scan camera 110 and a jig 120 for fixing the line scan camera 110 to an upper portion of a train. The unit 100 includes a sensor unit 200 and an image processing apparatus 300.

First, in the case of a general camera, the line scan camera 110 for acquiring the image of the front line of the measurement unit 100 scans in a line unit by using one line, that is, a sensor having a one-dimensional linear structure, unlike a rectangular sensor. The camera is a method of obtaining a two-dimensional image. In order to generate an image of the object by the line scan camera, the line scan camera or the object is moved at a constant speed, and the entire image of the object is generated as an image by combining images photographing a part of the subject at the moment of movement.

In other words, since the image acquired by the line scan camera has no perspective, it is possible to accurately measure the distance between subjects in the image.

The sensor unit 200 functions to correct for the detection train environment. Since the detection of the height and deviation of the tramline is carried out on the train, it is necessary to detect and correct various physical quantities such as the vibration of the train, the tilt of the train, the vibration of the detector, and the tilt of the train.

As described above, the correction train due to the detection train and the external environment of the device is measured by using a physical quantity measuring sensor such as an accelerometer and a tilt sensor, and corrects this value against the measured value of the line scan camera. An accelerometer is attached to the top of the fixing jig to measure the vibration of the train, and the tilt sensor is attached to the jig to measure the tilt of the camera. In addition, in order to measure the inclination of the train, a displacement gauge is installed on the left and right sides of the detection vehicle. In addition, measure the speed using GPS.

The image processing apparatus 300 receives the catenary line image acquired by the line scan camera 110 and the data of the sensor unit 200, and acquires the acquired catenary line image according to the output data of the sensor unit 200. The controller detects the position of the catenary line from the pixel information of the catenary image and tracks the angle between the catenary line and the line scan camera (hereinafter referred to as 'wide angle') to calculate the height and the deviation of the catenary line. In addition, the detector performs a function of monitoring the output value of the sensor unit 200 and the current state of the line scan camera 110.

2 is a perspective view, a front view, and an embodiment illustrating a measurement unit of a vehicle line height and deviation detection device using a line scan camera as an embodiment of the present invention.

As shown in (a) of FIG. 2, the line scan cameras 110a and 110b of the measuring unit 100 may include a jig for fixing the line scan cameras 110a and 110b to the upper part of the train based on the tram line 112. 120) two are located on the upper left and right.

In addition, as shown in (b) of FIG. 2, the jig 120 for fixing the line scan camera (110a, 110b) to the upper part of the train to be detected or the upper line maintenance vehicle is a horizontal movable rail (see FIG. It includes a body portion 121 having a 123 and the horizontal scan plate is fixed to the upper portion and the horizontal movable plate (122a, 122b) for adjusting the distance between the line scan camera by moving along the horizontal moving rail.

The line scan camera installed on the horizontal movable plates 122a and 122b includes an angle adjusting means which is adjustable in X, Y and θ directions, and the angle adjusting means may be implemented by a general electric / mechanical structure device. Description is omitted. In addition, the scale information is displayed on the body portion 121 of the jig 120 to determine the distance between the line scan camera.

In addition, as shown in (c) of FIG. 2, as an embodiment of the present invention, two line scan cameras 110a and 110b are installed at an angle of 45 degrees from the surface of the jig 120, where the line scan camera ( The slopes of 110a and 110b may vary depending on the range to be detected. Also, the wide angle of the line scan camera was adjusted to 61 degrees, which is the maximum wide angle, and the wide angle range of each of the two line scan cameras was 14.5 degrees to 61 degrees. The distance between the jig 120 and the tram line 112 is set to 128 cm, and the distance between the two line scan cameras 110 a and 110 b is set to 140 cm.

3 is a flowchart illustrating a method for detecting a vehicle line height and deviation using a line scan camera according to the present invention.

In order to detect the height and the deviation of the tramline by tracking the moving tramline, the image processing apparatus first extracts pixel information from the tramline image input from the line scan camera of the measurement unit (S31). Next, a straight line is extracted from the pixel information to detect the position of the tramline (S32).

Next, the angle (wide angle) between the tramline and the line scan camera is tracked using the total number of pixels of the tramline image and the detected zero-crossing point (S33). Next, after calculating the height and the deviation from the tracked angle (wide angle) using a triangulation formula (S34), and finally displays the continuously calculated height and deviation on a monitor (S35).

Hereinafter, the method for detecting the height and the deviation of the vehicle lane using the line scan camera will be described in detail for each step.

4 is a graph of pixel values with respect to pixel points of the catenary image and the catenary image acquired by one line scan camera.

Steps S31 and S32 of extracting a straight line from the pixel information to detect the position of the tramline start with extracting a straight line in a long direction center from an image photographed through a line scan camera as shown in FIG. do. As shown in (b) of FIG. 4, the area that is within the range of the line scan camera but is hard to see by the tramline (that is, when the angle (wide angle) between the tramline and the line scan camera is low) in the extracted straight line is determined to be noise. Remove in advance. Next, a moving average filter is applied to further minimize noise.

Next, the maximum value of the brightness difference between the pixels is obtained, and pixels corresponding to half of the maximum brightness difference are determined as the catenary lines. In other words, the midpoint of the pixels that become brighter and darker is selected as the position of the tramline.

Here, referring to FIG. 5, the method of selecting the position of the catenary lines is a method of detecting a zero-crossing point of the present invention, in order to be less affected by noise. Obtain

That is, as shown in the following pseudo code,

Difference [i] = Pixelpoint [i + 3]-Pixelpoint [i],

The difference between pixels is determined by determining a difference between pixels and setting the difference within 5% of the maximum brightness difference. Therefore, as shown in Fig. 5, it is determined that zero crossing has occurred at the position where the change range of the graph is large, and the midpoint of the zero crossing point is selected as the position of the tram line.

6 is a diagram showing the total number of pixels and detected zero crossing points of the catenary image.

As shown in FIG. 6, the step (S33) of tracking the angle (wide angle) between the front line and the first and second line scan cameras using the total number of pixels of the front line image and the detected zero crossing point (S33) may be performed by the following formula [ 1] and equation [2].

The angle (wide angle) between the first detected camera line and the first line scan camera is

[Equation 1]

α1 = 14.5 + 61 * (β1 / A) and

Here, the wide angle α1 of the line scan camera 1 with the front line, the midpoint pixel value β1 at the zero-crossing point of the image obtained from the line scan camera 1, and the total number of pixels A of the image obtained from the line scan camera 1. ).

Meanwhile, the angle (wide angle) between the detected catenary and the second line scan camera is

[Equation 2]

α2 = 61- (14.5 + ((B-β2) / B))

Here, the wide angle α2 of the line scan camera 2 with the front line, the midpoint pixel value β2 of the zero-crossing point of the image obtained from the line scan camera 2, and the total number of pixels B of the image obtained from the line scan camera 2. ).

7 is a schematic diagram for calculating the height and the deviation of the tram line according to the triangulation method according to the present invention.

As shown in FIG. 7, the step S34 of calculating the height H and the deviation S of the vehicle line by the wide angle tracked by the above Equations 1 and 2 is shown in Equations 3 and 3 below. It is determined by Equation [4].

[Equation 3]

,

,

[Equation 4]

Where C is the distance between two line scan cameras.

8 is a flowchart illustrating a method of adding a tram line by judging as a tram line of another train according to the present invention.

As shown in FIG. 8, when it is determined that the wide angle tracked in the current frame is out of the range of ± 0.5 degrees of the wide angle of the previous frame in the process of tracking the detected wide angle (S80), the current tracked angle is stored in the temporary storage space. Afterwards, if the current tracked angle stored in the temporary storage space is continuously present for 5 frames or more continuously within a range of ± 0.5 degrees, it is regarded as an object to be tracked, such as a tram line or a seam line (S81).

9 is an embodiment of a method for adding a tram line.

As shown in FIG. 9, the method of tracking the tramline is slightly different depending on the number of wide angles detected in the current frame. However, the tracking of the tramline is additionally performed by using the values of the previous frame. To determine if there is a wide angle to do.

In comparison with FIG. 3, although a wide angle was formed by primarily removing noise in FIG. 3, the line can be more accurately tracked through a moving average in FIG. 9. As an example, if the detected wide angle is one or more, the process of tracking the wide angle according to FIG. 9 is started.

First, when there is one wide angle, the angle of the current frame is compared with the angle of the previous frame, and when it is within a range of ± 0.5 degrees, the obtained wide angle is used as it is, and when out of the range, the average value of the previous five frames is replaced.

Second, in the case of two wide angles, a wide angle having a small difference is checked by comparing the difference with the main tram line, and a range of ± 0.5 degrees is determined as in the case of the single wide angle.

Third, if there are three or more wide angles, the difference between the main tram lines and the main tram line is assumed to track the smallest value, and other values are stored in the temporary space. Since the shades stored in the temporary space may be wide angles caused by instantaneous noise, the temporarily stored values are detected as a tram line or a rough line to be additionally tracked only when there are 5 or more frames continuously within a range of ± 0.5 degrees.

The above-described embodiments of the present invention can be written in a program that can be executed in a computer, and can be implemented in a general-purpose digital computer which operates the program using a computer-readable recording medium.

It will be apparent to those skilled in the art that the present invention is not limited to the above embodiments and can be practiced in various ways without departing from the technical scope of the present invention. will be.

1 is a block diagram of a vehicle line height and deviation detection device using a line scan camera according to the present invention.

2 is a perspective view, a front view, and an embodiment illustrating a measurement unit of a vehicle line height and deviation detection device using a line scan camera as an embodiment of the present invention.

3, 4, 5, 6, 7, 8, and 9 are flowcharts, graphs, and schematic diagrams illustrating a method for detecting a vehicle line height and deviation using a line scan camera according to the present invention.

<Explanation of symbols for the main parts of the drawings>

100: measurement unit 110: line scan camera

112: tram line 120: jig

121: body 122: the horizontal moving plate

123: horizontal moving rail 210: sensor

300: image processing device

Claims (8)

delete A measurement unit including two line scan cameras for scanning the tramline and acquiring an image, and a jig fixed to the upper part of the train so that the two line scan cameras are positioned at left and right sides of the tramline, respectively; Sensor unit for outputting a detection signal for correcting the vibration of the train, the slope of the line scan camera, and According to the detection signal, the position of the tram line is detected from the pixel value obtained by correcting the image acquired from the line scan camera, and the height and the deviation of the tram line are measured by tracking the angle between the line scan camera and the detected tram line, and continuously It includes an image processing device for displaying the height and the deviation of the tram line measured by a graph on the monitor, The jig is coupled to the body portion having a horizontal moving rail, a means for adjusting the angle of the line scan camera on the upper portion is installed at each end of the body portion to move along the horizontal moving rail to reduce the distance between the line scan camera Catenary height and deviation detection device using a line scan camera characterized in that it comprises a horizontal movable plate adjustable. 3. The method of claim 2, The sensor unit is attached to the jig, the acceleration sensor for measuring the vibration of the train, the displacement sensor for measuring the inclination of the train attached to the left, right of the train and the tilt sensor for measuring the tilt of the line scan camera attached to the jig Catenary height and deviation detection device using a line scan camera, characterized in that comprises a. delete Extracting pixel information of a tramline image obtained from a line scan camera; Detecting the position of the tram line from the pixel information; Tracking an angle between the detected tramline and a line camera; Calculating the height and the deviation of the tram line from the tracked angles; and And displaying a graph on the monitor of the continuously calculated height and deviation, The step of detecting the position of the tram line from the pixel information may include determining the maximum value of the brightness difference between the reference pixel and the pixel spaced 3 spaces and detecting the pixel value of the midpoint of the zero-crossing point as the position of the tram line. Lane height and deviation detection method using a line scan camera. The method of claim 5, Tracking the angle between the detected catenary and the line camera [Equation 1] α1 = 14.5 + 61 * (β1 / A) and Where α1 is the wide-angle angle of the line scan camera 1 with the front line, β1 is the center pixel value of the zero-crossing point of the image obtained from the line scan camera 1, and A is the total number of pixels of the image obtained from the line scan camera 1. Indicates.) [Equation 2] A method for detecting a vehicle line height and deviation using a line scan camera, characterized in that α2 = 61- (14.5 + ((B-β2) / B)). (Wherein α2 is the wide angle of the line scan camera 2 with the front line, β2 is the center pixel value of the zero-crossing point of the image obtained from the line scan camera 2, and B is the total number of pixels of the image obtained from the line scan camera 2. Indicates.) The method of claim 5, Calculating the height (H) and the deviation (S) of the tram line from the tracked angle [Equation 3]

, And [Equation 4]

Tank line height and deviation detection method using a line scan camera, characterized in that consisting of. (Where the α1 is the wide angle between the line scan camera 1 and the lane line, the α2 is the wide angle between the line scan camera 2 and the line between C and both line scan cameras.) The method of claim 5, The tracking of the angle between the tramline and the line camera from the pixel information may be performed by comparing the angle tracked in the current frame with the angle of the previous frame when the current tracked angle is outside the range of ± 0.5 degrees of the angle of the previous frame. And after the stored angle is stored in the temporary storage space, determining that the current tracked angle stored in the temporary storage space is the tramline to be tracked if the current tracked angle is continuously present for 5 or more frames within a range of ± 0.5 degrees. A vehicle line height and deviation detection method using a line scan camera, characterized in that made.

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