TW200639369A - Apparatus and method for detecting obstacle located at surrounding of pantograph of railway vehicle - Google Patents

Apparatus and method for detecting obstacle located at surrounding of pantograph of railway vehicle

Info

Publication number
TW200639369A
TW200639369A TW095108066A TW95108066A TW200639369A TW 200639369 A TW200639369 A TW 200639369A TW 095108066 A TW095108066 A TW 095108066A TW 95108066 A TW95108066 A TW 95108066A TW 200639369 A TW200639369 A TW 200639369A
Authority
TW
Taiwan
Prior art keywords
pantograph
surrounding
railway vehicle
dimensional position
obstacle
Prior art date
Application number
TW095108066A
Other languages
Chinese (zh)
Other versions
TWI279521B (en
Inventor
Nobuo Kinoshita
Nobuyuki Fujiwara
Makoto Niwakawa
Original Assignee
Meidensha Electric Mfg Co Ltd
Kyushu Railway Company
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Meidensha Electric Mfg Co Ltd, Kyushu Railway Company filed Critical Meidensha Electric Mfg Co Ltd
Publication of TW200639369A publication Critical patent/TW200639369A/en
Application granted granted Critical
Publication of TWI279521B publication Critical patent/TWI279521B/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B60L5/18—Current collectors for power supply lines of electrically-propelled vehicles using bow-type collectors in contact with trolley wire
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Geophysics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Multimedia (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Image Analysis (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

In apparatus and method for detecting an obstacle located at a surrounding of a pantograph of a railway vehicle, an image processing unit is configured to extract white portion blob features from at least one of left and right mask processed images, to derive a three-dimensional position of each of the extracted blob features, to compare the derived three-dimensional position of each of the extracted blob features with a previously derived pantograph feature three-dimensional position to select the nearest blob feature whose degree of approach to the pantograph is closer than a predetermined value in a form of the obstacle, and to set a three-dimensional data of the selected obstacle.
TW095108066A 2005-03-11 2006-03-10 Apparatus and method for detecting obstacle located at surrounding of pantograph of railway vehicle TWI279521B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2005068795A JP4440809B2 (en) 2005-03-11 2005-03-11 Obstacle detection device around pantograph

Publications (2)

Publication Number Publication Date
TW200639369A true TW200639369A (en) 2006-11-16
TWI279521B TWI279521B (en) 2007-04-21

Family

ID=36972805

Family Applications (1)

Application Number Title Priority Date Filing Date
TW095108066A TWI279521B (en) 2005-03-11 2006-03-10 Apparatus and method for detecting obstacle located at surrounding of pantograph of railway vehicle

Country Status (4)

Country Link
JP (1) JP4440809B2 (en)
CN (1) CN100419373C (en)
FR (1) FR2883963B1 (en)
TW (1) TWI279521B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI679137B (en) * 2017-09-06 2019-12-11 日商明電舍股份有限公司 Telephone pole distance measuring device
TWI737624B (en) * 2016-08-02 2021-09-01 日商東海旅客鐵道股份有限公司 Collector monitoring system

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4930789B2 (en) * 2007-09-27 2012-05-16 サクサ株式会社 Individual recognition apparatus, individual recognition method and program
JP5245445B2 (en) 2008-02-15 2013-07-24 株式会社明電舎 Crossover measuring device
JP5811637B2 (en) 2011-06-30 2015-11-11 株式会社明電舎 Trolley wire wear measuring device by image processing
JP5698285B2 (en) * 2013-03-04 2015-04-08 公益財団法人鉄道総合技術研究所 Overhead wire position measuring apparatus and method
JP6308681B2 (en) * 2015-03-11 2018-04-11 公益財団法人鉄道総合技術研究所 Crossover equipment monitoring device and method
JP6524529B2 (en) * 2015-10-27 2019-06-05 株式会社明電舎 Building limit judging device
CN105539206B (en) * 2015-12-24 2017-10-17 湖南华宏铁路高新科技开发有限公司 A kind of acquisition methods of electrification railway contact net bar position information
JP7147906B1 (en) 2021-03-25 2022-10-05 株式会社明電舎 Pantograph peripheral obstruction detection device and detection method
CN114413752A (en) * 2021-12-20 2022-04-29 东莞市诺丽电子科技有限公司 Collector shoe intrusion detection method and system

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2694025B2 (en) * 1989-08-31 1997-12-24 株式会社フジクラ Overhead transmission line obstacle approach detection device
JPH095043A (en) * 1995-06-26 1997-01-10 Matsushita Electric Ind Co Ltd Abnormality detecting apparatus for pantograph of electric car
JP4078798B2 (en) * 2000-10-31 2008-04-23 株式会社明電舎 Pantograph obstacle detection device
CN1519143A (en) * 2003-04-14 2004-08-11 明 白 System and method for visual detecting overhead contact line equipment of electric railways
JP4305073B2 (en) * 2003-07-08 2009-07-29 株式会社明電舎 Pantograph obstacle detection method and apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI737624B (en) * 2016-08-02 2021-09-01 日商東海旅客鐵道股份有限公司 Collector monitoring system
TWI679137B (en) * 2017-09-06 2019-12-11 日商明電舍股份有限公司 Telephone pole distance measuring device

Also Published As

Publication number Publication date
CN100419373C (en) 2008-09-17
JP2006250775A (en) 2006-09-21
TWI279521B (en) 2007-04-21
CN1841009A (en) 2006-10-04
JP4440809B2 (en) 2010-03-24
FR2883963A1 (en) 2006-10-06
FR2883963B1 (en) 2012-01-20

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