TW201706560A - Wire measurement device and method - Google Patents

Abstract

A wire measurement device is provided with: a first line camera (11) and a second line camera (12) for capturing an image of a wire, the first line camera (11) and the second line camera (12) being disposed at both ends in a railroad-tie direction on a rooftop (10a) of a railroad car (10) and each inclined toward the center in the railroad-tie direction of the railroad car (10); and an image processing unit (9) for detecting sliding surface information and wire information of a wire as a measurement object from an image captured by the first line camera (11) and an image captured by the second line camera (12) and calculating the height and deviation of the wire by performing a mapping of the wire among the captured images using the wire information and the sliding surface information.

Description

Line measuring device and method

The present invention is an invention in the field of managing the wiring in the railway field, and more particularly to an image processing of data acquired by a linear camera disposed on the roof of a train, and determining the height and deviation of the line from the line. Bit line measuring device and method.

As a technique for measuring the height and the deviation of the line including the overhead line, for example, the techniques disclosed in Patent Documents 1 and 2 below.

Patent Document 1 listed below discloses a technique in which a linear camera is placed on the roof of an electric train, and the sensor data is acquired while the electric train is traveling, and the wear and offset of the overhead wire are measured.

Patent Document 2 listed below discloses a technique in which a linear camera and a laser range finder are placed on the roof of a train, and the sensor data is acquired while the train is traveling, and the height and offset of the line are measured.

In addition, it is said that the management of the location information of the overhead line (the measurement of the position of the wire) is within a range of ±900 mm from the center of the vehicle. The reason is as follows.

Usually, in order to collect electricity on the tram via the pantograph, the wire is located at a position of ±250 mm (±300 mm) of the center of the self-collector. However, in the vicinity of the overhead line device or the intersection of the two track crossings, the "end" of the pantograph is in contact with the second line (the line other than the main line). Oh, therefore, it needs to be within the range of ±900mm from the center of the vehicle. Wire position determination.

In addition, the above-mentioned "deviation", "line", "wire division device", "wire connection parallel section", "connection line", and "sliding surface" are defined as follows.

The so-called "biased position" is the position of the horizontal direction of the line, which refers to the distance from the center of the current collecting bow.

The term "line" refers to a line that is erected in the air and has lines such as overhead wires, hanger wires, and feeder wires.

The so-called "wire-distributing device" is a device that electrically or mechanically distinguishes the wires, and refers to the wire-connecting parallel segment or the wire-connecting parallel-parallel electrical connector.

The term "wired relay parallel section" refers to a division that is provided between the front and rear (the front and rear sides of the vehicle traveling direction) are not electrically connected to each other in the wire sorting device. Fig. 17 is a plan view showing the parallel section of the wiring replacement. In Fig. 17, the main line 1 and the sub-main line 2 are electrically connected to each other and are arranged as a division portion to be divided by a line. In addition, the term "wire-replacement parallel-section electrical connector" means that the wire-connected connector replaces the parallel-segment electrical connector.

The "connecting line" is a device that allows two sets of wires on the switch to cross each other without causing obstacles to the passage of the pantograph. Fig. 18 is a plan view showing a connecting line. In Fig. 18, the case where the connecting line 4 crosses the main line 1 above the railway 3 in which the switch 3a is disposed is shown.

The term "sliding surface" refers to the surface where the overhead wire is in contact with the pantograph and is worn. Usually, the sliding surface is often connected to the pantograph because of the wire. However, in the equipment section where the second line is present in the parallel section and the connecting line, the part that is not connected to the pantograph, that is, does not have a sliding surface, is within ±900 mm of the center deviation of the vehicle to be managed. Part.

In addition, the "management of the line" confirms whether the height, the offset, and the wear of the wire are below the set management value in a designated period, and the accident can be prevented by managing the wire.

The so-called "height of the line" refers to the frame from the railway until it is placed above the tram. The height of the line is usually around 4,500 mm (5000 mm for the Shinkansen).

The so-called "offset of the overhead line" refers to the position of the horizontal direction of the overhead line. Usually, the overhead line exists at a position of ±250 mm from the center of the center of the current collector (±300 mm in the Shinkansen), and the parallel section of the overhead line and the intersection of the pantographs At the position of the transfer device, in addition to the above, there is a position where the second line is offset from the center of the vehicle by ±900 mm.

The term "wearing of the wire" refers to the abrasion of the wire generated in proportion to the frequency of the electric train (the pantograph), and the abrasion of the wire is managed so as not to exceed the wear limit value.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2010-127746

[Patent Document 2] Japanese Patent Laid-Open Publication No. 2012-8026

The above-mentioned Patent Document 1 discloses in the document paragraph [0035] that "the overhead height data (slightly) is input from the outside", and the height information is additionally required, and the measurement of the position (height and offset) of the wire cannot be separately performed. . Moreover, it is only possible to measure the overhead line and the connecting line by taking the overhead line for the wear.

The above Patent Document 2 requires two linear cameras and one laser range finder to be disposed on the roof of the electric train. Therefore, the structure of the device provided on the roof becomes complicated and large. Moreover, although the position information of the laser range finder is used in the matching of the corresponding points of the stereo measurement, since the detection rate and the accuracy of the laser are deteriorated in proportion to the measurement distance, the distance from the far line takes over the parallel interval. It is difficult to measure the stereoscopicity of the wires such as the connecting lines. Further, since the data acquisition period of the laser is 10 times or more slower than that of the linear camera, it is difficult to mount it on a high-speed traveling vehicle such as a business vehicle.

The present invention has been made in view of the above technical circumstances, and an object thereof is to provide A line measuring device and method, the line measuring device and method can perform measurement of a wide range of height and offset only by a linear camera. Furthermore, in addition to the main line, the measuring object can also be measured at a center deviation of the vehicle from the vehicle by ±900 mm. The second line inside (the wire outside the main line).

The line measuring device according to the first aspect of the present invention is characterized in that the first linear camera and the second linear camera are provided so that the ends of the sleeper on the roof of the vehicle are inclined toward the center of the sleeper of the vehicle. And an image processing unit that detects line information and sliding surface information of a line to be measured from a captured image captured by the first linear camera and a captured image captured by the second linear camera. And determining, by using the line information and the sliding surface information, the correspondence between the lines of the captured image, and calculating the height and the deviation of the line.

According to the first aspect of the invention, in the first aspect of the invention, the image processing unit uses the sliding surface information in the line of the measurement target. The time information of the line intersecting the line having the sliding surface and the sliding surface information of the line are established in the foregoing correspondence relationship.

According to a second aspect of the invention, in the second aspect of the invention, the image processing unit includes: a sliding surface extracting unit that respectively captures a captured image captured by the first linear camera; The sliding surface information is detected by the captured image captured by the second linear camera, and the line extracting unit detects the line from the captured image captured by the first linear camera and the captured image captured by the second linear camera. Information; the joint department, which uses the aforementioned line information to create line combination information; The correspondence relationship establishing unit establishes the correspondence relationship using the sliding surface information when the sliding surface information exists in the line as the measurement target, and the sliding surface information does not exist in the line as the measurement target In the case of using the time information of the line intersecting the line having the sliding surface and the sliding surface information of the overhead line, the stereo correspondence unit is configured to capture the captured image by the first linear camera. The above-mentioned line combination information established by the correspondence relationship between the captured images captured by the second linear camera is stereoscopically measured, and the height and the deviation of the lines are calculated.

The line measuring method according to the fourth aspect of the present invention is characterized in that the first linear camera and the second linear camera that capture the line are inclined toward the center of the sleeper direction of the vehicle in the sleeper direction on the roof of the vehicle. And arranging, by using the captured image captured by the first linear camera and the captured image captured by the second linear camera, line information and sliding surface information of the line to be measured, and by using the line information and the The sliding surface information establishes the correspondence relationship of the lines between the captured images, and calculates the height and the deviation of the line.

According to a fourth aspect of the invention, in the fourth aspect of the invention, in the fourth aspect of the invention, in the case where the sliding surface information does not exist in the line as the measurement target, the line and the sliding surface are used. The time information of the crossover and the sliding surface information of the overhead line are established to establish the aforementioned correspondence relationship.

According to a fifth aspect of the invention, in the fifth aspect of the invention, the image of the image captured by the first linear camera and the image captured by the second linear camera are detected. Sliding surface information; respectively, from the captured image captured by the first linear camera and using the second The camera image captured by the linear camera detects the line information; the line information is used to create the line combination information; and in the case where the sliding surface information exists in the line as the measurement object, the corresponding relationship is established using the sliding surface information, In the case where the aforementioned sliding surface information does not exist in the aforementioned line as the measurement target, the time relationship between the line and the line having the sliding surface and the sliding surface information of the overhead line are used to establish the aforementioned correspondence relationship; The above-described line combination information created by the correspondence between the captured image captured by the first linear camera and the captured image captured by the second linear camera is stereoscopically measured, and the height and offset of the line are calculated.

According to the line measuring device and method of the present invention, a wide range of height and offset measurement can be performed only by a linear camera, and further, the measurement object can be measured in addition to the main line, and can be measured in the second within ±900 mm from the center deviation of the vehicle. Wired (wired except the main line).

Moreover, according to the line measuring device and method of the present invention, since the stereoscopic measurement by the linear camera is used alone, the detection rate and accuracy of the stereoscopic measurement of the distance between the distant connecting line and the wired replacement parallel section are not easily lowered.

Further, according to the line measuring device and method of the present invention, since the stereoscopic measurement by the linear camera is used alone, it can be mounted on a high-speed traveling vehicle such as a business vehicle.

1‧‧‧ main line

1a‧‧‧ hanging line

2‧‧‧Subline

2a‧‧‧ hanging wire

3‧‧‧ Railway

3a‧‧‧Translator

4‧‧‧Connected line

4a‧‧‧ hanging line

5‧‧‧ Feeder

6‧‧‧ pole

7‧‧‧Curve section pull metal cantilever

8‧‧‧Sliding surface

9‧‧‧Image Processing Department

10‧‧‧ Vehicles

10a‧‧‧ on the roof

11‧‧‧1st linear camera

12‧‧‧2nd linear camera

13‧‧‧Lighting

14‧‧‧Image Input Department

15‧‧‧Sliding surface extraction department

16‧‧‧Line Extraction Department

17‧‧‧Combination

18‧‧‧Correspondence Establishment Department

19‧‧‧ Stereo Measurement Department

20‧‧‧Memory Department

21‧‧‧ Equipment Data Setting Department

30a‧‧‧ on the roof

31‧‧‧1st linear camera

32‧‧‧2nd linear camera

33‧‧‧3rd linear camera

Part A‧‧‧

Part B‧‧‧

C‧‧‧ Section

Part D‧‧‧

a‧‧‧Any area where stereoscopic imaging is not possible

b‧‧‧Any area where stereoscopic imaging is not possible

Fig. 1 is a schematic view showing the structure of a device of a line measuring device according to an embodiment of the present invention.

Fig. 2 is a schematic view showing an imaging range and a measurement target area of the line measuring device according to the embodiment of the present invention.

Fig. 3 is a schematic view showing an imaging range and a measurement target region in a case where a linear camera is placed in the vertical direction.

Fig. 4 is a view showing a comparison of the imaging range viewing angles of the case where the first linear camera is disposed in the vertical direction and the case where the first linear camera is disposed obliquely.

Fig. 5 is a view showing a comparison of the imaging range viewing angles of the case where the second linear camera is placed in the vertical direction and the case where the second linear camera is disposed obliquely.

6A and 6B are diagrams showing an example of a captured image of a parallel section device.

7A and 7B are diagrams showing an example of a data map of the result of detecting the sliding surface of the parallel section device.

8A and 8B are diagrams showing an example of a data map of the line detection result of the parallel section device.

Fig. 9 is a schematic view showing the functional configuration of a line measuring device according to an embodiment of the present invention.

10A to 10D are diagrams showing the result of establishing the correspondence relationship between the main line 1 and the sub main line 2 of the parallel section device.

Figure 11 is a schematic view showing a state in which the vehicle crosses the inter-wire transfer device through the pantograph.

12A and 12B are diagrams showing an example of a captured image of a pantograph cross-hair transfer device.

13A to 13D are data diagrams showing the results of establishing the correspondence relationship between the main line and the connecting line of the pantograph cross-hair transfer device.

Fig. 14 is a view showing an example of the measurement results of the overhead line.

Fig. 15 is a flow chart for explaining the operation of the image processing unit in the embodiment of the present invention.

Fig. 16 is a flow chart showing the detailed description of the correspondence establishing unit of the embodiment of the present invention.

Fig. 17 is a plan view showing the parallel section of the wiring replacement.

Fig. 18 is a plan view showing a connecting line.

Fig. 19 is a schematic view showing an imaging area of each linear camera.

Fig. 20 is a schematic view showing a region in which stereoscopic imaging can be performed using the first linear camera and the third linear camera.

Fig. 21 is a schematic view showing a region in which stereoscopic imaging can be performed using the second linear camera and the third linear camera.

The line measuring device and method of the present invention is provided with two linear cameras on the roof of the electric car, and performs image processing on the data acquired by each linear camera, and is within the range of ±900 mm from the center deviation of the vehicle. Determine the height and offset of the wire.

Hereinafter, the line measuring device and method of the present invention will be described using the drawings in the embodiments.

[Examples]

One of the following techniques is disclosed in Japanese Patent Application No. 2014-196032: a total of three linear cameras are provided, one for each of the two ends of the sleeper on the roof of the train, and one for the center of the vehicle. Wire wear and location. This technology measures the wear and position of the wire while taking the sensor data of the linear camera installed on the roof of the train while driving the train.

This technique, in addition to the technique disclosed in the above-mentioned Patent Document 2, utilizes the configuration of three linear cameras in which the wide-angle lens is placed in the center of the vehicle, and can secure the management range of the second line such as the connecting line (for example, from the center of the vehicle) Positioning area of ±900mm). The imaging area is shown in Figures 19-21.

Fig. 19 is a schematic view showing an imaging area of each linear camera. As shown in Fig. 19, at the vehicle roof top 30a, the first linear camera 31 disposed at one end of the sleeper direction, the third linear camera 33 disposed at the center, and the second linear camera 32 disposed at the other end of the sleeper direction are Each of the third linear cameras 33 has an overlapping region of the imaging region (the region indicated by a broken line in the figure is an imaging region of the first and second linear cameras 31 and 32, and the region indicated by a solid line is an imaging region of the third linear camera 33). . Since the area can be stereoscopically photographed, Therefore, it is called "a region where stereoscopic imaging is possible".

FIG. 20 is a schematic view for explaining a region in which stereoscopic imaging can be performed using the first linear camera 31 and the third linear camera 33. FIG. 21 is a schematic view showing a region in which stereoscopic imaging can be performed using the second linear camera 32 and the third linear camera 33.

As shown in the gray area in Fig. 20, an image capturing area of 900 mm on one side is secured in the mode of the first linear camera 31 and the third linear camera 33, as shown by the gray area in Fig. 21, with the second linear camera 32 and the third linear line. The mode of the camera 33 ensures an imaging area of 900 mm on the other side.

Further, since the height information of the connecting line is limited by acquiring the main line position information of the overhead line, the corresponding point of the stereo measurement can be restricted, and the line measurement of the connecting line can be performed.

However, in the stereoscopic imaging by the first linear camera 31 or the second linear camera 32 and the third linear camera 33, there is a problem that the stereoscopic resolution is low because the distance between the linear cameras is short.

Further, since the first linear camera 31 and the second linear camera 32 are switched and used within the respective imaging ranges, the processing becomes complicated.

In addition, the connection line is measured by limiting the height information of the autonomous line. However, since the height restriction is only the connection line (condition: "the connection line is set within 30 mm of the height of the autonomous line"), there is a line. It is difficult to carry out the position measurement by the method of limiting the height by replacing the object of the parallel section or the like at a position high by ±900 mm from the center deviation of the vehicle or a device having a complicated structure.

Here, the device structure of the line measuring device of the present embodiment is shown in FIG. In Fig. 1, it is shown that the vehicle 10 traveling on the railway 3 takes over the parallel section device portion by the line connecting the main line 1 and the sub main line 2 which are respectively suspended by the hanger wires 1a, 2a. Further, the hanger wires 1a, 2a are supported by a curved section metal cantilever 7 attached to the pole 6, and a feeder 5 is mounted on the pole 6 in addition to the curved section metal cantilever 7.

In the line measuring device of the present embodiment, as shown in FIG. 1, the first linear camera 11 and the second linear camera 12 are provided, and are disposed at both ends of the roof 10a of the vehicle 10 in the sleeper direction to face the vehicle 10, respectively. The sleeper is arranged in a direction in which the center of the sleeper is inclined, and a line is taken. Further, the image processing unit 9 to be described later is further provided.

Thereby, it is possible to ensure that the overhead line can take over a wide range of stereoscopic imaging areas such as parallel sections (and connection lines) (for example, from the vehicle center offset ± 900 mm). Further, in the line measuring device of the present embodiment, as shown in FIG. 1, an illumination 13 for illuminating a line may be provided between the first linear camera 11 and the second linear camera 12.

As in the line measuring device of the present embodiment, the first linear camera 11 and the second linear camera 12 are tilted toward the center of the sleep direction of the vehicle 10, and the first linear camera 11 and the first linear camera 11 and the first linear camera 11 are not tilted. 2 The area in which the linear camera 12 is tilted and is oriented in the vertical direction is shown in FIGS. 2 and 3, respectively.

As shown in FIG. 3, in general, in the limited installation environment of the roof top 10a of the vehicle 10, when the first and second linear cameras 11 and 12 are arranged in the vertical direction, the parallel line and the connecting line are replaced by the overhead line. The device requires a wide range of stereoscopic imaging areas ("measuring target area" in the figure) as described above, and in the measurement target area (the area indicated by the two-dot chain line. The same applies to Figs. 2, 4, and 5) Since the regions a and b in which the three-dimensional imaging cannot be performed are not overlapped with each other, the stereoscopic measurement cannot be performed for the portion.

On the other hand, according to the line measuring device of the present embodiment, as shown in FIG. 2, an area in which the mutual imaging ranges do not overlap, that is, an area which cannot be stereoscopically measured, is not generated in the measurement target area.

This point will be described in detail using FIGS. 4 and 5. FIG. 4 is a view comparing the imaging range viewing angle when the first linear camera 11 is placed in the vertical direction and the case where the first linear camera 11 is placed obliquely. Fig. 5 is a view for comparing the imaging range viewing angle when the second linear camera 12 is placed in the vertical direction and the case where the second linear camera 12 is disposed obliquely. Moreover, the broken lines in FIGS. 4 and 5 indicate the imaging range in the case where the linear cameras are arranged in the vertical direction, The solid line indicates the imaging range in the case where each linear camera is obliquely disposed.

As shown in FIG. 4, the first linear camera 11 is tilted so that the area b in which stereo imaging is impossible is possible, and the second linear camera 12 is capable of stereoscopic imaging in the area a where stereoscopic imaging is impossible. tilt. As a result, as shown in FIG. 2, it is possible to ensure a wide range of measurement target areas (the connection line and the line connection are replaced by a parallel section (bias ± 900 mm)).

Further, in the image processing unit 9, in the stereo measurement, in order to establish an appropriate correspondence relationship among a plurality of lines located on the captured image captured by the first linear camera 11 and the second linear camera 12, The line information and the sliding surface information are acquired (detected), and the correspondence relationship between the lines between the first linear camera 11 and the captured image of the second linear camera 12 is established using the detected line information and the sliding surface information. Thereby, the external device such as the laser device or the height measuring device which is necessary before is not required, and the wire position (height and offset) in the range of ±900 mm in which the parallel line and the connecting line are displaced can be separately measured (calculated). ).

The biggest problem in the measurement of the position of the line is the correspondence between the line data (line information) between the linear cameras. For example, an image in which the first linear camera 11 and the second linear camera 12 are used to capture the overhead information of the parallel section device of FIG. 1 is shown in FIG. 6. 6A is a captured image view of the first linear camera 11; and FIG. 6B is a captured image view of the second linear camera 12, the horizontal axes of which represent the pixels of the camera (pix), The vertical axis represents time (ms).

In the judgment by visual observation, it is difficult to establish the correspondence relationship between the lines of the two captured images (the main line 1 and the sub-main line 2 in the figure) shown in FIGS. 6A and 6B (as the correspondence relationship establishment information, in the above Patent Document 2 uses laser information, and the above-mentioned Japanese Patent Application No. 2014-196032 utilizes the height information of the main line.

In the image processing unit 9, the sliding surface data (sliding surface information) is used for the correspondence establishment. Here, Figure 7 is the data of the sliding surface detection result of the parallel line device. An example of the figure. The diagram shown in FIG. 7A is based on the image of the captured image of the first linear camera 11; the diagram shown in FIG. 7B is based on the image of the captured image of the second linear camera 12. Fig. 8 is an example of a data map of the line detection result of the parallel line device. The diagram shown in FIG. 8A is based on the image of the captured image of the first linear camera 11; the diagram shown in FIG. 8B is based on the image of the captured image of the second linear camera 12.

In other words, in the image processing unit 9, the data of the sliding surface 8 is detected from the captured image shown in Figs. 6A and 6B as shown in Fig. 7 . Further, from the captured images shown in FIGS. 6A and 6B, the line data is detected as shown in FIG. 8 and is based on "the captured image of the first linear camera 11 and the captured image of the second linear camera 12". The relationship between the pieces of the sliding surface and the data of the sliding surface is the measurement object. Therefore, even if it is a part of a wire having a sliding surface, all the correspondences can be established.

Fig. 9 is a view showing the functional configuration of the line measuring device of the present embodiment. As shown in FIG. 9, the line measuring device of the present embodiment includes a first linear camera 11, a second linear camera 12, and an image processing unit 9. Further, the image processing unit 9 includes an image input unit 14, a sliding surface extraction unit 15, a line extraction unit 16, a joint unit 17, a correspondence relationship creation unit 18, a stereo measurement unit 19, a storage unit 20, and a device data setting unit. twenty one.

The image input unit 14 acquires image data captured by the first linear camera 11 and the second linear camera 12.

The sliding surface extracting unit 15 uses image processing, and as described above, the sliding surface data is detected as shown in Fig. 7 from Fig. 6 .

The line extracting section 16 uses image processing, and as described above, the line data is detected as shown in Fig. 8 from Fig. 6. At this time, the line data is a collection of point groups. Since there is no correlation between the data, the following is called "line point group data (line point group information)". Further, in Fig. 8, the portion that is interfered by the pole 6 or the like is defective.

The joint portion 17 creates a "line combination data" which uses the line point group data to join the lines in accordance with the following steps.

That is, the joint portion 17 first combines the continuous line point group data to be made into a plurality of parts. At this time, the overlapping portion and the defect portion are distinguished from each other. Secondly, the parts are combined by using the length, angle, approximate quadratic coefficient, and the start end coordinates of each part, so that the messy line point group data is formed into line combination data (line combination information).

The correspondence relationship establishing unit 18 first sets the line combination data having the sliding surface data as the measurement target, and performs the correspondence between the line combination data of the captured image of the first linear camera 11 and the captured image of the second linear camera 12. Relationship establishment.

Fig. 10 is a view showing the result of establishing the correspondence relationship between the main line 1 and the sub main line 2 of the parallel section device. The diagram shown in FIG. 10A is based on the image of the captured image of the first linear camera 11; the diagram shown in FIG. 10B is based on the image of the captured image of the second linear camera 12; the diagram shown in FIG. 10C is based on the first A diagram of a captured image of the linear camera 11; a diagram shown in FIG. 10D is based on a captured image of the second linear camera 12. In addition, the horizontal axis of each represents the pixel number (pix) of the linear camera, and the vertical axis represents time (ms). As shown in FIG. 10, a correspondence relationship can be established for a part of the wires having the sliding faces 8.

On the other hand, Fig. 11 is a schematic view showing a state in which the vehicle 10 crosses the inter-wire transfer device through which the main line 1 and the connecting line 4 intersect. Further, the connecting wire 4 is also suspended by the hanger wire 4a in the same manner as the main wire 1 (and the sub-main wire 2 that has appeared).

An example of a captured image of the pantograph cross-hair transfer device shown in Fig. 11 is shown in Fig. 12. The picture shown in FIG. 12A is a captured image taken by the first linear camera 11; the picture shown in FIG. 12B is a captured image taken by the second linear camera 12, and the horizontal axes of the two represent the pixels of the camera. (pix), the vertical axis represents time (ms).

In the pantograph cross-over-line transfer device, as shown in FIG. 12, the connection line 4 as the measurement target is not provided with the sliding surface 8. Therefore, in the case where the connecting line 4 is measured, time information in which the wire having no sliding surface 8 intersects with the wire having the sliding surface 8 is used.

As shown in Fig. 12, the wire which intersects the wire (main line 1) having the sliding surface data, in addition to the connecting wire 4, is also a candidate for the hanging wire 4a of the connecting wire. These lines are shown in FIG. 12B of the captured image captured by the second linear camera 12 at the portions A and B in the map shown in FIG. 12A of the captured image captured by the first linear camera 11. In the figure, the intersection of the C portion and the D portion respectively intersects, but with this alone, the correspondence between the connection lines 4 cannot be established between the captured images.

In the pantograph cross-over-line transfer device, when the connecting line 4 intersects the main line 1, the feature is crossed at a height substantially equal to the height of the main line 1, and on the captured image, due to the line with the sliding surface 8. Since the intersection time information is substantially the same, it can be seen that the portion B of the portion shown in FIG. 12A and the image captured by the second linear camera 12 having the captured image captured by the first linear camera 11 are shown in FIG. The wire of the intersection of the parts is the connecting line 4. Thereby, if the registration is performed by one overhead line, the connection line 4 can also establish a correspondence relationship.

Fig. 13 is a data diagram showing the result of establishing the correspondence between the main line 1 and the connecting line 4 of the pantograph cross-hair transfer device. The map shown in Fig. 13A shows a data map based on the correspondence relationship between the main lines 1 of the captured images of the first linear camera 11, and the map shown in Fig. 13B shows the main line based on the captured images of the second linear camera 12. A data map of the result of the correspondence establishment of 1; a graph shown in FIG. 13C shows a data map based on the correspondence relationship between the connection lines 4 of the captured images of the first linear camera 11; the graph display shown in FIG. 13D is based on A data map of the result of the correspondence between the connection lines 4 of the captured images of the second linear camera 12. Further, the respective horizontal axes represent the number of pixels (pix) of the linear camera, and the vertical axis represents time (ms).

As described above, in the respective maps shown in FIGS. 13A, B, C, and D, in the correspondence relationship establishing unit 18, not only the main line 1, but also the connecting line 4 can be established.

Therefore, in the correspondence relationship establishing unit 18, it is changed as described above by whether or not the measurement target is a conditional difference of the connection line 4 (that is, the condition of the presence or absence of the sliding surface data is different). In the case where the measurement target is the connection line 4, the sliding surface information (the line having the sliding surface 8 and intersecting the connection line 4) and the (the line having the sliding surface 8 and intersecting the connection line 4) are used. A correspondence relationship is established between the time information of the intersection of the connection line 4 and the connection line.

The above is the description of the correspondence relationship establishing unit 18.

The stereo measurement unit 19 stereometrically measures the line-integrated data created by the correspondence between the captured image captured by the first linear camera 11 and the captured image captured by the second linear camera 12, and displays the measurement result of the line as shown. The height and offset of the lines are calculated and output as shown in Fig. 14. The calculation of the height and the offset is performed in the same manner as the paragraphs [0025] to [0028] of the above-mentioned Patent Document 2.

Further, the storage unit 20 stores the respective materials, and the device data setting unit 21 is a device that replaces the type of the device in which the connection line or the line is replaced by the parallel section and the device in which the second line (the line other than the main line) enters from the left and right with respect to the traveling direction. These device information importers.

FIG. 15 is a flowchart for explaining the overall operation of the image processing unit 9. FIG. 16 is a flowchart for explaining in detail the operation of the correspondence relationship establishing unit 18. Hereinafter, the operation procedure of the image processing unit 9 will be described using the flowcharts of FIGS. 15 and 16.

As shown in FIG. 15, in step S1, image data captured by the first linear camera 11 and the second linear camera 12 is acquired by the image input unit 14.

In step S2, the sliding surface data is detected in the sliding surface extraction unit 15.

In step S3, the line point group data is detected in the line extracting unit 16.

In step S4, line combining data is created in the joint portion 17 using the line point group data.

In step S5, the correspondence relationship establishing unit 18 establishes a correspondence relationship between the line-integrated data of the captured image of the first linear camera 11 and the captured image of the second linear camera 12.

Here, as shown in FIG. 16, when it demonstrates in step S5, it is as follows. Steps S5-1 to S5-3.

In step S5-1, the correspondence relationship establishing unit 18 determines whether or not the measurement target is the connection line 4 (that is, the conditional difference between the presence or absence of the sliding surface data). If it is the connecting line 4 (that is, if there is no sliding surface data), the process goes to step S5-3, and if it is not the connecting line 4 (that is, if there is sliding surface data), the process goes to step S5-2.

In the step S5-2, in the correspondence relationship establishing unit 18, the correspondence relationship between the line combining data is established using only the sliding surface information of the connecting line 4 (the line of the measuring object).

In step S5-3, in the correspondence relationship establishing unit 18, the sliding surface information of the overhead line having the sliding surface 8 and intersecting the connecting line 4, and the time information of the intersection of the connecting line 4 and the overhead line are used to carry out the lines. Establish the correspondence between the data.

As shown in FIG. 15, in the subsequent step S6, the line measuring unit 19 establishes the line combining data of the corresponding relationship between the captured images captured by the first linear camera 11 and the second linear camera 12. Make a stereo measurement and calculate the height and offset of the line.

In step S7, the height and offset of the calculated line are output.

The above is the description of the operation of the image processing unit 9.

In Patent Document 1 described above, since the height information is additionally required, the position (height and offset) measurement of the wire can not be performed by the linear camera alone. However, according to the present embodiment, the measurement of the height and the offset can be performed separately. Further, in addition to the main line, the measurement target can also measure the second line (the line other than the main line) located within ±900 mm from the center deviation of the vehicle.

In the above Patent Document 2, although a laser sensor is required, since the detection rate and the accuracy of the laser are deteriorated in proportion to the measurement distance, the distance between the distant connection line and the overhead line is parallel. The stereo measurement is difficult. However, according to the present embodiment, since the stereoscopic measurement by the linear camera is used alone, the detection rate and accuracy of the stereoscopic measurement of the distance between the distant connecting line and the wired replacement parallel section are not easily lowered. Further, since the data acquisition period of the laser is 10 times or more slower than that of the linear camera, it is difficult to mount it on a high-speed traveling vehicle such as a business vehicle. However, according to the present embodiment, the linearity is used alone. Since the camera is stereoscopically measured, it can be mounted on a high-speed vehicle such as a business vehicle.

In the above-mentioned Japanese Patent Application No. 2014-196032, the height-constrained connecting line (condition: "set within the height of the autonomous line within 30 mm") can be measured, but it is located at the center of the vehicle. In equipment with a high position of 900 mm or a device with a complicated structure, it is difficult to perform position measurement by limiting the height. However, according to the present embodiment, if there is a relationship with the wire having the sliding surface information, all the measurements can be made.

[Industrial availability]

The invention is applicable to line measuring devices and methods.

10a‧‧‧ on the roof

11‧‧‧Linear camera

12‧‧‧Linear camera

Claims (6)

A line measuring device comprising: a first linear camera and a second linear camera, wherein the ends of the sleeper on the roof of the vehicle are disposed so as to be inclined toward the center of the sleeper direction of the vehicle, and the lines are taken; And an image processing unit that detects line information and sliding surface information of the line to be measured from the captured image captured by the first linear camera and the captured image captured by the second linear camera, and uses the line information The line information and the sliding surface information establish a correspondence relationship of the lines between the captured images, and calculate the height and the deviation of the line. The line measuring device according to claim 1, wherein the image processing unit uses time information in which the line intersects with a line having a sliding surface in a case where the sliding surface information does not exist in the line as the measurement target, and The sliding surface information of the wire is established by the aforementioned correspondence relationship. The line measuring device according to claim 2, wherein the image processing unit includes a sliding surface extracting unit that detects the image from the captured image captured by the first linear camera and the captured image captured by the second linear camera a sliding surface information; a line extracting unit that detects the line information from a captured image captured by the first linear camera and a captured image captured by the second linear camera; and a joint portion that creates a line combination using the line information Information; correspondence relationship establishing unit, which exists before the aforementioned line as the measurement object In the case of the sliding surface information, the above-described correspondence relationship is established using the sliding surface information, and when the sliding surface information does not exist in the aforementioned line as the measurement target, the time at which the line intersects with the line having the sliding surface is used. The information and the sliding surface information of the overhead line are used to establish the correspondence relationship, and the stereoscopic measuring unit establishes a correspondence relationship between the captured image captured by the first linear camera and the captured image captured by the second linear camera. The aforementioned lines are combined with the information to perform stereo measurement, and the height and offset of the aforementioned lines are calculated. A method for measuring a line, wherein the first linear camera and the second linear camera that capture the line are disposed at the ends of the sleeper direction on the roof of the vehicle so as to be inclined toward the center of the sleeper direction of the vehicle; The captured image captured by the first linear camera and the captured image captured by the second linear camera detects line information and sliding surface information of the line to be measured, and the recording is performed by using the line information and the sliding surface information. The correspondence between the lines between the images is established, and the height and offset of the lines are calculated. The line measurement method according to claim 4, wherein in the case where the aforementioned sliding surface information does not exist at the aforementioned line as the measurement target, time information of the line intersecting with the line having the sliding surface, and the sliding surface information of the overhead line are used. The foregoing correspondence relationship is established. The line measurement method according to claim 5, wherein the sliding surface information is detected from the captured image captured by the first linear camera and the captured image captured by the second linear camera; and the first linear camera is used for shooting. The captured image and the captured image captured by the second linear camera are used to detect the line information; The line combination information is created by using the line information; when the sliding surface information exists in the line as the measurement target, the corresponding relationship is established using the sliding surface information, and the aforementioned line does not exist in the line as the measurement target. In the case of the sliding surface information, the time relationship between the line and the line having the sliding surface and the sliding surface information of the overhead line are used to establish the correspondence relationship; and the captured image captured by the first linear camera and the aforementioned The above-mentioned line combination information established by the correspondence relationship between the captured images captured by the second linear camera is stereoscopically measured, and the height and the deviation of the aforementioned lines are calculated.