WO2010087346A1 - Appareil de photographie de pantographe par traitement d'image - Google Patents

Appareil de photographie de pantographe par traitement d'image Download PDF

Info

Publication number
WO2010087346A1
WO2010087346A1 PCT/JP2010/050986 JP2010050986W WO2010087346A1 WO 2010087346 A1 WO2010087346 A1 WO 2010087346A1 JP 2010050986 W JP2010050986 W JP 2010050986W WO 2010087346 A1 WO2010087346 A1 WO 2010087346A1
Authority
WO
WIPO (PCT)
Prior art keywords
pantograph
image
search
unit
search result
Prior art date
Application number
PCT/JP2010/050986
Other languages
English (en)
Japanese (ja)
Inventor
伸行 藤原
貴雅 藤澤
研 山澤
Original Assignee
株式会社 明電舎
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 株式会社 明電舎 filed Critical 株式会社 明電舎
Publication of WO2010087346A1 publication Critical patent/WO2010087346A1/fr

Links

Images

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
    • B60L5/22—Supporting means for the contact bow
    • B60L5/24—Pantographs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G06T7/0008—Industrial image inspection checking presence/absence
    • 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
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30236—Traffic on road, railway or crossing

Definitions

  • the present invention relates to an apparatus for photographing a state on a roof of a running train, and more particularly to a pantograph photographing apparatus for detecting a pantograph by image processing from continuous images photographed by a surveillance camera installed above a track.
  • the surveillance camera and lighting are fixed above the track, while the recording device is installed indoors, and the image captured by the surveillance camera is linked to the vehicle approach alarm device.
  • an apparatus for recording video is used.
  • Such a device turns on the lighting device and starts recording based on a train approach signal generated by a vehicle approach warning device when a train approaches, and records an image during a period when the train approach signal is generated.
  • Several proposals have been made for a vehicle approach warning device that generates a train approach signal that serves as a reference for the start and end of imaging.
  • Patent Document 1 discloses a technique in which a vibration sensor is directly attached to a rail using a magnet to detect vibration when a railway vehicle approaches and generate a train approach signal.
  • a train current detection sensor is attached to a rail via a magnet, the output of the sensor is connected to an amplifier built in the arithmetic processing unit, and an alarm is sounded based on the result processed by the arithmetic processing unit.
  • Patent Document 3 includes a transmission unit and a reception unit. The transmission unit transmits an exploration signal to the rail, the reflected signal reflected by the approaching track vehicle is received by the reception unit, and the reflected signal of the reception unit is received.
  • a technique is disclosed that issues an alarm in response to reception.
  • a vehicle detection sensor, a punter detection sensor, a camera, and an illumination are installed on an entry / exit line of a railway vehicle garage, and when the pantograph detection sensor detects a pantograph, a strobe flash is emitted, and a pantograph slide camera Discloses a method for photographing a pantastrum plate portion.
  • a pantograph detection sensor, a camera, and a projector that are configured by a vehicle detection sensor and a light-shielding sensor are installed below the bridge station, and a strobe is emitted when the pantograph detection sensor detects a pantograph slide plate.
  • a technique is disclosed in which a pantograph is photographed by a camera.
  • a passage detection sensor, a camera, and a strobe for detecting passage of an inspection point are installed in a tunnel-shaped building, and the strobe is instantaneously detected when the passage detection sensor detects a pantograph as an inspection point.
  • a technique for lighting and taking a picture with a camera is disclosed.
  • the devices described in Patent Documents 1 to 3 are devices for notifying a construction worker working in the vicinity of a track of the approach of a train. Therefore, these vehicle approach warning devices are configured to detect a train at a position away from the work site by a predetermined distance so that a sufficient time can be secured for the construction worker to retreat. Therefore, in the pantograph imaging device, when starting and ending recording based on the train approach signal generated by the vehicle approach warning device, an image obtained by capturing the train before the train actually passes through the field of view of the camera is recorded. In other words, there is a time for recording other than the time when the train is passing through the field of view of the surveillance camera.
  • the devices described in Patent Documents 4 to 6 described above are a pantograph detection sensor, a device that outputs a strobe light emission trigger from the detection output of the pantograph detection sensor, and a camera shooting trigger that is output by the detection output of the pantograph detection sensor. Since a signal processing device such as an output device is required, the device becomes large. For this reason, there is a problem that adjustment between the devices is necessary, and the installation cost of the devices is increased. Furthermore, since the configuration of the apparatus is complicated, there are problems that a failure of parts occurs and an operation cost such as periodic replacement of sensors increases. Further, when the response of the pantograph detection sensor is not appropriate, the image is not properly captured, and there is a problem in that the recording of the pantograph may be missed.
  • an object of the present invention is to provide a pantograph photographing apparatus using image processing capable of efficiently photographing and recording a roof of a running train and automatically searching for a pantograph from a recorded image.
  • a pantograph photographing apparatus using image processing detects vehicle approach and outputs a train approach signal, and photographing for photographing the roof of the vehicle.
  • a pantograph photographing apparatus by image processing comprising an image processing means for analyzing an input image photographed by the photographing means, wherein the image processing means has a photographing function part and a pantograph search function part,
  • An imaging function unit starts and stops the imaging unit based on a train approach signal transmitted from a vehicle detection unit that detects a vehicle from the input image, a recording unit that records the input image, and a vehicle approach alarm unit
  • the recording unit starts and stops recording of the input image based on the presence or absence of the vehicle transmitted from the vehicle detection unit.
  • a pantograph search function unit for searching for a pantograph from the input image recorded in the recording unit, and when the pantograph is detected by the pantograph search unit.
  • an image output means for displaying the input image.
  • the pantograph photographing apparatus by image processing according to the second invention for solving the above-mentioned problem is the pantograph photographing apparatus by image processing according to the first invention, wherein the pantograph search means sets the reference image set in advance, and The pantograph is detected from the input image by a normalized correlation operation with the input image.
  • a pantograph photographing apparatus based on image processing according to a third invention for solving the above-described problems is a pantograph photographing apparatus based on image processing according to the first invention, wherein the pantograph search means sets characteristic data set in advance, and The pantograph is detected from the input image by comparing with feature data extracted from the input image.
  • a pantograph photographing apparatus based on image processing according to a fourth invention for solving the above-described problems is a pantograph photographing apparatus based on image processing according to the first invention, wherein the pantograph search means sets a reference code image set in advance, The pantograph is detected from the input image by comparing with an input code image created from the input image.
  • a pantograph photographing apparatus using image processing wherein the image processing means has a search result form processing function unit.
  • the search result form processing function unit includes search result list creation means for creating a search result list configured by associating presence / absence of the pantograph input from the pantograph search means with individual information of each input image. It is characterized by that.
  • the search result form processing function unit displays the search result list. It comprises search result list storage means for storing, and display means for displaying the search result list.
  • a pantograph photographing apparatus using image processing according to a seventh aspect of the present invention there is provided a pantograph photographing apparatus using image processing according to a seventh aspect of the present invention.
  • the search result form processing function unit displays the search result list.
  • Storage candidate search result list editing means is provided for creating a search result list that is extracted by extracting only information of the input image that has been edited and the pantograph is captured.
  • a pantograph photographing apparatus wherein the search result form processing function unit stores the retrieval result list.
  • Deletion candidate search result list editing means is provided for creating a deletion candidate search result list obtained by editing and extracting only the information of the input image in which the pantograph is not captured.
  • a pantograph photographing apparatus based on image processing, wherein the deletion candidate search result list editing means includes the processing setting section.
  • the input image information described in the deletion candidate search result list is output to the recording unit. It is configured to delete the input image described in the input deletion candidate search result list.
  • the image of the photographing means can be recorded only while the train is reflected in the image photographed by the photographing means, and the train is photographed. Since the image storage area of the recording means can be used only for storing stored image data, the storage area of the recording means can be used efficiently. Moreover, when performing the operation
  • the pantograph has a simple device configuration that does not use a sensor for detecting the passage of the pantograph, so that the cost of the device itself can be suppressed, and the operation cost of the device due to periodic replacement of such a sensor can be reduced. Can be suppressed. Further, since the recorded images are stored, there is no omission of recording of the pantograph that has passed, and the reliability as the imaging device is improved.
  • the pantograph search means is configured to detect a pantograph from the input image by a normalized correlation operation between the reference image set in advance and the input image. Therefore, the detection of the pantograph can be performed with a simple configuration.
  • the pantograph search means detects the pantograph from the input image by comparing the feature data set in advance with the feature data extracted from the input image. Therefore, it is robust against changes in brightness due to changes in sunshine, etc., and changes in the surface state due to dirt on the surface of the pantograph as a detection target, and more stable pantograph search becomes possible.
  • the pantograph search means compares the reference code image set in advance with the input code image created from the input image, so that the pantograph is detected from the input image. Therefore, the pantograph search is more stable because it is robust against brightness fluctuations due to changes in sunlight.
  • the image processing means has a search result form processing function part, and the search result form processing function part has presence or absence of a pantograph input from the pantograph search means And a search result list creating means for creating a search result list configured by associating each input image with individual information, it is possible to efficiently manage the presence or absence of a pantograph in each input image.
  • the search result form processing function unit includes search result list storage means for storing the search result list and display means for displaying the search result list. Therefore, it is possible to easily specify an image to be browsed from the search result list displayed on the display means, and workability is improved.
  • the search result form processing function unit edits the search result list and extracts only the information of the input image in which the pantograph is captured. Since the storage candidate search result list editing means for creating the list is provided, it is possible to omit the operation of extracting the input image in which the pantograph is photographed, and the work efficiency is improved.
  • the search result form processing function unit edits the search result list and extracts only the information of the input image in which the pantograph is not captured. Since the deletion candidate search result list editing means for creating the candidate search result list is provided, the operation of extracting the input image where the pantograph is taken can be omitted, and the work efficiency is improved.
  • the deletion candidate search result list editing means includes information on the input image described in the deletion candidate search result list in response to a deletion command from the processing setting unit. Is output to the recording means, and the recording means is configured to delete the input image described in the deletion candidate search result list input from the deletion candidate search result list editing means.
  • the input image that has not been photographed can be deleted as necessary, and the image storage area of the recording means can be saved and used more effectively.
  • FIG. 1 is an explanatory view showing an installation example of a pantograph photographing apparatus by image processing according to the present embodiment
  • FIG. 2 is a block diagram showing a schematic configuration of the pantograph photographing apparatus by image processing according to the present embodiment
  • FIG. FIG. 4 is an explanatory diagram showing an example of a pantograph reference image
  • FIG. 5 is an explanatory diagram showing an example of an input image
  • FIG. 6 is an example of a pantograph detection result. It is explanatory drawing which shows an example.
  • the pantograph photographing apparatus using image processing includes a sensor 10 a for detecting the approach of the vehicle 1, a lighting device 20 that illuminates the roof of the vehicle 1, and a lighting device on the roof of the vehicle 1.
  • the monitoring camera 30 as an imaging unit that captures an area illuminated by 20, and the sensor 10 a, the illumination device 20, and an image processing unit 40 as an image processing unit connected to the monitoring camera 30 are configured.
  • the sensor 10a measures, for example, vibrations of the rail 2, and is attached to the rail 2 and connected to a vehicle approach warning unit 10 (see FIG. 2) as vehicle approach warning means.
  • the vehicle approach warning unit 10 detects whether or not the vehicle 1 is approaching in accordance with the output of the sensor 10a. When it is determined that the vehicle 1 is approaching, the train approach signal is used as an alarm for the image processing device 40. Send to.
  • the lighting device 20 is installed in front of the traveling direction of the vehicle 1 with respect to the sensor 10a, and is configured to be turned on and off based on a signal from the image processing device 40.
  • the monitoring camera 30 is installed at approximately the same position as the lighting device 20 so as to take a picture of the area illuminated by the lighting device 20 on the roof of the vehicle 1, and starts shooting based on a signal from the image processing device 40. It is configured to do termination. An image captured by the monitoring camera 30 is transmitted to the image processing device 40.
  • the lighting device 20 and the monitoring camera 30 are installed at a position separated from the sensor 10a by a predetermined distance, for example, when the monitoring camera 30 is activated based on the output of the sensor 10a, the vehicle 1 performs this monitoring.
  • the position where the photographing by the monitoring camera 30 can be started immediately before entering the field of view of the camera 30 is set.
  • the image processing apparatus 40 includes an imaging function unit 40A and a pantograph search function unit 40B.
  • the imaging function unit 40A includes a processing setting unit 41, a control unit 42 as an imaging control unit, an approaching vehicle detection unit 43 as a vehicle detection unit, and a recording unit 44 as a recording unit shown in FIG.
  • the process setting unit 41 sets a detection area at a predetermined position with respect to an image in which the vehicle 1 acquired from the approaching vehicle detection unit 43 is not photographed, and whether or not the vehicle 1 has entered the detection area. A difference detection threshold for determination is set, and these setting data are stored as processing data.
  • the control unit 42 transmits an activation signal to the lighting device 20, the monitoring camera 30, the approaching vehicle detection unit 43, and the recording unit 44.
  • a train detection signal is input from the approaching vehicle detection unit 43
  • a recording start signal is transmitted to the recording unit 44.
  • a recording stop signal is transmitted to the recording unit 44, and a stop signal is transmitted to the illumination device 20, the monitoring camera 30, the approaching vehicle detection unit 43, and the recording unit 44.
  • the approaching vehicle detection unit 43 starts the approaching vehicle detection process when the activation signal is input from the control unit 42 and reads the processing data from the processing setting unit 41.
  • an image (see FIG. 5; hereinafter referred to as an input image) 5 transmitted from the monitoring camera 30 is analyzed to detect whether the vehicle 1 has entered, and the input image 5
  • a train detection signal is transmitted to the control unit 42.
  • a train disappearance signal is transmitted to the control unit 42.
  • the stop signal is input from the control unit 42, the approaching vehicle detection process is stopped.
  • the recording unit 44 activates the recording function when an activation signal is input from the control unit 42.
  • the recording start signal is input from the control unit 42
  • the recording of the input image 5 is started, and when the recording stop signal is input from the control unit 42, the recording is stopped.
  • individual information hereinafter referred to as an image ID
  • image data corresponding to the image ID will be described later in the pantograph search function unit 40B.
  • the pantograph search function unit 40B includes a search setting unit 45, a search control unit 46, a pantograph search unit 47 as a pantograph search unit, a storage unit 48, and an image output unit 49 as an image output unit shown in FIG. ing.
  • the search setting unit 45 sets information necessary for searching the pantograph 1a such as the range of the image ID for searching for the presence or absence of the pantograph 1a, inspection execution stop, and the like, and transmits them to the search control unit 46 as a search command. Further, correlation search parameters and pantograph matching data, which will be described in detail later, are set and stored in the storage unit 48.
  • the search control unit 46 sets an image ID based on the range of image IDs read from the search setting unit 45, and captures the image ID. While transmitting to the recording part 44 of the function part 40A, a search signal is transmitted to the pantograph search part 47. Also, a pantograph presence / absence result is input from the pantograph search unit 47, and if there is a pantograph, a display signal is transmitted to the image output unit 49. When there is no pantograph, the image ID of the image to be searched next is set and transmitted to the recording unit 44 and a search signal is transmitted to the pantograph search unit 47.
  • the search ID is the search ID when the search command is the inspection stop and when the search of the pantograph 1a for all the images in the range of the search image ID is completed. Is not set and transmitted, and the search signal is not transmitted.
  • the pantograph search unit 47 When a search signal is input from the search control unit 46, the pantograph search unit 47 reads correlation search parameters, pantograph matching data, and image data (input image 5, pantograph reference image 3 described later) from the storage unit 48. The pantograph 1a is detected from the inside. After the pantograph detection process, the correlation search result data is stored in the storage unit 48, and the presence / absence of the pantograph 1a is transmitted to the search control unit 46 as the pantograph presence / absence result.
  • pantograph reference image 3 an image as shown in FIG. 4 in which the pantograph 1a is captured in advance is prepared as the pantograph reference image 3, and the position of the pantograph part A in the pantograph reference image 3 and the pantograph It is assumed that pantograph collation data including the range of the part A is created.
  • symbol 4 in FIG. 4 shows a trolley line.
  • the pantograph search unit 47 is provided with a pantograph detection processing unit 47a and a pantograph determination processing unit 47b so as to detect the pantograph 1a from the input image by normalized correlation. It is configured.
  • the search range B is set for the search range B preset in the input image 5 in the pantograph detection process unit 47a as shown in FIG.
  • the pantograph part A in the pantograph reference image 3 are compared by a normalized correlation operation, and the most suitable area in the search range B (the position indicated by hatching in FIG. 6).
  • a correlation value (hereinafter referred to as a pantograph detection correlation value) between the position of C (hereinafter referred to as a pantograph detection position) and the pantograph portion A at the pantograph detection position is obtained.
  • the pantograph detection correlation value is compared with a preset threshold value (hereinafter referred to as a correlation search threshold value), and when the fitness is high, that is, the pantograph detection correlation value is If it is larger than the correlation search threshold, it is determined that the pantograph 1a exists in the search range B, and it is considered that there is a pantograph.
  • a correlation search threshold value a preset threshold value
  • the fitness is low, that is, when the pantograph detection correlation value is equal to or smaller than the correlation search threshold value, it is determined that there is no pantograph in the search range B, and it is considered that there is no pantograph.
  • the presence / absence of the pantograph 1a obtained in this way is output to the search control unit 46 as a pantograph presence / absence result.
  • the search range B and the correlation search threshold are collectively referred to as correlation search parameters.
  • the pantograph detection position and the pantograph detection correlation value are collectively referred to as correlation search result data. By performing such processing, the pantograph 1a photographed in the input image 5 is automatically searched.
  • the storage unit 48 stores correlation search parameters, pantograph matching data, image data such as the pantograph reference image 3 and the input image 5 transmitted from the recording unit 44 of the photographing function unit 40A, and correlation search result data.
  • the image output unit 49 reads the image data of the currently set image ID from the storage unit 48, and displays this image data.
  • the vehicle 1 records the image of the surveillance camera 30 only while the vehicle 1 is reflected in the image photographed by the surveillance camera 30. Only the captured image data can be stored in the image storage area of the recording unit 44.
  • the pantograph 1a can be automatically searched from the recorded image, it is possible to easily browse an image showing the pantograph 1a that is an important monitoring target as a device on the roof of the vehicle 1. Since the detection of the pantograph 1a is performed by analyzing the recorded image, the device has a simple device configuration that does not use a sensor for detecting the passage of the pantograph 1a, thereby reducing the cost of the device itself and the device operation cost. it can. Further, since the input image is stored in the recording unit 44, it is possible to prevent the recording omission of the pantograph 1 a that has passed as compared with the method using the sensor for detecting the passage of the pantograph 1 a, and Reliability is improved.
  • FIG. 7 is a block diagram showing a configuration of a pantograph imaging apparatus using image processing according to the present embodiment
  • FIG. 8 is a block diagram showing a configuration of a pantograph search unit of the pantograph imaging apparatus using image processing according to the present embodiment
  • FIG. 10 is an explanatory diagram showing an example of a pantograph detection result.
  • the pantograph photographing apparatus using image processing according to the present embodiment replaces the pantograph search unit 47 that detects the pantograph 1a by the normalized correlation of the first embodiment, and detects the pantograph 1a by the object shape inspection illustrated in FIG.
  • a pantograph search unit 50 is provided as search means, and the processing in the search setting unit 45 and the storage unit 48 is different from that in the first embodiment.
  • the pantograph search function unit 40B includes a search setting unit 45, a search control unit 46, a pantograph search unit 50, a storage unit 48, and an image output unit 49 as image output means shown in FIG. Yes.
  • the search setting unit 45 sets information necessary for the search of the pantograph 1a such as the range of the image ID for inspecting the presence or absence of the pantograph 1a and the stop of the inspection execution, and transmits these to the search control unit 46 as a search command. Further, shape inspection parameters, which will be described in detail later, are set and stored in the storage unit 48. At the time of creating the object shape model, the feature data is read from the storage unit 48, and the object shape model 6 as shown in FIG. 9 is prepared and stored in the storage unit 48.
  • the search control unit 46 sets an image ID based on the range of image IDs to be searched read from the search setting unit 45, and this image ID Is transmitted to the recording unit 44 of the photographing function unit 40A, and a search signal is transmitted to the pantograph search unit 50. Also, a pantograph presence / absence result is input from the pantograph search unit 50, and if there is a pantograph, a display signal is transmitted to the image output unit 49. When there is no pantograph, the image ID of the image to be searched next is set and transmitted to the recording unit 44 and a search signal is transmitted to the pantograph search unit 50.
  • the pantograph search unit 50 detects the pantograph 1a from the input image 5 by object shape inspection using an object recognition method (see, for example, Patent Documents 7 and 8 above).
  • object shape inspection first, feature data composed of a linear feature and an arc feature extracted from the input image 5 by approximating a characteristic portion such as a contour line or a pattern to a straight line or an arc is created.
  • An object shape model (see FIG. 9) 6 in which the shape of the object to be formed is constituted by feature data is prepared in advance.
  • feature data is extracted from the input image 5, collated with the feature data of the object shape model 6, and a portion that matches the feature data constituting the object shape model 6 is detected.
  • the pantograph reference image 3 is read out as image data from the storage unit 48, and feature data constituting the object shape model 6 is extracted from the pantograph reference image 3.
  • the feature data is stored in the storage unit 48.
  • the pantograph search unit 50 searches for the pantograph 1 a in the input image 5, it receives a search signal from the search control unit 46 and receives shape inspection parameters, object shape model 6, image data (input image) from the storage unit 48. 5) is read out, and the process of searching for the pantograph 1a from the input image 5 is performed.
  • the pantograph 1a search process ends, the shape inspection result data is stored in the storage unit 48, and the pantograph presence / absence result is transmitted to the search control unit 46 as the search result.
  • the pantograph search unit 50 is provided with a feature extraction processing unit 50a, a pantograph detection processing unit 50b, and a pantograph determination processing unit 50c.
  • the feature extraction process unit 50a When performing the pantograph detection process in the pantograph search unit 50, first, the feature extraction process unit 50a performs a process of extracting features from the search range B set in the input image 5 in advance. Then, an object shape inspection is performed in the pantograph detection processing unit 50b, and the position of the portion D (see FIG. 10) that best matches the object shape model 6 in the search range B as the pantograph detection position and the feature data at the pantograph detection position The precision (hereinafter referred to as pantograph feature precision) is obtained.
  • the pantograph determination processing unit 50c compares the pantograph feature matching rate with a preset threshold value (hereinafter referred to as a shape inspection threshold), and the matching degree is high, that is, the pantograph feature matching rate is a shape inspection. If it is larger than the threshold value, it is determined that the pantograph 1a exists in the search range B, and it is assumed that there is a pantograph. On the other hand, when the matching level is low, that is, when the pantograph feature matching rate is equal to or smaller than the shape inspection threshold, it is determined that there is no pantograph in the search range B, and it is considered that there is no pantograph.
  • the presence / absence of the pantograph 1a obtained in this way is output to the search control unit 46 as a pantograph presence / absence result.
  • the search range B and the shape inspection threshold are collectively referred to as shape inspection parameters.
  • the pantograph detection position and the pantograph feature matching rate are collectively referred to as shape inspection result data. By performing such processing, the pantograph 1a photographed in the input image 5 is automatically searched.
  • the storage unit 48 stores shape inspection parameters, object shape model 6, feature data, pantograph reference image 3, image data based on the input image 5 transmitted from the recording unit 44 of the photographing function unit 40A, and shape inspection result data.
  • the image output unit 49 reads the image data (input image 5) of the currently set image ID from the storage unit 48 and displays this image data.
  • pantograph photographing apparatus using image processing according to the present embodiment in addition to the effects of the first embodiment, the change in illuminance due to changes in sunshine, the change in the surface body due to dirt on the surface of the pantograph to be detected, and the like.
  • the pantograph search is more robust and more stable.
  • FIG. 11 is a block diagram showing a configuration of a pantograph photographing apparatus using image processing according to the present embodiment
  • FIG. 12 is a block diagram showing a configuration of a pantograph search unit of the present embodiment
  • FIG. 13 is an explanatory diagram showing an example of a reference code image. It is.
  • the pantograph photographing apparatus based on image processing replaces the pantograph search unit 47 that detects a pantograph by the normalized correlation of the first embodiment, and performs a pantograph search unit that detects a pantograph by direction code matching shown in FIG.
  • the pantograph search unit 51 is provided, and the processes in the search setting unit 45 and the storage unit 48 are different from those in the first embodiment.
  • the other configurations are substantially the same as those shown in FIG. 2 and described in the first embodiment.
  • members having the same functions as those shown in FIGS. 1 to 6 are denoted by the same reference numerals and overlapped. The description will be omitted, and different points will be mainly described.
  • the pantograph 1a is detected from the input image 5 by the direction code matching process using “direction code matching” (for example, see Non-Patent Document 1).
  • Direction code collation is a method of inspecting the degree of matching between image data by coding the intensity direction of each part of an image and collating the signs of the pantograph reference image 3 and the input image 5 with each other. This is a robust verification method against change and hiding.
  • the pantograph search function unit 40B includes a search setting unit 45, a search control unit 46, a pantograph search unit 51, a storage unit 48, and an image output unit 49 as an image output unit shown in FIG. Yes.
  • the search setting unit 45 sets information necessary for the search of the pantograph 1a such as the range of the image ID for inspecting the presence or absence of the pantograph 1a and the stop of the inspection execution, and transmits these to the search control unit 46 as a search command. Further, direction code search parameters and pantograph comparison data, which will be described in detail later, are set and stored in the storage unit 48.
  • the search control unit 46 sets an image ID based on the range of image IDs to be searched read from the search setting unit 45, and this image ID Is transmitted to the recording unit 44 of the photographing function unit 40A, and a search signal is transmitted to the pantograph search unit 51. Also, a pantograph presence / absence result is input from the pantograph search unit 51, and if there is a pantograph, a display signal is transmitted to the image output unit 49. When there is no pantograph, an image ID to be searched next is set and transmitted to the recording unit 44 and a search signal is transmitted to the pantograph search unit 51.
  • a direction sign image obtained by previously encoding the pantograph reference image 3 (see FIG. 4) with the density of the image portion (hereinafter referred to as a reference sign image.
  • the encoded portion is referred to as a reference sign image.
  • 7 shown with diagonal lines
  • pantograph collation data including the position of the pantograph part A and the range of the pantograph part A in the pantograph reference image 3 is created.
  • image data (pantograph reference image 3) is read from the storage unit 48, and this is encoded with the density of the image portion to create the reference code image 7 and store it in the storage unit 48.
  • pantograph search when a search signal is input from the search control unit 46, direction code search parameters, pantograph verification data, and image data (reference code image 7, input image 5) are read from the storage unit 48 and input.
  • the pantograph 1a is detected from the image 5.
  • the direction code search result data is stored in the storage unit 48, and the pantograph presence / absence result is transmitted to the search control unit 46.
  • the pantograph search unit 51 is provided with a direction encoding processing unit 51a, a pantograph detection processing unit 51b, and a pantograph determination processing unit 51c.
  • the direction encoding processing unit 51a encodes the input image 5 (see FIG. 5) with the shading of the image portion to generate a direction code image (hereinafter referred to as an input code image). Comparison is made between the image data of the reference code image 7 and the pantograph portion A by collating the direction code with the search range B created and preset by the pantograph detection processing unit 51b. Then, as the pantograph detection position, the position of the region C that matches the pantograph part A in the search range B and the direction code matching value (hereinafter referred to as the pantograph detection matching value) at the pantograph detection position are obtained.
  • the pantograph detection verification value is compared with a preset threshold value (hereinafter referred to as direction code search threshold value).
  • direction code search threshold value a preset threshold value
  • the value is higher than the direction code search threshold, it is determined that the pantograph 1a exists in the search range B, and it is considered that there is a pantograph.
  • the fitness level is low, that is, when the pantograph detection collation value is equal to or smaller than the direction code search threshold value, it is determined that the pantograph 1a does not exist in the search range B, and is regarded as having no pantograph.
  • the presence / absence of the pantograph 1a obtained in this way is output to the search control unit 46 as a pantograph presence / absence result.
  • the search range and the direction code search threshold are collectively referred to as a direction code search parameter.
  • the pantograph detection position and the pantograph detection collation value are collectively referred to as direction code search result data.
  • the storage unit 48 stores direction code search parameters, pantograph comparison data, image data such as the input image 5 and the reference code image 7 transmitted from the recording unit 44 of the pantograph reference image 3 and the imaging function unit 40A, and direction code search result data. store.
  • the image output unit 49 reads the image data of the currently set image ID from the storage unit 48, and displays this image data.
  • pantograph photographing apparatus using image processing according to the present embodiment in addition to the effects of the first embodiment, a more stable pantograph search that is robust against fluctuations in illuminance due to changes in sunshine and the like without requiring an object shape model It can be performed.
  • FIG. 14 is a block diagram partially showing a configuration of a pantograph photographing apparatus using image processing according to the present embodiment
  • FIG. 15 is an explanatory diagram showing an example of a search result list created in the present embodiment.
  • the pantograph photographing apparatus is an example in which a search result form processing function unit 40C illustrated in FIG. 14 is added to the image processing apparatus according to the first embodiment illustrated in FIGS.
  • the configurations of the imaging function unit 40A and the pantograph search function unit 40B are substantially the same as those described in the first embodiment, and in FIG. 14, a part of the configuration that overlaps the configuration illustrated in FIG. 2 is omitted.
  • the same reference numerals are assigned to the same members, and overlapping descriptions are omitted, and different points are mainly described.
  • the search result form processing function unit 40C automatically captures an image (hereinafter referred to as a pantograph image) in which the pantograph 1a is captured from continuous images captured by the monitoring camera 30 and recorded in the recording unit 44 of the capturing function unit 40A. It has a function of searching and creating a search result list in which the results are listed.
  • the search result form processing function unit 40C includes a search result list creation unit 52 as a search result list creation unit, a search result list storage unit 53 as a search result list storage unit, and a display unit. As a display unit 54 and a processing setting unit 55.
  • the search result list creating unit 52 receives the pantograph presence / absence results sequentially transmitted from the pantograph search unit 47 of the pantograph search function unit 40B, creates search result data in which the image ID is associated with the pantograph presence / absence results, and the search results A search result list 81 (see FIG. 15) in which data is collected as a list is created.
  • the created search result list 81 is transmitted to the search result list storage unit 53.
  • the search result list storage unit 53 stores the search result list 81 input from the search result list creation unit 52.
  • the search result list 81 is transmitted to the display unit 54.
  • the display unit 54 displays the search result list 81 input from the search result list storage unit 53.
  • the process setting unit 55 transmits a search list creation command and a search image ID range to the search control unit 46 of the pantograph search function unit 40B.
  • a list display command is transmitted to the search result list storage unit 53.
  • an image ID of an image to be displayed is set, and this image ID is set together with an image display command. It transmits to the search control part 46 of the pantograph search function part 40B. As a result, a display signal is transmitted from the search control unit 46 to the image output unit 49, and an image with a desired image ID is displayed in the image output unit 49.
  • the recording unit 44 of the photographing function unit 40A corresponds to the image ID according to the image ID input from the search control unit 46 of the pantograph search function unit 40B in addition to the processing in the first embodiment.
  • the image data is stored in the storage unit 48 of the pantograph search function unit 40B.
  • the search control unit 46 of the pantograph search function unit 40B adds a search list creation command and a search image ID range from the processing setting unit 55 (to be described later) of the search result form processing function unit 40C.
  • the image ID in the image ID range is sequentially transmitted to the recording unit 44 of the photographing function unit 40A, and the image ID range is input to the pantograph search unit 47 regardless of the presence or absence of the pantograph input from the pantograph search unit 47.
  • a search signal of the pantograph 1a for the image data is transmitted.
  • the storage unit 48 receives image data corresponding to the image ID from the recording unit 44 of the photographing function unit 40A.
  • the pantograph search unit 47 transmits a pantograph presence / absence result to the search result list creation unit 52 of the search result form processing function unit 40C, and on the basis of a search signal from the search control unit 46 The search of 1a is continuously performed.
  • the image output unit 49 reads the image data of the current search image ID from the storage unit 48 and displays this image data.
  • a search result list 81 can be created.
  • the pantograph 1a is automatically searched from the recorded images and the search result list is created. Since it has a function, the image ID of a pantograph image that is an important monitoring target as a rooftop apparatus can be easily confirmed from the search result list and displayed.
  • the search result list it is possible to easily specify the pantograph image to be browsed by the image ID, and there is no need to sequentially search for continuous images each time it is browsed. Since the search of the pantograph 1a is performed by analyzing the recorded image, the apparatus has a simple device configuration that does not use a sensor, and the cost of the device itself and the device operation cost can be suppressed. Further, since the recorded images are stored, the recording failure of the pantograph 1a that has passed through the detection method by the sensor does not occur, and the reliability as the photographing apparatus is high.
  • search result form processing function unit 40C is added to the pantograph photographing apparatus using the image processing described in the first embodiment and described above.
  • the present invention may be applied to the pantograph photographing apparatus using the image processing described in FIG.
  • FIG. 16 is a block diagram partially showing a configuration of a pantograph photographing apparatus by image processing according to the present embodiment
  • FIG. 17 is an explanatory diagram showing an example of a search result list (with a pantograph) created in the present embodiment.
  • the search result form processing function unit 40C described in the fourth embodiment has a function of editing the search result list 81 to newly create and display a search result list composed only of search result data with a pantograph. This is an added example.
  • the search result form processing function unit 40C includes the search result list creation unit 52, the search result list storage unit 53, the display unit 54, and the processing setting unit 55 described in the fourth embodiment.
  • a search result list editing unit 56 as search result list editing means is provided.
  • the search result list editing unit 56 inputs the search result list 81 from the search result list storage unit 53, edits the search result list 81, and uses only search result data with a pantograph.
  • a new search result list (hereinafter referred to as a storage candidate search result list) 82 (see FIG. 17) is created.
  • the edited storage candidate search result list 82 is transmitted to the display unit 54.
  • the search result list creation unit 52 receives the pantograph presence / absence results sequentially transmitted from the pantograph search unit 47 of the pantograph search function unit 40B, and retrieves the search result data associating the image ID with the pantograph presence / absence results.
  • a search result list 81 is created by collecting the search result data as a list. The created search result list 81 is transmitted to the search result list storage unit 53.
  • the search result list storage unit 53 stores the search result list 81 and transmits the search result list 81 to the display unit 54 when a display command is input from the process setting unit 55.
  • the search result list 81 is transmitted to the search result list editing unit 56.
  • the display unit 54 displays a search result list 81 input from the search result list storage unit 53 and a storage candidate search result list 82 input from the search result list editing unit 56.
  • the process setting unit 55 transmits a search list creation command and a search image ID range to the search control unit 46 of the pantograph search function unit 40B.
  • a display command is transmitted to the search result list storage unit 53.
  • the search result list storage unit 53 and the search result list editing unit 56 are displayed. Send edit command to.
  • a display command is transmitted to the search result list editing unit 56.
  • the image ID of the image to be displayed is set, and this image ID is displayed as an image. It transmits to the search control part 46 of the pantograph search function part 40B with a command. Accordingly, a display signal is transmitted from the search control unit 46 to the image output unit 49, and an image with a desired image ID is displayed in the image output unit 49.
  • the pantograph photographing apparatus based on image processing edits the search result list and newly creates and displays a search result list 82 composed only of search result data with a pantograph. be able to.
  • the search result list 82 including only the pantograph images can be displayed. Browsing efficiency of pantograph images is improved.
  • the search result form processing function unit 40C is added to the pantograph photographing apparatus based on the image processing described in the first embodiment and described above.
  • the search result form processing function unit 40C is used in the second or third embodiment. It goes without saying that the present invention may be applied to the pantograph photographing apparatus using the image processing described in the above.
  • FIG. 18 is a block diagram partially showing a configuration of a pantograph photographing apparatus based on image processing according to this embodiment
  • FIG. 19 is an explanatory diagram showing an example of a search result list (no pantograph) created in this embodiment.
  • the search result form processing function unit 40C shown in the fourth embodiment has a function of deleting image data in which a pantograph is not photographed from continuous images recorded in the recording unit 44 of the photographing function unit 40A. This is an added example.
  • the search result form processing function unit 40C includes a search result list creation unit 52, a search result list storage unit 53, a display unit 54, and a processing setting unit 55, as well as a deletion candidate search result.
  • a deletion candidate search result list editing unit 57 is provided as list editing means.
  • deletion candidate search result list editing unit 57 when a deletion candidate creation command is input from the processing setting unit 55, the search result list 81 is input from the search result list storage unit 53, and the search result list 81 is edited to search without a pantograph.
  • a deletion command is input from the process setting unit 55
  • an image ID described in the edited deletion candidate search result list 83 is extracted as a deletion image ID, and this deletion image ID is extracted to the recording unit 44 of the photographing function unit 40A.
  • search result data without pantograph is deleted from the search result data 81 to reconstruct a new search result list (storage candidate search result list) 82 (see FIG. 17). It transmits to the search result list storage unit 53.
  • the search result list creation unit 52 receives the pantograph presence / absence results sequentially transmitted from the pantograph search unit 47 of the pantograph search function unit 40B, and retrieves the search result data associating the image ID with the pantograph presence / absence results.
  • a search result list 81 is created by collecting the search result data as a list. The created search result list 81 is transmitted to the search result list storage unit 53.
  • the search result list storage unit 53 stores the search result list 81 and, when a display command is input from the process setting unit 55, transmits the search result list 81 to the display unit 54.
  • the search result list 81 is transmitted to the deletion candidate search result list editing unit 57.
  • the deletion candidate search result list editing unit 57 receives the storage candidate search result list 82 reconstructed by deleting the search result data without the pantograph edited by the deletion candidate search result list editing unit 57.
  • the display unit 54 displays the search result list 81 or the storage candidate search result list 82 input from the search result list storage unit 53, or the deletion candidate search result list 83 input from the deletion candidate search result list editing unit 57. .
  • the process setting unit 55 transmits a search list creation command and a search image ID range to the search control unit 46 of the pantograph search function unit 40B.
  • a display command is transmitted to the search result list storage unit 53.
  • deletion candidate search result list 83 when the deletion candidate search result list 83 is created, a deletion candidate creation command is transmitted to the search result list storage unit 53 and the deletion candidate search result list editing unit 57.
  • a deletion command is transmitted to the deletion candidate search result list editing unit 57 and the recording unit 44 of the photographing function unit 40A.
  • a display command is transmitted to the deletion candidate search result list editing unit 57.
  • an image described in the search result list 81, the storage candidate search result list 82, or the deletion candidate search result list 83 is extracted and displayed on the image output unit 49 of the pantograph search function unit 40B, the image to be displayed is displayed.
  • An image ID is set, and this image ID is transmitted to the search control unit 46 of the pantograph search function unit 40B together with an image display command. Accordingly, a display signal is transmitted from the search control unit 46 to the image output unit 49, and an image with a desired image ID is displayed in the image output unit 49.
  • the recording unit 44 of the photographing function unit 40A receives the deletion command from the processing setting unit 55 of the search result form processing function unit 40C and the deletion image ID from the deletion candidate search result list editing unit 57, and deletes the image ID. Delete the image data corresponding to.
  • image data without a pantograph is captured from the continuous images photographed by the monitoring camera 30 and recorded in the recording unit 44 of the photographing function unit 40A. Can be deleted, leaving only the pantograph image.
  • pantograph photographing apparatus using image processing according to the present embodiment, in addition to the effects of the pantograph photographing apparatus based on image processing according to the fourth embodiment, image data that is not an important monitoring target other than the pantograph image is deleted as necessary. Therefore, the image storage area of the recording unit 44 can be saved and used more effectively.
  • the search result form processing function unit 40C is added to the pantograph photographing apparatus based on the image processing described in the first embodiment and described above.
  • the search result form processing function unit 40C is used in the second or third embodiment. It goes without saying that the present invention may be applied to the pantograph photographing apparatus using the image processing described in the above.
  • pantograph photographing apparatus based on image processing is not limited to the above-described embodiment, and records a pantograph image based on the detection result of the pantograph detection sensor 40, and from among the recorded input images. Needless to say, the presence or absence of the pantograph 1a may be detected, and various modifications are possible without departing from the spirit of the present invention.
  • the present invention is suitable for application to a pantograph photographing apparatus using image processing.

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Quality & Reliability (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Power Engineering (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention porte sur un moyen de traitement d'image (40) qui comporte une unité de photographie (40A) qui est composée d'un moyen de détection de véhicule approchant (43) pour détecter un véhicule (1) à partir d'une image d'entrée (Figure 5), un moyen d'enregistrement (44) pour enregistrer l'image d'entrée, et un moyen de commande (42) pour commander le commencement et l'arrêt du fonctionnement d'un moyen de photographie (30) en fonction d'un signal indicatif de l'approche d'un véhicule et pour commander le commencement et l'arrêt de l'opération d'enregistrement d'image du moyen d'enregistrement (44) en fonction de la présence ou de l'absence du véhicule (1), et une unité de fonction de récupération de pantographe (40B) qui est composée d'un moyen de récupération de pantographe (47, 50, 51) pour récupérer la présence ou l'absence d'un pantographe (1a) en fonction de l'image enregistrée dans le moyen d'enregistrement (44), et un moyen de sortie d'image (49) pour afficher une image du pantographe (1a) lorsque le pantographe (1a) est détecté. Avec cette structure, il est possible de stocker efficacement les images indiquant que le véhicule passe dans le champ de vision du moyen de photographie (30) et de récupérer automatiquement le pantographe (1a) à partir des images enregistrées.
PCT/JP2010/050986 2009-01-27 2010-01-26 Appareil de photographie de pantographe par traitement d'image WO2010087346A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2009-014850 2009-01-27
JP2009014850A JP5126086B2 (ja) 2009-01-27 2009-01-27 画像処理によるパンタグラフ撮影装置

Publications (1)

Publication Number Publication Date
WO2010087346A1 true WO2010087346A1 (fr) 2010-08-05

Family

ID=42395607

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2010/050986 WO2010087346A1 (fr) 2009-01-27 2010-01-26 Appareil de photographie de pantographe par traitement d'image

Country Status (2)

Country Link
JP (1) JP5126086B2 (fr)
WO (1) WO2010087346A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105539512A (zh) * 2015-12-31 2016-05-04 天津市北海通信技术有限公司 一种受电弓监测系统
GB2607675A (en) * 2021-04-02 2022-12-14 Transp Ip Holdings Llc Vehicle control system

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6294188B2 (ja) * 2014-08-22 2018-03-14 北海道旅客鉄道株式会社 鉄道用トンネル照明システム
JP6475178B2 (ja) * 2016-03-10 2019-02-27 日立建機株式会社 電気駆動車両

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08228338A (ja) * 1995-02-22 1996-09-03 Mitsubishi Electric Corp 状態監視装置及び状態監視方法
JPH09212643A (ja) * 1996-02-05 1997-08-15 Meidensha Corp 三次元物体認識方法及びその装置
JPH09282454A (ja) * 1996-04-12 1997-10-31 Meidensha Corp 物体認識方法
JP2000032389A (ja) * 1998-07-08 2000-01-28 Mitsubishi Electric Corp 画像記録装置
JP2006349432A (ja) * 2005-06-15 2006-12-28 Hitachi Plant Technologies Ltd パンタグラフのすり板検査装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08228338A (ja) * 1995-02-22 1996-09-03 Mitsubishi Electric Corp 状態監視装置及び状態監視方法
JPH09212643A (ja) * 1996-02-05 1997-08-15 Meidensha Corp 三次元物体認識方法及びその装置
JPH09282454A (ja) * 1996-04-12 1997-10-31 Meidensha Corp 物体認識方法
JP2000032389A (ja) * 1998-07-08 2000-01-28 Mitsubishi Electric Corp 画像記録装置
JP2006349432A (ja) * 2005-06-15 2006-12-28 Hitachi Plant Technologies Ltd パンタグラフのすり板検査装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
F.ULLAH ET AL.: "Orientation Code Matching for Robust Object Search", IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS, vol. E84-D, no. 8, 1 August 2001 (2001-08-01), pages 999 - 1006 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105539512A (zh) * 2015-12-31 2016-05-04 天津市北海通信技术有限公司 一种受电弓监测系统
GB2607675A (en) * 2021-04-02 2022-12-14 Transp Ip Holdings Llc Vehicle control system

Also Published As

Publication number Publication date
JP5126086B2 (ja) 2013-01-23
JP2010178399A (ja) 2010-08-12

Similar Documents

Publication Publication Date Title
JP5976237B2 (ja) 映像検索システム及び映像検索方法
WO2021068746A1 (fr) Dispositif d'acquisition d'image pour inspection de tunnel, système d'inspection de tunnel et procédé d'inspection de tunnel
US20060098843A1 (en) Method and system for rail track scanning and foreign object detection
JP5396826B2 (ja) 画像処理による通過列車撮影装置
WO2010087347A1 (fr) Appareil de photographie de pantographe par traitement d'image
JP5126086B2 (ja) 画像処理によるパンタグラフ撮影装置
CN103223870A (zh) 受电弓损坏和磨损监视系统
CN105306796A (zh) 具有定期红外照明和全局快门cmos传感器的夜视设备
CN111353369B (zh) 一种城市路侧停车高位视频在辅助刑侦中的应用方法及系统
CN110023171A (zh) 用于在轨道交通中、尤其是在铁路交通中的危险情况识别的方法、设备和轨道车辆、尤其是铁路车辆
CN104700622A (zh) 用于识别车牌的方法和设备
JP5896263B2 (ja) 画像記録制御方法および車載画像記録装置
CN110593957B (zh) 一种隧道巡检方法
KR20120134149A (ko) 전기 철도 보수용 차량 위치 측정 장치
JP2011075283A (ja) ワイヤーロープ検査装置
JP2008184763A (ja) レール継目板の締結ボルト脱落検出方法および脱落検出装置
WO2019225053A1 (fr) Dispositif de commande d'enregistrement, procédé de commande d'enregistrement et programme
JP2014149716A (ja) 物体追跡装置及びその方法
CN104346927A (zh) 一种基于物联网的闯红灯车辆监控拍照系统
US20140267724A1 (en) Recording system and method for vehicle
KR102315541B1 (ko) 시동시 이벤트영상이 출력되는 블랙박스
JP5862217B2 (ja) マーカの検出および追跡装置
JP4305073B2 (ja) パンタグラフ支障物検出方法及び装置
CN111860283B (zh) 一种视频识别中违章行为证据采集系统及方法
JP2012015698A (ja) パンタグラフ検出装置及びその方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10735814

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10735814

Country of ref document: EP

Kind code of ref document: A1