WO2011136020A1 - Train car position measurement device for electric railway maintenance - Google Patents
Train car position measurement device for electric railway maintenance Download PDFInfo
- Publication number
- WO2011136020A1 WO2011136020A1 PCT/JP2011/059139 JP2011059139W WO2011136020A1 WO 2011136020 A1 WO2011136020 A1 WO 2011136020A1 JP 2011059139 W JP2011059139 W JP 2011059139W WO 2011136020 A1 WO2011136020 A1 WO 2011136020A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- image
- hanger
- electric railway
- sift feature
- template
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Image Analysis (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
Description
架線や架線を支持するハンガを吊る吊架線の画像を撮影するラインセンサと、
前記ラインセンサで撮影した画像をテンプレート画像と入力画像として作成する画像作成部と、
前記画像作成部において作成した前記テンプレート画像と前記入力画像を保存する記憶部と、
前記記憶部に保存した前記テンプレート画像からSIFT特徴量を抽出してテンプレートデータを作成し前記記憶部に保存するテンプレート作成処理部と、
前記記憶部に保存した前記入力画像からSIFT特徴量を抽出し前記記憶部に保存するSIFT特徴量抽出処理部と、
前記記憶部に保存した前記テンプレートデータのSIFT特徴量と前記入力画像のSIFT特徴量との対応点を探索し前記入力画像中のハンガ位置を検出して前記記憶部に保存するハンガ位置検出処理部と
を備える
ことを特徴とする。 A vehicle position measuring device for electric railway maintenance according to a first invention for solving the above-mentioned problem is
A line sensor that captures an image of a hanging wire that hangs a hanger that supports the overhead wire and the overhead wire;
An image creation unit that creates an image captured by the line sensor as a template image and an input image;
A storage unit for storing the template image and the input image created in the image creation unit;
A template creation processing unit that extracts SIFT feature values from the template image stored in the storage unit, creates template data, and stores the template data in the storage unit;
A SIFT feature amount extraction processing unit that extracts a SIFT feature amount from the input image stored in the storage unit and stores the SIFT feature amount in the storage unit;
A hanger position detection processing unit that searches for a corresponding point between the SIFT feature amount of the template data stored in the storage unit and the SIFT feature amount of the input image, detects a hanger position in the input image, and stores it in the storage unit It is characterized by providing.
前記ラインセンサのサンプリング周波数と前記記憶部に保存した前記入力画像上のハンガ位置に基づき前記ハンガが検出された時刻を算出して時刻データを前記記憶部に保存する時刻記録処理部を備える
ことを特徴とする。 A vehicle position measuring device for electric railway maintenance according to a second invention for solving the above-mentioned problems is a vehicle position measuring device for electric railway maintenance according to the first invention,
A time recording processing unit for calculating a time when the hanger is detected based on a sampling frequency of the line sensor and a hanger position on the input image stored in the storage unit and storing time data in the storage unit; Features.
前記ハンガ位置検出処理部において、前回のハンガ位置が存在する場合に前回のハンガ位置と吊架線及び架線の傾きデータを受け渡し、前回のハンガ位置を基準として処理領域を限定する次処理領域の計算を行う
ことを特徴とする。 An electric railway maintenance vehicle position measuring device according to a third invention for solving the above-mentioned problems is the electric railway maintenance vehicle position measuring device according to the first invention or the second invention.
In the hanger position detection processing unit, when the previous hanger position exists, the previous hanger position, the suspension line, and the inclination data of the overhead line are transferred, and the calculation of the next processing area that limits the processing area based on the previous hanger position is performed. It is characterized by performing.
前記ハンガ位置検出処理部において、前記次処理領域を拡張する
ことを特徴とする。 A vehicle position measuring device for electric railway maintenance according to a fourth invention for solving the above-mentioned problem is the vehicle position measuring device for electric railway maintenance according to the third invention,
The hanger position detection processing unit extends the next processing area.
本実施例に係る電気鉄道保守用車両位置測定装置は、車両の屋根上に設置したラインセンサを用いて、ラインセンサを枕木方向に向け、かつ斜め上方に向け吊架線と架線を撮影し、大きさや回転の変化に影響を受けにくい画像特徴量としてSIFT(Scale‐Invariant Feature Transform)特徴量(上記非特許文献1参照)を求め、予め求めておいたテンプレート用の画像から抽出したSIFT特徴量との対応点を求めることにより、ハンガを検出することを特徴とする。 Hereinafter, a first embodiment of a vehicle position measuring apparatus for electric railway maintenance according to the present invention will be described.
The vehicle position measuring apparatus for electric railway maintenance according to the present embodiment uses a line sensor installed on the roof of the vehicle to photograph the suspension line and the overhead line with the line sensor facing the sleeper and obliquely upward. A SIFT (Scale-Invariant Feature Transform) feature value (see Non-Patent
図1は、本実施例に係る電気鉄道保守用車両位置測定装置の概要を示した模式図である。
図1に示すように、本実施例に係る電気鉄道保守用車両位置測定装置は、架線101や架線101を支持するハンガ102を吊る吊架線103の画像を撮影するため、車両100の屋根上に枕木方向に向け、かつ斜め上方に向けて設置され図1中に矢印Lで示す撮影ラインにおいて画像を撮影するラインセンサ1と、夜間やトンネル内においてもラインセンサ1による画像の撮影を可能とするためラインセンサ1の周辺に設置される照明2と、ラインセンサ1で撮影した画像を保存し画像処理を行う車両100内に設置される処理用パソコン3とを備えている。そして、ラインセンサ1と処理用パソコン3は、画像データが送信可能なように接続されている。なお、図1中の矢印Aで示す方向は車両100の進行方向を示している。 First, an outline of the electric railway maintenance vehicle position measuring apparatus according to the present embodiment will be described.
FIG. 1 is a schematic diagram showing an outline of an electric railway maintenance vehicle position measuring apparatus according to the present embodiment.
As shown in FIG. 1, the vehicle position measuring apparatus for electric railway maintenance according to the present embodiment takes an image of the
図2は、本実施例に係る電気鉄道保守用車両位置測定装置の構成を示したブロック図である。
図2に示すように、本実施例に係る電気鉄道保守用車両位置測定装置は、ラインセンサ1で撮影した画像をテンプレート画像と入力画像として作成する画像作成部10と、画像作成部10において作成したテンプレート画像と入力画像を保存するメモリ11と、メモリ11に保存したテンプレート画像からSIFT特徴量を抽出してテンプレートデータを作成しメモリ12に保存するテンプレート作成処理部13と、メモリ11に保存した入力画像からSIFT特徴量を抽出しメモリ12に保存するSIFT特徴量抽出処理部14と、メモリ12に保存したテンプレートデータのSIFT特徴量と入力画像のSIFT特徴量との対応点を探索し画像中のハンガ位置を検出してメモリ12に保存するハンガ位置検出処理部15と、ラインセンサ1のサンプリング周波数とメモリ12に保存した画像上のハンガ位置に基づきハンガ102が検出された時刻を算出して時刻データをメモリ12に保存する時刻記録処理部16とを備えている。 Next, the configuration of the electric railway maintenance vehicle position measuring apparatus according to the present embodiment will be described.
FIG. 2 is a block diagram showing the configuration of the electric railway maintenance vehicle position measuring apparatus according to the present embodiment.
As shown in FIG. 2, the electric railway maintenance vehicle position measuring apparatus according to the present embodiment creates an image created by the
図3は、本実施例に係る電気鉄道保守用車両位置測定装置における処理の手順を示したフローチャートである。
図3に示すように、本実施例に係る電気鉄道保守用車両位置測定装置における処理の手順として、はじめに、ステップP10において、ラインセンサ1からテンプレート用の画像を取得する。なお、図4に示すように、テンプレート画像は、1個のハンガ102が撮影されている部分を切り出した画像とする。 Next, a processing procedure in the electric railway maintenance vehicle position measuring apparatus according to the present embodiment will be described.
FIG. 3 is a flowchart showing a processing procedure in the electric railway maintenance vehicle position measuring apparatus according to the present embodiment.
As shown in FIG. 3, as a processing procedure in the electric railway maintenance vehicle position measurement apparatus according to the present embodiment, first, in step P <b> 10, a template image is acquired from the
次に、ステップP13において、入力画像からSIFT特徴量を抽出する。 Next, an input image is created from the
Next, in step P13, SIFT feature values are extracted from the input image.
本実施例に係る電気鉄道保守用車両位置測定装置は、第1の実施例に係る電気鉄道保守用車両位置測定装置とほぼ同様の構成であるが、前回のハンガ位置が存在する場合に、前回のハンガ位置を基準とし、処理領域を限定することにより、処理の高速化を図っている点が異なっている。 The second embodiment of the electric railway maintenance vehicle position measuring apparatus according to the present invention will be described below.
The electric railway maintenance vehicle position measuring apparatus according to the present embodiment has substantially the same configuration as the electric railway maintenance vehicle position measuring apparatus according to the first embodiment. The difference is that the processing speed is increased by limiting the processing area with reference to the position of the hanger.
図8は、本実施例に係る電気鉄道保守用車両位置測定装置の構成を示したブロック図である。
図8に示すように、本実施例に係る電気鉄道保守用車両位置測定装置の構成は、第1の実施例に係る電気鉄道保守用車両位置測定装置の構成とほぼ同様であるが、ハンガ位置検出処理部15において、前回のハンガ検出位置が存在する場合に、前回のハンガ位置と吊架線103及び架線101の傾きデータを受け渡し、前回のハンガ位置を基準に処理領域を限定した次処理領域の計算を行う点が異なっている。 Next, the configuration of the electric railway maintenance vehicle position measuring apparatus according to the present embodiment will be described.
FIG. 8 is a block diagram showing the configuration of the electric railway maintenance vehicle position measuring apparatus according to the present embodiment.
As shown in FIG. 8, the configuration of the electric railway maintenance vehicle position measurement device according to the present embodiment is substantially the same as the configuration of the electric railway maintenance vehicle position measurement device according to the first embodiment, but the hanger position is the same. In the
本実施例に係る電気鉄道保守用車両位置測定装置における処理の手順は、第1の実施例に係る電気鉄道保守用車両位置測定装置の処理の手順とほぼ同様であるが、前回のハンガ位置が存在する場合に、前回のハンガ位置を基準に処理領域を限定する次処理領域の計算処理を追加した点が異なる。 Next, a processing procedure in the electric railway maintenance vehicle position measuring apparatus according to the present embodiment will be described.
The processing procedure in the electric railway maintenance vehicle position measurement apparatus according to the present embodiment is substantially the same as the processing procedure of the electric railway maintenance vehicle position measurement apparatus according to the first embodiment, but the previous hanger position is The difference is that the calculation processing of the next processing area that limits the processing area based on the previous hanger position is added when it exists.
図9に示すように、本実施例に係る電気鉄道保守用車両位置測定装置における処理の手順として、はじめに、ステップP10において、ラインセンサ1からテンプレート用の画像を取得する。なお、図4に示すように、テンプレート画像は、1個のハンガ102が撮影されている部分を切り出した画像とする。 FIG. 9 is a flowchart showing a processing procedure in the electric railway maintenance vehicle position measuring apparatus according to the present embodiment.
As shown in FIG. 9, as a processing procedure in the electric railway maintenance vehicle position measuring apparatus according to the present embodiment, first, in step P <b> 10, a template image is acquired from the
次に、ステップP20において、前回のハンガ位置が存在する場合、ステップP21において次処理領域の計算処理を実行する。また、前回のハンガ位置がない場合、ステップP13において入力画像全体からハンガ位置検出処理を行う。 Next, an input image is created from the
Next, in step P20, when the previous hanger position exists, the next process area calculation process is executed in step P21. If there is no previous hanger position, hanger position detection processing is performed from the entire input image in step P13.
次に、ステップP15において、検出したハンガ位置から時刻を計算し、時刻を記録する。 Next, in step P14, hanger position detection processing is performed within the
Next, in step P15, the time is calculated from the detected hanger position, and the time is recorded.
本実施例に係る電気鉄道保守用車両位置測定装置は、第2の実施例に係る電気鉄道保守用車両位置測定装置とほぼ同様の構成であるが、処理領域を次処理領域5に限定する処理時に、次処理領域5を拡張することにより、ハンガ位置検出精度を向上させる点が異なっている。 The third embodiment of the electric railway maintenance vehicle position measuring apparatus according to the present invention will be described below.
The electric railway maintenance vehicle position measuring apparatus according to the present embodiment has substantially the same configuration as the electric railway maintenance vehicle position measuring apparatus according to the second embodiment, but the processing area is limited to the
図11中にAで示す一点鎖線を画像の切れ目とし、一点鎖線Aの左側を1枚目の画像、一点鎖線Aの右側を2枚目の画像とする。図11に示すように、画像の切れ目にハンガ102が撮影されてしまった場合、SIFT特徴量が異なるものとなってしまうため、ハンガ102が検出できない可能性がある。そこで、図11に示すように、次処理領域5の範囲を前画像、すなわち1枚目の画像の一部を含めるように拡張することにより、画像の切れ目に撮影されてしまったハンガ102を検出することが可能となる。 Next, a processing procedure in the electric railway maintenance vehicle position measuring apparatus according to the present embodiment will be described.
In FIG. 11, an alternate long and short dash line indicated by A is an image break, the left side of the alternate long and short dash line A is the first image, and the right side of the alternate long and short dash line A is the second image. As shown in FIG. 11, when the
2 照明
3 処理用パソコン
4 ハンガ位置
5 次処理領域
10 画像作成部
11,12 メモリ
13 テンプレート作成処理部
14 SIFT特徴量抽出処理部
15 ハンガ位置検出処理部
16 時刻記録処理部
100 車両
101 架線
102 ハンガ
103 吊架線
104 構造物 DESCRIPTION OF
Claims (4)
- 架線や架線を支持するハンガを吊る吊架線の画像を撮影するラインセンサと、
前記ラインセンサで撮影した画像をテンプレート画像と入力画像として作成する画像作成部と、
前記画像作成部において作成した前記テンプレート画像と前記入力画像を保存する記憶部と、
前記記憶部に保存した前記テンプレート画像からSIFT特徴量を抽出してテンプレートデータを作成し前記記憶部に保存するテンプレート作成処理部と、
前記記憶部に保存した前記入力画像からSIFT特徴量を抽出し前記記憶部に保存するSIFT特徴量抽出処理部と、
前記記憶部に保存した前記テンプレートデータのSIFT特徴量と前記入力画像のSIFT特徴量との対応点を探索し前記入力画像中のハンガ位置を検出して前記記憶部に保存するハンガ位置検出処理部と
を備える
ことを特徴とする電気鉄道保守用車両位置測定装置。 A line sensor that captures an image of a hanging wire that hangs a hanger that supports the overhead wire and the overhead wire;
An image creation unit that creates an image captured by the line sensor as a template image and an input image;
A storage unit for storing the template image and the input image created in the image creation unit;
A template creation processing unit that extracts SIFT feature values from the template image stored in the storage unit, creates template data, and stores the template data in the storage unit;
A SIFT feature amount extraction processing unit that extracts a SIFT feature amount from the input image stored in the storage unit and stores the SIFT feature amount in the storage unit;
A hanger position detection processing unit that searches for a corresponding point between the SIFT feature amount of the template data stored in the storage unit and the SIFT feature amount of the input image, detects a hanger position in the input image, and stores it in the storage unit A vehicle position measuring device for electric railway maintenance characterized by comprising: - 前記ラインセンサのサンプリング周波数と前記記憶部に保存した前記入力画像上のハンガ位置に基づき前記ハンガが検出された時刻を算出して時刻データを前記記憶部に保存する時刻記録処理部を備える
ことを特徴とする請求項1に記載の電気鉄道保守用車両位置測定装置。 A time recording processing unit for calculating a time when the hanger is detected based on a sampling frequency of the line sensor and a hanger position on the input image stored in the storage unit and storing time data in the storage unit; The vehicle position measuring device for electric railway maintenance according to claim 1, wherein - 前記ハンガ位置検出処理部において、前回のハンガ位置が存在する場合に前回のハンガ位置と吊架線及び架線の傾きデータを受け渡し、前回のハンガ位置を基準として処理領域を限定する次処理領域の計算を行う
ことを特徴とする請求項1又は請求項2に記載の電気鉄道保守用車両位置測定装置。 In the hanger position detection processing unit, when the previous hanger position exists, the previous hanger position, the suspension line, and the inclination data of the overhead line are transferred, and the calculation of the next processing area that limits the processing area based on the previous hanger position is performed. The vehicle position measuring device for electric railway maintenance according to claim 1, wherein the vehicle position measuring device is used. - 前記ハンガ位置検出処理部において、前記次処理領域を拡張する
ことを特徴とする請求項3に記載の電気鉄道保守用車両位置測定装置。 4. The vehicle position measuring device for electric railway maintenance according to claim 3, wherein the hanger position detection processing unit extends the next processing area.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020127028353A KR101414370B1 (en) | 2010-04-30 | 2011-04-13 | Train car position measurement device for electric railway maintenance |
CN201180021685.2A CN102869535B (en) | 2010-04-30 | 2011-04-13 | Train car position measurement device for electric railway maintenance |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010-104866 | 2010-04-30 | ||
JP2010104866A JP5423567B2 (en) | 2010-04-30 | 2010-04-30 | Vehicle position measuring device for electric railway maintenance |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2011136020A1 true WO2011136020A1 (en) | 2011-11-03 |
Family
ID=44861331
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2011/059139 WO2011136020A1 (en) | 2010-04-30 | 2011-04-13 | Train car position measurement device for electric railway maintenance |
Country Status (5)
Country | Link |
---|---|
JP (1) | JP5423567B2 (en) |
KR (1) | KR101414370B1 (en) |
CN (1) | CN102869535B (en) |
TW (1) | TWI448399B (en) |
WO (1) | WO2011136020A1 (en) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5724938B2 (en) * | 2012-04-24 | 2015-05-27 | トヨタ自動車株式会社 | Pattern generation apparatus, pattern generation method, printed matter |
JP5987195B2 (en) * | 2012-12-25 | 2016-09-07 | 株式会社明電舎 | Rigid overhead wire support component inspection system |
JP2014198524A (en) * | 2013-03-29 | 2014-10-23 | 株式会社日立ハイテクノロジーズ | Overhead wire inspection method and apparatus |
JP6225362B2 (en) * | 2013-11-11 | 2017-11-08 | 株式会社明電舎 | Train self-position estimation device |
US9669850B2 (en) * | 2014-09-08 | 2017-06-06 | Genscape Intangible Holding, Inc. | Method and system for monitoring rail operations and transport of commodities via rail |
JP6450971B2 (en) * | 2015-01-30 | 2019-01-16 | 株式会社明電舎 | Trolley wire wear measuring device and trolley wire wear measuring method |
JP6427797B2 (en) * | 2015-03-13 | 2018-11-28 | 株式会社明電舎 | Hanger detection device by image processing |
JP6311757B2 (en) * | 2016-09-13 | 2018-04-18 | 株式会社明電舎 | Insulator detecting device and insulator detecting method |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0678807U (en) * | 1993-04-16 | 1994-11-04 | 旭サナック株式会社 | Shape detection device |
JP2008089523A (en) * | 2006-10-05 | 2008-04-17 | Meidensha Corp | Wear measurement device for trolley wire |
JP2010202165A (en) * | 2009-03-06 | 2010-09-16 | Meidensha Corp | Vehicle position measuring device for maintenance of electric railway |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09101114A (en) * | 1995-10-04 | 1997-04-15 | Hitachi Denshi Ltd | Measurement system for image of aerial electric line for electric railcar |
JPH11278109A (en) * | 1998-03-25 | 1999-10-12 | East Japan Railway Co | Fitting number recording device |
JP3811102B2 (en) * | 2002-06-12 | 2006-08-16 | 財団法人鉄道総合技術研究所 | Self-propelled train line inspection device |
JP4635657B2 (en) * | 2005-03-11 | 2011-02-23 | 株式会社明電舎 | Trolley wire wear measuring device by image processing |
KR100656859B1 (en) | 2005-12-23 | 2006-12-13 | 학교법인 포항공과대학교 | Simultaneous location and mapping method using supersonic wave sensor and vision sensor |
JP4923942B2 (en) * | 2006-10-20 | 2012-04-25 | 株式会社明電舎 | Pantograph measuring device by image processing |
KR100848034B1 (en) | 2007-03-23 | 2008-07-23 | 한양대학교 산학협력단 | Moment-based local descriptor using scale invariant feature |
KR100951890B1 (en) * | 2008-01-25 | 2010-04-12 | 성균관대학교산학협력단 | Method for simultaneous recognition and pose estimation of object using in-situ monitoring |
CN101337515B (en) * | 2008-01-29 | 2011-04-06 | 中铁四局集团有限公司 | Execution method of integral hanging simple chain type suspension contact screen on electrified railroad |
JP2009281950A (en) * | 2008-05-26 | 2009-12-03 | Meidensha Corp | Position measuring device of trolley line support metal fitting by image processing |
CN101697232B (en) * | 2009-09-18 | 2012-03-07 | 浙江大学 | SIFT characteristic reducing method facing close repeated image matching |
-
2010
- 2010-04-30 JP JP2010104866A patent/JP5423567B2/en not_active Expired - Fee Related
-
2011
- 2011-04-13 KR KR1020127028353A patent/KR101414370B1/en active IP Right Grant
- 2011-04-13 CN CN201180021685.2A patent/CN102869535B/en not_active Expired - Fee Related
- 2011-04-13 WO PCT/JP2011/059139 patent/WO2011136020A1/en active Application Filing
- 2011-04-15 TW TW100113285A patent/TWI448399B/en not_active IP Right Cessation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0678807U (en) * | 1993-04-16 | 1994-11-04 | 旭サナック株式会社 | Shape detection device |
JP2008089523A (en) * | 2006-10-05 | 2008-04-17 | Meidensha Corp | Wear measurement device for trolley wire |
JP2010202165A (en) * | 2009-03-06 | 2010-09-16 | Meidensha Corp | Vehicle position measuring device for maintenance of electric railway |
Also Published As
Publication number | Publication date |
---|---|
JP5423567B2 (en) | 2014-02-19 |
TWI448399B (en) | 2014-08-11 |
CN102869535A (en) | 2013-01-09 |
KR101414370B1 (en) | 2014-07-01 |
KR20120134149A (en) | 2012-12-11 |
JP2011230722A (en) | 2011-11-17 |
CN102869535B (en) | 2015-03-25 |
TW201144108A (en) | 2011-12-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5423567B2 (en) | Vehicle position measuring device for electric railway maintenance | |
CN101187671B (en) | Method and device for determining automobile driving speed | |
GB2571045A (en) | Facility patrol system and facility patrol method | |
JP5698285B2 (en) | Overhead wire position measuring apparatus and method | |
CN104567885A (en) | Navigation device and judgment method of elevated upper and lower roads | |
JP6615066B2 (en) | Information processing apparatus, information processing method, and program | |
CN105579316B (en) | Method and apparatus for determining the runway trend of the runway of vehicle | |
JP6644720B2 (en) | Train wire fitting detection system and its detection method | |
CN102663352A (en) | Track identification method | |
JP2012168884A (en) | Traffic lane boundary detection device and traffic lane boundary detection method | |
JP2007288893A (en) | Electric-car line pantograph bounce detection device and electric-car line pantograph bounce detection method | |
CN101680748B (en) | Equipment for measuring abrasion of trolley wire by image processing | |
JP4685494B2 (en) | Trolley wire position measuring device | |
JP5151845B2 (en) | Apparatus and method for measuring vertical acceleration of pantograph by image processing | |
JP2010210477A (en) | Navigation device | |
JP2011209026A (en) | Train speed measuring system | |
JP5444879B2 (en) | Chassis dynamometer | |
CN106980810A (en) | A kind of Overheight Vehicles proximity test method incremental based on sensitizing range image outline | |
JP2015014460A (en) | Overhead-electric-line position measuring device and method | |
CN108596968B (en) | Sleeper counting method based on track 3D depth image | |
JP2008089523A (en) | Wear measurement device for trolley wire | |
JP5952759B2 (en) | Overhead wire position measuring apparatus and method | |
JP5402096B2 (en) | Vehicle position measuring device for electric railway maintenance | |
JP5629478B2 (en) | Pantograph monitoring device | |
WO2018025329A1 (en) | Current collector monitoring system |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201180021685.2 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11774804 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 20127028353 Country of ref document: KR Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 11774804 Country of ref document: EP Kind code of ref document: A1 |