WO2011136020A1 - 電気鉄道保守用車両位置測定装置 - Google Patents

電気鉄道保守用車両位置測定装置 Download PDF

Info

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
Application number
PCT/JP2011/059139
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
貴雅 藤澤
伸行 藤原
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
Priority to CN201180021685.2A priority Critical patent/CN102869535B/zh
Priority to KR1020127028353A priority patent/KR101414370B1/ko
Publication of WO2011136020A1 publication Critical patent/WO2011136020A1/ja

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

Definitions

  • the present invention relates to an electric railway maintenance vehicle position measuring device that measures the traveling position of an electric railway maintenance vehicle used for maintenance of overhead lines, tracks, and the like, and in particular, the traveling position and passage time of an electric railway maintenance vehicle by image processing.
  • the present invention relates to a vehicle position measuring apparatus for electric railway maintenance that acquires the relationship between
  • ⁇ Electric railway facilities mainly include overhead lines and tracks. Each of these is an important maintenance facility for operating the railway.
  • the overhead line contacts the current collector every time the electric railway vehicle passes while operating the electric railway vehicle. For this reason, the overhead wire gradually wears, and if it is not replaced, there is a possibility that it will eventually break and cause an accident.
  • the track is bent, distorted, scratched, worn, etc. due to the operation of the train, and if these progresses are left unattended, there is a risk of causing an accident such as derailment of the electric railway vehicle.
  • ATC automatic train control device
  • rotary encoder a method using an automatic train control device (ATC) or a rotary encoder
  • the automatic train control device controls the position and speed of the train, and is originally a system for driving the vehicle, but this automatic train control device communicates information on the train position and speed to the outside. A mechanism is in place. Therefore, when the position of the vehicle is specified using the automatic train control device, the position of the maintenance-dedicated vehicle is specified using a mechanism that communicates with the outside of the automatic train control device (for example, the following patent document) 2).
  • the rotary encoder is configured to measure the travel distance by counting the rotation angle of the wheel, so that the wheel is rotating while the train is not progressing due to braking, traveling on a slope, or the like, or There is a problem that it may become difficult to specify the position of a point requiring attention due to an incremental increase in locally generated errors such as the train moving while the wheel is not rotating due to wheel slip was there.
  • a line sensor camera (hereinafter referred to as a line sensor) is installed on the roof of the vehicle, and an image near the overhead line imaged by this line sensor is subjected to image processing (such as template matching and edge detection). ) And detecting the hanger, and specifying the relationship between the traveling position of the vehicle and the passing time based on the time when the hanger was photographed, it is conceivable to eliminate the above-described error.
  • the accuracy of hanger detection may be reduced when matching with the template when detecting hanger by template matching.
  • edge detection there is a possibility that the accuracy of hangers detection is lowered because the vertical edges are weakened.
  • an object of the present invention is to provide an electric railway maintenance vehicle position measuring device capable of specifying the relationship between the traveling position of a vehicle and the passage time with high accuracy.
  • a vehicle position measuring device for electric railway maintenance 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.
  • 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,
  • An electric railway maintenance vehicle position measuring device for solving the above-mentioned problems is the electric railway maintenance vehicle position measuring device according to the first invention or the second invention.
  • 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.
  • 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.
  • an electric railway maintenance vehicle position measuring device capable of specifying the relationship between the traveling position of the vehicle and the passage time with high accuracy.
  • 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 Document 1 above) is obtained as an image feature value that is not easily affected by changes in sheath rotation, and the SIFT feature value extracted from the template image obtained in advance A hanger is detected by obtaining the corresponding points.
  • FIG. 1 is a schematic diagram showing an outline of an electric railway maintenance vehicle position measuring apparatus according to the present embodiment.
  • the vehicle position measuring apparatus for electric railway maintenance according to the present embodiment takes an image of the overhead line 101 and the suspension line 103 that hangs the hanger 102 that supports the overhead line 101.
  • a line sensor 1 that is installed in the direction of sleepers and obliquely upward and that captures an image on a photographing line indicated by an arrow L in FIG. 1, and enables the line sensor 1 to capture an image at night or in a tunnel.
  • the line sensor 1 includes an illumination 2 installed around the line sensor 1 and a processing personal computer 3 installed in the vehicle 100 that stores an image photographed by the line sensor 1 and performs image processing.
  • the line sensor 1 and the processing personal computer 3 are connected so that image data can be transmitted.
  • FIG. 2 is a block diagram showing the configuration of the electric railway maintenance vehicle position measuring apparatus according to the present embodiment.
  • the electric railway maintenance vehicle position measuring apparatus according to the present embodiment creates an image created by the line sensor 1 as a template image and an input image, and created by the image creating unit 10.
  • the SIFT feature value extraction processing unit 14 extracts SIFT feature values from the input image and saves them in the memory 12, and searches for corresponding points between the SIFT feature values of the template data saved in the memory 12 and the SIFT feature values of the input image.
  • a hanger position detection processing unit 15 for detecting the position of the hanger and storing it in the memory 12, and a line sensor Time data hanger 102 calculates the time that is detected based on the hanger position on saved image to the sampling frequency and the memory 12 and a time recording unit 16 to be stored in the memory 12 of the.
  • the processing personal computer 3 includes the image creation unit 10, the memories 11 and 12, the template creation processing unit 13, the SIFT feature value extraction processing unit 14, the hanger position detection processing unit 15, and the hanger position detection processing unit 15. Also, it plays the role of the time recording processing unit 16. Further, the memory 11 and the memory 12 can be a common memory.
  • FIG. 3 is a flowchart showing a processing procedure in the electric railway maintenance vehicle position measuring apparatus according to the present embodiment.
  • 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 line sensor 1. As shown in FIG. 4, the template image is an image obtained by cutting out a portion where one hanger 102 is photographed.
  • step P11 SIFT feature values are extracted from the template image to create template data.
  • template data As indicated by black circles in FIG. 5, there are a plurality of SIFT feature values on the template image, and all the template data are created.
  • requiring a SIFT feature-value it shall use the method described in the said nonpatent literature 1, and abbreviate
  • an input image is created from the line sensor 1 in step P12. As shown in FIG. 6, the input image has a height on the vertical axis and time on the horizontal axis.
  • SIFT feature values are extracted from the input image.
  • step P14 a corresponding point search between the SIFT feature value of the template data and the SIFT feature value of the input image is performed, and all hanger positions in the input image are detected.
  • the hanger position detection method calculates the Euclidean distance between the SIFT feature value of the template data and the entire SIFT feature value of the input image, and sets the minimum value as the corresponding point. Similarly, the Euclidean distance is obtained for all SIFT feature values of the template data, and the hanger position is detected based on the corresponding points.
  • the Euclidean distance is obtained by squaring the difference between the SIFT feature value of the template data and the SIFT feature value of the input image, and calculating the square root of the sum of them.
  • the SIFT feature value is a 128-dimensional feature value. Therefore, when the Euclidean distance is calculated, the following equation (1) is obtained.
  • V is SIFT feature quantity of the input image
  • d is meant the Euclidean distance
  • a plurality of hangers 102 can be detected by dividing one input image into strips for each time and searching for corresponding points. ing.
  • the separation width is arbitrary, but is basically the same as the width of the template data.
  • step P15 the time is calculated from the detected hanger position, and the time is recorded.
  • the horizontal axis of the input image is time. The time can be calculated based on the sampling frequency of the line sensor 1 and the hanger position on the input image.
  • Step P16 Steps P12 to P16 are repeated until the processing is completed for all the input images.
  • the electric railway maintenance vehicle position according to the present embodiment is completed. A series of processes in the measuring apparatus is terminated.
  • the corresponding point search process using the SIFT feature value of the template data and the SIFT feature value of the input image is performed.
  • the hanger 102 can be detected even when the hanger 102 is present at the same location as the surrounding structure 104, undetected hanger 102 can be prevented.
  • the template in all cases according to the scale, rotation, and brightness change is used. It is not necessary to prepare data, and even if there is a change in scale, rotation, or brightness, it is possible to detect if there is one template data, so the detection efficiency of the hanger 102 can be increased.
  • 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.
  • FIG. 8 is a block diagram showing the configuration of the electric railway maintenance vehicle position measuring apparatus according to the present embodiment.
  • 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.
  • the detection processing unit 15 when the previous hanger detection position exists, the previous hanger position and the inclination data of the suspension line 103 and the overhead line 101 are transferred, and the next processing area is defined based on the previous hanger position. The difference is in the calculation.
  • 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.
  • the processing can be efficiently performed if the processing area can be limited.
  • the hanger 102 since the hanger 102 always exists between the suspension line 103 and the overhead line 101 and is likely to exist in the inclination direction of the suspension line 103 and the overhead line 101, the first hanger 102 can be detected. If possible, the processing area can be limited. Thus, since the next processing area can be limited from the inclination of the suspension line 103 and the overhead line 101, the processing speed can be increased.
  • FIG. 9 is a flowchart showing a processing procedure in the electric railway maintenance vehicle position measuring apparatus according to the present embodiment.
  • 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 line sensor 1.
  • the template image is an image obtained by cutting out a portion where one hanger 102 is photographed.
  • step P11 SIFT feature values are extracted from the template image to create template data. As indicated by black circles in FIG. 5, there are a plurality of SIFT feature values on the template image, and all the template data are created. Since the method for obtaining the SIFT feature value is described in Non-Patent Document 1, the description thereof is omitted here.
  • step P12 an input image is created from the line sensor 1 in step P12. As shown in FIG. 6, the input image has a height on the vertical axis and time on the horizontal axis.
  • 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.
  • step P21 the hanger 102 is detected from the first image, and the next processing area 5 is determined based on the first hanger detection position 4, the suspension line 103, and the inclination of the overhead line 101. Specifically, as shown in FIG. 10, when the inclinations of the suspension line 103 and the overhead line 101 are in the lower right direction, the hanger 102 exists between the suspension line 103 and the overhead line 101. There is a high possibility that it exists in the tilt direction of 101. Therefore, the next processing area 5 can be determined in the inclination direction of the suspension line 103 and the overhead line 101 with reference to the first hanger position 4.
  • the alternate long and short dash lines indicated by A and B are used as image breaks, the left side of the alternate long and short dash line A is the first image, the second image between the alternate long and short dash line A and the alternate long and short dash line B, and the alternate long and short dash line
  • the right side of B is the third image.
  • step P14 hanger position detection processing is performed within the next processing area 5 or the entire image.
  • step P15 the time is calculated from the detected hanger position, and the time is recorded.
  • Step P16 if there is a previous hanger position in Step P16, Steps P12 to P15 are repeated until there are no more input images, and when the processing is completed for all the input images, the electric railway maintenance vehicle according to the present embodiment is completed. A series of processing in the position measuring device is terminated.
  • the processing area is set as the next processing area.
  • the processing speed can be increased.
  • the electric railway maintenance vehicle position measuring apparatus according to the present invention 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 next processing area 5. In some cases, the hanger position detection accuracy is improved by expanding the next processing area 5.
  • 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
  • the right side of the alternate long and short dash line A is the second image.
  • the hanger 102 when the hanger 102 is photographed at an image break, since the SIFT feature amount is different, the hanger 102 may not be detected. Therefore, as shown in FIG. 11, the hanger 102 that has been photographed at an image break is detected by expanding the range of the next processing area 5 to include a part of the previous image, that is, the first image. It becomes possible to do.
  • the next processing area 5 is expanded.
  • the hanger 102 can be detected with high accuracy even when the hanger 102 is photographed at a break between images.
  • the present invention is suitable for application to a vehicle position measuring device for electric railway maintenance that measures the position of an electric railway vehicle used for maintenance of overhead lines and tracks.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Image Analysis (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
PCT/JP2011/059139 2010-04-30 2011-04-13 電気鉄道保守用車両位置測定装置 WO2011136020A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201180021685.2A CN102869535B (zh) 2010-04-30 2011-04-13 电气铁道维护用车辆位置测量装置
KR1020127028353A KR101414370B1 (ko) 2010-04-30 2011-04-13 전기 철도 보수용 차량 위치 측정 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2010-104866 2010-04-30
JP2010104866A JP5423567B2 (ja) 2010-04-30 2010-04-30 電気鉄道保守用車両位置測定装置

Publications (1)

Publication Number Publication Date
WO2011136020A1 true WO2011136020A1 (ja) 2011-11-03

Family

ID=44861331

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2011/059139 WO2011136020A1 (ja) 2010-04-30 2011-04-13 電気鉄道保守用車両位置測定装置

Country Status (5)

Country Link
JP (1) JP5423567B2 (ko)
KR (1) KR101414370B1 (ko)
CN (1) CN102869535B (ko)
TW (1) TWI448399B (ko)
WO (1) WO2011136020A1 (ko)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5724938B2 (ja) * 2012-04-24 2015-05-27 トヨタ自動車株式会社 パターン生成装置、パターン生成方法、印刷物
JP5987195B2 (ja) * 2012-12-25 2016-09-07 株式会社明電舎 剛体架線の支持部品検査装置
JP2014198524A (ja) * 2013-03-29 2014-10-23 株式会社日立ハイテクノロジーズ 架線検測方法及び装置
JP6225362B2 (ja) * 2013-11-11 2017-11-08 株式会社明電舎 電車の自己位置推定装置
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 (ja) * 2015-01-30 2019-01-16 株式会社明電舎 トロリ線摩耗測定装置およびトロリ線摩耗測定方法
JP6427797B2 (ja) * 2015-03-13 2018-11-28 株式会社明電舎 画像処理によるハンガー検出装置
JP6311757B2 (ja) * 2016-09-13 2018-04-18 株式会社明電舎 碍子検出装置及び碍子検出方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0678807U (ja) * 1993-04-16 1994-11-04 旭サナック株式会社 被塗物形状検出装置
JP2008089523A (ja) * 2006-10-05 2008-04-17 Meidensha Corp トロリ線の摩耗測定装置
JP2010202165A (ja) * 2009-03-06 2010-09-16 Meidensha Corp 電気鉄道保守用車両位置測定装置

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09101114A (ja) * 1995-10-04 1997-04-15 Hitachi Denshi Ltd 電車架線画像計測システム
JPH11278109A (ja) * 1998-03-25 1999-10-12 East Japan Railway Co 金具番号記録装置
JP3811102B2 (ja) * 2002-06-12 2006-08-16 財団法人鉄道総合技術研究所 自走式電車線検査装置
JP4635657B2 (ja) * 2005-03-11 2011-02-23 株式会社明電舎 画像処理によるトロリ線摩耗測定装置
KR100656859B1 (ko) 2005-12-23 2006-12-13 학교법인 포항공과대학교 초음파 센서와 비젼 센서를 기반으로 하는 이동로봇의 동시위치인식 및 지도형성 방법
JP4923942B2 (ja) * 2006-10-20 2012-04-25 株式会社明電舎 画像処理によるパンタグラフ測定装置
KR100848034B1 (ko) 2007-03-23 2008-07-23 한양대학교 산학협력단 크기에 불변한 특징점을 이용한 모멘트 기반 지역 서술자생성방법
KR100951890B1 (ko) * 2008-01-25 2010-04-12 성균관대학교산학협력단 상황 모니터링을 적용한 실시간 물체 인식 및 자세 추정 방법
CN101337515B (zh) * 2008-01-29 2011-04-06 中铁四局集团有限公司 电气化铁路简单链型悬挂接触网整体吊弦施工方法
JP2009281950A (ja) * 2008-05-26 2009-12-03 Meidensha Corp 画像処理によるトロリー線支持金具の位置測定装置
CN101697232B (zh) * 2009-09-18 2012-03-07 浙江大学 面向近重复图像匹配的sift特征裁减方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0678807U (ja) * 1993-04-16 1994-11-04 旭サナック株式会社 被塗物形状検出装置
JP2008089523A (ja) * 2006-10-05 2008-04-17 Meidensha Corp トロリ線の摩耗測定装置
JP2010202165A (ja) * 2009-03-06 2010-09-16 Meidensha Corp 電気鉄道保守用車両位置測定装置

Also Published As

Publication number Publication date
JP5423567B2 (ja) 2014-02-19
KR101414370B1 (ko) 2014-07-01
JP2011230722A (ja) 2011-11-17
CN102869535B (zh) 2015-03-25
TW201144108A (en) 2011-12-16
TWI448399B (zh) 2014-08-11
CN102869535A (zh) 2013-01-09
KR20120134149A (ko) 2012-12-11

Similar Documents

Publication Publication Date Title
JP5423567B2 (ja) 電気鉄道保守用車両位置測定装置
US11113543B2 (en) Facility inspection system and facility inspection method
CN101187671B (zh) 一种确定汽车行驶速度的方法及装置
JP5698285B2 (ja) 架線位置計測装置及び方法
CN104567885A (zh) 导航装置以及高架上下道路判定方法
JP6644720B2 (ja) 電車線金具検出システム及びその検出方法
CN102663352A (zh) 一种轨道识别方法
JP2012168884A (ja) 車線境界検出装置及び車線境界検出方法
JP2007288893A (ja) 電車線離線検知装置及び電車線離線検知方法
CN101680748B (zh) 通过图像处理来测量架空线的磨损的设备
JP4685494B2 (ja) トロリー線の位置測定装置
JP2015014460A (ja) 架線位置計測装置及び方法
JP2010210477A (ja) ナビゲーション装置
JP2011209026A (ja) 列車速度計測システム
JP2007066003A (ja) 停止線検出装置
JP5444879B2 (ja) シャシーダイナモメータ
CN106980810A (zh) 一种基于敏感区图像轮廓递增的超高车辆接近检测方法
CN108596968B (zh) 一种基于轨道3d深度图像的轨枕计数方法
JP2008089523A (ja) トロリ線の摩耗測定装置
JP6311757B2 (ja) 碍子検出装置及び碍子検出方法
JP5402096B2 (ja) 電気鉄道保守用車両位置測定装置
JP5629478B2 (ja) パンタグラフ監視装置
JP7210157B2 (ja) 定位置停止制御装置
JP2014169940A (ja) 架線位置計測装置及び方法
JP6308681B2 (ja) 渡り線設備監視装置及び方法

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