JP5277585B2 - Trolley wire detector - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a trolley wire detecting device capable of surely detecting a trolley wire contacting with a pantograph, with an installation position of a camera less restricted. <P>SOLUTION: In this trolley wire detecting device, the vicinity of the pantograph irradiated with the light is imaged (Step S1), the edge of a pickup image is detected, a plurality of straight lines are detected (Step S2), the reflected light from the trolley wire projected on the pantograph is detected from the pickup image, and the trolley wire contacting with the pantograph is detected by extracting the straight line having the detected reflected light from the plurality of detected straight lines (Step S3). <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a trolley line detection device that detects a trolley line in contact with a train line by image processing.

  A trolley line is an equipment line that supplies electric power to an electric vehicle, and this position is measured by a dedicated measurement vehicle called a test vehicle or vehicle limit measurement vehicle that runs on the train line at regular intervals. . The measurement items include the height of the trolley wire and the deviation on the pantograph, and equipment maintenance is carried out by diagnosing whether these measured values are within safe control values.

  As a method for measuring the position of the trolley line, there are a laser measurement method and an image processing measurement method, and there are various types of image processing measurement methods.

(1) The laser measurement method is a method in which a laser projector mounted on the roof of a vehicle is directed toward a trolley line, and the position of the trolley line is measured by the reflected wave (Non-Patent Document 2).

(2) The image processing measurement method is a method of measuring the position of the trolley line from the image taken by the camera with the illumination mounted on the roof of the vehicle directed to the trolley line (Non-Patent Documents 3 and 4).

  Suspension wires and feeders that appear in the image are not so important for facility maintenance management, but the position of the trolley wire in contact with the pantograph is important. As a method for detecting the trolley wire, there are the following methods.

(2-1) A system that uses the shadow of a pantograph (Non-Patent Document 3)
Light is projected toward the pantograph, and an image near the pantograph is acquired. By detecting multiple overhead lines from the acquired images, the overhead line without the shadow of the pantograph is the trolley line that contacts the pantograph, the overhead line with the shadow is the other suspension line, and the overhead line with the shadow is eliminated, Is detected.

(2-2) Method using two cameras (Non-Patent Document 4)
Illumination is projected toward the pantograph, and images near the pantograph are acquired by two cameras arranged side by side in the sleeper direction. Then, the images of the two cameras are collated to distinguish between the trolley line that comes into contact with the non-contact overhead line. Explaining how to distinguish the trolley line that touches, the intersection of the pantograph and the trolley line is detected by both two cameras. If the coordinates are not touched, the intersection of the overhead lines is different in coordinates on the pantograph between the two camera images. Due to the difference in the coordinates of the intersection, it is possible to distinguish between a trolley line that contacts and an overhead line that does not contact.

The Institute of Electrical Engineers, Educational Research Committee on Electric Railways, “Latest Electric Railway Engineering”, Corona, September 2000, pp. 126-129 Hiroki Sato et al., “Development of Shinkansen Electric Track General Inspection Vehicle Power Measurement Device”, 2002 IEEJ Industrial Application Conference, 2002, 1407-1410 Hiroshi Yoshida et al., “A method for measuring deflection of train lines using image processing”, Kintetsu Technical Report Vol.24, 1993, pp. 77-81 JP 2003-341389 A

  As described above, methods for measuring the position of the trolley line include a laser measurement method and an image processing measurement method, but these methods have the following problems.

(1) The laser measurement method can detect an abnormal value of a measured value, but since the abnormal value is only recorded in a graph or the like, it is difficult to analyze the cause of the abnormal value or the phenomenon. Moreover, since devices such as a high-frequency power supply device for laser irradiation are large, it is difficult to install them on the roof of a vehicle.

(2) The image processing measurement method using the shadow of the pantograph has a problem of erroneously detecting a trolley line that contacts the pantograph. For example, as shown in FIG. 9, when light is emitted from the illumination 35 in the direction of the pantograph 34 and the image is captured by the camera 36, the auxiliary suspension line 33 is close to the pantograph 34. Can be. However, since the suspension line 32 is separated from the pantograph 34, the shadow of the pantograph 34 spreads and only a thin shadow is possible. As a result, there is a problem that an overhead line separated from the pantograph 34 by a certain distance cannot shadow the pantograph 34. Therefore, there is a problem that it cannot be determined whether or not the overhead line contacts the pantograph 34 only by the presence or absence of a shadow.

(3) In the image processing measurement method using two cameras, it is necessary to install two cameras in the sleeper direction, and there are restrictions on the installation positions of the cameras.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a trolley line detection device that can detect a trolley line that is surely in contact with a pantograph and that has little restrictions on the installation position of the camera.

A trolley wire detection device according to a first invention for solving the above-mentioned problems is
Light irradiation means for irradiating light toward the pantograph;
One imaging means for imaging the vicinity of the pantograph irradiated with light by the light irradiation means;
In the trolley line detection device having an image processing means for detecting a trolley line in contact with the pantograph by recording an image picked up by the image pickup means and performing image processing of the image.
The image processing means includes
By performing edge detection of the image, a plurality of straight lines are detected,
Detecting reflected light from the trolley line projected on the pantograph from the image;
A trolley line in contact with the pantograph is detected by extracting a straight line with the reflected light from the detected plurality of straight lines.

A trolley wire detection device according to a second invention for solving the above-mentioned problems is as follows.
Light irradiation means for irradiating light toward the pantograph;
One imaging means for imaging the vicinity of the pantograph irradiated with light by the light irradiation means;
In the trolley line detection device having an image processing means for detecting a trolley line in contact with the pantograph by recording an image picked up by the image pickup means and performing image processing of the image.
The image processing means includes
By performing edge detection of the image, a plurality of straight lines are detected,
Detecting reflected light from the trolley line projected on the pantograph from the image;
While calculating the incident angle of the light that generates the detected reflected light, calculating the reflection angle of the reflected light, collate the incident angle and the reflection angle,
A trolley line in contact with the pantograph is detected by extracting a straight line having the reflected light and having the same incident angle and the same reflection angle from the detected plurality of straight lines. .

A trolley wire detection device according to a third invention for solving the above-mentioned problems is
Light irradiation means for irradiating light toward the pantograph;
A plurality of imaging means for imaging the vicinity of the pantograph irradiated with light by the light irradiation means;
In the trolley line detection device having an image processing means for detecting a trolley line in contact with the pantograph by recording each image picked up by the plurality of image pickup means and performing image processing of the image,
The image processing means includes
The image captured by different imaging means is converted into an image of the same coordinate axis by performing projection conversion,
A plurality of straight lines are detected by performing edge detection on each of the projected images.
The reflected light from the trolley line projected on the pantograph is detected from each of the projected and converted images,
In each of the projection-converted images, the incident angle of the light that generates the detected reflected light is calculated, the reflection angle of the reflected light is calculated, and the incident angle and the reflection angle are collated and detected. A straight line having the reflected light and having the same incident angle and the same reflection angle is extracted from the plurality of straight lines,
In the images by different imaging means that have undergone projection conversion, the coordinates of the contact points between the extracted straight line and the pantograph are collated with each other,
A trolley line in contact with the pantograph is detected by further extracting a straight line having the same coordinates of the contact point from the extracted straight line.

A trolley wire detection device according to a fourth invention for solving the above-mentioned problems is
Light irradiation means for irradiating light toward the pantograph;
A plurality of imaging means for imaging the vicinity of the pantograph irradiated with light by the light irradiation means;
In the trolley line detection device having an image processing means for detecting a trolley line in contact with the pantograph by recording each image picked up by the plurality of image pickup means and performing image processing of the image,
The image processing means includes
The image captured by different imaging means is converted into an image of the same coordinate axis by performing projection conversion,
A plurality of straight lines are detected by performing edge detection on each of the projected images.
The reflected light from the trolley line projected on the pantograph is detected from each of the projected and converted images,
In each of the projection-converted images, the incident angle of the light that generates the detected reflected light is calculated, the reflection angle of the reflected light is calculated, and the incident angle and the reflection angle are collated and detected. A straight line having the reflected light and having the same incident angle and the same reflection angle is extracted from the plurality of straight lines,
In the images by the different imaging means subjected to projection conversion, the reflection angles in the extracted straight line are collated with each other,
A trolley line contacting the pantograph is detected by further extracting a straight line having the same reflection angle from the extracted straight lines.

  According to the first aspect of the invention, it is possible to increase the reliability of detecting the trolley line and reduce restrictions on the installation position of the imaging means such as a camera. Also, the abnormal situation can be visually recognized from the recorded image.

  According to the second invention, the reliability of the trolley wire detection can be improved as compared with the first invention.

  According to the third and fourth inventions, the reliability of trolley wire detection can be further improved than in the second invention.

  Hereinafter, with reference to FIGS. 1-8, the embodiment example of the trolley wire detection apparatus which concerns on this invention is described.

  FIG. 1 is a schematic diagram showing an example of an embodiment of a trolley wire detection device according to the present invention, and FIG. 2 is a diagram showing an image obtained by the trolley wire detection device according to the present invention shown in FIG. FIG. 3 is a flowchart showing a trolley wire detection method as an example of an embodiment of the trolley wire detection apparatus according to the present invention shown in FIG.

  As shown in FIG. 1, a trolley wire 1 for supplying electric power to a vehicle (train 6) is suspended from a suspension wire 2 and attached to a brace 4 (or bent metal fitting) provided on a utility pole 3. It is supported and installed between each power pole 3.

  As shown in FIG. 1, the trolley wire detection device in the present embodiment projects a light from the lower side toward the pantograph 7 on the upper part (on the roof) of the train 6 that can travel on the rail 5. (Light irradiating means) and one camera 9 (imaging means) that images the vicinity of the pantograph 7 from the lower side. That is, the camera 9 has a visual field 9a in the vicinity of the pantograph 7 irradiated with light by the projector 8, and images the visual field 9a. Further, an image processing apparatus 10 (image processing means) having an image recording unit that records an image signal captured by the camera 9 as an image and an image processing unit that performs image processing of the recorded image is provided in the train 6. ing.

  In the camera 9 of the trolley line detection device of the present embodiment, an image as shown in FIG. 2 is captured by capturing the vicinity of the pantograph 7 irradiated with light from the projector 8. As can be seen from FIG. 2, the reflected light is not projected onto the pantograph 7 from the overhead line that does not contact the pantograph 7 (suspended line 2). On the other hand, the reflected light 1 a is projected onto the pantograph 7 from the overhead line (trolley line 1) in contact with the pantograph 7. As shown in FIG. 2, the reflected light 1 a is seen from the camera 9 at a portion where the pantograph 7 and the overhead line (trolley line 1) intersect. From this, the overhead line with the reflected light 1 a projected onto the pantograph 7 can be detected as the trolley line 1 in contact with the pantograph 7.

  Here, a method for detecting a trolley wire will be described with reference to FIGS. 1 and 2 and a flowchart shown in FIG.

  First, the vicinity of the pantograph 7 irradiated with light from the projector 8 is imaged by the camera 9, and the image signal is transmitted to the image processing apparatus 10. That is, an image as shown in FIG. 2 is captured by the camera 9 and input to the image processing apparatus 10 (step S1).

  Next, the image processing apparatus 10 performs edge processing by performing image processing on the input image, and detects a plurality of straight lines. That is, a straight line that is a trolley line candidate is detected by image processing (step S2).

  Next, as described with reference to FIG. 2, the reflected light 1a from the trolley line 1 projected on the pantograph 7 is detected, and the straight line with the reflected light 1a is selected from the plurality of straight lines detected in step S2. By extracting, that is, by extracting a straight line corresponding to the projection position of the reflected light 1a, the trolley line 1 in contact with the pantograph 7 is detected (step S3).

  And the procedure of said step S1-S3 is repeated in multiple times until the measurement to the overhead wire of a measurement object area is complete | finished (step S4). That is, an image is captured a plurality of times with respect to the overhead line of the measurement target section, and the trolley line 1 that contacts the pantograph 7 is detected in each captured image.

  In the present embodiment, the arrangement positions of the projector 8 and the camera 9 are not particularly limited. However, in order to detect the reflected light 1a, the position of the projector 8 and the camera 9 is not directly below the pantograph 7 and is normal to the pantograph 7 in a top view. What is necessary is just to arrange | position the projector 8 and the camera 9 in the position with respect. In this embodiment, as an example, as shown in FIG. 1, a projector 8 and a camera 9 are arranged at a distance on a straight line 6 a orthogonal to the pantograph 7 on the vehicle 6. On the other hand, when the camera 9 is arranged at a position oblique to the pantograph 7 in a top view as shown in FIGS. As described with reference to FIG. 7, the process from step S12 onward may be performed after the front image is converted by projection conversion.

  As described above, the trolley line detection device of the present embodiment takes an image near the pantograph 7 using the projector 8 and the camera 9 installed in the vehicle 6, and reflects from the trolley line 1 projected on the pantograph 7. By detecting the light 1a, the trolley line 1 in contact with the pantograph 7 can be detected. And the trolley wire detection apparatus of a present Example has the following advantages.

(1) In the laser measurement method, only a measurement value is recorded, and information other than an abnormal value is scarce. However, the trolley line detection device of this embodiment records an image on the image processing device 10, so The abnormal situation can be visually recognized with the displayed image.
(2) In the image processing measurement method using the shadow of the pantograph, a trolley line far from the pantograph may be erroneously detected as a trolley line. In the trolley line detection device of this embodiment, the pantograph 7 Since the reflected light 1a from the projected trolley line 1 is used, the reflected light disappears from the overhead line away from the pantograph 7, and the reflected light is always generated from the overhead line in contact with the pantograph 7, so that the reliability of trolley line detection is improved. Can be high.
(3) Since the trolley line 1 can be detected by a single camera as compared with an image processing measurement method using two cameras, restrictions on the installation position of the camera can be reduced.

  4 is a flowchart showing a trolley wire detection method as another example of the embodiment in the trolley wire detection apparatus according to the present invention shown in FIG. 1, and FIG. 5 is a trolley wire detection method shown in FIG. FIG.

  The trolley wire detection device according to the present embodiment may have a configuration substantially equivalent to that of the trolley wire detection device according to the first embodiment shown in FIG. Therefore, the description of the overlapping apparatus configuration is omitted here.

  This embodiment is different from the first embodiment in the detection method. Specifically, in the first embodiment, the reflected light 1a of the trolley line 1 projected on the pan tag tough 7 is detected to detect the trolley line 1 in contact with the pantograph 7, whereas in the present embodiment, In addition, the trolley line 1 in contact with the pantograph 7 is detected by collating the reflection angle of the reflected light 1a.

  Here, the detection method of the trolley line in the present embodiment will be described with reference to FIGS. 1 and 2 described above in addition to FIGS.

  First, the vicinity of the pantograph 7 irradiated with light from the projector 8 is imaged by the camera 9, and an image as shown in FIG. 2 is input to the image processing apparatus 10 (step S11).

  Next, the image processing apparatus 10 performs edge processing by performing image processing on the input image, and detects a plurality of straight lines that are trolley line candidates (step S12).

  Next, as described in FIG. 2, the reflected light 1a from the trolley line 1 projected on the pantograph 7 is detected. Then, the incident angle of the light that generates the reflected light 1a and the reflected angle of the reflected light 1a are calculated, the incident angle and the reflected angle are collated, the reflected light 1a is present, and the incident angle and the reflected angle are the same. By extracting the straight line, the trolley line 1 in contact with the pantograph 7 is detected from the plurality of straight lines detected in step S12 (step S13).

  Calculation and collation of the incident angle and the reflection angle in step S13 will be described in detail with reference to FIG. Note that the camera 9 of the trolley line detection device of the present embodiment also captures an image as shown in FIG. 2 by capturing the vicinity of the pantograph 7 irradiated with light from the projector 8. FIG. 5 schematically shows the image of FIG. 2 as a field of view 9a and also schematically shows the relationship with the projector 8.

  Usually, the reflected light from the overhead line is projected with an inclination on the pantograph. For example, as shown in FIG. 5, the reflected light 1 a from the trolley line 1 that contacts the pantograph 7 is also projected onto the pantograph 7 with an inclination. Then, starting from the contact point 11 between the trolley line 1 and the pantograph 7 in the visual field 9a, a perpendicular line 12 is set in the visual field 9a, and the angle between the perpendicular line 12 and the extended line 8b of the reflected light 1a is obtained. The reflection angle θr of the light 1a can be calculated. The reflection angle θr is calculated by performing image processing on the image in the visual field 9a.

  Since the position of the projector 8 is known, the position of the projector 8 can be set in the field of view 9a. By setting a straight line from the position of the projector 8 to the contact point 11 in the field of view 9a, the projector 8 can be set. The incident light 8a to the contact point 11 can be set. Then, by obtaining the angle between the incident light 8a and the perpendicular line 12, the incident angle θi of the incident light 8a can be easily calculated.

  When the trolley line 1 is in contact with the pantograph 7, the base point of the reflected light 1a (the intersection of the incident light 8a and the reflected light 1a) coincides with the contact point 11 in the visual field 9a, so the reflection angle θr and the incident angle θi are Will be equal. On the other hand, when the overhead line does not contact the pantograph 7, the base point of the reflected light 1a from the overhead line (the intersection of the incident light 8a and the reflected light 1a) does not coincide with the contact point 11 in the visual field 9a. Incident angles θi are not equal. Therefore, the reflection angle θr and the incident angle θi are calculated for all the reflected lights 1a detected in the field of view 9a, and the reflection angle θr and the incident angle θi are collated. 7, it can be determined that the trolley wire 1 is in contact with the pantograph 7, and it can be determined that the trolley wire 1 is not in contact with the pantograph 7 at different angles.

  And the procedure of said step S11-S13 is repeated in multiple times until the measurement to the overhead line of a measurement object area is complete | finished (step S14). That is, an image is captured a plurality of times with respect to the overhead line of the measurement target section, and the trolley line 1 that contacts the pantograph 7 is detected in each captured image.

  In the present embodiment, the arrangement positions of the projector 8 and the camera 9 are not particularly limited. However, in order to detect the reflected light 1a, the pantograph 7 is not viewed from directly below the pantograph 7 in the top view. What is necessary is just to arrange | position the light projector 8 and the camera 9 in the position which opposes. For example, as shown in FIG. 1, a projector 8 and a camera 9 are arranged on a straight line 6a at a distance. On the other hand, when the camera 9 is arranged at a position oblique to the pantograph 7 in a top view as shown in FIGS. As described with reference to FIG. 7, the process from step S12 onward may be performed after the front image is converted by projection conversion.

  As described above, the trolley line detection device of the present embodiment takes an image near the pantograph 7 using the projector 8 and the camera 9 installed in the vehicle 6, and reflects from the trolley line 1 projected on the pantograph 7. By further collating the reflection angle θr of the light 1a with the incident angle θi, the trolley wire 1 in contact with the pantograph 7 can be detected. In the trolley wire detection device of the present embodiment, the reflection angle θr of the reflected light 1a from the trolley wire 1 and the incident angle θi are further collated, so in addition to the advantages of the first embodiment, the reliability of the trolley wire detection Can be improved.

  FIG. 6 is a schematic diagram showing another example of the embodiment of the trolley wire detection device according to the present invention, and FIG. 7 is a projection conversion of the image obtained by the trolley wire detection device according to the present invention shown in FIG. FIG. 8 is a flowchart showing a trolley wire detection method as an example of the embodiment in the trolley wire detection apparatus according to the present invention shown in FIG. 6.

  The trolley wire detection device of the present embodiment has the same configuration as the trolley wire detection device shown in FIG. 1 of the first embodiment, except for the configuration of the plurality of cameras 21 and 22 and the detection method in the image processing device 10. Therefore, the description of the overlapping configuration is omitted here.

  A specific difference is that in the trolley line detection apparatus shown in FIG. 1 of the first embodiment, the camera 9 is arranged at a position facing the pantograph 7 in a top view. In the apparatus, the cameras 21 and 22 are arranged at positions oblique to the pantograph 7 (positions not on the straight line 6a) in a top view, and as shown in FIG. (Horizontal direction) side by side. That is, with such an arrangement, the cameras 21 and 22 are stereo cameras.

  Further, the trolley wire detection device of the present embodiment tries to detect the trolley wire 1 in contact with the pantograph 7 by collating the reflection angle of the reflected light 1a from the trolley wire 1 as in the second embodiment. However, as in the second embodiment, not only the reflection angle and the incident angle in the image captured by one camera 9 are collated, but also in the images captured by the plurality of cameras 21 and 22, the reflection angle Etc. are also collated with each other. Therefore, due to these differences, the detection of the trolley line 1 in contact with the pantograph 7 is performed according to the flowchart shown in FIG.

  Here, the detection method of the trolley line in the present embodiment will be described with reference to FIG. 5 described above in addition to FIGS.

  First, the vicinity of the pantograph 7 irradiated with light from the projector 8 is imaged by the cameras 21 and 22, and each image is input to the image processing apparatus 10 (step S21).

  Next, the input image is projected and converted in the image processing apparatus 10 (step S22). In this projection conversion, an image (FIG. 7A) from the cameras 21 and 22 arranged at an oblique position with respect to the pantograph 7 in the top view is arranged at a position facing the pantograph 7 in the top view. The image is converted into an image from the camera (FIG. 7B). That is, images with different coordinate axes (coordinate systems) are converted to the same coordinate axis (coordinate system), and this allows comparison of images captured by different cameras 21 and 22 to be described later.

  This projection conversion will be described. In the images from the cameras 21 and 22 arranged at an oblique position with respect to the pantograph in the top view, as shown in FIG. 7A, the pantograph when rising and the pantograph when falling are inclined in the image. Is displayed. On the other hand, in the image from the camera arranged at the position facing the pantograph in the top view, as shown in FIG. 7B, the pantograph when rising and the pantograph when descending are displayed horizontally in the image. The Therefore, in order to convert the image of FIG. 7A to the image of FIG. 7B, for example, the coordinates in the image of FIG. 7A and the image of FIG. What is necessary is just to calculate and the determinant which converts the coordinate.

  Accordingly, in FIG. 7 (a), an arbitrary two points of the pantograph at the time of rising, A point and B point, and C point and D point corresponding to the points A and B in the pantograph at the time of descent “ABCD” is formed, and the coordinates of point A, point B, point C, point D are obtained. In FIG. 7B, point A ′ corresponding to point A and point B in the ascending pantograph , B ′ and the C ′ point and D ′ point corresponding to the C point and D point in the descending pantograph form a square “A′B′C′D ′”. The coordinates of 'point, C' point and D 'point are obtained in advance. Then, by comparing the coordinates of the rectangle “ABCD” and the rectangle “A′B′C′D ′”, a projection matrix for converting the rectangle “ABCD” to the rectangle “A′B′C′D ′” is obtained in advance. be able to. By using this projection matrix, it is possible to convert the image of FIG. 7A to the image of FIG. 7B.

  Next, the image processing apparatus 10 performs edge processing by performing image processing on each of the projected and converted images, and detects a plurality of straight lines that are candidates for the trolley line (step S23).

  Next, in a plurality of straight lines detected in each image, the reflected light 1a as shown in FIG. 5 is detected, the reflection angle θr and the incident angle θi are calculated, and the reflection angle θr and the incident angle θi are collated. As a result, a straight line with the reflected light 1a and with the reflection angle θr = incident angle θi is extracted (step S24). The calculation and collation of the reflection angle θr and the incident angle θi in step S24 are exactly the same as the method described in FIG. Therefore, detailed description thereof is omitted.

  Next, by comparing the images of the cameras 21 and 22 with respect to the straight line having the reflected light 1a extracted in step S24 and having the reflection angle θr = incidence angle θi, the pantograph 7 is displayed. The contacting trolley wire 1 is detected (step S25). Specifically, the coordinates of the contact point 11 on the straight line where the reflected light 1a is extracted in step S24 and the reflection angle θr = incidence angle θi is extracted from the projected images of the cameras 21 and 22. If the coordinates of the contact points 11 are the same, the trolley line 1 that contacts the pantograph 7 is determined. If the coordinates of the contact points 11 are different from each other, the trolley line 1 that contacts the pantograph 7 is determined. By doing so, the trolley wire 1 in contact with the pantograph 7 is detected.

  And the procedure of said step S21-S25 is repeated in multiple times until the measurement to the overhead line of a measurement object area is complete | finished (step S26). That is, an image is captured a plurality of times with respect to the overhead line of the measurement target section, and the trolley line 1 that contacts the pantograph 7 is detected in each captured image.

  In this embodiment, the cameras 21 and 22 are used as stereo cameras. However, since the projection conversion is performed, the arrangement positions of the cameras 21 and 22 including the arrangement position of the projector 8 are not particularly limited. Absent. As a preferable arrangement position, for example, as shown in FIG. 6, in order to detect reflected light, the projector 8 is arranged at a position facing the pantograph 7 in a top view while avoiding directly below the pantograph 7, and the direction of the sleepers Cameras 21 and 22 may be arranged on the screen.

  As described above, the trolley line detection device according to the present embodiment uses the projector 8 installed in the vehicle 6 and the plurality of cameras 21 and 22 to capture an image near the pantograph 7 and is projected onto the pantograph 7. The trolley line 1 that contacts the pantograph 7 is detected by checking the presence / absence of the reflected light 1a from 1 and the reflection angle θr and the incident angle θi and checking the contact points 11 between the cameras 21 and 22. It is something that can be done. And in the trolley wire detection apparatus of a present Example, while collating the presence or absence of the reflected light 1a from the trolley wire 1, its reflection angle (theta) r, and incident angle (theta) i, the contact points 11 are collated between the cameras 21 and 22. FIG. Therefore, the reliability of the trolley wire detection can be further improved as compared with the second embodiment.

  The trolley line detection device according to the present invention is suitable for detecting a trolley line in contact with a pantograph by image processing.

It is the schematic which shows an example of embodiment of the trolley wire detection apparatus which concerns on this invention. It is a figure which shows the image obtained with the trolley wire detection apparatus based on this invention shown in FIG. 2 is a flowchart showing a trolley wire detection method as an example of an embodiment of the trolley wire detection device according to the present invention shown in FIG. 1. 3 is a flowchart showing a trolley wire detection method as another example of the embodiment in the trolley wire detection device according to the present invention shown in FIG. 1. It is a schematic diagram explaining the detection method of the trolley line shown in FIG. It is the schematic which shows another example of embodiment of the trolley wire detection apparatus which concerns on this invention. It is a figure explaining the method of carrying out the projection conversion of the image obtained with the trolley line detection apparatus which concerns on this invention shown in FIG. 7 is a flowchart showing a trolley wire detection method as an example of the embodiment in the trolley wire detection apparatus according to the present invention shown in FIG. 6. It is a figure explaining the trolley line detection method of the conventional image processing measurement system using the shadow of a pantograph.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Trolley line 2 Suspension line 5 Rail 6 Train 7 Pantograph 8 Floodlight 9, 21, 22 Camera 10 Image processing apparatus

Claims (4)

Light irradiation means for irradiating light toward the pantograph;
One imaging means for imaging the vicinity of the pantograph irradiated with light by the light irradiation means;
In the trolley line detection device having an image processing means for detecting a trolley line in contact with the pantograph by recording an image picked up by the image pickup means and performing image processing of the image.
The image processing means includes
By performing edge detection of the image, a plurality of straight lines are detected,
Detecting reflected light from the trolley line projected on the pantograph from the image;
A trolley line detection device that detects a trolley line that contacts a pantograph by extracting a straight line with the reflected light from the detected plurality of straight lines. Light irradiation means for irradiating light toward the pantograph;
One imaging means for imaging the vicinity of the pantograph irradiated with light by the light irradiation means;
In the trolley line detection device having an image processing means for detecting a trolley line in contact with the pantograph by recording an image picked up by the image pickup means and performing image processing of the image.
The image processing means includes
By performing edge detection of the image, a plurality of straight lines are detected,
Detecting reflected light from the trolley line projected on the pantograph from the image;
While calculating the incident angle of the light that generates the detected reflected light, calculating the reflection angle of the reflected light, collate the incident angle and the reflection angle,
A trolley line in contact with the pantograph is detected by extracting a straight line having the reflected light and having the same incident angle and the same reflection angle from the detected plurality of straight lines. Trolley wire detection device. Light irradiation means for irradiating light toward the pantograph;
A plurality of imaging means for imaging the vicinity of the pantograph irradiated with light by the light irradiation means;
In the trolley line detection device having an image processing means for detecting a trolley line in contact with the pantograph by recording each image picked up by the plurality of image pickup means and performing image processing of the image,
The image processing means includes
The image captured by different imaging means is converted into an image of the same coordinate axis by performing projection conversion,
A plurality of straight lines are detected by performing edge detection on each of the projected images.
The reflected light from the trolley line projected on the pantograph is detected from each of the projected and converted images,
In each of the projection-converted images, the incident angle of the light that generates the detected reflected light is calculated, the reflection angle of the reflected light is calculated, and the incident angle and the reflection angle are collated and detected. A straight line having the reflected light and having the same incident angle and the same reflection angle is extracted from the plurality of straight lines,
In the images by different imaging means that have undergone projection conversion, the coordinates of the contact points between the extracted straight line and the pantograph are collated with each other,
A trolley line detection device for detecting a trolley line that contacts a pantograph by further extracting a straight line having the same coordinates of the contact point from the extracted straight line. Light irradiation means for irradiating light toward the pantograph;
A plurality of imaging means for imaging the vicinity of the pantograph irradiated with light by the light irradiation means;
In the trolley line detection device having an image processing means for detecting a trolley line in contact with the pantograph by recording each image picked up by the plurality of image pickup means and performing image processing of the image,
The image processing means includes
The image captured by different imaging means is converted into an image of the same coordinate axis by performing projection conversion,
A plurality of straight lines are detected by performing edge detection on each of the projected images.
The reflected light from the trolley line projected on the pantograph is detected from each of the projected and converted images,
In each of the projection-converted images, the incident angle of the light that generates the detected reflected light is calculated, the reflection angle of the reflected light is calculated, and the incident angle and the reflection angle are collated and detected. A straight line having the reflected light and having the same incident angle and the same reflection angle is extracted from the plurality of straight lines,
In the images by the different imaging means subjected to projection conversion, the reflection angles in the extracted straight line are collated with each other,
A trolley line detection device for detecting a trolley line in contact with a pantograph by further extracting a straight line having the same reflection angle from the extracted straight lines.

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