JP5629478B2 - Pantograph monitoring device - Google Patents

Description

  The present invention relates to an apparatus for analyzing a state of a pantograph by analyzing an image taken on a roof of a train, and more particularly to a pantograph monitoring apparatus for detecting whether or not a pantograph horn is broken by image processing.

  2. Description of the Related Art Conventionally, an apparatus for measuring the thickness of a sliding board has been proposed as an apparatus for analyzing a pantograph state by analyzing an image taken on a roof of a train. For example, in Patent Document 1, an image obtained by photographing a pantograph from obliquely above by irradiating a flash lamp is used to detect a joining plane line between the upper surface of the sliding plate and the sliding plate and the hull from the luminance difference between the captured images, An apparatus is disclosed for determining the thickness of a strip as the distance between the edge of the top surface and the edge of the coupling surface line.

  Further, in Patent Document 2, an image obtained by photographing a pantograph from a slightly lower side than the horizontal by stroboscopic irradiation is used, and a gray edge is detected from the image, and the edges are connected to each other by connecting the edges. An apparatus for obtaining coordinate values and obtaining the thickness of a sliding plate from the difference between these coordinate values is disclosed.

JP 2004-312832 A JP 2002-150271 A

  The apparatuses described in Patent Documents 1 and 2 are apparatuses that measure the thickness of a sliding board installed on a hull of a pantograph by analyzing an image obtained by photographing the pantograph. For this reason, it is possible to inspect the wear state of the sliding plate as the state of the pantograph. The wear of the sliding plate is caused by gradually scraping the sliding plate due to the contact between the overhead wire and the sliding plate during traveling for supplying electric power to the electric train.

  However, the abnormalities occurring in the pantograph are not only the wear of the sliding plate. As a larger abnormality of the pantograph, there is a fold generated in the horn 1b of the pantograph 1a as shown in FIG. If the train continues to run with the horn 1b being broken, there is a possibility that the overhead wire contacting the pantograph 1a and the surrounding structures that support the overhead wire may be greatly damaged. Therefore, when the horn 1b is broken, it is necessary to stop the train and suppress damage to the overhead wire and the surrounding structure.

  In view of the above, an object of the present invention is to provide a pantograph monitoring apparatus that can detect the presence or absence of bending of a pantograph horn by analyzing an image taken on the roof of a train.

The pantograph monitoring device according to the first invention for solving the above-described problem is,
In a pantograph monitoring device comprising a photographing means for photographing the roof of a train, and an image processing means for monitoring the state of the pantograph by performing image processing on an input image photographed by the photographing means,
Inspection line detection means for detecting the shape of the pantograph horn from the input image as an inspection line from the input image, between the inspection line and a reference line that is a comparison target for inspecting the state of the inspection line Pantograph horn shape inspection processing having inspection angle calculation means for calculating the inspection angle, and horn breakage determination means for monitoring the state of the horn based on whether or not the inspection angle is included in a preset horn angle range With means ,
The inspection line detection means includes an inspection line setting unit that acquires the inspection line based on a plurality of inspection points set for the horn on the input image, and
The pantograph horn shape inspection processing means includes an image data input means for capturing the input image, a pantograph detection information input means for acquiring pantograph detection information, the size of the inspection small area, the size of the search area, and the horn angle range. Inspection setting means for outputting the inspection setting information, and result data output means for outputting the determination result in the horn breakage determination unit,
And, the plurality of inspection points are the horn root inspection point, the horn center inspection point, the horn tip inspection point set at the root, center, and tip of each of the left and right horns,
The inspection line is a first inspection line that passes through the horn root inspection point and the horn center inspection point on each of the left and right sides, and a second inspection line that passes through the horn center inspection point and the horn tip inspection point,
The inspection angle is, the first inspection angle is an angle formed between the first inspection line and the reference line, and the second inspection angle der Rukoto is an angle formed between the second inspection line and the reference straight line It is characterized by.

Further, the pantograph monitoring device according to the second invention is the pantograph monitoring device according to the first invention, wherein the inspection angle calculation means sets the reference straight line according to the position of the pantograph on the input image. It has the straight line calculation part.

In addition, the pantograph monitoring device according to the third invention is the pantograph monitoring device according to the first or second invention, wherein the horn breakage determination means includes an inclination of the inspection straight line included in a preset horn angle range. It is characterized by determining whether the horn is broken based on whether or not it is broken.

According to the pantograph monitoring device of the first invention, it is provided with photographing means for photographing the roof of a train, and image processing means for monitoring the state of the pantograph by performing image processing on an input image photographed by the photographing means. In the pantograph monitoring apparatus, the image processing means detects the shape of the horn of the pantograph as an inspection line from the input image, and the inspection line and the reference straight line to be compared for inspecting the state of the inspection line. Pantograph horn shape inspection processing means having inspection angle calculation means for calculating an inspection angle between them, and horn breakage determination means for monitoring the state of the horn based on whether or not the inspection angle is included in a preset horn angle range wherein the inspection line detecting means, based on the plurality of test points to be set to the horn on the input image An inspection line setting unit that acquires the inspection line, and the pantograph horn shape inspection processing unit includes an image data input unit that captures the input image, a pantograph detection information input unit that acquires pantograph detection information, and an inspection small region Inspection setting means for outputting inspection setting information consisting of the size of the search area, the size of the search area, and the horn angle range, and result data output means for outputting the determination result in the horn breakage determination unit, and the plurality Are the horn root inspection point, horn center inspection point, horn tip inspection point set at the root, center, and tip of each of the left and right horns, and the inspection straight line is the horn root inspection point for each of the left and right horns. And a first inspection line passing through the horn center inspection point, and a first inspection line passing through the horn center inspection point and the horn tip inspection point. A second inspection that is an inspection straight line, and the inspection angle is an angle formed by the first inspection straight line and the reference straight line, and an angle formed by the second inspection straight line and the reference straight line. angle der Runode and by analyzing the images taken on the roof of the train to detect the bending of the horn with high accuracy and reliably can detect the presence or absence of bending of the horn, peripheral structure for supporting the contact wire and the catenary Can prevent damage.

Further, according to the pantograph monitoring apparatus according to the second invention, the inspection angle calculation means has the reference line calculation unit that sets the reference line according to the position of the pantograph on the input image. Breaks can be detected.

Further, according to the pantograph monitoring device according to the third aspect of the invention, the horn breakage determination means determines whether or not the horn is broken based on whether or not the inclination of the inspection straight line is included in the preset horn angle range. Therefore, it is possible to provide pantograph damage information including whether or not the horn is broken.

It is explanatory drawing which shows the example of installation of the pantograph monitoring apparatus which concerns on Example 1 of this invention. It is explanatory drawing which shows the example of installation of the surveillance camera in Example 3 of this invention. It is a block diagram which shows schematic structure of the pantograph horn shape test | inspection process part which concerns on Example 1 of this invention. FIG. 4A is an explanatory diagram illustrating an example of a reference pantograph image according to the present embodiment, and FIG. 4B is an explanatory diagram illustrating an example of an inspection pantograph image according to the present embodiment. It is explanatory drawing which shows the example of the test | inspection straight line and test | inspection angle in Example 1 of this invention. It is a block diagram which shows schematic structure of the pantograph horn shape test | inspection process part which concerns on Example 2 of this invention. It is explanatory drawing which shows the example of a setting of the horn test | inspection range in Example 2 of this invention. It is explanatory drawing which shows the example of extraction of the test | inspection straight line in Example 2 of this invention. It is a block diagram which shows schematic structure of the pantograph horn shape test | inspection process part which concerns on Example 3 of this invention. It is explanatory drawing which shows the example which sets an inspection point in Example 3 of this invention. It is a flowchart which shows the flow of the pantograph horn inspection process which concerns on Example 3 of this invention. It is explanatory drawing which shows the example which sets a reference | standard straight line in Example 3 of this invention. FIG. 13A is a top view of the pantograph, FIG. 13B is a front view of the pantograph, and FIG. 13C is a side view of the pantograph. It is explanatory drawing which shows an example of the change of the appearance of a pantograph by the position on an image. It is explanatory drawing which shows an example of a fold of the pantograph horn.

  Hereinafter, the details of the pantograph monitoring apparatus according to the present invention will be described with reference to the drawings.

  A first embodiment of the pantograph monitoring apparatus according to the present invention will be described with reference to FIGS. FIG. 1 is an explanatory view showing an installation example of a pantograph monitoring apparatus according to the present embodiment, FIG. 2 is an explanatory view showing an installation example of a surveillance camera in the present embodiment, and FIG. 3 is a pantograph horn shape inspection processing unit according to the present embodiment FIG. 4A is an explanatory diagram illustrating an example of a reference pantograph image according to the present embodiment, and FIG. 4B is an explanatory diagram illustrating an example of an inspection pantograph image according to the present embodiment. FIG. 5 is an explanatory diagram showing an example of the inspection straight line and the inspection angle in the present embodiment.

  As shown in FIG. 1, in this embodiment, the pantograph monitoring device is illuminated by a sensor 2 for detecting the approach of the train 1, a lighting device 3 that illuminates the roof of the train 1, and a lighting device 3 on the roof of the train 1. A monitoring camera 4 as a photographing means for photographing a region to be captured, and an image processing device 5 as an image processing means connected to the sensor 2, the illumination device 3, and the monitoring camera 4.

  The sensor 2 measures, for example, vibration of the rail 6 and is attached to the rail 6 and connected to a train approach warning unit (not shown) as train approach warning means. The train approach warning unit detects whether or not the train 1 is approaching according to the output of the sensor 2, and if it is determined that the train 1 is approaching, the train approach signal is sent as an alarm to the image processing device 5. It transmits to the imaging | photography process part 5A mentioned later.

  The lighting device 3 is installed in front of the traveling direction of the train 1 with respect to the sensor 2, and is configured to be turned on and off based on a signal from the imaging processing unit 5A.

  The surveillance camera 4 is installed at approximately the same position as the illumination device 3 so as to photograph an area illuminated by the illumination device 3 on the roof of the train 1, and as shown in FIG. If the position is the origin O of the reference coordinate system, the direction of the sleepers 9 on the track 6 is the X-axis direction, the direction of travel of the train is the Y-axis direction, and the vertical direction is the Z-axis direction, the camera optical axis is the Z-axis direction. The horizontal axis of the sensor is installed in the X-axis direction, and the vertical axis of the image sensor of the monitoring camera 4 is installed in the Y-axis direction. Here, a symbol H shown in FIG. 2 is a vertical distance from the lens focal point position to the pantograph. Further, in this embodiment, the monitoring camera 4 is configured to start and end shooting based on a signal from the shooting processing unit 5A. An image captured by the monitoring camera 4 is transmitted to a pantograph search processing unit 5B described later of the image processing device 5.

  The position where the lighting device 3 and the monitoring camera 4 are installed is a position separated from the sensor 2 by a predetermined distance, for example, when the monitoring camera 4 is activated based on the output of the sensor 2, the train 1 performs this monitoring. The position at which shooting by the monitoring camera 4 can be started immediately before entering the field of view of the camera 4 is made.

  The image processing apparatus 5 includes an imaging processing unit 5A that controls imaging of the pantograph 1a, a pantograph search processing unit 5B that detects the pantograph 1a from images captured by the monitoring camera 4, and an image of the pantograph 1a that is detected by the monitoring camera 4. It comprises a pantograph horn shape inspection processing unit 5C that analyzes and detects breakage of the pantograph horn.

  The imaging processing unit 5 </ b> A is a part that performs processing for imaging the roof of the train 1 that passes by controlling the sensor 2, the illumination device 3, and the monitoring camera 4.

  The pantograph detection processing unit 5B detects the image of the pantograph 1a from the image on the roof of the train 1 photographed by the photographing processing unit 5A, and outputs the position of the pantograph 1a on the image as pantograph detection information together with the image data. This is the part that performs processing.

  The pantograph horn shape inspection processing unit 5C is a part that analyzes data of an image of the pantograph 1a detected by the pantograph search processing unit 5B and detects whether or not the pantograph horn is broken.

  Here, the processing in the imaging processing unit 5A and the pantograph search processing unit 5B uses a known method (for example, see Japanese Patent Application No. 2009-014850), and detailed description thereof is omitted.

  Hereinafter, the pantograph horn shape inspection processing unit 5C will be described in detail. As shown in FIG. 3, the pantograph horn shape inspection processing unit 5C includes an image data input unit 5a, a pantograph detection information input unit 5b, a setting unit 5c, a storage unit 5d, an inspection small region setting unit 5e, and an inspection point search region setting unit. 5f, an inspection point detection unit 5g, an inspection line setting unit 5h, an inspection angle calculation unit 5i, a horn breakage determination unit 5j, and a result data output unit 5k.

  The image data input unit 5a includes the data of the reference pantograph image 7 as shown in FIG. 4A extracted from the database (not shown), and the inspection pantograph as shown in FIG. Data of the image 8 is input from the pantograph search processing unit 5B and stored as image data in the storage unit 5d. Here, it is assumed that the reference pantograph image 7 is an image that does not break in the pantograph horn selected from images obtained by photographing the pantograph 1a, and is registered in advance in the database. The inspection pantograph image 8 is an image obtained by detecting the pantograph 1a to be inspected by the pantograph search processing unit 5B among the images controlled by the imaging processing unit 5A and photographed by the monitoring camera 4.

  The pantograph detection information input unit 5b receives the pantograph detection information including the position of the pantograph 1a on the inspection pantograph image 8 from the pantograph search processing unit 5B and stores it in the storage unit 5d.

The setting unit 5c inputs the data of the reference pantograph image 7 from the storage unit 5d, and the inspection reference point P (in FIG. 8, P _L1 , P _L2 , P _L3 , P) is applied to the horn 1b on the reference pantograph image 7. _R1 , _PR2 , _PR3 ) are set. Further, the inspection small area sizes W _A1 and W _A2 , the search area sizes W _B1 and W _B2 , and the horn angle range are set, and each setting data is collected as inspection setting information and stored in the storage unit 5d as inspection setting information. Here, as shown in FIG. 4A, the inspection reference points P are set at three locations, the root, the center, and the tip of each of the left and right horns 1b on the reference pantograph image 7. These are hereinafter referred to as the horn root inspection reference points P _L1 and P _R1 , the horn center inspection reference points P _L2 and P _R2 , and the horn tip inspection reference points P _L3 and _{PR 3} , respectively. Call it. The inspection small area sizes W _A1 and W _A2 are parameters for determining the size of the inspection small area A described later, and the search area sizes W _B1 and W _B2 are parameters for determining the size of the inspection point search area B described later. is there. Further, the horn angle range has been set to determine the presence or absence of bending of the horn 1b, is the angle between the inspection line L ₁ which will be described later with the longitudinal axis 14 of the pantograph 1a in the inspection pantograph image 8 This is a normal range of the inspection angle θ.

  The storage unit 5d inputs and stores data output from each processing unit, and outputs necessary data to a desired processing unit in response to a request from each processing unit.

The inspection small area setting unit 5e inputs the information of the inspection reference point P and the inspection small area sizes W _A1 and W _A2 from the storage unit 5d, and sets the inspection small area A that is a rectangular area centered on the inspection reference point P. To do. Information on the inspection small area A is stored in the storage unit 5d. Here, as shown in FIG. 4 (a), the inspection small areas are the horn root inspection reference points P _L1 and P _R1 set on the reference pantograph image 7, the horn center inspection reference points P _L2 and P _R2 , and the horn tip. The inspection reference points P _L3 and P _R3 are centered on the respective centers. Hereinafter, the horn root small areas A _L1 and A _R1 , the horn central small areas A _L2 and A _R2 , the horn tip small areas A _L3 and A _R3 , respectively. When called and collectively called, it is called inspection small area A.

The inspection point search region setting unit 5 f inputs information on the search region sizes W _B1 and W _B2 and pantograph detection information from the storage unit 5 d and sets the inspection point search region B at an appropriate position on the inspection pantograph image 8. Information on the inspection point search area B is stored in the storage unit 5d. Here, as shown in FIG. 4B, the inspection point search area B is obtained from the inspection pantograph image 8 by the horn root inspection reference points P _L1 and P _R1 , the horn center inspection reference points P _L2 and P _R2 , and the horn tip inspection. This is an area set for extracting points corresponding to the reference points P _L3 and P _R3 . More specifically, the inspection point search area B includes the root, center, and tip positions of the left and right horns 1b estimated based on the position of the pantograph 1a obtained from the pantograph detection information with respect to the inspection pantograph image 8. Set to Hereinafter, the inspection point search areas set for the root, center, and tip of the horn 1b are the horn root search areas B _L1 and B _R1 , the horn center search areas B _L2 and B _R2 , and the horn tip search areas B _L3 , respectively. This is referred to as B _R3, and collectively referred to as inspection point search region B.

The inspection point detection unit 5g inputs the image data of the reference pantograph image 7 and the inspection pantograph image 8, information on the inspection small region A, and the inspection point search region B from the storage unit 5d, and the inspection pantograph image 8 by the region correlation method. An inspection point Q is detected above. Information on the inspection point Q is stored in the storage unit 5d. Here, as shown in FIG. 4B, the inspection point Q is a point on the inspection pantograph image 8 corresponding to the inspection reference point P. Hereinafter, points corresponding to the horn root inspection reference points P _L1 and P _R1 , the horn center inspection reference points P _L2 and P _R2 , and the horn tip inspection reference points P _L3 and _{PR 3} are respectively designated as the horn root inspection reference points Q _L1 and Q _R1. The horn center inspection points Q _L2 and Q _R2 and the horn tip inspection points Q _L3 and Q _R3 are referred to as inspection points Q.

Inspection line setting portion 5h inputs the information of the inspection point Q from the storage unit 5d, it sets the inspection line L _1. Information on the inspection line L ₁ is stored in the storage unit 5d. Here, the inspection straight line L ₁ is a straight line passing through the inspection points Q adjacent to each other in the left and right horns 1b on the inspection pantograph image 8, as shown in FIG. In the following, a straight line passing through the horn root inspection point Q _L1 and the horn central inspection point Q _L2, and a straight line passing through the horn root inspection point Q _R1 and the horn central inspection point Q _R2 are respectively the first inspection straight lines L _L1 and L _R1 , and the horn central inspection. The straight line passing through the point Q _L2 and the horn tip inspection point Q _L3 and the straight line passing through the horn center inspection point Q _R2 and the horn tip inspection point Q _R3 are referred to as second inspection straight lines L _L2 and L _R2 , respectively. This is referred to as a straight line L ₁ .

Checking the angle calculation unit 5i receives the information and pantograph detection information of the inspection lines L ₁ from the storage unit 5d, it calculates the test angle theta. Information on the inspection angle θ is stored in the storage unit 5d. Here, the inspection angle θ is an angle formed between each inspection straight line L ₁ and the longitudinal axis L ₀ of the pantograph parallel to the longitudinal direction of the pantograph as shown in FIG. Hereinafter, the angle formed between the longitudinal axis L ₀ of the pantograph and the first inspection lines L _L1 , L _R1 is the first inspection angle θ _L1 , θ _R1 , and the longitudinal axis L ₀ of the pantograph and the second inspection lines L _L2 , L 1 _The angle formed by _R2 is referred to as second inspection angles θ _L2 and θ _R2, and when collectively referred to as inspection angle θ.

  The horn breakage determination unit 5j inputs information on the inspection angle θ and the horn angle range from the storage unit 5d, detects whether the horn 1b is bent, and checks the obtained information on whether the horn 1b is bent. Summarize as result data. Horn breakage inspection result data is stored in the storage unit 5d.

  The result data output unit 5k takes out the horn breakage inspection result data from the storage unit 5d and outputs it as a pantograph horn shape inspection result.

Next, the flow of the boat inspection process in the pantograph monitoring apparatus according to the present embodiment will be briefly described. In the pantograph monitoring apparatus according to the present embodiment, first, image data and pantograph detection information are input in the image data input unit 5a and the pantograph detection information input unit 5b, and the inspection reference point P and the inspection are input in the setting unit 5c. Small area sizes W _A1 and W _A2 , search area sizes W _B1 and W _B2 , and horn angle range are set.

Subsequently, in the inspection small region setting unit 5e, the inspection point search region setting unit 5f, and the inspection point detection unit 5g, the inspection reference point P, the inspection small region sizes W _A1 and W _A2 , and the search region sizes W _B1 and W that are set in advance. _The inspection point Q is detected based on _B2 .

Hereinafter, detection of the inspection point Q will be described in detail. First, when the inspection point Q is detected, the inspection small area A is set for the reference pantograph image 7 based on the inspection reference point P and the inspection small area sizes W _A1 and W _A2 in the inspection small area setting unit 5e. The inspection point search area setting unit 5f sets the inspection point search area _B for the inspection pantograph image 8 based on the search area sizes W _B1 and W _B2 . Note that the setting position of the inspection search region B is relatively set according to the position on the image of the pantograph 1a based on the pantograph detection information so that it is set to an appropriate position of the pantograph 1a in each inspection pantograph image 8. It shall be set by parallel movement to

  Thereafter, the inspection point detection unit 5g compares the image data of the inspection small area A set in the reference pantograph image 7 with the image data of the inspection point search area B set in the inspection pantograph image 8, and the inspection point search area B The position where the image data most similar to the image data of the inspection small area A exists is detected. The position on the inspection pantograph image 8 acquired in this way is set as the inspection point Q. For comparison of image data in the area correlation method, absolute value difference, normalized correlation, direction code matching (for example, F.ULLAH, S.KANEKO and S.IGARASHI, "Orientation Code Matching for Robust Object Search", IEICE Trans. Inf. & Syst., Vol. E84-D, No. 8, pp. 999-1006, 2001 etc.) can be used.

When the inspection point Q is detected, the inspection line setting unit 5h then sets a straight line L passing through the points adjacent to each other for the inspection point Q detected for the left and right horns 1b as shown in FIG. . Specifically, based on the information of the inspection point Q detected in the inspection pantograph image 8, inspection lines L _L1 and L _L2 and inspection lines L _R1 and L _R2 are set for the left and right horns 1b as shown in FIG. By inspecting the state of the inspection straight line L ₁ set in this way, it is determined whether or not the horn 1b is broken.

Subsequently, the inspection angle calculator 5i calculates the inspection angle θ for each of the left and right horns 1b as shown in FIG. Specifically, based on the information of the inspection line L _1, to calculate each test angle θ about the left and right horn 1b as shown in FIG. It is assumed that the longitudinal axis L ₀ of the pantograph 1a is obtained from the pantograph detection information.

  Subsequently, the horn breakage determination unit 5j determines whether or not the inspection angle θ falls within the horn angle range, and determines whether or not the horn 1b is broken. The horn angle range is set in advance by the setting unit 5c.

Finally, the horn breakage inspection result data is output by the result data output unit 5k.
The above process is repeated until the pantograph horn shape inspection is completed.

  According to the pantograph monitoring apparatus according to the present embodiment configured as described above, it is possible to detect whether the horn 1b of the pantograph 1a is broken using an image obtained by photographing the roof of the train 1 with the monitoring camera 4.

  The second embodiment of the present invention will be described in detail with reference to FIGS. 6 is a block diagram showing a schematic configuration of a pantograph horn shape inspection processing unit according to the present embodiment, FIG. 7 is an explanatory diagram showing an example of setting a horn inspection range in the present embodiment, and FIG. 8 is extracted in the present embodiment. It is explanatory drawing which shows the example of the test | inspection straight line.

  As shown in FIG. 6, the present embodiment is different from the first embodiment in the configuration of the pantograph horn shape inspection processing unit 5C. Other configurations are generally the same as those described in the first embodiment, and hereinafter, the same reference numerals are given to portions performing the same processing, and redundant descriptions are omitted, and different points will be mainly described.

  As shown in FIG. 6, in this embodiment, the pantograph horn shape inspection processing unit 5C includes an image data input unit 5a, a pantograph detection information input unit 5b, a setting unit 5c, a storage unit 5d, a horn inspection range setting unit 5l, and a sharpening. A processing unit 5m, a straight line extraction unit 5n, an inspection angle calculation unit 5i, a horn breakage determination unit 5j, and a result data output unit 5k are provided.

The setting unit 5c sets the horn inspection range sizes W _C1 and W _C2 , the straight line minimum length, and the horn angle range. These pieces of setting data are collected as inspection setting information and stored in the storage unit 5d. Here, as shown in FIG. 7, the horn inspection range sizes W _C1 and W _C2 are parameters for determining the size of the horn inspection range C, which will be described later, and the straight line minimum length is a minimum for detecting a preset inspection line. Is the length of Further, the horn angle range has been set to determine the presence or absence of bending of the horn 1b, is the angle between the inspection line L ₂ to be described later with the longitudinal axis 14 of the pantograph 1a in the inspection pantograph image 8 This is a normal range of the inspection angle θ.

The horn inspection range setting unit 5l inputs pantograph detection information and information on the horn inspection range sizes W _C1 and W _C2 from the storage unit 5d, and sets the horn inspection range C. Information on the horn inspection range C is stored in the storage unit 5d. Here, the horn inspection range C is an area set according to the position of the pantograph 1a on the inspection pantograph image 8 obtained from the pantograph detection information, and surrounds the left and right horns 1b as shown in FIG. Is set. Hereinafter, the range set for the horn 1b located on the left side of the image and the range set for the horn 1b located on the right side of the image are referred to as horn inspection ranges C _L and C _R , respectively. Is called the horn inspection range C.

The sharpening processing unit 5m inputs the information of the horn inspection ranges C _L and C _{R and} the data of the inspection pantograph image 8 from the storage unit 5d, extracts the edges in the horn inspection ranges C _L and C _R , Are collected as edge data. The edge data is stored in the storage unit 5d. As a sharpening method, a differential filter such as a Sobel filter or LOG is used.

Line extraction unit 5n inputs the information of the edge data and the linear minimum length from the storage unit 5d, horn inspection range C _L as shown in FIG. 8, a straight line having a linear least over the length of the length from the C _R Are extracted and summarized as an inspection line L ₂ . Information on the inspection line L ₂ is stored in the storage unit 5d. Note that this is excluded for straight lines shorter than the minimum straight line length.

Checking the angle calculation unit 5i receives the inspection of the linear L ₂ information and pantograph detection information from the storage unit 5d, the inspection angle theta (FIG. 8 is an angle between the longitudinal axis L ₀ of each inspection line L ₂ and the pantograph Then, the first inspection angle θ _L1 and the second inspection angle θ _L2 ) are calculated. Information on the inspection angle θ is stored in the storage unit 5d.

  The horn breakage determination unit 5j inputs information on the inspection angle θ and the horn angle range from the storage unit 5d, determines whether or not the horn 1b is bent, and summarizes it as horn breakage inspection result data. Horn breakage inspection result data is stored in the storage unit 5d.

  The result data output unit 5k takes out the horn breakage inspection result data from the storage unit 5d and outputs it as a pantograph horn shape inspection result.

Next, the flow of the boat inspection process in the pantograph monitoring apparatus according to the present embodiment will be briefly described. In the pantograph monitoring apparatus according to this embodiment, first, the horn inspection range sizes W _C1 and W _C2 , the minimum linear length, and the horn angle range are set by the setting unit 5c.

Subsequently, the horn inspection range setting unit 5l sets the horn inspection range C using the pantograph detection information input in the pantograph detection information input unit 5b and the horn inspection range sizes W _C1 and W _C2 set by the setting unit 5c. .

Subsequently, as shown in FIG. 8, the sharpening processing unit 5m extracts edges from the horn inspection ranges C _L and C _R set to the left and right of the pantograph 1a with respect to the inspection pantograph image 8, and the straight line extraction unit 5n. Inspection lines L _L and L _R are detected based on the edge data extracted by the above. Thereafter, as shown in FIG. 8, the inspection angle calculator 5i calculates the inspection angle θ as an angle formed by the longitudinal axis L ₀ of the pantograph 1a and the inspection lines L _L and L _R.

  Subsequently, the horn breakage determination unit 5j determines whether or not the horn 1b is bent based on whether or not the inspection angle θ falls within the horn angle range. Finally, the result data output unit 5k outputs the horn breakage inspection result data. Output. The above process is repeated until the pantograph horn shape inspection is completed.

  According to the pantograph monitoring apparatus according to the present embodiment configured as described above, in addition to the effects of the apparatus shown in the first embodiment, the horn 1b can be used even in an environmental condition where the image is dark and the tip of the horn 1b is difficult to see. Since a straight line can be extracted by image processing, it is possible to detect whether the horn 1b of the pantograph 1a is broken.

  A third embodiment of the pantograph monitoring apparatus according to the present invention will be described with reference to FIGS. FIG. 9 is a block diagram showing a schematic configuration of a pantograph horn shape inspection processing unit according to the present embodiment, FIG. 10 is an explanatory diagram showing an example of setting inspection points in the present embodiment, and FIG. 11 is a shape of a pantograph horn according to the present embodiment. FIG. 12 is an explanatory diagram illustrating an example of setting a reference line in the present embodiment, FIG. 13 is an explanatory diagram illustrating a pantograph, and FIG. 14 is an explanatory diagram illustrating a change in the shape of the pantograph with respect to a position on the image. FIG.

  This embodiment is different from the first embodiment described above in the configuration of the pantograph horn shape inspection processing unit 5C. In the following, the same reference numerals are given to those performing the same processes as those shown in FIG. 3 or FIG. 6, and the overlapping description will be omitted, and different points will be mainly described.

  As shown in FIG. 9, in this embodiment, the pantograph horn shape inspection processing unit 5C includes an image data input unit 5a, a pantograph detection information input unit 5b, a pantograph shape data input unit 5o, a setting unit 5c, a storage unit 5d, and an inspection line. A detection unit 5p, a reference straight line calculation unit 5q, an inspection angle calculation unit 5i, a horn breakage determination unit 5j, and a result data output unit 5k are provided.

  The pantograph shape data input unit 5o inputs pantograph shape data, which is three-dimensional shape data of the pantograph 1a, and stores it in the storage unit 5d.

  In addition to the processing in the first or second embodiment, the setting unit 5c sets the lens focal length f, the size a on the image sensor per pixel of the image, and the vertical distance H from the lens focal position to the pantograph. All the setting information is collected as inspection setting information and stored in the storage unit 5d. Here, the lens focal length f is the focal length of the lens of the monitoring camera 4.

The inspection line detection unit 5p receives the inspection setting information, the pantograph detection information, and the image data from the storage unit 5d, and detects the inspection line L ₃ (L ₁ or L ₂ ). That is, a series of processes from analyzing the inspection pantograph image 8 described in Embodiment 1 or Embodiment 2 to outputting the inspection line L ₃ is performed.

The reference straight line calculation unit 5q receives the inspection setting information, the pantograph detection information, and the pantograph shape data from the storage unit 5d. straight line obtained based on the shape (hereinafter, referred to as "reference linear") obtaining the L _B. Reference line L _B is stored in the storage unit 5d.

Checking the angle calculation unit 5i receives the inspection line L ₃ and the reference straight line L _B from the storage unit 5d, calculates the test angle θ as an angle between the inspection line L ₃ and the reference line L _B. The inspection angle θ is stored in the storage unit 5d.

  The horn breakage determination unit 5j inputs information on the inspection angle θ and the horn angle range from the storage unit 5d, determines whether or not the horn 1b is bent, and determines whether or not the horn 1b is bent. Summarize as result data. Horn breakage inspection result data is stored in the storage unit 5d.

  The result data output unit 5k takes out the horn breakage inspection result data from the storage unit 5d and outputs it as a pantograph horn shape inspection result.

  Below, the flow of the boat body inspection process in the pantograph monitoring apparatus according to the present embodiment will be briefly described with reference to FIG. As shown in FIG. 11, in the pantograph horn shape inspection apparatus according to the present embodiment, first, the setting unit 5c calculates the pantograph center position Pc on the inspection pantograph image 8 (step S1).

  Subsequently, the setting unit 5c performs a process of converting the pantograph center position Pc on the inspection pantograph image 8 into the pantograph center position PC (Xp, Yp, Zp) on the reference coordinate system (step S2).

  The pantograph center position PC (Xp, Yp, Zp) on the reference coordinate system is first based on the position of the pantograph 1a on the inspection pantograph image 8 obtained from the pantograph detection information. Pc can be obtained, and the center position Pc can be obtained by coordinate conversion.

  Here, the coordinate conversion from the center position Pc of the pantograph 1a on the inspection pantograph image 8 to the center position PC (Xp, Yp, Zp) of the pantograph 1a on the reference coordinate system is performed by the following processing.

That is, the position in the reference coordinate system is Q (X, Y, Z), the position on the camera image sensor is q (x, y), the position on the image is w (u, v), the lens focal length is f, the image Where wp (uc, vc) is the center position of the image sensor, and a is the size of the image sensor around one pixel on the image sensor, the on-image position w (u, v) and the on-camera image sensor position q (x, y) This relationship can be expressed by the following equations (1) and (2).
x = a (u-uc) (1)
y = −a (v−vc) (2)

The relationship between the position q (x, y) on the camera image sensor and the position Q (X, Y, Z) on the reference coordinate system can be expressed by the following equations (3) and (4).
X = −Z (x / f) (3)
Y = −Z (y / f) (4)

  That is, if the vertical distance (height) H from the lens focal position O to the measurement target (here, the pantograph 1a) is known, the three-dimensional position in the reference coordinate system can be obtained from the position on the image of the measurement target. The reverse calculation is also possible. Here, in the present invention, since the vertical distance H from the lens focal point position of the monitoring camera 4 to the pantograph 1a is known from design data or measurement at the time of installation of the apparatus, the value is obtained in advance and stored in the storage unit 5d. I shall keep it.

  Thus, by using the above equations (1) to (4), the center position Pc of the pantograph 1a on the inspection pantograph image 8 is changed to the center position PC (Xp, Yp, Zp) of the pantograph 1a on the reference coordinate system. Coordinate conversion can be performed.

Following step S2, the position of the inspection reference point P on the reference coordinate system is calculated by the setting unit 5c (step S3). The calculation of the position of the inspection reference point P on the reference coordinate system is performed as follows. First, as shown in FIG. 10, a plurality of inspection reference points P on the left and right horns 1b of the pantograph 1a (in this embodiment, the horn roots at the root, center, and tip of the left and right horns 1b, respectively). Inspection reference points P _L1 and P _R1 , horn center inspection reference points P _L2 and P _R2 , and horn tip inspection reference points P _L3 and P _R3 ) are set.

For example, the horn root inspection reference points P _L1 and P _R1 , the horn central inspection reference points P _L2 and P _R2 , and the horn tip inspection reference points P _L3 and P _R3 are respectively the following positions from the position PC at the center of the pantograph in the reference coordinate system. When having offsets (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), horn root inspection reference points P _L1 , P _R1 , horn center inspection reference points P _L2 , P _R2 , The positions of the horn tip inspection reference points P _L3 and P _{R3 on} the reference coordinate system are (Xp + X1, Yp + Y1, Zp + Z1), (Xp + X2, Yp + Y2, Zp + Z2), and (Xp + X3, Yp + Y3, Zp + Z3), respectively. In this way, each inspection reference point P is set according to the position of the pantograph 1a on the inspection pantograph image 8. Note that the position offset data from the pantograph center position PC of the inspection reference point P is obtained from pantograph shape data which is three-dimensional shape data of the pantograph.

Subsequently, based on the position of each inspection reference point P obtained in this way in the reference coordinate system, the position of each inspection reference point P on the inspection pantograph image 8 is obtained by the above-described coordinate transformation (step S4). Thereafter, obtaining a reference straight line L _B based on the location of the inspection reference point P on the test pantograph image 8 obtained in step S4. Specifically, as shown in FIG. 12, first reference lines L _BL1 and L _BR1 , inspection reference points P _L2 and P _L3 , and straight lines passing through inspection reference points P _L1 and P _L2 , P _R1 and PR ₂ , respectively. Second reference straight lines L _BL2 and L _BR2 are obtained as straight lines passing through P _R2 and P _R3 (step S5). In the following description, the first reference straight lines L _BL1 and L _BR1 and the second reference straight lines L _BL2 and L _BR2 are collectively referred to as a reference straight line L _B.

Subsequently, the inspection line L ₃ is detected from the horn 1b of the pantograph 1a on the inspection pantograph image 8 by the inspection line detection unit 5p by the process described in the first or second embodiment (step S6), and finally, a reference line L _B detected in step S5, determine the test angle θ as an angle between the inspection line L ₃ detected at step S6, by the inspection angle θ checks whether fall horn angle range, It is determined whether or not the horn 1b is broken (step S7).

  The processes in steps S1 to S7 are repeated until the pantograph horn shape inspection is completed.

  According to the pantograph monitoring apparatus according to the present embodiment configured as described above, in addition to the effects of the pantograph monitoring apparatuses according to the first and second embodiments, it is possible to detect a relatively slight horn breakage.

That is, the horn 1b of the pantograph 1a has a three-dimensional structure that is bent in the vertical direction as shown in FIG. Therefore, even when a normal pantograph 1a is photographed, the shape of the horn 1b varies depending on the location on the inspection pantograph image 8 obtained by photographing the upper surface of the pantograph 1a with the monitoring camera 4, as shown in FIG. Therefore, the first embodiment described above, it is necessary to set a large horn angle range is an allowable value to determine the presence or absence of abnormality by the angle inspection line L ₃ extracted from Example 2, horn 1b.

Configuration contrast, the present embodiment sets the reference straight line L _B according to the position of the pantograph 1a on the test pantograph images 8, detects the bending of the horn 1b seeking inspection angle θ between the inspection line and the shape Therefore, it is possible to detect the breakage of the horn 1b more reliably than in the first and second embodiments.

  In this embodiment, data output from each processing unit is stored in the storage unit 5d, and necessary data is output from the storage unit 5d to a desired processing unit in response to a request from each processing unit. Although shown, for example, the data output from each processing unit may be directly input to a desired processing unit, and various modifications can be made without departing from the spirit of the present invention. Nor.

  The inspection line detection means only needs to be able to extract the pantograph horn as an inspection line from the input image, and it goes without saying that various changes can be made without departing from the spirit of the present invention.

  INDUSTRIAL APPLICABILITY The present invention can be applied to a pantograph related device that analyzes an image taken on the roof of a train and monitors the state of the pantograph, and is particularly suitable for application to a pantograph monitoring device that monitors the shape of the horn of the pantograph. It is.

DESCRIPTION OF SYMBOLS 1 ... Train, 2 ... Sensor, 3 ... Illuminating device, 4 ... Surveillance camera, 5 ... Image processing apparatus, 5A ... Imaging | photography process part, 5B ... Pantograph search process part, 5C ... Pantograph horn inspection process part, 5a ... Image data input , 5b ... pantograph detection information input unit, 5c ... setting unit, 5d ... storage unit, 5e ... inspection small region setting unit, 5f ... inspection point search region setting unit, 5g ... inspection point detection unit, 5h ... inspection line setting unit 5i ... Inspection angle calculation unit, 5j ... Horn breakage determination unit, 5k ... Result data output unit, 5l ... Horn inspection range setting unit, 5m ... Sharpening processing unit, 5n ... Straight line extraction unit, 5o ... Pantograph shape data input unit 5 ... Inspection line detection unit, 5q ... Reference line calculation unit, 6 ... Rail, 7 ... Reference pantograph image, 8 ... Inspection pantograph image, 9 ... Sleeper, A ... Inspection small area, B ... Inspection point search area, C ... Ho Emissions inspection range, H ... vertical distance, L ... inspection line, L _B ... reference line, P ... inspection points, W _A ... inspection small area size, W _B ... inspection point search area size, W _C ... horn inspection range size, θ: Inspection angle

Claims (3)

In a pantograph monitoring device comprising a photographing means for photographing the roof of a train, and an image processing means for monitoring the state of the pantograph by performing image processing on an input image photographed by the photographing means,
Inspection line detection means for detecting the shape of the pantograph horn from the input image as an inspection line from the input image, between the inspection line and a reference line that is a comparison target for inspecting the state of the inspection line Pantograph horn shape inspection processing having inspection angle calculation means for calculating the inspection angle, and horn breakage determination means for monitoring the state of the horn based on whether or not the inspection angle is included in a preset horn angle range With means,
The inspection line detection means includes an inspection line setting unit that acquires the inspection line based on a plurality of inspection points set for the horn on the input image, and
The pantograph horn shape inspection processing means includes: image data input means for capturing the input image; pantograph detection information input means for acquiring pantograph detection information; Inspection setting means for outputting the inspection setting information, and result data output means for outputting the determination result in the horn breakage determination unit ,
And, the plurality of inspection points are the horn root inspection point, the horn center inspection point, the horn tip inspection point set at the root, center, and tip of each of the left and right horns,
The inspection line is a first inspection line that passes through the horn root inspection point and the horn center inspection point on each of the left and right sides, and a second inspection line that passes through the horn center inspection point and the horn tip inspection point,
The inspection angle is, the first inspection angle is an angle formed between the first inspection line and the reference line, and the second inspection angle der Rukoto is an angle formed between the second inspection line and the reference straight line Pantograph monitoring device characterized by. The pantograph monitoring apparatus according to claim 1 , wherein the inspection angle calculation unit includes a reference line calculation unit that sets the reference line according to a position of the pantograph on the input image. The horn breakage determination means is configured to determine whether or not the horn is broken based on whether or not the inclination of the inspection straight line is included in a preset horn angle range. Alternatively, the pantograph monitoring device according to claim 2 .

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