TW201706560A - Wire measurement device and method - Google Patents
Wire measurement device and method Download PDFInfo
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- TW201706560A TW201706560A TW105119783A TW105119783A TW201706560A TW 201706560 A TW201706560 A TW 201706560A TW 105119783 A TW105119783 A TW 105119783A TW 105119783 A TW105119783 A TW 105119783A TW 201706560 A TW201706560 A TW 201706560A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
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Abstract
Description
本發明係一種對鐵路領域之架線予以管理之領域的發明,尤其是關於一種對利用設置於電車之車頂上之線性照相機獲取之資料進行圖像處理,而自線條之中測定架線之高度及偏位的線條計測裝置及方法。 The present invention is an invention in the field of managing the wiring in the railway field, and more particularly to an image processing of data acquired by a linear camera disposed on the roof of a train, and determining the height and deviation of the line from the line. Bit line measuring device and method.
作為對包含架線之線條之高度及偏位予以計測之技術,有例如下述專利文獻1、2所揭示之技術。 As a technique for measuring the height and the deviation of the line including the overhead line, for example, the techniques disclosed in Patent Documents 1 and 2 below.
在下述專利文獻1中揭示有以下技術:將線性照相機設置於電車之車頂上,一邊使電車行駛一邊獲取該等之感測器資料,而計測架線之磨耗及偏位。 Patent Document 1 listed below discloses a technique in which a linear camera is placed on the roof of an electric train, and the sensor data is acquired while the electric train is traveling, and the wear and offset of the overhead wire are measured.
在下述專利文獻2中揭示有以下技術:將線性照相機與雷射測距儀設置於電車之車頂上,一邊使電車行駛一邊獲取該等之感測器資料,而計測架線之高度及偏位。 Patent Document 2 listed below discloses a technique in which a linear camera and a laser range finder are placed on the roof of a train, and the sensor data is acquired while the train is traveling, and the height and offset of the line are measured.
且說,需要進行架線之位置資訊之管理(架線位置測定)的範圍為自車輛中心偏位±900mm。其理由如以下所述。 In addition, it is said that the management of the location information of the overhead line (the measurement of the position of the wire) is within a range of ±900 mm from the center of the vehicle. The reason is as follows.
通常,架線為了經由集電弓集電於電車,而位於自集電弓之「中心」偏左右±250mm(新幹線為±300mm)之位置。然而,在架線區分設備周邊之架線接替並行區間設備或兩條軌道交叉之集電弓交叉架線間轉移設備附近,存在集電弓之「端部」接觸於第二架線(主線以外之架線)之虞,因而,需要進行自車輛中心偏位±900mm之範圍 的架線位置測定。 Usually, in order to collect electricity on the tram via the pantograph, the wire is located at a position of ±250 mm (±300 mm) of the center of the self-collector. However, in the vicinity of the overhead line device or the intersection of the two track crossings, the "end" of the pantograph is in contact with the second line (the line other than the main line). Oh, therefore, it needs to be within the range of ±900mm from the center of the vehicle. Wire position determination.
此外,針對上述之「偏位」、「線條」、「架線區分設備」、「架線接替並行區間」、「連結線」及「滑動面」作如下般定義。 In addition, the above-mentioned "deviation", "line", "wire division device", "wire connection parallel section", "connection line", and "sliding surface" are defined as follows.
所謂「偏位」係線條之水平方向之位置,指自集電弓之中央起之距離。 The so-called "biased position" is the position of the horizontal direction of the line, which refers to the distance from the center of the current collecting bow.
所謂「線條」係指架設於空中之線,有架線、吊架線、及饋電線等之線。 The term "line" refers to a line that is erected in the air and has lines such as overhead wires, hanger wires, and feeder wires.
所謂「架線區分設備」係對架線進行電性或機械性區分之設備,指架線接替並行區間或架線接替並行區間電接頭。 The so-called "wire-distributing device" is a device that electrically or mechanically distinguishes the wires, and refers to the wire-connecting parallel segment or the wire-connecting parallel-parallel electrical connector.
所謂「架線接替並行區間」係指在架線區分設備中使前後(車輛行進方向近前側與後側)之架線不作電性連接而設之區分部位者。圖17係說明架線接替並行區間之俯視圖。在圖17中,顯示在鐵道3之上方,主線1與副主線2未電性地連接而被設為區分部位而作架線區分之情形。又,所謂「架線接替並行區間電接頭」係指使架線接替並行區間電性連接者。 The term "wired relay parallel section" refers to a division that is provided between the front and rear (the front and rear sides of the vehicle traveling direction) are not electrically connected to each other in the wire sorting device. Fig. 17 is a plan view showing the parallel section of the wiring replacement. In Fig. 17, the main line 1 and the sub-main line 2 are electrically connected to each other and are arranged as a division portion to be divided by a line. In addition, the term "wire-replacement parallel-section electrical connector" means that the wire-connected connector replaces the parallel-segment electrical connector.
所謂「連結線」係使轉轍器上之2組架線以對集電弓之通過不造成障礙之方式交叉的設備。圖18係說明連結線之俯視圖。在圖18中,顯示在配置有轉轍器3a之鐵道3之上方,連結線4交叉於主線1之情形。 The "connecting line" is a device that allows two sets of wires on the switch to cross each other without causing obstacles to the passage of the pantograph. Fig. 18 is a plan view showing a connecting line. In Fig. 18, the case where the connecting line 4 crosses the main line 1 above the railway 3 in which the switch 3a is disposed is shown.
所謂「滑動面」係指架線與集電弓接觸、磨耗之面,通常,因架線時常與集電弓相接而存在滑動面。然而,在架線接替並行區間及連結線等之存在第二架線之設備區間,在需要管理之自車輛中心偏位±900mm內,存在與集電弓不相接之部位亦即不具有滑動面之部位。 The term "sliding surface" refers to the surface where the overhead wire is in contact with the pantograph and is worn. Usually, the sliding surface is often connected to the pantograph because of the wire. However, in the equipment section where the second line is present in the parallel section and the connecting line, the part that is not connected to the pantograph, that is, does not have a sliding surface, is within ±900 mm of the center deviation of the vehicle to be managed. Part.
又,所謂「架線之管理」係指定期地確認架線之高度、偏位及磨耗是否為所設定之管理值以下,藉由管理架線而可防止事故。 In addition, the "management of the line" confirms whether the height, the offset, and the wear of the wire are below the set management value in a designated period, and the accident can be prevented by managing the wire.
所謂「架線之高度」係指自鐵道起直至設置於電車之上方之架 線的高度,通常位於4500mm(新幹線為5000mm)左右之位置。 The so-called "height of the line" refers to the frame from the railway until it is placed above the tram. The height of the line is usually around 4,500 mm (5000 mm for the Shinkansen).
所謂「架線之偏位」係指架線之水平方向之位置,通常架線存在於自集電弓中心偏左右±250mm(新幹線中為±300mm)之位置,在架線接替並行區間與集電弓交叉架線間轉移設備部位處,除上述以外,存在第二架線之自車輛中心偏位±900mm之位置亦接受管理。 The so-called "offset of the overhead line" refers to the position of the horizontal direction of the overhead line. Usually, the overhead line exists at a position of ±250 mm from the center of the center of the current collector (±300 mm in the Shinkansen), and the parallel section of the overhead line and the intersection of the pantographs At the position of the transfer device, in addition to the above, there is a position where the second line is offset from the center of the vehicle by ±900 mm.
所謂「架線之磨耗」係指與電車(集電弓)通過頻度成比例地產生之架線的磨耗,該架線之磨耗以不超過其磨耗界限值之方式受到管理。 The term "wearing of the wire" refers to the abrasion of the wire generated in proportion to the frequency of the electric train (the pantograph), and the abrasion of the wire is managed so as not to exceed the wear limit value.
[專利文獻1]日本特開2010-127746號公報 [Patent Document 1] Japanese Patent Laid-Open Publication No. 2010-127746
[專利文獻2]日本特開2012-8026號公報 [Patent Document 2] Japanese Patent Laid-Open Publication No. 2012-8026
上述專利文獻1在該文獻段落[0035]中記載有:「架線高度資料(略)係自外部輸入」,而另外需要高度資訊,並不能單獨地進行架線之位置(高度及偏位)之計測。又,僅以磨耗之架線為對象,而無法計測架線接替並行區間與連結線。 The above-mentioned Patent Document 1 discloses in the document paragraph [0035] that "the overhead height data (slightly) is input from the outside", and the height information is additionally required, and the measurement of the position (height and offset) of the wire cannot be separately performed. . Moreover, it is only possible to measure the overhead line and the connecting line by taking the overhead line for the wear.
上述專利文獻2需要在電車之車頂上設置2台線性照相機與1台雷射測距儀。因而,設置於車頂上之裝置結構變得複雜且大型化。並且,雖在立體計測之對應點匹配上使用雷射測距儀之位置資訊,但因雷射在性質上而言檢測率及精度與計測距離成比例地惡化,故距離遠之架線接替並行區間及連結線等之架線的立體計測有所困難。又,雷射之資料取得週期與線性照相機相比慢10倍以上,因而,難以搭載於營業車輛等之高速行駛車輛。 The above Patent Document 2 requires two linear cameras and one laser range finder to be disposed on the roof of the electric train. Therefore, the structure of the device provided on the roof becomes complicated and large. Moreover, although the position information of the laser range finder is used in the matching of the corresponding points of the stereo measurement, since the detection rate and the accuracy of the laser are deteriorated in proportion to the measurement distance, the distance from the far line takes over the parallel interval. It is difficult to measure the stereoscopicity of the wires such as the connecting lines. Further, since the data acquisition period of the laser is 10 times or more slower than that of the linear camera, it is difficult to mount it on a high-speed traveling vehicle such as a business vehicle.
本發明係鑒於如上述之技術性狀況而完成者,其目的在於提供 一種線條計測裝置及方法,該線條計測裝置及方法僅以線性照相機便可進行廣範圍之高度及偏位的計測,再者,計測對象除主線以外,亦可計測位於自車輛中心偏位±900mm內之第二架線(主線以外之架線)。 The present invention has been made in view of the above technical circumstances, and an object thereof is to provide A line measuring device and method, the line measuring device and method can perform measurement of a wide range of height and offset only by a linear camera. Furthermore, in addition to the main line, the measuring object can also be measured at a center deviation of the vehicle from the vehicle by ±900 mm. The second line inside (the wire outside the main line).
解決上述課題之第1發明之線條計測裝置之特徵在於具備:第1線性照相機及第2線性照相機,其等在車輛之車頂上之枕木方向兩端以分別朝向該車輛之枕木方向中心傾斜之方式配置,並拍攝線條;及圖像處理部,其自利用前述第1線性照相機拍攝之攝像圖像及利用前述第2線性照相機拍攝之攝像圖像檢測作為計測對象之線條之線條資訊及滑動面資訊,且藉由使用該線條資訊及該滑動面資訊進行該攝像圖像間之該線條的對應關係建立,而算出該線條之高度及偏位。 The line measuring device according to the first aspect of the present invention is characterized in that the first linear camera and the second linear camera are provided so that the ends of the sleeper on the roof of the vehicle are inclined toward the center of the sleeper of the vehicle. And an image processing unit that detects line information and sliding surface information of a line to be measured from a captured image captured by the first linear camera and a captured image captured by the second linear camera. And determining, by using the line information and the sliding surface information, the correspondence between the lines of the captured image, and calculating the height and the deviation of the line.
解決上述課題之第2發明之線條計測裝置係如上述第1發明者,其特徵在於:前述圖像處理部,於在作為計測對象之前述線條處不存在前述滑動面資訊之情形下,使用該線條與具有滑動面之架線交叉之時間資訊、及該架線之滑動面資訊進行前述對應關係建立。 According to the first aspect of the invention, in the first aspect of the invention, the image processing unit uses the sliding surface information in the line of the measurement target. The time information of the line intersecting the line having the sliding surface and the sliding surface information of the line are established in the foregoing correspondence relationship.
解決上述課題之第3發明之線條計測裝置係如上述第2發明者,其特徵在於:前述圖像處理部具備:滑動面提取部,其分別自利用前述第1線性照相機拍攝之攝像圖像及利用前述第2線性照相機拍攝之攝像圖像檢測前述滑動面資訊;線條提取部,其分別自利用前述第1線性照相機拍攝之攝像圖像及利用前述第2線性照相機拍攝之攝像圖像檢測前述線條資訊;結合部,其利用前述線條資訊製作線條結合資訊; 對應關係建立部,其於在作為計測對象之前述線條處存在前述滑動面資訊之情形下,使用該滑動面資訊進行前述對應關係建立,於在作為計測對象之前述線條處不存在前述滑動面資訊之情形下,使用該線條與具有滑動面之架線交叉之時間資訊、及該架線之滑動面資訊進行前述對應關係建立;及立體計測部,其對利用前述第1線性照相機拍攝之攝像圖像與利用前述第2線性照相機拍攝之攝像圖像之經對應關係建立之前述諸個線條結合資訊予以立體計測,並算出前述線條之高度及偏位。 According to a second aspect of the invention, in the second aspect of the invention, the image processing unit includes: a sliding surface extracting unit that respectively captures a captured image captured by the first linear camera; The sliding surface information is detected by the captured image captured by the second linear camera, and the line extracting unit detects the line from the captured image captured by the first linear camera and the captured image captured by the second linear camera. Information; the joint department, which uses the aforementioned line information to create line combination information; The correspondence relationship establishing unit establishes the correspondence relationship using the sliding surface information when the sliding surface information exists in the line as the measurement target, and the sliding surface information does not exist in the line as the measurement target In the case of using the time information of the line intersecting the line having the sliding surface and the sliding surface information of the overhead line, the stereo correspondence unit is configured to capture the captured image by the first linear camera. The above-mentioned line combination information established by the correspondence relationship between the captured images captured by the second linear camera is stereoscopically measured, and the height and the deviation of the lines are calculated.
解決上述課題之第4發明之線條計測方法之特徵在於:將拍攝線條之第1線性照相機及第2線性照相機在車輛之車頂上之枕木方向兩端以分別朝向該車輛之枕木方向中心傾斜之方式配置;且自利用前述第1線性照相機拍攝之攝像圖像及利用前述第2線性照相機拍攝之攝像圖像檢測作為計測對象之線條之線條資訊及滑動面資訊,且藉由使用該線條資訊及該滑動面資訊進行該攝像圖像間之該線條之對應關係建立,而算出該線條之高度及偏位。 The line measuring method according to the fourth aspect of the present invention is characterized in that the first linear camera and the second linear camera that capture the line are inclined toward the center of the sleeper direction of the vehicle in the sleeper direction on the roof of the vehicle. And arranging, by using the captured image captured by the first linear camera and the captured image captured by the second linear camera, line information and sliding surface information of the line to be measured, and by using the line information and the The sliding surface information establishes the correspondence relationship of the lines between the captured images, and calculates the height and the deviation of the line.
解決上述課題之第5發明之線條計測方法係如上述第4發明者,其特徵在於:於在作為計測對象之前述線條處不存在前述滑動面資訊之情形下,使用該線條與具有滑動面之架線交叉之時間資訊、及該架線之滑動面資訊進行前述對應關係建立。 According to a fourth aspect of the invention, in the fourth aspect of the invention, in the fourth aspect of the invention, in the case where the sliding surface information does not exist in the line as the measurement target, the line and the sliding surface are used. The time information of the crossover and the sliding surface information of the overhead line are established to establish the aforementioned correspondence relationship.
解決上述課題之第6發明之線條計測方法係如上述第5發明者,其特徵在於:分別自利用前述第1線性照相機拍攝之攝像圖像及利用前述第2線性照相機拍攝之攝像圖像檢測前述滑動面資訊;分別自利用前述第1線性照相機拍攝之攝像圖像及利用前述第2 線性照相機拍攝之攝像圖像檢測前述線條資訊;利用前述線條資訊製作線條結合資訊;於在作為計測對象之前述線條處存在前述滑動面資訊之情形下,使用該滑動面資訊進行前述對應關係建立,於在作為計測對象之前述線條處不存在前述滑動面資訊之情形下,使用該線條與具有滑動面之架線交叉之時間資訊、及該架線之滑動面資訊進行前述對應關係建立;及對利用前述第1線性照相機拍攝之攝像圖像與利用前述第2線性照相機拍攝之攝像圖像之經對應關係建立之前述諸個線條結合資訊予以立體計測,並算出前述線條之高度及偏位。 According to a fifth aspect of the invention, in the fifth aspect of the invention, the image of the image captured by the first linear camera and the image captured by the second linear camera are detected. Sliding surface information; respectively, from the captured image captured by the first linear camera and using the second The camera image captured by the linear camera detects the line information; the line information is used to create the line combination information; and in the case where the sliding surface information exists in the line as the measurement object, the corresponding relationship is established using the sliding surface information, In the case where the aforementioned sliding surface information does not exist in the aforementioned line as the measurement target, the time relationship between the line and the line having the sliding surface and the sliding surface information of the overhead line are used to establish the aforementioned correspondence relationship; The above-described line combination information created by the correspondence between the captured image captured by the first linear camera and the captured image captured by the second linear camera is stereoscopically measured, and the height and offset of the line are calculated.
根據本發明之線條計測裝置及方法,僅以線性照相機便可進行廣範圍之高度及偏位之計測,進而,計測對象除主線以外,亦可計測位於自車輛中心偏位±900mm內之第二架線(除主線以外之架線)。 According to the line measuring device and method of the present invention, a wide range of height and offset measurement can be performed only by a linear camera, and further, the measurement object can be measured in addition to the main line, and can be measured in the second within ±900 mm from the center deviation of the vehicle. Wired (wired except the main line).
又,根據本發明之線條計測裝置及方法,由於係單獨利用線性照相機之立體計測,因此距離遠之連結線與架線接替並行區間等之架線之立體計測的檢測率及精度不易降低。 Moreover, according to the line measuring device and method of the present invention, since the stereoscopic measurement by the linear camera is used alone, the detection rate and accuracy of the stereoscopic measurement of the distance between the distant connecting line and the wired replacement parallel section are not easily lowered.
再者,根據本發明之線條計測裝置及方法,由於係單獨利用線性照相機之立體計測,因此可搭載於營業車輛等之高速行駛車輛。 Further, according to the line measuring device and method of the present invention, since the stereoscopic measurement by the linear camera is used alone, it can be mounted on a high-speed traveling vehicle such as a business vehicle.
1‧‧‧主線 1‧‧‧ main line
1a‧‧‧吊架線 1a‧‧‧ hanging line
2‧‧‧副主線 2‧‧‧Subline
2a‧‧‧吊架線 2a‧‧‧ hanging wire
3‧‧‧鐵道 3‧‧‧ Railway
3a‧‧‧轉轍器 3a‧‧‧Translator
4‧‧‧連結線 4‧‧‧Connected line
4a‧‧‧吊架線 4a‧‧‧ hanging line
5‧‧‧饋電線 5‧‧‧ Feeder
6‧‧‧電桿 6‧‧‧ pole
7‧‧‧曲線區間拉式金屬懸臂 7‧‧‧Curve section pull metal cantilever
8‧‧‧滑動面 8‧‧‧Sliding surface
9‧‧‧圖像處理部 9‧‧‧Image Processing Department
10‧‧‧車輛 10‧‧‧ Vehicles
10a‧‧‧車頂上 10a‧‧‧ on the roof
11‧‧‧第1線性照相機 11‧‧‧1st linear camera
12‧‧‧第2線性照相機 12‧‧‧2nd linear camera
13‧‧‧照明 13‧‧‧Lighting
14‧‧‧圖像輸入部 14‧‧‧Image Input Department
15‧‧‧滑動面提取部 15‧‧‧Sliding surface extraction department
16‧‧‧線條提取部 16‧‧‧Line Extraction Department
17‧‧‧結合部 17‧‧‧Combination
18‧‧‧對應關係建立部 18‧‧‧Correspondence Establishment Department
19‧‧‧立體計測部 19‧‧‧ Stereo Measurement Department
20‧‧‧記憶部 20‧‧‧Memory Department
21‧‧‧設備資料設定部 21‧‧‧ Equipment Data Setting Department
30a‧‧‧車頂上 30a‧‧‧ on the roof
31‧‧‧第1線性照相機 31‧‧‧1st linear camera
32‧‧‧第2線性照相機 32‧‧‧2nd linear camera
33‧‧‧第3線性照相機 33‧‧‧3rd linear camera
A‧‧‧部分 Part A‧‧‧
B‧‧‧部分 Part B‧‧‧
C‧‧‧部分 C‧‧‧ Section
D‧‧‧部分 Part D‧‧‧
a‧‧‧不可進行立體攝像之區域 a‧‧‧Any area where stereoscopic imaging is not possible
b‧‧‧不可進行立體攝像之區域 b‧‧‧Any area where stereoscopic imaging is not possible
圖1係說明本發明之實施例之線條計測裝置之裝置結構的概略圖。 Fig. 1 is a schematic view showing the structure of a device of a line measuring device according to an embodiment of the present invention.
圖2係說明本發明之實施例之線條計測裝置之攝像範圍及計測對象區域的模式圖。 Fig. 2 is a schematic view showing an imaging range and a measurement target area of the line measuring device according to the embodiment of the present invention.
圖3係說明使線性照相機沿鉛垂方向設置之情形之攝像範圍及計測對象區域的模式圖。 Fig. 3 is a schematic view showing an imaging range and a measurement target region in a case where a linear camera is placed in the vertical direction.
圖4係使第1線性照相機沿鉛垂方向設置之情形與使其傾斜地設置之情形的攝像範圍視野角比較圖。 Fig. 4 is a view showing a comparison of the imaging range viewing angles of the case where the first linear camera is disposed in the vertical direction and the case where the first linear camera is disposed obliquely.
圖5係使第2線性照相機沿鉛垂方向設置之情形與使其傾斜地設置之情形的攝像範圍視野角比較圖。 Fig. 5 is a view showing a comparison of the imaging range viewing angles of the case where the second linear camera is placed in the vertical direction and the case where the second linear camera is disposed obliquely.
圖6A、圖6B係架線接替並行區間設備之攝像圖像圖之一例。 6A and 6B are diagrams showing an example of a captured image of a parallel section device.
圖7A、圖7B係架線接替並行區間設備之滑動面檢測結果之資料圖的一例。 7A and 7B are diagrams showing an example of a data map of the result of detecting the sliding surface of the parallel section device.
圖8A、圖8B係架線接替並行區間設備之線條檢測結果之資料圖的一例。 8A and 8B are diagrams showing an example of a data map of the line detection result of the parallel section device.
圖9係說明本發明之實施例之線條計測裝置之機能構成的概略圖。 Fig. 9 is a schematic view showing the functional configuration of a line measuring device according to an embodiment of the present invention.
圖10A~圖10D係顯示架線接替並行區間設備之主線1及副主線2之對應關係建立結果的圖。 10A to 10D are diagrams showing the result of establishing the correspondence relationship between the main line 1 and the sub main line 2 of the parallel section device.
圖11係顯示車輛通過集電弓交叉架線間轉移設備之情形之概略圖。 Figure 11 is a schematic view showing a state in which the vehicle crosses the inter-wire transfer device through the pantograph.
圖12A、圖12B係集電弓交叉架線間轉移設備之攝像圖像圖之一例。 12A and 12B are diagrams showing an example of a captured image of a pantograph cross-hair transfer device.
圖13A~圖13D係顯示集電弓交叉架線間轉移設備之主線及連結線之對應關係建立結果的資料圖。 13A to 13D are data diagrams showing the results of establishing the correspondence relationship between the main line and the connecting line of the pantograph cross-hair transfer device.
圖14係顯示架線計測結果之一例的圖。 Fig. 14 is a view showing an example of the measurement results of the overhead line.
圖15係說明本發明之實施例之圖像處理部之動作的流程圖。 Fig. 15 is a flow chart for explaining the operation of the image processing unit in the embodiment of the present invention.
圖16係說明本發明之實施例之對應關係建立部之詳細敘述的流程圖。 Fig. 16 is a flow chart showing the detailed description of the correspondence establishing unit of the embodiment of the present invention.
圖17係說明架線接替並行區間之俯視圖。 Fig. 17 is a plan view showing the parallel section of the wiring replacement.
圖18係說明連結線之俯視圖。 Fig. 18 is a plan view showing a connecting line.
圖19係說明各線性照相機之攝像區域之模式圖。 Fig. 19 is a schematic view showing an imaging area of each linear camera.
圖20係說明使用第1線性照相機及第3線性照相機之可進行立體攝像之區域的模式圖。 Fig. 20 is a schematic view showing a region in which stereoscopic imaging can be performed using the first linear camera and the third linear camera.
圖21係說明使用第2線性照相機及第3線性照相機之可進行立體攝像之區域的模式圖。 Fig. 21 is a schematic view showing a region in which stereoscopic imaging can be performed using the second linear camera and the third linear camera.
本發明之線條計測裝置及方法係在電車之車頂上設置2台線性照相機,對利用各線性照相機獲取之資料進行圖像處理,且在自車輛中心偏位±900mm之範圍內自線條之中可測定架線的高度及偏位。 The line measuring device and method of the present invention is provided with two linear cameras on the roof of the electric car, and performs image processing on the data acquired by each linear camera, and is within the range of ±900 mm from the center deviation of the vehicle. Determine the height and offset of the wire.
以下,在實施例中使用圖式對本發明之線條計測裝置及方法進行說明。 Hereinafter, the line measuring device and method of the present invention will be described using the drawings in the embodiments.
在日本特願2014-196032號中揭示有以下一種技術:總計設置3台線性照相機,分別為在電車之車頂上之枕木方向兩端之各1台,再者在車輛中央之1台,來測定架線之磨耗及位置。該技術係一邊使電車行駛,一邊獲取利用該等設置於電車之車頂上之線性照相機之感測器資料,而計測架線之磨耗及位置。 One of the following techniques is disclosed in Japanese Patent Application No. 2014-196032: a total of three linear cameras are provided, one for each of the two ends of the sleeper on the roof of the train, and one for the center of the vehicle. Wire wear and location. This technology measures the wear and position of the wire while taking the sensor data of the linear camera installed on the roof of the train while driving the train.
該技術在除上述專利文獻2之所揭示之技術以外,利用將廣角透鏡置於車輛中央之3台線性照相機之構成,可確保連結線等之第二架線之管理範圍(例:自車輛中心偏位±900mm)的攝像區域。攝像區域於圖19~21中顯示。 This technique, in addition to the technique disclosed in the above-mentioned Patent Document 2, utilizes the configuration of three linear cameras in which the wide-angle lens is placed in the center of the vehicle, and can secure the management range of the second line such as the connecting line (for example, from the center of the vehicle) Positioning area of ±900mm). The imaging area is shown in Figures 19-21.
圖19係說明各線性照相機之攝像區域之模式圖。如圖19所示,在車輛之車頂上30a處,配置於枕木方向一端之第1線性照相機31與配置於中央之第3線性照相機33、以及配置於枕木方向另一端之第2線性照相機32與第3線性照相機33分別存在攝像區域之重疊區域(圖中以虛線表示之區域為第1、2線性照相機31、32之攝像區域,以實線表示之區域為第3線性照相機33之攝像區域)。由於該區域可進行立體攝像, 故稱為「可進行立體攝像之區域」。 Fig. 19 is a schematic view showing an imaging area of each linear camera. As shown in Fig. 19, at the vehicle roof top 30a, the first linear camera 31 disposed at one end of the sleeper direction, the third linear camera 33 disposed at the center, and the second linear camera 32 disposed at the other end of the sleeper direction are Each of the third linear cameras 33 has an overlapping region of the imaging region (the region indicated by a broken line in the figure is an imaging region of the first and second linear cameras 31 and 32, and the region indicated by a solid line is an imaging region of the third linear camera 33). . Since the area can be stereoscopically photographed, Therefore, it is called "a region where stereoscopic imaging is possible".
圖20係說明使用第1線性照相機31及第3線性照相機33之可進行立體攝像之區域的模式圖。圖21係說明使用第2線性照相機32及第3線性照相機33之可進行立體攝像之區域的模式圖。 FIG. 20 is a schematic view for explaining a region in which stereoscopic imaging can be performed using the first linear camera 31 and the third linear camera 33. FIG. 21 is a schematic view showing a region in which stereoscopic imaging can be performed using the second linear camera 32 and the third linear camera 33.
如圖20中灰色區域所示,以第1線性照相機31與第3線性照相機33之模式確保一側900mm之攝像區域,如圖21中灰色區域所示,以第2線性照相機32與第3線性照相機33之模式確保另一側900mm之攝像區域。 As shown in the gray area in Fig. 20, an image capturing area of 900 mm on one side is secured in the mode of the first linear camera 31 and the third linear camera 33, as shown by the gray area in Fig. 21, with the second linear camera 32 and the third linear line. The mode of the camera 33 ensures an imaging area of 900 mm on the other side.
又,由於藉由獲取架線之主線位置資訊而對連結線之高度資訊予以限定,故能夠制約立體計測之對應點,而可進行連結線之線條計測。 Further, since the height information of the connecting line is limited by acquiring the main line position information of the overhead line, the corresponding point of the stereo measurement can be restricted, and the line measurement of the connecting line can be performed.
然而,在利用第1線性照相機31或第2線性照相機32與第3線性照相機33進行之立體攝像中,存在因線性照相機間之距離短而立體解析度低此一問題。 However, in the stereoscopic imaging by the first linear camera 31 or the second linear camera 32 and the third linear camera 33, there is a problem that the stereoscopic resolution is low because the distance between the linear cameras is short.
又,由於第1線性照相機31與第2線性照相機32在各自負責之攝像範圍內切換使用,故處理變得複雜。 Further, since the first linear camera 31 and the second linear camera 32 are switched and used within the respective imaging ranges, the processing becomes complicated.
又,雖藉由對自主線起之高度資訊予以限制而計測連結線,但因可進行高度制約者僅為連結線(條件:「連結線設置於自主線高度起30mm以內」),故存在架線接替並行區間等之位於自車輛中心偏位±900mm位置之高位置的對象或複雜構造之設備難以利用限制高度之方法進行位置計測此一問題。 In addition, the connection line is measured by limiting the height information of the autonomous line. However, since the height restriction is only the connection line (condition: "the connection line is set within 30 mm of the height of the autonomous line"), there is a line. It is difficult to carry out the position measurement by the method of limiting the height by replacing the object of the parallel section or the like at a position high by ±900 mm from the center deviation of the vehicle or a device having a complicated structure.
此處,本實施例之線條計測裝置之裝置結構於圖1中顯示。在圖1中,顯示有在鐵道3上行駛之車輛10通過分別被吊架線1a、2a吊架之主線1及副主線2之架線接替並行區間設備部分的情形。此外,吊架線1a、2a藉由安裝於電桿6之曲線區間拉式金屬懸臂7而被支持,在電桿6處除曲線區間拉式金屬懸臂7以外還安裝有饋電線5。 Here, the device structure of the line measuring device of the present embodiment is shown in FIG. In Fig. 1, it is shown that the vehicle 10 traveling on the railway 3 takes over the parallel section device portion by the line connecting the main line 1 and the sub main line 2 which are respectively suspended by the hanger wires 1a, 2a. Further, the hanger wires 1a, 2a are supported by a curved section metal cantilever 7 attached to the pole 6, and a feeder 5 is mounted on the pole 6 in addition to the curved section metal cantilever 7.
在本實施例之線條計測裝置中,如圖1所示,具備第1線性照相機11及第2線性照相機12,其等設置於車輛10之車頂上10a之枕木方向兩端,以分別朝向車輛10之枕木方向中心傾斜之方式配置,並拍攝線條;其進一步具備後述之圖像處理部9。 In the line measuring device of the present embodiment, as shown in FIG. 1, the first linear camera 11 and the second linear camera 12 are provided, and are disposed at both ends of the roof 10a of the vehicle 10 in the sleeper direction to face the vehicle 10, respectively. The sleeper is arranged in a direction in which the center of the sleeper is inclined, and a line is taken. Further, the image processing unit 9 to be described later is further provided.
藉此,能夠確保架線接替並行區間(及連結線)等之廣範圍的立體攝像區域(例:自車輛中心偏位±900mm)。此外,本實施例之線條計測裝置,如圖1所示,亦可在第1線性照相機11及第2線性照相機12之間設置用於照射線條之照明13。 Thereby, it is possible to ensure that the overhead line can take over a wide range of stereoscopic imaging areas such as parallel sections (and connection lines) (for example, from the vehicle center offset ± 900 mm). Further, in the line measuring device of the present embodiment, as shown in FIG. 1, an illumination 13 for illuminating a line may be provided between the first linear camera 11 and the second linear camera 12.
如本實施例之線條計測裝置般,使第1線性照相機11及第2線性照相機12朝向車輛10之枕木方向中心傾斜之情形下的可立體計測的區域、與不使第1線性照相機11及第2線性照相機12傾斜而朝向鉛垂方向之情形下的可立體計測的區域分別於圖2、圖3中顯示。 As in the line measuring device of the present embodiment, the first linear camera 11 and the second linear camera 12 are tilted toward the center of the sleep direction of the vehicle 10, and the first linear camera 11 and the first linear camera 11 and the first linear camera 11 are not tilted. 2 The area in which the linear camera 12 is tilted and is oriented in the vertical direction is shown in FIGS. 2 and 3, respectively.
如圖3所示,通常,在車輛10之車頂上10a之被限定的設置環境下,若使第1、2線性照相機11、12朝向鉛垂方向設置,則由於架線接替並行區間及連結線等之設備,如已說明般需要廣範圍的立體攝像區域(圖中之「計測對象區域」),而在計測對象區域(以兩點鏈線表示之區域。圖2、4、5亦相同)中產生相互之攝像範圍不重疊之不可進行立體攝像之區域a、b,故針對該部位無法立體計測。 As shown in FIG. 3, in general, in the limited installation environment of the roof top 10a of the vehicle 10, when the first and second linear cameras 11 and 12 are arranged in the vertical direction, the parallel line and the connecting line are replaced by the overhead line. The device requires a wide range of stereoscopic imaging areas ("measuring target area" in the figure) as described above, and in the measurement target area (the area indicated by the two-dot chain line. The same applies to Figs. 2, 4, and 5) Since the regions a and b in which the three-dimensional imaging cannot be performed are not overlapped with each other, the stereoscopic measurement cannot be performed for the portion.
另一方面,根據本實施例之線條計測裝置,如圖2所示,不會在計測對象區域中產生相互之攝像範圍不重疊之區域亦即無法立體計測之區域。 On the other hand, according to the line measuring device of the present embodiment, as shown in FIG. 2, an area in which the mutual imaging ranges do not overlap, that is, an area which cannot be stereoscopically measured, is not generated in the measurement target area.
關於此一點使用圖4、5進行詳細敘述。圖4係將使第1線性照相機11沿鉛垂方向設置之情形與使其傾斜地設置之情形的攝像範圍視野角予以比較之圖。圖5係將使第2線性照相機12沿鉛垂方向設置之情形與使其傾斜地設置之情形的攝像範圍視野角予以比較之圖。並且,圖4、5中之虛線表示各線性照相機沿鉛垂方向設置之情形的攝像範圍, 實線表示各線性照相機傾斜地設置之情形的攝像範圍。 This point will be described in detail using FIGS. 4 and 5. FIG. 4 is a view comparing the imaging range viewing angle when the first linear camera 11 is placed in the vertical direction and the case where the first linear camera 11 is placed obliquely. Fig. 5 is a view for comparing the imaging range viewing angle when the second linear camera 12 is placed in the vertical direction and the case where the second linear camera 12 is disposed obliquely. Moreover, the broken lines in FIGS. 4 and 5 indicate the imaging range in the case where the linear cameras are arranged in the vertical direction, The solid line indicates the imaging range in the case where each linear camera is obliquely disposed.
第1線性照相機11如圖4般以不可進行立體攝像之區域b成為可進行立體攝像之方式傾斜,第2線性照相機12如圖5般以不可進行立體攝像之區域a成為可進行立體攝像之方式傾斜。藉此,如圖2般能夠確保(連結線與架線接替並行區間(偏位±900mm)等之)廣範圍的計測對象區域。 As shown in FIG. 4, the first linear camera 11 is tilted so that the area b in which stereo imaging is impossible is possible, and the second linear camera 12 is capable of stereoscopic imaging in the area a where stereoscopic imaging is impossible. tilt. As a result, as shown in FIG. 2, it is possible to ensure a wide range of measurement target areas (the connection line and the line connection are replaced by a parallel section (bias ± 900 mm)).
又,在圖像處理部9中,於立體計測中,為了自位於利用第1線性照相機11及第2線性照相機12拍攝之攝像圖像上之複數根線條之中進行適切的對應關係建立,而獲取(檢測)線條資訊與滑動面資訊,並使用所檢測之線條資訊及滑動面資訊進行第1線性照相機11與第2線性照相機12之攝像圖像間之線條的對應關係建立。藉此,便不需要先前必要之雷射裝置或高度計測裝置等之外部裝置,而可單獨測定(算出)架線接替並行區間與連結線等之偏位±900mm範圍的架線位置(高度及偏位)。 Further, in the image processing unit 9, in the stereo measurement, in order to establish an appropriate correspondence relationship among a plurality of lines located on the captured image captured by the first linear camera 11 and the second linear camera 12, The line information and the sliding surface information are acquired (detected), and the correspondence relationship between the lines between the first linear camera 11 and the captured image of the second linear camera 12 is established using the detected line information and the sliding surface information. Thereby, the external device such as the laser device or the height measuring device which is necessary before is not required, and the wire position (height and offset) in the range of ±900 mm in which the parallel line and the connecting line are displaced can be separately measured (calculated). ).
架線位置計測之最大的課題為線性照相機間之線條資料(線條資訊)之對應關係建立。例如,利用第1線性照相機11及第2線性照相機12拍攝圖1之架線接替並行區間設備之架線資訊之情形的圖像於圖6中顯示。圖6A所示之圖係第1線性照相機11之攝像圖像圖;圖6B所示之圖係第2線性照相機12之攝像圖像圖,二者之橫軸均表示照相機之像素(pix),縱軸均表示時間(ms)。 The biggest problem in the measurement of the position of the line is the correspondence between the line data (line information) between the linear cameras. For example, an image in which the first linear camera 11 and the second linear camera 12 are used to capture the overhead information of the parallel section device of FIG. 1 is shown in FIG. 6. 6A is a captured image view of the first linear camera 11; and FIG. 6B is a captured image view of the second linear camera 12, the horizontal axes of which represent the pixels of the camera (pix), The vertical axis represents time (ms).
在利用目視之判斷中,難以進行圖6A、圖6B所示之2個攝像圖像之線條(圖中之主線1與副主線2等)的對應關係建立(作為該對應關係建立資訊,在上述專利文獻2中係利用雷射資訊,在上述日本特願2014-196032號中係利用主線之高度資訊)。 In the judgment by visual observation, it is difficult to establish the correspondence relationship between the lines of the two captured images (the main line 1 and the sub-main line 2 in the figure) shown in FIGS. 6A and 6B (as the correspondence relationship establishment information, in the above Patent Document 2 uses laser information, and the above-mentioned Japanese Patent Application No. 2014-196032 utilizes the height information of the main line.
在圖像處理部9中,將滑動面資料(滑動面資訊)用於該對應關係建立。此處,圖7係架線接替並行區間設備之滑動面檢測結果之資料 圖的一例。圖7A所示之圖係基於第1線性照相機11之攝像圖像之圖;圖7B所示之圖係基於第2線性照相機12之攝像圖像之圖。圖8係架線接替並行區間設備之線條檢測結果之資料圖的一例。圖8A所示之圖係基於第1線性照相機11之攝像圖像之圖;圖8B所示之圖係基於第2線性照相機12之攝像圖像之圖。 In the image processing unit 9, the sliding surface data (sliding surface information) is used for the correspondence establishment. Here, Figure 7 is the data of the sliding surface detection result of the parallel line device. An example of the figure. The diagram shown in FIG. 7A is based on the image of the captured image of the first linear camera 11; the diagram shown in FIG. 7B is based on the image of the captured image of the second linear camera 12. Fig. 8 is an example of a data map of the line detection result of the parallel line device. The diagram shown in FIG. 8A is based on the image of the captured image of the first linear camera 11; the diagram shown in FIG. 8B is based on the image of the captured image of the second linear camera 12.
亦即,在圖像處理部9中,自圖6A、圖6B所示之攝像圖像中如圖7所示般檢測出滑動面8之資料。進而,自圖6A、圖6B所示之攝像圖像中如圖8所示般檢測出線條資料,並基於「在第1線性照相機11之攝像圖像與第2線性照相機12之攝像圖像中,具有滑動面之諸個線條資料為計測對象」此一資訊而進行對應關係建立。藉此,只要是即便為一部分具有滑動面之架線,亦可全部進行對應關係建立。 In other words, in the image processing unit 9, the data of the sliding surface 8 is detected from the captured image shown in Figs. 6A and 6B as shown in Fig. 7 . Further, from the captured images shown in FIGS. 6A and 6B, the line data is detected as shown in FIG. 8 and is based on "the captured image of the first linear camera 11 and the captured image of the second linear camera 12". The relationship between the pieces of the sliding surface and the data of the sliding surface is the measurement object. Therefore, even if it is a part of a wire having a sliding surface, all the correspondences can be established.
圖9係本實施例之線條計測裝置之機能構成圖。如圖9所示,本實施例之線條計測裝置具備第1線性照相機11、第2線性照相機12、及圖像處理部9。再者,圖像處理部9具備圖像輸入部14、滑動面提取部15、線條提取部16、結合部17、對應關係建立部18、立體計測部19、記憶部20、及設備資料設定部21。 Fig. 9 is a view showing the functional configuration of the line measuring device of the present embodiment. As shown in FIG. 9, the line measuring device of the present embodiment includes a first linear camera 11, a second linear camera 12, and an image processing unit 9. Further, the image processing unit 9 includes an image input unit 14, a sliding surface extraction unit 15, a line extraction unit 16, a joint unit 17, a correspondence relationship creation unit 18, a stereo measurement unit 19, a storage unit 20, and a device data setting unit. twenty one.
圖像輸入部14獲取利用第1線性照相機11及第2線性照相機12拍攝之圖像資料。 The image input unit 14 acquires image data captured by the first linear camera 11 and the second linear camera 12.
滑動面提取部15利用圖像處理,如已說明般,自圖6中如圖7所示般檢測出滑動面資料。 The sliding surface extracting unit 15 uses image processing, and as described above, the sliding surface data is detected as shown in Fig. 7 from Fig. 6 .
線條提取部16利用圖像處理,如已說明般,自圖6中如圖8所示般檢測出線條資料。此時,線條資料係點群的集合,由於在資料間無關聯性,故以下將其稱為「線條點群資料(線條點群資訊)」。又,在圖8中受到電桿6等干擾之部位缺損。 The line extracting section 16 uses image processing, and as described above, the line data is detected as shown in Fig. 8 from Fig. 6. At this time, the line data is a collection of point groups. Since there is no correlation between the data, the following is called "line point group data (line point group information)". Further, in Fig. 8, the portion that is interfered by the pole 6 or the like is defective.
結合部17製作「線條結合資料」,其係利用線條點群資料按照下述之步驟將線條結合者。 The joint portion 17 creates a "line combination data" which uses the line point group data to join the lines in accordance with the following steps.
亦即,結合部17首先將連續之線條點群資料結合,而製作為若干部分。此時,重疊之部位與缺損之部位區別為不同之部分。其次,利用各部分之長度、角度、近似二次曲線係數、及開始結束座標等之資訊將各部分間結合,從而使淩亂之線條點群資料形成為線條結合資料(線條結合資訊)。 That is, the joint portion 17 first combines the continuous line point group data to be made into a plurality of parts. At this time, the overlapping portion and the defect portion are distinguished from each other. Secondly, the parts are combined by using the length, angle, approximate quadratic coefficient, and the start end coordinates of each part, so that the messy line point group data is formed into line combination data (line combination information).
對應關係建立部18首先將具有滑動面資料之線條結合資料作為計測對象之架線,並進行第1線性照相機11之攝像圖像與第2線性照相機12之攝像圖像之線條結合資料間彼此之對應關係建立。 The correspondence relationship establishing unit 18 first sets the line combination data having the sliding surface data as the measurement target, and performs the correspondence between the line combination data of the captured image of the first linear camera 11 and the captured image of the second linear camera 12. Relationship establishment.
圖10係顯示架線接替並行區間設備之主線1及副主線2之對應關係建立結果的圖。圖10A所示之圖係基於第1線性照相機11之攝像圖像之圖;圖10B所示之圖係基於第2線性照相機12之攝像圖像之圖;圖10C所示之圖係基於第1線性照相機11之攝像圖像之圖;圖10D所示之圖係基於第2線性照相機12之攝像圖像之圖。另外,各自之橫軸表示線性照相機之像素數(pix),縱軸表示時間(ms)。如圖10所示,可針對一部分具有滑動面8之架線進行對應關係建立。 Fig. 10 is a view showing the result of establishing the correspondence relationship between the main line 1 and the sub main line 2 of the parallel section device. The diagram shown in FIG. 10A is based on the image of the captured image of the first linear camera 11; the diagram shown in FIG. 10B is based on the image of the captured image of the second linear camera 12; the diagram shown in FIG. 10C is based on the first A diagram of a captured image of the linear camera 11; a diagram shown in FIG. 10D is based on a captured image of the second linear camera 12. In addition, the horizontal axis of each represents the pixel number (pix) of the linear camera, and the vertical axis represents time (ms). As shown in FIG. 10, a correspondence relationship can be established for a part of the wires having the sliding faces 8.
另一方面,圖11係顯示車輛10通過主線1與連結線4交叉之集電弓交叉架線間轉移設備之情形的概略圖。並且,連結線4亦與主線1(及已出現之副主線2)相同地被吊架線4a吊架。 On the other hand, Fig. 11 is a schematic view showing a state in which the vehicle 10 crosses the inter-wire transfer device through which the main line 1 and the connecting line 4 intersect. Further, the connecting wire 4 is also suspended by the hanger wire 4a in the same manner as the main wire 1 (and the sub-main wire 2 that has appeared).
圖11所示之集電弓交叉架線間轉移設備之攝像圖像圖之一例於圖12中顯示。圖12A所示之圖係利用第1線性照相機11拍攝之攝像圖像圖;圖12B所示之圖係利用第2線性照相機12拍攝之攝像圖像圖,二者之橫軸均表示照相機之像素(pix),縱軸均表示時間(ms)。 An example of a captured image of the pantograph cross-hair transfer device shown in Fig. 11 is shown in Fig. 12. The picture shown in FIG. 12A is a captured image taken by the first linear camera 11; the picture shown in FIG. 12B is a captured image taken by the second linear camera 12, and the horizontal axes of the two represent the pixels of the camera. (pix), the vertical axis represents time (ms).
在集電弓交叉架線間轉移設備中,如圖12般亦存在作為計測對象之架線的連結線4不具有滑動面8之情形。因而,在計測連結線4之情形下,利用不具有滑動面8之架線與具有滑動面8之架線交叉之時間資訊。 In the pantograph cross-over-line transfer device, as shown in FIG. 12, the connection line 4 as the measurement target is not provided with the sliding surface 8. Therefore, in the case where the connecting line 4 is measured, time information in which the wire having no sliding surface 8 intersects with the wire having the sliding surface 8 is used.
與具有滑動面資料之架線(主線1)交叉之架線,如圖12般,除連結線4以外亦有連結線之吊架線4a等之候選。該等架線,雖在利用第1線性照相機11拍攝之攝像圖像之圖12A所示之圖中於A部分與B部分處、在利用第2線性照相機12拍攝之攝像圖像之圖12B所示之圖中於C部分與D部分處,分別交叉,但僅憑藉此並無法在攝像圖像間進行諸個連結線4之對應關係建立。 As shown in Fig. 12, the wire which intersects the wire (main line 1) having the sliding surface data, in addition to the connecting wire 4, is also a candidate for the hanging wire 4a of the connecting wire. These lines are shown in FIG. 12B of the captured image captured by the second linear camera 12 at the portions A and B in the map shown in FIG. 12A of the captured image captured by the first linear camera 11. In the figure, the intersection of the C portion and the D portion respectively intersects, but with this alone, the correspondence between the connection lines 4 cannot be established between the captured images.
在集電弓交叉架線間轉移設備中有在連結線4與主線1交叉時,以與主線1之高度大致相等之高度交叉此一特徵,在攝像圖像上,由於與具有滑動面8之架線之交叉時間資訊大致一致,故可知具有利用第1線性照相機11拍攝之攝像圖像之圖12A所示之圖B部分與利用第2線性照相機12拍攝之攝像圖像之圖12B所示之圖C部分之交叉部位之架線為連結線4。藉此,若以一根架線登記,則連結線4亦可進行對應關係建立。 In the pantograph cross-over-line transfer device, when the connecting line 4 intersects the main line 1, the feature is crossed at a height substantially equal to the height of the main line 1, and on the captured image, due to the line with the sliding surface 8. Since the intersection time information is substantially the same, it can be seen that the portion B of the portion shown in FIG. 12A and the image captured by the second linear camera 12 having the captured image captured by the first linear camera 11 are shown in FIG. The wire of the intersection of the parts is the connecting line 4. Thereby, if the registration is performed by one overhead line, the connection line 4 can also establish a correspondence relationship.
圖13係顯示集電弓交叉架線間轉移設備之主線1及連結線4之對應關係建立結果的資料圖。圖13A所示之圖係顯示基於第1線性照相機11之攝像圖像之主線1之對應關係建立結果的資料圖;圖13B所示之圖係顯示基於第2線性照相機12之攝像圖像之主線1之對應關係建立結果的資料圖;圖13C所示之圖係顯示基於第1線性照相機11之攝像圖像之連結線4之對應關係建立結果的資料圖;圖13D所示之圖係顯示基於第2線性照相機12之攝像圖像之連結線4之對應關係建立結果的資料圖。而且,各自之橫軸表示線性照相機之像素數(pix),縱軸表示時間(ms)。 Fig. 13 is a data diagram showing the result of establishing the correspondence between the main line 1 and the connecting line 4 of the pantograph cross-hair transfer device. The map shown in Fig. 13A shows a data map based on the correspondence relationship between the main lines 1 of the captured images of the first linear camera 11, and the map shown in Fig. 13B shows the main line based on the captured images of the second linear camera 12. A data map of the result of the correspondence establishment of 1; a graph shown in FIG. 13C shows a data map based on the correspondence relationship between the connection lines 4 of the captured images of the first linear camera 11; the graph display shown in FIG. 13D is based on A data map of the result of the correspondence between the connection lines 4 of the captured images of the second linear camera 12. Further, the respective horizontal axes represent the number of pixels (pix) of the linear camera, and the vertical axis represents time (ms).
如此,如圖13A、B、C、D所示之各圖,在對應關係建立部18中,不僅主線1,連結線4亦可對應關係建立。 As described above, in the respective maps shown in FIGS. 13A, B, C, and D, in the correspondence relationship establishing unit 18, not only the main line 1, but also the connecting line 4 can be established.
因而,在對應關係建立部18中,藉由計測對象是否為連結線4之條件分歧(亦即,滑動面資料存在與否之條件分歧)而如上述般變更對 應關係建立方法,在計測對象為連結線4之情形下,利用(具有滑動面8且與連結線4交叉之架線之)滑動面資訊、及(具有滑動面8且與連結線4交叉之架線與連結線4之)交叉部位之時間資訊進行對應關係建立。 Therefore, in the correspondence relationship establishing unit 18, it is changed as described above by whether or not the measurement target is a conditional difference of the connection line 4 (that is, the condition of the presence or absence of the sliding surface data is different). In the case where the measurement target is the connection line 4, the sliding surface information (the line having the sliding surface 8 and intersecting the connection line 4) and the (the line having the sliding surface 8 and intersecting the connection line 4) are used. A correspondence relationship is established between the time information of the intersection of the connection line 4 and the connection line.
以上係針對對應關係建立部18之說明。 The above is the description of the correspondence relationship establishing unit 18.
立體計測部19對利用第1線性照相機11拍攝之攝像圖像與利用第2線性照相機12拍攝之攝像圖像之經對應關係建立之諸個線條結合資料予以立體計測,並如顯示架線計測結果之圖14之圖般算出並輸出線條之高度及偏位。針對高度及偏位之算出係與上述專利文獻2之段落[0025]~[0028]部分相同地進行。 The stereo measurement unit 19 stereometrically measures the line-integrated data created by the correspondence between the captured image captured by the first linear camera 11 and the captured image captured by the second linear camera 12, and displays the measurement result of the line as shown. The height and offset of the lines are calculated and output as shown in Fig. 14. The calculation of the height and the offset is performed in the same manner as the paragraphs [0025] to [0028] of the above-mentioned Patent Document 2.
此外,記憶部20記憶各資料,設備資料設定部21係將連結線或架線接替並行區間之設備之種類及第二架線(主線以外之架線)相對於行進方向自左右哪一方進入之設備之方向此等設備資訊輸入者。 Further, the storage unit 20 stores the respective materials, and the device data setting unit 21 is a device that replaces the type of the device in which the connection line or the line is replaced by the parallel section and the device in which the second line (the line other than the main line) enters from the left and right with respect to the traveling direction. These device information importers.
圖15係說明圖像處理部9整體之動作的流程圖。圖16係詳細敘述對應關係建立部18之動作的流程圖。以下,針對圖像處理部9之動作步驟使用圖15、16之流程圖進行說明。 FIG. 15 is a flowchart for explaining the overall operation of the image processing unit 9. FIG. 16 is a flowchart for explaining in detail the operation of the correspondence relationship establishing unit 18. Hereinafter, the operation procedure of the image processing unit 9 will be described using the flowcharts of FIGS. 15 and 16.
如圖15所示,在步驟S1中,於圖像輸入部14中獲取利用第1線性照相機11及第2線性照相機12拍攝之圖像資料。 As shown in FIG. 15, in step S1, image data captured by the first linear camera 11 and the second linear camera 12 is acquired by the image input unit 14.
在步驟S2中,於滑動面提取部15中檢測滑動面資料。 In step S2, the sliding surface data is detected in the sliding surface extraction unit 15.
在步驟S3中,於線條提取部16中檢測線條點群資料。 In step S3, the line point group data is detected in the line extracting unit 16.
在步驟S4中,於結合部17中利用線條點群資料製作線條結合資料。 In step S4, line combining data is created in the joint portion 17 using the line point group data.
在步驟S5中,於對應關係建立部18中,進行第1線性照相機11之攝像圖像與第2線性照相機12之攝像圖像之諸個線條結合資料間之對應關係建立。 In step S5, the correspondence relationship establishing unit 18 establishes a correspondence relationship between the line-integrated data of the captured image of the first linear camera 11 and the captured image of the second linear camera 12.
此處,如圖16所示,若針對步驟S5進行詳細地說明,則如下述 步驟S5-1~S5-3所述。 Here, as shown in FIG. 16, when it demonstrates in step S5, it is as follows. Steps S5-1 to S5-3.
在步驟S5-1中,於對應關係建立部18中,判斷計測對象是否為連結線4(亦即,滑動面資料存在與否之條件分歧)。若為連結線4(亦即,若不存在滑動面資料),則轉移至步驟S5-3,若並非連結線4(亦即,若存在滑動面資料),則轉移至步驟S5-2。 In step S5-1, the correspondence relationship establishing unit 18 determines whether or not the measurement target is the connection line 4 (that is, the conditional difference between the presence or absence of the sliding surface data). If it is the connecting line 4 (that is, if there is no sliding surface data), the process goes to step S5-3, and if it is not the connecting line 4 (that is, if there is sliding surface data), the process goes to step S5-2.
在步驟S5-2中,於對應關係建立部18中,僅利用連結線4(計測對象之線條)之滑動面資訊進行諸個線條結合資料間之對應關係建立。 In the step S5-2, in the correspondence relationship establishing unit 18, the correspondence relationship between the line combining data is established using only the sliding surface information of the connecting line 4 (the line of the measuring object).
在步驟S5-3中,於對應關係建立部18中,使用具有滑動面8且與連結線4交叉之架線之滑動面資訊、及連結線4與該架線之交叉部位之時間資訊進行諸個線條結合資料間之對應關係建立。 In step S5-3, in the correspondence relationship establishing unit 18, the sliding surface information of the overhead line having the sliding surface 8 and intersecting the connecting line 4, and the time information of the intersection of the connecting line 4 and the overhead line are used to carry out the lines. Establish the correspondence between the data.
如圖15所示,在其後之步驟S6中,於立體計測部19中,對利用第1線性照相機11及第2線性照相機12拍攝之攝像圖像之經對應關係建立之諸個線條結合資料予以立體計測,並算出線條之高度及偏位。 As shown in FIG. 15, in the subsequent step S6, the line measuring unit 19 establishes the line combining data of the corresponding relationship between the captured images captured by the first linear camera 11 and the second linear camera 12. Make a stereo measurement and calculate the height and offset of the line.
在步驟S7中,將所算出之線條之高度及偏位輸出。 In step S7, the height and offset of the calculated line are output.
以上係針對圖像處理部9之動作之說明。 The above is the description of the operation of the image processing unit 9.
在上述專利文獻1中,因另外需要高度資訊,故單獨利用線性照相機無法進行架線之位置(高度及偏位)計測。然而,根據本實施例可單獨地進行高度及偏位之計測,再者,計測對象除主線以外,亦可計測位於自車輛中心偏位±900mm內之第二架線(主線以外之架線)。 In Patent Document 1 described above, since the height information is additionally required, the position (height and offset) measurement of the wire can not be performed by the linear camera alone. However, according to the present embodiment, the measurement of the height and the offset can be performed separately. Further, in addition to the main line, the measurement target can also measure the second line (the line other than the main line) located within ±900 mm from the center deviation of the vehicle.
在上述專利文獻2中,雖需要雷射感測器,但因雷射在性質上而言檢測率及精度與計測距離成比例地惡化,故距離遠之連結線及架線接替並行區間等之架線的立體計測有所困難。然而,根據本實施例,由於係單獨利用線性照相機之立體計測,因此距離遠之連結線及架線接替並行區間等之架線之立體計測的檢測率及精度不易降低。又,雷射之資料取得週期與線性照相機相比慢10倍以上,因而,難以搭載於營業車輛等之高速行駛車輛,但根據本實施例,由於係單獨利用線性 照相機之立體計測,故可搭載於營業車輛等之高速行駛車輛。 In the above Patent Document 2, although a laser sensor is required, since the detection rate and the accuracy of the laser are deteriorated in proportion to the measurement distance, the distance between the distant connection line and the overhead line is parallel. The stereo measurement is difficult. However, according to the present embodiment, since the stereoscopic measurement by the linear camera is used alone, the detection rate and accuracy of the stereoscopic measurement of the distance between the distant connecting line and the wired replacement parallel section are not easily lowered. Further, since the data acquisition period of the laser is 10 times or more slower than that of the linear camera, it is difficult to mount it on a high-speed traveling vehicle such as a business vehicle. However, according to the present embodiment, the linearity is used alone. Since the camera is stereoscopically measured, it can be mounted on a high-speed vehicle such as a business vehicle.
在上述特願2014-196032中,雖藉由限定高度而可進行存在高度制約之連結線(條件:「設置於自主線之高度起30mm以內」)之計測,但在位於自車輛中心偏位±900mm之位置之高位置的設備或複雜構造之設備中,利用限制高度之方法進行位置計測有所困難。然而,根據本實施例,若存在與具有滑動面資訊之架線之關係性,則可全部進行計測。 In the above-mentioned Japanese Patent Application No. 2014-196032, the height-constrained connecting line (condition: "set within the height of the autonomous line within 30 mm") can be measured, but it is located at the center of the vehicle. In equipment with a high position of 900 mm or a device with a complicated structure, it is difficult to perform position measurement by limiting the height. However, according to the present embodiment, if there is a relationship with the wire having the sliding surface information, all the measurements can be made.
本發明適用於線條計測裝置及方法。 The invention is applicable to line measuring devices and methods.
10a‧‧‧車頂上 10a‧‧‧ on the roof
11‧‧‧線性照相機 11‧‧‧Linear camera
12‧‧‧線性照相機 12‧‧‧Linear camera
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