JPS58224501A - Automatic observing device for trolley wire - Google Patents

Abstract

PURPOSE:To enable to utilize any pantograph by sensing by a TV with a shutter the moment that a pantograph shoe and a fitting cross, processing the image and calculating the angle formed between the pantograph shoe and the fitting. CONSTITUTION:When a detector 8 detects a fitting 4 mounted on a supporting pole 2, a TV camera 7 with a shutter becomes ready to sense it. When the detector 9 detects the fitting 4, the camera 7 senses the moment that a pantograph shoe 1 and the fitting 4 cross. An image processor 10 calculates and processes an image signal of the camera 7 and detects the angle formed between the shoe 1 and the fitting 4.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a steady fixture or a curved pull fixture for holding a contact wire, and an automatic contact line observation device for automatically detecting the angle formed by a pantograph hull.

When a vehicle runs on rails, the overhead line structure uses a curve puller to prevent the contact wire from coming off the vehicle's pantograph on a curved road, and a rail center steadying bracket to correct the contact wire. There is. If the curved pull fitting or steady stop fitting (hereinafter referred to as the metal fitting) that constitutes the contact wire is at a predetermined position (height, angle) relative to the contact wire, there will be no problem with the pantograph. If the position of the metal fittings becomes unduly low in relation to the contact wire due to loosening of the metal fittings or poor support, the metal fittings may hit the pantograph and cause damage to the contact wire or pantograph, so maintain the angle of the metal fittings appropriately. This is necessary. In order to detect the angle of such a metal fitting, a detector as shown in FIG. 1 has conventionally been used for measurement. In Fig. 1, the pantograph hull has antennas S1 t S2 j with switches on each side of the center.
831s, *SI#Sa are attached, and each antennae protrudes a predetermined length onto the sliding surface of the pantograph hull l that slides on the trolley wA3. When the pantograph hull l passes below the metal fitting attached to the trolley l/s3, the antenna S3 equipped with a switch hits the metal fitting.
Fall back and activate the switch. When the metal fitting is in position P, the antennae S, S, S, on which the switch is installed, fall down at the same time to operate the switch. Also, when the metal fitting is at the position P8 on the opposite side to the contact wire 3, the antennas S, S, provided with switches are provided.

S corresponds to each. In this way, the installation angle was determined based on how many switches were activated at the same time. However, with this method, the body of the pantograph boat for current collection is heavy because many antennae equipped with switches are arranged in an array, and the follow-up performance as designed cannot be expected. For this reason, a special pantograph is required. Furthermore, since the switch is operated by contacting the metal fittings while the vehicle is running, the antennae may bend or break due to impact, making it difficult to take accurate measurements.

The present invention improves the above-mentioned conventional uncertain angle detection method and detects the moment when the pantograph hull and the metal fitting intersect by using a shutter-equipped TV.
The present invention provides an automatic overhead contact line observation device that immediately processes and calculates the image, and outputs the angle formed by the pantograph hull and the metal fittings with high accuracy.

Embodiments of the present invention will be described below with reference to the drawings.

Figure 2 is a diagram showing the configuration of this device necessary to capture the moment when the pantograph hull and the metal fitting intersect.

The pantograph hull l of the pantograph 4 installed on the roof of the vehicle 1 is moving in the direction of arrow a while sliding with the top 1Iiii3. Similarly, on the roof of the vehicle 4, there is an optical detector S for detecting metal fittings in front of the pantograph mounting position, and an optical detector S for detecting metal fittings is located at the center of the pantograph mounting position. It is placed facing upwards. When the vehicle 6 moves in the direction of the arrow a, the detector g first passes directly under the metal fitting attached to the support column, optically detects this shadow, and sends the detection signal to the shutter-equipped TV camera. send. This signal causes the shutter-equipped TV camera 7 to become ready for photographing. Next, the detector t
passes and sends a detection signal to the shutter-equipped TV camera 7 again, the shutter-equipped TV camera 7 inputs this detection signal as a shutter pulse signal and outputs it for 100 μs (/1taθ00
A high-speed electrical shutter (seconds) is activated to take a picture, and the photographed image is converted into an electrical signal and output. The detection signal from the detector t is also sent to O, P, and U/co in the image processing StO (see Figure 5), and the image processing unit 1o reproduces the electric signal from the TV camera 7 with a shutter into an image. and import it. Next, O, P, U/K, R, O, M/J, Tsuzumi in the image processing section 10,
The angle calculation method performed by M, M/di and V, IP, M/j will be explained with reference to FIGS. 3 and 4.

The T7 camera 7 with a shutter receives the detection signal from the detector t in Figure 1.
The image taken by the photographer is an image in which the pantograph hull l and the metal fittings overlap, as shown in Figure 3. Although the metal fittings move at high speed, they remain stationary because the photograph was taken using a high-speed shutter. Furthermore, since the shutter-equipped TV camera is installed horizontally on the vehicle 4, the pantograph hull l is parallel to the horizontal scanning line of the image. This image is taken into V, IP, M (video frame memory) lj in the image processing section 10 shown in FIG. In order to calculate the angle in the image of FIG. 3, it is sufficient to clarify the relative position between the pantograph hull I and the metal fitting D. Based on the vertical movement of the pantograph, it is formed as a frame with a predetermined width in the left and right and up and down directions, which is always located above the pantograph hull l, and calculation processing is performed only within this frame. Window frame from this //
Because it is necessary to distinguish the parts of the metal fittings within the image, λ value conversion processing is performed to convert the background and the metal fittings into white and black CO and l), respectively. However, the surface of the metal fittings has been exposed over time and has various luster. Furthermore, although the background of the metal fitting V is the sky, it differs depending on weather conditions, so the conversion process cannot be performed simply.

The co-value conversion method will be described below. The image within the electrical window frame ll is T, ~T, as shown in FIG. Each pixel of one scan 11 T has data of D1 to D, - yoo. Of these, the scanning lines T used for angle calculation are every 7th "s t T + os Tis"...T, -, total -0, and each scanning line T is In order to improve the calculation speed based on , the average value is first calculated using the 154 pixel data on the left side.In other words, these 4 pieces of pixel data are calculated using the image processing section V, F, M
/ Input from S to O, P, U/J, O, P.

Calculate the average value with IT/Co. The obtained value is one scanning line T
Since metal fittings account for a small proportion of the value, it is the value of the background, that is, the sky side. From this value, the scanning line T
This method divides the average value and slice value obtained through experiments in advance into R, O,
Create it in M/J.

By selecting a slice value in correspondence with this table and the obtained average value, a method is adopted to reliably extract metal fittings into a value.

The above processing is repeated for each scanning line -0, and the data is transferred at high speed to R, M, and M/f each time. R,mu0M1y
As shown in Fig. 6, the image of the data sent to
It is composed of a total of 0 lines of """...T1°, and is classified into λ gradations of white and black (O and /).

Next, a method for performing self-seat calculations from this image will be explained.

As shown by the arrows from below, image levels of different gradations are searched for each scanning line T toward 1. If it is not found, use the same method as arrow 0 from below the right end to search for it, and if it is not found, move further inside to arrow d and continue searching. different floors
When you search for 441 points, remember this location and then d −+
Search inward from 6 at the height of the box with height t at point d'.
The location of one nested gradation is memorized. This point d' and 01
The tangent (ta) of the angle θ that the straight line connecting the points forms with the scanning line T
nθ) is calculated.

From this result, R, 0°M/3 in Fig. S is performed within approximately 1 second, and the detection and output are repeated.

According to the automatic contact line observation device according to the present invention, any pantograph can be used, compared to conventional measuring instruments that use a dedicated pantograph. Furthermore, by measuring metal fittings remotely and without contact, maintenance and inspection can be made easier by eliminating the need for conventional antennas, switches, etc., making a major contribution in this area.

[Brief explanation of the drawing]

Fig. 7 is an explanatory diagram of a conventional detector, Figs. 1 to 6 show embodiments of the present invention, Fig. 1 is a configuration diagram, and Fig. 3 is a photographed image and electrical information for processing. Correspondence diagram of the window frame, Figure V is an explanatory diagram of the co-value conversion method in the electrical window frame, Figure S is a block diagram of the image processing unit in Figure 1, and the printer for printing out, Figure 4 is the electrical FIG. 3 is an explanatory diagram of an angle calculation method within a target window frame. /-... Pantograph hull, K... Support column, 3...
Contact wire, lI... Steady stop fitting or curved pull fitting, 3
...pantograph, 6...vehicle,? ---TV camera with shutter-g, t--detector, lθ--image processing section, / / ----electric window frame, saw-0, P,
U, ノ3...R,0,M,/Da...R,mu0M/
S-V, F, M, / 4...Printer m regular agent
Japanese National Railways Governor's Office Legal Affairs Division Chief Sekiba Daisukehata"1 Figure 21 Figure 3 Figure,') Figure A4

Claims (1)

[Claims] The first and second detectors installed on the upper part of the car body optically detect the steady stop fitting or curved pull fitting that holds the Toro IJ line, and the detection signals of the first and second detectors are photographed. A TV with a shutter that converts the captured image into an electrical signal and outputs it as a preparation signal and a shutter pulse signal.
The electric signal of the shutter-equipped TV camera is input into an image by inputting the detection signal of the camera and the first detector, and the reproduced image is converted into a value, and the image is converted into a value from the above-mentioned steady rest. An automatic contact line observation device characterized by comprising an image processing section that calculates and outputs the angle formed by a metal fitting or a curve pulling fitting and a pantograph hull.