Overhead wire detection device, overhead wire detection system, and program

Abstract

To provide an overhead wire detection device, overhead wire detection system, and program capable of detecting overhead wires more accurately from image data.SOLUTION: An overhead wire detection device (image processing device 30) comprises: an acquisition unit (control unit 31) that acquires an overhead wire image longer in a horizontal direction than in a vertical direction; a first detection unit (control unit 31) that detects a dropper 13 or a hanger 14 from the overhead wire image; a compression unit (control unit 31) that compresses the overhead wire image with a higher compression ratio in the horizontal direction than in the vertical direction; an association unit (control unit 31) that associates a detection position of the dropper 13 or the hanger 14 detected by the first detection unit with the compressed overhead wire image; and a second detection unit (control unit 31) that detects an overhead wire 10 from the compressed overhead wire image on the basis of the detection position of the dropper 13 or the hanger 14.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an overhead line detection device, an overhead line detection system, and a program. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a system has been known in which a camera is mounted on a railway vehicle, an area including overhead wires is captured while the vehicle is traveling, and the quality of the overhead wire fittings is determined from the captured image data.

[0003] For example, Patent Document 1 describes an overhead wire fitting anomaly detection device that includes a camera mounted on the roof of a vehicle, a learning processing unit that uses one-hot expression index image data converted from image data output from the camera to learn an anomaly detection model through semi-supervised anomaly detection learning, and a data processing unit that determines anomalies using the anomaly detection model. Patent Document 2 also describes an overhead line fitting detection device that detects overhead line fittings from two line sensor images, and that is configured to include two line sensor cameras that capture images of overhead lines and overhead line equipment on either side, a pre-processing unit that performs learning for an artificial intelligence function, a line sensor image creation unit that creates two line sensor images from image signals input from the two line sensor cameras while the vehicle is traveling, a fitting candidate detection unit that detects overhead line fitting candidates from the two line sensor images, a fitting candidate image cut-out unit that creates cut-out images of overhead line fitting candidates from the line sensor images based on the overhead line fitting candidates, and a fitting determination unit that inputs the cut-out images into the artificial intelligence function to identify the overhead line fittings. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2023-75660 [Patent Document 2] Japanese Patent Application Publication No. 2020-149286 Summary of the Invention [Problem to be solved by the invention]

[0005] However, if the quality of the overhead wires is to be determined for the entire image data, the amount of calculation required will be enormous. Therefore, it is conceivable to extract only the overhead wires from the image data and determine their quality, but if other wires or other objects are captured in the image data, there is a risk of false detection.

[0006] An object of the present invention is to provide an overhead contact line detection device, an overhead contact line detection system, and a program that can more accurately detect overhead contact lines from image data. [Means for solving the problem]

[0007] In order to solve the above problem, the overhead line detection device according to claim 1 is an acquisition unit for acquiring an overhead wire image that is longer in the horizontal direction than in the vertical direction; a first detection unit that detects a dropper or a hanger from the overhead line image; a compression unit that compresses the overhead line image at a compression rate higher in the horizontal direction than in the vertical direction; an associating unit that associates the compressed overhead line image with the detected position of the dropper or hanger detected by the first detecting unit; a second detection unit that detects an overhead line from the compressed overhead line image based on the detected position of the dropper or hanger; Equipped with.

[0008] The invention described in claim 2 is the overhead line detection device described in claim 1, The second detection unit detects a line passing through the upper end of the dropper or hanger as an overhead line.

[0009] The invention described in claim 3 is the overhead line detection device described in claim 1, The second detection unit detects a wire passing through the lower end of the hanger as a trolley wire.

[0010] The invention described in claim 4 is the overhead line detection device described in claim 1, The system further includes a determination unit that extracts an area corresponding to the detected position of the overhead line detected by the second detection unit from the overhead line image and determines whether the overhead line is good or bad using the extracted image.

[0011] The invention described in claim 5 is the overhead line detection device described in claim 1, The overhead wire image is an image taken by an imaging device provided on the railway vehicle while the vehicle is running.

[0012] The overhead line detection system according to claim 6 comprises: an imaging device for photographing the overhead wires; An acquisition unit that acquires an overhead wire image that is longer in the horizontal direction than in the vertical direction and is captured by the imaging device; a first detection unit that detects a dropper or a hanger from the overhead line image; a compression unit that compresses the overhead line image at a compression rate higher in the horizontal direction than in the vertical direction; an associating unit that associates the compressed overhead line image with the detected position of the dropper or hanger detected by the first detecting unit; a second detection unit that detects an overhead line from the compressed overhead line image based on the detected position of the dropper or hanger; Equipped with.

[0013] The program according to claim 7 comprises: The computer of the overhead line detection device, an acquisition unit that acquires an overhead wire image that is longer in the horizontal direction than in the vertical direction; a first detection unit that detects a dropper or a hanger from the overhead line image; a compression unit that compresses the overhead line image at a compression rate higher in the horizontal direction than in the vertical direction; an association unit that associates the compressed overhead line image with the detected position of the dropper or hanger detected by the first detection unit; a second detection unit that detects an overhead wire from the compressed overhead wire image based on the detected position of the dropper or hanger; Function as. [Effects of the Invention]

[0014] According to the present invention, overhead wires can be detected more accurately from image data. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a diagram showing a schematic configuration of an overhead contact line detection system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a diagram showing a first catenary wire, a second catenary wire, a contact wire, and catenary fittings. [Figure 3] 10 is a flowchart showing the flow of a quality determination process. [Figure 4] FIG. 10 is a diagram showing an example of a compressed image obtained by compressing an overhead wire image. DETAILED DESCRIPTION OF THE INVENTION

[0016] An overhead contact line detection system (hereinafter also referred to as system 100) according to an embodiment of the present invention will be described below with reference to Figures 1 to 4. However, the technical scope of the present invention is not limited to the illustrated examples.

[0017] [1. System configuration] 1 is a diagram showing a schematic configuration of an overhead contact line detection system (system 100) according to this embodiment. The system 100 is installed on a vehicle 20 that runs on a rail R. In this embodiment, the overhead catenary 10 installed above the rail R is, for example, a compound catenary type. The overhead catenary 10 includes a first catenary 11a, a second catenary 11b which is an auxiliary catenary 11a, and a trolley wire 12. The second catenary 11b is suspended from the first catenary 11a by a dropper 13. The trolley wire 12 is suspended from the second catenary 11b by a hanger 14. A plurality of droppers 13 and hangers 14 are installed at predetermined intervals. The droppers 13 and hangers 14 are included in an overhead catenary fitting 15. The system 100 detects an overhead contact line 10 including a first catenary wire 11a, a second catenary wire 11b, and a contact wire 12, and determines whether the detected overhead contact line 10 is good or bad.

[0018] As shown in FIG. 1, the system 100 includes an imaging device 21 installed on the roof of a vehicle 20, and an image processing device 30 (overhead line detection device) installed inside the vehicle 20.

[0019] The installation angle and elevation angle of the imaging device 21 are set so that the dropper 13 and parts of the first and second messenger wires 11a and 11b connected to the dropper 13 are included in its field of view. Alternatively, the installation angle and elevation angle of the imaging device 21 are set so that the hanger 14 and parts of the second messenger wire 11b and the trolley wire 12 connected to the hanger 14 are included in its field of view. The imaging device 21 is a line sensor camera that can repeatedly capture images of a linear imaging area. The imaging device 21 is installed so that the linear imaging area intersects with the direction of movement of the imaging subject, and can obtain two-dimensional images of the imaging subject by continuously capturing images while the imaging subject is moving. The imaging device 21 outputs the captured image signals to the image processing device 30.

[0020] The image processing device 30 includes a control unit 31 and a storage unit 32 . The control unit 31 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc., and controls each part of the image processing device 30 in cooperation with the CPU and program data stored in the memory unit 32.

[0021] The storage unit 32 includes a hard disk drive (HDD), a semiconductor memory, etc., and stores various information required for operating the image processing device 30, such as program data, in a manner that allows the control unit 31 to read and write the information. The storage unit 32 also stores an object detection model and a pass / fail determination model. The object detection model is a machine learning model for detecting the overhead line fittings 15 from the image captured by the imaging device 21. The quality determination model is a machine learning model for determining quality of the overhead wire 10 detected from the image captured by the imaging device 21 (determining whether the overhead wire 10 is normal or abnormal).

[0022] [2. Explanation of overhead wiring fittings] FIG. 2 shows the first catenary 11a, the second catenary 11b, the contact wire 12, and the catenary fittings 15. The dropper 13 includes a dropper clip 131, a dropper fitting 132, and a dropper wire 133 having an upper end hooked to the dropper clip 131 and a lower end held by the dropper fitting 132. The hanger 14 includes a hanger bar 141 , a hanger ear 142 , and a protective cover 143 . The hanger bar 141 is a strip-shaped member hung on the second messenger wire 11b at the end in the positive direction of the Z axis. The hanger ear 142 is attached to the end of the hanger bar 141 in the negative direction of the Z axis, and grips the trolley wire 12. The protective cover 143 has the second messenger wire 11b inserted through the center thereof, and protects the second messenger wire 11b and the end of the hanger bar 141 in the positive direction of the Z axis.

[0023] [3. Explanation of system operation] Next, the operation of the system 100 according to this embodiment will be described. FIG. 3 is a flowchart showing the pass / fail determination process executed by the control unit 31 of the image processing device 30.

[0024] (Good / bad judgment process) The control unit 31 generates an overhead line image that includes the overhead line 10 and is longer in the horizontal direction than in the vertical direction by arranging in time series images continuously captured by the imaging device 21 while the vehicle 20 is traveling. In this way, the control unit 31 acquires an overhead line image that is longer in the horizontal direction than in the vertical direction (step S1). The control unit 31 functions as an acquisition unit. In step S1, the control unit 31 acquires an overhead line image having a size of, for example, 16,000 [px (pixels)]×2,048 [px]. Next, the control unit 31 inputs the overhead line image acquired in step S1 into an object detection model, thereby detecting droppers 13 and / or hangers 14 as overhead line fittings 15 attached to the overhead line from the overhead line image and identifying their positions in the overhead line image (step S2). The control unit 31 functions as a first detection unit.

[0025] Next, the control unit 31 compresses the overhead line image acquired in step S1 at a higher compression rate in the horizontal direction than in the vertical direction to generate a compressed image (step S3). The control unit 31 functions as a compression unit. The compression rate in the horizontal direction is preferably, for example, 5 times or more the compression rate in the vertical direction. In step S3, the control unit 31 compresses the overhead line image of 16,000 [px] × 2,048 [px] acquired in step S1 to generate a compressed image of, for example, 512 [px] × 512 [px]. Fig. 4 shows an example of the compressed image obtained by compressing the overhead line image. By compressing the overhead wire image at a higher compression rate in the horizontal direction than in the vertical direction, the characteristics of the overhead wires 10, which are continuous in the horizontal direction (horizontal direction), can be made to stand out in the compressed image. On the other hand, as shown in FIG. 4, the characteristics of objects that have mainly vertical characteristics, such as utility poles and buildings in the background, that appear in the overhead wire image can be suppressed and made less noticeable. The objects that have mainly vertical characteristics include the dropper 13 and the hanger 14. Therefore, there is a high possibility that the dropper 13 and / or the hanger 14 will also disappear in the compressed image. In addition, the amount of processing required to detect the overhead wires 10 from the compressed image can be reduced compared to the amount of processing required for the overhead wire image before compression.

[0026] Next, the control unit 31 associates the detected positions of the dropper 13 and / or hanger 14 detected in step S2 with the compressed image generated in step S3 (step S4). The control unit 31 functions as an association unit. Next, the control unit 31 detects the overhead wire 10 from the compressed image based on the detected positions of the dropper 13 and / or hanger 14 associated in step S4 (step S5). The control unit 31 functions as a second detection unit. In step S5, the control unit 31 detects the wire passing through the upper end (dropper clip 131) of the dropper 13 as the first messenger wire 11a, as shown in Fig. 2. The control unit 31 also detects the wire passing through the upper end (Z-axis positive direction end 141a of the hanger bar 141 or the protective cover 143) of the hanger 14 as the second messenger wire 11b. The control unit 31 also detects the wire passing through the lower end (hanger ear 142) of the hanger 14 as the contact wire 12.

[0027] Next, the control unit 31 extracts an area corresponding to the overhead wire 10 detected in step S5 from the overhead wire image before compression, and sets it as an extracted image (step S6). Next, the control unit 31 judges whether the overhead line 10 is good or bad using the extracted image extracted in step S6 (step S7), and ends the good or bad judgment process. The control unit 31 functions as a judgment unit. In step S7, the control unit 31 inputs the extracted image extracted in step S6 into a quality determination model to determine whether the overhead line 10 is good or bad.

[0028] [4. Explanation of effects] The overhead line detection device (image processing device 30) of this embodiment comprises an acquisition unit (control unit 31) that acquires an overhead line image that is longer in the horizontal direction than in the vertical direction, a first detection unit (control unit 31) that detects a dropper 13 or a hanger 14 from the overhead line image, a compression unit (control unit 31) that compresses the overhead line image at a higher compression rate in the horizontal direction than in the vertical direction, an association unit (control unit 31) that associates the detected position of the dropper 13 or hanger 14 detected by the first detection unit with the compressed overhead line image, and a second detection unit (control unit 31) that detects the overhead line 10 from the compressed overhead line image based on the detected position of the dropper 13 or hanger 14. Therefore, even if a vertical object, such as a pole, is captured in the overhead wire image, the effect of the captured object can be eliminated by compressing the image. Furthermore, since the overhead wire 10 is detected based on the detected position of the dropper 13 or hanger 14, it is possible to prevent other electric wires from being mistakenly detected as the overhead wire 10. This allows the overhead wire 10 to be detected more accurately from the image data.

[0029] In the overhead contact line detection device (image processing device 30) according to this embodiment, the second detection unit (control unit 31) detects the line passing through the upper end of the dropper 13 or the hanger 14 as the overhead contact line 10 (first messenger line 11a, second messenger line 11b). Therefore, since the wires passing through the upper ends of the dropper 13 or hangers 14 are detected as the first messenger wire 11a and the second messenger wire 11b, even if other electric wires are captured in the image of the wires, it is possible to prevent the other electric wires from being mistakenly detected as the first messenger wire 11a or the second messenger wire 11b. Similarly, the second detection unit (control unit 31) detects the wires passing through the lower ends of the hangers 14 as the contact wires. This makes it possible to more accurately detect the first messenger wire 11a, the second messenger wire 11b, and the contact wire 12 from the image data.

[0030] The overhead line detection device (image processing device 30) of this embodiment is equipped with a judgment unit (control unit 31) that extracts an area corresponding to the detection position of the overhead line 10 detected by the second detection unit (control unit 31) from the overhead line image and judges whether the overhead line 10 is good or bad using the extracted image. Therefore, by determining whether the overhead line 10 is good or bad using the extracted image that has not been compressed, a highly accurate determination can be made.

[0031] In the overhead contact line detection device (image processing device 30) according to this embodiment, the overhead contact line image is an image taken by an imaging device 21 provided on a railway vehicle (vehicle 20) while the vehicle is running. Therefore, it is possible to easily capture images of overhead wires over a wide range.

[0032] The embodiments to which the present invention can be applied are not limited to those described above, and can be modified as appropriate without departing from the spirit of the present invention. For example, in the above embodiment, the control unit 31 of the image processing device 30 functions as an "acquisition unit," a "first detection unit," a "compression unit," a "correlation unit," a "second detection unit," and a "determination unit," but this is not limited to this. An external device that is installed outside the vehicle 20 and communicably connected to the image processing device 30 may function as the "acquisition unit," the "first detection unit," the "compression unit," the "correlation unit," the "second detection unit," and the "determination unit." In this case, the external device stores the object detection model and the pass / fail determination model in its own memory. [Explanation of symbols]

[0033] 100 System (Overhead Line Detection System) 10. Overhead Lines 11a No. 1 Messenger Line 11b Second Messenger Line 12 Contact wire 13 Dropper 131 Dropper Clip 132 Dropper fittings 133 Dropper Line 14 Hanger 141 Hanger Bar 142 Hanger 143 Protective Cover 15 Overhead wiring fittings 20 vehicles 21 Imaging device 30 Image processing device (overhead wire fitting quality determination device) 31 control unit (acquisition unit, first detection unit, compression unit, association unit, second detection unit, determination unit) 32 Storage section

Claims

1. an acquisition unit for acquiring an overhead wire image that is longer in the horizontal direction than in the vertical direction; a first detection unit that detects a dropper or a hanger from the overhead line image; a compression unit that compresses the overhead line image at a compression rate higher in the horizontal direction than in the vertical direction; an associating unit that associates the compressed overhead line image with the detected position of the dropper or hanger detected by the first detecting unit; a second detection unit that detects an overhead line from the compressed overhead line image based on the detected position of the dropper or hanger; An overhead line detection device comprising:

2. The overhead contact line detection device according to claim 1 , wherein the second detection unit detects a line passing through an upper end of the dropper or hanger as a messenger line.

3. The overhead contact wire detection device according to claim 1 , wherein the second detection unit detects a wire passing through a lower end of the hanger as a contact wire.

4. 2. The overhead line detection device according to claim 1, further comprising a determination unit that extracts an area corresponding to the detected position of the overhead line detected by the second detection unit from the overhead line image and determines whether the overhead line is good or bad using the extracted image.

5. 2. The overhead contact line detection device according to claim 1, wherein the overhead contact line image is an image taken by an imaging device mounted on a railway vehicle while the vehicle is running.

6. an imaging device for photographing the overhead wires; An acquisition unit that acquires an overhead wire image that is longer in the horizontal direction than in the vertical direction and is captured by the imaging device; a first detection unit that detects a dropper or a hanger from the overhead line image; a compression unit that compresses the overhead line image at a compression rate higher in the horizontal direction than in the vertical direction; an associating unit that associates the compressed overhead line image with the detected position of the dropper or hanger detected by the first detecting unit; a second detection unit that detects an overhead line from the compressed overhead line image based on the detected position of the dropper or hanger; An overhead line detection system comprising:

7. The computer of the overhead line detection device, an acquisition unit that acquires an overhead wire image that is longer in the horizontal direction than in the vertical direction; a first detection unit that detects a dropper or a hanger from the overhead line image; a compression unit that compresses the overhead line image at a compression rate higher in the horizontal direction than in the vertical direction; an association unit that associates the compressed overhead line image with the detected position of the dropper or hanger detected by the first detection unit; a second detection unit that detects an overhead line from the compressed overhead line image based on the detected position of the dropper or hanger; A program that functions as a

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