Pantograph acceleration measuring device and measurement method

Abstract

To provide an acceleration measurement device which detects an impact point by measuring acceleration in a front-rear direction of a pantograph.SOLUTION: An acceleration measurement device comprises: a marker which is attached to a bottom surface of a pantograph; imaging means 9 which images the marker; and an image processing device 11 which obtains acceleration of the pantograph on the basis of an input image 9a captured during travel of a vehicle. The image processing device comprises: a template setting unit 13 which sets a reference template of the marker from the input image; a template expansion / contraction unit 15 which expands / contracts the reference template; a pattern matching unit 17 which calculates the similarity of the input image by using the expanded / contracted reference template to detect the marker; a pantograph displacement calculation unit 19 which obtains displacement of the detected marker; a filtering processing unit 21 which performs smoothing of the displacement of the marker obtained in time series; and an acceleration calculation unit 23 which calculates acceleration in the front-rear direction of the pantograph by second-order differentiating the smoothed displacement of the marker.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a pantograph acceleration measuring device and a measuring method.

Background Art

[0002] In electric railway facilities, measurement of hard points on the trolley wire is one of the inspection items. For example, the trolley wire is in a state of being suspended by hangers on the overhead wire. At the locations where these hangers are installed, as well as other connection points and curved sections of the trolley wire, the weight of the trolley wire is partially increased compared to other parts, and this is called the "hard point of the trolley wire".

[0003] When the pantograph, which is a current collector device installed on the roof of the vehicle and slides on the trolley wire, passes through the hard point of the trolley wire, the pantograph may rapidly descend due to the weight of the trolley wire. In such a case, the trolley wire may become disconnected from the pantograph, and a discharge phenomenon called an arc occurs. At this time, local wear occurs on the trolley wire due to the heat generated by the arc. Therefore, it is considered that the progress of wear is accelerated at the hard points of the trolley wire compared to other parts. From the above, detecting the hard points of the trolley wire is an important matter in maintaining, operating, and managing electric railway facilities.

[0004] Patent Document 1 and Patent Document 2 disclose devices and methods for detecting hard points. In these documents, a marker attached to the pantograph is photographed with a line sensor camera, and the acceleration of the pantograph is obtained by image processing of the photographed input image to detect hard points.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

[0006] Currently, in the field of railway equipment maintenance and inspection, in addition to detecting the aforementioned hard spots, there is a challenge in detecting the impact points of the pantograph. This challenge can be addressed by measuring the acceleration of the pantograph in the longitudinal direction, which makes it possible to detect the impact points of the pantograph. Patent documents 1 and 2 measure the acceleration of the pantograph in the vertical direction to detect hard spots, but there is a growing demand to measure the acceleration in the longitudinal direction as well.

[0007] This invention has been made in view of the circumstances described above, and the problem that this invention aims to solve is to provide a pantograph acceleration measuring device and measuring method that can measure the acceleration of the pantograph in the longitudinal direction and detect the point of impact. [Means for solving the problem]

[0008] To solve the above problems, the present invention employs the following means. In other words, the pantograph acceleration measuring device of the present invention comprises: a first marker attached to the bottom surface or horn portion of the pantograph of a railway vehicle; a photographing means installed on the roof of the railway vehicle for photographing the first marker; and an image processing device for determining the acceleration of the pantograph based on an input image taken by the photographing means while the railway vehicle is running. The image processing device comprises: a template setting unit for setting a first reference template of the first marker from the input image; a template enlargement / reduction unit for enlarging / reducing the first reference template based on the input image; a pattern matching unit for calculating the similarity of the input image using the enlarged / reduced first reference template and detecting the first marker; a pantograph displacement calculation unit for determining the displacement of the detected first marker; a filtering processing unit for smoothing the displacement of the first marker obtained in time series; and an acceleration calculation unit for calculating the acceleration of the pantograph in the longitudinal direction by taking the second derivative of the smoothed displacement of the first marker.

[0009] In the pantograph acceleration measuring device of the present invention, a first marker attached to the bottom surface or horn portion of the pantograph of a railway vehicle is photographed by a photographic means while the railway vehicle is in motion. The longitudinal displacement of the pantograph is determined from the obtained input image, and the longitudinal acceleration of the pantograph is calculated by taking the second derivative of that displacement, thereby enabling the detection of the impact point of the trolley wire.

[0010] In one aspect of the present invention, a second marker is attached to the side or horn portion of the pantograph, the imaging means is positioned to photograph both the first marker and the second marker, the template setting unit sets a second reference template for the second marker from the input image, the template enlargement / reduction unit enlarges or reduces the second reference template based on the input image, the pattern matching unit calculates the similarity of the input image using the enlarged / reduction second reference template and detects the second marker, the pantograph displacement calculation unit determines the displacement of the detected second marker, the filtering processing unit smooths the displacement of the second marker obtained in time series, and the acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker.

[0011] In this embodiment, a second marker is attached to the side or horn of the pantograph. The imaging means photographs both the first and second markers while the railway vehicle is in motion, determines the vertical displacement of the pantograph from the obtained input images, and calculates the vertical acceleration of the pantograph by taking the second derivative of that displacement. Thus, both the impact point and the hard point of the trolley wire can be detected with a single imaging means.

[0012] In one aspect of the present invention, a second marker is attached to the side or horn portion of the pantograph, and a second imaging means is installed on the roof of the railway vehicle and photographs the second marker. A second input image captured by the second imaging means while the railway vehicle is running is input to the image processing device. The template setting unit sets a second reference template for the second marker from the second input image. The template enlargement / reduction unit enlarges or reduces the second reference template based on the second input image. The pattern matching unit calculates the similarity of the second input image using the enlarged or reduced second reference template and detects the second marker. The pantograph displacement calculation unit determines the displacement of the detected second marker. The filtering processing unit smooths the displacement of the second marker obtained in time series. The acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker.

[0013] In this embodiment, a second marker is attached to the side or horn of the pantograph. The second imaging means photographs the second marker while the railway vehicle is in motion, determines the vertical displacement of the pantograph from the obtained second input image, and calculates the vertical acceleration of the pantograph by taking the second derivative of that displacement. Thus, in addition to the impact point of the trolley wire, hard points can also be detected.

[0014] In one aspect of the present invention, the railway vehicle is equipped with a range sensor installed on the roof of the railway vehicle to measure the displacement of the pantograph, the displacement of the pantograph measured by the range sensor while the railway vehicle is running is input to the image processing device, the pantograph displacement calculation unit calculates the measured displacement of the pantograph, the filtering processing unit smooths the time-series obtained pantograph displacement, and the acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed pantograph displacement.

[0015] In this embodiment, the displacement of the pantograph is measured by a range sensor, and the vertical acceleration of the pantograph is calculated by taking the second derivative of the vertical displacement of the pantograph obtained from the measurement. Therefore, in addition to the impact point of the trolley wire, hard points can also be detected.

[0016] In one aspect of the present invention, the imaging means and / or the second imaging means is either a line sensor camera or an area sensor camera. In this embodiment, an appropriate means of photography can be selected.

[0017] The present invention provides a method for measuring the acceleration of a pantograph, which includes: attaching a first marker to the bottom surface or horn portion of the pantograph of a railway vehicle; photographing the first marker; and determining the acceleration of the pantograph based on an input image taken while the railway vehicle is in motion. In determining the acceleration of the pantograph, the method includes: setting a first reference template of the first marker from the input image; scaling the first reference template based on the input image; calculating the similarity of the input image using the scaled first reference template to detect the first marker; determining the displacement of the detected first marker; smoothing the displacement of the first marker obtained in time series; and calculating the acceleration of the pantograph in the longitudinal direction by taking the second derivative of the smoothed displacement of the first marker.

[0018] In the pantograph acceleration measurement method of the present invention, a first marker attached to the bottom surface or horn portion of the pantograph of a railway vehicle is photographed while the railway vehicle is in motion. The longitudinal displacement of the pantograph is determined from the obtained input image, and the longitudinal acceleration of the pantograph is calculated by taking the second derivative of that displacement, thereby enabling the detection of the impact point of the trolley wire.

[0019] One aspect of the present invention includes attaching a second marker to the side or horn portion of the pantograph, photographing both the first marker and the second marker, and determining the acceleration of the pantograph by setting a second reference template of the second marker from the input image, scaling the second reference template based on the input image, calculating the similarity of the input image using the scaled second reference template to detect the second marker, determining the displacement of the detected second marker, smoothing the displacement of the second marker obtained in time series, and calculating the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker.

[0020] In this embodiment, both the first and second markers are photographed while the railway vehicle is in motion, the vertical displacement of the pantograph is determined from the obtained input images, and the vertical acceleration of the pantograph is calculated by taking the second derivative of that displacement. Thus, in addition to the impact point of the trolley wire, hard points can also be detected.

[0021] One aspect of the present invention includes attaching a second marker to the side or horn portion of the pantograph, photographing the second marker to obtain a second input image, and determining the acceleration of the pantograph by setting a second reference template of the second marker from the second input image, scaling the second reference template based on the second input image, calculating the similarity of the second input image using the scaled second reference template to detect the second marker, determining the displacement of the detected second marker, smoothing the displacement of the second marker obtained in time series, and calculating the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker.

[0022] In this aspect, the second marker is photographed while the railway vehicle is running, the vertical displacement of the pantograph is obtained from the obtained second input image, and the vertical acceleration of the pantograph is calculated by performing a second-order differentiation on the displacement. Therefore, in addition to the impact point of the trolley wire, hard points can also be detected.

[0023] In one aspect of the present invention, it includes measuring the displacement of the pantograph by a measurement range sensor while the railway vehicle is running. When obtaining the acceleration of the pantograph, it includes obtaining the displacement of the pantograph measured by the measurement range sensor, smoothing the displacement of the pantograph obtained in time series, and calculating the vertical acceleration of the pantograph by performing a second-order differentiation on the smoothed displacement of the pantograph.

[0024] In this aspect, the displacement of the pantograph is measured by a measurement range sensor, and the vertical acceleration of the pantograph is calculated by performing a second-order differentiation on the vertical displacement of the pantograph obtained from the measurement. Therefore, in addition to the impact point of the trolley wire, hard points can also be detected.

[0025] In one aspect of the present invention, the input image and / or the second input image is photographed by either a line sensor camera or an area sensor camera. In this aspect, an appropriate device can be selected as the photographing device.

Effect of the Invention

[0026] According to the present invention, it is possible to provide an acceleration measurement device and a measurement method for a pantograph that can measure the acceleration in the front-rear direction of the pantograph and detect the impact point.

Brief Description of the Drawings

[0027] [Figure 1] It is an explanatory diagram showing an installation example of an acceleration measurement device for a pantograph according to an embodiment of the present invention. [Figure 2] It is a block diagram showing the configuration of an acceleration measurement device for a pantograph according to an embodiment of the present invention. [Figure 3] This is a flowchart showing the operation of the pantograph acceleration measuring device according to an embodiment of the present invention. [Figure 4] This is an example of an image acquired for acceleration measurement in a pantograph acceleration measuring device according to an embodiment of the present invention. [Figure 5] This is an explanatory diagram showing an example of a template set in a pantograph acceleration measuring device according to an embodiment of the present invention. [Figure 6] This is an explanatory diagram showing the detection position of a marker in a pantograph acceleration measuring device according to an embodiment of the present invention. [Figure 7] This is an explanatory diagram showing an example of the installation of an acceleration measuring device for a pantograph according to an embodiment of the present invention. [Figure 8] This is an explanatory diagram showing an example of the installation of an acceleration measuring device for a pantograph according to an embodiment of the present invention. [Figure 9] This is a block diagram showing the configuration of an acceleration measuring device for a pantograph according to an embodiment of the present invention. [Figure 10] This is an explanatory diagram showing an example of the installation of an acceleration measuring device for a pantograph according to an embodiment of the present invention. [Figure 11] This is a block diagram showing the configuration of an acceleration measuring device for a pantograph according to an embodiment of the present invention. [Figure 12] This is an explanatory diagram showing an example of the installation of an acceleration measuring device for a pantograph according to an embodiment of the present invention. [Figure 13] This is a functional block diagram illustrating the configuration of a pantograph acceleration measuring device according to an embodiment of the present invention. [Figure 14] This is a flowchart showing the operation of the pantograph acceleration measuring device 40 according to an embodiment of the present invention. [Figure 15] This flowchart shows the operation of the impact detection process according to an embodiment of the present invention. [Figure 16] This is an explanatory diagram showing an example of the installation of an acceleration measuring device for a pantograph according to an embodiment of the present invention. [Modes for carrying out the invention]

[0028] Embodiments of the present invention will be described below with reference to the attached drawings. (First Embodiment) Figure 1 is an explanatory diagram showing an example of the installation of a pantograph acceleration measuring device according to an embodiment of the present invention. Figure 2 is a block diagram showing the configuration of a pantograph acceleration measuring device according to an embodiment of the present invention. As shown in Figure 1, the pantograph acceleration measuring device 1 according to this embodiment includes a first marker 7 attached to the bottom surface of the pantograph 5 of a railway vehicle 3, a shooting means 9 installed on the roof of the railway vehicle 3 to photograph the first marker 7, and an image processing device 11 that determines the acceleration of the pantograph 5 based on an input image taken by the shooting means 9 while the railway vehicle 3 is running.

[0029] The image processing device 11 is installed inside the railway vehicle 3. Additionally, a lighting device 8 is installed on the roof of the railway vehicle 3 to illuminate the first marker 7, which is photographed by the photographing means 9. The photographing means 9 can be, for example, either a line sensor camera or an area sensor camera with ROI (Region of Interest) functionality.

[0030] The diagram shown within dashed line A in Figure 1 is a perspective view of the pantograph 5 from below. As shown in the diagram, the marker 7 is attached to the bottom surface of the pantograph 5 and detects the displacement of the pantograph 5 in the front-rear direction. As shown within dashed line B, it has two white lines of different widths. The marker 7 is made of a material that reflects light and a material that does not reflect light, and the two white lines are made of the material that reflects light. By making the two white lines of different thicknesses, false detection in identifying the marker position in the image can be suppressed. The marker 7 may also be attached to the horn portion 6.

[0031] As shown in Figure 2, the input image 9a captured by the shooting means 9 is sent to the image processing device 11. The input image 9a is received by the data processing unit 12 and performs various processing in cooperation with the following functional blocks. The image processing device 11 includes, as functional blocks, a template setting unit 13 that sets a first reference template for the first marker 7 from the input image 9a, a template enlargement / reduction unit 15 that enlarges / reduces the first reference template based on the input image 9a, a pattern matching unit 17 that calculates the similarity of the input image 9a using the enlarged / reduction first reference template and detects the first marker 7, a pantograph displacement calculation unit 19 that determines the displacement of the detected first marker 7, a filtering processing unit 21 that smooths the displacement of the first marker 7 obtained in time series, and an acceleration calculation unit 23 that calculates the acceleration of the pantograph 5 in the forward / backward direction by taking the second derivative of the smoothed displacement of the first marker 7.

[0032] The image processing device 11 in this embodiment is implemented on an information processing device such as a personal computer. The data processing unit 12, template setting unit 13, template scaling unit 15, pattern matching unit 17, pantograph displacement calculation unit 19, filtering processing unit 21, and acceleration calculation unit 23 may be software or programs executed by the CPU or GPU within the information processing device. The data processing unit 12 includes a storage device such as a semiconductor memory, hard disk drive (HDD), or solid-state drive (SSD).

[0033] Figure 3 is a flowchart illustrating the operation of the pantograph acceleration measuring device 1 according to an embodiment of the present invention. The operation of the pantograph acceleration measuring device 1 will be explained with reference to this figure. (1) The template setting unit 13 sets a first reference template 13a for one line shown in Figure 5 from the input image 9a shown in Figure 4 (S01).

[0034] (2) In the template enlargement / reduction unit 15, the input image 9a of Figure 4 is divided into any number of sections in the horizontal direction of the figure, and the first reference template 13a is enlarged or reduced for each divided section based on the resolution of each pixel obtained by the calibration method in Japanese Patent Application Publication No. 2010-169505 (S02).

[0035] (3) The pattern matching unit 17 calculates the similarity between the input image 9a and the first reference template 13a while performing the template scaling process described in (2) above on the input image 9a, and determines the marker displacement [pix] by detecting the marker position m shown in Figure 4. Although not specifically specified, in this case, ZNCC (Zero-mean Normalized Cross Correlation), a type of normalized cross-correlation, is used for calculating the similarity between the first reference template 13a and the input image 9a (S03).

[0036] (4) In the pantograph displacement calculation unit 19, in order to obtain a more accurate marker displacement from the marker displacement [pix] obtained in the pattern matching process described in (3) above, the lower end k of the lower of the two white lines of the marker is determined by edge detection within the range of the detected marker as shown in Figure 6, and a high-precision marker displacement [pix] is detected by subpixel estimation. After calculating the high-precision marker displacement [pix], the marker displacement [mm] is calculated by multiplying it by the calibration coefficient obtained by the calibration method in Japanese Patent Application Publication No. 2010-169505, and the pantograph displacement [mm] is determined from the positional relationship with the marker based on the pantograph that was measured in advance (S04).

[0037] (5) The filtering processing unit 21 performs a filtering process to smooth the pantograph displacement [mm] corresponding to the time-series overhead wire displacement (S05).

[0038] (6) The acceleration calculation unit 23 calculates the acceleration of the pantograph 5 in the longitudinal direction by taking the second derivative of the smoothed displacement data that has undergone the filtering process in (5) (S06).

[0039] As described above, in this embodiment, a marker 7 attached to the bottom surface of the pantograph 5 is photographed by the photographing means 9, and the time-series displacement of the pantograph in the longitudinal direction is detected by image processing of the input image 9a obtained therefrom. The displacement is then smoothed and the acceleration in the longitudinal direction is calculated by the second derivative. Therefore, by calculating the non-contact acceleration of the pantograph through image analysis using the photographing means and observing the acceleration with a threshold value set, the impact point of the pantograph can be easily detected. Furthermore, because it is a non-contact measurement system, it can be applied not only to operation during power outages such as at night using maintenance vehicles, but also to regular commercial vehicles.

[0040] (Second Embodiment) Figure 7 is an explanatory diagram showing an example of the installation of a pantograph acceleration measuring device according to an embodiment of the present invention. The pantograph acceleration measuring device 10 in this embodiment includes a second marker 25 attached to the side of the pantograph 5, in addition to the configuration of the pantograph acceleration measuring device 1 of the first embodiment. The imaging means 9 is positioned to photograph both the first marker and the second marker. The illumination device 8 is positioned to illuminate both the first marker 7 and the second marker 25, which are photographed by the imaging means 9.

[0041] The diagram within dashed line C in Figure 7 is a perspective view of the pantograph 5 from below. As shown in the diagram, in addition to the first marker 7, the second marker 25 is attached to the side of the pantograph 5 and detects the vertical displacement of the pantograph 5. Similar to the first marker 7, it has two white lines of different widths, as shown within dashed line B. The second marker 25 is made of a material that reflects light and a material that does not reflect light, and the two white lines are made of the material that reflects light. The diagram within dashed line D is a cross-sectional view of the pantograph 5 at the positions corresponding to the first marker 7 and the second marker 25. As shown in the diagram, the first marker 7 and the second marker 25 are arranged on surfaces that are 90 degrees apart from each other. Note that the first marker 7 and the second marker 25 may be attached to the horn portion 6.

[0042] The functional block diagram of the image processing device 11 is the same as that of the first embodiment, as shown in Figure 2, but in addition to the operation of the first embodiment, it also performs the measurement operation of the second marker 25. Specifically, the template setting unit 13 sets a second reference template of the second marker 25 from the input image 9a, the template enlargement / reduction unit 15 enlarges / reduces the second reference template based on the input image 9a, the pattern matching unit 17 calculates the similarity of the input image 9a using the enlarged / reduction second reference template and detects the second marker 25, the pantograph displacement calculation unit 19 determines the displacement of the detected second marker 25, the filtering processing unit 21 smooths the displacement of the second marker 25 obtained in time series, and the acceleration calculation unit 23 calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker 25.

[0043] The pantograph acceleration measuring device 10 in this embodiment also operates according to the flowchart shown in Figure 3. The difference is that, in addition to the first marker 7, the measurement operation of the second marker 25 is added. In this embodiment, the operations (1) to (6) in the first embodiment are also performed on the second marker 25. The difference is the operation (4) shown below. (4) After calculating the highly accurate marker displacement [pix] in the first embodiment, the technique for estimating coordinates from L-shaped target information in Japanese Patent Application Publication No. 2016-218815 is applied to calculate the marker displacement [mm] from the marker displacement [pix] information for the front-rear and up-down directions, and the pantograph displacement [mm] is determined from the positional relationship with the marker based on the pantograph measured in advance. In the following steps (5) and (6) of the first embodiment, the acceleration in the up-down direction as well as the acceleration in the front-rear direction of the pantograph 5 is calculated.

[0044] In this embodiment, non-contact measurement detects not only the longitudinal acceleration of the pantograph 5 but also the vertical acceleration. Therefore, in addition to the effects of the first embodiment, it becomes possible to detect hard points of the pantograph 5 from the vertical acceleration of the pantograph 5. Furthermore, since the longitudinal and vertical accelerations of the pantograph 5 can be measured with only one line sensor camera or area sensor camera, costs can be reduced.

[0045] (Third embodiment) Figure 8 is an explanatory diagram showing an example of the installation of a pantograph acceleration measuring device according to an embodiment of the present invention. Figure 9 is a functional block diagram illustrating the configuration of a pantograph acceleration measuring device according to an embodiment of the present invention. The pantograph acceleration measuring device 20 in this embodiment includes, in addition to the configuration of the pantograph acceleration measuring device 1 of the first embodiment, a second marker 25 attached to the side of the pantograph 5. It also includes a second imaging means 27 installed on the roof of the railway vehicle 3 to photograph the second marker 25. As the imaging means 27, similar to the first imaging means 9, for example, either a line sensor camera or an area sensor camera with ROI (Region of Interest) functionality can be used. The lighting device 8 is installed in a position to irradiate light onto the first marker 7, which is photographed by the imaging means 9, and the second marker 25, which is photographed by the second imaging means 27. The first marker 7 and the second marker 25 may be attached to the horn portion 6.

[0046] As shown in Figure 9, in this embodiment, both the input image 9a captured by the camera 9 while the railway vehicle 3 is in motion and the second input image 27a captured by the second camera 27 are sent to the image processing device 11. In this embodiment, in addition to processing the input image 9a as in the first embodiment, the image processing device 11 performs the measurement operation of the second marker 25 on the second input image 27a. Specifically, the template setting unit 13 sets a second reference template for the second marker 25 from the second input image 27a, the template scaling unit 15 scales the second reference template based on the second input image 27a, the pattern matching unit 17 calculates the similarity of the second input image 27a using the scaled second reference template and detects the second marker 25, the pantograph displacement calculation unit 19 determines the displacement of the detected second marker 25, the filtering processing unit 21 smooths the displacement of the second marker 25 obtained in time series, and the acceleration calculation unit 23 calculates the vertical acceleration of the pantograph 5 by taking the second derivative of the smoothed displacement of the second marker 25.

[0047] The pantograph acceleration measuring device 20 in this embodiment also operates according to the flowchart shown in Figure 3. The difference from the first embodiment is that, in addition to the first marker 7, a measurement operation of a second marker 25 that processes the second input image 27a is added. In this embodiment, the operations (1) to (6) in the first embodiment are also performed on the second marker 25 using the second input image 27a.

[0048] In this embodiment, since non-contact measurement detects not only the acceleration in the forward / backward direction of the pantograph 5 but also the acceleration in the vertical direction, in addition to the effects of the first embodiment, it becomes possible to detect hard points of the pantograph 5 from the acceleration in the vertical direction of the pantograph 5. Furthermore, since images are acquired and processed using the dedicated imaging means 9 and second imaging means 27 for the first marker 7 and the second marker 25, respectively, the acceleration in the forward / backward and vertical directions can be determined with higher precision.

[0049] (Fourth Embodiment) Figure 10 is an explanatory diagram showing an example of the installation of a pantograph acceleration measuring device according to an embodiment of the present invention. Figure 11 is a functional block diagram illustrating the configuration of a pantograph acceleration measuring device according to an embodiment of the present invention. The pantograph acceleration measuring device 30 in this embodiment includes, in addition to the configuration of the pantograph acceleration measuring device 1 of the first embodiment, a range sensor 31 installed on the roof of the railway vehicle 3 to measure the displacement of the pantograph 5. The range sensor 31 projects laser light radially toward the pantograph 5 in a plane parallel to the direction of travel of the railway vehicle 3, and measures the distance and angle to the pantograph 5 by receiving the reflected light. As shown in Figure 10, the range sensor 31 in this embodiment measures the displacement of the pantograph 5 in the height direction. The first marker 7 may be attached to the horn portion 6.

[0050] As shown in Figure 11, the laser data 31a, which is the displacement of the pantograph 5 measured by the range sensor 31, is sent to the image processing device 11. In addition to processing the input image 9a in the first embodiment, the image processing device 11 performs a measurement operation of the displacement of the pantograph 5 on the laser data 31a. Specifically, the pantograph displacement calculation unit 19 determines the vertical displacement of the pantograph 5 from the measured laser data 31a of the pantograph 5, the filtering processing unit 21 smooths the time-series obtained displacement of the pantograph 5, and the acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed pantograph displacement.

[0051] The pantograph acceleration measuring device 30 in this embodiment also operates according to the flowchart shown in Figure 3. The difference from the first embodiment is that, in addition to processing the first marker 7, the above-described processing of the laser data 31a from the range sensor 31 is performed in operations (4) to (6).

[0052] In this embodiment, non-contact measurement detects not only the acceleration in the longitudinal direction of the pantograph 5 but also the acceleration in the vertical direction. Therefore, in addition to the effects of the first embodiment, it becomes possible to detect the hard point of the pantograph 5 from the acceleration in the vertical direction of the pantograph 5. Furthermore, since the measurement of the acceleration in the vertical direction is performed by the range sensor 31, the device configuration can be simplified.

[0053] (Fifth embodiment) Figure 12 is an explanatory diagram showing an example of the installation of a pantograph acceleration measuring device according to an embodiment of the present invention. Figure 13 is a functional block diagram illustrating the configuration of the pantograph acceleration measuring device according to an embodiment of the present invention. The pantograph acceleration measuring device 40 in this embodiment has the same configuration as the pantograph acceleration measuring device 20 of the third embodiment, but includes an image processing device 51 that is different from the image processing device 11. The attachment locations of the first marker 7 and the second marker 25 are attached to the bottom and side of the pantograph, as in the third embodiment, but the first marker 7 and the second marker 25 may also be attached to the horn section 6. Furthermore, in any embodiment, the attachment locations of the first marker 7 and the second marker 25 may be either the horn section 6 or the bottom and side of the pantograph 5. Furthermore, the attachment locations of the first marker 7 and the second marker 25 are not limited to these.

[0054] As shown in Figure 13, the input image 9a (horizontal displacement calculation marker image 9a) captured by the shooting means 9 and the second input image 27a (height calculation marker image 27a) captured by the second shooting means 27 are sent to the image processing device 51. The input image 9a and the second input image 27a are received by the data processing unit 12 and perform various processing in conjunction with the functional blocks shown below. For example, the shooting means 9 and the second shooting means 27 can be either a line sensor camera or an area sensor camera with ROI (Region of Interest) functionality.

[0055] The image processing device 51 includes, as functional blocks, a template setting unit 13 that sets a first reference template for the first marker 7 from the input image 9a and a second reference template for the second marker 25 from the second input image 27a; a template scaling unit 15 that scales the first reference template based on the input image 9a and the second reference template based on the second input image 27a; a pattern matching unit 17 that calculates the similarity between the input image 9a and the second input image 27a using the scaled first and second reference templates and detects the first marker 7 and the second marker 25; and a detection unit for the second input image 27a or The system includes a height calculation unit 14 that calculates the height of the pantograph 5 from the detected second marker 25, a pantograph displacement calculation unit 19 that determines the displacement of the detected first marker 7, a filtering processing unit 21 that smooths the displacement of the first marker 7 obtained in time series, an acceleration calculation unit 23 that calculates the longitudinal acceleration of the pantograph 5 by taking the second derivative of the smoothed displacement of the first marker 7, and an impact determination processing unit 16 that determines whether or not a longitudinal impact of a certain level or more has occurred to the pantograph 5 based on the displacement of the first marker 7 calculated by the pantograph displacement calculation unit 19 and the longitudinal acceleration of the pantograph 5 calculated by the acceleration calculation unit 23.

[0056] The impact determination processing unit 16 includes an impact acceleration determination unit 16-1 that compares the longitudinal acceleration of the pantograph 5 calculated by the acceleration calculation unit 23 with a preset impact threshold, and an impact displacement determination unit 16-2 that extracts longitudinal displacement data corresponding to the longitudinal displacement data at the point where the longitudinal acceleration of the pantograph 5 exceeds the preset impact threshold, calculates the difference between the maximum and minimum values ​​of the extracted longitudinal displacement data, and outputs impact location data for that point if the difference between the maximum and minimum values ​​of the extracted longitudinal displacement data is greater than the preset displacement threshold.

[0057] The image processing device 51 in this embodiment is implemented on an information processing device such as a personal computer. The data processing unit 12, template setting unit 13, height calculation unit 14, template enlargement / reduction unit 15, impact determination processing unit 16, impact acceleration determination unit 16-1, impact displacement determination unit 16-2, pattern matching unit 17, pantograph displacement calculation unit 19, filtering processing unit 21, and acceleration calculation unit 23 may be software or programs executed by the CPU or GPU within the information processing device. The data processing unit 12 includes a storage device such as a semiconductor memory, hard disk drive (HDD), or solid-state drive (SSD).

[0058] Figure 14 is a flowchart showing the operation of the pantograph acceleration measuring device 40 according to an embodiment of the present invention. The operation of the pantograph acceleration measuring device 40 will be explained with reference to this figure.

[0059] (1) The template setting unit 13 sets a first reference template 13a for one line shown in Figure 5, starting from the input image 9a as shown in Figure 4 (S01). The same operation is performed for the second input image 27a to set the second reference template 13b.

[0060] (2) In the template enlargement / reduction unit 15, the input image 9a in Figure 4 is divided into any number of sections horizontally in the figure, and the first reference template 13a is enlarged or reduced for each divided section based on the resolution of each pixel obtained by the calibration method in Japanese Patent Application Publication No. 2010-169505 (S02). The same operation is performed on the second reference template 13b, and the second reference template 13b is enlarged or reduced.

[0061] (3) The pattern matching unit 17 calculates the similarity between the input image 9a and the first reference template 13a while performing the template scaling process described in (2) above on the input image 9a, and determines the marker displacement [pix] in the front-to-back direction by detecting the marker position m shown in Figure 4. There is no specific requirement for calculating the similarity between the first reference template 13a and the input image 9a, but in this case, ZNCC (Zero-mean Normalized Cross Correlation), a type of normalized cross-correlation, is used (S03). Here, ZNCC is used, but ZNCC and parabolic fitting may also be used. The same operation may be performed on the second input image 27a and the second reference template 13b, and the marker displacement [pix] in the up-and-down direction may be determined by detecting the marker position m.

[0062] (4) The height calculation unit 14 calculates the height [mm] of the pantograph 5 from the second input image 27a or the detected second marker 25 (S04). The height of the pantograph 5 is calculated using the technology described in Japanese Patent No. 4635657, but it is not limited to the technology described in Japanese Patent No. 4635657, as long as the height of the pantograph 5 can be calculated.

[0063] (5) In the pantograph displacement calculation unit 19, in order to obtain a more accurate marker displacement from the front-to-back marker displacement [pix] obtained in the pattern matching process described in (3) above, the lower end k of the lower of the two white lines of the marker is determined by edge detection within the range of the detected marker as shown in Figure 6, and a highly accurate front-to-back marker displacement [pix] is detected by subpixel estimation. After calculating the highly accurate front-to-back marker displacement [pix], the front-to-back marker displacement [mm] is calculated by multiplying it by the calibration coefficient obtained by the calibration method described in Japanese Patent Application Publication No. 2010-169505, and the front-to-back pantograph displacement [mm] is determined from the positional relationship with the marker based on the pantograph measured in advance (S05). When calculating the front-to-back marker displacement [mm], the height [mm] of the pantograph obtained in the height calculation process described in (4) above may be used. The same operation can be performed on the vertical marker displacement [pix] obtained in the pattern matching process described above (3) to obtain the vertical pantograph displacement [mm].

[0064] (6) The filtering processing unit 21 performs filtering to smooth the pantograph displacement [mm] in the longitudinal direction corresponding to the time-series overhead wire displacement (S06). The filtering processing unit 21 may also perform filtering to smooth the pantograph displacement [mm] in the vertical direction corresponding to the time-series overhead wire displacement.

[0065] (7) The acceleration calculation unit 23 calculates the acceleration in the longitudinal direction of the pantograph 5 by taking the second derivative of the smoothed longitudinal displacement data (also called longitudinal displacement data) after the filtering process in (6) (S07). The acceleration calculation unit 23 may also calculate the acceleration in the vertical direction of the pantograph 5 by taking the second derivative of the smoothed vertical displacement data (also called vertical displacement data) after the filtering process in (6).

[0066] (8) The impact determination processing unit 16 performs an impact determination process to determine whether or not an impact of a certain magnitude or greater in the longitudinal direction has occurred to the pantograph 5, based on the displacement of the first marker 7 calculated by the pantograph displacement calculation unit 19 and the longitudinal acceleration of the pantograph 5 calculated by the acceleration calculation unit 23 (S08). The impact determination processing unit 16 may also perform an impact determination process to determine whether or not an impact of a certain magnitude or greater in the vertical direction has occurred to the pantograph 5, based on the displacement of the second marker 25 calculated by the pantograph displacement calculation unit 19 and the vertical acceleration of the pantograph 5 calculated by the acceleration calculation unit 23.

[0067] Figure 15 is a flowchart showing the operation of the impact determination process S08 according to an embodiment of the present invention. The impact acceleration determination unit 16-1 performs an impact acceleration determination process (S08-1) which compares the acceleration in the longitudinal direction of the pantograph 5 calculated by the acceleration calculation unit 23 with a preset impact threshold. The preset impact threshold is a threshold based on experimental results. If the acceleration in the longitudinal direction of the pantograph 5 calculated by the acceleration calculation unit 23 is greater than the preset impact threshold (forward / longitudinal acceleration > impact threshold), the process proceeds to the impact displacement determination process in the impact displacement determination unit 16-2. If the acceleration in the longitudinal direction of the pantograph 5 calculated by the acceleration calculation unit 23 is less than the preset impact threshold (forward / longitudinal acceleration ≤ impact threshold), the process does not proceed to the impact displacement determination process in the impact displacement determination unit 16-2, and it is determined that there is no impact.

[0068] If the longitudinal acceleration of the pantograph 5 calculated by the acceleration calculation unit 23 is greater than a preset impact threshold, the impact displacement determination unit 16-2 performs an impact displacement determination process (S08-2). Specifically, in the impact acceleration determination process of the impact acceleration determination unit 16-1, the impact displacement determination unit 16-2 extracts longitudinal displacement data corresponding to the longitudinal displacement data of the point where the longitudinal acceleration of the pantograph 5 calculated by the acceleration calculation unit 23 exceeds the preset impact threshold. Since the displacement of the first marker 7 is recorded in time series, it is possible to extract longitudinal displacement data corresponding to the longitudinal displacement data of the point where the longitudinal acceleration of the pantograph 5 is measured.

[0069] Next, the difference between the maximum and minimum values ​​of the extracted longitudinal displacement data is calculated, and this difference is compared with a pre-set displacement threshold. If the difference between the maximum and minimum values ​​of the extracted longitudinal displacement data is greater than the pre-set displacement threshold (longitudinal displacement data > displacement threshold), the location is determined to be an impact location, and impact location data is output.

[0070] If the difference between the maximum and minimum values ​​of the extracted longitudinal displacement data is smaller than a preset displacement threshold (longitudinal displacement data ≤ displacement threshold), it is determined that it is not an impact. If small displacements ((longitudinal displacement data ≤ displacement threshold)) occur repeatedly, it is determined to be vehicle vibration and not an impact. The preset displacement threshold is a threshold based on experimental results.

[0071] Because the railway vehicle 3 is traveling at a high speed, the acceleration in the longitudinal direction may jump due to vibrations, etc. In such cases, the marker attached to the pantograph will shake up and down, so impact detection is performed using not only longitudinal acceleration but also longitudinal displacement data.

[0072] In this embodiment, impact detection in the longitudinal direction during travel was performed based on longitudinal acceleration and longitudinal displacement data. However, impact detection may also be performed based on the vertical acceleration of the pantograph 5 and vertical displacement data corresponding to the longitudinal displacement data at the point of vertical acceleration of the pantograph 5. In that case, in S05, the vertical pantograph displacement [mm] is obtained, in S06, the vertical pantograph displacement [mm] corresponding to the time-series overhead wire displacement is smoothed by filtering, in S07, the vertical acceleration of the pantograph 5 is calculated, and in S08, impact detection is performed.

[0073] In this embodiment, two imaging means, imaging means 9 and second imaging means 27, were used. However, as in the second embodiment, the second imaging means 27 may be omitted, and imaging means 9 may be configured to photograph both the first marker and the second marker.

[0074] In this embodiment, if the difference between the maximum and minimum values ​​of the extracted longitudinal displacement data is greater than a preset displacement threshold (longitudinal displacement data > displacement threshold), the location is determined to be an impact location, and impact location data is output. However, in addition to outputting impact location data, the impact location data may also be displayed on an information processing device such as an image processing device 51. Furthermore, if impact location data is output, maintenance personnel of the railway vehicle 3 may be notified, and a warning display (warning sound) may be made.

[0075] As described above, in this embodiment, markers 7 and 25 attached to the pantograph 5 are photographed by the photographing means 9 and the second photographing means 27. The obtained input images 9a and the second input image 27a are processed to detect the time-series displacement of the pantograph in the longitudinal direction and the time-series displacement of the pantograph in the vertical direction. The time-series displacement of the pantograph in the longitudinal direction is smoothed and the acceleration in the longitudinal direction is calculated by the second derivative. When detecting the time-series displacement of the pantograph in the longitudinal direction, the height information of the pantograph is used for detection. Therefore, by calculating the non-contact acceleration of the pantograph through image analysis using the photographing means and observing that acceleration with a threshold value, the impact point of the pantograph can be easily detected. Furthermore, because it is a non-contact measurement system, it can be applied not only to operation during power outages such as at night using maintenance vehicles, but also to normal commercial vehicles. In addition, by using the longitudinal displacement data or the vertical displacement data, impact judgment processing not used in conventional technology can also be performed.

[0076] (Sixth Embodiment) Figure 16 is an explanatory diagram showing an example of the installation of a pantograph acceleration measuring device according to an embodiment of the present invention. The pantograph acceleration measuring device 40 in this embodiment has the same configuration as the pantograph acceleration measuring device 40 of the fifth embodiment, but the photographing means 9 is located horizontally to the longitudinal direction of the railway vehicle 3, rather than below the pantograph. In addition, a mirror 28 is provided in the photographing direction of the photographing means 9, and the first marker 7 located below the pantograph (bottom of the boat) is photographed via the mirror 28. The other configurations and operations are the same as in the fifth embodiment.

[0077] As described above, in this embodiment, in addition to the effects of the fifth embodiment, the photographing means is provided in a position horizontal to the front-rear direction of the railway vehicle 3, and a mirror 28 is provided in the photographing direction of the photographing means 9, so that the first marker 7 located below the pantograph (bottom of the boat) is photographed via the mirror 28. Therefore, it is possible to install the photographing means in places other than below the pantograph.

[0078] (Seventh Embodiment) The pantograph acceleration measuring device 40 in this embodiment has the same configuration as the pantograph acceleration measuring device 40 of the fifth embodiment, but differs in that the shooting means 9 and the second shooting means 27 are color line sensor cameras. The other configurations and operations are the same as in the fifth embodiment. Either the shooting means 9 or the second shooting means 27 may be a color line sensor camera.

[0079] As described above, in this embodiment, in addition to the effects of the fifth embodiment, a color line sensor camera is used for the shooting means 9 and the second shooting means 27. In cases where the area of ​​marker painting on the pantograph or horn is small and the template matching characteristics are weak with only grayscale information, resulting in a poor marker detection rate, by using a color line sensor camera as in this embodiment, marker search processing can be performed using color information, making it possible to improve the marker detection rate.

[0080] It is also possible to combine any of the configurations of Embodiments 1 to 7 described above as appropriate. For example, the shooting means 9 in the first embodiment may be replaced with a color line sensor camera as in the seventh embodiment.

[0081] In any of the embodiments 1 to 7 described above, the mounting locations for the first marker 7 and the second marker 25 may be either the horn section 6 or the bottom and sides of the pantograph 5. Furthermore, the mounting locations for the first marker 7 and the second marker 25 are not limited to these.

[0082] In any of the embodiments 1 to 7 described above, the photographing means 9 may be located horizontally to the front-rear direction of the railway vehicle 3, rather than below the pantograph, and a mirror 28 may be provided in the photographing direction of the photographing means 9, so that the first marker 7 located below the pantograph (bottom of the boat) is photographed via the mirror 28.

[0083] In embodiments 5 to 7 described above, impact detection processing using the image processing device 51 was explained, but impact detection processing using the image processing device 51 may also be performed in embodiments 1 to 4. Furthermore, in embodiments 1 to 4, in order to detect impacts in the longitudinal direction during travel, impact detection processing may be performed based on longitudinal acceleration and longitudinal displacement data, or impact detection processing may be performed based on the vertical acceleration of the pantograph 5 and vertical displacement data corresponding to the longitudinal displacement data at the point of vertical acceleration of the pantograph 5. In other words, impact detection processing may be performed to determine whether an impact of a certain level or higher has occurred to the pantograph based on the displacement of the first marker calculated by the pantograph displacement calculation unit and the longitudinal acceleration of the pantograph calculated by the acceleration calculation unit, or impact detection processing may be performed to determine whether an impact of a certain level or higher has occurred to the pantograph based on the displacement of the second marker or the pantograph calculated by the pantograph displacement calculation unit and the vertical acceleration of the pantograph calculated by the acceleration calculation unit.

[0084] This disclosure includes embodiments as set forth below. Article 1 A first marker attached to the bottom or horn portion of the pantograph of a railway vehicle, A photographing means installed on the roof of the aforementioned railway vehicle for photographing the first marker, An image processing device that determines the acceleration of the pantograph based on an input image captured by the photographing means while the railway vehicle is in motion, Equipped with, The aforementioned image processing device is A template setting unit sets a first reference template for the first marker from the input image, A template enlargement / reduction unit that enlarges or reduces the first reference template based on the input image, A pattern matching unit calculates the similarity of the input image using the enlarged and reduced first reference template and detects the first marker, A pantograph displacement calculation unit that determines the displacement of the detected first marker, A filtering processing unit that smooths the displacement of the first marker obtained in a time series, The system includes an acceleration calculation unit that calculates the acceleration of the pantograph in the longitudinal direction by taking the second derivative of the smoothed displacement of the first marker. An acceleration measuring device for a pantograph.

[0085] Article 2 The pantograph is equipped with a second marker attached to the side or horn portion, The imaging means is positioned to photograph both the first marker and the second marker. The template setting unit sets a second reference template for the second marker from the input image, The template enlargement / reduction unit enlarges or reduces the second reference template based on the input image. The pattern matching unit calculates the similarity of the input image using the enlarged / reduced second reference template and detects the second marker. The pantograph displacement calculation unit determines the detected displacement of the second marker, The filtering processing unit smooths the displacement of the second marker obtained in time series, The acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker. An acceleration measuring device for the pantograph as described in Clause 1.

[0086] Article 3 A second marker attached to the side or horn portion of the pantograph, A second photographing means installed on the roof of the aforementioned railway vehicle for photographing the second marker, Equipped with, The second input image captured by the second photographic means while the railway vehicle is in motion is input to the image processing device. The template setting unit sets a second reference template for the second marker from the second input image, The template enlargement / reduction unit enlarges or reduces the second reference template based on the second input image. The pattern matching unit calculates the similarity of the second input image using the enlarged / reduced second reference template and detects the second marker. The pantograph displacement calculation unit determines the detected displacement of the second marker, The filtering processing unit smooths the displacement of the second marker obtained in time series, The acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker. An acceleration measuring device for the pantograph as described in Clause 1.

[0087] Article 4 A range sensor installed on the roof of the aforementioned railway vehicle to measure the displacement of the pantograph, Equipped with, The displacement of the pantograph measured by the range sensor while the railway vehicle is in motion is input to the image processing device. The pantograph displacement calculation unit determines the measured displacement of the pantograph, The filtering processing unit smooths the displacement of the pantograph obtained in time series, The acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the pantograph. An acceleration measuring device for the pantograph as described in Clause 1.

[0088] Article 5 An acceleration measuring device for a pantograph according to Clause 1, comprising an impact determination processing unit that performs an impact determination process to determine whether or not an impact exceeding a certain level has occurred to the pantograph, based on the displacement of the first marker calculated by the pantograph displacement calculation unit and the acceleration in the longitudinal direction of the pantograph calculated by the acceleration calculation unit.

[0089] Article 6 The impact determination processing unit comprises an impact acceleration determination unit that performs an impact acceleration determination process by comparing the acceleration in the longitudinal direction of the pantograph calculated by the acceleration calculation unit with a preset impact threshold, and an impact displacement determination unit that performs an impact displacement determination process by comparing the difference between the maximum and minimum values ​​of the longitudinal displacement data with a preset displacement threshold, wherein the pantograph acceleration measuring device is as described in Clause 5.

[0090] Article 7 If the acceleration in the forward and backward direction of the pantograph calculated by the acceleration calculation unit is greater than a preset impact threshold in the impact acceleration determination unit, the process proceeds to the impact displacement determination process in the impact displacement determination unit. The pantograph acceleration measuring device according to Clause 6, wherein if the acceleration of the pantograph in the longitudinal direction calculated by the acceleration calculation unit is smaller than a preset impact threshold, the device does not proceed to the impact displacement determination process in the impact displacement determination unit and determines that it is not an impact.

[0091] Article 8 When the process moves to the impact displacement determination process, the impact displacement determination unit retrieves the longitudinal displacement data corresponding to the longitudinal displacement data of the point where the acceleration of the pantograph in the longitudinal direction calculated by the acceleration calculation unit exceeds a preset impact threshold, in the impact acceleration determination process of the impact acceleration determination unit. The difference between the maximum and minimum values ​​of the extracted longitudinal displacement data is calculated, and this difference is compared with a pre-set displacement threshold. The pantograph acceleration measuring device described in Clause 7, wherein if the difference between the maximum and minimum values ​​of the extracted longitudinal displacement data is greater than a preset displacement threshold, the device determines the location of the longitudinal acceleration of the pantograph as an impact location and outputs impact location data.

[0092] Article 9 An acceleration measuring device for a pantograph according to Clause 3, comprising an impact determination processing unit that performs an impact determination process to determine whether or not an impact exceeding a certain level has occurred to the pantograph, based on the displacement of the second marker calculated by the pantograph displacement calculation unit and the vertical acceleration of the pantograph calculated by the acceleration calculation unit.

[0093] Clause 10 The impact determination processing unit comprises an impact acceleration determination unit that performs an impact acceleration determination process comparing the vertical acceleration of the pantograph calculated by the acceleration calculation unit with a preset impact threshold, and an impact displacement determination unit that performs an impact displacement determination process that compares the difference between the maximum and minimum values ​​of the vertical displacement data with a preset displacement threshold, wherein the pantograph acceleration measuring device is as described in Clause 9.

[0094] Article 11 In the impact acceleration determination unit, if the vertical acceleration of the pantograph calculated by the acceleration calculation unit is greater than a preset impact threshold, the process proceeds to the impact displacement determination process in the impact displacement determination unit. The pantograph acceleration measuring device according to Clause 10, wherein if the vertical acceleration of the pantograph calculated by the acceleration calculation unit is smaller than a preset impact threshold, the device does not proceed to the impact displacement determination process in the impact displacement determination unit and determines that it is not an impact.

[0095] Article 12 When the process proceeds to the impact displacement determination process, the impact displacement determination unit retrieves vertical displacement data corresponding to the vertical displacement data of the pantograph at the point where the vertical acceleration calculated by the acceleration calculation unit exceeds a preset impact threshold, in the impact acceleration determination process of the impact acceleration determination unit. The difference between the maximum and minimum values ​​of the extracted vertical displacement data is calculated, and this difference is compared with a pre-set displacement threshold. The pantograph acceleration measuring device described in Clause 11, wherein if the difference between the maximum and minimum values ​​of the extracted vertical displacement data is greater than a preset displacement threshold, the device determines the location of the vertical acceleration of the pantograph as an impact location and outputs impact location data.

[0096] Article 13 The aforementioned photographic means is positioned horizontally to the front-to-rear direction of the railway vehicle. A mirror is provided in the direction of the shooting of the aforementioned shooting means. An acceleration measuring device for a pantograph according to any one of clauses 5 to 12, which photographs the first marker through the mirror.

[0097] Article 14 An acceleration measuring device for a pantograph according to any one of Clauses 1 to 12, wherein the imaging means and / or the second imaging means is a line sensor camera, an area sensor camera, or a color line sensor camera.

[0098] Article 15 Attaching a first marker to the bottom surface or horn portion of the pantograph of a railway vehicle. To photograph the first marker, The acceleration of the pantograph is determined based on input images taken while the aforementioned railway vehicle is in motion. Includes, When determining the acceleration of the aforementioned pantograph, Setting a first reference template for the first marker from the input image, The first reference template is enlarged or reduced based on the input image. The similarity of the input image is calculated using the enlarged and reduced first reference template, and the first marker is detected. To determine the displacement of the detected first marker, The displacement of the first marker obtained in the time series is smoothed. This includes calculating the acceleration of the pantograph in the longitudinal direction by taking the second derivative of the smoothed displacement of the first marker, Method for measuring the acceleration of a pantograph.

[0099] Article 16 A second marker is attached to the side or horn portion of the pantograph. This includes photographing both the first marker and the second marker, When determining the acceleration of the aforementioned pantograph, Setting a second reference template for the second marker from the input image, The second reference template is enlarged or reduced based on the input image. The similarity of the input image is calculated using the enlarged / reduced second reference template, and the second marker is detected. To determine the displacement of the detected second marker, The displacement of the second marker obtained in the time series is smoothed. This includes calculating the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker, The method for measuring the acceleration of a pantograph as described in Article 15.

[0100] Article 17 A second marker is attached to the side or horn portion of the pantograph. The second marker is photographed to obtain a second input image. Includes, When determining the acceleration of the aforementioned pantograph, Setting a second reference template for the second marker from the second input image, The second reference template is scaled up or down based on the second input image. Using the enlarged / reduced second reference template, the similarity of the second input image is calculated, and the second marker is detected. To determine the displacement of the detected second marker, The displacement of the second marker obtained in the time series is smoothed. This includes calculating the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker, The method for measuring the acceleration of a pantograph as described in Article 15.

[0101] Article 18 The displacement of the pantograph is measured by a range sensor while the aforementioned railway vehicle is in motion. Includes, When determining the acceleration of the aforementioned pantograph, To determine the displacement of the pantograph measured by the range sensor, To smooth the displacement of the pantograph obtained in a time series, This includes calculating the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the pantograph. The method for measuring the acceleration of a pantograph as described in Article 15.

[0102] Article 19 This includes performing an impact determination process to determine whether or not an impact exceeding a certain level has occurred on the pantograph, based on the displacement of the first marker and the acceleration of the pantograph in the longitudinal direction. The method for measuring the acceleration of a pantograph as described in Article 15.

[0103] Article 20 The process involves performing an impact acceleration determination process that compares the acceleration of the pantograph in the longitudinal direction with a preset impact threshold, This includes performing an impact displacement determination process that compares the difference between the maximum and minimum values ​​of the longitudinal displacement data with a pre-set displacement threshold, The method for measuring the acceleration of a pantograph as described in Article 19.

[0104] Article 21 If the acceleration of the pantograph in the longitudinal direction is greater than a preset impact threshold, the process proceeds to impact displacement determination. This includes determining that if the acceleration of the pantograph in the longitudinal direction is less than a preset impact threshold, the process does not proceed to impact displacement determination, and it is determined that there is no impact. The method for measuring the acceleration of a pantograph as described in Article 20.

[0105] Article 22 When the process proceeds to the impact displacement determination process, the longitudinal displacement data corresponding to the displacement data before and after the point where the acceleration in the longitudinal direction of the pantograph exceeds a preset impact threshold is extracted. The difference between the maximum and minimum values ​​of the extracted longitudinal displacement data is calculated, and this difference is compared with a pre-set displacement threshold. This includes determining the location of the pantograph's acceleration in the longitudinal direction as an impact point and outputting impact point data if the difference between the maximum and minimum values ​​of the extracted longitudinal displacement data is greater than a preset displacement threshold, The method for measuring the acceleration of a pantograph as described in Article 21.

[0106] Article 23 This includes performing an impact determination process to determine whether or not an impact exceeding a certain level has occurred on the pantograph, based on the displacement of the second marker and the vertical acceleration of the pantograph. The method for measuring the acceleration of a pantograph as described in Article 17.

[0107] Article 24 The process involves performing an impact acceleration determination process that compares the vertical acceleration of the pantograph with a preset impact threshold, This includes performing an impact displacement determination process that compares the difference between the maximum and minimum values ​​of vertical displacement data with a pre-set displacement threshold. The method for measuring the acceleration of a pantograph as described in Article 23.

[0108] Article 25 If the vertical acceleration of the pantograph is greater than a preset impact threshold, the process proceeds to impact displacement determination. This includes determining that if the vertical acceleration of the pantograph is less than a preset impact threshold, the process does not proceed to impact displacement determination, and it is determined that there is no impact. The method for measuring the acceleration of a pantograph as described in Article 24.

[0109] Article 26 When the process proceeds to the impact displacement determination process, vertical displacement data corresponding to the vertical displacement data at the point where the vertical acceleration of the pantograph exceeds a preset impact threshold is extracted. The difference between the maximum and minimum values ​​of the extracted vertical displacement data is calculated, and this difference is compared with a pre-set displacement threshold. This includes determining the location of the impact point in the vertical acceleration of the pantograph when the difference between the maximum and minimum values ​​of the extracted vertical displacement data is greater than a preset displacement threshold, and outputting impact point data. The method for measuring the acceleration of a pantograph as described in Article 25.

[0110] Article 27 A mirror is placed in the direction that photographs the first marker. A method for measuring the acceleration of a pantograph according to any one of clauses 15 to 26, comprising photographing the first marker through the mirror.

[0111] Article 28 The method for measuring the acceleration of a pantograph according to any one of Clauses 15 to 26, wherein the input image and / or the second input image are captured by a line sensor camera, an area sensor camera, or a color line sensor camera. [Explanation of Symbols]

[0112] 1, 10, 20, 30, 40 Pantograph acceleration measuring device 3 Railway vehicles 5 Pantograph 6. Horn section 7. First Marker 8. Lighting equipment 9. Method of filming 9a Input image 11 Image Processing Device 12 Data Processing Unit 13. Template Settings Section 13a First standard template 13b Second standard template 14 Height calculation unit 15. Template Enlargement / Reduction Section 16 Impact detection processing unit 16-1 Impact acceleration determination unit 16-2 Impact displacement determination unit 17 Pattern Matching Section 19 Pantograph Displacement Calculation Unit 21 Filtering Processing Unit 23 Acceleration calculation section 25. The second marker 27. Second photographic method 27a Second input image 28 Mirror 31. Range Sensor 51 Image Processing Device

Claims

1. A first marker attached to the bottom or horn portion of the pantograph of a railway vehicle, A photographing means installed on the roof of the aforementioned railway vehicle for photographing the first marker, An image processing device that determines the acceleration of the pantograph based on an input image captured by the photographing means while the railway vehicle is in motion, Equipped with, The aforementioned image processing device is A template setting unit sets a first reference template for the first marker from the input image, A template enlargement / reduction unit that enlarges or reduces the first reference template based on the input image, A pattern matching unit calculates the similarity of the input image using the enlarged or reduced first reference template and detects the first marker, A pantograph displacement calculation unit that determines the displacement of the detected first marker, A filtering processing unit that smooths the displacement of the first marker obtained in a time series, The system includes an acceleration calculation unit that calculates the acceleration of the pantograph in the longitudinal direction by taking the second derivative of the smoothed displacement of the first marker. An acceleration measuring device for a pantograph.

2. The pantograph is equipped with a second marker attached to the side or horn portion, The imaging means is positioned to photograph both the first marker and the second marker. The template setting unit sets a second reference template for the second marker from the input image, The template enlargement / reduction unit enlarges or reduces the second reference template based on the input image. The pattern matching unit calculates the similarity of the input image using the enlarged or reduced second reference template and detects the second marker. The pantograph displacement calculation unit determines the detected displacement of the second marker, The filtering processing unit smooths the displacement of the second marker obtained in time series, The acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker. The pantograph acceleration measuring device according to claim 1.

3. A second marker attached to the side or horn portion of the pantograph, A second photographing means installed on the roof of the aforementioned railway vehicle for photographing the second marker, Equipped with, The second input image captured by the second photographic means while the railway vehicle is in motion is input to the image processing device. The template setting unit sets a second reference template for the second marker from the second input image, The template enlargement / reduction unit enlarges or reduces the second reference template based on the second input image. The pattern matching unit calculates the similarity of the second input image using the enlarged or reduced second reference template, and detects the second marker. The pantograph displacement calculation unit determines the detected displacement of the second marker, The filtering processing unit smooths the displacement of the second marker obtained in time series, The acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker. The pantograph acceleration measuring device according to claim 1.

4. A range sensor installed on the roof of the aforementioned railway vehicle to measure the displacement of the pantograph, The system includes an impact determination processing unit that performs impact determination processing to determine whether or not an impact exceeding a certain level has occurred to the pantograph, based on the displacement of the first marker calculated by the pantograph displacement calculation unit and the acceleration in the longitudinal direction of the pantograph calculated by the acceleration calculation unit. The displacement of the pantograph measured by the range sensor while the railway vehicle is in motion is input to the image processing device. The pantograph displacement calculation unit determines the measured displacement of the pantograph, The filtering processing unit smooths the displacement of the pantograph obtained in time series, The acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the pantograph. The impact determination processing unit further performs an impact determination process to determine whether or not an impact exceeding a certain level has occurred to the pantograph, based on the displacement of the pantograph and the vertical acceleration of the pantograph calculated by the acceleration calculation unit. The pantograph acceleration measuring device according to claim 1.

5. The aforementioned photographic means is positioned horizontally to the front-to-rear direction of the railway vehicle. A mirror is provided in the direction of the shooting of the aforementioned shooting means. The pantograph acceleration measuring device according to claim 1, wherein the first marker is photographed via the mirror.

6. A second marker attached to the side or horn portion of the pantograph, A second photographing means installed on the roof of the aforementioned railway vehicle for photographing the second marker, Equipped with, The second input image captured by the second photographic means while the railway vehicle is in motion is input to the image processing device. The template setting unit sets a second reference template for the second marker from the second input image, The template enlargement / reduction unit enlarges or reduces the second reference template based on the second input image. The pattern matching unit calculates the similarity of the second input image using the enlarged or reduced second reference template, and detects the second marker. The pantograph displacement calculation unit determines the detected displacement of the second marker, The filtering processing unit smooths the displacement of the second marker obtained in time series, The acceleration calculation unit calculates the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker. The pantograph acceleration measuring device according to claim 5.

7. An acceleration measuring device for a pantograph according to any one of claims 2, 3, or 6, further comprising an impact determination processing unit that performs an impact determination process to determine whether or not an impact of a certain level or greater has occurred to the pantograph, based on the displacement of the first marker calculated by the pantograph displacement calculation unit and the acceleration in the longitudinal direction of the pantograph calculated by the acceleration calculation unit.

8. An acceleration measuring device for a pantograph according to claim 1 or claim 5, further comprising an impact determination processing unit that performs an impact determination process to determine whether or not an impact of a certain level or greater has occurred to the pantograph, based on the displacement of the first marker calculated by the pantograph displacement calculation unit and the acceleration in the longitudinal direction of the pantograph calculated by the acceleration calculation unit.

9. An acceleration measuring device for a pantograph according to claim 7, further comprising an impact determination processing unit that performs an impact determination process to determine whether or not an impact exceeding a certain level has occurred on the pantograph, based on the displacement of the second marker calculated by the pantograph displacement calculation unit and the vertical acceleration of the pantograph calculated by the acceleration calculation unit.

10. Attaching a first marker to the bottom surface or horn portion of the pantograph of a railway vehicle. To photograph the first marker, The acceleration of the pantograph is determined based on input images taken while the aforementioned railway vehicle is in motion. Includes, When determining the acceleration of the aforementioned pantograph, Setting a first reference template for the first marker from the input image, The first reference template is enlarged or reduced based on the input image. The similarity of the input image is calculated using the enlarged or reduced first reference template, and the first marker is detected. To determine the displacement of the detected first marker, The displacement of the first marker obtained in the time series is smoothed. This includes calculating the acceleration of the pantograph in the longitudinal direction by taking the second derivative of the smoothed displacement of the first marker, Method for measuring the acceleration of a pantograph.

11. A second marker is attached to the side or horn portion of the pantograph. This includes photographing both the first marker and the second marker, When determining the acceleration of the aforementioned pantograph, Setting a second reference template for the second marker from the input image, The second reference template is enlarged or reduced based on the input image. The similarity of the input image is calculated using the enlarged or reduced second reference template, and the second marker is detected. To determine the displacement of the detected second marker, The displacement of the second marker obtained in the time series is smoothed. This includes calculating the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker, The method for measuring the acceleration of a pantograph according to claim 10.

12. A second marker is attached to the side or horn portion of the pantograph. The second marker is photographed to obtain a second input image. Includes, When determining the acceleration of the aforementioned pantograph, Setting a second reference template for the second marker from the second input image, The second reference template is enlarged or reduced based on the second input image. Using the enlarged or reduced second reference template, the similarity of the second input image is calculated, and the second marker is detected. To determine the displacement of the detected second marker, The displacement of the second marker obtained in the time series is smoothed. This includes calculating the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker, The method for measuring the acceleration of a pantograph according to claim 10.

13. The displacement of the pantograph is measured by a range sensor while the aforementioned railway vehicle is in motion. Based on the displacement of the first marker and the acceleration of the pantograph in the longitudinal direction, an impact determination process is performed to determine whether or not an impact exceeding a certain level has occurred on the pantograph. Includes, When determining the acceleration of the aforementioned pantograph, To determine the displacement of the pantograph measured by the range sensor, To smooth the displacement of the pantograph obtained in a time series, This includes calculating the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the pantograph, The process further includes performing an impact determination process to determine whether or not an impact exceeding a certain level has occurred to the pantograph, based on the displacement of the pantograph and the vertical acceleration of the pantograph. The method for measuring the acceleration of a pantograph according to claim 10.

14. A mirror is placed in the direction that photographs the first marker. The method for measuring the acceleration of a pantograph according to claim 10, wherein the first marker is photographed via the mirror.

15. A second marker is attached to the side or horn portion of the pantograph. The second marker is photographed to obtain a second input image. Includes, When determining the acceleration of the aforementioned pantograph, Setting a second reference template for the second marker from the second input image, The second reference template is enlarged or reduced based on the second input image. Using the enlarged or reduced second reference template, the similarity of the second input image is calculated, and the second marker is detected. To determine the displacement of the detected second marker, The displacement of the second marker obtained in the time series is smoothed. This includes calculating the vertical acceleration of the pantograph by taking the second derivative of the smoothed displacement of the second marker, The method for measuring the acceleration of a pantograph according to claim 14.

16. This includes performing an impact determination process to determine whether or not an impact exceeding a certain level has occurred on the pantograph, based on the displacement of the first marker and the acceleration of the pantograph in the longitudinal direction. A method for measuring the acceleration of a pantograph according to any one of claims 11, 12, or 15.

17. This includes performing an impact determination process to determine whether or not an impact exceeding a certain level has occurred on the pantograph, based on the displacement of the first marker and the acceleration of the pantograph in the longitudinal direction. A method for measuring the acceleration of a pantograph according to any one of claim 10 or claim 14.

18. This includes performing an impact determination process to determine whether or not an impact exceeding a certain level has occurred on the pantograph, based on the displacement of the second marker and the vertical acceleration of the pantograph. The method for measuring the acceleration of a pantograph according to claim 16.

Images