JP4216784B2 - Pantograph sliding plate inspection device - Google Patents

Pantograph sliding plate inspection device Download PDF

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JP4216784B2
JP4216784B2 JP2004263198A JP2004263198A JP4216784B2 JP 4216784 B2 JP4216784 B2 JP 4216784B2 JP 2004263198 A JP2004263198 A JP 2004263198A JP 2004263198 A JP2004263198 A JP 2004263198A JP 4216784 B2 JP4216784 B2 JP 4216784B2
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pantograph
sliding plate
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slide plate
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一義 岸田
慎一 渡部
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日立交通テクノロジー株式会社
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Description

本発明は、電機車の屋根上に取り付けられたパンタグラフのすり板の摩耗量等を検査するパンタグラフのすり板検査装置に関する。   The present invention relates to a pantograph slip plate inspection apparatus for inspecting the wear amount and the like of a pantograph slide plate mounted on a roof of an electric vehicle.

従来技術のパンタすり板検査装置においては、特許文献１に記載されているように、側面の厚さの横方向に対する変化が所定の傾斜である凹部分について、凹の深さと幅が所定値以上の場合、欠陥と判定していた。   In the prior art pantast plate inspection apparatus, as described in Patent Document 1, the depth and width of the recesses are equal to or greater than a predetermined value with respect to the recesses having a predetermined change in the lateral thickness with respect to the lateral direction. In the case of, it was determined as a defect.

特開２０００−１８０１２８号公報JP 2000-180128 A

特許文献１の方法では、荒損と呼ばれるすり板側面側が摩耗して、すり板上面がほとんど摩耗していない場合に、その部分のエッジを測定しすり板の厚さを求めるとその部分の摩耗量をすり板の摩耗量と判断してしまう。そのため、通常のすり板摩耗である、すり板の上面のすり板幅方向に連続して摩耗している状態を求めることを目的としているが、荒損を検出することで、本来求めたいすり板の厚さ(摩耗量）と異なってしまう。   In the method of Patent Document 1, when the side surface side of the sliding plate, called roughening, is worn and the upper surface of the sliding plate is hardly worn, the edge of the portion is measured to determine the thickness of the sliding plate. The amount is judged as the wear amount of the sliding plate. Therefore, the purpose is to find the normal wear state of the wear plate, which is continuously worn in the width direction of the slide plate on the upper surface of the slide plate. It will be different from the thickness (wear amount).

そこで、本発明の目的は、荒損と呼ばれるすり板側面が摩耗しすり板上面がほとんど摩耗していない部分は、すり板の幅方向に連続して摩耗している本来求めたいすり板の厚さと判断せず、荒損と判断できるようにした。これにより、すり板の幅方向に連続して摩耗している本来求めたいすり板の厚さと荒損とを区別して検知するパンタグラフのすり板検査装置を提供する。   Accordingly, an object of the present invention is to provide a thickness of the desired slidable plate that is worn continuously on the side surface of the slidable plate and is worn on the side of the slidable plate. I was able to judge it as devastation. Accordingly, there is provided a pantograph slip plate inspection device that distinguishes and detects the thickness and roughness of the scrap plate that is originally worn continuously in the width direction of the slide plate.

上記目的を達成するために、本発明では、画像に横方向フィルタを用い平滑化処理を行い、すり板側面のみが摩耗しておりすり板上面が摩耗していないすり板のエッジは検出しないようにし、すり板の幅方向に連続して摩耗している本来求めたいすり板の厚さを求め、その後、元画像において検出したすり板のエッジ上部とエッジ下部の輝度を測定し、輝度差が所定値以内の場合荒損と判定することを特徴とする。   In order to achieve the above object, in the present invention, smoothing processing is performed using a lateral filter on the image so that only the side surface of the sliding plate is worn and the edge of the sliding plate that is not worn is not detected. Then, the thickness of the originally desired scraper that is continuously worn in the width direction of the scraper is determined, and then the brightness of the upper and lower edges of the scraper detected in the original image is measured. If it is within a predetermined value, it is determined that it is damaged.

すり板の幅方向に連続して摩耗している本来求めたいすり板の厚さを求めることが出来、かつ荒損を検知できるようにした。   It is possible to obtain the thickness of the originally desired scraper that is continuously worn in the width direction of the scraper and to detect the damage.

以下図面を用いて実施例を説明する。   Embodiments will be described below with reference to the drawings.

図１にパンタグラフのすり板検査装置の全体構成図を示す。   FIG. 1 is an overall configuration diagram of a pantograph slip plate inspection apparatus.

図１に示すようにパンタグラフのすり板部４を、斜め上方から撮像するように線路に並行して設けた支柱１６に線路１５を跨ぐように設けた梁１７と線路並行に梁１８を設けてある。その梁１７に複数のカメラ２とフラッシュ照明１０（ストロボ照明と言う場合もある）を設けてある。また、同支柱１６又は梁１７から車両進入方向又は退出方向に腕１９を伸ばして、その腕１９部にパンタグラフ検出センサ５とパンタグラフの上部（すり板表面）を照らすためのフラッシュ照明２０が設けてある。また、梁１８には、パンタグラフ以外の屋根上機器の状態を監視するための複数の照明装置（ハロゲンランプ１１）が線路を挟むように設置されている。また、屋根上機器監視用カメラ３が進入側梁１７の両端部側と、退出側梁の中央とに梁１７の内側に向けて設けてある。尚、図の各機器には前方側をａ、後方側にｂの記号を付してある。   As shown in FIG. 1, a pantograph sliding plate 4 is provided with a beam 17 provided in parallel with the beam 17 and a beam 17 provided so as to straddle the track 15 on a support column 16 provided in parallel with the track so as to be imaged obliquely from above. is there. The beam 17 is provided with a plurality of cameras 2 and flash illumination 10 (sometimes referred to as strobe illumination). Further, an arm 19 is extended from the column 16 or the beam 17 in the vehicle approaching direction or the exiting direction, and the pantograph detection sensor 5 and the flash illumination 20 for illuminating the upper part of the pantograph (the surface of the sliding plate) are provided on the arm 19 part. is there. In addition, a plurality of lighting devices (halogen lamps 11) for monitoring the state of equipment on the roof other than the pantograph are installed on the beam 18 so as to sandwich the track. Also, the rooftop equipment monitoring camera 3 is provided toward both ends of the entrance side beam 17 and the center of the exit side beam toward the inside of the beam 17. In addition, each apparatus in the figure has a symbol on the front side and symbol b on the rear side.

車両２５の進入を検知する車両検知センサ６が動作すると、本図には図示していない検査装置の電源が入り、その後パンタグラフ検知センサ５がパンタグラフ４を検出すると、梁１７上の車両進入方向のフラッシュ照明１０ａ及びパンタグラフ検知センサ５に併設されパンタグラフの上部を照らすフラッシュ照明２０ａが点灯され、同時に車両進入方向のカメラ２ａがパンタグラフのすり板付近を撮影する。また同時に屋根上機器監視用のハロゲンランプ１１が点灯される。屋根上機器監視用カメラ３が作動を開始する。その後、車両退出方向のパンタグラフ検知センサ５がパンタグラフの通過を検知すると、車両退出方向のフラッシュ照明１０ｂ及びパンタグラフ検知センサ５に併設されたフラッシュ照明２０ｂが点灯され、同時に車両退出方向のカメラ２ｂがパンタグラフのすり板付近を撮影する。なお、車両の地上側には、列車編成番号等の車両情報を受信するための受信機９が、車両の先頭部には列車編成番号等の車両情報を発信する発信機８が設けてある。   When the vehicle detection sensor 6 for detecting the entry of the vehicle 25 is operated, the inspection apparatus (not shown) is turned on. After that, when the pantograph detection sensor 5 detects the pantograph 4, the vehicle approach direction on the beam 17 is changed. The flash illumination 20a that is attached to the flash illumination 10a and the pantograph detection sensor 5 and illuminates the upper part of the pantograph is turned on, and at the same time, the camera 2a in the vehicle entry direction photographs the vicinity of the pantograph sliding plate. At the same time, the halogen lamp 11 for monitoring equipment on the roof is turned on. The on-roof equipment monitoring camera 3 starts operating. Thereafter, when the pantograph detection sensor 5 in the vehicle exit direction detects passage of the pantograph, the flash illumination 10b in the vehicle exit direction and the flash illumination 20b attached to the pantograph detection sensor 5 are turned on, and at the same time, the camera 2b in the vehicle exit direction is pantographed. Take a picture near the sliding board. A receiver 9 for receiving vehicle information such as a train organization number is provided on the ground side of the vehicle, and a transmitter 8 for transmitting vehicle information such as a train organization number is provided at the head of the vehicle.

図２に図１の各機器の制御システム構成の概要を示す。図に示すように、本システムでは、大きく区分するとパンタすり板計測装置３５と屋根上機器撮像装置４５と前記２つの装置からの情報を受け取りすり板の厚みを求めたり、屋根上機器の状態を監視する画像を蓄積する情報処理装置５０から構成されている。   FIG. 2 shows an outline of the control system configuration of each device in FIG. As shown in the figure, in this system, when divided roughly, it receives information from the panta-slip plate measuring device 35, the rooftop device imaging device 45, and the two devices, determines the thickness of the slideboard, and determines the state of the rooftop device. The information processing apparatus 50 stores an image to be monitored.

パンタすり板計測装置３５は主に、先に述べたようにパンタグラフのすり板部を撮影するための複数台のすり板撮影用カメラ２と、パンタグラフに所定のタイミングで光を、主にすり板側面に照射する複数台のフラッシュ照明１０及びすり板上面照射用フラッシュ照明２０と、所定の位置でパンタグラフの通過を検出するパンタ検知センサ５と前記すり板撮影用カメラ２やフラッシュ照明１０を制御するためのパンタすり板厚さ計測用制御部３０からなる。パンタすり板厚さ計測用制御部３０には、この他に、車両検知センサ６、７の信号及び列車編成番号等の車両情報を受信するための受信機９からの信号を取り込むようになっている。   As described above, the pantograph measuring device 35 mainly includes a plurality of sliding plate photographing cameras 2 for photographing a pantograph's sliding plate part, and light is mainly applied to the pantograph at a predetermined timing. A plurality of flash illuminations 10 and a slide plate upper surface illumination flash illumination 20 that illuminate the side surface, a pantograph detection sensor 5 that detects the passage of a pantograph at a predetermined position, the camera for photographing the slide plate 2 and the flash illumination 10 are controlled. For this purpose, it comprises a control unit 30 for measuring the thickness of the pantast plate. In addition to this, the control unit 30 for measuring the thickness of the pantast board receives signals from the receiver 9 for receiving the vehicle information such as the signals of the vehicle detection sensors 6 and 7 and the train formation number. Yes.

また、屋根上機器撮像装置４５は、屋根上機器撮影用の複数台の屋根上機器撮影用カメラ３と、屋根上を照らし出すための複数のハロゲンランプ１１からなる屋根上機器監視用照明１１と屋根上監視制御装置４０とからなる。さらに、先のパンタすり板計測装置３５で用いている、パンタ検知センサ５と車両検知センサ６，７及び列車編成番号等の車両情報を受信するための受信機９を共用しており、それらが信号ケーブル等で屋根上監視制御装置４０に接続されている。また、パンタすり板計測装置３５と屋根上機器撮像装置４５とは情報処理装置５０に光ケーブルで接続されている。   The rooftop device imaging device 45 includes a plurality of rooftop device photographing cameras 3 for rooftop device photographing, and a rooftop device monitoring illumination 11 including a plurality of halogen lamps 11 for illuminating the rooftop. It consists of a rooftop monitoring control device 40. In addition, the panter detection sensor 5, the vehicle detection sensors 6 and 7, and the receiver 9 for receiving vehicle information such as the train organization number, which are used in the previous pantast plate measuring device 35, are shared. It is connected to the roof monitoring and control device 40 by a signal cable or the like. In addition, the pantast board measuring device 35 and the on-roof equipment imaging device 45 are connected to the information processing device 50 by an optical cable.

この情報処理装置５０では、パンタすり板計測装置３５や屋根上機器撮像装置４５からのデータを管理すると共に、監視者に報知すると共に、帳票等の作成等を行う。なお、情報処理装置５０でパンタすり板計測装置３５のカメラ２で撮像された画像情報を取り込み摩耗量を求めてもよい。なお情報処理装置５０には、パンタすり板計測装置３５で求めた摩耗量から、異常摩耗を起こしたすり板を検出すると警報を発してすり板交換を促したり、摩耗状態からすり板の交換時期を予測して、監視者に報知する機能を備えている。さらに、情報処理装置５０には、屋根上機器撮像装置４５からの画像信号に車両編成番号、撮像日時を加えて保存する機能を有している。なお、監視者は動画の状態で屋根上機器の状態を監視できる機能も備えている。   The information processing device 50 manages data from the pantast board measuring device 35 and the rooftop device imaging device 45, notifies the monitor, and creates a form or the like. Note that the information processing apparatus 50 may acquire the amount of wear by acquiring image information captured by the camera 2 of the pantograph board measuring apparatus 35. The information processing apparatus 50 issues an alarm to prompt the replacement of the sliding board when it detects a sliding board that has caused abnormal wear from the amount of wear obtained by the panta-slip board measuring apparatus 35, or replaces the sliding board from the worn state. Is provided, and a function for notifying the monitoring person is provided. Further, the information processing apparatus 50 has a function of storing the image signal from the rooftop apparatus imaging apparatus 45 by adding the vehicle organization number and the imaging date and time. The supervisor also has a function that can monitor the state of the rooftop equipment in a moving image state.

次に、それぞれの装置の動作の詳細を説明する。   Next, details of the operation of each device will be described.

まず、パンタすり板計測装置３５では、まず計測位置に車両２５の進入を車両検知センサ６が検知すると、パンタ検知センサ５がパンタグラフ４の有無の検出を開始し、すり板撮影用のカメラ２も同時に撮影可能状態になる。そして、車両進入側のパンタ検知センサ５がパンタグラフ４を検出すると、車両進入方向のフラッシュ照明１０ａ及びパンタすり板上部照射用フラッシュ照明２０ａを発光させ、同時に車両進入方向の複数のすり板撮影用カメラ２ａがパンタグラフのすり板付近の撮影を行う。そして、撮影した画像データをパンタすり板厚さ計測用制御部３０のメモリに取り込む。取り込まれた画像データは、パンタすり板厚さ計測用制御部３０で画像処理される。その後、車両退出側のパンタ検知センサ５がパンタグラフ４を検出すると車両退出方向のフラッシュ照明１０ｂ及びすり板上面照射用フラッシュ照明２０ｂは発光し、同時に車両退出方向の複数のすり板撮影用カメラ２ｂがパンタグラフのすり板付近の撮影を行い、撮影した画像をパンタすり板厚さ計測用制御部３０内のメモリに取り込む。そして、車両進入側と同じくパンタすり板厚さ計測用制御部３０で画像処理される。   First, in the pantast plate measuring device 35, when the vehicle detection sensor 6 first detects the entry of the vehicle 25 to the measurement position, the pantograph detection sensor 5 starts detecting the presence or absence of the pantograph 4, and the camera 2 for shooting the platen is also used. At the same time, the camera is ready for shooting. When the pantograph detection sensor 5 on the vehicle entry side detects the pantograph 4, the flash illumination 10a in the vehicle entry direction and the flash illumination 20a for irradiating the pantograph upper part of the pantograph are emitted, and at the same time, a plurality of sliding plate photographing cameras in the vehicle entry direction. 2a takes a picture of the pantograph near the sliding plate. Then, the captured image data is taken into the memory of the control unit 30 for measuring the thickness of the pantast board. The captured image data is subjected to image processing by the control unit 30 for measuring the thickness of the pantast board. Thereafter, when the pantograph detection sensor 5 on the vehicle exit side detects the pantograph 4, the flash illumination 10b in the vehicle exit direction and the flash illumination 20b for illuminating the top surface of the slide plate emit light, and at the same time, a plurality of camera 2b for photographing the slide plates in the vehicle exit direction. The vicinity of the pantograph slip plate is photographed, and the photographed image is taken into a memory in the control unit 30 for pantograph plate thickness measurement. Then, image processing is performed by the control unit 30 for measuring the thickness of the pantast board as in the vehicle entry side.

画像処理では、２回の認識処理を行う。１回目は、撮影した画像内において、パンタグラフのすり板上面とすり板側面の境界線（すり板エッジ）の位置を粗く検出する。２回目の認識処理においては、１回目の認識処理により粗く検出したすり板上面とすり板側面の境界位置付近の輝度の特徴成分を高精度に求め、すり板上面とすり板側面の境界位置を検出する。本処理により画面全体を計測することがなく、求めたい境界位置のみを高精度かつ高速に計測することが可能となる。   In image processing, recognition processing is performed twice. The first time, the position of the boundary line (slip plate edge) between the top surface of the pantograph and the side surface of the slide plate is roughly detected in the captured image. In the second recognition process, the luminance feature component in the vicinity of the boundary position between the top surface of the sliding plate and the side surface of the sliding plate, which is roughly detected by the first recognition processing, is obtained with high accuracy, and the boundary position between the top surface of the sliding plate and the side surface of the sliding plate is obtained. To detect. By this processing, the entire screen is not measured, and only the desired boundary position can be measured with high accuracy and high speed.

この画像処理手順を図３のフローチャートで示す。   This image processing procedure is shown in the flowchart of FIG.

モザイク処理（ステップ１５１）では、複数台のカメラで撮影した画像を重ね合わせ、一枚の画像を作成する。画像の重ね位置は、それぞれの撮像された画像中の特徴的な形状部分を合わせることで行う。この時、撮影時に生じた画像の歪を補正してもよい。   In the mosaic process (step 151), images taken by a plurality of cameras are superimposed to create a single image. The overlapping position of the images is performed by matching the characteristic shape portions in each captured image. At this time, the distortion of the image generated at the time of shooting may be corrected.

粗位置決め処理（ステップ１５２）では、先ず、２値化処理を行い任意の閾値より高い輝度値のパンタグラフの一部分である対象物を検出し、その対象物の特徴量となる箇所を検出する。閾値は、予めパンタすり板厚さ計測用制御部３０のメモリに保存してもよく、また、撮影した画像の平均輝度・輝度の偏差情報より自動設定してもよい。   In the coarse positioning process (step 152), first, a binarization process is performed to detect an object that is a part of a pantograph having a luminance value higher than an arbitrary threshold value, and a location that is a feature amount of the object is detected. The threshold value may be stored in advance in the memory of the control unit 30 for measuring the thickness of the pantograph plate, or may be automatically set based on deviation information of the average luminance and luminance of the photographed image.

本発明では、予め、フラッシュ照明１０、２０の照度や照射角を調整することで、すり板上面とすり板側面との輝度差が大きくなるように設定してある。また、パンタグラフのすり板上面は明るく、側面はやや暗く、また、背景が暗くなるようにカメラのレンズの絞りが調整されている。これにより、任意の閾値をすり板上面とすり板側面の輝度値の中間に設定することで、すり板上面の２値化対象物のみ計測することが出来る。この対象物の底辺は、すり板上面とすり板側面の境界位置となり、検出するすり板のエッジ箇所を粗く示している。２値化処理では、画素単位による計測を行うため、その検出精度としては、数画素のばらつきが生じる。   In the present invention, the brightness difference between the top surface of the sliding plate and the side surface of the sliding plate is set to be large by adjusting the illuminance and the irradiation angle of the flash lights 10 and 20 in advance. Further, the aperture of the camera lens is adjusted so that the upper surface of the pantograph has a bright upper surface, a slightly dark side surface, and a dark background. Accordingly, by setting an arbitrary threshold value between the luminance values of the upper surface of the sliding plate and the side surface of the sliding plate, only the binarized object on the upper surface of the sliding plate can be measured. The bottom side of the object is a boundary position between the upper surface of the sliding plate and the side surface of the sliding plate, and roughly shows an edge portion of the detected sliding plate. In the binarization process, since measurement is performed in units of pixels, the detection accuracy varies by several pixels.

また、２値化による対象物の検出では、ノイズの影響が大きい場合がある。そのため、いくつかの対象物が同時に検出された場合は、面積や長さ、幅方向のサイズチェックを行う。その結果、予定のサイズと異なる場合は、ノイズと判断しパンタグラフ以外のもであると判断する。また、明るさのばらつきが生じ、２値化画像に凹凸が生じた場合などは、凹を埋め、凸箇所を消去している。   Moreover, in the detection of the target object by binarization, the influence of noise may be large. Therefore, when several objects are detected at the same time, the area, length, and size in the width direction are checked. As a result, if it is different from the planned size, it is determined as noise and it is determined to be other than the pantograph. Further, when there is a variation in brightness and unevenness is generated in the binarized image, the concave portion is filled and the convex portion is deleted.

また、パターンマッチングにより補助すり板箇所を検出し、すり板上面とすり板側面の境界位置を求めてもよい。   Alternatively, the position of the auxiliary ground plate may be detected by pattern matching to obtain the boundary position between the top surface of the ground plate and the side surface of the ground plate.

水平化処理（ステップ１５３）では、パンタグラフの左右補助すり板上面と補助すり板側面の境界位置を計測し、計測されたパンタグラフ左右の結果よりパンタグラフ傾きを算出し、視野に対しパンタグラフの補助すり板が水平となるように撮影した画像を回転する。撮影した画像の回転補間は、格子の画素に対し、計測対象物を水平・垂直にすることにより高精度に計測することが出来る。   In the leveling process (step 153), the boundary position between the top surface of the left and right auxiliary slide plates and the side surface of the auxiliary slide plate of the pantograph is measured, the pantograph inclination is calculated from the measured left and right results of the pantograph, and the pantograph auxiliary slide plate with respect to the field of view. Rotate the captured image so that becomes horizontal. The rotational interpolation of the captured image can be measured with high accuracy by making the measurement object horizontal and vertical with respect to the pixels of the grid.

エッジ検出処理（ステップ１５４）では、すり板上面とすり板側面の輝度差より最も急激に輝度値が変化している箇所を境界（すり板エッジ）位置として計測する。粗位置決め処理（１回目の認識処理）において、粗くすり板上面とすり板側面の境界位置を計測しており、本計測データに沿って、境界位置を計測するための計測領域を設定する。そして設定した計測領域内においてすり板上面とすり板側面の境界位置を高精度に検出していく。   In the edge detection process (step 154), the position where the luminance value changes most rapidly than the luminance difference between the upper surface of the sliding plate and the side surface of the sliding plate is measured as the boundary (slip plate edge) position. In the coarse positioning process (the first recognition process), the boundary position between the top surface of the ground plate and the side surface of the ground plate is roughly measured, and a measurement region for measuring the boundary position is set along the main measurement data. Then, the boundary position between the upper surface of the sliding plate and the side surface of the sliding plate is detected with high accuracy within the set measurement region.

また、前記計測領域がすり板上面と側面の境界位置からずれたときは、隣り合う画素の計測結果を流用し、計測結果位置に計測領域中心が位置するように自動調整する。これにより計測領域を小さく設定することが可能となり、計測領域の中心は、常にすり板上面とすり板側面の境界位置に位置し、すり板上面とすり板側面との境界位置以外の画像データを排除することが可能となる。これにより、誤って側面の傷や汚れをすり板上面とすり板側面の境界位置として誤検出することを防止できる。   When the measurement area deviates from the boundary position between the upper surface and the side surface of the sliding plate, the measurement result of the adjacent pixel is diverted and automatically adjusted so that the measurement area center is located at the measurement result position. This makes it possible to set the measurement area small, and the center of the measurement area is always located at the boundary position between the upper surface of the sliding plate and the side surface of the sliding plate, and image data other than the boundary position between the upper surface of the sliding plate and the side surface of the sliding plate is stored. It becomes possible to eliminate. Accordingly, it is possible to prevent erroneous detection of side scratches and dirt as a boundary position between the upper surface of the sliding plate and the side surface of the sliding plate.

上記のように、すり板上面とすり板側面の境界（すり板エッジ）位置を検出する。図４にはすり板上面とすり板側面をの境界部分が分かるように示したもので、黒塗りの方がすり板側面で、白塗りの方がすり板上面を示している。この境界付近には図４に示すように、荒損１０１と呼ばれる部分が発生する場合がある。この荒損１０１は、すり板側面のみが摩耗して、すり板上面がほとんど摩耗していないものである。この場合、荒損部分のエッジを測定しすり板の厚さにすると、本来求めたい、すり板の上面の幅方向に連続して摩耗している摩耗部分１００のすり板の厚さと異なってしまう。そこでエッジ検出処理を行う前に、横方向のフィルタを用い平滑化処理を行い、荒損部分の輝度の急激な変化を抑制し、荒損部分をエッジと検出しないようにした。即ち本来のエッジ部分に比べ荒損部分は輝度差が小さいため、輝度差が所定値以下の場合には荒損と判定する。   As described above, the position of the boundary (slip plate edge) between the top surface of the slide plate and the side surface of the slide plate is detected. FIG. 4 shows the boundary between the top surface and the side surface of the sliding plate so that the black portion is the side surface of the sliding plate and the white portion shows the top surface of the sliding plate. As shown in FIG. 4, there is a case where a portion called roughness 101 occurs near this boundary. This rough damage 101 is one in which only the side surface of the sliding plate is worn and the upper surface of the sliding plate is hardly worn. In this case, if the edge of the roughened portion is measured to obtain the thickness of the ground plate, it differs from the thickness of the ground plate of the worn portion 100 that is continuously worn in the width direction of the top surface of the ground plate. . Therefore, before performing the edge detection processing, smoothing processing is performed using a horizontal filter to suppress a sudden change in luminance of the damaged portion so that the damaged portion is not detected as an edge. That is, since the brightness difference is smaller in the damaged portion than in the original edge portion, it is determined that the brightness is damaged when the brightness difference is equal to or less than a predetermined value.

すり板に荒損部分があると架線が引っかかり、その部分ばかり摩耗し段付き摩耗等の異常摩耗につながる要因なので、早期に見つける必要がある。   If there is a damaged part on the slidable plate, the overhead wire gets caught, and only that part is worn, leading to abnormal wear such as stepped wear, so it must be found early.

そこで荒損検出処理（ステップ１５５）を行う。荒損を検出する方法としては、上記のエッジ検出処理で検出した場合、通常のエッジ部の上部と下部では輝度差があるが、荒損部分のエッジ部の上部と下部では輝度差が小さいということに着目した。荒損検出処理では、エッジ検出処理で平滑化処理をする前の画像を用い、エッジ検出処理で計測したすり板上面とすり板側面の境界位置の上部の輝度値と下部の輝度値を求め、輝度差が所定の値以下で、かつ、その状態が所定の回数続いた場合、荒損であると判断し、画面上にその位置を表示すると共に、情報処理装置５０に伝送されるデータに付加した。   Therefore, the damage detection process (step 155) is performed. As a method of detecting the roughness, there is a luminance difference between the upper and lower portions of the normal edge portion when detected by the edge detection process described above, but the luminance difference is small between the upper and lower portions of the edge portion of the damaged portion. Focused on that. In the roughness detection process, using the image before the smoothing process in the edge detection process, the brightness value of the upper part and the lower brightness value of the boundary position between the upper and lower sides of the sliding board measured by the edge detection process are obtained. If the luminance difference is less than or equal to a predetermined value and the state continues for a predetermined number of times, it is determined that the image is damaged, and the position is displayed on the screen and added to the data transmitted to the information processing device 50. did.

次に、すり板摩耗量（ステップ１５６）の検出処理を行う。すり板摩耗量の算出では、検出したすり板上面とすり板側面の境界位置データ(画素データ)にカメラの歪や収差が考慮されたカメラ分解能を掛け、画素データをｍｍデータに変換する。   Next, detection processing of the wear amount of the sliding plate (step 156) is performed. In the calculation of the wear amount of the sliding plate, the pixel position is converted into mm data by multiplying the detected boundary position data (pixel data) between the upper surface of the sliding plate and the side surface of the sliding plate by camera resolution in consideration of camera distortion and aberration.

多くのパンタグラフにおいては、補助すり板がステンレス材料で形成されており、表面の削れの影響はない。そこで、補助すり板上面を基準高さとし、補助すり板箇所からの摩耗量をすり板摩耗量として検出する。また、すり板下面のエッジ位置を計測し、すり板下面を基準高さとしたときのすり板摩耗量を算出してもよい。   In many pantographs, the auxiliary scraper is made of a stainless steel material and is not affected by surface scraping. Therefore, the upper surface of the auxiliary sliding plate is set as the reference height, and the wear amount from the auxiliary sliding plate portion is detected as the wear amount of the sliding plate. Alternatively, the edge position of the bottom surface of the sliding plate may be measured, and the wear amount of the sliding plate when the bottom surface of the sliding plate is set as a reference height may be calculated.

検出したすり板摩耗量は、パンタすり板厚さ計測用制御部３０で別に取り込んだ車両編成番号と一緒に光ケーブルで接続している情報処理装置５０に伝送され、情報処理装置５０に設けてある記憶部に格納される。さらに情報処理装置５０では、以前に測定、記録した同一車両編成番号のすり板の厚さ測定値や測定日時データを用いてすり板の摩耗状況の変化を求め、交換すべき摩耗量となる日時を予測して、その結果を報知できるようにしてある。さらに計測したすり板の摩耗量が、すり板を交換すべき摩耗量の値に近い値を第一の基準値（注意基準値）とし、交換すべき摩耗量を第二の基準値（警告基準値）として設定している。測定値がこれらの基準値を超えた場合に、それぞれの状態を報知するようにしている。すなわち、第一の基準値と第二の基準値の間の値の時は注意警報を、第二の基準値を超えた場合は警告警報を発するようにしてある。また、すり板が異常摩耗を起こしていたり、荒損を起こしている場合は、直ちに警報を発するようにしてある。   The detected wear amount of the sliding plate is transmitted to the information processing device 50 connected by the optical cable together with the vehicle formation number separately taken in by the control unit 30 for measuring the thickness of the pantast plate and is provided in the information processing device 50. Stored in the storage unit. Further, the information processing apparatus 50 obtains a change in the wear state of the slide plate using the measured thickness value and measurement date / time data of the slide plate of the same vehicle composition number previously measured and recorded, and the date and time that becomes the wear amount to be replaced. And the result can be notified. Further, the measured wear amount of the sliding plate is close to the wear amount value at which the sliding plate is to be replaced as the first reference value (caution reference value), and the worn amount to be replaced is the second reference value (warning standard). Value). When the measured value exceeds these reference values, the respective states are notified. That is, a warning alarm is issued when the value is between the first reference value and the second reference value, and a warning alarm is issued when the second reference value is exceeded. Further, when the sliding plate is abnormally worn or damaged, an alarm is immediately issued.

また、計測したデータに誤りがないことを確認する。例えば、同じ編成の同じパンタにおいて、先に測定し、記憶されているデータの、測定日時とそのときの摩耗量等のデータを基に、今回測定されたすり板摩耗量を推測し、短期間に摩耗量が大きくなった場合は、測定誤りの可能性が大きいため監視者に対しその旨の警告を発して、再認識を実行させる。逆に長期間すり板摩耗量が減らない場合においても、監視者に警告を発して、再認識を実行させることが出来る。   Also, check that the measured data is correct. For example, in the same punter of the same knitting, the wear amount measured this time is estimated on the basis of data such as the measurement date and time and the wear amount at that time of the data measured and stored earlier, and the short period of time If the amount of wear increases, the possibility of measurement errors is high, and a warning to that effect is issued to the supervisor, and re-recognition is executed. Conversely, even when the wear amount of the sliding plate does not decrease for a long period of time, a warning can be issued to the supervisor and re-recognition can be executed.

前述のように測定誤りと判断された場合に、監視者によりすり板上面と側面の境界位置及び基準となる位置を画像中から選択し、計測するような手動介入システムを設けることで、誤りを修正して高精度の測定が行えるようにしておいもよい。   When a measurement error is determined as described above, a manual intervention system is provided to select and measure the boundary position between the upper and side surfaces of the sliding plate and the reference position from the image by the monitor, and to correct the error. It may be modified so that highly accurate measurement can be performed.

また前述の説明では、パンタすり板計測装置３５では画像処理機能と、摩耗量を求める機能を備え、情報処理装置５０には、異常摩耗の検出や、監視者への報知、および、過去のデータの記録保管機能等を持たせることで、パンタすり板計測装置３５の負荷を低減して処理の迅速化を図っている。   In the above description, the pantast plate measuring device 35 has an image processing function and a function for obtaining the wear amount, and the information processing device 50 detects abnormal wear, notifies the supervisor, and past data. By providing such a record storage function, the load on the pantast plate measuring device 35 is reduced to speed up the processing.

本発明のように、荒損部分を荒損として検出することで、通常の架線に接触して生じる摩耗部分を正確に把握して、正確な摩耗量を検出することが可能になった。また、荒損部分の発生を監視者に報知することで、今後異常摩耗の発生を事前に予測することも可能となった。   As in the present invention, by detecting a rough portion as a rough portion, it is possible to accurately grasp a wear portion generated by contact with a normal overhead wire and detect an accurate wear amount. In addition, it has become possible to predict the occurrence of abnormal wear in advance by notifying the supervisor of the occurrence of the damaged portion.

パンタグラフ及び屋根上機器監視のためのカメラと照明の配置を示す図である。It is a figure which shows the arrangement | positioning of the camera and illumination for a pantograph and equipment on a roof. 本発明の屋根上機器検査システムのブロック線図である。It is a block diagram of the roof top equipment inspection system of the present invention. パンタすり板厚さを求めるフローを示した図である。It is the figure which showed the flow which calculates | requires a panta-slip board thickness. 荒損と摩耗の概略を示した図である。It is the figure which showed the rough outline and wear.

符号の説明Explanation of symbols

２…パンタグラフ撮影用カメラ、３…屋根上機器監視用カメラ、４…パンタグラフ、５…パンタ検知センサ、６、７…車両検知センサ、１０…フラッシュ照明、２０…すり板上面用フラッシュ照明。
2 ... pantograph imaging camera, 3 ... roof equipment monitoring camera, 4 ... pantograph, 5 ... panta detection sensor, 6, 7 ... vehicle detection sensor, 10 ... flash illumination, 20 ... flash illumination for the top surface of the sliding plate.

Claims (3)

電機車用パンタグラフのすり板をカメラにより撮像し、撮像した画像を画像処理してすり板の摩耗状態を求めるパンタすり板厚さ計測用制御部と、その結果を監視者に報知する報知手段を備えたパンタグラフのすり板検査装置において、
すり板に向けて、荒損のない正常なすり板の上面と側面との輝度差が所定値以上となるように配置された照明及び撮像カメラと、
前記撮像カメラによって得られた画像のうち、すり板上面とすり板側面の境界であるエッジの上部に得られた画像と、エッジの下部に得られた画像のそれぞれの輝度を計測し、その輝度差が所定値以下の場合に荒損と判定する荒損判定部と、
補助すり板上面またはすり板下面を基準高さとして、前記の荒損と判定された部分を除くエッジ検出位置に基いて、すり板摩耗量を算出するすり板摩耗量算出部を備えたことを特徴とするパンタグラフのすり板検査装置。 An electric vehicle pantograph slip plate is imaged by a camera, and a panta-slip plate thickness measurement control unit that obtains a wear state of the slide plate by performing image processing on the captured image, and notification means for notifying a monitor of the result. In the pantograph sliding plate inspection device provided,
Illumination and imaging camera arranged so that the luminance difference between the upper surface and the side surface of a normal sliding plate without roughness is a predetermined value or more toward the sliding plate,
Among the images obtained by the imaging camera, the brightness of each of the image obtained at the top of the edge, which is the boundary between the top surface of the slide plate and the side surface of the slide plate, and the image obtained at the bottom of the edge are measured, and the brightness A damage determination unit that determines that the difference is less than or equal to a predetermined value ,
A slip plate wear amount calculation unit for calculating the wear amount of the slide plate is provided based on the edge detection position excluding the portion determined to be rough damage with the auxiliary slide plate upper surface or the slide plate lower surface as a reference height. A pantograph sliding plate inspection device. 請求項１に記載のパンタグラフのすり板検査装置において、
前記荒損の発生を検出した場合には、前記荒損の発生と前記摩耗量を区別して監視者に報知する構成としたことを特徴とするパンタグラフのすり板検査装置。 In the pantograph slip board inspection device according to claim 1,
An apparatus for inspecting a pantograph slip plate, wherein when occurrence of the rough damage is detected, the occurrence of the rough damage and the wear amount are distinguished and notified to a monitor. 請求項１又は２のいずれかのパンタグラフのすり板検査装置において、前記パンタすり板厚さ計測用制御部には、予めすり板の摩耗量がすり板を交換する値に近い値を第１基準値、交換すべき値を第２の基準値として記憶しておき、測定値と前記第１及び第２基準値とを比較し、測定値が第１基準値と第２基準値間にある場合は注意警報を、第２基準値を超えた場合は交換警報を発する構成としたことを特徴とするパンタグラフのすり板検査装置。 In contact strip inspection apparatus according to claim 1 or 2 Neu not Re or pantographs, the pantograph contact strip thickness measurement control unit, a value close to the value wear amount in advance sliding plate exchanging contact strip first 1 reference value and a value to be exchanged are stored as a second reference value, the measured value is compared with the first and second reference values, and the measured value is between the first reference value and the second reference value. An apparatus for inspecting a pantograph slipboard, characterized in that a warning alarm is issued in some cases, and a replacement alarm is issued if a second reference value is exceeded.
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