WO2016208463A1 - 線条計測装置及び方法 - Google Patents

線条計測装置及び方法 Download PDF

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Publication number
WO2016208463A1
WO2016208463A1 PCT/JP2016/067725 JP2016067725W WO2016208463A1 WO 2016208463 A1 WO2016208463 A1 WO 2016208463A1 JP 2016067725 W JP2016067725 W JP 2016067725W WO 2016208463 A1 WO2016208463 A1 WO 2016208463A1
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WIPO (PCT)
Prior art keywords
line
sliding surface
information
camera
line camera
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Application number
PCT/JP2016/067725
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English (en)
French (fr)
Japanese (ja)
Inventor
匠朗 川畑
亀山　悟
Original Assignee
株式会社 明電舎
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Application filed by 株式会社 明電舎 filed Critical 株式会社 明電舎
Priority to SG11201710208TA priority Critical patent/SG11201710208TA/en
Priority to MYPI2017704903A priority patent/MY196040A/en
Publication of WO2016208463A1 publication Critical patent/WO2016208463A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B60M1/28—Manufacturing or repairing trolley lines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G01C3/02—Details
    • G01C3/06—Use of electric means to obtain final indication
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing

Definitions

  • the present invention is in the field of managing overhead lines in the railway field, and in particular, image processing is performed on data acquired by a line camera installed on the roof of a train, and the height and displacement of the overhead line from the line.
  • the present invention relates to a linear measuring device and method.
  • Patent Document 1 listed below discloses a technique for measuring the wear and displacement of an overhead wire by installing a line camera on the roof of a train and acquiring these sensor data while the train is running.
  • Patent Document 2 listed below discloses a technique for measuring the height and displacement of an overhead line by installing a line camera and a laser rangefinder on a train roof, acquiring these sensor data while the train is running. ing.
  • the range in which the management of the position information of the overhead line (measurement of the overhead line position) is required is a deviation of ⁇ 900 mm from the vehicle center. The reason is as follows.
  • the overhead line is located at ⁇ 250 mm on the left and right ( ⁇ 300 mm on the Shinkansen) from the “center” of the pantograph in order to collect electricity on the train through the pantograph.
  • the “end” of the pantograph may come into contact with the second overhead line (an overhead line other than the main line). This is because it is necessary to measure the overhead line position within a range of ⁇ 900 mm.
  • The“ deviation ” is the horizontal position of the filament and the distance from the center of the pantograph.
  • Lines are wires installed in the air, and include wires such as overhead wires, suspended overhead wires, and feeders.
  • Air section refers to sections where the overhead wires in the overlap (front and rear in the direction of vehicle travel) are not electrically connected.
  • FIG. 17 is a top view illustrating the air section.
  • FIG. 17 shows a state in which the main line 1 and the sub-main line 2 are separated from each other and are overlapped above the line 3 without being electrically connected.
  • An “air joint” is an electrical connection of air sections.
  • FIG. 18 is a top view for explaining the crossover.
  • FIG. 18 shows a state in which the crossover line 4 intersects the main line 1 above the line 3 on which the branching device 3a is arranged.
  • “Sliding surface” means a surface where the overhead wire is in contact with the pantograph and is worn. Usually, the overhead wire is always in contact with the pantograph, and there is a sliding surface. However, regarding the equipment section with the second overhead line, such as an air section and a crossover, there is a portion that does not contact the pantograph, that is, a portion that does not have a sliding surface, within a deviation ⁇ 900 mm from the center of the vehicle that needs to be managed.
  • management of overhead lines is to regularly check whether the height, displacement and wear of overhead lines are below the prescribed control values, and accidents can be prevented by managing overhead lines. is there.
  • the height of the overhead line means the height from the track to the overhead line installed above the train, and is usually at a position of about 4500 mm (5000 mm for the Shinkansen).
  • the “overhead deflection” is the horizontal position of the overhead line, and the normal overhead line is located ⁇ 250 mm to the left and right of the pantograph center ( ⁇ 300 mm for the Shinkansen). In addition, the position of deviation ⁇ 900 mm from the center of the vehicle where the second overhead line exists is also managed.
  • the wear of the overhead wire is the wear of the overhead wire that is generated in proportion to the frequency of passing the train (pantograph), and is managed so as not to exceed the wear limit value.
  • Patent Document 1 requires separate height information as described in paragraph [0035] of the document, “the overhead line height data is (substantially) input from the outside”. And deviation) cannot be measured. In addition, only worn overhead wires are targeted, and air sections and crossovers cannot be measured.
  • Patent Document 2 it is necessary to install two line cameras and one laser rangefinder on the roof of the train. Therefore, the apparatus configuration installed on the roof becomes complicated and large.
  • the position information of the laser rangefinder is used for matching the corresponding points of stereo measurement.
  • the detection rate and accuracy of the laser deteriorate in proportion to the measurement distance, air sections and crossovers that are far away from each other are used. It is difficult to make stereo measurements of overhead lines such as
  • the laser data acquisition cycle is 10 times or more slower than that of the line camera, so that it is difficult to mount the laser data on a high-speed traveling vehicle such as a business vehicle.
  • the present invention has been made in view of the technical situation as described above, and can measure a wide range of heights and deviations using only a line camera. It is an object of the present invention to provide a line measuring device and method that can measure a second overhead line (an overhead line other than the main line) within ⁇ 900 mm.
  • the filament measuring device for solving the above-mentioned problems is, A first line camera and a second line camera, which are arranged at both ends of the sleeper direction on the roof of the vehicle and are inclined toward the center of the sleeper direction of the vehicle, respectively, From the image captured by the first line camera and the image captured by the second line camera, the line information and the sliding surface information of the line to be measured are detected, and the line information and the sliding surface information are used.
  • An image processing unit that calculates the height and displacement of the line by associating the line between the captured images.
  • a filament measuring device for solving the above-mentioned problems is
  • the image processing unit When the sliding surface information does not exist in the line to be measured, the correspondence is obtained by using the time information when the line intersects the overhead line having the sliding surface and the sliding surface information of the overhead line. It is characterized by attaching.
  • a filament measuring device for solving the above-mentioned problems is
  • the image processing unit A sliding surface extraction unit that detects the sliding surface information from an image captured by the first line camera and an image captured by the second line camera;
  • a line extraction unit for detecting the line information from an image captured by the first line camera and an image captured by the second line camera;
  • a combining unit that creates line combination information from the line information;
  • an association unit that performs the association using the time information at which the filament intersects the overhead line having the sliding surface, and the sliding surface information of the overhead line;
  • a stereo measurement unit for stereo-measuring the line connection information associated with the image captured by the first line camera and the image captured by the second line camera, and calculating the height and displacement of the line; It is characterized by providing.
  • a filament measuring method for solving the above-mentioned problem is as follows: The first line camera and the second line camera that image the line are arranged at both ends in the sleeper direction on the roof of the vehicle, respectively, inclined toward the center of the sleeper direction of the vehicle, From the image captured by the first line camera and the image captured by the second line camera, the line information and the sliding surface information of the line to be measured are detected, and the line information and the sliding surface information are used. Thus, the height and the deviation of the line are calculated by associating the line between the captured images.
  • a filament measuring method for solving the above-mentioned problem is as follows.
  • the correspondence is obtained by using the time information when the line intersects the overhead line having the sliding surface and the sliding surface information of the overhead line. It is characterized by attaching.
  • a filament measuring method for solving the above-mentioned problem is as follows.
  • the sliding surface information is detected from the image captured by the first line camera and the image captured by the second line camera
  • the line information is detected from the image captured by the first line camera and the image captured by the second line camera, Create line combination information from the line information,
  • the association is performed using the sliding surface information, and the sliding surface information does not exist in the linear object that is the measurement target.
  • the correspondence is performed using the time information when the filament intersects the overhead line having the sliding surface, and the sliding surface information of the overhead line, Stereoscopic measurement is performed on the line connection information associated with the image captured by the first line camera and the image captured by the second line camera, and the height and displacement of the line are calculated. .
  • the linear measuring device and method according to the present invention it is possible to measure a wide range of heights and deviations using only a line camera, and the measurement target is within ⁇ 900 mm of deviation from the center of the vehicle in addition to the main line.
  • the second overhead line (an overhead line other than the main line) can also be measured.
  • the detection rate and accuracy of the stereo measurement of the overhead line such as the connecting line and the air section that are separated from each other are hardly lowered.
  • the line measuring device and method according to the present invention can be mounted on a high-speed traveling vehicle such as a business vehicle because the line camera alone performs stereo measurement.
  • two line cameras are installed on the roof of a train, the data acquired by each line camera is image-processed, and the line is within a range of deviation ⁇ 900 mm from the vehicle center. It is possible to measure the height and displacement of the overhead wire from the inside.
  • This technique in addition to the technique disclosed in Patent Document 2, has a three-line camera configuration in which a wide-angle lens is placed in the center of the vehicle, so that the management range of the second overhead line such as a crossover (eg, deviation ⁇ from the center of the vehicle) 900 mm) can be secured.
  • the imaging area is shown in FIGS.
  • FIG. 19 is a schematic diagram illustrating the imaging area of each line camera.
  • the first line camera 31 disposed at one end of the sleeper direction
  • the third line camera 33 disposed at the center
  • the second line camera disposed at the other end of the sleeper direction.
  • Each of the line camera 32 and the third line camera 33 is an area where the imaging areas overlap (the area indicated by the broken line in the figure is the imaging area of the first and second line cameras 31 and 32, and the area indicated by the solid line is the area of the third line camera 33. Imaging area). Since this area can perform stereo imaging, it is referred to as a “stereo imaging available area”.
  • FIG. 20 is a schematic diagram for explaining a stereo imageable area using the first line camera 31 and the third line camera 33.
  • FIG. 21 is a schematic diagram for explaining a stereo imageable area using the second line camera 32 and the third line camera 33.
  • an image pickup area of 900 mm on one side is secured by the pattern of the first line camera 31 and the third line camera 33, and as shown by a gray zone in FIG.
  • the imaging area of 900 mm on the other side is secured by the pattern of the 3-line camera 33.
  • the height information of the crossover line is limited by acquiring the main line position information of the overhead line, it is possible to restrict the corresponding points of the stereo measurement, and it becomes possible to measure the line of the crossover line.
  • stereo imaging by the first line camera 31 or the second line camera 32 and the third line camera 33 has a problem that the stereo resolution is low because the distance between the line cameras is short.
  • the first line camera 31 and the second line camera 32 are used by switching within the imaging range in charge of each, the processing becomes complicated.
  • the crossover line is measured by limiting the height information from the main line, but only the crossover line can be constrained (Condition: “The crossover line is set within 30 mm from the main line height”)
  • the crossover line is set within 30 mm from the main line height
  • FIG. 1 shows an apparatus configuration of the filament measuring apparatus according to the present embodiment.
  • the vehicle 10 traveling on the track 3 is shown passing through the air section equipment portions of the main line 1 and the sub-main line 2 suspended by the suspension lines 1a and 2a, respectively.
  • the suspension wires 1 a and 2 a are supported by a bent metal fitting 7 attached to the electric pole 6, and the feeder 5 is attached to the electric pole 6 in addition to the bent metal fitting 7.
  • the linear measuring device is installed at both ends of the roof top 10a of the vehicle 10 in the sleeper direction, and is inclined toward the center of the sleeper direction of the vehicle 10, respectively.
  • the line measuring device may be provided with illumination 13 for illuminating the line between the first line camera 11 and the second line camera 12.
  • FIG. 3 shows regions in which stereo measurement is possible when the line camera 11 and the second line camera 12 are directed in the vertical direction without being tilted.
  • the linear measuring device does not generate a region where the imaging ranges do not overlap each other, that is, a region where stereo measurement cannot be performed.
  • FIG. 4 is a diagram comparing the imaging range angle of view when the first line camera 11 is installed in the vertical direction and when it is installed obliquely.
  • FIG. 5 is a diagram for comparing the imaging range angle of view when the second line camera 12 is installed in the vertical direction and when it is installed obliquely.
  • the broken lines in FIGS. 4 and 5 indicate the imaging range when each line camera is installed in the vertical direction, and the solid lines indicate the imaging range when each line camera is installed obliquely. .
  • the first line camera 11 is tilted so that the stereo imaging impossible area b can be captured in stereo as shown in FIG. 4, and the second line camera 12 enables stereo imaging impossible area a in stereo imaging as shown in FIG. Tilt to be.
  • a wide measurement target area such as a crossover or an air section (deviation ⁇ 900 mm)
  • the image processor 9 and the line information are displayed.
  • the moving surface information is acquired (detected), and the detected line information and sliding surface information are used to associate the line between the captured images of the first line camera 11 and the second line camera 12.
  • FIG. 6 shows an image when the overhead line information in the air section facility of FIG. 1 is captured by the first line camera 11 and the second line camera 12.
  • 6A is a captured image of the first line camera 11
  • FIG. 6B is a captured image of the second line camera 12
  • the horizontal axis is the pixel of the camera (pix).
  • the vertical axis represents time (ms).
  • FIG. 7 is an example of a data diagram of the sliding surface detection result of the air section equipment.
  • 7A is a diagram based on an image captured by the first line camera 11, and a diagram illustrated in FIG. 7B is a diagram based on an image captured by the second line camera 12.
  • FIG. 8 is an example of a data diagram of the line detection result of the air section equipment. 8A is a diagram based on the captured image of the first line camera 11, and the diagram illustrated in FIG. 8B is a diagram based on the captured image of the second line camera 12.
  • the image processing unit 9 detects the data of the sliding surface 8 from the captured images shown in FIGS. 6A and 6B as shown in FIG. Further, from the captured images shown in FIGS. 6 (a) and 6 (b), the line data is detected as shown in FIG. 8, and “in the captured image of the first line camera 11 and the captured image of the second line camera 12, Correlation is performed based on the information that the line data having a moving surface is a measurement target. Thereby, if it is an overhead line which has even a part of sliding surface, all correspondence will be attained.
  • FIG. 9 is a functional configuration diagram of the filament measuring device according to the present embodiment.
  • the filament measuring apparatus includes a first line camera 11, a second line camera 12, and an image processing unit 9.
  • the image processing unit 9 includes an image input unit 14, a sliding surface extraction unit 15, a line extraction unit 16, a coupling unit 17, an association unit 18, a stereo measurement unit 19, a storage unit 20, and an equipment data setting unit. 21 is provided.
  • the image input unit 14 acquires image data captured by the first line camera 11 and the second line camera 12.
  • the sliding surface extraction unit 15 detects the sliding surface data from FIG. 6 as shown in FIG.
  • the line extraction unit 16 detects line data from FIG. 6 as shown in FIG. 8 by image processing as already described. At this time, the line data is a collection of point clouds, and there is no relation between the data. Therefore, this is hereinafter referred to as “wire line point group data (wire point group information)”. Moreover, in FIG. 8, the location with disturbances, such as the utility pole 6, becomes a defect
  • the joining unit 17 creates “striated joint data” by joining the filaments from the filament point group data in the following procedure.
  • the combining unit 17 first combines the continuous filament point group data to create a part. At this time, the overlapping part and the missing part are distinguished as different parts. Next, the parts are connected using information such as the length, angle, approximate quadratic curve coefficient, and start / end coordinates of each part. (Striated information).
  • the associating unit 18 uses the linear combination data having the sliding surface data as the measurement target overhead line, and between the linear combination data of the captured image of the first line camera 11 and the captured image of the second line camera 12. Perform the association.
  • FIG. 10 is a diagram showing a correspondence result between the main line 1 and the sub-main line 2 in the air section facility.
  • 10A is a diagram based on a captured image of the first line camera 11, and a diagram illustrated in FIG. 10B is a diagram based on a captured image of the second line camera 12, and
  • FIG. 10 is a diagram based on the captured image of the first line camera 11, and the diagram illustrated in FIG. 10D is a diagram based on the captured image of the second line camera 12.
  • the horizontal axis represents the number of pixels (pix) of the line camera, and the vertical axis represents time (ms). As shown in FIG. 10, it is possible to associate an overhead line having the sliding surface 8 in part.
  • FIG. 11 is a schematic view showing a state where the vehicle 10 passes through a crossover facility where the main line 1 and the crossover line 4 intersect.
  • the crossover line 4 is also suspended by the suspension line 4a like the main line 1 (and the above-mentioned secondary main line 2).
  • FIG. 12A An example of a captured image diagram of the crossover facility shown in FIG. 11 is shown in FIG. 12A is an image captured by the first line camera 11, and FIG. 12B is an image captured by the second line camera 12.
  • the horizontal axis represents camera pixels (pix).
  • the vertical axis represents time (ms).
  • the crossover 4 that is the overhead line to be measured may not have the sliding surface 8 as shown in FIG. Therefore, when measuring the crossover 4, time information at which the overhead line having no sliding surface 8 and the overhead line having the sliding surface 8 intersect is used.
  • the suspension line 4a of the transition line in addition to the transition line 4 as shown in FIG. are the A portion and B portion in the image shown in FIG. 12A of the image taken by the first line camera 11, and the C portion and D portion in the image shown in FIG. 12B of the image taken by the second line camera 12, respectively. Although they intersect, it is not possible to associate the crossover lines 4 between the captured images.
  • the crossover 4 when the crossover 4 intersects the main line 1, it has a feature that it intersects with a height substantially equal to the height of the main line 1, and on the captured image, it intersects with the overhead line having the sliding surface 8. Since the time information to be substantially matched, the portion B of the image taken by the first line camera 11 shown in FIG. 12A and the portion C of the image taken by the second line camera 12 shown in FIG. It can be seen that the overhead line having the intersection is the crossover line 4. Thereby, if it registers as one overhead line, the crossover 4 can also be matched.
  • FIG. 13 is a data diagram showing a correspondence result between the main line 1 and the crossover line 4 in the crossover line facility.
  • the diagram shown in FIG. 13A is a data diagram showing the main line 1 association result based on the image captured by the first line camera 11, and the diagram shown in FIG. 13B shows the image captured by the second line camera 12.
  • FIG. 13C is a data diagram showing the correspondence result of the crossover line 4 based on the captured image of the first line camera 11, and FIG.
  • the diagram shown in D is a data diagram showing the association result of the crossover lines 4 based on the captured image of the second line camera 12.
  • the horizontal axis represents the number of pixels (pix) of the line camera, and the vertical axis represents time (ms).
  • the associating unit 18 can associate not only the main line 1 but also the crossover line 4.
  • the association unit 18 changes the association method as described above based on a conditional branch indicating whether or not the measurement target is the crossover 4 (that is, a conditional branch indicating whether or not the sliding surface data exists).
  • the sliding surface information (of the overhead line that has the sliding surface 8 and intersects with the crossover 4) and the crossover with the crossover 4 that has the sliding surface 8. (Corresponding to the crossover line 4 and the crossover line 4) is associated with time information.
  • the association unit 18 is the description of the association unit 18.
  • the stereo measurement unit 19 performs stereo measurement on the line connection data in which the image captured by the first line camera 11 and the image captured by the second line camera 12 are associated with each other, as in the graph of FIG. 14 showing the overhead line measurement result. Calculate and output the height and deflection of the filament. The calculation of the height and the deviation is performed in the same manner as the paragraphs [0025] to [0028] of Patent Document 2.
  • the storage unit 20 stores each data, and the facility data setting unit 21 determines whether the second overhead line (the overhead line other than the main line) is the left or right with respect to the traveling direction.
  • the facility information of the direction of the facility to enter is input.
  • FIG. 15 is a flowchart for explaining the overall operation of the image processing unit 9.
  • FIG. 16 is a flowchart detailing the operation of the association unit 18.
  • the operation procedure of the image processing unit 9 will be described with reference to the flowcharts of FIGS.
  • step S ⁇ b> 1 image data captured by the first line camera 11 and the second line camera 12 is acquired by the image input unit 14.
  • step S2 the sliding surface extraction unit 15 detects sliding surface data.
  • step S3 the line extraction unit 16 detects line point cloud data.
  • step S4 the connecting unit 17 creates the line connection data from the line point group data.
  • step S5 the associating unit 18 associates the line-connected data of the captured image of the first line camera 11 and the captured image of the second line camera 12 with each other.
  • step S5 will be described in detail as shown in steps S5-1 to S5-3 below.
  • step S5-1 the associating unit 18 determines whether or not the measurement target is the crossover 4 (that is, a conditional branch indicating whether or not the sliding surface data exists). If it is crossover 4 (that is, if sliding surface data does not exist), the process proceeds to step S5-3, and if it is not crossover 4 (that is, if sliding surface data exists), step S5-2. Migrate to
  • step S5-2 the associating unit 18 associates the line connection data with only the sliding surface information of the crossover line 4 (the line to be measured).
  • step S5-3 the associating unit 18 uses the sliding surface information of the overhead line having the sliding surface 8 and intersecting the crossover line 4, and the time information of the intersection of the crossover line 4 and the overhead line. Then, the linear combination data is associated with each other.
  • step S ⁇ b> 6 the stereo measurement unit 19 then performs stereo measurement of the line connection data associated with the images captured by the first line camera 11 and the second line camera 12, and Calculate height and excursion.
  • step S7 the calculated line height and displacement are output.
  • the operation of the image processing unit 9 has been described above.
  • Patent Document 1 height information is separately required, and the position (height and displacement) of the overhead line cannot be measured with a line camera alone.
  • the second overhead line an overhead line other than the main line
  • the second overhead line whose deviation is within ⁇ 900 mm from the vehicle center is also measured. It becomes possible.
  • Patent Document 2 a laser sensor is required.
  • the laser has a detection rate and accuracy that are in proportion to the measurement distance, it is difficult to perform stereo measurement of overhead lines such as crossovers and air sections that are separated from each other. It is.
  • the stereo measurement is performed by the line camera alone, the detection rate and accuracy of stereo measurement of overhead lines such as crossovers and air sections that are separated from each other are unlikely to decrease.
  • the laser data acquisition cycle is 10 times or more slower than that of the line camera. Therefore, it is difficult to mount the laser data on a high-speed traveling vehicle such as a business vehicle. And so on.
  • the present invention is suitable as a line measuring device and method.

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
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PCT/JP2016/067725 2015-06-23 2016-06-15 線条計測装置及び方法 WO2016208463A1 (ja)

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SG11201710208TA SG11201710208TA (en) 2015-06-23 2016-06-15 Wire measurement device and method
MYPI2017704903A MY196040A (en) 2015-06-23 2016-06-15 Wire Measurement Device and Method

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US20200378750A1 (en) * 2019-05-29 2020-12-03 Hitachi High-Tech Fine Systems Corporation Overhead wire mutual separating situation measuring apparatus and overhead wire mutual separating situation measuring method

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JP6834522B2 (ja) 2017-01-23 2021-02-24 スズキ株式会社 運転支援装置
WO2018230480A1 (ja) * 2017-06-12 2018-12-20 株式会社 明電舎 線条判別装置および線条判別方法
JP7225616B2 (ja) * 2018-09-07 2023-02-21 株式会社明電舎 線条計測装置および線条計測方法

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