To provide a pantograph peripheral obstruction detection device and detection method that reduce erroneous detection and provide high accuracy.SOLUTION: A pantograph peripheral obstruction detection device includes a reference camera 5 that captures the area around a pantograph, a first correction camera 7, and an image processor 11. The image processor 11 includes a stereo collimator 13 for correcting lens distortion and stereo collimation and a data processor 15 for processing the corrected image. The data processor 15 includes: a pantograph template setting unit 17; a background removing unit 19 for removing a background; a pantograph detection unit 21 for detecting a pantograph position; a parallax calculation unit 23 for obtaining a parallax, which is the amount of deviation of the projection point of a subject in each camera image; a three-dimensional coordinate calculation unit 25 for calculating three-dimensional coordinates based on the parallax; an overhead wire detection unit 27 for extracting wires such as overhead wires; an overhead wire support fitting detector 29 for detecting overhead wire support fittings; and an obstacle determination unit 31 that determines an obstacle based on the distance from the pantograph.SELECTED DRAWING: Figure 3

    【課題】誤検出を低減して精度のよいパンタグラフ周辺支障物検出装置および検出方法を提供する。【解決手段】パンダグラフ周辺部を撮影する、基準カメラ5、および第1補正カメラ7と、画像処理装置11とを備え、前記画像処理装置11は、レンズの歪みとステレオ平行化を補正するステレオ平行化部13、補正された画像を処理するデータ処理部15とを備え、前記データ処理部15はパンタグラフのテンプレート設定部17と、背景を除去する背景除去部19と、前記パンタグラフ位置の検出を行うパンタグラフ検出部21と、各カメラ画像において物体の投影点のずれ量である視差を求める視差計算部23と、前記視差に基づいて三次元座標を計算する三次元座標計算部25と、架線などの線条を抽出する架線検出部27と、架線支持金具を検出する架線支持金具検出部29と、前記パンタグラフからの距離に基づいて支障物の判定を行う支障物判定部31と、を備える。【選択図】図3


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    Title :

    PANTOGRAPH PERIPHERAL OBSTRUCTION DETECTION DEVICE AND DETECTION METHOD


    Additional title:

    パンタグラフ周辺支障物検出装置および検出方法


    Contributors:

    Publication date :

    2022-10-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B60M Speiseleitungen oder Vorrichtungen am Gleis für elektrisch angetriebene Fahrzeuge , POWER SUPPLY LINES, OR DEVICES ALONG RAILS, FOR ELECTRICALLY-PROPELLED VEHICLES / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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