TWI679137B - Telephone pole distance measuring device - Google Patents

Abstract

An object of the present invention is to provide a telephone pole distance measuring device capable of detecting the shortest horizontal distance to a telephone pole with high accuracy regardless of day and night. According to the present invention, a pole distance measuring device for determining the shortest distance between a traveling vehicle 1 and a pole 2 provided on the left and right sides of a track is provided with a measuring area sensor 11 which measures a structure passing to the side of the vehicle 1 The horizontal distance of the object; the photo sensor 12 that detects the structure passing directly above the vehicle 1; and the image processing unit 13 that finds the shortest distance to the utility pole 2 based on the information of the scanned image and the structure The scanned image is created based on the horizontal distance to the structure obtained by the photo sensor 12, and the information of the structure is the information of the structure passed directly above the vehicle 1 obtained by the photo sensor 12. By.

Description

Telephone pole distance measuring device

The invention relates to a distance measuring device for a telephone pole.

The poles supporting the overhead lines of the tram shall be located outside the building boundary on which the tram travels. Previously, in order to determine whether a telephone pole is outside the building boundary, a laser rangefinder mounted on a vehicle was used to detect the horizontal distance to the telephone pole during the driving of the vehicle.

Further, Patent Document 1 described below describes a vehicle pole position inspection device in front of a vehicle, which is equipped with a camera in front of a train and detects a pole from an image captured by the camera. [Prior Art Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 2015-116916

[Problems to be solved by the invention]

However, as described above, when using a laser rangefinder to measure the horizontal distance between a moving vehicle and the electric poles located on the left and right of the track, there are the following problems. (1) Due to the deviation in the scanning interval due to the speed of the vehicle, the scanned image of the electric pole based on the data obtained by the laser rangefinder is uncertain, and it is difficult to capture the electric pole from the scanned image. (2) When the pole is cylindrical, the scanning distance of the laser rangefinder may not be used to measure in the area where the horizontal distance to the pole is the shortest, which may reduce the accuracy. In order to improve the accuracy, it is necessary to use mathematical methods to complete the measurement data before and after the measurement (for example, to obtain an approximate expression of the shape of the telephone pole, etc.), but because the scanned image of the telephone pole is uncertain, it is difficult to perform such completion, and it is difficult Find the shortest horizontal distance to the pole.

In addition, as in the above-mentioned Patent Document 1, when a camera is used to measure the horizontal distance between a running vehicle and a pole located on the left and right of a track, there are the following problems. (1) Since the camera image becomes dark at night, it is difficult to identify a power pole from the image, and measurement cannot be performed.

In view of this, an object of the present invention is to provide a pole distance measuring device that can detect the shortest horizontal distance to a pole with high accuracy regardless of day and night. [Technical means to solve the problem]

The electric pole distance measuring device of the first invention for solving the above-mentioned problem is characterized in that it is a electric pole distance measuring device for determining the shortest horizontal distance between the vehicle and the electric poles provided on the left and right of the track during the running of the vehicle. ; And: a measuring area sensor that measures the horizontal distance between the vehicle and a structure passing by the side of the vehicle; a photoinductor that detects a structure passing directly above the vehicle; and an image processing section , Based on the horizontal distance to the structure obtained by the above-mentioned field sensor, and the information obtained by the above-mentioned photo sensor to pass the structure directly above the vehicle, to find the shortest level to the electric pole distance.

In addition, in the electric pole distance measuring device according to the second invention for solving the above-mentioned problem, in the first invention, the image processing unit smoothes the measurement error of the measurement area sensor, and A plurality of measurement points to the electric pole obtained by the sensor are used to estimate an approximate circle of the electric pole, complete the measuring points, and obtain the shortest distance.

In addition, in the electric pole distance measuring device of the third invention for solving the above-mentioned problem, in the first or second invention, the image processing section includes a scanned image creation section based on the sensed area. The horizontal distance between the vehicle and the structure obtained by the detector is used to create a scanned image.

In addition, in the third aspect of the invention, the utility pole distance measuring device is characterized in that, in the third aspect, the image processing unit includes a utility pole image specifying unit, which is obtained based on the photodetector. The electric pole image existing in the scanned image is captured by the information of the structure directly above the vehicle.

In addition, in the fifth aspect of the invention, a utility pole distance measuring device for solving the above-mentioned problems is characterized in that, in the fourth aspect, the image processing unit includes a utility pole distance acquisition unit that obtains the electric pole distance based on the utility pole image. The shortest horizontal distance from the vehicle to the utility pole.

In the sixth aspect of the invention, a utility pole distance measuring device for solving the above-mentioned problems is characterized in that, in the third aspect, the image processing unit detects a structure passing directly above the vehicle by the photo sensor. At that time, it is determined that the electric pole exists and the electric pole is captured from the scanned image.

In addition, in the seventh aspect of the invention, the utility pole distance measuring device is characterized in that in the fourth aspect, the image processing unit detects a structure passing directly above the vehicle by the photodetector. At that time, it is determined that the electric pole exists and the electric pole is captured from the scanned image.

In addition, in the eighth invention, a utility pole distance measuring device for solving the above-mentioned problem is characterized in that in the fifth invention, the image processing unit detects a structure passing directly above the vehicle by the photodetector. At that time, it is determined that the electric pole exists and the electric pole is captured from the scanned image. [Effect of the invention]

According to the electric pole distance measuring device of the present invention, the shortest horizontal distance to the electric pole can be detected with high accuracy regardless of day and night.

Hereinafter, the utility pole distance measuring device of the present invention will be described with reference to the drawings. The invention relates to an electric railway, which uses a range sensor and a photo sensor to measure the shortest horizontal distance between a traveling vehicle and a telephone pole with a route structure standing on the left and right sides of the track. [Example]

The details of the telephone pole distance measuring device according to the embodiment of the present invention will be described with reference to FIGS. 1 to 7. As shown in FIG. 1, the electric pole distance measuring device of this embodiment includes a range sensor 11 and a photosensor 12 provided on a roof of the vehicle 1, and an image processing unit ( Computer) 13.

The measurement area sensor 11 is located on the side of the roof of the vehicle 1 and the scanning direction is horizontal toward the outside of the sleeper direction. The measurement area sensor 11 measures the horizontal distance to the route structure passing by the side of the traveling vehicle 1 based on the sampling frequency. Specifically, the distance to the route structure within the following range is measured: the measurement area sensor 11 is the center, along the track line direction ± L [mm], and the sleeper direction S [mm]. Data (hereinafter, referred to as distance data) on the distance to the route structure obtained by the measurement area sensor 11 is input to the image processing unit 13.

The photo sensor 12 is disposed near the measurement area sensor 11 and faces vertically upward. The photodetector 12 is provided for detecting a wire support (horizontal beam) 3 extending from the upper part of the electric pole 2 on the side of the traveling vehicle 1 toward the inside of the route and supporting the wire 4. In other words, the overhead support 3 is detected by detecting the reflected light from the overhead support 3 that projects light that is projected vertically. The data of the presence or absence of the wire support 3 obtained by the photo sensor 12 is input to the image processing unit 13 as a pole position detection signal.

The image processing unit 13 synthesizes the data obtained from the range sensor 11 and the photo-inductor 12 to obtain the shortest horizontal distance D from the range sensor 11 to the electric pole 2 as shown in FIG. 2. As shown in FIG. 3, the image processing unit 13 includes a scanned image creating unit 13 a, a telephone pole image specifying unit 13 b, a telephone pole distance acquiring unit 13 c, and a memory 13 d.

The scanned image creation unit 13 a creates a scanned image of the route structure as shown in FIG. 4 based on the distance data input from the self-testing area sensor 11. In addition, in FIG. 4, G1 and G2 show the scanned images of the route structure other than the utility pole 2, G3 shows the scanned image of the utility pole 2, and G4 shows the scan of the vehicle structure around the range sensor 11. image.

The pole image specifying section 13b is based on the scanned image of the route structure created by the scanned image creating section 13a (G1 to G4 in the example shown in FIG. 4; the same applies hereinafter) and the input from the photodetector 12 The pole position detection signal is used to capture a pole image as shown in FIG. 5 from the scanned image. Because the pole 2 is only scanned at the part facing the measuring area sensor 11 (only the part facing the measuring area sensor 11 is sensed), when the pole 2 is cylindrical, the picture of the pole is like The measurement point distribution as shown in FIG. 5 is arc-shaped (substantially semicircular).

The telephone pole distance extraction unit 13c obtains the shortest distance to the telephone pole 2 based on the telephone pole image captured by the telephone pole image specifying unit 13b. Specifically, as shown in FIG. 6, by using the sampling frequency (scanning interval) of the range sensor 11, the shortest distance to the telephone pole 2 may not be obtained based on the measurement point P measured by the range sensor 11. For example, in the example shown in Fig. 6, it can be seen that the shortest distance D 'obtained from the measurement point P is different from the true shortest distance D. In addition, a deviation caused by a measurement error of the measurement area sensor 11 itself is also included in the measurement value. Therefore, in the utility pole distance extracting unit 13c, the measurement error is smoothed by using a mathematical method to estimate the approximate circle C of the utility pole 2 shown in FIG. 5. After completing the measurement point P, the shortest distance to the utility pole 2 is obtained. distance.

The memory 13d stores the distance data input from the self-testing area sensor 11, the pole position detection signal input from the photo sensor 12, the scanned image of the route structure created in the scanned image creation section 13a, and the electric wire. The pole image captured in the pole image specifying section 13b, the shortest distance to the pole 2 obtained from the pole distance acquiring section 13c, and the like.

Next, a flow of processing for measuring the shortest distance to the electric pole 2 using the electric pole distance measuring device of this embodiment will be briefly described using FIG. 7.

As shown in FIG. 7, in the case of measuring the shortest distance to the utility pole 2 in the present embodiment, first, in step S1A, the photo sensor 12 is used to perform the sensing through the wire support 3 directly above the vehicle 1. And, in step S1B-1, the sensing area sensor 11 is used to sense the route structure located at the left and right sides of the track, and in step S1B-2, the scanning image creation unit 13a is used to detect the structure based on the sensing area sensor 11. The acquired distance data creates a scanned image of the course structure.

Following steps S1A and S1B-2, in step S2, it is determined whether the position of the electric pole 2 is detected based on the electric pole position detection signal obtained by the photo sensor 12. When it is determined in step S2 that the position of the utility pole 2 is detected (YES), in step S3, the utility pole image specifying unit 13b is used to acquire a utility pole image from the scanned image. On the other hand, when it is determined in step S2 that the position of the utility pole 2 is not detected (NO), the process returns to steps S1A and S1B-1.

Continue from step S3. In step S4, based on the electric pole image captured by the electric pole distance acquisition unit 13c in step S3, the shortest distance between the measurement area sensor 11 and the electric pole 2 is obtained as described above and it is Output. After that, when the measurement is continued in step S5 (YES), the process returns to steps S1A and S1B-1, and when the measurement is not continued (NO), a series of processing is ended.

According to the electric pole distance measuring device of this embodiment configured in this way, it is possible to detect the electric pole based on the scanned image of the route structure created from the distance data obtained by using the measuring area sensor 11 and the electric pole obtained by the photo sensor 12 The signal correctly captures only the electric pole 2 passing by the side of the moving vehicle 1.

In addition, since the measurement error is smoothed by the utility pole distance acquisition unit 13c, the approximate circle of the utility pole 2 is estimated, and the measurement point P is completed, and the shortest horizontal distance between the vehicle 1 and the utility pole 2 can be obtained with high accuracy. Furthermore, by using the range sensor 11 without using a camera, it is possible to perform measurement regardless of day and night.

In addition, the present invention is not limited to the above-mentioned embodiments, and various changes can be made without departing from the scope of the present invention. For example, in the above-mentioned embodiment, although an example is provided in which one range sensor 11 is provided, one range sensor 11 may be provided on each of the left and right with respect to the traveling direction of the vehicle 1, and the measurement is passed. Distance of the route structure on the left and right sides of the running vehicle 1.

1‧‧‧ vehicle

2‧‧‧ telephone pole

3‧‧‧ wire support

4‧‧‧ wired

11‧‧‧Measuring field sensor

12‧‧‧ Photoelectric sensor

13‧‧‧Image Processing Department

13a‧‧‧Scanned image creation section

13b‧‧‧ Electric pole image specific part

13c‧‧‧ Telephone pole distance acquisition section

13d‧‧‧Memory

C‧‧‧ approximate circle

D‧‧‧ shortest distance

D’ ‧‧‧ shortest distance

G1 ～ G4‧‧‧scan image

L‧‧‧ Distance

P‧‧‧Measurement point

S‧‧‧distance

S1A‧‧‧step

S1B-1‧‧‧step

S1B-2‧‧‧step

S2 ～ S5‧‧‧‧Steps

FIG. 1 is a schematic configuration diagram schematically showing a telephone pole distance measuring device according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing an example of the shortest distance between the range sensor and the telephone pole. FIG. 3 is a block diagram showing the configuration of the image processing section shown in FIG. 1. FIG. FIG. 4 is an explanatory diagram showing an example of creating a scanned image by the scanned image creating section shown in FIG. 3. FIG. 5 is an explanatory diagram showing an example of capturing an electric pole image from the scanned image shown in FIG. 4. FIG. 6 is an explanatory diagram showing the relationship between a telephone pole, a measurement point, and a shortest distance. FIG. 7 is a flow chart showing a flow of measuring the shortest distance to a telephone pole by a telephone pole distance measuring device according to an embodiment of the present invention.

Claims (8)

A utility pole distance measuring device, which is characterized in that it is a utility pole distance measuring device for determining the shortest horizontal distance between the vehicle and the utility poles arranged on the left and right of the track during the running of the vehicle; A device that measures the horizontal distance from the vehicle to a structure passing by the side of the vehicle; a photo sensor that detects the structure passing directly above the vehicle; and an image processing unit that determines The shortest horizontal distance to the electric pole is obtained from the horizontal distance from the measuring device to the structure and the information obtained from the photo-sensor for the structure directly above the vehicle. For example, the electric pole distance measuring device according to claim 1, wherein the image processing unit smoothes the measurement error of the above-mentioned range sensor based on a plurality of measurement points obtained by the above-mentioned range sensor to the above-mentioned electric pole. The approximate circle of the utility pole is estimated, the measurement point is completed, and the shortest distance is obtained. The electric pole distance measuring device according to claim 1 or 2, wherein the image processing unit includes: a scanning image creation unit that performs scanning based on a horizontal distance from the vehicle to the structure obtained by the area sensor. image. For example, the electric pole distance measuring device of claim 3, wherein the image processing section includes: a electric pole image specifying section, which is acquired based on the information obtained by the optical sensor and passing through a structure directly above the vehicle. The electric pole image existing in the above-mentioned scanned image. The electric pole distance measuring device according to claim 4, wherein the image processing unit includes: an electric pole distance acquisition unit that obtains the shortest horizontal distance from the vehicle to the electric pole based on the electric pole image. For example, the electric pole distance measuring device of claim 3, wherein the image processing unit determines that the electric pole is present when the structure detects the structure passing directly above the vehicle is detected by the optical sensor, and captures the electric pole from the scanned image. Take the utility pole above. For example, the electric pole distance measuring device of claim 4, wherein the image processing unit determines that the electric pole is present and detects the structure from the scanned image when the structure detects a structure passing directly above the vehicle by the optical sensor. Take the utility pole above. For example, the electric pole distance measuring device of claim 5, wherein when the image processing unit detects a structure passing directly above the vehicle by the optical sensor, it determines that the electric pole is present and extracts from the scanned image. Take the utility pole above.