Obstacle detecting apparatus, for rail transit car pantograph, has section to compare three-dimensional positions of each spot characteristic of pantograph image and of previously obtained spot characteristics to select nearest obstacle

摘要

The apparatus has a section (70) extracting spot characteristics from white parts of left and right mask processed images of the vicinity of a rail transit car pantograph. A stereo measuring section (80) obtains a three-dimensional position of each characteristic. An obstacle approach verification section (90) compares the position with a three-dimensional position of previously obtained spot characteristics to select a nearest obstacle whose degree of approach opposite to the pantograph is larger than a preset value. A section (100) adjusts the three-dimensional data of the selected obstacle. An independent claim is also included for a method for detecting an obstacle in the vicinity of a pantograph of a rail transit car.