# US 10,373,331 B2 · Identification of a pantograph represented in an image > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,373,331 B2 - Document ID: US10373331B2 - Status: Granted - Kind: B2 - Application number: 15/511,258 - Filed: 2015-09-15 - Published: 2017-08-31 - Granted: 2019-08-06 - Earliest claimed: 2014-09-15 - Assignees: DTI Group B.V. - Applicants: DTI Group Limited - Inventors: En Peng; William Hock Oon Lau; Brett Adams - Web page: https://patentgrep.com/patent/US10373331B2 ## CPC - B60L 3/12: Recording operating variables {; Monitoring of operating variables} - B60M 1/28: Manufacturing or repairing trolley lines (scaffold cars B60P; B61D15/00; platforms therefor B66F11/04; manufacturing conductors in general H01B13/00; overhead lines in general H02G1/00) - G06T 7/0006: {using a design-rule based approach} - G06T 7/13: Edge detection - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06V 10/44: Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components - G06V 20/10: Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59) - H04N 7/183: {for receiving images from a single remote source} - B60L 2200/26: Rail vehicles - G06T 2207/30136: Metal - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G06V 2201/06: Recognition of objects for industrial automation - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60M: POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES (control of points and safety arrangements along railway lines B61L; construction of rails and points in general E01B) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract Pantograph identification methods and devices including computer-implemented methods, software, computer systems for identifying a pantograph of an electric vehicle represented in an image captured by a camera. The method includes, for each pair of adjacent edges represented in the image, determining distances between the adjacent edges, wherein the distances are in a same direction for each of the distances. Then determining a point weight for points of the image associated with the distance by comparing the distance to a value or a value range representing a dimension of the pantograph. Further determining a region of the image that represents the pantograph based on the point weights. ## Claims ### Claim 1 A computer-implemented method for identifying a pantograph represented in an image comprised of points, the method comprising: for each pair of adjacent edges represented in the image, determining a plurality of distances between the adjacent edges, wherein the plurality of distances are in a same direction; for each of the plurality of distances, determining a point weight for points of the image associated with the distance by comparing the distance to a value or a value range representing a dimension of the pantograph; and determining a region of the image that represents the pantograph based on the point weights. ### Claim 2 (depends on 1) The computer-implemented method according to claim 1, further comprising: storing an indication in a memory to indicate the region of the image. ### Claim 3 (depends on 1) The computer-implemented method according to claim 1, wherein determining the point weight for the points of the image associated with the distance comprises: determining a positive point weight for the points associated with the distance if the distance is within the value range; and determining a negative point weight for the points associated with the distance if the distance is outside the value range. ### Claim 4 (depends on 1) The computer-implemented method according to claim 1, wherein the points associated with the distance are the points located on or near a line segment that forms the distance between the pair of adjacent edges. ### Claim 5 (depends on 1) The computer-implemented method according to claim 1, wherein determining the region of the image based on the point weights comprises: determining a sum of point weights of points in the region of the image is greater than a sum of point weights of points in other regions of the image. ### Claim 6 (depends on 1) The computer-implemented method according to claim 1, wherein the same direction is substantially perpendicular to an edge representative of a top of the pantograph represented in the image. ### Claim 7 (depends on 1) The computer-implemented method according to claim 1, further comprising: determining a quantity or proportion of points of the image that have an associated brightness below a first threshold; and if the quantity or proportion of points of the image is greater than a second threshold, aborting the method. ### Claim 8 (depends on 1) The computer-implemented method according to claim 1, further comprising: determining a quantity of edges in the image; and if the quantity of the edges in the image is greater than a third threshold, aborting the method. ### Claim 9 (depends on 1) The computer-implemented method according to claim 1, wherein the points that the image is comprised of comprise one or more pixels. ### Claim 10 (depends on 1) The computer-implemented method according to claim 1, wherein the adjacent edges do not have any edge therebetween. ### Claim 11 (depends on 1) The computer-implemented method according to claim 1, wherein the region tightly contains the pantograph represented in the image. ### Claim 12 (depends on 1) A computer software program stored on a non-transitory medium, including machine-readable instructions, when executed by a processor, causes the processor to perform the method of claim 1. ### Claim 13 A computer system for identifying a pantograph represented in an image comprised of points, the computer system comprising: a memory to store instructions; a bus to communicate the instructions from the memory; a processor to perform the instructions from the memory communicated via the bus for each pair of adjacent edges represented in the images, to determine a plurality of distances between the adjacent edges, where the plurality of distances are in a same direction; for each of the plurality of distances, to determine a point weight for points of the image between the adjacent edges in the same direction by comparing the distance to a value or a value range representing a dimension of the pantograph; and to determine a region of the image that represents the pantograph based on the point weights. ### Claim 14 (depends on 1) The computer-implemented method according to claim 1, further including determining a change in the region of the image that represents the pantograph. ### Claim 15 (depends on 14) The computer-implemented method according to claim 14, wherein the change is determined based on a comparison to an expected range of point weights, and wherein a deviation from the expected range indicates a damaged condition of the pantograph. ### Claim 16 (depends on 14) The computer-implemented method according to claim 14, wherein the change is determined based on comparison to a prior recorded region of the image that represents the pantograph, and wherein a deviation from the prior recorded region indicates a damaged condition of the pantograph. ### Claim 17 (depends on 1) The computer-implemented method according to claim 1, further including determining presence of sparks around the region of the image that represents the pantograph, wherein a presence of sparks indicates a damaged condition of the pantograph or of a power supply line engaged by the pantograph. ### Claim 18 A computer-implemented method for determining a condition of a pantograph, the method comprising: for each pair of adjacent edges represented in the image, determining a plurality of distances between the adjacent edges, wherein the plurality of distances are in a same direction; for each of the plurality of distances, determining a point weight for points of the image associated with the distance by comparing the distance to a value or a value range representing a dimension of the pantograph; determining a region of the image that represents the pantograph based on the point weights; and comparing the region of the image that represents the pantograph to at least one of an expected range of point weights or a prior recorded region of the image that represents the pantograph, wherein a deviation from the expected range or from the prior recorded region indicates a damaged condition of the pantograph. ### Claim 19 (depends on 18) The computer-implemented method of claim 18, wherein the expected range is a range of a sum of point weights of points in the region of the image that represents the pantograph that is pre-determined to be acceptable. ### Claim 20 (depends on 18) The computer-implemented method according to claim 18, further including determining presence of sparks around the region of the image that represents the pantograph, wherein a presence of sparks indicates a damaged condition of the pantograph or of a power supply line engaged by the pantograph.