JP2001165617A - Device and method for track inspection - Google Patents

Abstract

PROBLEM TO BE SOLVED: To precisely inspect and find out a track displacement. SOLUTION: A station target 12 is fixed to the outside of a rail 10 in a track position to be inspected, and a reference point target 14 is fixed on a roadbed and on both side walls. A scale bar 16, an auto bar 18 and a code target 20 for determining the three-dimensional coordinate of the targets 12 and 14 by image processing are properly arranged on the periphery, and the targets 12 and 14 are photographed by a camera 22 from a plurality of directions. A three-dimensional analytic device 28 determines the relative three- dimensional coordinate of the targets 12 and 14 from a plurality of images to the same station. A Helmert transformation device 30 converts the analytic result of the three-dimensional analytic device 28 to horizontal and vertical ground coordinate systems. The coordinate value of each station target 12 is stored in a database 32. A specified item calculating device 34 calculates the index value of a specified item from the measurement values of at least two adjacent measuring points. A displacement calculating device 36 calculates the difference between the present coordinate value and the past coordinate value in the same station.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a track inspection apparatus and method, and more particularly, to a track inspection apparatus and method for precisely inspecting a track, particularly, a deviation of a turnout thereof.

[0002]

2. Description of the Related Art Various configurations are known as devices for inspecting a trajectory. For example, as a conventional example using a camera, a configuration in which a camera is mounted on a traveling vehicle and images are taken while overlapping rails (Japanese Patent Laid-Open No. 7-324919). A configuration of moving along a rail (Japanese Patent Application Laid-Open No. 7-208947), irradiating a slit-like light beam to the rail, and emitting a flash according to a rail joint signal by the reflected light;
Configuration for photographing rail bonds (Japanese Unexamined Patent Publication No.
No.), the track surface is continuously photographed by the line sensor, and from the obtained image, the specified values such as rail spacing, seam width, damage to the slab plate, damage to the leaf spring of the fastening machine and loosening of the bolt, etc. (JP-A-5-247903).

As a conventional example of non-contact measurement of a track, a plurality of ultrasonic sensors for generating and receiving ultrasonic waves are installed on a lower portion of a bogie, close to the track, and the surface of the track is measured by the ultrasonic waves. And a configuration for measuring side wear and the like (JP-A-8-192746).

Further, as a conventional example of measuring a track mechanically to facilitate comparison with a normal state, a displacement sensor attached to a lower portion of a measuring vehicle measures height deviation from a reference surface of the measuring vehicle and a rail. There is a configuration (Japanese Patent Laid-Open No. 8-136254) in which the traveling distance is measured by a rotary encoder that rotates in contact with the rail, and the measurement results are drawn on a rail image in a state in which there is no deviation in advance.

[0005]

However, each of these conventional examples only measures a relative change in the longitudinal direction of the rail. The really necessary information is to quantitatively grasp how much each part of the rail deviates from its original position. This is especially important in the case of a branch.

In the conventional example, sufficient measurement accuracy could not be obtained. For example, the accuracy is in units of mm, and it is not possible to measure a displacement within a short period.

An object of the present invention is to provide a trajectory inspection apparatus and method capable of precisely measuring the displacement of a trajectory over time.

[0008]

A trajectory inspection apparatus according to the present invention comprises a measuring point target fixed to a track, a reference point target fixed to an immovable position adjacent to the measuring point target, and a measuring point target. And a plurality of auxiliary targets arranged adjacent to the reference point target, the measurement target, the imaging means for imaging the reference point target and the auxiliary target, and the same inspection target by the imaging means from a plurality of directions. It is provided with coordinate calculation means for calculating the three-dimensional coordinates of the station target from a plurality of images obtained by shooting, and deviation calculation means for calculating the deviation of the trajectory from the measured coordinate values of the plurality of target targets. It is characterized by the following.

By using the auxiliary target together, the coordinate calculation means can accurately calculate the three-dimensional coordinate value of the measuring point target with respect to the reference point target from a plurality of images of the same inspection target by image processing. Therefore, by comparing the coordinate values of the adjacent measuring point targets, the trajectory deviation can be calculated with high accuracy.

[0010] The trajectory inspection apparatus according to the present invention also includes a measurement target fixed to the trajectory, a reference point target fixed to an immovable position adjacent to the measurement target, the measurement target and the reference target. And a plurality of auxiliary targets arranged adjacent to the image sensor, imaging means for photographing the measurement point target, the reference point target and the auxiliary target, and the same inspection target photographed by the imaging means from a plurality of directions. Coordinate calculating means for calculating three-dimensional coordinates of the station target from a plurality of images, a database capable of storing current and past measured coordinates of the station target, and a current and past measured coordinates of the station target. And a displacement calculating means for comparing and calculating the displacement of the measurement target.

By providing the coordinate calculating means, the database and the displacement calculating means, the three-dimensional temporal displacement of the trajectory can be measured with high accuracy.

The auxiliary target is, for example, a code target that defines a plurality of points used for matching a plurality of images, an auto bar that defines the origin of relative coordinates of the measurement target by matching a plurality of images, and The scale bar shown in the figure is installed at the time of photographing and collected after photographing. Thus, the three-dimensional coordinates of the measurement point target and the reference point target can be determined with high accuracy by image processing.

[0013] The coordinate calculating means is preferably a relative three-dimensional coordinate calculating means for calculating relative three-dimensional coordinates of the measuring point target from a plurality of images obtained by photographing the same inspection object from a plurality of directions by the imaging means. Conversion means for converting the calculation result of the relative three-dimensional coordinate calculation means into a horizontal / vertical coordinate system.

Further, comparing means for comparing the displacement calculated by the displacement calculating means with a predetermined threshold value, and warning when the displacement calculated by the displacement calculating means is larger than the predetermined threshold value according to the comparison result of the comparing means. By providing the warning means, maintenance becomes easy and an accident can be prevented.

[0015] A trajectory inspection method according to the present invention includes fixing a measuring point target on a trajectory, fixing a reference point target at an immovable position adjacent to the measuring point target, and including the measuring point target and the reference store target. A method of inspecting the trajectory by image processing of a captured image, wherein during imaging, an auxiliary target setting step of arranging a plurality of auxiliary targets adjacent to the measurement point target and the reference point target; An imaging step of imaging the reference point target and the auxiliary target from different directions for the same inspection target, and calculating three-dimensional coordinates of the measurement target gate from a plurality of images obtained by imaging the same inspection target from multiple directions. A coordinate calculation step, and calculating a deviation of the trajectory from the measured coordinate values of the plurality of station targets. Characterized by comprising a deviation calculation step.

By using the auxiliary target together, the coordinate calculation step can accurately calculate the three-dimensional coordinate value of the measuring point target with respect to the reference point target from a plurality of images of the same inspection target by image processing. Therefore, by comparing the coordinate values of the adjacent measuring point targets, the trajectory deviation can be calculated with high accuracy.

A track inspection method according to the present invention includes fixing a measurement point target on a track, fixing a reference point target at an immovable position adjacent to the measurement point target, and including the measurement point target and the reference store target. A method of inspecting the trajectory by image processing of a captured image, wherein during imaging, an auxiliary target setting step of arranging a plurality of auxiliary targets adjacent to the measurement point target and the reference point target; An imaging step of imaging the reference point target and the auxiliary target from different directions for the same inspection target, and calculating three-dimensional coordinates of the measurement target gate from a plurality of images obtained by imaging the same inspection target from multiple directions. A coordinate calculation step and a database capable of storing current and past measurement coordinates of the station target. A storage step of storing the measured values in the scan, comparing the current and past measurements coordinates of the measurement point target, characterized by comprising a displacement calculating step of calculating the displacement of the measuring point targets.

By providing the coordinate calculation step, the database and the displacement calculation step, the three-dimensional temporal displacement of the trajectory can be measured with high accuracy.

The auxiliary target is preferably a code target that defines a plurality of points used for matching a plurality of images, an auto bar that defines an origin of relative coordinates of the measurement target by matching the plurality of images, and a distance. And is collected after the photographing is completed.

[0020] Preferably, the coordinate calculation step is a relative three-dimensional coordinate calculation step of calculating relative three-dimensional coordinates of the measuring point target from the plurality of images of the same inspection object, and a calculation result of the relative three-dimensional coordinate calculation step. A conversion step for converting into a horizontal and vertical coordinate system.

Further, a comparison step of comparing the displacement calculated in the displacement calculation step with a predetermined threshold value, and a warning is issued when the displacement calculated in the displacement calculation step is larger than the predetermined threshold value according to the comparison result of the comparison step. By providing the warning step, maintenance becomes easy, and an accident can be prevented.

[0022]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a schematic block diagram showing an embodiment of the present invention. In this embodiment, three-dimensional coordinates of a trajectory are determined from a plurality of pieces of still image data captured by a digital still camera, and the displacement vectors are calculated by comparing the three-dimensional coordinates with past data. FIG. 1 illustrates a case where the vicinity of the branching device is measured.

At the track position to be inspected, the rail 10
The measurement point target 12 is fixed to the outside of the device by a magnet or an adhesive. Further, a reference point target 14 serving as a displacement reference is fixed on a fixed base such as a roadbed, side walls on both sides, a signal lamp, a transformer, and an overhead wire pole.

There are the following arrangements at the time of photographing. That is, the scale bar 16 serving as a distance reference
Is arranged at an appropriate place. In order to determine the three-dimensional coordinates of the measuring point target 12 and the reference target 14 with high accuracy from images obtained by photographing the same place from a plurality of directions, at least one reference axis or origin and a common You need points. Therefore, the auto bar 18 for providing the reference axis or the origin is disposed substantially at the center of the branching device, and a large number of code targets 20 are disposed as common points in a range to be inspected. A number of code targets 20 are sparsely arranged on both sides and the center of the track. Reference point target 14
Also, a plurality of them are arranged around.

The measuring point target 12, the reference point target 14, the scale bar 16, the auto bar 18, and the code target 20 partially have a reflecting surface. Therefore, these can be distinguished by flash photography.

For photographing, a digital still camera 22 having 6 million pixels or more is used. Camera 2 at each measurement point
2, the measurement point target 12 and the reference point target 1
4. Photograph a plurality of times from different directions to include the scale bar 16, the auto bar 18, and the code target 20. Once every two or three pictures, the camera 22 is rotated by about 90 ° with respect to the optical axis to photograph the same location. This is for correcting the aberration of the taking lens by image processing. The target measurement target 12 is included in three or more images. Similarly, target reference point target 1
4 is included in three or more images. This is because at least three images are required to determine three-dimensional coordinates. The captured images are collected in the same location into one folder and temporarily stored in a memory (hard disk or the like) 26.

The three-dimensional analyzer 28 processes a plurality of images for the same location stored in the memory 26 by a known method, and obtains the relative three-dimensional coordinates and accuracy (standard deviation) of the measurement target 12 and the reference target 14. ). Specifically, as pre-processing, a measurement point target 12, a reference point target 14, a scale bar 16,
Only the auto bar 18 and the code target 20 are extracted, a plurality of images are mutually matched using the auto bar 18 and the code target 20 as a guide, and the measuring point target 12 and the reference point target 14 having the auto bar 18 as an origin.
Determine the relative positional relationship in three dimensions. Then, the distance is determined by the scale bar 16. Thereby, the relative three-dimensional coordinates of the measurement point target 12 and the reference point target 14 are determined.

The Helmert converter 30 converts the analysis result of the three-dimensional analyzer 28 into a coordinate value in a horizontal / vertical coordinate system having an adjacent predetermined reference point target 14 as an origin by the Helmert conversion. Thereby, it is possible to know how far the target measuring point target 12 is located in the horizontal direction and the vertical direction with respect to the adjacent reference point target 14. The three-dimensional coordinate values in the horizontal and vertical coordinate systems of each of the measuring point targets 12 thus obtained and the accuracy thereof are stored in the database 32. The measurement date is automatically registered in the database 32, but may be manually input. At the time of the first inspection, the operator sets a series of identification numbers for each measuring point. From the second time on, the operator automatically determines which measuring point data is based on comparison with past position data. Can be identified. Since the displacement amount is extremely small, such a simple processing can be performed.

In the database 32, the route name, the branching device number, the three-dimensional coordinates of each point target 12, the measurement date and measurement accuracy, and the three-dimensional coordinates of each reference point target 14, the measurement date and Measurement accuracy and the like are stored.

The specific item calculation unit 34 calculates five specific items, ie, gauge, level, street, azimuth, and elevation from the current measured coordinate values of two or more adjacent measuring points.
The gauge distance indicates a distance between two opposing measuring points. The level indicates the height difference between two opposing measurement points. Street shows how much the track deviates in the horizontal direction from the coordinate values of three adjacent measurement points in the track longitudinal direction. The bearing indicates the direction (rotation and movement) of the reference rail-side measurement point with respect to the reference point. The height is a height difference between three measurement points adjacent in the longitudinal direction, and indicates an altitude change in the longitudinal direction.

The displacement calculator 36 reads the current coordinate value and the past coordinate value of the same point from the database 32,
These differences are calculated. Thereby, the displacement vector of each measurement point can be calculated.

The output device 38 prints out the calculation results of the specific item calculation device 34 and the displacement calculation device 36 on a form and / or displays the calculation results on a monitor screen. The comparing device 40 compares the calculation result of the displacement calculating device 36 with a threshold value of an allowable displacement preset for each measurement point, and when the displacement exceeds the allowable amount, instructs the warning device 42 to issue a predetermined warning. Output. You can use any well-known method for this warning, for example,
It can be realized by blinking the display data of the corresponding measuring point on the monitor screen or adding a warning mark.

The processing of the three-dimensional analysis device 28, the Helmert conversion device 30, the specific item calculation device 34, the displacement calculation device 36, and the comparison device 40 is actually realized by software calculation on a computer.

In the present embodiment, with such a configuration, the coordinates of each measuring point can be measured with an accuracy of 0.5 mm or less, the trajectory can be inspected more accurately and more quickly, and the three-dimensional Behavior can be accurately grasped.

[0036]

As can be easily understood from the above description, according to the present invention, the coordinates of each measuring point can be measured with high accuracy, and the three-dimensional behavior of each measuring point can be accurately grasped. it can. In addition, it is possible to inspect and find out of order orbits more quickly with higher accuracy.

[Brief description of the drawings]

FIG. 1 is a schematic block diagram of an embodiment of the present invention.

[Explanation of symbols]

 10: Rail 12: Measurement point target 14: Reference point target 14 is fixed. Reference point target 16: Scale bar 18: Auto bar 20: Code target 22: Digital still camera 26: Memory 28: Three-dimensional analysis device 30: Helmert conversion device 32: Database 34: Specific item calculation device 36: Displacement calculation device 38: Output device 40: Comparison device 42: Warning device

Continued on the front page F term (reference) 2F065 AA04 AA09 AA21 BB12 CC35 DD06 FF05 FF09 FF61 JJ03 JJ26 PP21 QQ23 QQ24 QQ25 QQ38 QQ41 RR08 SS09 2F112 AC02 BA05 BA06 CA02 CA12 CA13 FA03 FA08 FA21 FA38

Claims (18)

[Claims] 1. A measuring point target fixed to an orbit, a reference point target fixed to an immovable position adjacent to the measuring point target, and a plurality of measuring point targets and a plurality of measuring points arranged adjacent to the reference point target An auxiliary target, imaging means for imaging the measurement target, the reference point target and the auxiliary target, and the measurement target gate from a plurality of images obtained by imaging the same inspection target from a plurality of directions by the imaging means. A trajectory inspection device comprising: coordinate calculation means for calculating the three-dimensional coordinates of the above; and deviation calculation means for calculating deviation of the trajectory from the measured coordinate values of the plurality of measurement target targets. 2. An auxiliary bar, wherein the auxiliary target defines a plurality of points used for matching a plurality of images, an auto bar which defines an origin of relative coordinates of the measurement target by matching a plurality of images, The trajectory inspection device according to claim 1, further comprising a scale bar indicating a distance. 3. A relative three-dimensional coordinate calculating means for calculating relative three-dimensional coordinates of the measuring point target from a plurality of images obtained by photographing the same inspection object from a plurality of directions by the imaging means. The trajectory inspection device according to claim 1, further comprising: a conversion unit that converts a calculation result of the relative three-dimensional coordinate calculation unit into a horizontal and vertical coordinate system. 4. A displacement for comparing the current and past measurement coordinates of the measurement target with a database capable of storing current and past measurement coordinates of the measurement target, and calculating the displacement of the measurement target. The trajectory inspection device according to claim 1, further comprising a calculation unit. 5. A comparing means for comparing the displacement calculated by the displacement calculating means with a predetermined threshold value, and when the displacement calculated by the displacement calculating means is larger than a predetermined threshold value according to a comparison result of the comparing means. The trajectory inspection device according to claim 4, further comprising a warning unit that warns. 6. A measuring point target fixed to a trajectory, a reference point target fixed to an immovable position adjacent to the measuring point target, and a plurality of measuring point targets and a plurality of measuring points arranged adjacent to the measuring point target. An auxiliary target, imaging means for imaging the measurement target, the reference point target and the auxiliary target, and the measurement target gate from a plurality of images obtained by imaging the same inspection target from a plurality of directions by the imaging means. A coordinate calculating means for calculating the three-dimensional coordinates of the target target; a database capable of storing current and past measured coordinates of the measuring target; and comparing the present and past measuring coordinates of the measuring target. A trajectory inspection device comprising: a displacement calculating means for calculating a displacement. 7. A code target that defines a plurality of points used for matching a plurality of images, an auto bar that defines an origin of relative coordinates of the measurement target by matching a plurality of images, and The trajectory inspection device according to claim 6, further comprising a scale bar indicating a distance. 8. A relative three-dimensional coordinate calculating means for calculating relative three-dimensional coordinates of the measuring point target from a plurality of images obtained by photographing the same inspection object from a plurality of directions by the imaging means. 7. The trajectory inspection device according to claim 6, further comprising: a conversion unit that converts a calculation result of the relative three-dimensional coordinate calculation unit into a horizontal and vertical coordinate system. 9. A comparing means for comparing the displacement calculated by the displacement calculating means with a predetermined threshold value, and when the displacement calculated by the displacement calculating means is larger than the predetermined threshold value according to a comparison result of the comparing means. The trajectory inspection device according to claim 6, further comprising a warning unit that warns. 10. A station target is fixed to a track, and a reference point target is fixed at an immovable position adjacent to the station target, and the reference point target and the reference shop target are processed by image processing. A method of inspecting a trajectory, comprising: an auxiliary target setting step of arranging a plurality of auxiliary targets adjacent to the measurement point target and the reference point target during photographing; An imaging step of imaging the target from different directions for the same inspection target; a coordinate calculation step of calculating three-dimensional coordinates of the measurement target gate from a plurality of images obtained by imaging the same inspection target from multiple directions; A deviation calculation step of calculating the deviation of the trajectory from the measured coordinate values of the station target. Track inspection method characterized by Bei. 11. A code target that defines a plurality of points used for matching a plurality of images, an auto bar that defines an origin of relative coordinates of the measurement target by matching a plurality of images, and The trajectory inspection method according to claim 10, further comprising a scale bar indicating a distance. 12. A relative three-dimensional coordinate calculating step of calculating relative three-dimensional coordinates of the station target from the plurality of images of the same inspection target, and a calculation result of the relative three-dimensional coordinate calculating step. And a conversion step of converting into a horizontal and vertical coordinate system. 13. A storage step of storing measured values in a database capable of storing current and past measured coordinates of the measuring point target, and comparing the present and past measuring coordinates of the measuring point target. The trajectory inspection method according to claim 10, further comprising a displacement calculating step of calculating a displacement of the point target. 14. A comparison step for comparing the displacement calculated in the displacement calculation step with a predetermined threshold value, and, when the displacement calculated in the displacement calculation step is larger than the predetermined threshold value, according to a comparison result of the comparison step. The trajectory inspection method according to claim 13, further comprising a warning step of warning. 15. A station target is fixed on a track, and a reference point target is fixed at an immovable position adjacent to the station target, and the target is fixed by image processing of a photographed image including the station target and the reference shop target. A method of inspecting a trajectory, comprising: an auxiliary target setting step of arranging a plurality of auxiliary targets adjacent to the measurement point target and the reference point target during photographing; An imaging step of capturing the same inspection target from different directions; a coordinate calculation step of calculating three-dimensional coordinates of the measurement target gate from a plurality of images obtained by capturing the same inspection target from multiple directions; Store measured values in a database that can store current and past measured coordinates of point targets And 憶 step, compares the current and past measurements coordinates of the measuring point targets, track inspection method characterized by comprising a displacement calculating step of calculating the displacement of the measuring point targets. 16. A code target for defining a plurality of points used for matching a plurality of images, an auto bar for defining an origin of relative coordinates of the measurement target by matching a plurality of images, and The trajectory inspection method according to claim 15, further comprising: a scale bar indicating a distance. 17. The relative three-dimensional coordinate calculating step of calculating relative three-dimensional coordinates of the station target from the plurality of images of the same inspection target, and a calculation result of the relative three-dimensional coordinate calculating step And a conversion step of converting into a horizontal and vertical coordinate system. 18. A comparison step of comparing the displacement calculated in the displacement calculation step with a predetermined threshold value, and, if the displacement calculated in the displacement calculation step is larger than the predetermined threshold value, according to a comparison result of the comparison step. The trajectory inspection method according to claim 15, comprising a warning step of warning.