JP2008076058A - Shape variation monitoring method and shape variation monitoring system - Google Patents

Shape variation monitoring method and shape variation monitoring system Download PDF

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JP2008076058A
JP2008076058A JP2006252127A JP2006252127A JP2008076058A JP 2008076058 A JP2008076058 A JP 2008076058A JP 2006252127 A JP2006252127 A JP 2006252127A JP 2006252127 A JP2006252127 A JP 2006252127A JP 2008076058 A JP2008076058 A JP 2008076058A
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monitoring target
monitoring
laser scanner
dimensional laser
reference point
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JP2006252127A
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JP4966616B2 (en
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Takahiro Kondo
Hiromichi Miyazaki
裕道 宮崎
高弘 近藤
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Taisei Corp
大成建設株式会社
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a shape variation monitoring method and a shape variation monitoring system, which performs measurement in the noncontact state with a monitoring object part, and also performs highly accurate measurement at high speed. <P>SOLUTION: In the shape variation monitoring method for measuring the shape of the monitoring object part 10 wherein shape variation may be generated, and monitoring the variation of the monitoring object part 10, a reference point 20 is provided out of a range of the monitoring object part 10, and a range including the monitoring object part 10 and the reference point 20 is measured by using a three-dimensional laser scanner 30 at each prescribed time in the same measurement condition determined based on the reference point 20, and each measurement point measured in the same measurement condition by using the three-dimensional laser scanner 30 is compared, to thereby monitor the variation of the monitoring object part 10. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a shape variation monitoring method and a shape variation monitoring system for measuring the shape of a monitoring target portion where shape variation may occur and monitoring the variation of the monitoring target portion.

  Examples of the monitoring target portion where the shape variation may occur include a railroad track and a road directly above the earthwork site. In recent years, when performing earthwork directly under a railroad track (for example, underpass construction performed by the JES (Jointed Element Structure) method), the railroad track in the construction range between immediately after passing the train during excavation and until the next train passes. A railroad company provides a guideline for track measurement that requires measurement (priority measurement). This priority measurement needs to measure the measurement points in the priority area, which is the construction range, within 3 minutes, and determine whether there is a subsidence abnormality that affects the train passage (monitoring the railway track).

  In order to perform this priority measurement, measurement using an automatic tracking total station (TS) has been conventionally performed. However, when measuring with the TS, it takes 15 to 20 seconds per measurement point, so if there are many measurement points, the measurement may not be completed within 3 minutes. In this case, if the number of measurement points is reduced, the measurement is completed within 3 minutes, but the quality is degraded due to the lack of measurement points. Therefore, a device that measures the relative displacement of the rod joint part by joining a plurality of rods so as to be tiltable to each other at the joint part and arranging them along the railway track and measuring the joint angle of the joint part between the rods. Has been proposed.

In addition, as another shape variation monitoring method, for example, there is a method as shown in Patent Document 1. Patent Document 1 is a system for monitoring a railway track, and a plurality of displacement detection means are provided along the railway track to detect the amount of displacement by irradiating the railway track with laser light. Field-side communication means for transmitting displacement information to the track maintenance area management office, management-side communication means for receiving displacement information from the field-side communication means provided in the track maintenance area management office, and management-side communication provided in the track maintenance area management office There is shown a system further comprising monitoring means for monitoring abnormal displacement of a railway track based on displacement information received by the means. According to this system, the displacement of the railway track can be continuously monitored with high accuracy without requiring labor.
JP 2002-46605 A

  However, in the rod joint type method, a plurality of jointed rods must be wired to a guide pipe provided along the railway track, and there is a problem that a great deal of work is required for the installation. there were. Also, when the railway track is set up, the guide pipe must be removed and installed again.

  Further, in the railway track displacement monitoring system of Patent Document 1, a plurality of displacement detection means for irradiating the railroad track with laser light are provided along the railway track, so that much labor is required for the installation.

  Therefore, the present invention has been devised to solve the above-mentioned problem, and can be measured in a non-contact manner on the monitoring target part, and can be measured at high speed and with high accuracy, and shape variation monitoring method and shape variation It is an object to provide a monitoring system.

  In order to solve the above-mentioned problem, the invention according to claim 1 is a shape variation monitoring method for measuring a shape of a monitoring target portion where shape variation may occur, and monitoring the variation of the monitoring target portion, wherein the monitoring target portion A reference point is provided outside the range, and using the three-dimensional laser scanner, a range including the monitoring target unit and the reference point is determined at predetermined time intervals under the same measurement conditions determined based on the reference point. The shape variation monitoring method is characterized in that the measurement point measured by the three-dimensional laser scanner under the same measurement condition is compared to monitor the variation of the monitoring target part.

  In the present invention, the same measurement condition determined on the basis of the reference point means that the irradiation angle of the laser beam of the three-dimensional laser scanner is changed at a predetermined pitch from the reference point as the origin. Therefore, the tilt angle of the laser beam of the three-dimensional laser scanner is determined for each measurement point in a predetermined order from the origin.

  According to the method as described above, by using a three-dimensional laser scanner capable of measuring a wide range for shape variation monitoring, it is possible to perform high-speed measurement without contact with the monitoring target portion with less labor for setting the measurement substrate. it can. In addition, by providing a reference point outside the range of the monitoring target part, the monitoring target part can be measured under the same measurement conditions determined based on the reference point, so that the target point of the measurement position can be determined and The measurement points can be reproduced faithfully. A 3D laser scanner is a device that measures and displays a target as a large number of points (point cloud data). Therefore, simply measuring a railroad track (monitoring target part) will determine the target point at the measurement position. In this way, there is a problem in the reproducibility of the measurement point.As described above, if the measurement point is different for each measurement, the measurement value will fluctuate even if the monitoring target part does not fluctuate. Although there was a problem that the actual fluctuation could not be accurately grasped, this problem can be solved, so it is very meaningful. In other words, it is possible to measure the monitoring target portion at the measurement points faithfully reproduced by the measurement under the same conditions, and to compare the measurement data by the three-dimensional laser scanner on the same measurement surface, so that the time is short. Therefore, it is possible to perform highly accurate measurement and to accurately monitor the variation of the monitoring target part. In addition, since the three-dimensional laser scanner can measure a wide range of monitoring target parts, the number of measuring devices is small and the installation effort is greatly reduced compared to the railway track displacement monitoring system of Patent Document 1. it can. Furthermore, in the present invention, although the reference point is provided outside the range of the monitoring target part, it is only necessary to install it partially, and it is not necessary to follow the railroad track. Therefore, the parts are compared with the conventional rod joint type guide pipe. The number of points is very small, and construction work can be greatly reduced.

  The invention according to claim 2 is the shape variation monitoring method according to claim 1, wherein the reference point is configured by a box-shaped marker block.

  According to such a method, the reference point can be easily recognized and can be easily fixed to the monitoring target unit.

  According to a third aspect of the present invention, the monitoring target portion is provided on a railroad track, and based on measurement points measured under the same measurement conditions by the three-dimensional laser scanner, a plane portion of a sleeper on the railroad track The shape fluctuation monitoring method according to claim 1, wherein fluctuations in the monitoring target part are monitored.

  According to such a method, it is difficult to monitor the fluctuation of the railroad track bed, which is often composed of gravel, because the shape is unstable. Thus, it is possible to accurately monitor the fluctuation of the monitoring target part.

  The invention according to claim 4 is characterized in that the comparison of the plane portions of the sleepers is performed by calculating a plane equation that is approximated based on measurement points measured under the same measurement conditions by the three-dimensional laser scanner. A shape variation monitoring method according to claim 3.

  According to such a method, there is a measurement error when the monitoring target part is measured by the three-dimensional laser scanner. However, by calculating an approximate plane equation, the measurement error is minimized, and the monitoring of the fluctuation of the monitoring target part is performed. Accuracy can be improved.

  In the invention according to claim 5, the monitoring target part is provided on a railroad track, and the reference points are provided at predetermined intervals in the extension direction of the railroad track and measured by the three-dimensional laser scanner. 5. A longitudinal section of the railroad track is created at predetermined time intervals based on the coordinate data, and the longitudinal section is compared to monitor the variation of the monitoring target portion. The shape variation monitoring method according to any one of the above items.

  According to such a method, it is possible to check the time series change by superimposing the longitudinal sections on the railway track, and it is possible to finely monitor the fluctuation in the longitudinal section direction. In addition, by providing the reference points with a predetermined interval in the extension direction of the railway track, the cross-sectional direction of the longitudinal view can be easily determined simply by connecting the reference points.

  In the invention according to claim 6, the monitoring target part is provided on a railroad track, and the reference points are provided at predetermined intervals in the width direction of the railroad track and measured by the three-dimensional laser scanner. 6. The railroad track cross-sectional view is created at predetermined time intervals based on the coordinate data, and the cross-sectional views are compared to monitor the variation of the monitoring target portion. The shape variation monitoring method according to any one of the above items.

  According to such a method, it is possible to confirm the time series change by superimposing the cross sections on the railway track, and to monitor the fluctuation in the cross section direction finely. Further, by providing the reference points with a predetermined interval in the width direction of the railroad track, the cross-sectional direction of the cross-sectional view can be easily determined simply by connecting the reference points.

  The invention according to claim 7 is the same measurement condition in which the reference point provided outside the range of the monitoring target part where shape variation may occur and the shape of the monitoring target part are associated with each other based on the reference point. An image that creates a displacement diagram by superimposing each coordinate data by collating the reference points of the coordinate data measured every predetermined time with the three-dimensional laser scanner measuring every predetermined time and the coordinate data measured every predetermined time by the three-dimensional laser scanner A shape variation monitoring system comprising: a processing means.

  According to such a configuration, similarly to the invention according to claim 1, it is possible to perform measurement with high accuracy at high speed without contact with the monitoring target portion.

  According to an eighth aspect of the present invention, the monitoring target unit is provided on a railroad track, the reference points are provided at predetermined intervals in the extension direction of the railroad track, and the image processing means is the tertiary 8. The shape variation monitoring system according to claim 7, wherein a longitudinal section directly above the railway track is created at predetermined time intervals based on coordinate data measured by an original laser scanner.

  According to such a configuration, it is possible to check the time-series change by superimposing the longitudinal views on the railway track, and it is possible to finely monitor the fluctuation in the longitudinal view direction.

  In the invention according to claim 9, the monitoring target part is provided on a railroad track, the reference points are provided at a predetermined interval in the width direction of the railroad track, and the image processing means includes the tertiary 9. The shape variation monitoring system according to claim 7, wherein a cross-sectional view immediately above the railway track is created at predetermined time intervals based on coordinate data measured by an original laser scanner.

  According to such a configuration, it is possible to superimpose cross-sectional views on a railroad track to confirm time-series changes, and it is possible to closely monitor fluctuations in the cross-sectional view direction.

  According to the present invention, it is possible to perform measurement in a non-contact manner on the monitoring target portion, and to exhibit an excellent effect that high-speed and high-precision measurement can be performed.

  Next, the best mode for carrying out the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is an overall perspective view showing the best mode for carrying out the shape variation monitoring method and shape variation monitoring system according to the present invention, FIG. 2 is a longitudinal sectional view and a displacement diagram thereof on a railroad track, and FIG. It is the cross section in a track, and its displacement figure. In the present embodiment, a shape variation monitoring method will be described as an example when the monitoring target part is a railroad track and earth work is performed immediately below the railroad track.

  First, the shape variation monitoring system used for implementing the shape variation monitoring method according to the present embodiment will be described.

  As shown in FIG. 1, the shape variation monitoring system 1 includes a reference point 20 provided outside the range of the monitoring target unit 10 where shape variation may occur, and the shape of the monitoring target unit 10 based on the reference point 20. The three-dimensional laser scanner 30 that measures every predetermined time under the same measurement conditions determined, and the reference points 20 of the coordinate data measured every predetermined time by the three-dimensional laser scanner 30 are collated, and each coordinate data is Image processing means 40 for creating a superimposed displacement diagram.

  Here, the same measurement condition determined on the basis of the reference point 20 changes the irradiation direction of the laser light 31 of the three-dimensional laser scanner 30 with the reference point 20 as the origin and a predetermined angular pitch from this origin. That means. That is, the inclination angle of the laser beam 31 of the three-dimensional laser scanner 30 is determined for each measurement point in a predetermined order from the origin.

  In the present embodiment, the monitoring target unit 10 is a railroad track 11 and indicates a portion where a shape change such as a bulge or a depression may occur due to the influence of the earthwork immediately below. The railroad track 11 includes a rail 12a that guides the travel of a railway vehicle (not shown), a sleeper 12b that supports the rail 12a with a constant interval between the rails 12a, and a weight of the vehicle that travels while supporting the sleeper 12b. And a road bed 12c that conveys to the road surface.

  The reference point 20 is composed of a box-shaped marker block 21 and is installed and fixed on the road bed 12c on the side of the rail 12a that does not affect the travel of the railway vehicle. The marker block 21 has a specific shape such as a rectangular parallelepiped or a cylinder, and is made of a resin material that is not affected by, for example, expansion due to temperature.

  The reference points 20 are provided at predetermined intervals in the extending direction of the railway track 11 and are arranged on both outer sides of the monitoring target unit 10. The reference points 20 are also provided at predetermined intervals in the width direction of the railroad track 11 and are arranged on both sides of the rail 12a in the width direction. That is, the reference points 20 are installed at a total of four locations on both outer sides of the monitoring target unit 10 on both sides in the width direction of the rail 12a. It should be noted that the installation position of the reference point 20 is not limited to the road floor 12c, and may be another place as long as it does not change and does not affect the travel of the railway vehicle. In the present embodiment, the reference points 20 are provided at four locations, but may be provided at least at one location.

  The three-dimensional laser scanner 30 irradiates the measurement object (the railway track 11 which is the monitoring target unit 10 in the present embodiment) with the laser light 31, and the laser light 31 is reflected by the measurement object and returns. 3D coordinates (x coordinate, y coordinate, z coordinate) of the reflection point of the measurement object are calculated from the distance calculated from the time until and the irradiation angle of the laser beam 31. The laser beam 31 can be irradiated radially at a predetermined angle pitch within a range of 360 degrees in the horizontal direction and 320 degrees in the vertical direction, for example, and the three-dimensional laser scanner 30 is a point where each reflection point is a collection of coordinate data. By collecting as group data, the measurement object can be displayed in three dimensions. In the present embodiment, the three-dimensional laser scanner 30 is fixed at a predetermined position via a pole 32. The three-dimensional laser scanner 30 is arranged and fixed obliquely above the railroad track 11 so that the entire monitoring target portion 10 of the railroad track 11 can be seen and the travel of the railcar is not affected.

  Hereinafter, the state of measurement and data processing by the three-dimensional laser scanner 30 will be specifically described. First, the monitoring target unit 10 including the marker block 21 is measured by the three-dimensional laser scanner 30. At this time, since the arbitrary marker block 21 has a specific shape, the three-dimensional laser scanner 30 collates the shape of the marker block 21 with the image-processed screen, so that the image-processed image can be checked from within the image-processed image. The marker block 21 can be specified, and the coordinates of the marker block 21 can be read. Thereby, for example, the gravity center position of the block and the gravity center position of the surface can be determined.

  Next, among the measured data, the flat surface (planar portion) of the sleepers 12b of the railroad track 11 is processed to obtain the displacement amount. This is because the road bed 12c of the railroad track 11 is often composed of gravel, and its shape is unstable, so the sleepers 12b whose shape is stable are selected.

  However, even if this sleeper 12b portion is measured, as shown in FIG. 4, since the actual measurement value is simply a three-dimensional point coordinate value, the measurement point on the sleeper 12b also includes an error. That is, the sleeper 12a is actually a flat plane, but when actually measured by the three-dimensional laser scanner 30, the measurement result is measured as an uneven surface due to a measurement error. Therefore, in the present invention, the following method is used.

  At measurement points (X, Y, Z) on the same plane, there are a, b, c, d satisfying the plane equation aX + bY + cZ + d = 0 in a three-dimensional geometry. Then, a, b, c, and d satisfying the plane equation aX + bY + cZ + d = 0 are obtained by a least square method from a plurality of measurement points (X, Y, Z) on the same plane. By doing in this way, the measurement error by the three-dimensional laser scanner 30 can be minimized to obtain the most approximate plane equation, and the accuracy can be improved.

  If the plane center position (X, Y) of the sleeper 12b is given to the plane equation obtained here, the Z component at that point can be calculated. This value is set as a measurement coordinate value of the sleeper 12b. And this operation | work is performed for every plane position of the sleeper 12b. By doing in this way, from the measurement processing result of the marker block 21 (reference point for determining the position on the plane) and the railway track 11 to be measured (the sleeper 12b portion), a longitudinal view of the railway track 11 (see FIG. 2). (Rail 12a portion)) and a cross-sectional view (see FIG. 3) are required.

  When a displacement occurs in the railway track 11 in practice, as shown in FIG. 5, the plane 51 of the plane equation of the sleeper 12b measured last time changes to a plane 51 ′ of the plane equation after displacement. . Therefore, the plane center position (X, Y) of the sleeper 12a is given in the same manner as described above, and the Z component is calculated, so that the influence of the subsidence / lift of the railway track 11 can be known.

  In the three-dimensional laser scanner 30, the marker block 21 is the origin, and measurement points are determined at a predetermined vertical angle pitch and horizontal angle pitch from the origin. Therefore, measurement can be performed at predetermined time intervals under the same measurement conditions (vertical direction angle and horizontal direction angle) determined based on the origin (reference point 20). In other words, the tilt angle of the laser beam 31 of the three-dimensional laser scanner 30 is always determined and the same at the measurement points in a predetermined order from the origin.

  The image processing means 40 is configured by a computer such as a personal computer or a workstation, and is connected to the three-dimensional laser scanner 30. The image processing means 40 arranges point cloud data, which is a collection of coordinate data of measurement points measured by the three-dimensional laser scanner 30, on the three-dimensional coordinates to form a three-dimensional image, and displays it on a display means 41 such as a monitor. It has a three-dimensional display function. Further, the image processing means 40 has storage means (not shown) for storing coordinate data. The storage means may be built in the image processing means 40 or may be provided separately and connected to the outside. The image processing means 40 sequentially receives the coordinate data measured every predetermined time by the three-dimensional laser scanner 30, collates the reference points 20 in these coordinate data, and measured under the same measurement conditions. A displacement diagram is created by superimposing the coordinate data so that the measurement points are displayed at the same position. The coordinate data can be displayed one by one without being superimposed. In the displacement diagram obtained by superimposing the coordinate data, when a change occurs in the monitoring target unit 10, a deviation occurs between the coordinate data. The image processing means 40 is configured such that when a deviation occurs between the coordinate data, if the deviation difference is equal to or larger than a preset threshold value, it is detected as a fluctuation and is displayed in different colors. Has been. When the occurrence of fluctuation is detected, a warning may be displayed, a warning sound may be sounded, or a predetermined supervision center may be automatically contacted.

  In the present embodiment, the image processing means 40 compares the planar portion of the sleepers 12b on the railway track 11 based on the measurement points measured under the same measurement conditions by the three-dimensional laser scanner 30, and the monitoring target portion It is configured to monitor 10 variations. Specifically, the plane portion of the sleeper 12b is compared by calculating an approximate plane equation based on the measurement point 50 measured under the same measurement conditions by the three-dimensional laser scanner 30. The plane equation to be approximated is obtained by the least square method as described above.

  Further, the image processing means 40 uses a reference point 20 provided at a predetermined interval in the extension direction of the railway track 11 as a reference, based on the coordinate data measured by the three-dimensional laser scanner 30, and runs vertically on the railway track. The diagram (see FIG. 2A) is created at predetermined time intervals. In the longitudinal view, the marker block 21 is extracted from a three-dimensional plane formed by image processing, and the marker block 21 is connected to determine the cross-sectional direction of the longitudinal view. It is formed by connecting the measurement points at the top end of the inner rail 12a with the marker blocks 21 which are reference points 20 provided on both sides in the extending direction of the railway track 11 as both ends. Here, since the position of the marker block 21 does not change, the initial positional relationship (a-1) between the marker block 21 and the top of the rail 12a is stored, and the positional relationship is compared with the measured coordinate data. By doing so, the present fluctuation state can be detected. Here, it can be seen that there is no change in the case of (a-2) in FIG. 2A and there is a change in the case of (a-3).

  In addition, as shown in FIG. 2B, a displacement diagram may be formed by displaying a plurality of longitudinal views in a superimposed manner. In this way, fluctuations in the longitudinal direction of the monitoring target unit 10 can be displayed in time series and can be easily detected. When the change is detected, the shift portion may be displayed with a different color or displayed with a different line type (in FIG. 2B, the line type is changed and displayed, and 12a It may be configured such that a change detection is displayed as a warning, a warning sound is emitted, or a predetermined management center is automatically notified.

  Further, the image processing means 40 is directly above the railway track based on the coordinate data measured by the three-dimensional laser scanner 30 with reference to the reference point 20 provided at a predetermined interval in the width direction of the railway track 11. A cross-sectional view (see FIG. 3A) is created every predetermined time. This cross-sectional view is a cross section parallel to the plane connecting the marker blocks 21 which are the reference points 20 provided on both sides in the width direction of the railroad track 11, and the rails 12a, sleepers 12b, and the tops of the roadbed 12c of that portion. It is formed by connecting measurement points. Here, since the position of the marker block 21 does not change, the initial positional relationship (a-1 (the marker block 21 is not shown)) between the marker block 21 and the top of the rail 12a, the sleeper 12b, and the road bed 12c is stored. In addition, the present fluctuation state can be detected by comparing the positional relationship with the measured coordinate data. Here, it can be seen that there is no change in the case of (a-2) in FIG. 3A and there is a change in the case of (a-3).

  Further, as shown in FIG. 3B, a plurality of cross-sectional views at the same position may be displayed in an overlapping manner. In this way, the change in the transverse direction of the monitoring target unit 10 can be displayed in time series and can be easily detected. When a change is detected, the shift portion may be displayed with a different color or displayed with a different line type (in FIG. 3B, displayed with a different line type, 12 It may be configured such that a change detection is displayed as a warning, a warning sound is emitted, or a predetermined management center is automatically notified.

  When monitoring the shape variation of the monitoring target unit 10 using the shape variation monitoring system 1 having the above-described configuration, the reference point 20 is provided outside the range of the monitoring target unit 10, and the monitoring target unit 10 is connected to the reference target by the three-dimensional laser scanner 30. A range including the point 20 is measured every predetermined time under the same measurement condition determined based on the reference point 20 as an origin, and measured by the three-dimensional laser scanner 30 under the same measurement condition. Compare and monitor each other. According to this, the following effects can be obtained. When the shape is measured by the three-dimensional laser scanner 30, the object is measured at a large number of points. Therefore, if the reference point 20 is not provided, there is a problem in the determination of the target point and the reproducibility of the measurement point. The problem can be solved. Specifically, as shown in FIG. 4, the measurement surface measured by the three-dimensional laser scanner 30 (see FIG. 1) forms a surface model with a triangular plane 51 connecting three measurement points 50, 50, 50. ing. In this case, even if the surface of a certain monitoring target part is measured, the measurement surface is constituted by an uneven surface. Since this uneven surface has locally high places and low places, if the measurement point is shifted, even if the surface of the same monitoring target part is measured, the measurement surface varies. This causes a large error when measuring the displacement amount of the structure. However, in the present embodiment, as described above, by providing the reference point 20 outside the range of the monitoring target unit 10, the reference point 20 is not moved and the reference point can be set. The origin can be determined and the measurement point can be uniquely identified from the vertical angle and the horizontal angle from the origin, so that it can be faithfully reproduced. Therefore, since the monitoring target unit 10 can be measured under the same measurement condition, the measurement data obtained by the three-dimensional laser scanner 30 can be compared under the same condition, and the accurate monitoring target unit 10 with high accuracy can be compared. It is possible to monitor fluctuations in (railway track 11).

  Further, based on the measurement points measured under the same measurement conditions by the three-dimensional laser scanner 30, a plane equation approximated by the least square method is obtained, and the measurement data is subjected to plane processing, whereby measurement is performed by the three-dimensional laser scanner 30. The measurement point error on the measured plane is minimized. Further, by performing the plane processing on the coordinate data, it becomes easier to compare with the previous plane 51 when the same plane 51 ′ is measured again, and new information such as the plane separation distance L and the inclination angle A can be obtained. Can do. Specifically, when the sleeper 12b of the railroad track 11 is measured by the three-dimensional laser scanner 30 and subjected to plane processing, and the same plane 51 ′ is measured again, the separation distance L between the planes 51 and 51 ′ or From the inclination angle A, the ups and downs of the railway track 11 can be measured.

  Thus, the fluctuation | variation of the monitoring object part can be correctly monitored by comparing the plane part of the sleeper 12b. Further, by comparing the plane part of the sleeper 12b by calculating a plane equation that approximates based on the measurement point 50 measured under the same measurement condition by the three-dimensional laser scanner 30, the measurement error can be reduced. By minimizing, it is possible to improve the accuracy of monitoring the fluctuation of the monitoring target part.

  Since the three-dimensional laser scanner 30 has a shorter measurement time than the total station, the monitoring target unit 10 can be measured in a short time. Therefore, when supervising the railway track 11 immediately above the earthwork site, the measurement points in the priority area, which is the construction range, can be measured within 3 minutes. In addition, since the three-dimensional laser scanner 30 can measure a wide range of the monitoring target unit 10 with one measurement, the measurement time can be shortened, and compared with the railway track displacement monitoring system of Patent Document 1, The number of measuring instruments is small, and installation time can be greatly reduced. Furthermore, in the present invention, the reference point 20 is provided outside the range of the monitoring target portion 10, but only needs to be partially installed and does not need to be along the railroad track 11, so it is compared with a conventional rod joint type guide pipe. Thus, the number of parts is very small, and construction labor and construction costs can be greatly reduced.

  Furthermore, since the reference point 20 is constituted by the box-shaped marker block 21, the reference point 20 can be easily recognized in the measurement data by the three-dimensional laser scanner 30, and installed in the monitoring target unit 10. Fixing can also be performed easily.

  In the present embodiment, the reference point 20 is composed of marker blocks 21 provided at predetermined intervals in the extending direction and the width direction of the railway track 11 and measured by the three-dimensional laser scanner 30. Since a longitudinal view and a cross-sectional view of the railroad track 11 are created every predetermined time based on the coordinate data, and the longitudinal cross-sectional view and the cross-sectional view are compared, the fluctuation of the monitoring target unit 10 is monitored. The fluctuation state can be detected easily and accurately. At this time, by providing the marker blocks 21 with a predetermined interval in the extending direction of the railway track 11, the cross-sectional direction of the longitudinal view can be determined simply by connecting the marker blocks 21 to each other. Since it is not necessary to calculate and determine the cross-sectional direction of the longitudinal section from the data, the cross-sectional direction can be easily determined. In addition, by providing the marker blocks 21 with a predetermined interval in the width direction of the railway track 11, the cross-sectional direction of the cross-sectional view can be easily determined simply by connecting the marker blocks 21 to each other.

  Further, as shown in FIG. 2B or FIG. 3B, if a displacement diagram is formed by displaying a plurality of longitudinal views or cross-sectional views superimposed on each other, the longitudinal direction of the monitoring target unit 10 is displayed. Alternatively, it is possible to visually grasp the variation in the transverse direction and to detect it more easily and accurately.

  While applying the shape fluctuation monitoring method and the shape fluctuation monitoring system as described above to an alarm measuring device for safe operation of a train, a total station, a link type measuring device, etc. that can grasp detailed changes more precisely than a three-dimensional laser scanner, etc. By using the conventional measurement method together, it is possible to perform high-speed measurement that is fine and highly urgent at the same time.

  As mentioned above, although the form for implementing this invention was demonstrated, this invention is not limited to the said embodiment, In the range which does not deviate from the meaning of this invention, a design change is possible suitably. For example, in the above-described embodiment, the case where the fluctuation of the railway track 11 is measured is described as an example, but the present invention is not limited to this. For example, the present invention can also be applied to a case where a tunnel is constructed under the road surface or another tunnel is constructed below the tunnel. Furthermore, it can also be applied to slope fluctuation management.

1 is an overall perspective view showing a best mode for carrying out a shape variation monitoring method and a shape variation monitoring system according to the present invention. (A) in a railroad track is a longitudinal section, and (b) is a displacement diagram thereof. (A) in a railroad track is a cross section, (b) is the displacement figure. It is the figure which showed the surface model of the coordinate data measured with the three-dimensional laser scanner. It is the figure which showed the coordinate data by which the plane process was carried out.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Shape change monitoring system 10 Monitoring object part 11 Railroad track 12b Sleeper 20 Reference point 21 Marker block 30 Three-dimensional laser scanner 40 Image processing means

Claims (9)

  1. A shape variation monitoring method for measuring the shape of a monitoring target portion where shape variation may occur and monitoring the variation of the monitoring target portion,
    Provide a reference point outside the range of the monitoring target part,
    Using a three-dimensional laser scanner, a range including the monitoring target portion and the reference point is measured every predetermined time under the same measurement conditions determined based on the reference point,
    A shape variation monitoring method, comprising: comparing the measurement points measured under the same measurement conditions by the three-dimensional laser scanner to monitor the variation of the monitoring target unit.
  2. The shape variation monitoring method according to claim 1, wherein the reference point is configured by a box-shaped marker block.
  3. The monitoring target part is provided on a railway track,
    The fluctuation of the monitoring target part is monitored by comparing the plane part of the sleeper on the railway track based on the measurement points measured under the same measurement conditions by the three-dimensional laser scanner. The shape variation monitoring method according to claim 1 or 2.
  4. The shape variation according to claim 3, wherein the comparison of the flat portions of the sleepers is performed by calculating a plane equation that approximates based on measurement points measured under the same measurement conditions by the three-dimensional laser scanner. Monitoring method.
  5. The monitoring target part is provided on a railway track,
    The reference point is provided at a predetermined interval in the extension direction of the railroad track,
    Based on the coordinate data measured by the three-dimensional laser scanner, a longitudinal view of the railroad track is created every predetermined time, and these longitudinal views are compared to monitor changes in the monitoring target portion. The shape variation monitoring method according to any one of claims 1 to 4.
  6. The monitoring target part is provided on a railway track,
    The reference point is provided at a predetermined interval in the width direction of the railroad track,
    A cross-sectional view of the railroad track is created at predetermined time intervals based on coordinate data measured by the three-dimensional laser scanner, and the cross-sectional views are compared to monitor changes in the monitoring target portion. The shape variation monitoring method according to claim 1.
  7. A reference point provided outside the range of the monitoring target part where shape variation may occur;
    A three-dimensional laser scanner that measures the shape of the monitoring target part at predetermined time intervals under the same measurement conditions that are associated with each other based on the reference point;
    Image processing means for collating the reference points of the coordinate data measured every predetermined time with the three-dimensional laser scanner and creating a displacement diagram in which the coordinate data are superimposed on each other. Shape variation monitoring system.
  8. The monitoring target part is provided on a railway track,
    The reference point is provided at a predetermined interval in the extension direction of the railroad track,
    The shape variation monitoring system according to claim 7, wherein the image processing unit creates a longitudinal view immediately above the railway track based on coordinate data measured by the three-dimensional laser scanner at predetermined time intervals.
  9. The monitoring target part is provided on a railway track,
    The reference point is provided at a predetermined interval in the width direction of the railroad track,
    The shape according to claim 7 or 8, wherein the image processing means creates a cross-sectional view immediately above the railroad track at predetermined time intervals based on coordinate data measured by the three-dimensional laser scanner. Fluctuation monitoring system.
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