JP2009192292A - Track inspecting apparatus and track inspecting method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a track inspecting apparatus and a track inspecting method, which eliminate a measurement error due to an installation angle of the inspecting apparatus. <P>SOLUTION: An image processing section 3 includes: an image data acquiring unit 33 for acquiring image data from a camera 24; a reference point coordinate computing unit 34 for obtaining coordinates of reference points 16a, 16b in a coordinate system in which a photographing range of the camera 24 is used as a reference, based on the image data obtaind from the camera 24; and a minimum measurement error position coordinate computing unit 35 for obtaining a coordinate of the minimum measurement error position in the photographing range of the camera 24 in passing and vertical directions, based on the coordinates of the reference points. Furthermore, a passing/vertical value computing section 36 is provided for computing a deviation in the passing/vertical directions, based on the coordinate of the minimum measurement error position in a reference rail (calibrated coordinate) obtained by the minimum measurement error position coordinate computing unit 35, the coordinate of the minimum measurement error position in an object rail to be inspected (inspected coordinate), and track data being input to data input unit 31. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a trajectory inspection device and a trajectory inspection method for measuring a trajectory height difference and a street based on an image captured by an imaging device, and in particular, a handy type inspection device on a rail of a track. The present invention relates to a technique capable of reducing measurement errors that occur when installed.

  Various devices have been proposed for detecting the level difference of railroad tracks and street deviations. Among them, the handy type track inspection device is easy for the operator to manually operate at the inspection location. Therefore, when an abnormal shake report from a vehicle crew member enters the track maintenance department, the inspection of the track can be carried out quickly and easily so that the site can be checked immediately in order to minimize operation trouble. Suitable for doing. Conventionally, as this type of handy type inspection device, those shown in Patent Literature 1 to Patent Literature 4 have been proposed.

Among these, the technique shown in Patent Document 1 uses a frame and a thread and measures using a folding ruler or a ruler, but has the following problems.
(1) In the prior art, at least four people are required for joint work by two people holding the top of the frame and thread, one person measuring at the center, and one security personnel, which is a large-scale work.
(2) It takes time to work because it is necessary to perform the two types of measurement separately for height difference.
(3) Since the eye is measured, the error is large and the accuracy is poor.
(4) Since yarn is used, the yarn may sag due to wind and dead weight, which may cause an accuracy error.
(5) Since the top of the rail is curved, the frame cannot be installed parallel to the track, so the accuracy is poor.

  In the technique of Patent Document 2, infrared rays are emitted from a three-dimensional measuring instrument provided outside the rail to the reflector provided on the moving target installed on the rail, and the displacement of the rail is measured from the position of the reflected light. It solves the problems (1) to (4). However, this technique requires a driving means for moving the moving target on the rail, and is large in size as a handy type inspection device.

  The technique of Patent Document 3 has three rail passing bars, a water string stretched between them, and a measuring curve, and is intended to reduce the number of workers required for measurement. However, this technique requires three rail passing bars that span between the left and right rails, and is not preferable in terms of downsizing. Also, the problems (2) to (4) cannot be solved.

  The technique of Patent Document 4 is that the laser light emitting unit, the measuring unit, and the light receiving unit are installed at three locations on the track, and the position of the light blocking piece provided in the central measuring unit is detected by the laser. It is a measure of street madness. Although this technique has the advantages of reducing the number of workers and improving the detection accuracy, it has not solved the problems (2) and (5).

  As described above, none of the techniques described in any of the patent documents can provide a measurement device that is small in size suitable for the handy type and solves all of the problems (1) to (5). It was. In particular, since all of the conventional techniques are to measure by placing an instrument such as a frame on the top of the rail, it is difficult to make the installation position of the instrument (the installation angle with respect to the rail cross section) constant according to the curved surface of the rail, It was difficult to perform inspection with high accuracy.

Japanese Patent Laid-Open No. 11-117205 JP-A-6-94416 JP-A-10-62152 JP 2006-308304 A

  The present invention has been proposed in order to solve the problems of the prior art as described above, and its purpose is that there is a slight misalignment when an instrument is installed on the upper part of the curved rail. Even so, it is an object to provide a trajectory inspection apparatus and a trajectory inspection method capable of inspecting at least one of the trajectory height and street with high accuracy.

  In order to achieve the above object, a trajectory inspection apparatus according to the present invention includes a reference object installed on a rail, and an imaging device installed at a position away from the reference object on the rail. Is provided with a reference point for calculating a measurement error minimum position for at least one of the passing direction and the height difference, and the photographing apparatus includes a camera for photographing the reference subject, image data of the camera, and the measurement error. An image processing unit that calculates at least one of a passing direction and a height difference based on the minimum position is provided. The image processing unit includes an image data capturing unit that captures image data from the camera, and image data captured from the camera. A reference point coordinate calculation unit for obtaining the reference point coordinates based on the reference point, and at least one of the measurement error in the direction of passing and the height difference direction based on the coordinates of the reference point Based on the minimum measurement error position coordinate calculation unit that calculates the coordinates of the position, the minimum measurement error position coordinate on the reference rail, and the minimum measurement error position coordinate on the inspection target rail, the `` street '' direction and the `` height difference '' direction As the amount of deviation is calculated, it has a height difference calculation unit.

  Further, the reference point is a plurality of LEDs provided on the reference subject, and the street / height difference calculation unit shifts between the “street” direction and the “height difference” direction based on the curvature of the trajectory to be measured. One of the aspects of the present invention is that the image processing unit has a data storage unit that stores measurement error minimum positions related to a plurality of types of reference rails, and a method for performing these processes. It is.

According to the present invention, the following effects can be obtained.
(a) The number of people required for work can be reduced.
(b) Working time can be shortened if the height difference and the street can be measured simultaneously.
(c) Eliminates errors due to visual measurements.
(d) The influence of the yarn deflection due to wind is eliminated.
(e) Measurement errors due to installation accuracy such as tilt when the inspection device is placed on the rail can be minimized.

[Minimum error position]
The present invention has been proposed in order to eliminate the occurrence of a measurement error due to the inclination of the inspection device when the upper portion of the rail has a curved surface structure and the inspection device is placed on that portion. In particular, even when the measuring device is tilted at an arbitrary angle above the rail, attention is paid to the fact that the error is minimized at a specific position of the measuring device. Hereinafter, such a minimum error position will be described.

  First, FIG. 13 is a cross section of a 60 Kg rail, and the reference level is a K point at the center in the width direction of the rail and 20 mm from the top surface of the rail. Further, the street reference is the inner surface of the rail, which is a T point that is further 20 mm away from the point A, which is 16 mm lower than the rail upper surface, toward the track.

  When a conventional inspection device (frame) having such a K point for height measurement and a T point for measurement is moved within a range of ± 10 ° along the curved structure at the top of the rail, the K point and The trajectory of point T is as shown in FIG. 14, and the measurement error in the elevation direction due to the inclination was 2.2 mm, and the measurement error in the street direction was 1.7 mm. Similarly, in the case of the 50 kg rail, the inspection error in the height difference direction was 2.1 mm, and the measurement error in the street direction was 1.7 mm.

  Normally, the error of this type of inspection apparatus is allowed up to about 1.0 mm, but such an error exceeds the allowable range. In this case, the inclination range is set to ± 10 °. When the inclination of the inspection device set on the rail exceeds ± 10 °, the worker can easily find that the device is inclined visually. Because.

  By the way, when the frame is tilted ± 10 ° along the curved surface structure of the rail upper surface as shown in FIG. 14, the K point draws a V-shaped locus such that the measurement error in the height difference direction is 2.2 mm. Assuming a coordinate system that rotates along the rail curved surface integrally with the frame, as shown in FIG. 15, the difference in direction as the coordinate system rotates is large regardless of the rotation angle of the coordinate system. However, there is a position K0 where the change in height difference is minimum.

  That is, the difference between the dimension in which the bottom surface of the frame rises from the rail surface as a result of tilting the frame and the dimension in which the K point descends as a result of the K point located away from the bottom surface of the frame being turned left and right is K It appears as a locus of points, but in this case, as the position of the K point is moved away from the rail upper surface, the dimension that the K point descends increases, and as a result, the two cancel each other, and the height difference is minimized regardless of the inclination angle of the frame There exists a position K0.

  Similarly, when the coordinate system is rotated along the rail curved surface, the position T0 at which the change in the direction is minimized can be obtained as the height difference is large.

  In the present invention, the minimum position is not necessarily limited to a position where the height difference or the amount of change in the street direction is 0 or the minimum value, but a measurement error that allows the height difference or the amount of change in the street direction. The position may be within (for example, 1.0 mm). That is, depending on the curved surface structure of the rail and the shape of the contact portion between the top and the rail, the amount of change may not necessarily be zero, and the position where the amount of change is minimized is too far from the rail. Therefore, the position may be at least within a measurement error in which the height difference or the change amount in the street direction is allowed.

  By the way, 60Kg rail and 50Kg rail are common as rails used for the track, and also as a test piece, as shown in FIG. 13, a cross section contacting the rail upper surface and the inner side surface. Generally, an L-shaped member is used. Therefore, when the minimum error position was measured for the 60 Kg and 50 Kg reference rails based on such premise, it was found that the following was obtained. It should be noted that the minimum error position of each rail is expressed by how much the position is shifted in the X direction (the inner direction of the track is −) and the Y direction (the upward direction of the rail is +) with reference to point A in FIG. is doing.

In the case of 60Kg rail The measurement error minimum position in the “street” direction X coordinate = 32.2mm
Y coordinate = -3.5mm
The "street" measurement error at this point is 0.3mm
Minimum position of measurement error in the “level difference” direction X coordinate = 32.0 mm
Y coordinate = 198.3mm
The “level difference” measurement error at this point is 0.4 mm.

In the case of 50Kg rail The minimum position of measurement error in the “street” direction X coordinate = 25.2mm
Y coordinate = -4.0mm
The "street" measurement error at this point is 0.3mm
Minimum position of measurement error in the “level difference” direction X coordinate = 32.0 mm
Y coordinate = 181.0mm
The “height difference” measurement error at this point is 0.3 mm.

  According to this measurement result, when the frame, that is, the inspection device is set on the reference rail, there is a minimum error position where the measurement error falls within the allowable range if the inclination angle is within ± 10 °. confirmed. Therefore, if you measure how much this error minimum position deviates from the reference error minimum position in the inspection target rail, without considering the inclination of the inspection device relative to the inspection target rail, It is possible to detect a “high / low” or “street” error.

[First Embodiment]
(1) Configuration Hereinafter, a first embodiment of the trajectory inspection apparatus of the present invention using the minimum error position as described above will be specifically described with reference to the drawings.

  The trajectory inspection device of the present invention is composed of a reference subject 1, a photographing device 2, and an image processing unit 3. In the first embodiment, photographing is provided with one reference subject 1 and one camera. Device 2.

  The reference subject 1 is a subject to be photographed by the photographing device 2 in a state where it is placed on the rail, and as shown in FIGS. 1 and 2, a height reference plate 11 arranged in parallel with the upper surface of the rail. And a reference plate 12 arranged parallel to the inner surface of the rail. Magnets 13 for fixing the reference subject 1 to the rail are fixed to the rail facing surface of the reference plate 12 as well as the height reference plate 11.

  A pair of front and rear brackets 14 a and 14 b extending in the rail width direction are provided on the upper surface of the height reference plate 11 of the reference subject 1. That is, these brackets 14a and 14b are both members having an L-shaped cross section, and the horizontal portion thereof is fixed to the height reference plate 11 with screws or other means.

  Of the pair of front and rear brackets, a support plate 15 larger than the rail width and taller than the vertical portion of the bracket is fixed to the vertical portion of the bracket 14a on the side facing the imaging device 2 at the time of inspection. Yes. The support plate 15 is formed of a black matte panel, and a pair of left and right reference points 16a and 16b is provided at a position outside the width of the rail and higher than the top of the rail. .

  In the present embodiment, the reference points 16a and 16b are LEDs that emit light toward the photographing device 2. Therefore, a battery serving as an LED power source is provided between the front and rear brackets 14a and 14b of the reference subject 1. 17 is mounted. Although not shown, switches, electronic circuits, wirings, and the like for controlling blinking of LEDs, light emission intervals, and the like are also provided.

  As shown in FIGS. 3 and 4, the photographing apparatus 2 is similar to the reference subject 1 in that the height reference plate 21 disposed in parallel with the upper surface of the rail and the inner surface of the rail are disposed in parallel. A reference plate 22 and a magnet 23 for fixing the photographing apparatus 2 to the rail are provided. A camera 24 is fixed on the upper surface of the height reference plate 21 so that the center line (optical axis) of the photographic lens is parallel to the length direction of the rail. In this case, the camera 24 is fixed to the height reference plate 21 so that its lens faces the reference subject 1.

  An image processing unit 3 is provided on the height reference plate 21 of the photographing apparatus 2 together with the camera 24. The image processing unit 3 processes an image photographed by the camera 24 and sends inspection values relating to height and / or manner to a display / recording means such as a personal computer 4 provided outside.

  The photographing apparatus 2 includes a cover 25 for covering the camera 24 and the image processing unit 3, and the cover 25 is provided with a handle 26 used when carrying the photographing apparatus 2.

  As shown in the block diagram of FIG. 5, the image processing unit 3 includes the data of the trajectory to be measured, specifically, the specified distance D0 where the inspection device is installed, the curvature R0 of the reference rail, street T0, An orbit data input unit 31 for inputting the height difference K0 and a data storage unit 32 for storing these data are provided. Further, in the data storage unit 32, the reference subject 1 is set on various types of rails, such as 50Kg rails and 60Kg rails, and the measurement error minimum position in the direction and height difference direction as previously measured. In this case, the positions of the left and right reference points 16a and 16b are stored.

  The image processing unit 3 includes an image data capturing unit 33 that captures image data from the camera 24, and the reference point in the coordinate system based on the shooting range of the camera 24 based on the image data captured from the camera 24. A reference point coordinate calculation unit 34 for obtaining the coordinates of 16a and 16b, and a measurement error minimum position for obtaining the coordinates of the measurement error minimum position in the passing direction and the height difference direction within the photographing range of the camera 24 based on the coordinates of the reference point. A coordinate calculation unit 35 is provided.

  Further, the coordinates of the minimum measurement error position on the reference rail (coordinates at the time of calibration) obtained by the measurement error minimum position coordinate calculation unit 35, the coordinates of the measurement error minimum position on the measurement target rail (coordinates at the time of measurement), And, based on the trajectory data input to the data input unit 31, a street / height difference calculation unit 36 is provided which calculates the amount of deviation in the “street” direction and the “level difference” direction.

  Further, the calibration start switch 37 for instructing the start of calibration, the trajectory inspection start switch 38 for instructing the start of inspection, and the measurement results obtained by the height difference calculating unit 36 as described above are displayed on the data of an external personal computer or the like. An output unit 39 for sending to the recording means, and an image processing control unit 30 for controlling the respective units based on the commands of these switches 36 and 37 and calculating the measurement results.

  The image processing unit 3 is not necessarily limited to the one that outputs the measurement data to an external display / recording unit. The image processing unit 3 itself includes a display unit such as a liquid crystal display, a data storage memory, and the like. Storage means for allowing the user to obtain a test value alone in the imaging apparatus, or conversely, the image processing unit 3 itself does not perform any arithmetic processing, and is simply image data captured by the camera 24. It is also possible to use a device that sends data to a calculation / display / recording means such as an external personal computer.

(2) Operation Next, the operation and effect of the trajectory inspection device of the first embodiment will be described.

(2-1) Calibration Work First, to use the apparatus of this embodiment, a calibration work using a reference rail is performed in advance. In this calibration work, as shown in FIG. 6, the reference object 1 is placed on the rail to be inspected for the trajectory so that the LEDs as the reference points 16 a and 16 b face the imaging device 2. In this case, the height reference plate 11 of the reference subject 1 is fixed to the flat portion (the top surface) of the upper portion of the rail via the magnet 13, and the reference plate 12 is fixed to the vertical portion inside the rail via the magnet 13. . Similarly, the photographing apparatus 2 is installed on the rail at a position away from the reference subject 1 by a specified distance (for example, 5 m in the case of 10 m Masaya method) so that the camera 24 faces the reference subject 1. (Step 1 in the flowchart of FIG. 7).

  In particular, in the calibration work, it is necessary to accurately set the reference subject 1 and the photographing device 2 with respect to the reference rail. In other words, the deviation of the minimum measurement error position calculated for the measurement target rail is detected based on the minimum measurement error position calculated at the time of calibration, thereby detecting the deviation in the passing direction and / or the height difference. It is.

Next, the specified distance D0 where the inspection device is installed, the curvature R0 of the reference rail, the street T0, and the height difference K0 are input from the data input unit 31, and these data are stored in the storage unit 32 (step 2). These data are as follows as an example.
Specified distance D0 = 5m
Curvature of reference rail R0 = 999 (straight line)
Street T0 = 0mm
Height difference K0 = 0mm

  It should be noted that the type of reference rail to be calibrated, the minimum measurement error position in the direction and elevation direction as measured in advance for the reference rail, and the left and right reference points when the reference subject 1 is set on various rails The positions of 16a and 16b are stored in the storage unit 32 in advance.

  When the calibration start switch 37 is pressed after completion of the trajectory data input (step 3), the control unit 30 captures the image of the reference subject 1 photographed by the camera 24 in accordance with the command into the image data capture unit 33 (step 4). In this case, the captured image data includes the reference subject 1 and the background thereof, and the support plate 15 and the left and right reference points 16a and 16b provided on the support plate 15 are photographed at almost the center thereof.

  In the reference point coordinate calculation unit 34, as shown in FIG. 8A, the entire image captured by the camera 24 is defined as 1 with the upper left as 0 point, the right direction as the X axis, and the lower direction as the Y axis. The coordinates L10 (x, y) and L20 (x, y) of the left and right reference points 16a, 16b in the coordinate system at the time of calibration are obtained (step 5).

  Next, the measurement error minimum position coordinate calculation unit 35 uses the data of the measurement error minimum position in the direction and the height difference direction and the positions of the left and right reference points 16a and 16b as stored in the data storage unit 32. From the coordinates L10 (x, y) and L20 (x, y) of the photographed reference point, the coordinates V0 (x, y) and H0 (x , Y) (steps 6 and 7 and (B) of FIG. 8), these calculation results are stored in the storage unit 32 together with the trajectory data, and the calibration operation is completed (step 8).

(2-2) Inspection work Next, in order to actually perform the inspection of the track by the apparatus of the present embodiment, in the state where the calibration work for the reference rail is completed as described above, The reference subject 1 and the imaging device 2 are arranged on the same type of inspection target rail while maintaining a specified distance (step 1 in FIG. 9). In this case, it is desirable to consider as much as possible so that the reference subject 1 is not inclined and installed. However, unlike the calibration, an inclination within ± 10 ° is acceptable in this embodiment.

  Next, the curvature R1 of the inspection target rail is input from the data input unit 31 (step 2). As an example, the curvature R1 = 300 m. Subsequently, by pressing the inspection start switch 38 (step 3), an image from the camera 24 is captured by the image data capturing unit 33 in accordance with a command from the control unit 30 (step 4). In this case, if at least one of the reference subject 1 and the photographing device 2 is inclined, the image is within the photographing range of the camera 24 as shown in FIG. The points 16a and 16b are inclined.

  The reference point coordinate calculation unit 34 obtains the coordinates L11 (x, y) and L21 (x, y) of the left and right reference points 16a and 16b in the coordinate system in which the upper left of the captured image at the time of inspection is 0 (step) 5) Next, based on the coordinates L11 (x, y) and L21 (x, y) of these reference points, and the reference point position and the minimum error position for the reference rail stored in the storage unit 32 in advance. Then, the coordinates V1 (x, y) and H1 (x, y) of the measurement error minimum position as in the coordinate system at the time of measurement are calculated (steps 6 and 7 and (B) of FIG. 10).

Thereafter, the coordinates V1 (x, y) and H1 (x, y) of the minimum error position at the time of the measurement and the coordinates V0 (x of the minimum measurement error position at the time of calibration stored in the storage unit 32 are stored. , Y), H0 (x, y), the specified distance D0, the curvature R0 of the reference rail, the street T, and the height difference K0, the deviation in the street direction and the height difference are calculated by the following formula (step) 8, 9).
Street: T1 = V1 (x) −V0 (x) + (2 × D0) ² / (8 × R0)
Height difference: K1 = H1 (y) −H0 (y) + K0

Further, when the inspection target rail has a curvature as in the present embodiment, the inspection value in the passing direction is corrected and the correction value T1 ′ is calculated in consideration of the curvature as shown in the following equation. (Step 10).
Correction value: T1 ′ = T1- (2 × D0) ² / (8 × R1)

  The height difference obtained as described above, the street, and the street after curvature correction are output from the inspection result output unit 39 to a personal computer or other display means (step 11).

(3) Effect As described above, according to the present embodiment, even if the reference subject 1 and the imaging device 2 are tilted along the curved surface of the rail head, the height difference caused by the tilt at the minimum measurement error position. The direction or street direction error is small within an acceptable range. Therefore, if a deviation occurs between the minimum measurement error position coordinates measured accurately during calibration and the minimum measurement error position coordinates obtained during inspection, the deviation is caused by the inclination during inspection. It is not due to a deviation in the direction of the road or in the direction of the height difference that occurred on the inspection rail.

  That is, in the present embodiment, with respect to each of “street” and “height difference”, if the inclination is within 10 ° at the time of inspection, “street” and “height difference” are determined based on the measurement error minimum position. In both cases, it is not necessary to care about the installation accuracy of the reference subject 1 and the imaging device 2, so that the work time can be shortened and the difference in the inspection accuracy due to the work proficiency can be eliminated.

[Second Embodiment]
FIG. 11 shows a second embodiment of the present invention. In the second embodiment, two cameras 24a and 24b are arranged back-to-back on the photographing apparatus 2, and as shown in FIG. 12, a prescribed distance (as an example, 5 m) is separated on both sides of the photographing apparatus 2. The reference subjects 1a and 1b are respectively arranged.

  That is, in the first embodiment, by using a relatively long photographing device in which magnets are arranged on the front and rear sides, the photographing device is not displaced from the rail length direction (the optical axis direction of the camera). However, when the camera is downsized or the image processing unit is mounted on an external personal computer or the like, the front and rear lengths of the photographing apparatus are shortened, and there is a possibility that a deviation occurs in the camera optical axis direction.

  Therefore, in the second embodiment, two cameras are mounted, and “street” and “height difference” are calculated based on image data captured by these cameras, respectively, and an average value of the previous and subsequent values is calculated. By determining, it is possible to cancel the shift in the camera optical axis direction when the photographing apparatus is installed on the rail. As a result, the length of the photographing apparatus in the front-rear direction can be shortened.

[Other Embodiments]
The present invention is not limited to the above-described embodiments, and includes the following other embodiments.

(1) Inspecting only one of the street and the height difference based on the minimum measurement error position.
(2) For each rail type, use the reference rail in advance to perform calibration work and calculate the coordinates of the minimum measurement error position. In this case, the rail type and the measurement error minimum position coordinates of “street” and “height difference” for the rail are associated with each other and stored in the storage unit 32. By comparing with the coordinate value at the time of measurement, the calibration work can be simplified.

(3) A reference point that uses a light reflection mark, a figure with a light or dark point or a point with a color difference, or the outer shape of a support plate, instead of an LED or light bulb. In addition, LED light emission is visible light, infrared light, or the like, and a specific light emission interval facilitates discrimination from an image that becomes noise around the reference subject.
(4) If the number and position of the reference points are based on the coordinates of the reference points in the photographed image and can obtain the measurement error minimum position coordinates of the height difference, the rail is inserted as shown in the figure. It is not necessary to provide symmetrically. Further, the measurement error minimum position coordinates of the street and the height difference need not be present in the image captured by the camera.

(5) The range of the inclination of the inspection device with respect to the upper part of the rail depends on the contact structure between the inspection device and the upper part of the rail (the size and position of the height reference plate, street reference plate, magnet, etc. in the above embodiment). Depending on the structure of the part, there is also a measuring device that does not tilt by more than ± 3 to 5 °. In such a case, the measurement error minimum position of the above-mentioned “street” and “height difference” is a position different from that of the measuring apparatus tilted in a range of ± 10 °.

FIG. 3 is a side view of a reference subject in the first embodiment of the present invention. FIG. 3 is a front view of a reference subject in the first embodiment. The side view of the imaging device in the said 1st Embodiment. The front view of the imaging device in the said 1st Embodiment. The block diagram which shows the structure of the image process part 3 in the said 1st Embodiment. The top view which shows the use condition of the track inspection apparatus of the said 1st Embodiment. The flowchart which shows the operation | movement at the time of the calibration of the said 1st Embodiment. The front view which shows an example of the picked-up image at the time of the calibration of the said 1st Embodiment. The flowchart which shows the operation | movement at the time of the measurement of the said 1st Embodiment. The front view which shows an example of the picked-up image at the time of the measurement of the said 1st Embodiment. The side view of the imaging device in 2nd Embodiment of this invention. The top view which shows the use condition of the track inspection apparatus of the said 2nd Embodiment. Sectional drawing which shows the height difference in a 60Kg rail, and the inspection reference position of a street. Sectional drawing which shows the error which arises in an inspection reference position by the inclination of an inspection apparatus. Sectional drawing explaining that the inspection error minimum position exists when an inspection apparatus inclines.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Reference | standard subject 2 ... Shooting device 3 ... Image processing part 4 ... Personal computer 11, 21 ... High and low reference plates 12, 22 ... Street reference plates 13, 23 ... Magnet 14 ... Bracket 15 ... Support plates 16a, 16b ... Reference point 17 ... Battery 24 ... Camera 25 ... Cover 26 ... Handle 30 ... Image processing control unit 31 ... Orbital data input unit 32 ... Data storage unit 33 ... Image data acquisition unit 34 ... Reference point coordinate position calculation unit 35 ... Measurement error minimum position coordinate calculation Section 36 ... Street / height difference calculation section 37 ... Calibration start switch 38 ... Trajectory inspection start switch 39 ... Inspection result output section

Claims (7)

A reference object to be installed on the rail, and a photographing device to be installed at a position away from the reference object on the rail;
The reference subject is provided with a reference point for calculating a measurement error minimum position for at least one of the passing direction and the height difference,
The imaging device includes a camera that captures the reference subject, and an image processing unit that calculates at least one of a direction and a height difference based on the image data of the camera and the minimum measurement error position,
This image processing unit
An image data capturing unit that captures image data from the camera, a reference point coordinate calculation unit that obtains coordinates of the reference point based on image data captured from the camera, and a direction and height difference based on the coordinates of the reference point A measurement error minimum position coordinate calculation unit for obtaining coordinates of a measurement error minimum position of at least one of the directions;
Based on the coordinates of the minimum measurement error position on the reference rail and the coordinates of the minimum measurement error position on the rail to be measured, it has a street / height difference calculation unit that calculates the amount of deviation in the `` street '' direction and the `` height difference '' direction. Orbital inspection device characterized by that.   The trajectory inspection apparatus according to claim 1, wherein the reference point is a plurality of light bulbs, LEDs, bright and dark points or color difference points provided on a reference subject.   The street / height difference calculation unit corrects a deviation amount between the “street” direction and the “height difference” direction based on a curvature of a trajectory to be measured. Item 3. The trajectory inspection device according to item 2.   The trajectory inspection apparatus according to any one of claims 1 to 3, wherein the image processing unit includes a data storage unit that stores measurement error minimum positions related to a plurality of types of reference rails. The imaging device comprises two cameras arranged back to back,
The street / height difference calculation unit photographs two reference subjects arranged with the photographing device in between with each camera, and based on the image data of each camera, the “street” direction and “ 5. The deviation in the optical axis direction of the photographing apparatus is corrected by calculating each deviation amount in the “height difference” direction and averaging the calculation results. Orbital inspection device described in 1. A reference object provided with a reference point for calculating a measurement error minimum position for at least one of a street direction and a height difference, and an imaging device including a camera that captures the reference object are arranged on a rail to be measured. Install in a remote location,
Obtain the coordinates of the reference point based on the image data of the reference subject photographed by the camera, obtain the coordinates of the measurement error minimum position of at least one of the passing direction and the height difference direction based on the coordinates of the reference point,
Based on the coordinates of the minimum measurement error position on the reference rail and the coordinates of the minimum measurement error position on the measurement target rail, the deviation amount between the “street” direction and the “height difference” direction of the measurement target rail is calculated. Orbit inspection method.   Two cameras are provided in the photographing device, two reference subjects arranged with the photographing device interposed therebetween are photographed by the respective cameras, and the “street” direction of the measurement target rail based on the image data of each camera and The trajectory inspection method according to claim 6, wherein the deviation in the optical axis direction of the photographing apparatus is corrected by calculating each deviation amount in the “height difference” direction and averaging the calculation results.