JP2019066275A - Traffic route facility inspection device and inspection method - Google Patents

Abstract

To provide a traffic route facility inspection device that detects with high accuracy the position of a traffic route facility in which a portion of the surface formed with a circular arc is shielded by a structure.SOLUTION: An arithmetic circuit computes from profile data the center point coordinates and the radius of a circle of the circular arc constituting a sectional curved portion of the traffic route facility using the method of least square of circles (step 102). Subsequently, the arithmetic circuit calculates the coordinates of center point of a circle passing through two circumferential points of a circle having the computed center point coordinates and radius and having the same radius as the radius of circle of the circular arc regulated by traffic route facility standards (step 103). The arithmetic circuit further causes the calculated center point coordinates to be displaced stepwise in each axial direction of coordinate axis and selects coordinates where the sum total of square of an error between the radius calculated from the profile data and the radius of circle of the circular arc regulated by standards is minimum (step 104). Then, the arithmetic circuit detects the position of the traffic route facility from the selected coordinates (step 105).SELECTED DRAWING: Figure 4

Description

  The present invention relates to an inspection apparatus and inspection method for traffic road equipment that inspects the shape, position, etc. of traffic road equipment using laser light, and in particular, a part of the surface formed by a circular arc is a structure. TECHNICAL FIELD The present invention relates to a traffic route equipment inspection apparatus and inspection method suitable for inspecting shielded road equipment. In the present invention, the traffic route equipment means equipment that constitutes a traffic route of a transportation system.

  For example, the railway track is provided with transportation facilities such as a rail (track) on which the vehicle travels, an overhead wire for power feeding or a third rail (third rail). In order to operate the railway safely, maintenance and inspection of these transportation facilities are required.

  2. Description of the Related Art Conventionally, a two-dimensional sensor such as a laser displacement gauge has been used as a inspection apparatus for inspecting the shape, position, and the like of a rail or an overhead wire at the time of inspection of the rail or the overhead wire. For example, as a method of detecting the shape of a trajectory, Patent Document 1 discloses a technique for acquiring trajectory profile data using a two-dimensional sensor.

JP, 2014-199208, A

  The surface of the rail and the wire is not covered with a structure such as a cover, but the third rail is protected from the wind and rain around the third rail for feeding, and a person falls on the track during maintenance work or In order to prevent an electric shock accident etc. at the time of carrying out, the cover is provided and most of the surface of the third rail is shielded by the cover. Therefore, when trying to measure the shape, position, etc. of the third rail using a laser beam, the profile data of the part shielded by the cover is missing, and the scattered light from the laser beam is a cause of noise As a result, there has been a problem that the shape, position, etc. of the third rail can not be measured accurately.

  An object of the present invention is to detect with high accuracy the position of a roadway installation in which a part of the surface formed by an arc is shielded by a structure.

  The inspection device for traffic road equipment according to the present invention comprises a laser light source for irradiating the laser light to the traffic road equipment where a part of the surface formed by the arc is shielded by the structure, and the laser light A processing apparatus comprising: a sensor that receives scattered light and outputs an image signal; and a processing device that processes the image signal output from the sensor as profile data to detect the position of a traffic facility. , From the profile data, using the least squares method of the circle, calculate the coordinates and radius of the circle center point of the arc constituting the curved portion of the cross section of the traffic facility, and the circle having the coordinates and radius of the center point calculated The coordinates of the center point of a circle having the same radius as the radius of the circle of the arc specified by the traffic route equipment standard are calculated through the two points on the circumference of the circle, and the calculated coordinates of the center point Stepwise displacement in the direction, Arithmetic circuit that selects the coordinates that minimize the sum of squares of errors between the radius calculated from the profile data and the radius of the circle specified by the standard, and detects the position of the traffic facility from the selected coordinates. It is characterized by having.

  Further, according to the inspection method of traffic road equipment of the present invention, the laser light is irradiated from the laser light source to the traffic road equipment where a part of the surface formed by the arc is shielded by the structure, and the laser light is the traffic road Scattered light scattered by the facility is received by the sensor, the image signal output from the sensor is processed as profile data, and the curve part of the cross section of the traffic facility is configured from the profile data using the least squares method of the circle Calculate the coordinates and radius of the center point of the circle of arcs, and pass through the two points on the circumference of the circle with the coordinates and radius of the calculated center point, the radius of the circle of the arc specified in the traffic facility standard Calculate the coordinates of the center point of a circle with the same radius as above, shift the calculated coordinates of the center point stepwise in each axis direction of the coordinate axes, and calculate the radius calculated from the profile data and the arc specified by the standard. With the radius of the circle Coordinates sum of the squares of the error is minimized by selecting respectively, and detects the position of the traffic line facilities from selected coordinates.

  Conventionally, the coordinates and radius of the central point of the circle of the arc forming the curved portion of the cross section of the traffic facility are calculated from the profile data using the equation of the circle passing through three points, From the radius, the location of the traffic facility was detected. However, when a part of the surface formed by the arc of the traffic facility is shielded by the structure, the position of the traffic facility can be detected accurately due to the lack of profile data of the part shielded by the structure It was not done. In the present invention, passing through two points on the circumference of a circle having the coordinates of the center point and the radius calculated using the least squares method of the circle, the same radius as that of the circle of the arc specified in the traffic facility standard. Calculate the coordinates of the center point of the circle with. Then, the calculated coordinates of the central point are displaced stepwise in each axis direction of the coordinate axes, and the sum of squares of errors between the radius calculated from the profile data and the radius of the circle of the arc specified by the standard is minimum Each coordinate is chosen. Even if the profile data is missing, the coordinates of the center point of the circle of the arc forming the curved portion of the cross section of the traffic facility can be accurately determined using the radius of the circle of the arc specified by the traffic facility standard. . Then, since the position of the traffic facility is detected from the selected coordinates, the position of the traffic facility in which a part of the surface formed by the arc is shielded by the structure is detected with high accuracy.

  Furthermore, the inspection apparatus and inspection method for traffic facility according to the present invention calculate the coordinates and radius of the center point of the circle of the arc that constitutes the curved portion of the cross section of the traffic facility using the least squares method of the circle. Before the processing, it is characterized in that, from the profile data, noise components due to the scattered light of the laser light scattered by the structure are removed, and the subsequent processing is performed using the profile data from which the noise components have been removed. The effects of noise components from light scattered from structures around the traffic facility are eliminated, and the position of the traffic facility where a part of the surface formed by the arc is shielded by the structure is detected with higher accuracy Be done.

  Furthermore, according to the inspection apparatus and inspection method for traffic facility of the present invention, the Y coordinate represents the center point in the vicinity of the profile data as two points on the circumference of a circle having the coordinates and radius of the calculated center point. It is characterized in that the same point and a point at a position obtained by rotating the point by an arbitrary angle between -30 ° and -90 ° with respect to the central point are used.

  Furthermore, in the inspection apparatus and inspection method for traffic facility according to the present invention, when the calculated coordinates of the central point are stepwise displaced in each axial direction of the coordinate axes, the coordinate in the axial direction of low resolution of the sensor is detected Is characterized in that the resolution of Y.sup.2 is displaced in a wider range than the coordinates in the direction of high axis. The error in the axial radius of the low resolution sensor is calculated more than the error of the high radial radius of the sensor resolution, and based on them the coordinates of the center point according to the axial difference of the resolution of the sensor Election is properly conducted.

  Alternatively, according to the traffic road facility inspection apparatus of the present invention, a laser light source for irradiating the laser beam to the traffic road facility where a part of the surface formed by the arc is shielded by the structure, and the laser beam A sensor that receives scattered light scattered by equipment and outputs an image signal, and a processing device that processes the image signal output from the sensor as profile data to detect the position of traffic road equipment The apparatus calculates the coordinates and radius of the center point of the circle of the arc that constitutes the curved portion of the cross section of the traffic facility using the least squares method of the circle from the profile data, and calculates the coordinates and radius of the calculated center point The coordinates of the center point of a circle that has the same radius as the radius of the circle of the arc specified by the traffic route facility standard are calculated through the two points on the circumference of the circle that you have, and the traffic route is calculated from the coordinates of the calculated center point Detect the location of equipment Characterized in that it has a calculation circuit.

  Further, according to the inspection method of traffic road equipment of the present invention, the laser light is irradiated from the laser light source to the traffic road equipment where a part of the surface formed by the arc is shielded by the structure, and the laser light is the traffic road Scattered light scattered by the facility is received by the sensor, the image signal output from the sensor is processed as profile data, and the curve part of the cross section of the traffic facility is configured from the profile data using the least squares method of the circle Calculate the coordinates and radius of the center point of the circle of arcs, and pass through the two points on the circumference of the circle with the coordinates and radius of the calculated center point, the radius of the circle of the arc specified in the traffic facility standard The coordinates of the central point of a circle having the same radius as that of the above are calculated, and the position of the traffic facility is detected from the calculated coordinates of the central point.

  According to the present invention, it is possible to detect with high accuracy the position of a roadway installation in which a part of the surface formed by a circular arc is shielded by a structure.

  Furthermore, laser light is scattered by the structure from the profile data before using the circle least squares method to calculate the coordinates and radius of the circle center point of the arc that constitutes the curved portion of the traffic facility section. The noise component due to the scattered light is removed, and the profile data from which the noise component is removed is used for the subsequent processing to eliminate the influence of the noise component due to the scattered light from the structure around the traffic facility. The position of the roadway installation in which a part of the surface formed by the arc is shielded by the structure can be detected with high accuracy.

  Furthermore, as two points on the circumference of a circle having the coordinates and radius of the calculated center point, in the vicinity of profile data, the Y coordinate is the same point as the center point, and the point from -30 ° to the center point The center point of a circle that has the same radius as that of the circle of an arc specified by the traffic facility standard, passing through two points by using a point rotated by an arbitrary angle between -90 ° When calculating the coordinates of x, the accuracy of the calculated coordinates of the central point can be further improved.

  Furthermore, when displacing the calculated center point coordinates stepwise in each axis direction of the coordinate axis, by displacing the coordinate in the axial direction of low resolution of the sensor to a wider range than the coordinate in the axial direction of high resolution of the sensor. According to the difference in the axial direction of the resolution of the sensor, it is possible to appropriately select the coordinates of the center point.

  Alternatively, the calculated coordinates of the central point are displaced stepwise in each axis direction of the coordinate axes, and the sum of squares of errors between the radius calculated from the profile data and the radius of the circle of the arc specified by the standard is minimum The accuracy can be improved by omitting the process of selecting the respective coordinates.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows schematic structure of the inspection apparatus of the traffic-path installation by one embodiment of this invention. It is a figure explaining operation of a sensor unit. It is a figure which shows an example of a third rail. It is a flowchart which shows operation | movement of the arithmetic circuit by one embodiment of this invention. It is a figure explaining removal of a noise component. It is a figure explaining the process by the least squares method of a circle. It is a figure explaining the process by the least squares method of a circle. It is a figure explaining the process by the least squares method of a circle. It is a figure explaining correction | amendment of a center point position. It is a figure explaining correction | amendment of a center point position. It is a figure explaining correction | amendment of a center point position. It is a figure explaining a fitting process. It is a figure explaining position detection of the third rail by one embodiment of the present invention. It is a figure explaining position detection of the third rail by one embodiment of the present invention. It is a flowchart which shows operation | movement of the arithmetic circuit by other embodiment of this invention. It is a figure explaining position detection of the third rail by another embodiment of the present invention.

[Configuration of inspection device]
FIG. 1 is a view showing a schematic configuration of a traffic road equipment inspection and measurement apparatus according to an embodiment of the present invention. The present embodiment shows an example of a inspection and measurement device that inspects the shape, position, and the like of a third rail for power supply laid on a railroad track. The inspection device 100 includes a sensor unit 10, a controller 20, a distance pulse generator 23, and a processor 30. The sensor unit 10 is installed under the floor of the inspection vehicle or the sales vehicle. The control device 20, the distance pulse generator 23, and the processing device 30 are mounted on a detection vehicle or a sales vehicle. In the following description, the inspection vehicle will be described as an example.

  The sensor unit 10 is configured to include a laser light source 11, a cylindrical lens 12, a condensing lens 13, and a sensor 14. The laser light source 11 is made of, for example, a laser diode and generates a laser beam. The laser beam generated from the laser light source 11 is diffused by the cylindrical lens 12 and irradiated from the sensor unit 10.

  FIG. 2 is a diagram for explaining the operation of the sensor unit. In a subway track or the like, a third rail 3 for feeding is laid at a predetermined height on one side of a rail 2 laid on a sleeper 1. A collector shoe (current collecting shoe) (not shown) for current collection is attached to the side of a truck under the inspection vehicle 5 and the floor of the sales vehicle, and the collector shoe contacts the energized third rail 3, Electricity is supplied to the inspection vehicle 5 and the business vehicle. In the vicinity of the third rail 3, a cover 4 is installed in proximity to the third rail 3. The sensor unit 10 is installed on the undercarriage of the inspection vehicle 5. The laser beam emitted from the sensor unit 10 is emitted to the third rail 3. Then, the irradiated laser light is scattered by the third rail 3 to generate scattered light.

  In FIG. 1, the laser light scattered by the third rail is condensed by the condensing lens 13 and received by the light receiving surface of the sensor 14. The sensor 14 is, for example, a CCD line sensor, and outputs an image signal according to the intensity of the received scattered light.

  FIG. 3 is a diagram illustrating an example of a third rail. The main body of the third rail 3 is made of, for example, an electrically conductive metal such as aluminum. Protective plates 3a and 3b made of stainless steel are attached to the contact surfaces of the upper and lower portions of the third rail 3 which are in contact with the collector shoes, thereby preventing wear of the contact surfaces. In this embodiment, the value of the radius of the circle of the arc forming the curved portion of the surface of the protective plate 3b of the third rail 3 is defined by the standard of the third rail 3 as "R" mm. Do.

  In FIG. 1, the control device 20 includes a control circuit 21 and a memory 22. The distance pulse generator 23 generates a distance pulse indicating positional information on the traveling direction of the inspection vehicle every time the inspection vehicle travels a predetermined distance. The control circuit 21 collects the image signal output from the sensor 14 together with the distance pulse generated from the distance pulse generator 23 and stores the image signal in the memory 22.

  The processing device 30 is, for example, a personal computer (PC) or the like, and includes a CPU 31, a memory 32, and an arithmetic circuit 33. The distance pulse and the image signal stored in the memory 22 of the control device 20 are transferred to the memory 32. The CPU 31 determines from the distance pulse stored in the memory 32 which position the image signal stored in the memory 32 is in the traveling direction of the inspection vehicle, and profile data of each image signal at that position It stores in the memory 32 as. The arithmetic circuit 33 performs processing described below on the profile data stored in the memory 32 under the control of the CPU 31 to detect the position of the third rail 3.

  In the present embodiment, the X coordinate of the profile data indicates the position in the lateral direction of the drawing of FIG. 2, and the Y coordinate of the profile data indicates the longitudinal direction of the drawing of FIG. The position of Z axis direction is shown. As shown in FIG. 2, the third rail 3 is mostly covered by the cover 4, and in the present embodiment, only the portion of the lower contact surface of the third rail 3 which is not covered by the cover 4, Profile data is acquired.

[Operation of arithmetic circuit]
First Embodiment
FIG. 4 is a flowchart showing the operation of the arithmetic circuit according to one embodiment of the present invention. First, the arithmetic circuit 33 removes the noise component due to the scattered light in which the laser light is scattered by the cover 4 from the profile data of the third rail 3 (step 101). Next, the arithmetic circuit 33 performs processing by the least squares method of the circle on the profile data from which the noise component has been removed in step 101, and the center point of the circle of the arc forming the curved portion of the cross section of the third rail 3. Coordinates and radius are calculated (step 102). Subsequently, the arithmetic circuit 33 passes through two points on the circumference of a circle having the coordinates and radius of the center point calculated in step 102, and has the same radius as the radius R of the circle of the arc specified by the third rail 3 standard. The coordinates of the center point of a circle having the following equation are calculated to correct the position of the center point (step 103). Furthermore, the arithmetic circuit 33 displaces the coordinates of the central point calculated in step 103 in the direction of each axis of the coordinate axis in a stepwise manner, and is defined by the radius calculated from the profile data from which the noise component is removed in step 101 A fitting process is performed to select each coordinate at which the sum of squares of errors with the circle radius of the circular arc is the smallest (step 104). Then, the arithmetic circuit 33 detects the position of the third rail 3 from the coordinates of the center point selected in step 104 (step 105). The process of each step will be described in detail below.

(Removal of noise component)
FIG. 5 is a diagram for explaining the removal of noise components in step 101 of FIG. First, the arithmetic circuit 33 processes the profile data of the third rail 3 in the same manner as the circle least squares method to be described next, and the virtual circle of the arc forming the curved portion of the cross section of the third rail 3 The coordinates of the center point and the virtual radius r 'are calculated. Next, the arithmetic circuit 33 determines the tolerance ± d of the error of the profile data with respect to the calculated virtual radius r ′, and a circle having a radius “r′−d” and a radius centered at the virtual center point, Define a circle of "r '+ d". In FIG. 5, the alternate long and short dash line indicates an arc of a circle of an imaginary radius r ′, and a broken line indicates an arc of a circle of a radius “r′−d” and an arc of a circle of a radius “r ′ + d”. In addition, black circles other than the virtual center point indicate profile data.

  The arithmetic circuit 33 checks whether each profile data is located between the arc of a circle of radius "r'-d" and the arc of a circle of radius "r '+ d". Then, the arithmetic circuit 33 removes the profile data P1 and P2 located outside the tolerance range ± d of the error located outside the two arcs as a noise component due to the scattered light scattered by the cover 4. Since the influence of the noise component due to the scattered light from the cover 4 around the third rail 3 is eliminated, the detection of the position of the third rail 3 by the subsequent processing is performed with higher accuracy.

(Processing by the circle least squares method)
6 to 8 are diagrams for explaining the process by the least squares method of the circle in step 102 of FIG. In FIG. 6, assuming the coordinates (a, b) of the center point of the circle and the radius r of the circle, the equation (1) holds for the coordinates (x, y) of any point on the circumference. When the equation (1) is modified to be 0 and the sum of squares of the sides is obtained, the equation (2) is obtained. If the left side of the equation (2) is expanded and A, B, C are placed as shown by the equations (4), (5), (6), the equation (3) is obtained. When equations (3), (B) and (C) are partially differentiated, equations (7), (8) and (9) in FIG. 7 are obtained. Then, equations (7), (8) and (9) are solved using a matrix to obtain the equations (10) and (11) in FIG.

  The arithmetic circuit 33 applies the respective values of the profile data from which noise components have been removed in step 101 to the equation (11) to calculate the values of A, B and C, and calculates the values of A, B and C From the equations (4), (5) and (6) in FIG. 6, the coordinates (a, b) of the center point of the circle and the radius r of the circle are calculated.

(Correction of center point position)
9 to 11 are diagrams for explaining the correction of the center point position in step 103 of FIG. First, using the coordinates (a, b) of the center point of the circle calculated in step 102 of FIG. 4 and the radius r of the circle, the arithmetic circuit 33 uses the equations (12) to (15) of FIG. Coordinates (a1, b) of the central point and coordinates (x1, y1), (x2, y2) of any two points on the circumference of a circle having a radius r are calculated. Then, using the calculated coordinates (x1, y1) and (x2, y2) of the two points, according to the equations (16) to (19) in FIG. 10, the third rail 3 including these two points on the circumference Coordinates (a ′, b ′) of the center point of a circle having a radius R of a circular arc specified in the standard are calculated to correct the position of the center point.

  At this time, assuming that θ1 = 0 ° and θ2 = −45 ° in the respective equations (12) to (15) shown in FIG. 9, cos θ1 = 1, sin θ1 = 0, cos θ2 = 1 // 2, sin θ2 = − The calculation becomes easy as 1 / 計算 2. That is, if two points on the circumference are used in the vicinity of the profile data, a point having the same Y coordinate as the central point and a point at which the point is rotated by -45 ° with respect to the central point are used. When calculating the coordinates (a ′, b ′) of the center point of a circle having the same radius as the radius R of the circle specified by the third rail 3 standard from the equations (16) to (19) of The calculation is easier and the processing speed is improved.

  The equations (16) to (19) in FIG. 10 can be obtained as follows. First, in FIG. 10, assuming that the distance between the point on the circumferential coordinates (x1, y1) and the point on the coordinates (x2, y2) is L, the equation (16) holds.

  Next, in FIG. 11, with respect to the center point O of the circle of radius R and the two points E and F on the circumference, the coordinates of the midpoint G of the straight line EF are set to (m, n). The triangle OGE is a right triangle, and assuming that the length of each side is s, L / 2, R, the equation (20) holds. Further, when the formula of the straight line OG is obtained from the coordinates (x1, y1) of the point E and the coordinates (x2, y2) of the point F, it becomes the formula of (21). Substituting ') results in the expression (22). On the other hand, the length of each side of the right-angled triangle OHG indicated by a broken line, which has a straight line OG as an oblique side, is “n−b ′”, “m−a ′”, s, and from these and the equation of (20) The equation of (23) holds. Substituting the equation of (22) into the equation of (23) to obtain a ', the equation of (24) is obtained. Substituting m = (x1 + x2) / 2 into this gives the equation (25), and putting k as in the equation (17) of FIG. 10 gives the equation (18). Further, when the equation (18), m = (x1 + x2) / 2 and n = (y1 + y2) / 2 are substituted into the equation (22), the equation (19) is obtained.

(Fitting process)
FIG. 12 is a diagram for explaining the fitting process in step 104 of FIG. For the X coordinate a 'of the central point calculated in step 103 of FIG. 4, the displacement dx in the X axis direction is stepwise changed from -1 to +1 in steps of 0.05, for example. The error drx between the radius calculated from the removed profile data and the radius R of the circle specified by the standard is calculated, and the sum of squares of the error drx is calculated. Then, the coordinate “a ′ + dx” at the displacement at which the sum of squares of the error drx is minimum is selected as the X coordinate.

  Further, for the Y coordinate b 'of the central point calculated in step 103 of FIG. 4, the displacement dy in the Z axis direction is stepwise changed from +3 to -3 to -0.05, for example, and step 101 The error dry between the radius calculated from the profile data from which the noise component has been removed and the radius R of the circular arc specified by the standard is calculated, and the sum of the squares of the error dry is calculated. Then, the coordinate "b '+ dy" at the displacement at which the sum of squares of the error dry is minimized is selected as the Y coordinate.

  The sensor 14 used in the present embodiment has a resolution in the Z-axis (Y coordinate) direction lower than that in the X-axis direction. Therefore, in the present embodiment, when the above-described fitting process is performed, the coordinates in the Z-axis direction where the resolution of the sensor is low are displaced more broadly than the coordinates in the X-axis direction where the resolution of the sensor is high. Thereby, the error dry shown in FIG. 12 is calculated more than the error drx, and based on them, the coordinates of the center point are appropriately selected according to the difference in the axial direction of the resolution of the sensor 14.

(Position detection of third rail)
13 and 14 are diagrams for explaining the position detection of the third rail in step 105 of FIG. First, the arithmetic circuit 33 uses the coordinates (a '+ dx, b' + dy) of the central point selected in step 104 and the radius R of the circle of the arc specified by the standard, and the curved portion of the cross section of the third rail 3 Calculate the coordinates of the vertex of. In FIG. 13, a point separated by a radius R in the X-axis direction from the center point of the coordinates (a ′ + dx, b ′ + dy) is the vertex of the curved portion of the cross section of the third rail 3. The arithmetic circuit 33 then uses the coordinates of the vertex of the curved portion of the cross section of the third rail 3 calculated and the position of the head side surface of the rail 2 separately detected using the inspection device for the rail 2 in FIG. The distance D between the rail 2 and the third rail 3 is calculated to detect the position of the third rail 3 with reference to the position of the rail 2.

  Since the coordinates of the center point of the circle calculated in step 102 are corrected in steps 103 and 104 in FIG. 4, even if there is a drop in the profile data, the circle of the arc specified by the third rail 3 standard Using the radius, the coordinates of the center point of the circle of the arc forming the curved portion of the cross section of the third rail 3 can be accurately obtained. Then, in step 105, the position of the third rail 3 is detected from the coordinates of the center point after correction, so that the position of the third rail 3 is detected from the coordinates and radius of the center point of the circle calculated in step 102. The position of the third rail 3 in which a part of the surface formed by the arc is shielded by the cover 4 is detected with high accuracy.

(Effect of the first embodiment)
According to the embodiment described above, it is possible to detect with high accuracy the position of the third rail 3 in which a part of the surface formed by the arc is shielded by the cover 4.

  Furthermore, in step 101 of FIG. 4, noise components due to the scattered light of the laser light scattered by the cover 4 are removed from the profile data, and the subsequent processing is performed using profile data from which the noise components have been removed. The influence of noise components due to light scattered from the cover 4 around the third rail 3 is eliminated, and the position of the third rail 3 in which a part of the surface formed by the arc is shielded by the cover 4 is detected with high accuracy can do.

  Furthermore, when correcting the position of the center point in step 103 of FIG. 4, the Y coordinate is the center in the vicinity of the profile data as two points on the circumference of a circle having the coordinates and radius of the center point calculated in step 102. The accuracy can be further improved by using the same point as the point and the point at which the point is rotated by an arbitrary angle with respect to the central point. In this embodiment, the case where the Y coordinate is the same as the center point and the point at the position where the point is rotated by -45 ° with respect to the center point is described, but the rotation angle is -45 °. The angle may be any angle between -30 ° and -90 °.

  Furthermore, when performing fitting processing in step 104 of FIG. 4, the sensor resolution axis is displaced by displacing the coordinates in the Z-axis direction with low sensor resolution more broadly than the coordinates in the X-axis direction with high sensor resolution. Depending on the difference in direction, the coordinates of the center point can be appropriately selected.

Second Embodiment
FIG. 15 is a flowchart showing the operation of the arithmetic circuit according to another embodiment of the present invention. The operation of the arithmetic circuit according to the present embodiment is the one in which the fitting process of step 104 in the first embodiment shown in FIG. 4 is omitted.

  The arithmetic circuit 33 removes the noise component due to the scattered light in which the laser light is scattered by the cover 4 from the profile data of the third rail 3 (step 201). Next, the arithmetic circuit 33 performs processing by the least squares method of the circle on the profile data from which the noise component has been removed in step 201, and the center point of the circle of the arc forming the curved portion of the cross section of the third rail 3. Coordinates and radius are calculated (step 202). Subsequently, the arithmetic circuit 33 passes through two points on the circumference of a circle having the coordinates and radius of the center point calculated in step 202, and has the same radius as the radius R of the circle of the arc specified by the third rail 3 standard. The coordinates of the center point of the circle having the following equation are calculated to correct the position of the center point (step 203). Then, the arithmetic circuit 33 detects the position of the third rail 3 from the coordinates of the central point calculated in step 203 (step 204). The processes of steps 201 to 203 are the same as the processes of steps 101 to 103 in FIG. 4.

(Position detection of third rail)
FIG. 16 is a diagram for explaining position detection of the third rail in step 204 of FIG. The arithmetic circuit 33 uses the coordinates (a ', b') of the central point calculated in step 203 and the radius R of the circle of the arc specified by the standard, and coordinates of the vertex of the curved portion of the cross section of the third rail 3 Calculate In FIG. 16, a point separated by a radius R in the X-axis direction from the center point of the coordinates (a ′, b ′) is the vertex of the curved portion of the cross section of the third rail 3. The arithmetic circuit 33 then calculates the rail 2 and the position of the head side surface of the rail 2 separately detected using the calculated coordinates of the apex of the curved portion of the cross section of the third rail 3 and the detection device for the rail 2. The distance to the third rail 3 is calculated to detect the position of the third rail 3 with reference to the position of the rail 2.

(Effect of the Second Embodiment)
According to the second embodiment described above, the processing speed can be improved by omitting the fitting process of step 104 of FIG. 4 in the first embodiment.

  The present invention can be applied not only to the third rail of railroad tracks, but also to inspection of various types of transportation facilities in which structures such as covers are installed in close proximity. Further, the present invention is used for inspection of a portion where a part of the tunnel surface formed by a circular arc is shielded by a structure such as a sign or lighting equipment when inspecting the shape of a railway or a road tunnel. Can also be applied. In the embodiment described above, an example in which the sensor unit is installed under the floor of the inspection vehicle has been described, but depending on the inspection object, the sensor unit may be installed in a place other than the floor, such as a roof .

DESCRIPTION OF SYMBOLS 1 Sleeper 2 Rail 3 Third rail 3a, 3b Protective plate 4 Cover 5 Inspection vehicle 10 Sensor unit 11 Laser light source 12 Cylindrical lens 13 Condenser lens 14 Sensor 20 Control device 21 Control circuit 22 Memory 23 Distance pulse generator 30 Processing device 31 CPU
32 Memory 33 Arithmetic Circuit 100 Inspection Equipment

Claims (14)

A laser light source for irradiating a laser beam to a roadway facility in which a part of the surface formed by an arc is shielded by a structure;
A sensor for receiving the scattered light scattered by the traffic path facility by the laser light and outputting an image signal;
And a processing device for processing the image signal output from the sensor as profile data to detect the position of the traffic facility.
The processing unit
From the profile data, using the least squares method of the circle, the coordinates and radius of the circle center point of the arc constituting the curved portion of the section of the traffic facility are calculated, and the coordinates and radius of the center point are calculated The coordinates of the center point of a circle having the same radius as the radius of the circle of the arc specified by the standard of the traffic road facility are calculated through two points on the circumference of the circle, and the coordinates of the calculated center point Coordinates are selected in which the sum of squares of errors between the radius calculated from the profile data and the radius of the circular arc specified by the standard is minimized by stepwise displacement in each axial direction, and the selected coordinates are selected. And an arithmetic circuit for detecting the position of the traffic facility from the above. The arithmetic circuit may use the least squares method of the circle to calculate the coordinates and radius of the center point of the circle of the arc that constitutes the curved portion of the cross section of the transportation facility, the laser light from the profile data The traffic route equipment inspection according to claim 1, wherein the subsequent processing is performed using the profile data from which the noise component due to the scattered light scattered by the structure is removed and the noise component is removed. apparatus. The arithmetic circuit sets two points on the circumference of a circle having coordinates and a radius of the calculated central point, in the vicinity of the profile data, with respect to the central point and a point having the same Y coordinate as the central point. The inspection device for traffic facility according to claim 1 or 2, wherein a point at a position rotated by an arbitrary angle between -30 ° and -90 ° is used. When the arithmetic circuit displaces the calculated center point coordinates stepwise in each axis direction of the coordinate axis, the coordinate in the axial direction of the low resolution of the sensor is wider than the coordinate in the axial direction of the high resolution of the sensor. The inspection apparatus for traffic route equipment according to any one of claims 1 to 3, wherein the inspection equipment for the roadway equipment is displaced. The laser light source irradiates the laser light from the laser light source to the roadway facility where a part of the surface formed by the arc is shielded by the structure,
The laser light receives scattered light scattered by the traffic route facility by a sensor,
Processing an image signal output from the sensor as profile data;
From the profile data, using the least squares method of a circle, the coordinates and radius of the center point of the circle of the arc that constitutes the curved portion of the section of the traffic facility are calculated;
The coordinates of the center point of a circle having the same radius as the radius of the circle of the arc specified by the standard of the traffic facility are calculated by passing through two points on the circumference of the circle having the coordinates and the radius of the calculated center point. ,
The calculated coordinates of the central point are displaced stepwise in each axis direction of the coordinate axes, and the sum of squares of errors between the radius calculated from the profile data and the radius of the circle of the arc specified by the standard is minimized. Pick the coordinates respectively,
A method of detecting traffic route equipment, comprising: detecting the position of the traffic route equipment from selected coordinates. From the profile data, the laser light is the structure before the coordinates and the radius of the circle center point of the arc forming the curved portion of the section of the traffic facility are calculated using the circle least squares method. Remove noise components from scattered light,
The inspection method of traffic road equipment according to claim 5, wherein the subsequent processing is performed using profile data from which noise components are removed. As the two points on the circumference of a circle having the coordinates and radius of the calculated center point, in the vicinity of the profile data, a point having the same Y coordinate as the center point, and the point concerned from -30 ° to the center point The method according to claim 5 or 6, wherein the point of the position rotated by an arbitrary angle between 90 ° is used. When stepwise displacing the calculated coordinates of the central point in the axial directions of the coordinate axes, it is possible to displace the coordinate in the axial direction of the low resolution of the sensor to a wider range than the coordinate in the axial direction of the high resolution of the sensor. The inspection method of traffic route equipment according to any one of claims 5 to 7, characterized in that: A laser light source for irradiating a laser beam to a roadway facility in which a part of the surface formed by an arc is shielded by a structure;
A sensor for receiving the scattered light scattered by the traffic path facility by the laser light and outputting an image signal;
And a processing device for processing the image signal output from the sensor as profile data to detect the position of the traffic facility.
The processing unit
From the profile data, using the least squares method of the circle, the coordinates and radius of the circle center point of the arc constituting the curved portion of the section of the traffic facility are calculated, and the coordinates and radius of the center point are calculated The coordinates of the center point of a circle having the same radius as the radius of the circle of the arc specified by the standard of the traffic road facility are calculated through the two points on the circumference of the circle, and the traffic is calculated from the coordinates of the calculated center point An inspection device for a traffic facility, comprising an arithmetic circuit for detecting the position of the road facility. The arithmetic circuit may use the least squares method of the circle to calculate the coordinates and radius of the center point of the circle of the arc that constitutes the curved portion of the cross section of the transportation facility, the laser light from the profile data 10. The traffic route equipment inspection according to claim 9, characterized in that the following processing is performed using the profile data from which the noise component due to the scattered light scattered by the structure is removed and the noise component is removed. apparatus. The arithmetic circuit sets two points on the circumference of a circle having coordinates and a radius of the calculated central point, in the vicinity of the profile data, with respect to the central point and a point having the same Y coordinate as the central point. The inspection apparatus for traffic facility according to claim 9 or 10, wherein the point of the position rotated by an arbitrary angle between -30 ° and -90 ° is used. The laser light source irradiates the laser light from the laser light source to the roadway facility where a part of the surface formed by the arc is shielded by the structure,
The laser light receives scattered light scattered by the traffic route facility by a sensor,
Processing an image signal output from the sensor as profile data;
From the profile data, using the least squares method of a circle, the coordinates and radius of the center point of the circle of the arc that constitutes the curved portion of the section of the traffic facility are calculated;
The coordinates of the center point of a circle having the same radius as the radius of the circle of the arc specified by the standard of the traffic facility are calculated by passing through two points on the circumference of the circle having the coordinates and the radius of the calculated center point. ,
A method of inspecting a traffic facility, comprising detecting the position of the traffic facility from the calculated coordinates of the central point. From the profile data, the laser light is the structure before the coordinates and the radius of the circle center point of the arc forming the curved portion of the section of the traffic facility are calculated using the circle least squares method. Remove noise components from scattered light,
The traffic route equipment inspection method according to claim 12, wherein the subsequent processing is performed using profile data from which noise components have been removed. As the two points on the circumference of a circle having the coordinates and radius of the calculated center point, in the vicinity of the profile data, a point having the same Y coordinate as the center point, and the point concerned from -30 ° to the center point The method according to claim 12 or 13, wherein the point of the position rotated by an arbitrary angle between 90 ° is used.

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