JP2022025370A - Railway state measuring device - Google Patents

Abstract

To provide a technology which enables railway safety confirmation without manual intervention even in environments where navigation signals are not available.SOLUTION: A railway state measuring device 1 takes images showing the state of a railway 2 with a camera while autonomously moving along the railway 2, and transmits images taken to a terminal device 3. The terminal device 3 displays the images transmitted from the railway state measuring device 1 together with the position information indicating the position where the images have been taken. It is possible for a user of the terminal device 3 to know the position of the railway 2 when there is an abnormality in the railway 2 based on the information displayed by the terminal device 3. The railway state measuring device 1 measures the current position of the device itself based on the navigation signals during the period in which the navigation signals can be received. When the railway state measuring device 1 cannot receive the navigation signals (for example, when moving in a tunnel 4), the railway equipment at known positions (for example, a traffic light 5 or a ground element 6) are detected from images or radio waves, and the position of the device itself is calculated from the positions of the detected railway equipment.SELECTED DRAWING: Figure 1

Description

The present invention relates to a technique for ensuring safe operation of a railway.

In recent years, unmanned mobile bodies capable of autonomous movement have become widespread. For example, an unmanned aerial vehicle, generally called a drone, receives navigation signals transmitted from multiple navigation satellites by a GNSS (Global Navigation Satellite System) unit, measures its own position based on the received navigation signals, and stores it in advance. You can fly according to the flight route you are using.

Drones can quickly reach places that are difficult for people to reach. Therefore, it has been proposed that drones can be used to rescue victims at disaster sites and the like. For example, Patent Document 1 proposes an unmanned aerial vehicle equipped with a medical device such as an AED (Automated External Defibrillator) and moving to a disaster site in the event of a disaster to support rescue work for disaster victims.

Japanese Unexamined Patent Publication No. 2017-213951

If heavy rains continue and there is a risk of landslides around the track, or if an earthquake occurs, the railway will stop operating under circumstances where safe operation of the railway cannot be ensured. Due to a disaster such as a heavy rain or an earthquake, the track may be covered with obstacles such as earth and sand. In addition, the orbit may be distorted due to the collapse of the ground. Therefore, after the disaster has subsided, it is necessary to confirm that there are no abnormalities in the track and that there are no obstacles in the space around the track (within the building limits) before resuming railway operation. There is.

Conventionally, the above-mentioned condition confirmation of the track and the area around the track (hereinafter referred to as "safety confirmation of the track") is performed by a railway maintenance engineer or the like walking along the track and visually checking. Due to the limited number of maintenance technicians, it takes a considerable amount of time to confirm the safety of the track. Therefore, even if the disaster subsides, there is a problem that the railway operation cannot be resumed easily. In addition, if the ground has collapsed, it is dangerous for maintenance engineers to approach the site. Therefore, it may not be possible to confirm safety, and it may take longer to resume the operation of the railway.

If the safety of the orbit is confirmed by an unmanned moving object, it is possible to make up for the shortage of personnel for confirming the safety of the orbit. In addition, if it is an unmanned moving object, it is possible to confirm the safety of the track at a dangerous site when personnel approach. Therefore, if the safety of the track is confirmed by an unmanned moving body, the time required to resume the operation of the railway after the disaster has subsided can be shortened.

However, a part of the orbit is in an environment where the navigation signal from the navigation satellite cannot be sufficiently received, such as in a tunnel. Under these environments, unmanned moving objects cannot measure their own position and cannot move autonomously. Therefore, there is a problem that the safety of the orbit cannot always be completed depending on the normal unmanned moving body.

In view of the above circumstances, the present invention provides a technique that enables safety confirmation of an orbit without human intervention even in an environment where a navigation signal does not reach.

The present invention performs measurement of the state of the track and detection of railway equipment at a known position along the track while autonomously moving along the track without touching the upper surface of the rail constituting the track. As the first aspect, we propose an orbital state measuring device that associates the measurement result with the position information specified from the detection result.

According to the orbital state measuring device according to the first aspect, it is possible to confirm the safety of the orbit without manpower even in an environment where the navigation signal does not reach.

In the track state measuring device according to the first aspect, the configuration in which the detection is performed by receiving the radio wave transmitted from the railway equipment may be adopted as the second aspect.

According to the track condition measuring device according to the second aspect, if there is a railway facility that emits radio waves such as ground elements, it is possible to check the safety of the track without human intervention even in an environment where the navigation signal does not reach. Become.

In the orbital state measuring device according to the first or second aspect, the configuration in which the detection is performed from the image taken along the track may be adopted as the third aspect.

According to the track condition measuring device according to the third aspect, if there is a structure having a characteristic appearance such as a railroad signal or a railroad crossing, the track is safe regardless of human hands even in an environment where the navigation signal does not reach. Confirmation is possible.

In the orbital state measuring device according to any one of the first to third aspects, the fourth configuration is to improve the accuracy of the position information by using the moving distance calculated from the number of rotations of the member rotating with the movement. It may be adopted as an embodiment.

According to the orbital state measuring device according to the fourth aspect, the measurement result associated with the highly accurate position information can be obtained while the orbital state measuring device is traveling on the ground in an environment where the navigation signal does not reach.

In the orbital state measuring device according to any one of the first to fourth aspects, a configuration in which the accuracy of the position information is improved by using the moving distance calculated from the acceleration generated by the movement is adopted as the fifth aspect. May be good.

According to the orbital state measuring device according to the fifth aspect, the measurement result associated with the highly accurate position information can be obtained while the orbital state measuring device is flying in the air in an environment where the navigation signal does not reach.

In the orbital state measuring device according to any one of the first to fifth aspects, the configuration in which the measurement is performed by photographing the orbit may be adopted as the sixth aspect.

According to the orbital state measuring device according to the sixth aspect, the orbital state can be confirmed by an image.

In the orbital state measuring device according to any one of the first to sixth aspects, a configuration in which the measurement is performed by scanning the area along the orbit with an electromagnetic wave may be adopted as the seventh aspect.

According to the orbital state measuring device according to the seventh aspect, it is possible to confirm the presence or absence of an obstacle in the space around the orbit.

In the track state measuring device according to any one of the first to sixth aspects, the configuration of traveling on the road surface between the two rails included in the track may be adopted as the eighth aspect.

In the orbital state measuring device according to any one of the first to sixth aspects, the configuration of flying while detecting the orbit may be adopted as the ninth aspect.

According to the orbital state measuring device according to the eighth or ninth aspect, the orbital state measurement is not interrupted because the orbital state measuring device does not deviate from the orbit even if the self-position measurement is mistaken.

The figure which showed typically the situation which the orbital state measuring apparatus which concerns on one Embodiment measures the state of an orbit. The figure which showed typically the orbit state display screen displayed by the terminal apparatus which concerns on one Embodiment. The figure which showed typically the appearance of the orbital state measuring apparatus which concerns on one Embodiment. The figure which showed typically the mode that the orbital state measuring apparatus which concerns on one Embodiment moves along the orbit. The figure which showed typically the structure of the orbital state measuring apparatus which concerns on one Embodiment. The figure which exemplifies the structure of the movement path information stored in the orbital state measuring apparatus which concerns on one Embodiment. The figure which illustrated the structure of the equipment table which the orbital state measuring apparatus which concerns on one Embodiment stores.

[Embodiment]
Hereinafter, the orbital state measuring device 1 according to the embodiment of the present invention will be described. The orbital state measuring device 1 is a device for measuring the orbital state. FIG. 1 is a diagram schematically showing a situation in which the track state measuring device 1 measures the state of the track 2.

The orbital state measuring device 1 continuously measures the state of the orbit 2 while autonomously moving along the orbit 2. In the present embodiment, the orbital state measuring device 1 measures the state of the orbital 2 by photographing the area along the orbital 2 with a camera. The orbital state measuring device 1 continuously takes pictures with a camera and at the same time continuously identifies the position of its own device. The method by which the orbital state measuring device 1 specifies the position of its own device will be described later.

The orbital state measuring device 1 continuously measures the current time with a clock. The orbital state measuring device 1 obtains an image taken along the track 2 which is a measurement result, position information indicating the position of the own device at the time of taking the image, and time information indicating the time when the image was taken. The associated data set (hereinafter referred to as "measurement result data set") is sequentially stored.

The orbital state measuring device 1 includes a communication unit for wirelessly communicating with the terminal device 3 used by the user. The orbital state measuring device 1 sequentially transmits the stored measurement result data set to the terminal device 3 in an environment in which communication with the terminal device 3 is possible. Further, the orbital state measuring device 1 collectively transmits untransmitted measurement result data sets stored in an environment where communication with the terminal device 3 is not possible to the terminal device 3 when communication with the terminal device 3 becomes possible. ..

The user of the terminal device 3 is, for example, a maintenance engineer who confirms the safety of the track. The terminal device 3 stores map information representing a map of the area where the track 2 is laid. The terminal device 3 uses the stored map information and the image, position information, and time information included in the measurement result data set transmitted from the orbital state measuring device 1, for example, as shown in FIG. 2 (A). Screen (hereinafter referred to as "orbital status display screen") is displayed.

The orbital state display screen includes an area A1 for displaying a map, an area A2 for displaying an image taken by the orbital state measuring device 1, and an area A3 for displaying the time when the image displayed in the area A2 was taken. , The area A4 representing the image of the virtual operator used for instructing the user to stop the reproduction, rewind, etc. of the image (moving image) displayed in the area A2 is included. On the map displayed in the area A1, the position of the orbital state measuring device 1 at the time when the image displayed in the area A2 is taken is indicated by a star.

While viewing the image displayed in the area A2 of the track state display screen, the user of the terminal device 3 checks whether the track 2 is damaged or the like, and also has a space on or around the track 2 in a predetermined range. Check if there are any obstacles inside (within the building limit). When the user of the terminal device 3 detects some abnormality related to the orbit 2 based on the image displayed in the area A2, he / she performs an operation of pressing the "rewind" button or the like displayed in the area A4 to detect the abnormality. By looking at the detected images (and the images before and after), it is confirmed that the abnormality certainly exists, and at the timing when the image showing the abnormality is displayed in the area A2, the image is displayed in the area A4. Perform the operation of pressing the "mark" button.

When the user presses the "mark" button, the terminal device 3 generates and stores a screenshot image of the orbital state display screen displayed at that time. Further, the terminal device 3 pops up a memo input field (FIG. 2B). The user inputs a description of the detected abnormality in the memo input field displayed in the pop-up, and presses the "OK" button. In response to this operation, the terminal device 3 stores information indicating the explanation input by the user (hereinafter, referred to as "abnormality explanation information") in association with the previously stored screenshot image.

The user of the terminal device 3 goes to the site where the abnormality is occurring while viewing the screenshot image stored in the terminal device 3 together with the abnormality explanation information stored in association with the image, and is necessary. Perform recovery work. Further, the user of the terminal device 3 transmits the screenshot image and the abnormality explanation information stored in the terminal device 3 to the terminal device used by another maintenance engineer or the like, if necessary. Other maintenance technicians who received such information see the information received and displayed by the terminal device, go to the site where the abnormality is occurring on behalf of the user of the terminal device 3, and perform the necessary recovery work. conduct.

FIG. 3 is a diagram schematically showing the appearance of the track state measuring device 1. FIG. 3A is a view of the orbital state measuring device 1 as viewed from above, and FIG. 3B is a view of the orbital state measuring device 1 as viewed from the right. The orbital state measuring device 1 is an unmanned aerial vehicle that flies autonomously. The orbital state measuring device 1 includes a shell body 12 that is a cover that covers the main body 11.

The shell body 12 is a spherical combination of thin rod-shaped bodies made of, for example, plastic or aluminum, in order to reduce the weight. The first role of the shell body 12 is to prevent the main body 11 of the orbital state measuring device 1 from colliding with an external object and being damaged.

The second role of the shell body 12 is to enable the orbital state measuring device 1 to move so as to travel on the ground. The shell body 12 does not have a driving force, but when the main body 11 of the orbital state measuring device 1 does not take off due to the propulsive force of the propeller but tries to move in the front-back and left-right directions, the horizontal and left-right axes and the horizontal front-back axes. And, it acts as a wheel that rolls with low resistance around each axis of the vertical axis.

As described above, the orbital state measuring device 1 can travel on the ground in addition to the flight in the air performed by a normal unmanned aerial vehicle. The orbital state measuring device 1 operates with the electric power stored in the battery, but it is desirable that the electric power consumption associated with the movement is small because the long-distance movement is possible. Driving on the ground requires less power consumption than flying in the air. Therefore, the orbital state measuring device 1 travels on the ground in principle when moving, but if it is difficult to travel on the ground due to obstacles such as earth and sand on the ground, it flies in the air.

FIG. 4 is a diagram schematically showing how the track state measuring device 1 moves along the track 2. When the track state measuring device 1 moves along the track 2, it normally travels on the road surface between the two rails 21 constituting the track 2. That is, the track state measuring device 1 moves along the rail 21 in a manner different from that of a railway traveling while contacting the upper surface of the rail 21. In this way, while the track state measuring device 1 travels between the two rails 21, an error is included in the position information of the own device measured by the track state measuring device 1, and if the track state measuring device 1 moves according to the position information, the rail Even in the case where the shell 12 hits one of the rails 21, the shell 12 does not deviate from between the two rails 21.

When the track condition measuring device 1 determines that, for example, an obstacle such as earth and sand indicated by reference numeral M in FIG. 4 covers the track 2 and cannot travel on the road surface between the two rails 21, it is temporarily in the air. Fly around the obstacle M. After that, it returns to the road surface between the two rails 21 and continues running.

FIG. 5 is a diagram schematically showing the configuration of the main body 11 of the track state measuring device 1. The main body 11 of the orbital state measuring device 1 first includes a battery 101 that stores electric power, which is energy for operating each component of the orbital state measuring device 1. In FIG. 5, the power line for supplying electric power from the battery 101 to each component of the track state measuring device 1 is omitted.

Further, the main body 11 of the track state measuring device 1 includes a computer 102 which is a data processing device for controlling the operation of each component of the track state measuring device 1. The computer 102 includes a processor and a memory, and the processor performs various data processing according to a program stored in the memory to control the operation of other components of the orbital state measuring device 1. The processor included in the computer 102 includes a clock that continuously measures the current time.

The memory included in the computer 102 stores movement route information indicating a movement route along the trajectory 2. The orbital state measuring device 1 receives the movement route information from, for example, the terminal device 3 and stores it in the memory before starting the movement along the orbit 2. FIG. 6 is a diagram illustrating the configuration of movement route information. The movement route information is a sequence of position information indicating a plurality of positions on the movement route. The orbital state measuring device 1 moves so that its own device sequentially passes through the positions indicated by those position information.

Further, the main body 11 of the track state measuring device 1 is driven by an ESC (Electric Speed Controller) 103 that controls the rotation speed of the motor under the control of the computer 102, a motor 104 that operates under the control of the ESC 103, and the motor 104. It is provided with a propeller 105 that rotates and generates a propulsive force for the orbital state measuring device 1 to move. The orbital state measuring device 1 includes, for example, four sets of ESC 103, a motor 104, and a propeller 105. Then, the orbital state measuring device 1 can switch between traveling on the ground and flying in the air, change the moving direction, and the like by adjusting the rotation speed of each of the four propellers 105.

Further, the main body 11 of the orbital state measuring device 1 includes a GNSS unit 106 for measuring the position of the own device, a 3-axis geomagnetic sensor 107 for measuring the strength of geomagnetism, and a 3-axis gyro sensor 108 for measuring the angular velocity of the own device. , The 3-axis acceleration sensor 109 that measures the acceleration of the own device, the pressure sensor 110 that measures the pressure around the own device, and the distance to the ground by the TOF (Time of Flight) method using electromagnetic waves such as ultrasonic waves or infrared rays. A distance measuring sensor 111 for measuring is provided. These components play a role of acquiring information for specifying the position and posture of the own device required when the orbital state measuring device 1 autonomously moves according to the movement path information stored in the memory of the computer 102. Fulfill.

Further, the main body 11 of the track state measuring device 1 includes a camera 112 that captures a line along the track 2, a first communication unit 113 for the track state measuring device 1 to perform wireless communication with the terminal device 3, and a track state measuring device. 1 is provided with a second communication unit 114 for wirelessly communicating with railway equipment such as a ground element arranged along the track 2, and rotation sensors 115P, 115R, 115Y for measuring the rotation speed of the shell 12.

The rotation sensor 115P outputs one detection signal each time the shell 12 rotates about an axis in the horizontal left-right direction by a predetermined angle. The rotation sensor 115R outputs one detection signal each time the shell 12 rotates about an axis in the horizontal front-rear direction by a predetermined angle. The rotation sensor 115Y outputs one detection signal each time the shell 12 rotates about a vertical axis by a predetermined angle. The computer 102 counts the number of detection signals output from the rotation sensor 115Y after the reference time, and multiplies the number by a predetermined angle to specify the direction in which the front surface of the main body 11 is facing. Further, the computer 102 counts the number of detection signals output from the rotation sensors 115P and 115R after the reference time, multiplies the number by a predetermined angle, and divides by 360 degrees to calculate the number of rotations. Multiply the number of rotations by the length of the circumference of the shell body 12 to calculate the movement distance of the main body 11 in the front-rear direction and the left-right direction. Then, the computer 102 specifies the direction and distance that the main body 11 has moved after the reference time from those calculated directions and moving distances.

In FIG. 3, only the housing of the main body 11, the shell 12, the propeller 105, and the camera 112 are shown as the components that can be visually recognized from the outside among the components included in the track state measuring device 1, but for example. , GNSS unit 106 and other components may be arranged at a position that can be visually recognized from the outside.

In the memory included in the computer 102, in addition to the above-mentioned movement route information, a data table having the configuration shown in FIG. 7 (hereinafter, referred to as “equipment table”) is stored. The equipment table is a collection of data records for each of the railway equipment at known locations along track 2 (hereinafter referred to as "registered equipment"). The equipment table includes "type", "identification information", "location information", "distance information", and "image" as data fields.

The type of registered equipment (for example, "ground element", "traffic light", "railroad crossing", etc.) is stored in the "type" column. Identification information such as numbers and symbols that identify registered equipment is stored in the "identification information" column. The location (latitude / longitude) where the registration equipment is installed is stored in the "location information" column. In the "distance information" column, the distance from the reference position (for example, the predetermined position on the track 2 at the predetermined station) to the position of the registered equipment (moving distance when moving along the track 2) is stored. In the "image" column, an image taken by the camera of the registered equipment is stored.

For equipment that emits radio waves, such as ground elements, the image is not stored in the "image" column and is blank. The image stored in the "image" column is used for collation with the image of the registration facility included in the image taken by the camera 112. Therefore, instead of the "image" column, the equipment table may be provided with, for example, a "feature amount" column, and a configuration may be adopted in which the feature amount extracted in advance from the image taken by the registered equipment is stored.

While the orbital state measuring device 1 is in an environment where the navigation signal from the navigation satellite reaches, the computer 102 stores the position information indicating the position of the own device measured by the GNSS unit 106 in the memory. The latest position information stored in the memory is the position information indicating the current position of the orbital state measuring device 1.

A part of the orbit 2 is in an environment where the navigation signal from the navigation satellite such as in a tunnel does not sufficiently reach. For example, in the example shown in FIG. 1, a part of the track 2 is in the tunnel 4. While the track state measuring device 1 is moving in the tunnel 4, the GNSS unit 106 cannot measure the position of its own device. Therefore, the computer 102 continuously identifies the position of the own device by the following method during the period when the position of the own device cannot be measured by the GNSS unit 106.

First, the computer 102 continuously detects the registration equipment from the image taken by the camera 112 while the orbital state measuring device 1 is moving. Specifically, the computer 102 recognizes the object in the image taken by the camera 112 by a known image recognition method, and the feature amount of the recognized object is extracted from the image stored in the equipment table. By collating with, it is determined whether or not any of the registered equipment is reflected in the image taken by the camera 112. When the computer 102 determines that any of the registered equipment (for example, the traffic light 5 illustrated in FIG. 1) is shown in the image taken by the camera 112, the computer 102 determines that the registered equipment has been detected and detects it from the equipment table. Read the location information of the registered equipment. Subsequently, the computer 102 calculates the position of the own device at the time when the image is taken, based on the read position information, the size of the registration equipment shown in the image taken by the camera 112, and the position in the image. Then, the position information indicating the calculated position is stored as the information indicating the current position of the own device.

Further, the computer 102 continuously detects the registration equipment by the radio wave received by the second communication unit 114 while the orbital state measuring device 1 is moving. Specifically, when the data indicated by the radio wave received by the second communication unit 114 includes the identification information for identifying the transmission source railway equipment, the computer 102 stores the identification information in the equipment table. By collating with, it is determined whether or not the data transmission source is one of the registered equipment. When the computer 102 determines that the source of the data received by the second communication unit 114 is one of the registration facilities (for example, the ground element 6 illustrated in FIG. 1), the computer 102 determines that the registration facility has been detected. , Read the location information of the registered equipment detected from the equipment table. Subsequently, the computer 102 calculates the position of the own device at the time when the data is received, based on the read position information, for example, based on the reach of the radio wave transmitted from the registered equipment, and the calculated position. The position information indicating the current position of the own device is stored as information indicating the current position of the own device.

While the position of the own device is being measured by the GNSS unit 106, new position information is stored in the memory at a sufficiently high frequency. On the other hand, while the position of the own device is not measured by the GNSS unit 106, new position information is stored in the memory only by calculating the position based on the above-mentioned image recognition or detection of the registered equipment by receiving radio waves. Insufficient frequency. Therefore, it may not be possible to specify the position of the orbital state measuring device 1 with the required accuracy.

In order to solve the above problem, the computer 102 updates the position information by the method described below while the position of the own device is not measured by the GNSS unit 106, and improves the accuracy of the latest position information.

First, while the track state measuring device 1 is traveling on the road surface between the two rails 21, the computer 102 counts the number of detection signals output from the rotation sensors 115P, 115R, and 115Y, and counts the number of detection signals thereof. Based on the number, the distance and direction that the orbital state measuring device 1 has moved after the timing when the position information is finally stored in the memory are calculated. The computer 102 calculates the current position of its own device by going in the calculated direction from the position indicated by the latest position information and adding the calculated distance. The computer 102 stores the position information indicating the position calculated in this way in the memory.

Further, while the orbital state measuring device 1 is flying in the air for the purpose of bypassing an obstacle covering the rail 21, the computer 102 outputs the acceleration output from the 3-axis acceleration sensor 109 to the second floor. By integrating, the distance and the direction that the orbital state measuring device 1 has moved after the timing when the position information is finally stored in the memory are specified. The computer 102 calculates the current position of the own device by adding the moving distance specified from the acceleration to the position indicated by the latest position information in the moving direction specified from the acceleration. The computer 102 stores the position information indicating the position calculated in this way in the memory.

Each time the computer 102 receives an image from the camera 112, the computer 102 generates a measurement result data set by associating the latest position information stored in the memory with the time information indicating the current time measured by the clock with the image. , Store in memory. Then, if the first communication unit 113 can communicate with the terminal device 3, the computer 102 sequentially transmits untransmitted measurement result data sets stored in the memory to the terminal device 3. The computer 102 may sequentially delete the measurement result data set that has been successfully transmitted to the terminal device 3 from the memory.

According to the orbital state measuring device 1 described above, the shortage of personnel in the safety confirmation of the orbit is reduced. Further, according to the orbital state measuring device 1, it is easy to confirm the safety of the orbit in a place where a person cannot easily go. As a result, the time required to resume operation of railways that have been suspended due to disasters or the like is shortened.

[Modification example]
The embodiments described above may be variously modified within the scope of the technical idea of the present invention. An example of these modifications is shown below. In addition, two or more of the following modifications may be combined as appropriate.

(1) The orbital state measuring device 1 described above includes a camera 112 that generates an image by photographing as a means for measuring the state of the orbital 2. The type of means for the orbital state measuring device 1 to measure the state of the orbital 2 is not limited to the camera. For example, the orbital state measuring device 1 may include, or instead of, a device for scanning the area along the orbital 2 with an electromagnetic wave in addition to or instead of the camera 112, and the state of the orbital 2 may be measured by the device. An example of such a device is a device called LiDAR (Light Detection and Ranging) that measures the shape of an object in the surrounding space by scanning with a laser beam. In this modification, the computer 102 determines whether or not there is an obstacle in a predetermined range of space (for example, within the building limit) around the track 2 based on the measurement result output from a device such as LiDAR. , The determination result may be transmitted to the terminal device 3 via the first communication unit 113. In that case, the terminal device 3 can plot and display the position where an obstacle that hinders the operation of the railway exists on the map. As a result, when there is an obstacle around the track 2, the user of the terminal device 3 can promptly start an action for removing the obstacle.

(2) Although the above-mentioned orbital state measuring device 1 is assumed to be an aircraft, the orbital state measuring device 1 does not necessarily have to be able to fly. For example, the track state measuring device 1 may be an unmanned vehicle that cannot fly but can autonomously travel. If the track condition measuring device 1 is a vehicle that cannot fly, it may not be possible to detour obstacles such as earth and sand. In that case, the orbital state measuring device 1 may give up measuring the state of the orbital 2 beyond that point and return to the place where the movement is started. If the orbital condition measuring device 1 is not an aircraft, the orbital condition measuring device 1 may not be able to complete the measurement in the entire area of the orbit 2 to be measured, but it can identify the site to be restored first. Therefore, even when the track state measuring device 1 is not an aircraft, the time until the railway operation is restarted is shortened.

1 ... orbital state measuring device, 2 ... orbital, 3 ... terminal device, 4 ... tunnel, 5 ... signal, 6 ... ground element, 11 ... main body, 12 ... shell, 21 ... rail, 101 ... battery, 102 ... computer, 103 ... ESC, 104 ... motor, 105 ... propeller, 106 ... GNSS unit, 107 ... 3-axis geomagnetic sensor, 108 ... 3-axis gyro sensor, 109 ... 3-axis acceleration sensor, 110 ... pressure sensor, 111 ... ranging sensor, 112 ... camera, 113 ... first communication unit, 114 ... second communication unit, 115P / 115R / 115Y ... rotation sensor.

Claims (9)

While autonomously moving along the track without touching the upper surface of the rails constituting the track, the state of the track is measured and the railway equipment at a known position along the track is detected. , An orbital state measuring device that associates with the position information specified from the detection result. The track state measuring device according to claim 1, wherein the detection is performed by receiving radio waves transmitted from the railway equipment. The track state measuring device according to claim 1 or 2, wherein the detection is performed from an image taken along the track. The orbital state measuring device according to any one of claims 1 to 3, wherein the movement distance calculated from the number of rotations of a member that rotates with movement is used to improve the accuracy of the position information. The orbital state measuring device according to any one of claims 1 to 4, wherein the movement distance calculated from the acceleration generated by the movement is used to improve the accuracy of the position information. The orbital state measuring device according to any one of claims 1 to 5, wherein the measurement is performed by photographing the orbit. The track state measuring device according to any one of claims 1 to 6, wherein the measurement is performed by scanning the track along the track with an electromagnetic wave. The track condition measuring device according to any one of claims 1 to 7, which travels on a road surface between two rails included in the track. The orbital state measuring device according to any one of claims 1 to 8, which flies while detecting the orbit.

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