JP2883236B2 - Three-dimensional shape measurement device for structures around railway tracks - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a method for measuring a three-dimensional shape of a railway peripheral structure such as a tunnel or a bridge along a track of a railway in a short time and with high accuracy.
The present invention relates to a three-dimensional shape measuring device for a structure around a track.

[0002]

2. Description of the Related Art As one of maintenance and inspection work in railways, it is necessary to investigate the secular change of a track surrounding structure such as a tunnel or a bridge to accurately grasp the maintenance time, and to evaluate the construction limit of the track surrounding structure. In order to perform the inspection, the three-dimensional shape of the track surrounding structure along the trajectory is measured.

[0003] For example, the measurement of the shape of the tunnel wall is one of them, and as an example of an apparatus generally used in this case, there is a conventional apparatus disclosed in Japanese Patent Application Laid-Open No. 61-275616. FIG. 8 is a conceptual view of a tunnel section measuring apparatus according to the related art, and FIG. 9 is an external perspective view of the measuring machine main body.

As shown in FIG. 8, this tunnel section measuring apparatus includes a light source means 102 for projecting a distance measuring ray a in a spot shape on a wall surface of a tunnel 101 to be measured, and a light source means 102 for converging the reflected light. and a predetermined distance D ₁ apart and arranged light receiving lens 103, so as to receive the reflected light converged by the light-receiving lens 103, a predetermined distance D ₂ separating the positional detecting photoelectric conversion unit 104 arranged from the light receiving lens 103 Have. Further, the light source unit 102, a light receiving lens 103 and a photoelectric conversion unit 104, provided with a rotating means 105 for rotating together about an axis parallel to the direction of the distance D _1, the distance measuring light by the turning means 105 a detecting means 106 for detecting the projection angle of the distance a, the distances D ₁ and D ₂ ,
The configuration is such that the cross section of the tunnel to be measured is calculated by the calculating means 107 based on the outputs of the 104 and the angle detecting means 106.

[0005] In the tunnel section measuring apparatus thus constructed, the position of the spot light on the wall surface of the tunnel 101 to be measured converged on the photoelectric conversion means 104 by the light receiving lens 103 is determined by the position of the tunnel wall surface and the rotation means 105. It changes according to the distance L from the rotation center axis b. Assuming that the distance between the light receiving position of the spot light on the photoelectric conversion means 104 and the reference position is x, the distance L is given by L = (1 / x) · D ₁ · D ₂ . Then, the section L of the tunnel 101 to be measured is measured by calculating the distance L by the calculating means 107 based on the position information from the photoelectric conversion means 104 according to the projection angle of the distance measuring light beam a obtained from the angle detecting means 106. Like that.

More specifically, as shown in FIG. 9, the measuring machine main body of the above-described tunnel section measuring apparatus includes a rotation control unit 202 provided on a tripod 201, and the rotation control unit 202 controls the base rod. 203 is rotated about its base line (axis), and its rotation angle is detected by an inclinometer in the rotation control unit 202. The base rod 203 is provided with a light source unit 204 provided with a light source and a light projecting lens so as to rotate integrally with the base rod 203, and a light receiving lens and a photoelectric conversion element are provided on both sides of the light source unit 204 at a predetermined distance from each other. Are provided.

[0007] With this arrangement, the measuring instrument main body is positioned at a required position, and while the base rod 203 is rotated by the rotation control unit 202 around the base line, a spot light is projected from the light source unit 204 to the wall surface of the tunnel, and the reflected light is reflected. The light is received by the sensor units 205a and 205b, and the distance L from the base line of the base rod 203 to the wall surface of the tunnel at each rotation angle is measured to measure its cross-sectional shape at a required position in the tunnel.

On the other hand, the applicant of the present invention has previously proposed a shape measuring device for a railway peripheral structure which measures a three-dimensional shape of a railway peripheral structure such as a tunnel or a bridge in a railway along a track. (Japanese Patent Application No. 3-60716). FIG.
FIG. 11 is a diagram showing an overall configuration of a shape measuring device for a track peripheral structure according to the related art, and FIG. 11 is a perspective view schematically showing the shape measuring device shown in FIG.

As shown in FIGS. 10 and 11, a shape measuring device for a track peripheral structure according to the prior art includes a movable bogie 51 traveling on rails (tracks) RR and RL, and a movable bogie 51.
A light source device disposed above and projecting a plate-like light (planar slit light) S ′ radiating radially in a plane substantially perpendicular to the tracks RR and RL, that is, in a plane substantially perpendicular to the traveling direction of the movable carriage 51. 52
Is disposed on the movable carriage 51 at a predetermined distance A from the light source device 52 toward the carriage traveling direction side (indicated by a white arrow in the drawing),
A television camera 53 is provided as an image pickup device for picking up an image of a light cutting line C generated on the wall surface of the tunnel T by the flat light S 'from the light source device 52. As the television camera 53, a field accumulation type CCD television camera is used.
The optical axis CP is disposed so as to intersect with the flat light S ′ at an angle θ.

Further, an image processing device 54 as image processing means for obtaining two-dimensional coordinates of the light cutting line C on the light cutting image obtained by the television camera 53, and the image processing device 54 The three-dimensional coordinates of the light section line C on the tunnel T wall surface in the structure orthogonal coordinate system O-XYZ are calculated based on the two-dimensional coordinates of the light section line C on the obtained light section image. A computer (computer) 55 is provided as calculation means for obtaining a three-dimensional shape. In the structure orthogonal coordinate system O-XYZ, the center of the rails RR, RL at a predetermined position of the rails RR, RL is set as the origin O, and the direction in which the rails RR, RL extend (the traveling direction of the movable carriage 51) is set as the X axis. And the Y axis is the width direction of the tunnel T, Z
The axis indicates the height direction of the tunnel T.

The image processing device 54 includes a television camera 53
Of the video signal output every field (1/60 second) from the horizontal scanning line, the _C.sub.k (u,
v), the coordinates of the light section line C represented by k = 1 to N are obtained (see FIG. 6). Here, k indicates the number of the horizontal scanning line.

The operation of the apparatus for measuring the shape of a line peripheral structure having the above configuration will be described below. When the plate-shaped light S 'that spreads radially is projected by the light source device 52 toward the wall surface of the tunnel T, a light cutting line C along the circumferential direction is generated on the wall surface of the tunnel T. The light cutting line C is sequentially imaged by the television camera 53 every 1/60 second as the movable cart 51 travels.

A video signal from the television camera 53 is supplied to the image processing device 54 for each field (1/60 second). In response to this, the image processing device 54 obtains the coordinates C _k (u, v), k = 1 to N of the light section line C on the light section image at the video rate (1/60 second) and obtains them. Further, the light section line coordinates C _k (u, v), k = 1 to N for each field are given to the computer 55 during the blanking time (about 1.2 msec).

From the coordinates C _k (u, v), k = 1 to N of the light section line C on the above-mentioned light section image, the computer 55 calculates the position on the wall surface of the tunnel T in the structural orthogonal coordinate system O-XYZ. Is calculated by the following equations (1) and (2), and the light cutting line C corresponding to one cross section i of the tunnel T is calculated.
, The three-dimensional coordinates P _i (X _i , Y _i , Z _i ) are obtained.

[0015]

(Equation 1)

Here, m is the imaging magnification of the television camera 53,
f is the focal length of the lens system of the TV camera 53, θ is the angle between the plane of the flat light S ′ and the optical axis CP of the TV camera 53, h
Is a rail R at an intersection Q between the plane of the flat light S 'and the optical axis CP.
This is the height from the R and RL planes. The X-axis coordinate values are provided by a position detector (not shown).

In this manner, the light cutting line C is continuously and sequentially imaged while the movable cart 51 is running, so that
The three-dimensional coordinates P _i of the light-section line C corresponding to the cross-sectional shape are sequentially obtained every 1/60 second by the computer 55 and are stacked along the rails RR and RL, whereby the tunnel T in the structural orthogonal coordinate system O-XYZ is obtained. Three-dimensional coordinates P _i (X _i , Y _i ,
Z _i ), i = 1 to n are obtained, and the three-dimensional shape of the tunnel T wall surface is measured.

[0018]

Among the above-mentioned prior arts, in the former tunnel section measuring device, a distance measuring beam is projected in a spot shape on the wall surface of the tunnel, and the projection angle of the distance measuring beam is changed by a rotating means. Because the configuration uses the flying spot method, which measures the cross-sectional shape of the tunnel at the required position, when measuring the three-dimensional shape of the tunnel wall over a long distance, it is necessary to move a little along the There is a problem that it takes a long time to perform the measurement by repeating "measurement by measurement".

On the other hand, the latter device for measuring the shape of a track peripheral structure can measure a three-dimensional shape of a tunnel wall along a track in a short time. However, in this shape measuring device, the coordinates of the light cutting line on the light cutting image obtained by the imaging device provided on the movable trolley are obtained by the image processing means, and the light cutting line obtained by the image processing means is obtained. It is configured to calculate the coordinates of the light cutting line on the tunnel wall surface in the rectangular coordinate system set in advance based on the coordinates of There is a problem that an error occurs in a measurement result of the three-dimensional shape due to a displacement of the imaging device or the like with respect to the rectangular coordinate system.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and it is possible to quickly and accurately measure a three-dimensional shape of a railway peripheral structure such as a tunnel or a bridge in a railway along a track. It is an object of the present invention to provide a three-dimensional shape measuring device for a structure around a railway track, which is well-performed.

[0021]

In order to achieve the above object, a three-dimensional shape measuring apparatus for a track peripheral structure according to the present invention comprises: a: a moving vehicle traveling on a track; and b: a moving vehicle traveling on a track. A light source device that is arranged and projects a flat light that spreads radially in a plane that is substantially perpendicular to the traveling direction of the mobile trolley; c:
A first light source unit that is arranged at a predetermined distance from the light source device on the movable truck and sequentially captures a light cutting line generated on a track peripheral structure by flat light from the light source device as the movable truck travels; An imaging device, d: disposed on the movable trolley at a predetermined distance from the light source device, and sequentially captures a light cutting line generated on a track by a plate-like light from the light source device as the movable trolley travels. A second imaging device; and e: obtaining, for each light-section image obtained by the first imaging device, two-dimensional coordinates of a light-section line indicating a line surrounding structure on the image, and the second imaging. An image processing means for obtaining two-dimensional coordinates of a light cutting line indicating a specific portion of a trajectory on the light cutting image obtained by the apparatus; and f: a light cutting image obtained by the image processing means. Track circumference Based on the two-dimensional coordinates of the light section lines showing the structure portions to determine three-dimensional coordinates of the line peripheral structure on the optical cutting line as a reference point the first imaging device,
Based on the two-dimensional coordinates of a light-section line indicating a specific part of the trajectory on the light-section image obtained by the image processing means,
Using the second imaging device as a reference point, three-dimensional coordinates of a light-section line indicating a specific part of the trajectory are determined, and these three-dimensional coordinates,
And light on a track peripheral structure with a midpoint between tracks as a reference point in accordance with the travel of the mobile trolley, based on coordinates indicating a positional relationship between the first imaging device and the second imaging device. Calculating means for obtaining three-dimensional coordinates of the cutting line.

[0022]

In the three-dimensional shape measuring apparatus for a track peripheral structure according to the present invention, the image processing means is arranged on a movable carriage running on a track (rail) and picks up an image of a light cutting line on a tunnel wall, for example. Using the first imaging device as a reference point, the three-dimensional coordinates of the light-section line on the tunnel wall surface are determined, and the second imaging device that is disposed on the movable trolley and captures the light-section line on the track is used as a reference point. The three-dimensional coordinates of the light-section line indicating the specific part are obtained.

[0023] Then, based on these three-dimensional coordinates and coordinates indicating a preset positional relationship between the first imaging device and the second imaging device, the calculating means responds to the traveling of the movable cart based on the three-dimensional coordinates. Since the midpoint between the orbits is used as the reference point to determine the three-dimensional coordinates of the light section line on the tunnel wall,
Even if the moving trolley moves, the measurement error due to the sway of the moving trolley can be extremely reduced, and the three-dimensional shape of the tunnel wall along the track can be measured in a short time and with high accuracy. The midpoint between the orbits (the midpoint between the gauges)
It is the starting point for measuring the building limits in railway maintenance.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the three-dimensional shape measuring apparatus for a railway peripheral structure according to the present invention is applied to three-dimensional shape measurement of a tunnel wall will be described below. FIG. 1 is a diagram showing the overall configuration of a three-dimensional shape measuring apparatus for a track peripheral structure according to one embodiment of the present invention, and FIG. 2 is a perspective view schematically showing the three-dimensional shape measuring device shown in FIG.

In FIGS. 1 and 2, reference numeral 1 denotes a movable vehicle that travels on rails (tracks) RR and RL. In this embodiment, the movable vehicle 1 is indicated by a white arrow in the figure by a towing vehicle (not shown). It is towed in the direction shown. As shown in the drawing, the movable trolley 1 has a radial direction toward the wall surface of the tunnel T and the rails RR and RL in a plane substantially perpendicular to the rails RR and RL, that is, in a plane substantially perpendicular to the traveling direction of the movable trolley 1. A light source device 2 for projecting a flat light S that spreads out is provided. In addition, the movable trolley 1 has a structure television camera 3 as a first imaging device that captures an optical cutting line generated on the wall surface of the tunnel T by the flat light S from the light source device 2.
In order to eliminate the measurement error due to the movement of the mobile trolley 1,
A rail television camera 4 as a second imaging device for imaging a light cutting line generated on the rails RR and RL by the flat light S from the light source device 2 is provided.

The structure television camera 3 outputs a light-section line image (FIG. 6) relating to a light-section line generated on the wall surface of the tunnel T.
See) is a field accumulation type CCD television camera obtained every one field (1/60 second), the light source so that the optical axis CP ₁ to the plane of the planar optical S intersect at an angle theta ₁ It is fixed at a position separated by a certain distance from the device 2 in the direction of travel of the bogie. In addition, the rail television camera 4 includes:
A field-accumulation type CCD television camera in which a light-section line image (see FIG. 7) relating to a light-section line generated on the rails RR and RL is obtained for each field (1/60 second). its optical axis CP ₂ is fixed at a position spaced a certain distance to a truck traveling direction from the light source device 2 so as to intersect at an angle theta ₂ to the surface. These television cameras 3 and 4 are synchronously controlled.

Further, an image processing device 5 as image processing means and a computer (computer) 6 as calculation means are mounted on the mobile trolley 1. The calculator 6 has a graphic display.

Here, the rectangular coordinate system will be described. In the structure rectangular coordinate system O-XYZ, the center between the rails RR, RL at a predetermined position of the rails RR, RL is defined as the origin O, and the rails RR, RL Direction (traveling direction of the mobile trolley 1)
The Y axis, which is set as an axis and is orthogonal to the X axis, indicates the width direction of the tunnel T, and the Z axis, which is orthogonal to the X axis, indicates the height direction of the tunnel T (see FIG. 2). Also,
The principal point of the imaging lens of the structure television camera 3 is defined as the origin O _1i.
The structure camera orthogonal coordinate system O _1i -XYZ and the rail camera orthogonal coordinate system O _2i -XYZ whose origin point is the origin O _2i of the imaging lens of the television camera 4 for rails have their respective axes structured. It is set to be parallel to that of the object orthogonal coordinate system O-XYZ (see FIG. 3). The suffix i (i = 1 to n) represents the number of the tunnel cross section sequentially formed by the projection of the flat light S with the traveling of the movable trolley 1, and the coordinate system O _1i -XYZ, O _2i −
XYZ means a coordinate system set in the tunnel section i.

As will be described later, the image processing device 5 obtains the two-dimensional coordinates of the light cutting line indicating the wall surface of the tunnel T on each light cutting image obtained by the TV camera 3 for a structure. Rails RR and RL on each light-section image obtained by the television camera 4
To determine the two-dimensional coordinates of the light section line indicating the inner edge (corner) of the upper surface.

Further, as will be described later, the computer 6 controls the television camera 3 for a structure based on the two-dimensional coordinates of the light section line indicating the wall surface of the tunnel T on the light section image obtained by the image processing device 5. structures camera Cartesian coordinate system O _1i to the origin O _1i
In addition to obtaining the three-dimensional coordinates of the light cutting line on the tunnel T wall surface in -XYZ, the two light cutting lines indicating the inner edge of the upper surface of each of the rails RR and RL on the light cutting image obtained by the image processing device 5 On the basis of the dimensional coordinates, the rail camera orthogonal coordinate system O _2i -XYZ with the rail TV camera 4 as the origin O _2i.
The three-dimensional coordinates of the light-section line indicating the inner edge of the upper surface of each of the rails RR and RL are obtained, and these three-dimensional coordinates and the coordinates indicating the positional relationship between the structure television camera 3 and the rail television camera 4 are obtained. Based on the structure orthogonal coordinate system O-XY
In Z, is used to calculate the three-dimensional coordinates of the rail RR, the light section line on the tunnel T wall as a reference point the center point O _i between RL according to the travel of the moving carriage 1.

FIG. 5 is an explanatory view of the configuration of the light source device of the three-dimensional shape measuring apparatus shown in FIG. Note that this light source device 2
This is shown in Japanese Patent Application No. 3-269707.

In FIG. 5, reference numeral 21 denotes a cylindrical casing which is arranged so that its axial center line extends in the direction in which the rails RR and RL extend. A light-passing window 21a having a predetermined width and made of glass or the like that allows light to pass therethrough is provided. As shown in the figure, inside the casing 21, in order from the rear portion toward the light-passing window portion 21 a side, a high-power semiconductor laser 22,
Collimating lens 23, condenser lens system 24 and circular aperture
25 and a conical reflecting mirror 26 are coaxially arranged by mounting means (not shown).

As shown in the figure, the high-output type semiconductor laser 22 has an emission optical axis in the X'-axis direction which is the direction of the axis of the casing 21 and in a direction parallel to the pn junction plane as viewed from the laser beam emission surface. Are arranged such that the direction perpendicular to the pn junction plane as viewed from the laser beam emitting surface is the Z'-axis direction. The X 'axis direction corresponds to the direction in which the rails RR and RL extend, the Y' axis direction corresponds to the width direction of the tunnel T, and the Z 'axis direction corresponds to the height direction of the tunnel T.

As shown in the figure, the condenser lens system 24 has a first cylindrical concave lens 27a and a second cylindrical convex lens which are disposed in a posture having a lens action in the Z'-axis direction.
27b and a third cylindrical convex lens 28 disposed on the side of the light passing window 21a which is located forward of the second cylindrical convex lens 27b and has a lens function in the Y'-axis direction. .

In the light source device 2 configured as described above, a high-power semiconductor laser 22 is used as a light source, and a laser beam from the high-power semiconductor laser 22 is collimated by a collimating lens 23 in the Z'X 'plane. After being converted into light, the first cylindrical concave lens 27a and the second cylindrical convex lens 27b increase the thickness of the beam and give the laser beam having the increased thickness to the conical reflecting mirror 26 by giving convergence. ing. On the other hand, in the Y'X 'plane, a collimating lens
The divergent laser beam that has passed through 23 is given convergence by the third cylindrical convex lens 28 and is guided to the conical reflecting mirror 26. The circular aperture 25 is for adjusting the cross-sectional shape of the laser beam passing through the condenser lens system 24 to a circular shape. The laser beam thus formed is changed in direction by the conical reflecting mirror 26 and is projected as a flat luminous flux S having a thickness of about several mm toward the tunnel T wall surface and the rails RR and RL.

FIG. 6 is an explanatory view of an image of a light cutting line generated by a television camera for a structure regarding a light cutting line generated on a tunnel wall surface, and FIG. 7 is a light cutting line obtained by a television camera for a rail regarding a light cutting line generated on a rail. It is explanatory drawing of an image. In the image processing device 5 described above, the structure television cameras 3 to 1
A light cutting line indicating a tunnel T wall surface on a light cutting image by detecting a position where a luminance level on each horizontal scanning line changes to a predetermined value or more for a video signal given for each field (1/60 second). Two-dimensional coordinates C _k (u,
v), k = 1 to N are determined at the video rate (1/60 second). Here, k represents the number of the horizontal scanning line.

In the image processing device 5, for the video signal given from the rail television camera 4 for each field (1/60 second), the pattern at the position where the luminance level on each horizontal scanning line changes to a predetermined value or more is obtained. The two-dimensional coordinates C _{k = kR} (u, v) of the light cutting line indicating the inner edge position of the upper surface of the right rail RR and the inner edge position of the upper surface of the left rail RL are extracted by extracting the characteristics of The two-dimensional coordinates C _{k = kL} (u, v) of the light section line are determined at the video rate (1/60 sec). Here, kR represents the number of the horizontal scanning line corresponding to the light cutting line position indicating the inner edge of the upper surface of the right rail RR, and kL corresponds to the light cutting line position indicating the inner edge of the upper surface of the left rail RL. Represents the number of the horizontal scanning line to be used.

Next, the overall operation of the three-dimensional shape measuring apparatus according to this embodiment having the above configuration will be described with reference to FIGS.
This will be described with reference to FIG. FIG. 3 is a diagram for explaining a three-dimensional shape measuring method by the three-dimensional shape measuring device shown in FIG. 1, and FIG. 4 is a diagram for explaining a method for obtaining a midpoint between rails in FIG.

When the flat light S spreading radially in all directions is projected by the light source device 2 on a plane substantially perpendicular to the traveling direction of the movable cart 1, the light is generated on the wall of the tunnel T by the television camera 3 for a structure. The line is imaged as the mobile trolley 1 travels, and its video signal is output for each field (1/60).
(Seconds) to the image processing device 5. In addition, a light cutting line generated on the rails RR and RL is imaged by the rail television camera 4 as the mobile trolley 1 travels, and the video signal is sent to the image processing device 5 for each field (1/60 second). Given sequentially.

By the way, this three-dimensional shape measuring apparatus sequentially captures the light cutting lines formed on the wall surface of the tunnel T and on the rails RR and RL as described above, and calculates the light cutting lines for each section i of the tunnel T. The three-dimensional shape of the wall surface of the tunnel T along the rails RR, RL is measured while the movable trolley 1 is running, based on the position coordinates. Therefore, in order to facilitate understanding, an operation in one section i of the tunnel T will be described below.

That is, in the image processing device 5, the two-dimensional coordinates C _k (u, u) of the light cutting line indicating the wall surface of the tunnel T on the light cutting image obtained by the structure television camera 3 at one section i of the tunnel T v), k = 1 to N are obtained.
Also, the right rail RR on the light-section image obtained by the rail television camera 4 at one section i of the tunnel T
-Dimensional coordinates C of the light-section line indicating the inner edge position of the upper surface
_{k = kR} (u, v) and two-dimensional coordinates C _{k = kL} (u, v) of a light section line indicating the inner edge position of the upper surface of the left rail RL are _obtained . The data of these two-dimensional coordinates obtained at the video rate (1/60 second) is given to the computer 6 during the blanking time (about 1.2 msec).

When the data of the two-dimensional coordinates as described above is given, the computer 6 calculates the next field time (about 16 msec).
In the meantime, first, the two-dimensional coordinates C _k (u, u) of the light section line indicating the tunnel T wall surface on the light section image obtained by the image processing device 5
v), based on k = 1 to N, the structural television camera 3
Camera orthogonal coordinate system O _1i -XY with the origin O _1i
Three-dimensional coordinates P of the light section line on the wall of the tunnel T at Z
_i ^k (X _i ^k , Y _i ^k , Z _i ^k ), k = 1 to N are calculated by equations (3) to (5).

[0043]

(Equation 2)

Here, m ₁ is the imaging magnification of the structural TV camera 3, f ₁ is the focal length of the structural TV camera 3, X
_Di is the X-axis coordinate value of the tunnel section i from the origin O of the structure orthogonal coordinate system O-XYZ.

Then, the origin O of the structural television camera 3
_1i and starting from the above equations (3) to (5) points calculated by ^{_{P i k (X i k,}} Y i k, Z i k) obtaining the vector P _i ^k _meas to the end point.

Also, based on the two-dimensional coordinates C _{k = kR} (u, v) of the light section line indicating the inner edge of the upper surface of the right rail RR on the light section image obtained by the image processing device 5. Coordinate system O for rail camera with origin TV camera 4 as origin O _2i
The three-dimensional coordinates r _Ri (X _Ri , Y _Ri , Z _Ri ) of the light cutting line indicating the inner edge of the upper surface of the right rail RR in _2i- XYZ are
It is calculated by the equations (6) to (8).

[0047]

(Equation 3)

Here, m ₂ is the imaging magnification of the rail television camera 4 and f ₂ is the focal length of the rail television camera 4.

Further, based on the two-dimensional coordinates C _{k = kL} (u, v) of the light section line indicating the inner edge of the upper surface of the left rail RL on the light section image obtained by the image processing device 5. -Dimensional coordinates r _Li (X _Li , Y _Li , Z _Li) of an optical cutting line indicating the inner edge of the upper surface of the left rail RL in the rail camera orthogonal coordinate system O _2i -XYZ having the origin TV camera 4 as the origin O _2i. )
Is calculated by Expressions (9) to (11).

[0050]

(Equation 4)

Then, the origin O of the rail television camera 4
_2iIs the starting point, and calculated by the above equations (6) to (8).
Point r_Ri(X_Ri, Y_Ri, Z_RiVector ending in)
R_RiAnd origin O_2iIs the starting point, and the above equations (9) to (1)
Point r calculated by 1)_Li(X_Li, Y_Li, Z_Li)
Vector R as a point_LiAnd ask. These vectors R
_Ri, R_LiFrom, R_Oi= (R_Ri+ R_Li) / 2
The origin O_2iIs the starting point and the midpoint O between the rails RR and RL_iTo
Vector R as end point_OiCan be requested.

On the other hand, the structure television camera 3 and the rail television camera 4 are rigidly fixed and their positional relationship is predetermined, so that the origin O _2i of the rail television camera 4 is used as a starting point. The vector K whose end point is the origin _O1i of the structural television camera 3 is constant. Therefore, the middle point O _i between the rails RR and RL is set as the starting point, and
A vector P _i ^k _true ending at _i ^k (X _i ^k , Y _i ^k , Z _i ^k ) is given by P _i ^k _true = P _i ^k _meas + K−R _Oi .

Thus, the three-dimensional coordinates of the light cutting line on the wall surface of the tunnel T can be obtained with the middle point O _i between the rails RR and RL as a reference point. Even if the mobile trolley oscillates above, the measurement error due to the sway of the moving carriage during traveling can be extremely reduced. Therefore, by sequentially obtaining the three-dimensional coordinates of the light cutting line on the wall surface of the tunnel T in one section i of the tunnel T obtained as described above while moving the mobile trolley 1, the tunnels along the rails RR and RL are obtained. The three-dimensional shape of the T wall can be measured in a short time and with high accuracy.

[0054]

As described above, according to the present invention, the three-dimensional shape measuring apparatus for a structure around a track such as a tunnel,
The image processing means uses a first image pickup device, which is disposed on a movable truck traveling on a track (rail) to pick up an optical section line on a track peripheral structure (for example, on a tunnel wall surface), as a reference point, and uses the track peripheral structure as a reference point. The three-dimensional coordinates of the light-section line on the object are obtained, and the tertiary of the light-section line indicating a specific part of the trajectory is determined with reference to the second imaging device provided on the movable carriage and capturing the light-section line on the trajectory. On the other hand, while calculating the original coordinates, the calculating means responds to the traveling of the mobile trolley based on these three-dimensional coordinates and coordinates indicating a preset positional relationship between the first imaging device and the second imaging device. The three-dimensional coordinates of the light-section line on the track peripheral structure are determined using the midpoint between the orbits as a reference point. Therefore, for example, when measuring the three-dimensional shape of the tunnel wall along the track, according to the three-dimensional shape measuring apparatus of the track peripheral structure according to the present invention,
Since the three-dimensional coordinates of the light-section line on the tunnel wall are determined using the midpoint between the tracks as a reference point in accordance with the traveling of the mobile trolley, it is possible to minimize measurement errors due to the movement of the mobile trolley during travel. It is possible to measure the three-dimensional shape of the tunnel wall along the track in a short time and with high accuracy.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration of a three-dimensional shape measuring apparatus for a track peripheral structure according to an embodiment of the present invention.

FIG. 2 is a perspective view schematically showing the three-dimensional shape measuring apparatus shown in FIG.

FIG. 3 is a view for explaining a three-dimensional shape measuring method by the three-dimensional shape measuring device shown in FIG. 1;

FIG. 4 is a diagram for explaining a method of obtaining a midpoint between rails in FIG. 3;

5 is an explanatory diagram of a configuration of a light source device of the three-dimensional shape measuring device shown in FIG.

FIG. 6 is an explanatory diagram of a light-section line image by a structure television camera regarding a light-section line generated on a tunnel wall surface.

FIG. 7 is an explanatory diagram of a light section line image by a rail television camera regarding a light section line generated on a rail;

FIG. 8 is a conceptual diagram of a tunnel cross-section measuring device according to a conventional technique.

9 is an external perspective view of a measuring machine main body of the tunnel section measuring device shown in FIG.

FIG. 10 is a diagram showing an entire configuration of a shape measuring apparatus for a track peripheral structure according to the related art.

11 is a perspective view schematically showing the shape measuring device shown in FIG.

[Description of Signs] 1 ... Movable trolley 2 ... Light source device 3 ... TV camera for structure 4 ... TV camera for rail 5 ... Image processing device 6
... Computer 21 ... Casing 21a ... Window for light passage 22 ...
High power semiconductor laser 23 ... Collimating lens 24 ... Condensing lens system 25 ... Circular aperture 26 ... Conical reflecting mirror 27a
... First cylindrical concave lens 27b ... Second cylindrical convex lens 28
… Third cylindrical convex lens RR, RL… Rail T… Tunnel S… Plate light

Continuation of the front page (72) Inventor Yoshiro Nishimoto 5-18-7 Takenodai, Nishi-ku, Kobe (72) Inventor Yuichiro Goto 1-4-1, Migatadai, Nishi-ku, Kobe (72) Inventor Satoru Yamaguchi Mika, Nishi-ku, Kobe-shi 1-4-1 Tadai (72) Inventor Yasuharu Kami 2-26-3-416 Kojidai, Nishi-ku, Kobe (72) Inventor Yozo Fukumoto 2-7-2, Izumidai, Kita-ku, Kobe (72) Inventor: Masahiro Naito ▼ Success 2-4-20 Takaba-cho, Nada-ku, Kobe (56) References JP-A-4-295707 (JP, A) JP-A-3-217600 (JP, A) JP-A-62-261008 (JP, A (58) Fields investigated (Int. Cl. ⁶ , DB name) G01B 11/00-11/30 102 G01C 7/06

Claims (1)

(57) [Claims] A: a moving vehicle traveling on a track; b: a light source device disposed on the moving vehicle and projecting flat light radially spread in a plane substantially orthogonal to a traveling direction of the moving vehicle; c: a second light source disposed at a predetermined distance from the light source device on the movable trolley and sequentially capturing a light cutting line generated on a track peripheral structure by the flat light from the light source device as the movable trolley travels; And d: a light cutting line, which is disposed on the movable trolley at a predetermined distance from the light source device and is generated on a track by flat light from the light source device, sequentially along with the travel of the movable trolley. E: obtaining a two-dimensional coordinate of a light-section line indicating a line surrounding structure on each of the light-section images obtained by the first image-capturing apparatus; By the imaging device Image processing means for obtaining two-dimensional coordinates of a light section line indicating a specific portion of a trajectory on the image for each of the obtained light section images; and f: line peripheral structure on the light section image obtained by the image processing means Based on the two-dimensional coordinates of the light-section line indicating the object, the three-dimensional coordinates of the light-section line on the track peripheral structure are determined using the first imaging device as a reference point, and the light obtained by the image processing means is obtained. Based on the two-dimensional coordinates of the light-section line indicating the specific part of the trajectory on the section image, the second
The three-dimensional coordinates of a light-section line indicating a specific portion of the trajectory are determined using the imaging device as a reference point, and the three-dimensional coordinates and coordinates indicating the positional relationship between the first imaging device and the second imaging device. And calculating means for obtaining three-dimensional coordinates of a light section line on the track peripheral structure based on the center of the track as a reference point in accordance with the travel of the movable trolley based on 3D shape measuring device for surrounding structures.