JP4216128B2 - Method for measuring moving amount of long object and apparatus for carrying out this method - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a method for measuring an amount of movement of a long object and an apparatus for carrying out the method, and in particular, the position of a target in an image displayed on a captured image display unit is designated by a rectangular cursor and is included in the designated target. The present invention relates to a long object moving amount measuring method in which an arithmetic processing unit automatically recognizes an index and calculates a position coordinate of the index, and an apparatus for implementing this method.
[0002]
[Prior art]
This will be described as an example of a long object that moves and displaces a rail of a railway track.
Referring to FIG. 4, the left and right rails 1 _L and 1 _R and the sleeper 2 are firmly connected to each other by a fastening member. If this fastening force is small and the roadbed longitudinal resistance force is also small, the traveling train braking, starting load and rail 1 _L, 1 rail 1 due to stretching other due to temperature change of the _{R L,} 1 _R may sometimes move in the longitudinal direction. This movement in the longitudinal direction of the rails 1 _L and 1 _R is generally called advancement. When the travel amount is large, it is necessary to carry out the work of pulling back the rails 1 _L and 1 _R to appropriate positions, and railway companies measure the travel amount about twice a year.
In order to measure the amount of advance, as shown in FIG. 4, a reference device 3 is installed outside each of the left and right rails 1 _L and 1 _R , and a thread is stretched between the gauge points 32 of both reference devices 3. Is a reference line 4 and a reference point 5 is installed at a position corresponding to the reference line 4 of each of the left and right rails 1 _L and 1 _R. In measuring the amount of advance, the distance between the reference point 5 installed on the rails 1 _L and 1 _R and the reference line 4 is visually measured by an operator using a scale at the site. In the case of a long rail track, the reference points 5 of the rails 1 _L and 1 _R that are on the advancing side are installed at intervals of 150 m to 200 m in the stationary section.
[0003]
The above measurement of the amount of advancement is carried out visually by an operator entering the site, and the number of measurement points is one huge at intervals of 150 to 200 m. And the measurement work has to be done between very short train travel time intervals during the day, and the workers are always at risk of train touch accidents. In addition, the travel amount measurement usually requires a large number of personnel, including train guards, of about six people, and a reduction in the required number of workers is also required. Furthermore, regarding the accuracy of measurement, it is considered that the error during measurement is about ± 5 mm. Further, since the amount of advancement is measured using a yarn as a reference line 4, there is a risk of being damaged by strong winds and other measurement environment conditions.
In order to solve the above problems, a measurement method related to an application of the patent applicant and a method for measuring and inspecting the amount of movement of a long and moving object based on a photographic image displayed on a display of an arithmetic processing unit including a computer. Has been proposed (see Patent Document 1). This will be briefly described below as a prior example.
[0004]
Referring to FIGS. 5 and 6, the reference device 3 used for measuring the amount of movement (movement amount) is fixed to the installation location, which is the fixed point, by the pile 31 and maintains the fixed state. Reference numeral 32 denotes a mark. Three non-moving targets 33 are provided with circular indices 35 at intervals D. The interval D is set to a known equal interval, and the diameter of each index 35 is adjusted by the shooting distance. For example, if the shooting distance to the stationary target 33 is about 1000 mm, the diameter increases as the shooting distance increases.
For one measurement point, two reference devices 3, two stationary targets 33, and two object-side targets 34 are required. Far side reference device 3 _RE is in within 2000mm from the photographing position, is secured in the parallel surface of the outer to 1000mm only spaced apart from the reference device 3 _RE of the far side rails 1 _RE on the far side rail 1 _RE. The near side reference device 3 _NE is fixed with the surface of the near side reference device 3 _NE parallel to the near side rail 1 _RE with a distance of 1000 mm outside the near side rail 1 _NE . Between the far side reference device 3 _RE and the near side reference device 3 _NE , a reference line 4 perpendicular to the reference device surface is formed by tension. Then, the target 33 is attached and fixed to the side surfaces of the far-side rail 1 _RE and the near-side rail 1 _NE facing the camera 6 and the side surfaces facing the camera 6 of the far-side reference device 3 _RE and the near-side reference device 3 _NE . At this time, the targets 33 need to be arranged in a straight line in both the horizontal direction and the height direction. This formation state is defined as a state where the advance amount is zero.
[0005]
Referring to FIG. 5C, how to shoot a target will be described. A total of four targets 33, 34 are recorded with one electronic camera 6 from the reference surface side where the targets 33, 34 are attached. Take a picture that fits clearly inside.
A method for analyzing the amount of advance will be described with reference to FIGS. 7, 8, and 9. FIG. 7 is a view showing an image taken by the electronic camera 6 taken into the display of the arithmetic processing unit, and FIG. 8 is a view for explaining coordinates of the display screen of FIG. An XY coordinate system that expresses the vertical and horizontal lengths of the photographic image displayed on the display of the arithmetic processing unit with dots is assumed to be a center point that intersects the vertical and horizontal midpoints and is (0, 0).
The coordinates (i to wo) of a total of 12 indices of each of the three indices 35 in the four targets 33 (34) in the photographic image are searched from the photograph, and the center of each of the indices 35 being photographed is the center. Is registered as the position coordinate of each index 35.
The advance amount is calculated based on the index coordinates of the registered index 35. Here, how to calculate the travel amount of the far-side rail 1 _RE will be described.
[0006]
Of each index position coordinate, a linear expression that connects the corresponding index coordinate a and the index coordinate n on the far side reference unit 3 _RE and the near side reference unit 3 _NE , which becomes the reference line 4 corresponding to the advance amount of 0 mm. La , The linear expression Lb connecting the index coordinates b and the index coordinates le , A linear expression Lc connecting the index coordinates c and the index coordinates o Ask for.
As shown in FIG. 9, a linear approximation formula Ra is obtained from the index coordinates D, E, F on the rail 1 _RE by the least square method.
Straight line La , Lb , Lc And straight line Ra The coordinates of the intersection points are obtained, and the intersection point coordinates A ₁ , A ₂ , A ₃ are obtained. Straight line Ra closest to index coordinates d, e, h Let the upper coordinates be d ', ho', f '.
Straight line Ra The inter-coordinate distances between the coordinates A ₁ -coordinate d ', the coordinates A ₂ -coordinate e', and the coordinates A ₃ -coordinate f 'are obtained and are set as f ₁ , f ₂ , and f ₃ , respectively.
The distances between the coordinates between the intersection coordinates A ₁ and the intersection coordinates A _{2 and} between the intersection coordinates A ₂ and the intersection coordinates A ₃ are indicated by da. , Db And
[0007]
The actual distance between indexes is set to D, and the actual distances c ₁ , c ₂ , and c ₃ of f ₁ , f ₂ , and f ₃ are obtained as follows.
c ₁ = f ₁ × (D / da )
c ₂ = f ₂ × ((D / da ) + (D / db )) / 2
c ₃ = f ₃ × (D / db )
Further, the average value of these values is defined as the advance amount C.
C = (c ₁ + c ₂ + c ₃ ) / 3
Similarly, the advance amount of the near rail is obtained. Here, if two fixed points are also installed on a moving object other than the rail and a target is similarly formed on the moving object, the amount of movement can be obtained.
[0008]
[Patent Document 1]
[Patent Document 1] Japanese Patent Laid-Open No. 2003-75116
[Problems to be solved by the invention]
As described above, the reference points 5 of the rails 1 _L and 1 _R , which are on the advancing side, are installed at intervals of 150 m to 200 m in the immovable section in the case of a long rail track. There is always a need to develop efficient measurement methods.
In the previous example, in the work of analyzing and measuring the amount of movement of the long object based on the photographic image displayed on the display of the arithmetic processing unit, the operator moves the mouse of the arithmetic processing unit to one measurement point. By operating, the position coordinates of the indices included in the target are determined one by one, and the coordinates of all 12 indices are designated as 3 indices per target. Specifying the coordinates of all 12 indices for one measurement point means that it is necessary to perform a huge number of coordinate designation tasks for the analysis and measurement work of a huge number of measurement points. And this coordinate designation | designated operation | work is implemented by the judgment process by the operator himself, and the precision of the measured value obtained will be somewhat influenced by the operator.
[0010]
When measuring the amount of movement of a long object on the basis of a photographic image displayed on a display, the present invention displays a photographed image on a photographed image display unit and the target in the image displayed on the photographed image display unit. The position is specified by a rectangular cursor set as an image cropping frame, the index included in the specified target is automatically recognized by the arithmetic processing unit to calculate the position coordinates of the index, and the recognition-calculated position coordinates of the index are referenced. By adopting a configuration for calculating and displaying the movement amount, a method for measuring the amount of movement of a long object with a high and accurate measurement value obtained by simplifying the analysis calculation processing of the movement amount and this method is implemented. A device is provided.
[0011]
[Means for Solving the Problems]
An object-side target 34 in which a plurality of circular indexes are arranged on a straight line is placed on a long object, and similarly, a stationary target 35 in which a plurality of circular indexes are arranged on a straight line is placed in the vicinity of the long object. A rectangular cursor that is set as a pair and is photographed from the front by an electronic camera, the photographed image is displayed on the photographed image display unit, and the target portion in the image displayed on the photographed image display unit is set as an image cropping frame The processing unit automatically recognizes the index included in the specified target part and calculates the position coordinates of the index, and calculates the movement amount by referring to the position coordinates of the recognized and calculated index An object movement measuring method was constructed.
Then, in the above long object movement measuring method, it is determined whether or not the index is on a straight line, whether or not the interval between the indexes is a predetermined interval, and the interval between the indexes and the size of the index are determined. A long object moving amount measuring method for determining whether or not the thickness ratio is correct was constructed.
[0012]
Further, an object side target 34 installed on a long object and a stationary target 33 installed on each of a pair of reference devices fixed in the vicinity of the long object are provided. A plurality of circular indexes are arranged on a straight line, and the stationary target 33 and the object side target 34 of a pair of reference units are arranged and aligned in a straight line both in the horizontal direction and in the height direction. An electronic camera 6 that captures images of the stationary target 33 and the object-side target 34 is provided, and a shift amount of the object-side target 34 with respect to a reference line connecting the stationary targets in the image is obtained by performing coordinate calculation processing on the image. In a long object movement amount measuring apparatus having an arithmetic processing unit including a computer, the apparatus includes a captured image display unit 71 for displaying a captured image. A target portion in an image displayed on the display unit 71 is designated by a rectangular cursor set as an image cropping frame, the center coordinates of an index included in the designated target are recognized, and a long length is referenced with reference to a recognition result. An arithmetic processing unit for analyzing and calculating the object movement amount, an image enlargement display unit 72 for displaying the recognition result of the target position coordinates and the index center coordinates in an enlarged manner, and a movement amount for displaying the analysis calculated movement amount A long object movement amount measuring apparatus including the display unit 73 was configured.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
An image obtained by capturing a long moving object on which a target having three circular indices is installed and a target having a three circular index similarly installed from the front is displayed on the captured image display unit of the display. The position of the target in the image displayed on this captured image display unit is specified by a rectangular cursor set as an image cropping frame, and the index included in the specified target is automatically recognized by the arithmetic processing unit, and the position coordinates of the index Is calculated. The arithmetic processing unit calculates and displays the movement amount with reference to the position coordinates of the recognized and calculated index.
[0014]
【Example】
An embodiment of a long object movement measuring apparatus of the present invention will be described with reference to FIG.
In this embodiment, a captured image display unit 71 that displays an image captured by the electronic camera 6 and an enlarged image display in which a target in an image specified by a rectangular cursor set as an image cropping frame is enlarged and displayed. 72, an arithmetic processing unit (not shown) for automatically recognizing the center coordinates of the index included in the designated target and analyzing and calculating the movement amount of the long object with reference to the recognition result, and the calculated and calculated movement amount And a movement amount display unit 73 for displaying.
The operation of the embodiment will be described.
First. The operator captures and displays an image captured by the electronic camera 6 on the captured image display unit 71.
2nd. The operator places the positions of the stationary target 33 and the object-side target 34 displayed on the captured image display unit 71 within the frame of the rectangular cursor and designates them by clicking. That is, the target can be specified by clicking the mouse in a state where the target 33 (34) is surrounded by the rectangular cursor indicated by the chain line.
[0015]
3rd. When the target 33 (34) is designated, the target portion surrounded by the rectangular cursor near the designated target position is enlarged to a size suitable for analysis calculation processing and displayed on the image enlargement display unit 72. . The processing range designation image at this time is appropriately stored in the image enlargement display unit 72 by changing the range and the enlargement ratio of the display according to the distance from the shooting location where the camera is located to the target 33 (34).
[0016]
3-1. To describe the coordinate recognition of the index with reference to FIGS. 2 and 3, first, the binarization process of the image of the target 33 (34) and the index 35 in the image enlargement display unit 72 shown in FIG. Is executed. In this case, the binarization process is performed including a black spot 35 ′ other than the index 35 described later. The binarization processing result is schematically shown by a chain line in FIG. With respect to the binarized image, as shown in FIG. 2C, dots 350 on the boundary of the index 35 in the target are extracted. In this case, dots of single points that are clearly different from the index and dots of continuous points on a straight line are excluded. The average value of the extracted coordinate values (X _i , Y _i ) of each dot 350 is set as the center coordinates (X ₀ , Y ₀ ) of the index 35 and registered as the index position. Similarly, the central coordinates are registered as index positions for the stain 35 '.
Here, X ₀ = (X ₁ + X ₂ +... + X _i ) / i
Y ₀ = (Y ₁ + Y ₂ +... + Y _i ) / i
[0017]
A selection process of the 3-2.3 index will be described.
Incidentally, since the target 33 (34) is installed outdoors, it is inevitable that the dirt 35 'adheres to the surface thereof as described above. There is a possibility that a stain 35 ′ other than the index 35 may be erroneously recognized as an index. And the boundary shown with the chain line which limits the area | region of the target 33 (34) in the image expansion display part 72 may be misrecognized as a parameter | index. Therefore, when a portion other than the index 35 is recognized, it is necessary to execute a process for determining which point is the true index 35 before the movement amount is calculated. This discrimination process will be described.
[0018]
1) Discriminating whether or not the three indices are in a straight line (discrimination based on position characteristics)
As shown in FIG. 3A, a combination of three indices is selected from the registered position coordinates of the indices 35 and 35 'and registered as a target candidate. An operation is performed to determine whether or not the three indexes among the registered target candidates are on a straight line. The three points arranged on one straight line of the three solid lines in FIG. 3A satisfy the requirement that they are all on a straight line. However, it is considered that the three points on the upper and lower two straight lines are the result of misrecognizing the boundary that limits the area of the target 33 (34) as an index. Three indicators that are clearly judged not to be arranged in a straight line are excluded from the candidates. This operation is performed for all three combinations of target candidates.
2) Discriminating whether or not the interval between the indices is the same on the left and right (discrimination based on position characteristics)
As shown in FIG. 3B, for the target candidates determined in 1), the distances between the adjacent indicators 35 and 35 ′ are calculated. The distance between the left and right indices of the three points on the middle straight line is equal. The distances between the left and right indices of the three points on the lower straight line are equal. Since the distance between the left and right indices of the three points on the upper straight line is different, the combination of these three points is excluded from the target candidates.
[0019]
3) Determine whether the ratio between the interval between the indicators and the size of the indicators is correct (determined from the shape)
As shown in FIG. 3C, for the target candidates determined in 2), the inter-index distance and the index diameter are calculated. Target candidates whose relationship between the distance between the indices and the diameter of the indices is significantly different from the predetermined value are excluded from the candidates. These three points shown in FIG. 3C where the relationship between the distance between the indices and the diameter of the indices satisfies a predetermined value are assumed to be correct indices.
3-3. The 3-1 and 3-2 operations are performed for all four targets.
4th. When the position coordinates of the indices of all four targets are analyzed, the movement amount of the long moving object is calculated based on these position coordinates.
[0020]
As described above, the coordinate values necessary for calculating the moving amount of the moving object were obtained for all four targets 33 (34). With reference to these coordinate values, the movement amount of the moving object can be calculated according to the principle described with reference to FIGS. 7, 8, and 9 in the preceding example.
In carrying out the above embodiment, the following processing program is prepared for preparation.
Images captured by the electronic camera 6 are captured and displayed on the captured image display unit 71, and
Specify the target displayed on the captured image display unit 71,
The vicinity of the specified target position is enlarged and displayed on the image enlargement display unit 72,
Binarization processing of the target and the image of the index 35 in the image enlargement display unit 72;
For the binarized image, a dot 350 on the boundary of the index 35 in the target is extracted,
Calculate and register the average value of the coordinate values (X _i , Y _i ) of each extracted dot 350;
Select and register a combination of 3 indices from the registered position coordinates of the indices 35,
Determine the combination of the three indicators that are on a straight line from the registered combinations of the three indicators,
For a combination of three indicators on a straight line, determine a combination of three indicators with the same distance between adjacent indicators,
Calculate the distance between the indicators and the diameter of the indicators for a combination of three indicators with the same distance between adjacent indicators,
Discriminate the combination of the three indicators whose relationship between the distance between the indicators and the diameter of the indicator satisfies a predetermined value,
Analyze and calculate the position coordinates of all four target indices repeatedly,
A processing program for instructing a computer to calculate a moving amount of a long moving object based on position coordinates.
[0021]
【The invention's effect】
As described above, according to the present invention, when measuring the moving amount of the long object based on the photographic image displayed on the display, the captured image is displayed on the captured image display unit, and the captured image display unit The position of the target in the image displayed on is specified with the rectangular cursor set as the image cropping frame, and the processing unit automatically recognizes the index included in the specified target and calculates the position coordinate of the index, and recognizes it By adopting a configuration that calculates and displays the amount of movement with reference to the calculated position coordinates of the index, the analysis calculation processing of the amount of movement can be simplified, and the accuracy of the measured values obtained is high and constant. It is possible to provide a method for measuring the amount of movement of a long object and an apparatus for carrying out this method.
[0022]
That is, in the preceding example described above, the operator determines the position coordinates of the indices included in the target one by one by operating the mouse with respect to one measurement point, and uses four indices as three indices per target. It was necessary to specify the coordinates of a large number of indices, a total of 12 indices, and there was variation in the accuracy of measured values. On the other hand, the present invention does not directly specify the coordinates of the index, but specifies the target position with a rectangular cursor set as an image cropping frame, and the center coordinates of the index included in the specified target. By adopting a configuration for automatically analyzing and calculating, the number of times of operating the mouse with respect to one measurement point is 4 times in total specifying the position of the target of the four indexes with the rectangular cursor, and 1 / compared with the previous example. Reduced to 3 times. After the target is specified, the center coordinates of the indices included in the target are automatically analyzed and calculated, and the amount of movement of the long moving object is calculated based on the calculated position coordinates. It is constant.
[Brief description of the drawings]
FIG. 1 is a diagram for explaining an embodiment. FIG. 2 is a diagram for explaining coordinate recognition of an index.
FIG. 3 is a diagram for explaining an index / dirt discrimination process;
FIG. 4 is a diagram illustrating a conventional example.
FIG. 5 is a diagram for explaining a reference example.
FIG. 6 is a diagram illustrating a reference device.
FIG. 7 is a diagram showing a photographic image displayed on a captured image display unit.
FIG. 8 is a diagram showing coordinates on a display screen.
FIG. 9 is a view for explaining how to obtain a linear approximation formula;
[Explanation of symbols]
33 immovable target 34 object side target 35 index 71 captured image display unit 72 image enlargement display unit 73 movement amount display unit

Claims (2)

An object-side target with multiple circular indicators arranged at equal intervals on a straight line is placed on a long object, and a fixed target with multiple circular indicators arranged at equal intervals on a straight line is also elongated. One pair is installed near the object and these are photographed from the front with an electronic camera.
Display the captured image in the captured image display area,
Specify the target part in the image displayed in the captured image display area with the rectangular cursor set as the image cropping frame,
The arithmetic processing unit automatically recognizes the index included in the specified target part and calculates the center coordinate of the index as the position coordinate,
Determine whether the position coordinates of the index are on a straight line, determine whether the intervals between the position coordinates of adjacent indices are equal, and determine the ratio of the position coordinate interval between the indices and the size of the index diameter Whether or not satisfies a predetermined value,
A method for measuring a moving amount of a long object, wherein the moving amount is calculated with reference to the position coordinates of an index that is not all discriminated . An object-side target installed on a long object and a pair of reference units fixed in the vicinity of the long object;
A plurality of circular indexes are arranged on a straight line at regular intervals on the stationary target and the object side target,
Arranging and positioning the stationary target and object side target of a pair of reference units in a straight line both in the horizontal direction and in the height direction,
An electronic camera that captures images of a pair of fiducial stationary and object-side targets;
In a long object movement amount measuring apparatus having an arithmetic processing unit including a computer that obtains a deviation amount of an object side target based on a reference line connecting immovable targets in an image by performing coordinate arithmetic processing on the image,
A photographed image display unit for displaying a photographed image;
The target part in the image displayed on the captured image display part is specified by the rectangular cursor set as the image cropping frame, the center coordinates of the index included in the specified target are recognized as the position coordinates, and the position coordinates of the index Are determined to be on a straight line, whether or not the intervals between the position coordinates of the adjacent indices are equal to each other, and the ratio of the distance between the position coordinates between the indices and the diameter of the index is a predetermined value. It is determined whether or not satisfied, and comprises an arithmetic processing unit that analyzes and calculates a long object movement amount with reference to a recognition result of an index that is not all determination ,
An image enlargement display unit that enlarges and displays the recognition result of the target position coordinates and the index center coordinates,
A long-object moving amount measuring apparatus comprising a moving amount display unit for displaying an analytically calculated moving amount.

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