JP5033520B2 - Distance measuring method and distance measuring device - Google Patents

Description

  The present invention relates to a method and apparatus for measuring the distance between structures using a laser.

In the construction work related to railways and the subsequent management of structures, in order to satisfy the requirements of building limits, for example, the horizontal distance from the platform to the overhead line (overhead train line), the structure from the side of the track to the overhead line It is necessary to strictly manage the separation distance between structures, such as the shortest distance to the power pole, the horizontal distance from the utility pole to the overhead line, and the shortest distance from the track center of the track to the home edge and the structure beside the track (for example, Patent Document 1). However, when performing distance measurement near the track, it is often difficult to measure such a separation distance. For example, the measurement of the separation distance between the platform roof and the overhead line is a large-scale and dangerous work using a scale or a right angle ruler on an aerial work vehicle traveling on a rail. Furthermore, since this measurement cannot be performed while the train is in operation, it is necessary to consider the work interval and to perform procedures such as closing the track and stopping the feed (snoring), and adjustment work with other systems. In order to avoid such workloads, troublesome procedures and adjustment work, it is necessary to develop a device capable of measuring a separation distance from the ground outside the building limits.
East Japan Railway Company, Construction Department, Equipment Department, “Railway Facility Planning Guide”, East Japan Railway Company, May 2005

  As a device that can measure a separation distance from the ground outside the building limit, a distance measuring device using a laser can be considered. The conventional laser distance measuring device can measure the distance between any two points and the distance between the measuring device and any one point. However, the conventional laser distance measuring device needs to measure the shortest distance between one axis and one point, for example, the oblique distance between the platform and the overhead line, according to the railway-related construction and management requirements. When there is no irradiation object such as the horizontal distance between the home roof and the overhead wire, it is difficult to measure the distance.

  Accordingly, an object of the present invention is to provide a distance measuring method and a distance measuring apparatus that can solve the above-described problems and can easily calculate the distance between structures without taking a risk.

  In order to solve the above problems, a distance measuring method of the present invention is a distance measuring method for measuring a distance between first and second structures extending linearly using a laser, wherein the second A laser measurement step of irradiating a laser beam toward one point on the structure and two points on the first structure, and receiving a reflected light of the laser, an irradiation direction of the laser, and irradiation of the laser A coordinate calculation step for calculating the three-dimensional coordinates of the one point and the two points based on a round-trip time from when the reflected light is received to the first and second structures based on the three-dimensional coordinates And a distance calculating step of calculating a distance between them.

  In order to solve the above problem, the distance measuring device of the present invention is a distance measuring device for measuring a distance between the first and second structures extending linearly using a laser, A laser measuring means for irradiating a laser beam to one point on the second structure and two points on the first structure, and receiving reflected light of the laser, an irradiation direction of the laser, and the laser Coordinate calculating means for calculating three-dimensional coordinates of the one point and the two points based on a round trip time from irradiation to reception of the reflected light, and the first and second based on the three-dimensional coordinates. Distance calculating means for calculating the distance between the structures.

  With these configurations, the distance from the ground outside the building limits to the points on the structure is calculated using a laser, and the three-dimensional coordinates of each point are calculated based on these distances and the laser irradiation direction. Since the distance between structures is calculated based on the three-dimensional coordinates, it is possible to accurately calculate the distance between structures from outside the building limits, and easily calculate the distance between structures without violating danger. can do.

  In the distance measuring method of the present invention, the three-dimensional coordinates of one point on the second structure and two points on the first structure calculated in the coordinate calculation step are obtained as two points on the first structure. A coordinate conversion step of performing coordinate conversion so that one of the points is arranged at the origin of the three-dimensional space and the other is arranged on an arbitrary coordinate axis of the three-dimensional space, and the distance calculation step includes the coordinates It is preferable to calculate the distance between the first and second structures based on the three-dimensional coordinates of one point on the second structure that has been coordinate-converted in the conversion step.

  With this configuration, since the distance between the first structure and the second structure is obtained using the distance between the coordinate axis where the two points on the first structure are arranged and one point on the second structure, The distance between the first structure and the second structure can be easily and accurately calculated.

  Further, in the distance measuring method of the present invention, the first structure is an end portion of the platform of the platform, and the second structure is an overhead train line. In the distance calculating step, the end edge It is preferable to calculate an oblique distance and a horizontal distance between a section and the overhead train line.

  Similarly, in the distance measurement method of the present invention, the first structure is an overhead train line, the second structure is a utility pole beside the track, and in the distance calculation step, the overhead train line, the utility pole, It is preferable to calculate the horizontal distance between the two.

  These configurations eliminate the need for large-scale and dangerous work using a scale or right-angle ruler on an aerial work vehicle that runs on rails. And adjustment work with other systems is also unnecessary. Further, it is possible to calculate the diagonal distance between the platform roof and the overhead line representing the shortest distance between one point and one axis, and the horizontal distance between the platform roof or the utility pole without the irradiation object and the overhead line. Thereby, the distance between structures can be calculated easily, without incurring danger.

  In order to solve the above problems, a distance measuring method of the present invention is a distance measuring method for measuring a distance between a planar first structure and a second structure using a laser, A laser measurement step for irradiating a laser beam to one point on the two structures and three points on the first structure, and receiving the reflected light of the laser, an irradiation direction of the laser, and irradiation of the laser A coordinate calculation step for calculating three-dimensional coordinates of the one point and the three points based on a round trip time from when the reflected light is received to the first and second structures based on the three-dimensional coordinates. And a distance calculating step for calculating a distance between the objects.

  In order to solve the above problems, the distance measuring device of the present invention is a distance measuring device for measuring the distance between the planar first structure and the second structure using a laser, Laser measurement means for irradiating a laser beam to one point on the second structure and three points on the first structure and receiving reflected light of the laser, an irradiation direction of the laser, and the laser On the basis of the round trip time from receiving the reflected light to receiving the reflected light, coordinate calculating means for calculating the three-dimensional coordinates of the one point and the three points, and the first and the first based on the three-dimensional coordinates And a distance calculating means for calculating a distance between the two structures.

  With these configurations, the distance from the ground outside the building limits to the points on the structure is calculated using a laser, and the three-dimensional coordinates of each point are calculated based on these distances and the laser irradiation direction. Since the distance between structures is calculated based on the three-dimensional coordinates, it is possible to accurately calculate the distance between structures from outside the building limits, and easily calculate the distance between structures without violating danger. can do.

  In the distance measuring method of the present invention, the three-dimensional coordinates of the one point on the second structure and the three points on the first structure calculated in the coordinate calculating step are calculated as three points on the first structure. One of the points is arranged at the origin of the three-dimensional space, another one of the three points on the first structure is arranged on the first coordinate axis of the three-dimensional space, and the first structure A coordinate conversion step of performing coordinate conversion so that a plane formed by the above three points is arranged so as to coincide with the plane formed by the first coordinate axis and the second coordinate axis of the three-dimensional space; In the distance calculating step, it is preferable that the distance between the first and second structures is calculated based on the three-dimensional coordinates of one point on the second structure subjected to the coordinate conversion in the coordinate conversion step.

  With this configuration, the distance between the first structure and the second structure is the distance between the coordinate axis plane where the three points on the first structure are arranged and one point on the second structure. The distance between the object and the second structure can be calculated easily and accurately.

  In the distance measuring method of the present invention, the first structure is a track side surface of a track-side structure, the second structure is an overhead train line, and the distance calculating step includes: It is preferable to calculate the shortest distance from the overhead train line.

  This configuration eliminates the need for large-scale and dangerous work using a scale or right angle ruler on an aerial work vehicle that runs on rails. Coordination work with other systems is also unnecessary. Thereby, the shortest distance between the structure and the overhead train line can be easily calculated without incurring danger.

  In order to solve the above problems, a distance measuring method of the present invention is a distance measuring method for measuring a distance between a track center of a line and a structure using a laser, and includes a point on the structure. Irradiating the laser toward one point on the rail on the structure side of the line and two points on the other rail of the line and receiving the reflected light of the laser; and One point on the structure, one point on the rail on the structure side of the line, and the other rail of the line based on the irradiation direction and the round-trip time from irradiation of the laser to reception of the reflected light A coordinate calculation step for calculating the three-dimensional coordinates of the upper two points, and a distance calculation step for calculating the shortest distance between the center of the trajectory and one point on the structure based on the three-dimensional coordinates; It is a feature.

  In order to solve the above problems, a distance measuring device of the present invention is a distance measuring device for measuring the distance between the track center of a line and a structure using a laser, A laser measuring means for irradiating a laser toward one point, one point on the rail on the structure side of the line, and two points on the other rail of the line, and receiving reflected light of the laser; and One point on the structure, one point on the rail on the structure side of the line, and the other of the line based on the irradiation direction of the laser and the round trip time from when the laser is irradiated until the reflected light is received Coordinate calculating means for calculating three-dimensional coordinates of two points on the rail, and distance calculating means for calculating the shortest distance between the center of the trajectory and one point on the structure based on the three-dimensional coordinates. It is characterized by that.

  With these configurations, the distance from the ground outside the building limits to the points on the tracks and structures is calculated using a laser, and the three-dimensional coordinates of each point are calculated based on these distances and the laser irradiation direction. Since the distance between the track center and the structure is calculated based on these three-dimensional coordinates, it is possible to calculate the distance between the track center and the structure with high accuracy from outside the building limit, and it is easy without risk. The distance between the track center and the structure can be calculated.

  Further, the distance measuring method of the present invention is a tertiary of one point on the structure calculated in the coordinate calculation step, one point on the rail on the structure side of the line, and two points on the other rail of the line. A coordinate transformation step of transforming the original coordinates so that the first coordinate axis and the second coordinate axis of the three-dimensional space are arranged in a plane perpendicular to the plane of the track along the track center; In the calculating step, it is preferable to calculate the shortest distance between the center of the trajectory and the one point on the structure based on the three-dimensional coordinates of the one point on the structure subjected to the coordinate conversion in the coordinate converting step.

  With this configuration, the shortest distance between the orbit center and one point on the structure is the distance between the coordinate axis plane including the orbit center and one point on the structure, so the distance between the orbit center and the structure can be simplified. It is possible to calculate with high accuracy.

  The distance measuring method and the distance measuring device of the present invention calculate the distance to the point on the structure using the laser from the ground outside the building limit, and based on these distances and the irradiation direction of the laser, the tertiary of each point Since the original coordinates are calculated and the distances between the structures are calculated based on these three-dimensional coordinates, it is possible to calculate the distances between the structures with high accuracy from outside the building limits, and easily without risk The distance between structures can be calculated.

  Hereinafter, preferred embodiments of a distance measuring method and a distance measuring device according to the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  First, a first embodiment will be described with reference to FIGS.

  FIG. 1 is a schematic diagram of a method for measuring an oblique distance and a horizontal distance between a train overhead line (overhead line) 11 and a platform shed 12 by a distance measuring device 10 according to the present embodiment.

  In the present embodiment, the distance measuring device 10 uses a laser at any one point O on the overhead line 11 and any two points A and B on the edge of the home shed 12 using the laser. Are calculated, and based on these coordinates, the “slanting distance” indicating the shortest distance from the point O on the overhead line 11 to the home roof 12 and the horizontal of the point O on the overhead line 11 and the home roof 12 are calculated. The “horizontal distance” indicating the shortest distance in the direction is calculated.

  FIG. 2 is a functional block diagram of the distance measuring device 10. The distance measuring device 10 includes a laser transmitting / receiving unit (laser measuring unit) 101, a distance measuring unit 102, and an input / output unit 103. The laser transmission / reception unit 101, the distance measurement unit 102, and the input / output unit 103 may be configured integrally, or only the laser transmission / reception unit 101 is used as an independent device at a measurement place, and can be remotely wired or wirelessly. You may comprise so that it may communicate with a certain distance measurement part 102 and the input-output part 103. FIG. The distance measurement unit 102 further includes a polar coordinate calculation unit 104, a three-dimensional coordinate calculation unit (coordinate calculation unit) 105, a coordinate conversion unit (coordinate conversion unit) 106, and a distance calculation unit (distance calculation unit) 107. .

  The distance measuring unit 102 and the input / output unit 103 are realized by a computer including a CPU and a memory. Each functional block (polar coordinate calculation unit 104, three-dimensional coordinate calculation unit 105, coordinate conversion unit 106, distance calculation unit 107) included in the distance measurement unit 102 is realized by the CPU executing a software program stored in the memory. Is done. The input / output unit 103 is realized by input means such as a keyboard or a dedicated controller, and output means such as a display device or a printing device.

  The laser transmission / reception unit 101 irradiates the laser in the irradiation direction set by the user, and receives the reflected light of the irradiated laser. The laser transmitting / receiving unit 101 measures the time difference between the irradiation laser and the reflected light of the laser.

  The distance measuring unit 102 calculates the distance between the structures based on the measurement result by the laser transmitting / receiving unit 101 and transmits the calculated distance to the input / output unit 103. Hereinafter, each function of the distance measuring unit 102 will be described.

  The polar coordinate calculation unit 104 calculates polar coordinates of the target points O, A, and B based on the laser irradiation position of the distance measuring device 10 based on the measurement result of the laser transmitting / receiving unit 101. Specifically, the polar coordinate calculation unit 104 calculates the distance L to the target point based on the time difference from the laser irradiation to the light reception measured by the laser transmitting / receiving unit 101, and the horizontal coordinate based on the laser irradiation direction. The angle θ and the vertical angle φ are calculated. Then, polar coordinates (L, θ, φ) are calculated using the calculated distance L, horizontal angle θ, and vertical angle φ.

  Based on the polar coordinates of the target points O, A, and B calculated by the polar coordinate calculation unit 104, the three-dimensional coordinate calculation unit 105 sets each target point in an arbitrary three-dimensional space with the laser irradiation position of the distance measuring device 10 as the origin. The three-dimensional coordinates of are calculated.

  The conversion method from polar coordinates (L, θ, φ) to three-dimensional coordinates (x, y, z) can be easily obtained from x = L cos θ cos φ, y = L cos θ sin φ, and z = L sin θ.

  The coordinate conversion unit 106 uses the three-dimensional coordinate axis used by the three-dimensional coordinate calculation unit 105 to calculate the three-dimensional coordinates of the target points O, A, and B, with the laser irradiation position of the distance measuring device 10 as the origin. Coordinate conversion is performed so that the oblique distance and the horizontal distance between the overhead line 11 and the platform 12 can be easily calculated. Specifically, the coordinate conversion unit 106 performs coordinate conversion of the three-dimensional space so that the point A on the home roof 12 is arranged at the origin and the point B is arranged on an arbitrary coordinate axis.

  The distance calculation unit 107 calculates an oblique distance and a horizontal distance between the overhead line 11 and the home roof 12 based on the three-dimensional coordinates of the point O on the overhead line after the coordinate conversion calculated by the coordinate conversion unit 106. .

  Next, the distance measurement method according to the present embodiment will be described with reference to FIGS. FIG. 3 is a flowchart of the distance measuring method according to the present embodiment.

  First, when a command for obtaining the positions of measurement points O, A, and B is given from the user via the input / output unit 103, the laser transmitting / receiving unit 101 irradiates the laser with the measurement point and receives the reflected light of the laser. Laser measurement for measuring the time difference until is performed (laser measurement step: S101).

  Next, polar coordinates of each measurement point O, A, B are calculated by the polar coordinate calculation unit 104 based on the time difference of laser transmission / reception and the irradiation direction for each measurement point O, A, B measured by the laser transmission / reception unit 101. (S102).

Subsequently, the three-dimensional coordinate calculation unit 105 calculates the three-dimensional coordinates of the measurement points O, A, and B based on the polar coordinates of the measurement points calculated by the polar coordinate calculation unit 104 (coordinate calculation step: S103). ). FIG. 4 is a diagram illustrating an example of the three-dimensional coordinates of the measurement points O, A, and B calculated by the three-dimensional coordinate calculation unit 105. As shown in FIG. 4, the three-dimensional coordinate calculation unit 105 first sets the X0Y0Z0 coordinate system so that the point A is arranged on the XZ plane. In the example of FIG. 4, the coordinates of the point A are (x _A , 0, z _A ).

  Next, the coordinate conversion unit 106 performs coordinate conversion of the coordinates of the measurement points O, A, and B calculated by the three-dimensional coordinate calculation unit 105 (coordinate conversion step: S104). Details of this coordinate conversion processing will be described below with reference to FIGS.

このとき、点Ｂと原点を結ぶ線分ＡＢのＸ１Ｙ１平面への投影線分ＡＢ’と、Ｘ１軸とのなす角度をθ１とする。 First, as shown in FIG. 5, the X0 and Z0 axes are translated so that the point A (x _A , 0, z _A ) is located at the origin, and the X0Y0Z0 coordinate system becomes a new X1Y1Z1 coordinate system. Converted. The equation for this conversion is shown below.

At this time, the angle formed by the projection line segment AB ′ of the line segment AB connecting the point B and the origin onto the X1Y1 plane and the X1 axis is defined as θ1.

このとき、点Ｂと原点を結ぶ線分ＡＢとＸ２軸とのなす角度をφ１とする。 Next, as shown in FIG. 6, the point B is rotated by θ1 about the Z1 axis so that the y coordinate of the point B becomes 0, and converted to a new X2Y2Z2 coordinate system. This conversion formula is shown below.

At this time, an angle formed by a line segment AB connecting the point B and the origin and the X2 axis is defined as φ1.

このとき、点Ｏと原点を結ぶ線分ＯＡのＹ３Ｚ３平面への投影線分Ｏ’Ａと、Ｙ３軸とのなす角度をφ２とする。 Next, as shown in FIG. 7, the point B is rotated by φ1 around the Y2 axis so as to be arranged on the x axis, and converted to a new X3Y3Z3 coordinate system. By this conversion, the points A and B are arranged on the X3 axis. This conversion formula is shown below.

At this time, the angle formed by the projected line segment O′A on the Y3Z3 plane of the line segment OA connecting the point O and the origin and the Y3 axis is φ2.

Further, as shown in FIG. 8, the point O is rotated by φ2 around the X3 axis so as to be arranged on the xy plane, and converted to a new X4Y4Z4 coordinate system. By this conversion, the points A, B, and O are all arranged on the X4Y4 plane. This conversion formula is shown below.

  The coordinate conversion process by the coordinate conversion unit 106 has been described above.

Subsequently, the distance calculation unit 107 calculates an oblique distance and a horizontal distance between the point O on the overhead line 11 and the home roof 12 (distance calculation step: S105). Still referring to FIG. 8, the coordinates of the point O in X4Y4Z4 coordinate system _{(x o, y o, 0} ). In this case, X4 axis passing through the points A, B, that is, the end portion 12 of the home shed of Figure 1, the point O, i.e. the shortest distance between the point O on the overhead line 11 of Figure 1 is the y _o. This shortest distance yo is the oblique distance in FIG. Further, as shown in FIG. 9, the horizontal distance between the end 12 of the home roof and the point O on the overhead line 11 can be calculated as follows.
Horizontal distance = yo · cosφ2
Here, yo is the oblique distance between the overhead line 11 and the platform 12 at the point O, and φ2 is the angle of the oblique distance in the vertical direction.

  The distance measuring method according to this embodiment has been described above.

  FIG. 10 is a diagram illustrating a modification of the first embodiment. In FIG. 10, the distance measuring device 10 measures the horizontal distance between the overhead wire 11 and the utility pole 13. In this case, two arbitrary points A and B are set on the overhead wire 11, and one arbitrary point O is set on the overhead wire side surface of the utility pole 13. Then, an oblique distance (shortest distance) between the overhead wire 11 and the point O on the utility pole 13 is calculated by performing the above-described processing described with reference to FIGS. 3 to 9. Based on the vertical angle of the distance, the horizontal distance between the overhead wire 11 and the point O on the utility pole 13 is calculated.

  The first embodiment can be applied to the measurement of the distance between the rail head surface and the overhead wire, the distance between the rail head surface and the overpass, the distance between the tracks, and the like in addition to the application example described above. is there.

  In the distance measuring device 10 and the distance measuring method using the distance measuring device according to the first embodiment of the present invention, the laser transmitting / receiving unit 101 and the laser measuring step S101 are on the overhead line 11 from the ground outside the building limit. While irradiating the laser toward one point O and two points A and B on the home roof 12, the reflected light of the irradiated laser is received. The three-dimensional coordinate calculation unit 105 and the three-dimensional coordinate calculation step S103 perform the tertiary of each measurement point O, A, B based on the laser irradiation direction and the round-trip time from the irradiation of the laser to the reception of the reflected light. Calculate original coordinates. The distance calculation unit 107 and the distance calculation step S105 calculate an oblique distance and a horizontal distance between the point O on the overhead line 11 and the home shed 12 based on the calculated three-dimensional coordinates of the points O, A, and B. To do. With such a configuration, it becomes possible to accurately calculate the distance between the point O on the overhead line 11 and the platform shed 12 from outside the building limits, and easily calculate the distance between the structures without causing a danger. can do.

  In the distance measuring device 10 and the distance measuring method according to the first embodiment of the present invention, the coordinate conversion unit 106 and the coordinate conversion step S104 are further replaced with the three-dimensional coordinate calculation unit 105 and the three-dimensional coordinate calculation step S103. The three-dimensional coordinates of each of the measurement points O, A, and B calculated in step 3 are arranged such that the point A on the home roof 12 is arranged at the origin of the three-dimensional space and the point B is arranged on an arbitrary coordinate axis in the three-dimensional space. The coordinates are converted as follows. In this case, the distance calculation unit 107 and the distance calculation step S105 described above are based on the three-dimensional coordinates of the point O on the overhead line 11 that has been subjected to coordinate conversion, and the oblique distance between the point O on the overhead line 11 and the home roof 12 is determined. Calculate distance and horizontal distance. With this configuration, the oblique distance between the point O on the overhead line 11 and the home roof 12 is the shortest distance between the coordinate axis where the two points A and B on the home roof are arranged and the single point O on the overhead line 11. Therefore, the oblique distance and the horizontal distance between the point O on the overhead line 11 and the platform shed 12 can be easily and accurately calculated.

  Next, a second embodiment will be described with reference to FIGS.

  FIG. 11 is a schematic diagram of a method for measuring the shortest distance between the train overhead wire (overhead wire) 11 and the trackside structure 14 by the distance measuring device 10 according to the present embodiment.

  In the present embodiment, the distance measuring device 10 has an arbitrary point O on the overhead line 11 and an arbitrary three points A, B, and C on the side of the overhead line of the structure 14 at each of the points O, A, B, and C. The coordinates are calculated, and the shortest distance from the point O on the overhead line 11 to the structure 14 is calculated based on these coordinates. This shortest distance is always a constant value when the point O is set on the overhead line 11 and the positional relationship between the overhead line 11 and the structure 14 does not change.

  The functional configuration of the distance measuring device 10 is the same as that of the first embodiment shown in FIG.

  Next, the distance measurement method according to the present embodiment will be described with reference to FIGS. FIG. 12 is a flowchart of the distance measuring method according to the present embodiment. The distance measurement method of the present embodiment has the same basic process configuration as that of the first embodiment shown in FIG. 3, but the number of measurement points and the arrangement of the points O after the coordinate conversion process. Is different.

  First, when a command for obtaining the positions of the measurement points O, A, B, and C is given from the user via the input / output unit 103, the laser transmitting / receiving unit 101 irradiates the measurement point with a laser beam, and reflects the reflected light of the laser. Laser measurement for measuring the time difference until reception is performed (S201).

  Next, based on the time difference of laser transmission / reception and the irradiation direction for each measurement point O, A, B, C measured by the laser transmission / reception unit 101 by the polar coordinate calculation unit 104, each measurement point O, A, B, C is measured. Polar coordinates are calculated (S202).

Subsequently, the three-dimensional coordinate calculation unit 105 calculates the three-dimensional coordinates of the measurement points O, A, B, and C based on the polar coordinates of the measurement points calculated by the polar coordinate calculation unit 104 (S203). FIG. 13 is a diagram illustrating an example of the three-dimensional coordinates of the measurement points O, A, B, and C calculated by the three-dimensional coordinate calculation unit 105. As shown in FIG. 13, the three-dimensional coordinate calculation unit 105 sets the X0Y0Z0 coordinate system so that the point A is arranged on the XZ plane. In the example of FIG. 13, the coordinates of the point A are (x _A , 0, z _A ).

  Next, the coordinates of the measurement points O, A, B, and C calculated by the three-dimensional coordinate calculation unit 105 are converted by the coordinate conversion unit 106 (S204). Details of this coordinate conversion processing will be described below with reference to FIGS.

このとき、点Ｂと原点を結ぶ線分ＡＢのｘｙ平面への投影線分ＡＢ’と、Ｘ１軸とのなす角度をθ１とする。 First, as shown in FIG. 14, the X0 axis and the Z0 axis are translated so that the point A (x _A , 0, z _A ) is located at the origin, and converted into a new X1Y1Z1 coordinate system. The equation for this conversion is shown below.

At this time, an angle formed between the line segment AB ′ connecting the point B and the origin to the xy plane and the X1 axis is θ1.

このとき、点Ｂと原点を結ぶ線分ＡＢとＸ２軸とのなす角度をφ１とする。 Next, as shown in FIG. 15, the point B is rotated by θ1 around the Z1 axis so that the y coordinate of the point B becomes 0, and converted to a new X2Y2Z2 coordinate system. This conversion formula is shown below.

At this time, an angle formed by a line segment AB connecting the point B and the origin and the X2 axis is defined as φ1.

このとき、点Ｃと原点を結ぶ線分ＣＡのＹ３Ｚ３平面への投影線分Ｃ’Ａと、Ｙ３軸とのなす角度をφ２とする。 Next, as shown in FIG. 16, the point B is rotated by φ1 around the Y2 axis so as to be arranged on the x-axis, and converted to a new X3Y3Z3 coordinate system. By this conversion, the points A and B are arranged on the X3 axis. This conversion formula is shown below.

At this time, the angle formed by the projected line segment C′A of the line segment CA connecting the point C and the origin onto the Y3Z3 plane and the Y3 axis is φ2.

Further, as shown in FIG. 17, the point C is rotated by φ2 around the X3 axis so as to be arranged on the xy plane, and converted to a new X4Y4Z4 coordinate system. By this conversion, the points A, B, and C are arranged on the X4Y4 plane. This conversion formula is shown below.

  The coordinate conversion process by the coordinate conversion unit 106 has been described above.

  Subsequently, the distance calculation unit 107 calculates the shortest distance between the point O on the overhead line 11 and the structure 14 (S205). Still referring to FIG. 17, the coordinates of the point O in the X4Y4Z4 coordinate system are (x0, yo, zo). At this time, the shortest distance between the X4Y4 plane on which the points A, B, and C are arranged, that is, the overhead line side plane of the structure 14 in FIG. 11, and the point O, that is, the overhead line 11 in FIG. The shortest distance zo is always constant regardless of the position of the point O on the overhead line 11 as long as the positional relationship between the overhead line 11 and the structure 14 does not change.

  The distance measurement method according to the second embodiment has been described above.

  In addition to the above-described application examples, the second embodiment can be applied to measurement of a distance between a planar structure such as a fence or a net and a bracket disposed on a utility pole.

  In the distance measuring device 10 and the distance measuring method using the distance measuring device according to the second embodiment of the present invention, the laser transmitting / receiving unit 101 and the laser measuring step S201 are on the overhead line 11 from the ground outside the building limit. The laser beam is irradiated toward one point O and three points A, B, and C on the structure 14, and the reflected light of the irradiated laser beam is received. The three-dimensional coordinate calculation unit 105 and the three-dimensional coordinate calculation step S203 determine each measurement point O, A, B, C based on the laser irradiation direction and the round-trip time from when the laser is irradiated until the reflected light is received. The three-dimensional coordinates of are calculated. The distance calculation unit 107 and the distance calculation step S205 calculate the distance between the overhead line 11 and the structure 14 based on the calculated three-dimensional coordinates of the points O, A, B, and C. With such a configuration, it becomes possible to calculate the shortest distance between the overhead wire 11 and the structure 14 with high accuracy from outside the building limits, and it is possible to easily calculate the distance between the structures without violating danger. .

  Further, in the distance measuring apparatus 10 and the distance measuring method according to the second embodiment of the present invention, the coordinate conversion unit 106 and the coordinate conversion step S204 are further replaced with the three-dimensional coordinate calculation unit 105 and the three-dimensional coordinate calculation step S203. The three-dimensional coordinates of each of the measurement points O, A, B, and C calculated in (1) are arranged such that the point A on the structure 14 is arranged at the origin of the three-dimensional space, and the point B is an arbitrary first coordinate axis in the three-dimensional space. The coordinates are converted so that the point C is arranged on a plane (for example, xy plane) formed by the first coordinate axis and the second coordinate axis (for example, y axis). In this case, the distance calculation unit 107 and the distance calculation step S205 described above calculate the distance between the overhead line 11 and the structure 14 based on the three-dimensional coordinates of the point O on the overhead line 11 subjected to the coordinate conversion. With this configuration, the distance between the overhead line 11 and the structure 14 is the shortest distance between the plane formed by the three points A, B, and C on the structure 14 and the one point O on the overhead line 11. The distance between 14 can be calculated easily and accurately.

  Next, a third embodiment will be described with reference to FIGS.

  FIG. 18 is a schematic diagram of a method for measuring the shortest distance between the track center 15c and the structure 16 by the distance measuring device 10 according to the present embodiment.

  In the present embodiment, the distance measuring device 10 sets arbitrary two points A and B on the rail 15a far from the structure 16 (outer track side) of the track 15 and is closer to the structure 16 (inner track side). ) An arbitrary point C is set on the rail 15b, and an arbitrary point O is set on the side surface of the track 15 of the structure 16. Then, the distance measuring device 10 calculates the coordinates of these measurement points O, A, B, and C, and calculates the shortest distance from the track center line 15c to the point O on the structure 16 based on these coordinates. To do. This shortest distance changes depending on the position where the point O is set. In particular, in FIG. 18, since the point O is set at the upper end portion of the structure 16, the true shortest distance between the track center 15 c and the structure 16 is obtained.

  The functional configuration of the distance measuring device 10 is the same as that of the first embodiment shown in FIG.

  Subsequently, the distance measuring method according to the present embodiment will be described with reference to FIGS. FIG. 19 is a flowchart of the distance measuring method according to the present embodiment. Steps S201 to S203 are the same as the processing steps of the second embodiment described with reference to FIG.

  In step S204a, the coordinate conversion unit 106 performs coordinate conversion of the coordinates of the respective measurement points O, A, B, and C calculated by the three-dimensional coordinate calculation unit 105. Details of the coordinate transformation process will be described below with reference to FIGS.

  First, the same processing as the coordinate transformation of the second embodiment described with reference to FIGS. 14 to 16 is performed, and X0Y0Z0 is arranged such that the point A is arranged at the origin and the point B is arranged on the x-axis. A coordinate system is set. At this time, an angle formed by a perpendicular line extending from the point C to the X0 axis and the X0Y0 plane is φ3.

Next, as shown in FIG. 21, the point C is rotated by φ3 around the X1 axis so as to be arranged on the xy plane, and converted to a new X1Y1Z1 coordinate system. By this conversion, the points A, B, and C are arranged on the X1Y1 plane. This conversion formula is shown below.

ここで、ｌは直線２１と直線２２との間隔を表す。間隔ｌは、図１８に示すレール１５ａとレール１５ｂとの間の距離（軌間）である。 Next, as shown in FIG. 22, the X1 axis is translated so that the straight line 21 passing through the points A and B and the straight line 22 passing through the point C and parallel to the straight line 21 are arranged at an equal distance from the x axis. To a new X2Y2Z2 coordinate system. The equation for this conversion is shown below.

Here, l represents an interval between the straight line 21 and the straight line 22. The space | interval l is the distance (gauge) between the rail 15a and the rail 15b shown in FIG.

  Comparing the coordinate system of FIG. 22 with the schematic diagram of FIG. 18, the straight line 21 passing through the points A and B represents the rail 15a, the straight line 22 passing through the point C represents the rail 15b, and the X2Z2 plane represents the orbit center 15c. .

  Subsequently, in step S205a, the distance calculation unit 107 calculates the shortest distance between the track center 15c and the point O on the structure 16. Referring to FIGS. 22 and 23, the coordinates of the point O in the X2Y2Z2 coordinate system are (x0, yo, zo). The shortest distance between the X2Z2 plane, that is, the trajectory center 15c in FIG. 18 and the point O, that is, the point O on the structure 16 in FIG. 18, is yo. As shown in FIG. 18, in the present embodiment, since the point O is set at the upper end portion of the structure 16, yo is the true shortest distance between the activation center 15 c and the structure 16.

  The distance measurement method according to the third embodiment has been described above.

  In the distance measuring device 10 and the distance measuring method using the distance measuring device according to the third embodiment of the present invention, the laser transmitting / receiving unit 101 and the laser measuring step S201 are on the structure 16 from the ground outside the building limit. Is irradiated to one point O, two points A and B on the outer rail 15a of the track 15, and one point C of the inner rail 15b, and the reflected light of the irradiated laser is received. The three-dimensional coordinate calculation unit 105 and the three-dimensional coordinate calculation step S203 determine each measurement point O, A, B, C based on the laser irradiation direction and the round-trip time from when the laser is irradiated until the reflected light is received. The three-dimensional coordinates of are calculated. The distance calculation unit 107 and the distance calculation step S205a are the shortest between the track center 15c of the track 15 and the point O on the structure 16 based on the calculated three-dimensional coordinates of the points O, A, B, and C. Calculate the distance. With such a configuration, it is possible to calculate the distance between the structures with high accuracy from outside the building limit, and it is possible to easily calculate the distance between the structures without causing danger.

  In the distance measurement device 10 and the distance measurement method according to the third embodiment of the present invention, the coordinate conversion unit 106 and the coordinate conversion step S204a are further replaced with the three-dimensional coordinate calculation unit 105 and the three-dimensional coordinate calculation step S203. A plane (for example, an xz plane) formed by any two coordinate axes in a three-dimensional space with the plane orthogonal to the trajectory 15 along the trajectory center 15c, for the three-dimensional coordinates of the respective measurement points O, A, B, C calculated in The coordinates are transformed so that In this case, the distance calculation unit 107 and the distance calculation step S205a described above are performed between the trajectory center 15c and the point O on the structure 16 based on the three-dimensional coordinates of the point O on the structure 16 after the coordinate conversion. Calculate the shortest distance. With this configuration, the shortest distance between the orbit center 15c and the point O on the structure 16 is the distance between the xz plane including the orbit center 15c and the point O. Can be easily and accurately calculated.

  In the above-described embodiment, after calculating the three-dimensional coordinates of the measurement point, the coordinate conversion is performed to calculate the distance between the structures. However, the distance calculation method is not limited to the one that performs the coordinate conversion. For example, in the case of the first embodiment, the edge of the platform can be approximated by a straight line equation, and the distance from the point O on the overhead line can be derived using the distance theorem of the point and the straight line. good.

It is the schematic of the method of measuring the diagonal distance and horizontal distance between a train overhead wire and a platform roof by the distance measuring device which concerns on 1st Embodiment. It is a block diagram of a distance measuring device. It is a flowchart of the distance measurement method by 1st Embodiment. It is a figure which shows an example of the three-dimensional coordinate of the measurement points O, A, and B calculated by the three-dimensional coordinate calculation part. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is a figure which shows the relationship between a diagonal distance and a horizontal distance. It is the schematic which shows the modification of 1st Embodiment. It is the schematic of the method of measuring the shortest distance between the train overhead wire and the trackside structure by the distance measuring device which concerns on 2nd Embodiment. It is a flowchart of the distance measurement method by 2nd Embodiment. It is a figure which shows an example of the three-dimensional coordinate of the measurement points O, A, B, and C calculated by the three-dimensional coordinate calculation part. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is the schematic of the method of measuring the shortest distance between the track | orbit center and one point on a structure by the distance measuring device which concerns on 3rd Embodiment. It is a flowchart of the distance measuring method by 3rd Embodiment. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is a figure which shows the process of the coordinate transformation process by a coordinate transformation part. It is a figure which shows the relationship between the coordinate of the point O after coordinate transformation, and the shortest distance between a track center and one point on a structure.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Distance measuring device, 11 ... Overhead wire, 12 ... Home roof, 13 ... Electric pole, 14 ... Structure, 15 ... Track, 15a ... Outer rail side rail, 15b ... Inner rail side rail, 15c ... Track center, 16 ... Structure 101 101 Laser transmitting / receiving unit 102 Distance measuring unit 103 Input / output unit 104 Polar coordinate calculation unit 105 Three-dimensional coordinate calculation unit 106 Coordinate conversion unit 107 Distance calculation unit S101, S201 ... laser measurement step, S102, S202 ... polar coordinate calculation step, S103, S203 ... three-dimensional coordinate calculation step, S104, S205, S205a ... coordinate conversion step, S105, S205, S205a ... distance calculation step.

Claims (12)

A distance measuring method for measuring a distance between first and second structures extending linearly using a laser,
A laser measurement step of irradiating a laser toward one point on the second structure and two points on the first structure and receiving reflected light of the laser;
A coordinate calculation step for calculating the three-dimensional coordinates of the one point and the two points based on the irradiation direction of the laser and the round-trip time from irradiation of the laser to reception of the reflected light;
A distance calculating step of calculating a distance between the first and second structures based on the three-dimensional coordinates;
A distance measuring method including: The three-dimensional coordinates of the one point on the second structure and the two points on the first structure calculated in the coordinate calculation step are set such that one of the two points on the first structure is a three-dimensional space. A coordinate conversion step of converting the coordinates so that the other is arranged on an arbitrary coordinate axis of the three-dimensional space,
The distance calculating step calculates a distance between the first and second structures based on the three-dimensional coordinates of one point on the second structure subjected to coordinate conversion in the coordinate conversion step.
The distance measuring method according to claim 1.   The first structure is an end edge on the track side of the platform, and the second structure is an overhead train line. In the distance calculation step, the distance between the end edge and the overhead train line is The distance measuring method according to claim 1, wherein an oblique distance and a horizontal distance are calculated.   The first structure is an overhead train line, the second structure is a power pole beside a track, and the distance calculating step calculates a horizontal distance between the overhead train line and the power pole. The distance measuring method according to claim 1 or 2. A distance measuring method for measuring a distance between a planar first structure and a second structure using a laser,
A laser measurement step of irradiating a laser toward one point on the second structure and three points on the first structure and receiving reflected light of the laser;
A coordinate calculating step for calculating the three-dimensional coordinates of the one point and the three points based on the irradiation direction of the laser and the round-trip time from the irradiation of the laser to the reception of the reflected light;
A distance calculating step of calculating a distance between the first and second structures based on the three-dimensional coordinates;
A distance measuring method including: The three-dimensional coordinates of the one point on the second structure and the three points on the first structure calculated in the coordinate calculation step are as follows. One of the three points on the first structure is a three-dimensional space. A plane formed by the three points on the first structure is arranged at the origin, and another one of the three points on the first structure is arranged on the first coordinate axis of the three-dimensional space. A coordinate conversion step of performing coordinate conversion so as to be arranged so as to coincide with a plane formed by the first coordinate axis and the second coordinate axis of the three-dimensional space;
The distance calculating step calculates a distance between the first and second structures based on the three-dimensional coordinates of one point on the second structure subjected to coordinate conversion in the coordinate conversion step.
The distance measuring method according to claim 5.   The first structure is a track side surface of a track-side structure, the second structure is an overhead train line, and in the distance calculating step, the shortest distance between the track side surface and the overhead train line is determined. The distance measuring method according to claim 5 or 6, wherein the distance is calculated. A distance measurement method for measuring the distance between the track center of a track and a structure using a laser,
Laser that irradiates a laser toward one point on the structure, one point on the rail on the structure side of the line, and two points on the other rail of the line and receives reflected light of the laser A measurement step;
One point on the structure, one point on the rail on the structure side of the line, and one point on the rail, based on the irradiation direction of the laser and the round-trip time from irradiation of the laser to reception of the reflected light A coordinate calculation step for calculating three-dimensional coordinates of two points on the other rail;
A distance calculating step for calculating the shortest distance between the center of the trajectory and one point on the structure based on the three-dimensional coordinates;
A distance measuring method including: A three-dimensional coordinate of one point on the structure calculated in the coordinate calculation step, one point on the rail on the structure side of the track, and two points on the other rail of the track along the center of the track. A coordinate conversion step of performing coordinate conversion so that the first coordinate axis and the second coordinate axis of the three-dimensional space are arranged in a plane orthogonal to the plane of the line;
The distance calculating step calculates the shortest distance between the center of the trajectory and the point on the structure based on the three-dimensional coordinates of the point on the structure subjected to the coordinate conversion in the coordinate conversion step.
The distance measuring method according to claim 8. A distance measuring device for measuring a distance between first and second structures extending linearly using a laser,
A laser measuring means for irradiating a laser toward one point on the second structure and two points on the first structure and receiving reflected light of the laser;
Coordinate calculation means for calculating the three-dimensional coordinates of the one point and the two points based on the irradiation direction of the laser and the round-trip time from irradiation of the laser to reception of the reflected light;
Distance calculating means for calculating a distance between the first and second structures based on the three-dimensional coordinates;
A distance measuring device comprising: A distance measuring device for measuring a distance between a planar first structure and a second structure using a laser,
A laser measuring means for irradiating a laser toward one point on the second structure and three points on the first structure and receiving reflected light of the laser;
Coordinate calculation means for calculating the three-dimensional coordinates of the one point and the three points based on the irradiation direction of the laser and the round-trip time from irradiating the laser to receiving the reflected light;
Distance calculating means for calculating a distance between the first and second structures based on the three-dimensional coordinates;
A distance measuring device comprising: A distance measuring device for measuring the distance between the track center of a track and a structure using a laser,
Laser that irradiates a laser toward one point on the structure, one point on the rail on the structure side of the line, and two points on the other rail of the line and receives reflected light of the laser Measuring means;
One point on the structure, one point on the rail on the structure side of the line, and one point on the rail, based on the irradiation direction of the laser and the round-trip time from irradiation of the laser to reception of the reflected light Coordinate calculating means for calculating three-dimensional coordinates of two points on the other rail;
Distance calculating means for calculating the shortest distance between the center of the trajectory and one point on the structure based on the three-dimensional coordinates;
A distance measuring device comprising:

Images