JP5108392B2 - Orbital displacement measurement system - Google Patents

Description

    The present invention relates to an orbital displacement measuring system for measuring an orbital displacement.

    Conventionally, roads, waterways, and the like are constructed by performing constructions that cross under a track without excavation (for example, HEP method or JES method). When carrying out such construction, it is absolutely essential that the track does not rise or sink, and for that purpose, the elevation and depression of the track are prevented by monitoring the displacement of the track. Must.

    Incidentally, a system shown in FIG. 4 has been proposed as a system for measuring the displacement of the orbit (see, for example, Patent Document 1). The illustrated system is configured to take a mark 201 attached to a side surface of the rail 200 with a digital video camera 202, and analyze the image with a personal computer 203 to measure the displacement of the rail 200 (hereinafter, conventional). Example 1).

In addition, a system called a matrix displacement automatic measurement system (HyPoS: Hyper Positioning System) is actually used (see, for example, Non-Patent Document 1). In this system, a target (prism) is arranged at a site where displacement is to be measured, and the target is measured by a total station so that static displacement can be detected (hereinafter referred to as Conventional Example 2).
JP 2004-212077 A Measurement Research Co., Ltd., “HyPos”, [December 12, 2006 search], Internet <URL: http://www.krcnet.co.jp/technical/hypos/hypos02.htm>

    However, since the technique of Conventional Example 1 has been developed to measure dynamic displacement associated with train travel, when used in the construction as described above, not only static displacement but also dynamic displacement. There was a problem that even displacement (for example, vibration of construction) was detected.

    Further, although the system of the above-mentioned conventional example 2 can measure the static displacement, there is a problem that it is expensive and can only be used for large-scale construction with a sufficient budget.

    An object of the present invention is to provide an orbital displacement measurement system that solves the above-described problems.

The invention according to claim 1 is illustrated in FIG. 1, and in the orbital displacement measuring system (1) for measuring the displacement of the orbit (2),
A first camera device (4) for acquiring an image of a first target (3) posted on a displacement measurement site (2B) of the trajectory (2);
A second camera device (6) for acquiring an image of the second target (5) posted on a portion other than the trajectory (2);
First displacement calculation means (7) for calculating displacement of the first target (3) based on an image from the first camera device (4);
Second displacement calculating means (8) for calculating the displacement of the second target (5) based on the image from the second camera device (6);
By calculating the difference between the displacement calculated by the first displacement calculation means (7) and the displacement calculated by the second displacement calculation means (8), the displacement generated in the displacement measurement site (2B) is calculated. Third displacement calculating means (9) ,
The second camera device (6) is an apparatus for acquiring an image including six or more second targets (5) posted at positions separated from each other, and is six or more posted at positions separated from each other. A wide angle so that the second target (5) can be photographed and an omnidirectional lens capable of photographing within a range of 360 degrees,
The second displacement calculation means (8) includes a displacement calculation unit (80) for calculating the displacement of each second target (5), and a second target (5) in which a dynamic displacement is generated, the displacement calculation unit (8). 80) a target selection unit (81) that selects at least six based on the calculation result of
The third displacement calculation means (9) calculates a static displacement generated in the displacement measurement site (2B) based on the displacement of the second target (5) selected by the target selection unit (81). Features. The invention according to claim 2 is the invention according to claim 1, wherein the second target (5) is on the ground not affected by the static displacement generated in the displacement measurement site (2B). And it is posted in the part which receives a dynamic displacement comparable as said 1st target (3), It is characterized by the above-mentioned.

    Note that the numbers in parentheses are for the sake of convenience indicating the corresponding elements in the drawings, and therefore the present description is not limited to the descriptions on the drawings.

In the invention according to claims 1 and 2 , the second target is posted at a place where the same dynamic displacement as that of the first target is generated without being affected by the static displacement. Assuming that both static displacement and dynamic displacement occur at the displacement measurement site on the trajectory, the first displacement calculating means calculates both the dynamic displacement and the static displacement (actual displacement). The calculation means only calculates only the dynamic displacement, and the third displacement calculation means can calculate only the static displacement generated in the displacement measurement site.

    Hereinafter, the best mode for carrying out the present invention will be described with reference to FIGS. 1 to 3. Here, FIG. 1 is a schematic diagram showing an example of the entire configuration of the orbital displacement measuring system according to the present invention, and FIG. 2 is a schematic diagram showing another example of the entire configuration of the orbital displacement measuring system according to the present invention. FIG. 3 is a schematic diagram for explaining how the relative positional relationship between the two cameras is obtained.

    The track displacement measuring system according to the present invention measures the displacement of the track, and preferably measures a displacement that does not include vibration caused by construction or the like. In this specification, vibration caused by construction or the like will be referred to as “dynamic displacement” as appropriate, and displacement with little temporal change compared to the dynamic displacement (for example, leading to the rise or depression of the track) Displacement) will be referred to as “static displacement”.

The orbital displacement measuring system according to the present invention is illustrated by reference numeral 1 in FIG.
A first camera device 4 for acquiring an image of the first target 3 posted on a displacement measurement site (site for measuring static displacement) 2B of the track 2;
A second camera device 6 that acquires an image of the second target 5 posted on a portion other than the trajectory 2;
First displacement calculating means 7 for calculating the displacement of the first target 3 (displacement including dynamic displacement and static displacement; hereinafter referred to as “actual displacement” as appropriate) based on the image from the first camera device 4. When,
A second displacement calculating means 8 for calculating the displacement of the second target 5 based on the image from the second camera device 6;
A third displacement calculation for calculating the displacement generated in the displacement measurement site 2B by calculating the difference between the actual displacement calculated by the first displacement calculating means 7 and the displacement calculated by the second displacement calculating means 8. Means 9;
It has.

Here, as the first target 3, it is preferable to use a shape whose position can be specified on the screen (so-called “target mark”). As a method of posting this first target 3,
・ How to stick a sheet
・ The method of drawing with paint can be listed. The first target 3 may be posted on a portion (side surface of the rail) where it is desired to monitor the ups and downs of the track.

    The other second target 5 is also preferably the same as the first target 3 and having a shape whose position can be specified on the screen (so-called “target mark”). Unlike the first target 3, the place where the second target 5 is posted is on the ground that is not affected by uplift or depression (static displacement), and is the same level as the first target 3. It must be a part that receives dynamic displacement.

    Now, assuming that both the static displacement and the dynamic displacement are generated in the above-described displacement measurement site 2B, the first displacement calculating means 7 calculates both the dynamic displacement and the static displacement (actual displacement). The displacement calculating means 8 only calculates the dynamic displacement, and the third displacement calculating means 9 can calculate only the static displacement generated in the displacement measuring part 2B. Therefore, if the calculation result of the third displacement calculating means 9 is monitored, the trajectory 2 can be prevented from being raised or depressed.

    By the way, as for the above-mentioned second target 5, it is sufficient if there are six that only perform dynamic displacement without static displacement, but all the targets 5 are positioned at appropriate positions (not affected by static displacement, It is not always possible to post on a portion that receives the same dynamic displacement as the first target 3. Therefore, the following is recommended.

    That is, six or more (preferably ten or more) second targets 5 are arranged in a position expected to be in an appropriate position in a state of being separated from each other, and the second camera device 6 includes the second targets 5. Try to get an image. Then, the second displacement calculating means 8 calculates the displacement of the displacement calculating unit 80 for calculating the displacement of each second target 5 and the second target 5 in which only dynamic displacement has occurred and no static displacement has occurred. And a target selection unit 81 that selects at least six based on the calculation result of the unit 80. The third displacement calculating means 9 may calculate a static displacement generated in the displacement measurement site 2B based on the displacement of the second target 5 selected by the target selecting unit 81.

    The effect of this configuration will be described. The measurement accuracy of this system (measurement accuracy regarding whether or not the static displacement generated at the displacement measurement site 2B can be properly extracted) depends to some extent on the posting position of the second target 5, and the second target 5 is positioned at an appropriate position. If the posting position of the second target 5 is inappropriate, the static displacement including noise (dynamic displacement) can be calculated. Become. However, in the structure provided with the displacement calculation unit 80 and the target selection unit 81 as described above, the appropriate second target 5 in which only the dynamic displacement is generated can be selected, so that the measurement accuracy of the system is improved. Can be made.

    On the other hand, the third target 10 is posted on the orbit 2 at a portion (preferably, both sides 2A, 2C of the first target 3) that is separated from the first target 3 by a predetermined distance L (for example, 5 m). The first camera device 4 may acquire an image including the first target 3 and the third target 10. The first displacement calculating means 7 calculates the actual displacement of the first target 3 and the actual displacement of the third target 10 based on the image from the first camera device 4, and the third displacement calculating means. 9 is based on the displacement of the first to third targets 3, 5, 10, and the relative displacement (statically) of the displacement measurement part 2 B based on the displacement of the parts 2 A, 2 C on which the third target 10 is posted. (Displacement) may be calculated.

    When the third target (see reference numerals 10A and 10B in FIG. 2) is posted on both sides of the first target (see reference numeral 3) as described above, the first camera devices 4A and 4B and the second camera device are displayed. Two each of 6A and 6B are arranged, and one first camera device 4A photographs one third target 10A and the first target 3, and the other first camera device 4B captures the other third target 10B. The first target 3 may be photographed. At this time, the second target 5 may be photographed by the second camera devices 6A and 6B. In addition, the synthesis targets 11A and 11B are posted on both sides in the vicinity of the first target 3 and photographed by the respective camera devices 4A and 4B, and the synthesis targets 11A and 11B are used. It is better to synthesize data. In this case, the displacement can be measured even if the separation distance L between the targets is large or the angle of view of the camera devices 4A and 4B is small.

By the way, the number of the first target 3 shown in FIG. 1 is only one, but of course, the number is not limited to this, and a plurality of first targets 3 may be arranged in a section where static displacement is desired to be measured. In that case, a target that can be both the first target 3 and the third target 10 is posted every predetermined distance L,
The static displacement of the i-th target is obtained with reference to the (i-1) th target and the (i + 1) th target,
The static displacement of the (i + 1) th target is obtained with reference to the ith target and the (i + 2) th target,
The static displacement of the (i + 2) th target is obtained based on the (i + 1) th target and the (i + 3) th target,
………
It may be said that.

The same applies to FIG. 2, and a plurality of first targets 3 may be arranged. In that case, the target that can be the first target 3 and the third target 10A, 10B is posted every predetermined distance L,
The static displacement of the i-th target is obtained with reference to the (i-1) th target and the (i + 1) th target,
The static displacement of the (i + 1) th target is obtained with reference to the ith target and the (i + 2) th target,
The static displacement of the (i + 2) th target is obtained based on the (i + 1) th target and the (i + 3) th target,
………
It may be said that. At this time, it is preferable that the synthesis targets 11A and 11B are posted on both sides in the vicinity of each target, and the respective data are synthesized using these targets 11A and 11B.

By the way, as said 1st camera apparatus 4, 4A, 4B and said 2nd camera apparatus 6, 6A, 6B,
・ So-called webcams (cameras connected to the USB port of a computer)
・ Network camera with built-in server,
・ Network digital cameras can be listed. The above-described web camera is connected to a network via a personal computer, but the above-described network camera and digital camera can be directly connected to the network without going through a personal computer. Since the system according to the present invention is composed of a web camera, a network camera, and a digital camera, it can be made cheaper than that using a total station. The first camera devices 4, 4A, 4B may be telephoto lenses, but the second camera devices 6, 6A, 6B have six or more dispersedly arranged in a wide range so as to be separated from each other. Since the second target 5 needs to be photographed, it must be wide-angle. Therefore, for this second camera device, an omnidirectional lens (for example, “PALNON lens (registered trademark)” manufactured by Tateyama Machine Co., Ltd.) capable of shooting in the range of 360 degrees around the camera optical axis is used. Also good. A web camera, a network camera, or a digital camera described above may have a number of millions of pixels. Note that a moving image may be acquired when a web camera or a network camera is used, and a still image may be acquired when a digital camera is used. As a matter of course, the images of both camera devices used for the analysis of static displacement must have the same shooting timing. For example, when a digital camera is used for both camera devices, the shutter timing is used. Need to be synchronized.

    By the way, in the above-mentioned orbital displacement measuring system, since the displacement must be obtained from images taken by both the first camera device 4 and the second camera device 6, the relative positional relationship between the camera devices 4 and 6 varies. It is necessary to fix both camera devices 4 and 6 so that they do not occur. Specifically, both camera devices 4 and 6 may be firmly fixed to a common bracket or housing. Moreover, these camera apparatuses 4 and 6 need to be a structure rich in weather resistance and water resistance so that it can be arrange | positioned outdoors. As the camera housing, “FusionDome (registered trademark)” or “SuperDome (registered trademark)” manufactured by Videoram Co., Ltd. may be used. In addition, since a camera in which two cameras of a wide angle and a telephoto are unitized is sold as a product (for example, “M10D-Secure” manufactured by Mobotics, Germany), it may be used.

    By the way, it is preferable to transfer data from the camera devices 4 and 6 to the first and second displacement calculating means 7 and 8 wirelessly. For this purpose, a wireless LAN access point (for example, WLA2-G54C manufactured by Buffalo) is connected to each of the camera devices 4 and 6 and each of the displacement calculation means 7 and 8, and data transmission between the access points is performed wirelessly. You should do it. Note that data transmission may be performed by attaching an external antenna as necessary. If possible, data transfer may be performed by wire.

    By the way, in the above-mentioned orbital displacement measurement system, since displacement must be obtained from images taken by both the first camera device 4 and the second camera device 6, the first camera device 4 and the second camera device. It is necessary to obtain the relative positional relationship with 6. The method will be described below.

Six fixed points (12 in total) are posted in areas where the camera devices 4 and 6 can shoot (reference numerals 50A, 50B,..., 51A, 51B,... In FIG. 3). These fixed points 50A,..., 51A,... Need to be determined in the same coordinate system. Now, assuming that the actual coordinates of the fixed point are (X, Y, Z) and the image coordinates of the fixed point are (x, y), the following equation is established.

Since six fixed points are given as described above, eleven parameters A ₁ , B ₁ , C ₁ , D ₁ , A ₂ , B ₂ , C ₂ , D ₂ , A are obtained by the least square method. ₃ , B ₃ , C ₃ can be obtained.

Next, using the principal point positions (x ₀ , y ₀ ) in 11 parameters, the photographic coordinates are obtained from the following equation.

Using the photographic coordinates, the following observation equation is established, and the eleven parameters A ₁ , B ₁ , C ₁ , D ₁ , A ₂ , B ₂ , C ₂ , D ₂ , A ₃ , B are obtained by the least square method. ₃ and C ₃ and K ₁ , K ₂ , K ₃ , P ₁ and P ₂ are obtained.

Since the obtained value is an approximate value, the principal point position (x ₀ , y ₀ ) is calculated again, and 16 parameters are solved again by the observation equation. Then, 16 orientation elements are solved by the 16 parameters that have been subjected to the final calculation.

In order to consider lens aberration, the following equation is used.

    When the above calculation is performed for each of the camera devices 4 and 6, since the orientation elements are the same, the position of the first camera device 4 in the coordinate system provided with the fixed point and the position of the second camera device 6 in the coordinate system are respectively determined. From these, the relative positional relationship between the cameras 4 and 6 can be determined. The work need not be performed at the site where the displacement is measured. It is good to do it in advance in a factory equipped with predetermined facilities.

FIG. 1 is a schematic diagram showing an example of the overall configuration of a trajectory displacement measuring system according to the present invention. FIG. 2 is a schematic diagram showing another example of the overall configuration of the orbital displacement measuring system according to the present invention. FIG. 3 is a schematic diagram for explaining how the relative positional relationship between the two cameras is obtained. FIG. 4 is a schematic diagram for explaining a conventional system for measuring the displacement of the trajectory.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Orbital displacement measurement system 2 Orbital 2B Displacement measurement part 3 1st target 4,4A, 4B 1st camera apparatus 5 2nd target 6,6A, 6B 2nd camera apparatus 7 1st displacement calculation means 8 2nd displacement calculation means 9 3rd displacement calculation means 10 3rd target 80 displacement calculation part 81 target selection part

Claims (2)

In the orbital displacement measurement system that measures the displacement of the orbit,
A first camera device for obtaining an image of a first target posted on a displacement measurement site of the trajectory;
A second camera device for acquiring an image of a second target posted on a portion other than the trajectory;
First displacement calculating means for calculating a displacement of the first target based on an image from the first camera device;
Second displacement calculating means for calculating a displacement of the second target based on an image from the second camera device;
A third displacement calculating means for calculating a displacement generated in the displacement measurement site by calculating a difference between the displacement calculated by the first displacement calculating means and the displacement calculated by the second displacement calculating means;
Equipped with a,
The second camera device is an apparatus for acquiring an image including six or more second targets posted at positions separated from each other, and images six or more second targets posted at positions spaced apart from each other. It has an omnidirectional lens that can shoot in a 360-degree range as well as being wide-angle,
The second displacement calculation means includes a displacement calculation unit that calculates the displacement of each second target, and a target selection unit that selects at least six second targets in which dynamic displacement has occurred based on the calculation result of the displacement calculation unit. And having
The third displacement calculation means calculates a static displacement generated in the displacement measurement site based on the displacement of the second target selected by the target selection unit.
Orbital displacement measurement system characterized by that. The second target is posted on a ground which is not affected by the static displacement generated in the displacement measurement site, and receives a dynamic displacement similar to the first target.
The trajectory displacement measuring system according to claim 1.

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