JP7368409B2 - Track measuring device and track measuring method - Google Patents

Description

TECHNICAL FIELD The present invention relates to a track inspection device and a track inspection method that measure track displacement of a track including rails.

A trajectory inspection method has been proposed in which trajectory displacement (orbit deviation) is detected by image processing an image of a trajectory captured by an imaging device. Here, track displacement (misalignment) is defined as height displacement, which is the displacement in the vertical direction of the rail, street displacement, which is the displacement in the width direction (horizontal direction) of the rail, and deviation from the set value of the spacing between the rails on both the left and right sides. Examples include gauge displacement, which is the difference, level displacement, which is the difference from the set value of the height difference between the left and right rails, and flatness displacement, which is the difference in level between two points separated by a certain distance. can do.

Japanese Unexamined Patent Publication No. 2009-192292 (Patent Document 1) discloses a track inspection device that includes a reference object installed on a rail and an imaging device installed at a position away from the reference object on the rail. is provided with a reference point for calculating the minimum measurement error position for at least one of the street direction and height difference, and the photographing device includes a camera that photographs the reference object, and the image data of the camera and the minimum measurement error position. A technique is disclosed in which an image processing section is provided that calculates at least one of the running direction and the height difference based on the following.

Japanese Unexamined Patent Publication No. 10-62164 (Patent Document 2) describes a method for measuring and inspecting the distance between two adjacent tracks, in which a measuring optical system consisting of a projector and two image receiving cameras is installed on both the left and right sides of the vehicle body of a track inspection vehicle. , a technique is disclosed in which a data processing/recording device is provided within the vehicle body.

Japanese Patent No. 6682087 (Patent Document 3) describes a method for measuring the center of a track, in which objects around the track are scanned by a laser scanner installed on the measuring vehicle in the running direction of the measuring vehicle running on two rails. A technique has been disclosed for acquiring three-dimensional point group data representing a shape as a three-dimensional point group and travel trajectory position data of a measurement vehicle.

Japanese Patent Application Publication No. 2009-192292 Japanese Patent Application Publication No. 10-62164 Patent No. 6682087

In the above-mentioned conventional technology, it is not possible to measure the trajectory displacement only from the image taken by the camera, or it is not possible to measure the trajectory displacement by image processing the image of the trajectory taken by the camera. Even if it were possible, there was a problem in that it would be necessary to install equipment or a subject that would serve as a reference point on the ground side.

The present invention was made in order to solve the problems of the prior art as described above, and is a track inspection device that measures track displacement of a track including rails. It is an object of the present invention to provide a trajectory measuring device that can measure trajectory displacement only from images captured by a camera without the need to install a subject.

A brief overview of typical inventions disclosed in this application is as follows.

A track measuring device as one aspect of the present invention is a track measuring device that measures a track displacement of a first track including a first rail extending in a first direction in a plan view. The trajectory measuring device calculates first coordinates in a first direction of each of a plurality of first points on the surface of the first trajectory and the surface of an object around the first trajectory, and a first coordinate orthogonal to the first direction in a plan view. Obtaining first point group data including second coordinates in two directions, third coordinates in a third direction perpendicular to both the first direction and the second direction, and a first value that is a color value or a brightness value. a first acquisition unit; of the plurality of first points, a second coordinate is within the first range, a third coordinate is within the second range, and a first value is within the third range; By extracting the points as second points representing the top surface of the first rail, the first coordinates, second coordinates, and third coordinates of each of the plurality of second points representing the top surface of the first rail are extracted. and a first extraction unit that acquires second point cloud data including . The trajectory measuring device also selects, as a third point, a second point whose first coordinates are within a fourth range centered on the second value in the first direction from among the plurality of second points, Based on the first coordinate, second coordinate, and third coordinate of each of the plurality of selected third points, the first coordinate has the second value and is located on the center line of the top surface of the first rail. The first selection unit executes the first calculation process to calculate the fourth point to be calculated, and the first selection unit repeats the first calculation process while changing the second value. calculating a plurality of fourth points that are arranged and respectively located on the center line of the top surface of the first rail; first coordinates, second coordinates, and third coordinates for each of the plurality of calculated fourth points; the second acquisition unit that acquires the third point group data including the third point group data; and the inspection unit that measures the trajectory displacement of the first trajectory based on the third point group data.

Further, as another aspect, the plurality of first points are arranged in the first direction and the second direction when viewed from the third direction, and the intervals in the first direction of the plurality of first points are not constant. It's okay. The second acquisition unit repeats the first calculation process by the first selection unit while incrementing the second value by a third value. A plurality of fourth points each located on the center line of the top surface of one rail are calculated, and a third coordinate including a first coordinate, a second coordinate, and a third coordinate for each of the plurality of calculated fourth points is calculated. Point cloud data may also be acquired.

In another aspect, the first selection unit selects a second point whose first coordinates are within a fourth range centered on the second value in the first direction from among the plurality of second points as a third point. and calculate a first approximation surface that approximates the top surface of the first rail based on the first coordinate, second coordinate, and third coordinate of each of the plurality of selected third points. , calculate a first line of intersection between the calculated first approximation plane and a first vertical plane that passes through a fifth point whose first coordinate is equal to the second value and is perpendicular to the first direction, and Execute a first calculation process of calculating the sixth point, which is located at the center on the first intersection line in the second direction when the first intersection line is viewed from the third direction, as the fourth point. You may.

In addition, as another aspect, the track inspection device includes an image capturing unit that captures an image of the first track when a railway vehicle equipped with an imaging unit that captures an image of the first track runs on the first track. By repeating the imaging process to capture images by A fourth coordinate in a fourth direction, a fifth coordinate in a fifth direction intersecting the fourth direction, and a fifth coordinate in a fifth direction intersecting the fourth direction for each of the plurality of first points on the surface of the first orbit and the surface of the object around the first orbit. It may include a third acquisition unit that acquires fourth point group data including a sixth coordinate in a sixth direction that intersects both the fourth direction and the fifth direction, and the first value. The first acquisition unit performs coordinate transformation on the 4th coordinate, the 5th coordinate, and the 6th coordinate included in the 4th point group data, thereby obtaining the 1st coordinate, 2nd coordinate, First point group data including the third coordinates and the first value may be acquired.

In another aspect, the imaging units include first cameras that are installed at intervals in the second direction, each facing forward in the first direction, and each of which takes an image of the first trajectory. and a second camera. The third acquisition unit is configured to repeat an imaging process of capturing an image of the first track using a first camera and a second camera when the railway vehicle travels on the first track, thereby obtaining images at each of a plurality of mutually different points in time. A group of images including a plurality of first images each having a first trajectory taken by a first camera, and a plurality of second images each having a first trajectory taken by a second camera at each of a plurality of different time points. of the plurality of first images and the plurality of second images included in the image group obtained in the first acquisition processing, the first image and the second image respectively captured at the first time point. Stereo matching processing that performs stereo matching by selecting a first set of two images and pairing feature points common to the first image and second image included in the selected first set; By executing the second acquisition process including repeating the stereo matching process while changing the first set, the fourth image is acquired based on the plurality of first images and the plurality of second images included in the image group. Point cloud data may also be acquired.

In addition, as another aspect, the measuring unit may set a certain interval in the first direction equal to a fourth value that is N times the third value (N is an integer of 2 or more) among the plurality of fourth points. a second selection unit that selects a fifth point, a sixth point, and a seventh point, which are three fourth points arranged sequentially with gaps; a second coordinate of the fifth point; a second coordinate of the sixth point; and the second coordinate of the seventh point, calculate the street displacement of the first rail at the sixth point, or calculate the third coordinate of the fifth point, the third coordinate of the sixth point, and the third coordinate of the sixth point. It may also include a first calculation unit that calculates the height displacement of the first rail at the sixth point based on the third coordinates of the seven points.

In another aspect, the track inspection device includes a first track that extends in a first direction in a plan view and includes a second rail that is spaced apart from the first rail in a second direction. Orbit displacement may also be measured. In addition, the trajectory measuring device further provides that, among the plurality of first points, the second coordinate is within a fifth range, the third coordinate is within a sixth range, and the first value is within a seventh range. By extracting the first point within the range as the eighth point representing the top surface of the second rail, the first coordinate and the second coordinate of each of the plurality of eighth points representing the top surface of the second rail are You may have a 2nd extraction part which acquires the 5th point group data containing a coordinate and a 3rd coordinate. The trajectory measuring device also selects, as the ninth point, the eighth point whose first coordinate is within the eighth range centered on the fifth value in the first direction, from among the plurality of eighth points, Based on the first coordinate, second coordinate, and third coordinate of each of the plurality of selected ninth points, the first coordinate has the fifth value and is located on the center line of the top surface of the second rail. The third selection unit executes the second calculation process to calculate the 10th point, and the third selection unit repeats the second calculation process while increasing the fifth value by the sixth value. A plurality of tenth points arranged at a constant interval equal to the sixth value and located on the center line of the top surface of the second rail are calculated, and a plurality of tenth points for each of the plurality of calculated tenth points are and a fourth acquisition unit that acquires sixth point group data including the first coordinate, the second coordinate, and the third coordinate. The measuring unit includes a fourth selection unit that selects an 11th point that is one of the 4th points among the plurality of 4th points, and a distance between the 11th point among the plurality of 10th points is a minimum. The gauge displacement at the 11th point is calculated based on the first distance between the 12th point and the 11th point, or the 3rd point of the 12th point is searched for. The method may include a second calculation unit that calculates a level displacement at the eleventh point based on the coordinates and the third coordinate of the eleventh point.

In another aspect, the trajectory measuring device measures a trajectory displacement of a second trajectory adjacent to the first trajectory in a second direction in a plan view, and the first trajectory is in a second direction in a plan view. The second rails each extend in the first direction and are spaced apart from each other in the second direction in a plan view. The fourth rail included in the second track may be adjacent to the third rail included in the first track in the second direction. The first acquisition unit is configured to obtain a first coordinate, a second First point group data including the coordinates, the third coordinates, and the first value may be acquired. The trajectory measuring device further comprises: among the plurality of first points, the second coordinate is within a ninth range, the third coordinate is within a tenth range, and the first value is within an eleventh range. By extracting a certain first point as a thirteenth point representing the top surface of the fourth rail, the first coordinate, second coordinate, and The third extraction unit may include a third extraction unit that acquires seventh point group data including the third coordinates. The trajectory measuring device also selects, as the 14th point, a 13th point whose first coordinates are within a 12th range centered on the 7th value in the first direction, from among the 13th points, Based on the first coordinate, second coordinate, and third coordinate of each of the plurality of selected fourteenth points, the first coordinate has a seventh value and is located on the center line of the top surface of the fourth rail. The fifth selection unit executes the third calculation process to calculate the 15th point, and the fifth selection unit repeats the third calculation process while increasing the seventh value by the eighth value. A plurality of fifteenth points arranged at regular intervals equal to the eighth value and located on the center line of the top surface of the fourth rail are calculated, and a plurality of fifteenth points are calculated for each of the plurality of calculated fifteenth points. and a fifth acquisition unit that acquires eighth point group data including the first coordinate, the second coordinate, and the third coordinate. The measuring unit includes a sixth selection unit that selects a 16th point that is one of the 4th points among the plurality of 4th points, and a distance between the 16th point among the plurality of 15th points is a minimum. a third calculation unit that searches for a 17th point, which is a 15th point, and calculates a trajectory center interval at the 16th point based on a second distance between the 17th point and the 16th point. good.

Further, in another aspect, the first track is connected to a turnout including a sixth rail extending in the first direction, the first rail is connected to the sixth rail, and the sixth rail is connected to the missing track. The fourth range in the first direction may be longer than the length of the missing line part in the first direction.

A track inspection method as one aspect of the present invention is a track inspection method for measuring track displacement of a first track including a first rail extending in a first direction in a plan view. The trajectory inspection method includes first coordinates in a first direction of each of a plurality of first points on the surface of the first trajectory and the surface of an object around the first trajectory, and a first coordinate orthogonal to the first direction in plan view. The first point cloud data including second coordinates in two directions, third coordinates in a third direction perpendicular to both the first direction and the second direction, and a first value that is a color value or a brightness value is (a) step of acquiring by the acquisition unit; of the plurality of first points, the second coordinate is within the first range, the third coordinate is within the second range, and the first value is within the third range; By extracting the first point within the range as the second point representing the top surface of the first rail by the first extraction unit, the second point representing the top surface of the first rail is extracted. (b) acquiring second point group data including a first coordinate, a second coordinate, and a third coordinate by the first extraction unit; In addition, the trajectory inspection method selects, as a third point, a second point whose first coordinates are within a fourth range centered on the second value in the first direction, from among the plurality of second points, Based on the first coordinate, second coordinate, and third coordinate of each of the plurality of selected third points, the first coordinate has the second value and is located on the center line of the top surface of the first rail. Step (c) in which the first selection unit executes the first calculation process of calculating a fourth point to calculate a plurality of fourth points that are arranged in the same direction and are respectively located on the center line of the top surface of the first rail, and calculate first coordinates, second coordinates, and third coordinates of each of the plurality of calculated fourth points. (d) step of acquiring the third point cloud data including , by the second acquisition section; and (e) step of measuring the trajectory displacement of the first trajectory by the measuring section based on the third point cloud data. , has.

By applying one aspect of the present invention, in a track inspection device that measures track displacement of a track including rails, there is no need to install an instrument or a subject that serves as a reference point on the ground side, and it is possible to Orbit displacement can be measured only from images.

1 is a diagram for explaining a track inspection device according to an embodiment, and is a diagram schematically showing a railway vehicle equipped with an imaging unit that captures images of a track. FIG. FIG. 2 is a perspective view schematically showing a trajectory whose trajectory displacement is measured by the trajectory measuring device of the embodiment. FIG. 1 is a block diagram showing the configuration of a trajectory measuring device according to an embodiment. FIG. 3 is a flow diagram showing some steps of the trajectory inspection method according to the embodiment. It is a figure showing an example of three-dimensional point cloud data along a railroad track. FIG. 3 is a diagram for explaining a method of extracting and acquiring three-dimensional point group data on the top of the head from three-dimensional point group data along the railway. FIG. 3 is a diagram for explaining a method of acquiring three-dimensional point group data of a center line. It is a top view showing the rail included in a turnout. FIG. 3 is a diagram for explaining a method of calculating a trajectory displacement and a trajectory center interval. FIG. 3 is a diagram for explaining a method of assigning three-dimensional coordinates to measured orbital displacements. FIG. 3 is a diagram for explaining a method of assigning three-dimensional coordinates to measured orbital displacements.

Embodiments of the present invention will be described below with reference to the drawings.

It should be noted that the disclosure is merely an example, and any modifications that can be easily made by those skilled in the art while maintaining the gist of the invention are naturally included within the scope of the present invention. In addition, in order to make the explanation more clear, the drawings may schematically represent the width, thickness, shape, etc. of each part compared to the embodiment, but these are merely examples, and the interpretation of the present invention cannot be understood. It is not limited.

Further, in this specification and each figure, the same elements as those described above with respect to the previously shown figures are denoted by the same reference numerals, and detailed explanations may be omitted as appropriate.

Furthermore, in the drawings used in the embodiments, hatching (shading) may be omitted even in cross-sectional views to make the drawings easier to read. Further, even in a plan view, hatching may be added to make the drawing easier to read.

(Embodiment)
<Trajectory inspection method using track inspection device>
First, a trajectory inspection method using the trajectory inspection device of the embodiment will be described. The track measuring device of this embodiment is a track measuring device that measures the track displacement of a track that includes a rail extending in the Y-axis direction (first direction) in a plan view. Further, the track inspection method of this embodiment is a track inspection method using the track inspection device of this embodiment, and is a track inspection method of a track including a rail extending in the Y-axis direction (first direction) in a plan view. This is a track inspection method that measures track displacement.

FIG. 1 is a diagram for explaining a track inspection device according to an embodiment, and is a diagram schematically showing a railway vehicle equipped with an imaging unit that captures images of a track. FIG. 2 is a perspective view schematically showing a trajectory whose trajectory displacement is measured by the trajectory measuring device of the embodiment. FIG. 3 is a block diagram showing the configuration of the trajectory measuring device according to the embodiment. FIG. 4 is a flow diagram showing some steps of the trajectory inspection method according to the embodiment.

First, with reference to FIGS. 1 to 4, details of the trajectory inspection device of this embodiment and the trajectory inspection method using the trajectory inspection device of this embodiment will be described.

As shown in FIGS. 1 and 2, the track inspection device 1 of this embodiment measures the track displacement of a track 3 including a rail 2 extending in the Y-axis direction (first direction) in plan view. When a railway vehicle 5 equipped with an imaging unit 4 that captures an image of the track 3 travels on the track 3, the image capture unit 4 captures an image of the track 3, and the captured image is subjected to image processing. By doing so, the orbit displacement or orbit center spacing can be measured. As the imaging unit 4, as shown in FIG. 1, one including a camera 6 installed in a railway vehicle 5 and an image acquisition device 7 that acquires images captured by the camera 6 can be used. Further, as the track inspection device 1 of this embodiment, a computer 8 installed outside or inside the railway vehicle 5 and connected to the image acquisition device 7 wirelessly or by wire can be used.

As shown in FIGS. 1 to 3, the trajectory measuring device 1 according to the present embodiment includes a first acquisition section 11, a first extraction section 12, a first selection section 13, a second acquisition section 14, It has a measuring section 15 and a applying section 16. Further, as described above, the computer 8 can be used as the trajectory measuring device of this embodiment, and in such a case, the first acquisition section 11, the first extraction section 12, the first selection section 13, and the 2. The computer 8 can be used as each of the acquisition section 14, the measurement section 15, and the provision section 16. Note that the trajectory measuring device 1 of this embodiment does not need to include the providing section 16.

The first acquisition unit 11 acquires information in the Y-axis direction (first Y coordinate (first coordinate) in the Y-axis direction (direction), X coordinate (second coordinate) in the X-axis direction (second direction) orthogonal to the Y-axis direction (first direction) in plan view, Y-axis direction (first direction) and the Z coordinate (third coordinate) in the Z-axis direction (third direction) orthogonal to both the X-axis direction (second direction), and the value VL1 which is a color value or a brightness value (see FIG. 6 described later), 3-dimensional point group data PC1 (see FIG. 5, which will be described later) along the railway line including the following. Here, the Y coordinate (first coordinate) is a coordinate in the Y-axis direction (first direction), which is the direction in which the rail 2a included in the track 3a extends (the longitudinal direction of the rail 2a), and the X coordinate (second The coordinate) is the coordinate in the X-axis direction (second direction) which is the width direction of the rail 2a, and the Z coordinate (third coordinate) is the coordinate in the Z-axis direction (third direction) which is the height direction of the rail 2a. be. Further, the XY coordinate system is a coordinate system that represents the XY plane that is the plane of the track (railway), and the YZ coordinate system is a coordinate system that represents the YZ plane that is the longitudinal section of the track. Moreover, three-dimensional point group data means data that represents the shape of the surface of an object as a three-dimensional point group.

The first extraction unit 12 extracts the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1 ( Among the plurality of points PN1 included in the three-dimensional point group data PC1 (see FIG. 5, described later) along the railway line, the X coordinate (second coordinate) is within the range RN1 (see FIG. 6, described later). ), the Z coordinate (third coordinate) is within the range RN2 (see FIG. 6 described later), and the value VL1 is within the range RN3 (see FIG. 6 described later). By extracting each point PN2 representing the shape of the top surface of the head (see FIG. 6 described later), the Y coordinate (first coordinate) and the X coordinate of each of the plurality of points PN2 representing the shape of the top surface of the rail 2a are determined. (second coordinate), Z coordinate (third coordinate), and value VL1, three-dimensional point group data PC2 (see FIG. 6 described later) of the parietal surface is obtained. Note that since the data is obtained after point PN2 is extracted, the three-dimensional point group data PC2 of the parietal surface does not need to include the value VL1.

The first selection unit 13 selects the Y coordinate (first coordinate), the X coordinate (second coordinate), the Z coordinate (third coordinate), and the value VL1 ( (see FIG. 6, which will be described later), among the plurality of points PN2 included in the three-dimensional point group data PC2 (see FIG. 6, which will be described later) on the parietal surface, the Y coordinate (first coordinate) is in the Y-axis direction (first direction). , a point PN2 within a range RN4 (see FIG. 7, described later) centered around the value VL2 (see FIG. 7, described later) is selected as a point PN3 (see FIG. 7, described later), and the selected points PN3 are Based on the Y coordinate (first coordinate), X coordinate (second coordinate) and Z coordinate (third coordinate) for each of , the Y coordinate (first coordinate) is the value VL2 and the top of the rail 2a Execute a first calculation process to calculate the three-dimensional coordinates (X coordinate, Y coordinate, and Z coordinate) of a point PN4 (see FIG. 7 described later) located on the center line in the X-axis direction (second direction) of the surface. .

The second acquisition unit 14 repeats the first calculation process by the first selection unit 13 while changing the value VL2 (see FIG. 7, which will be described later). In addition, the three-dimensional coordinates of a plurality of points PN4 (see FIG. 7 described later) located on the center line in the X-axis direction (second direction) of the top surface of the rail 2a are calculated, and each of the plurality of calculated points PN4 is calculated. Obtain three-dimensional point group data PC3 (see FIG. 7 described later) of the center line including the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1 for do. Note that since the data is obtained after extracting the point PN2 (see FIG. 6, which will be described later), the three-dimensional point group data PC3 of the center line does not need to include the value VL1 (see FIG. 6, which will be described later).

The measuring unit 15 measures the track displacement based on three-dimensional point group data PC3 (see FIG. 7, which will be described later) of the center line of the top surface of the rail. A specific measuring method by the measuring unit 15 will be explained using FIGS. 5 to 9, which will be described later.

The assigning unit 16 assigns three-dimensional coordinates to the measured orbital displacement. A specific method of applying by the applying unit 16 will be explained using FIGS. 10 and 11, which will be described later.

The computer 8 used as the trajectory measuring device 1 of this embodiment includes a central processing unit (CPU), a RAM (Random Access Memory), a storage section, a data/command input section, an image display section, and an output section. It is composed of departments, etc.

Although not shown, the CPU performs four arithmetic operations (addition, subtraction, multiplication, and division), logical operations (logical product, logical sum, negation, exclusive logical sum, etc.) on various data, or data comparison, Alternatively, it is a part that executes processing such as data shifting. Although not shown, the storage unit includes a hard disk drive (HDD) or a ROM (Read Only Memory), and stores a control program for controlling the CPU, and a control program for controlling the CPU. This is the part that stores various data to be used. Further, a ROM is generally constructed from a semiconductor chip or the like.

Further, the computer 8 used as the trajectory measuring device 1 of this embodiment executes a program for operating and processing each step of the trajectory measuring method described below.

In the trajectory inspection method using the trajectory inspection device 1 of the present embodiment, for each of a plurality of points PN1 (see FIG. 5 described later) representing the shape of the surface of the trajectory 3a and the surface of an object around the trajectory 3a, Y-coordinate (first coordinate) in the Y-axis direction (first direction), X-coordinate (second coordinate) in the X-axis direction (second direction) orthogonal to the Y-axis direction (first direction) in plan view, Y-axis Z coordinate (third coordinate) in the Z-axis direction (third direction) perpendicular to both the direction (first direction) and the X-axis direction (second direction), and the value VL1 (described later), which is a color value or a brightness value. The first acquisition unit 11 acquires three-dimensional point group data PC1 along the railway (see FIG. 5, which will be described later), including the following (see FIG. 6) (step S1 in FIG. 4).

Although the detailed method for acquiring the three-dimensional point cloud data PC1 along the track (see FIG. 5 described later) will be explained using FIG. 5 described later, as shown in FIGS. 1 and 2, the image of the track 3a When a railway vehicle 5 equipped with an imaging unit 4 that captures an image of the track 3a travels on the track 3a, by repeating the imaging process of capturing an image of the track 3a by the imaging unit 4, the image of the track 3a is captured at each of a plurality of different points in time. 3a acquires an image group including a plurality of images, and the first acquisition unit 11 acquires three-dimensional point cloud data PC1 along the railway line based on the plurality of images included in the acquired image group. can do.

Next, the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate) and value VL1 (see FIG. 6, which will be described later) of each of the plurality of points PN1 (see FIG. 5, which will be described later) are determined. ), among the plurality of points PN1 included in the three-dimensional point group data PC1 along the railway (see FIG. 5, described later), the X coordinate (second coordinate) is within the range RN1 (see FIG. 6, described later). , the Z coordinate (third coordinate) is within the range RN2 (see FIG. 6 described later), and the value VL1 is within the range RN3 (see FIG. 6 described later). The Y coordinate (first coordinate) of each of the plurality of points PN2 representing the shape of the top surface of the rail 2a is extracted by the first extraction unit 12 as a point PN2 (see FIG. 6 described later), Three-dimensional point group data PC2 (see FIG. 6 described later) of the parietal surface including the X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1 is acquired by the first extraction unit 12 (see FIG. 4 step S2).

Next, the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate) and value VL1 (see FIG. 6, which will be described later) of each of the plurality of points PN2 (see FIG. 5, which will be described later) are determined. ), among the plurality of points PN2 included in the three-dimensional point group data PC2 (see FIG. 6 described later) on the parietal surface, the Y coordinate (first coordinate) is the value VL2 ( A point PN2 within a range RN4 (see FIG. 7, described later) centered around a point PN2 (see FIG. 7, described later) is selected as a point PN3 (see FIG. 7, described later), and each of the selected points PN3 is , Y coordinate (first coordinate), X coordinate (second coordinate) and Z coordinate (third coordinate), the Y coordinate (first coordinate) is the value VL2 and the X axis of the top surface of the rail 2a. The first selection unit 13 executes a first calculation process for calculating the three-dimensional coordinates of a point PN4 (see FIG. 7 described later) located on the center line in the direction (second direction) (step S3 in FIG. 4). .

Next, by repeating step S3 in FIG. 4 by the first selection unit 13 while changing the value VL2 (see FIG. 7, which will be described later), the rails 2a are arranged at intervals in the Y-axis direction (first direction). The three-dimensional coordinates of a plurality of points PN4 (see FIG. 7 described later) located on the center line in the X-axis direction (second direction) of the parietal surface of are calculated, and for each of the plurality of calculated points PN4, Second acquisition of center line three-dimensional point group data PC3 (see FIG. 7 described later) including Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1. 14 (step S4 in FIG. 4). Note that since the data is obtained after extracting the point PN2 (see FIG. 6, which will be described later), the three-dimensional point group data PC3 of the center line does not need to include the value VL1 (see FIG. 6, which will be described later).

Next, the track displacement is measured by the measuring unit 15 based on the three-dimensional point group data PC3 (see FIG. 7 described later) of the center line of the top surface of the rail (step S5 in FIG. 4). A specific measuring method by the measuring unit 15 will be explained using FIGS. 5 to 9, which will be described later.

Next, three-dimensional coordinates are assigned to the measured orbital displacement by the assigning unit 16 (step S6 in FIG. 4). A specific method of applying by the applying unit 16 will be explained using FIGS. 10 and 11, which will be described later.

Here, problems in measuring the track displacement or track center spacing of a track including rails will be explained.

A trajectory inspection method has been proposed in which trajectory displacement (orbit deviation) is detected by image processing an image of a trajectory captured by an imaging device. However, conventionally, in order to measure orbit displacement by image processing images of the orbit captured by a camera, it is necessary to install equipment or an object that serves as a reference point on the ground side, and it is difficult to measure over a long distance. There was a problem in that it required a great deal of time and effort to measure track displacement. Additionally, conventionally, it was not possible to measure the track center spacing solely from images captured by cameras, and it was necessary to use a special vehicle equipped with an imaging device that combines a projector and a receiver camera, which required modification of the vehicle. The problem was that it needed to be operated using Further, conventionally, it was necessary to provide a laser scanner in the measurement vehicle, and there was a problem in that the trajectory displacement could not be measured only from the image captured by the camera.

In the technology described in Patent Document 1, the coordinates of a reference point are determined based on image data of a reference object photographed by a camera, and measurement errors in at least one of the pass direction and height difference direction are determined based on the coordinates of the reference point. Find the coordinates of the minimum position. However, with the technique described in Patent Document 1, it is necessary to install an instrument or a subject serving as a reference point on the rail, and track displacement cannot be measured only from images captured by a camera.

In the technology described in Patent Document 2, two image receiving cameras capture images of a slit light band illuminating an adjacent track at appropriate time intervals while a track inspection vehicle is traveling, and the image receiving cameras output images. Lateral vibration data of the vehicle body and travel distance data of the track inspection vehicle are added to the signal in parallel and recorded in a data processing/recording device. However, the technique described in Patent Document 2 requires the use of an imaging device that combines a projector and an image-receiving camera, and it is not possible to measure the orbit center spacing only from images captured by the camera.

In the technology described in Patent Document 3, an extraction filter is set based on traveling locus position data, and area point cloud data extracted based on the set extraction filter from the three-dimensional point cloud data is A reflection intensity filter is set to extract the rail heads based on the magnitude of the reflection intensity, and the center position between the rails is calculated based on the extracted rail heads of the two rails. However, in the technique described in Patent Document 3, it is necessary to provide a laser scanner in the measurement vehicle, and the trajectory displacement cannot be measured only from the image captured by the camera.

On the other hand, in the trajectory inspection method using the trajectory inspection device 1 of the present embodiment, the trajectory inspection device 1 measures a plurality of points PN1 (see FIG. 5 described later) representing the shape of the surface of an object around the trajectory 3. Acquire three-dimensional point group data PC1 (see FIG. 5 described later) along the railway line including three-dimensional coordinates and color values or brightness values, and select a plurality of points PN2 representing the shape of the top surface of the rail among the plurality of points PN1. (See FIG. 6, which will be described later). In addition, the trajectory measuring device 1 detects that among the plurality of extracted points PN2, the Y coordinate (first coordinate) is within a range RN4 (see FIG. 7, described later) centered on the value VL2 (see FIG. 7, described later). Select a point PN2 as a point PN3 (see FIG. 7 described later), and based on the three-dimensional coordinates of the selected point PN3, the Y coordinate (first coordinate) is the value VL2 and the center of the top surface of the rail. By repeating the first calculation process of calculating points PN4 (see FIG. 7 described later) located on the line while changing the value VL2, points PN4 located on the rail are arranged at intervals in the length direction of the rail and are located on the top surface of the rail. Acquire center line three-dimensional point group data PC3 (see FIG. 7 described later) for a plurality of points PN4 located on the center line, and calculate trajectory displacement based on the acquired center line three-dimensional point group data PC3. to be measured.

That is, the track inspection method using the track inspection device of the present embodiment is created by image processing from an image of the trackside taken by a camera installed on a railway vehicle such as a commercial vehicle, and color information or brightness information is generated. The above-mentioned problem is solved by measuring the orbital displacement or the orbital center interval based on the provided three-dimensional point group information.

In such a case, track displacement can be easily measured from images taken along the track on board a railway vehicle such as a commercial vehicle or a maintenance vehicle or on the ground. Therefore, it is possible to measure orbital displacement only from the images captured by the camera, and there is no need to install equipment or objects that serve as reference points on the ground, so it is possible to measure orbital displacement of the orbit over a long section. Even in such cases, it is possible to reduce the time and labor required to measure track displacement. In addition, the track center spacing can be measured only from images taken by cameras, and there is no need to use special railway vehicles equipped with projectors or image-receiving cameras, so there is no need to modify the railway vehicles for operation. . Furthermore, track displacement can be measured only from images captured by the camera, and there is no need to provide a laser scanner in the measurement vehicle.

Note that, as described above, the trajectory inspection method using the trajectory inspection device of this embodiment includes three-dimensional point cloud information created by image processing from an image captured by a camera, as well as information obtained by a method other than image processing. The present invention is also applicable to the case where orbit displacement or orbit center interval is measured based on created three-dimensional point cloud information including color information or brightness information.

<How to acquire 3D point cloud data along railway lines>
Next, a preferred example and a specific example of the trajectory inspection method using the trajectory inspection device of this embodiment will be described. First, with reference to FIG. 5, a method for acquiring three-dimensional point group data along a railroad track (step S1 in FIG. 4) will be described.

FIG. 5 is a diagram showing an example of three-dimensional point group data along the railway. FIG. 5(a) shows an example of three-dimensional point group data along the railway. Figure 5(b) shows the three-dimensional point group data along the railway line shown in Figure 5(a) in an XY coordinate system (XY plane), and Figure 5(c) shows the three-dimensional point group data along the railway line shown in Figure 5(a). Three-dimensional point group data is shown in an XZ coordinate system (XZ plane).

As shown in FIG. 3, the trajectory measuring device 1 of this embodiment preferably includes a third acquisition unit 17. As the third acquisition unit 17, the computer 8 can be used like the first acquisition unit 11 and the like described above.

Before step S1 in FIG. 4, the third acquisition unit 17 transmits an image of the track 3a to the imaging unit when the railway vehicle 5 equipped with the imaging unit 4 that captures an image of the track 3a travels on the track 3a. By repeating the image capturing process of step 4, an image group including a plurality of images of the trajectory 3a captured at a plurality of mutually different time points is obtained (step S7 in FIG. 4).

Further, in step S7 of FIG. 4, the third acquisition unit 17 generates a plurality of images representing the shape of the surface of the orbit 3a and the surface of objects around the orbit 3a, based on the plurality of images included in the acquired image group. For each point PN1, the Y' coordinate (fourth coordinate) in the Y' axis direction (fourth direction), and the X' in the X' axis direction (fifth direction) that intersects the Y' axis direction (fourth direction). coordinate (fifth coordinate), Z' coordinate (sixth coordinate) in the Z' axis direction (sixth direction) that intersects both the Y' axis direction (fourth direction) and the X' axis direction (fifth direction), In addition, three-dimensional point group data PC4 along the railway line including the value VL1 (see FIG. 6, which will be described later) is obtained.

In step S1 of FIG. 4, the first acquisition unit 11 also acquires the Y' coordinate (fourth coordinate), the By performing coordinate transformation on the coordinates) and Z' coordinates (sixth coordinate), the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third coordinate) of each of the plurality of points PN1 are transformed. ) and the value VL1 (see FIG. 6 described later), three-dimensional point group data PC1 along the railway line is acquired. In addition, in FIG. 5(a), the X'Y'Z' coordinate system is shown as the same coordinate system as the XYZ coordinate system for easy understanding, but in reality, the X'Y'Z' The coordinate system is a coordinate system different from the XYZ coordinate system.

As a result, a three-dimensional point cloud with brightness values or RGB values is created by image processing from various images taken on board a railway vehicle or maintenance vehicle or on the ground, or by various other methods. , the Y axis is the direction in which the rail extends (longitudinal direction of the track), the XY coordinate system (plane) is the plane containing the track (track), and the YZ coordinate system (plane) is the direction of the track (track). Coordinate transformation can be easily performed to make it a vertical section.

More preferably, the imaging units 4 are mounted at the front of the railway vehicle 5, are installed at intervals in the X-axis direction (second direction), and are configured to face forward in the Y-axis direction (first direction). It includes a camera 6a and a camera 6b, which are stereo cameras that are installed and take images of the orbit 3a as cameras 6, respectively.

Further, in step S7 of FIG. 4, the third acquisition unit 17 performs a first acquisition process (step S11 of FIG. 4), a stereo matching process (step S12 of FIG. 4), and a repeating process (step S13 of FIG. 4). By executing the second acquisition process (step S14 in FIG. 4) including the following, three-dimensional point group data PC4 along the railway line is acquired based on the plurality of images included in the image group.

First, in the first acquisition process (step S11 in FIG. 4), the third acquisition unit 17 performs an imaging process in which images of the track 3a are captured by the cameras 6a and 6b when the railway vehicle 5 travels on the track 3a. By repeating the above, the trajectory 3a is captured by the camera 6a at each of a plurality of different time points (positions), and the trajectory 3a is captured by the camera 6b at each of a plurality of different time points (positions). A group of images including a plurality of right images each captured is acquired.

Next, in the stereo matching process (step S12 in FIG. 4), the third acquisition unit 17 selects a plurality of left images and a plurality of left images included in the image group acquired in the first acquisition process (step S11 in FIG. 4). Among the right images, select the first set of the left image and right image that were respectively captured at the first time point (same time point), and find the feature points common to the left image and right image included in the selected first set. By pairing, stereo matching is performed.

Specifically, images captured by a camera tend to vary optically or geometrically due to changes in shooting conditions, and are simply characterized by matching points where subjects match between multiple images (frames). It is not easy to obtain. Therefore, for the left and right images (left and right images) captured by a stereo camera, the contour of the object or the end point of the object's color change, where it is relatively easy to obtain a matching point, is extracted as a feature point, and the points are extracted in each of the left and right images. Stereo matching is performed by pairing similar feature points among the obtained feature points.

With this method, even if the image captured by the camera changes optically or geometrically due to changes in the shooting conditions, the matching points where the subject matches between multiple images (frames) can be identified as feature points. can be obtained with high accuracy.

Further, in the iterative process (step S13 in FIG. 4), the third acquisition unit 17 repeats the stereo matching process while changing the selected first set. With this method, it is possible to accurately calculate the amount of movement of the railway vehicle between the two frames before and after, so for each of the plurality of points PN1 representing the shape of the surface of an object around the track, 3 Dimensional coordinates can be calculated with high accuracy, and three-dimensional point group data PC4 along the railway line including highly accurate three-dimensional coordinates can be easily acquired. That is, the track inspection device of this embodiment performs three-dimensional measurement by repeating stereo matching in the traveling direction (longitudinal direction of the track) of the on-vehicle camera to obtain point cloud data along the track including the rails. It is.

<How to obtain 3D point cloud data on the parietal surface>
Next, with reference to FIG. 6, a method for acquiring 3D point cloud data of the top surface representing the shape of the top surface of the rail from 3D point cloud data along the railway (step S2 in FIG. 4) will be described. .

FIG. 6 is a diagram for explaining a method of extracting and acquiring three-dimensional point group data on the top of the head from three-dimensional point group data along the railway. Figure 6(a) shows three-dimensional point cloud data along the railway, the X coordinate, Z coordinate, and RGB values of four points on the top surface of the rail, and the range of the X coordinate, Z coordinate, and RGB value. It shows. The three-dimensional point group data along the railway line shown in FIG. 6(a) corresponds to a part of the three-dimensional point group data along the railway line shown in FIG. 5(a). FIG. 6(b) shows the three-dimensional point cloud data of the parietal surface, and FIG. 6(c) shows the three-dimensional point cloud data of the parietal surface shown in FIG. 6(b) in an XY coordinate system (XY plane). , FIG. 6(d) shows the three-dimensional point group data of the parietal surface shown in FIG. 6(b) in a YZ coordinate system (YZ plane). Note that the specific numerical values shown in FIG. 6 as the values and ranges of the X coordinate, Z coordinate, and RGB values are merely examples; The range is not limited to the numerical values shown in FIG.

As described above, in step S2 in FIG. 4, the first extraction unit 12 extracts the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third ) and the value VL1, among the plurality of points PN1 included in the three-dimensional point group data PC1 along the railway, the X coordinate (second coordinate) is within the range RN1, and the Z coordinate (third coordinate) is within the range RN2. By extracting each point PN1 whose value VL1 is within the range RN3 as a point PN2 representing the shape of the top surface of the rail 2a, each of the plurality of points PN2 representing the shape of the top surface of the rail 2a is obtained. , three-dimensional point group data PC2 of the parietal surface including the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1 is obtained.

In other words, in step S2 of FIG. 4, the first extraction unit 12 extracts the three-dimensional point group data PC1 along the railway line regarding the plurality of points PN1 representing the shape of the surface of an object along the railway line, which has color information or brightness information. By specifying color information or brightness information having a value within a certain range, only the three-dimensional point group data PC2 of the parietal surface of the plurality of points PN2 representing the shape of the parietal surface of the rail is extracted.

In other words, in step S2 of FIG. 4, the first extraction unit 12 extracts a plurality of points representing the shape of the top surface of the rail from among the three-dimensional point group data PC1 along the track acquired in step S1 of FIG. By specifying the X coordinate in the X axis direction (rail width direction), the Z coordinate in the Z axis direction (rail height direction), and the range of RGB values that can be taken by point PN2, a certain By extracting only the three-dimensional point group data having values within the range, the three-dimensional coordinates of only the plurality of points PN2 representing the shape of the top surface of the rail are obtained.

In the example shown in FIG. 6, among the plurality of points PN1, the X coordinate is within the range of 10≦X≦16, the Z coordinate is within the range of 130≦Z≦136, and the R value (red value) is 30. Point PN1, which is within the range of ≦R≦42, the G value (green value) is within the range of 45≦G≦52, and the B value (blue value) is within the range of 58≦B≦65, is set as a rail. By extracting the points PN2 representing the shape of the parietal surface of rail 2a, the four points PN2 representing the shape of the parietal surface of rail 2a are extracted from points P1 to P1, which are the four points on the parietal surface of FIG. 6(a). An example in which each of P4 is extracted is shown.

As mentioned above, in the technology described in Patent Document 3, an extraction filter is set based on travel trajectory position data, and an area extracted based on the set extraction filter from the three-dimensional point group data is The track head is extracted based on the magnitude of the reflection intensity from the point cloud data. When extracting based on reflection intensity, the reflection intensity varies depending on the weather, sunlight conditions, etc. at the time and date when the image was taken, so it may be difficult to set the range, or it may not be possible to set the range appropriately. There is a possibility that three-dimensional point group data representing the shape of the parietal surface cannot be extracted accurately.

On the other hand, in this embodiment, the XYZ coordinates of only the top surface of the rail are acquired by specifying a range of RGB values and extracting only the point group within the range. In such cases, you can set the three RGB value ranges individually, so you can set the range more finely than simply setting the reflection intensity range and extracting only the point cloud within the range. Therefore, even if the reflection intensity differs depending on the weather, sunlight conditions, etc. on the date and time when the image was captured, it is possible to more accurately extract three-dimensional point cloud data representing the shape of the top surface of the rail.

<How to obtain center line 3D point cloud data>
Next, with reference to FIGS. 7 and 8, a method for calculating three-dimensional point group data of the center line representing the center line of the top surface of the rail (steps S3 and S4 in FIG. 4) will be described.

FIG. 7 is a diagram for explaining a method of acquiring three-dimensional point group data of a center line. FIG. 7A shows an approximation range for approximating three-dimensional point group data on the parietal surface using an XY coordinate system (XY plane). FIG. 7B shows an approximation range for approximating the three-dimensional point group data of the parietal surface using the YZ coordinate system (YZ plane). In FIGS. 7A and 7B, the approximate range is shown by a rectangle indicated by a broken line. FIG. 7(c) shows the three-dimensional point group data of the center line in an XY coordinate system (XY plane). FIG. 7(d) shows the three-dimensional point group data of the center line in the YZ coordinate system (YZ plane). FIG. 8 is a plan view showing the rails included in the turnout.

Preferably, in step S3 of FIG. 4, the first selection unit 13 selects the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third coordinate) of each of the plurality of points PN2. and the value VL1 (see FIG. 6), among the plurality of points PN2 included in the three-dimensional point cloud data PC2 on the parietal surface, the Y coordinate (first coordinate) is centered on the value VL2 in the Y-axis direction (first direction). Select each point PN2 within the range RN4 as the point PN3, and calculate the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third coordinate) of each of the plurality of selected points PN3. A first approximation surface (not shown) that approximates the top surface of the rail 2a is calculated based on the coordinates), and a point where the calculated first approximation surface and the Y coordinate (first coordinate) are equal to the value VL2. A first vertical plane (not shown) that passes through PN5 and is perpendicular to the Y-axis direction (first direction) is calculated, and a point PN6 on the first intersection line is calculated. A first calculation process that calculates a point PN6 located at the center of the first intersection line in the X-axis direction (second direction) as a point PN4 when the first intersection line is viewed from the Z-axis direction (third direction). Execute.

Further, as described above, in step S4 of FIG. 4, the second acquisition unit 14 repeats the first calculation process by the first selection unit 13 while changing the value VL2, so that A plurality of points PN4 arranged at intervals and located on the center line of the top surface of the rail 2a in the X-axis direction (second direction) are calculated, and Y for each of the plurality of calculated points PN4 is calculated. Three-dimensional point group data PC3 of the center line including coordinates (first coordinates), X coordinates (second coordinates), Z coordinates (third coordinates), and value VL1 (see FIG. 6) is obtained.

When calculating the three-dimensional coordinates of the center line of the top surface of the rail using this method, the top surface of the rail is approximated within an approximation range with a certain degree of spread in the Y-axis direction (the direction in which the rail extends). An approximate surface is calculated, and the three-dimensional coordinates of a point located at the center of the calculated approximate surface are calculated as the three-dimensional coordinates of a point on the center line of the top surface of the rail. Therefore, the three-dimensional coordinates of the center line of the top surface of the rail can be calculated accurately.

Here, the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1 (see FIG. 6) of each of the plurality of points PN1 (see FIG. 6) are A plurality of points PN1 included in the three-dimensional point group data PC1 along the railway line are arranged in the Y-axis direction (first direction) and the X-axis direction (second direction) when viewed from the Z-axis direction (third direction). However, consider a case where the intervals between the plurality of points PN1 in the Y-axis direction (first direction) are not constant. For example, when a railway vehicle 5 equipped with an imaging unit 4 that captures an image of a track runs on a track 3a, if the running speed of the railway vehicle 5 is not constant, a plurality of points PN1 in the Y-axis direction ( The spacing in the first direction) may not be constant.

In such a case, the second acquisition unit 14 repeats the first calculation process by the first selection unit 13 while increasing the value VL2 by the value VL3 in step S4 of FIG. ) are arranged at constant intervals equal to the value VL3 and are located on the center line of the top surface of the rail 2a in the X-axis direction (second direction), and calculate the calculated points PN4. Three-dimensional point group data PC3 of the center line including the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1 (see FIG. 6) for each of PN4. get.

In other words, in steps S3 and S4 of FIG. 4, the second acquisition unit 14 uses the three-dimensional point group data PC2 of the top surface representing the shape of the top surface of the rail extracted in step S2 of FIG. Then, in each of the XY coordinate system and the YZ coordinate system, approximation is performed using general formulas or functions such as the least squares method or spline interpolation while moving the approximation range in the Y-axis direction. By such a method, when the railway vehicle 5 on which the imaging unit 4 is mounted runs on the track 3a, even if the traveling speed of the railway vehicle 5 is not constant, the Y coordinates of the rail are arranged at equal distance intervals. The three-dimensional coordinates of the center line of the parietal surface can be calculated, and the orbital displacement can be measured at equal distance intervals.

In other words, in steps S3 and S4 of FIG. 4, the second acquisition unit 14 uses three-dimensional point group data PC2 of the parietal surface representing the shape of the parietal surface of the rail extracted in step S2 of FIG. is approximated by an appropriate function while moving the approximation range at regular intervals in the Y-axis direction. With such a method, when the railway vehicle 5 on which the imaging unit 4 is mounted runs on the track 3a, even if the traveling speed of the railway vehicle 5 is not constant, the Y coordinate intervals are equal distance intervals. The three-dimensional coordinates of the center line of the top surface of the rail can be calculated, and track displacement can be measured at equal distance intervals.

As shown in FIG. 8, the track 3a has a turnout 21 for branching the track 3a, that is, the rail 2a, and the turnout 21 has a rail 22 so that the flanges of the wheels can pass therethrough. A gap called a missing line portion 23 exists. Note that FIG. 8 shows a lead rail 22a, a wing rail 22b, and a nose rail 22c as the rails 22, and a lead rail 24a, a wing rail 24b, and a nose rail 24c as the rails 24.

In such a case, the track 3a is connected to a turnout 21 including a rail 22 extending in the Y-axis direction (first direction), the rail 2a is connected to a rail 22, and the rail 22 is connected to a missing line portion 23. will be included. Further, preferably, the length of the range RN4 in the Y-axis direction (first direction) is longer than the length LN1 of the missing line portion 23 in the Y-axis direction (first direction). In such a case, since the approximation range is longer than the length of the missing line portion 23, the three-dimensional coordinates of the center line of the top surface of the rail can also be accurately calculated in the turnout 21.

In other words, by approximating the top surface of the rail in an approximation range with a certain extent in the Y-axis direction (the direction in which the rail extends), the top surface of the rail can be Even if there are places where the 3D point cloud data of the surface is missing or where the 3D point cloud data of the rail's top surface is rough, it is possible to stably calculate the center line of the rail's top surface. can.

<How to calculate track displacement and track center spacing>
Next, with reference to FIGS. 3, 4, and 9, a method for calculating the orbit displacement and the orbit center interval (step S5 in FIG. 4) will be described.

FIG. 9 is a diagram for explaining a method of calculating the orbit displacement and the orbit center interval. FIG. 9(a) is a diagram for explaining a method of calculating height displacement. FIG. 9(b) is a diagram for explaining a method of calculating the street displacement. FIG. 9(c) is a diagram for explaining a method of calculating gauge displacement and level displacement.

First, a method for calculating height displacement and through displacement will be explained.

As shown in FIG. 3, the measurement section 15 includes a second selection section 31 and a first calculation section 32. As the second selection section 31 and the first calculation section 32, the computer 8 can be used like the first acquisition section 11 and the like described above.

In step S5 of FIG. 4, the second selection unit 31 selects the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1 ( (see Fig. 6), among the plurality of points PN4 included in the three-dimensional point cloud data PC3 whose center line is the value VL3 (see Fig. 7) in the Y-axis direction (first direction) (N is 2 or more). Point PN5, point PN6, and point PN7, which are three points PN4 sequentially arranged at constant intervals equal to a value VL4, which is an integer), are selected.

Further, in step S5 of FIG. 4, the first calculation unit 32 calculates the Z coordinate (third coordinate) of point PN4 which is point PN5, the Z coordinate (third coordinate) of point PN4 which is point PN6, and point PN7. The height displacement of the rail 2a at the point PN6 is calculated based on the Z coordinate (third coordinate) of the point PN4.

In other words, in step S5 of FIG. 4, the measuring unit 15 detects any two points on the YZ plane among the three-dimensional coordinates of the center line of the top surface of one rail acquired in step S4 of FIG. The three-dimensional coordinates of the midpoint of Based on this, the height displacement is calculated from the distance in the Z-axis direction between the midpoint and the projection point. By performing this process continuously in the Y-axis direction, that is, by repeating the calculation of the height displacement while changing the selected points PN5, PN6, and PN7, the trajectory section where the three-dimensional point cloud data was acquired. Measure the vertical displacement of the entire area.

Specifically, as shown in FIG. 9(a), the three-dimensional coordinates of point A (point PN5) are (x _A , y _A , z _A ), and the three-dimensional coordinates of point B (point PN6) are ( x _B , y _B , z _B ), and the three-dimensional coordinates of point C (point PN7) are (x _C , y _C , z _C ). In such a case, the vertical displacement of point B (point PN6) is expressed by the following equation (1).
Height displacement = _zB - ( _zA + _zC )/2...(1)
(However, |y _A -y _B |= |y _B -y _C |)

With such a method, it is possible to easily and accurately measure elevational displacement over the entire trajectory section for which three-dimensional point group data has been acquired.

In addition, in step S5 of FIG. 4, the first calculation unit 32 calculates the X coordinate (second coordinate) of point PN4 which is point PN5, the X coordinate (second coordinate) of point PN4 which is point PN6, and Based on the X coordinate (second coordinate) of point PN4, the displacement of the rail 2a at point PN6 is calculated.

In other words, in step S5 of FIG. 4, the measuring unit 15 selects any two points on the XY plane among the three-dimensional coordinates of the center line of the top surface of one rail acquired in step S4 of FIG. The three-dimensional coordinates of the midpoint of Based on this, the street displacement is calculated from the distance between the midpoint and the projection point in the X-axis direction. By performing this process continuously in the Y-axis direction, that is, by repeating the calculation of the street displacement while changing the selected points PN5, PN6, and PN7, the trajectory section in which the three-dimensional point cloud data was acquired. Measure the displacement of the entire area.

Specifically, as shown in FIG. 9(b), the three-dimensional coordinates of point A (point PN5) are (x _A , y _A , z _A ), and the three-dimensional coordinates of point B (point PN6) are ( x _B , y _B , z _B ), and the three-dimensional coordinates of point C (point PN7) are (x _C , y _C , z _C ). In such a case, the displacement at point B is expressed by the following equation (2).
Street displacement = x _B - (x _A + x _C )/2... (2)
(However, |y _A -y _B |= |y _B -y _C |)

Alternatively, the displacement at point B is expressed by the following equation (3).
Street displacement = (x _A + x _C )/2-x _B ... (3)
(However, |y _A -y _B |= |y _B -y _C |)

With such a method, it is possible to easily and accurately measure the track displacement over the entire trajectory section where the three-dimensional point group data has been acquired.

Next, a method for calculating gauge displacement and level displacement will be explained. When calculating gauge displacement and level displacement, the minimum value of the distance between two points between the center lines of two rails included in the track is calculated.

When calculating gauge displacement and level displacement, the track inspection device 1 extends in the Y-axis direction (first direction) in a plan view and has an interval with the rail 2a in the X-axis direction (second direction) in a plan view. The track displacement of the track 3a including the rails 2b (see FIG. 2) which are spaced apart is measured. Further, as shown in FIG. 3, the trajectory measuring device 1 further includes a second extraction section 42, a third selection section 43, and a fourth acquisition section 44. As the second extraction section 42, the third selection section 43, and the fourth acquisition section 44, the computer 8 can be used similarly to the first acquisition section 11 and the like described above.

In step S2 of FIG. 4, the second extraction unit 42 extracts the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third coordinate) of each of the plurality of points PN1 (see FIG. 6). ) and value VL1 (see FIG. 6), among the plurality of points PN1 included in the three-dimensional point group data PC1 (see FIG. 6) along the railway, the X coordinate (second coordinate) is within the range RN5 (see FIG. 6) , the Z coordinate (third coordinate) is within the range RN6 (see Figure 6), and the value VL1 is within the range RN7 (see Figure 6). By extracting each as a representing point PN8 (see FIG. 6), the Y coordinate (first coordinate), X coordinate (second coordinate), and Z Three-dimensional point group data PC5 (see FIG. 6) of the parietal surface including the coordinates (third coordinates) and the value VL1 is obtained.

In step S3 of FIG. 4, the third selection unit 43 selects the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third coordinate) of each of the plurality of points PN8 (see FIG. 6). ) and value VL1 (see FIG. 6), among the plurality of points PN8 included in the three-dimensional point cloud data PC5 (see FIG. 6) on the parietal surface, the Y coordinate (first coordinate) is in the Y-axis direction (first direction ), a point PN8 within a range RN8 (see FIG. 7) centered around the value VL5 (see FIG. 7) is selected as a point PN9 (see FIG. 7), and for each of the plurality of selected points PN9, Based on the Y coordinate (first coordinate), the X coordinate (second coordinate), and the Z coordinate (third coordinate), the Y coordinate (first coordinate) is the value VL5 and the X-axis direction of the top surface of the rail 2b is determined. A second calculation process is executed to calculate a point PN10 (see FIG. 7) located on the center line in the second direction.

Preferably, in step S3 of FIG. 4, the third selection unit 43 selects the Y coordinate (first coordinate), the X coordinate (second coordinate), and Among the plurality of points PN8 whose Z coordinate (third coordinate) and value VL1 (see FIG. 6) are included in the three-dimensional point group data PC5 (see FIG. 6) on the parietal surface, the Y coordinate (first coordinate) is Y. Points PN8 within a range RN8 (see FIG. 7) centered on the value VL5 (see FIG. 7) in the axial direction (first direction) are selected as points PN9 (see FIG. 7), and the selected points are A second approximation surface (not shown) that approximates the top surface of the rail 2b based on the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third coordinate) for each of PN9. ), and a second vertical plane that passes through the calculated second approximate plane and the point PN91 (see FIG. 7) whose Y coordinate (first coordinate) is equal to the value VL5 and is perpendicular to the Y-axis direction (first direction). A second intersection line (not shown) is calculated between the plane (not shown) and the second intersection line is a point PN92 (see FIG. 7) on the second intersection line in the Z-axis direction (third direction). A second calculation process is executed to calculate a point PN92 located at the center on the second intersection line in the X-axis direction (second direction) as a point PN10 (see FIG. 7).

When calculating the three-dimensional coordinates of the center line of the top surface of the rail using this method, the top surface of the rail is approximated within an approximation range with a certain degree of spread in the Y-axis direction (the direction in which the rail extends). An approximate surface is calculated, and the three-dimensional coordinates of a point located at the center of the calculated approximate surface are calculated as the three-dimensional coordinates of a point on the center line of the top surface of the rail. Therefore, the three-dimensional coordinates of the center line of the top surface of the rail can be accurately calculated.

Further, in step S4 of FIG. 4, the fourth acquisition unit 44 repeats the second calculation process by the third selection unit 43 while increasing the value VL5 (see FIG. 7) by the value VL6 (see FIG. 7). A plurality of points PN10 (Fig. 7 Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate) and value VL1 (see FIG. 6) for each of the plurality of calculated points PN10. The three-dimensional point group data PC6 (see FIG. 9) of the center line including the center line is obtained.

When calculating the gauge displacement or level displacement, the measuring section 15 includes a fourth selecting section 51 and a second calculating section 52, as shown in FIG. As the fourth selection section 51 and the second calculation section 52, the computer 8 can be used similarly to the first acquisition section 11 and the like described above.

In step S5 of FIG. 4, the fourth selection unit 51 selects the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1( (see FIG. 6), selects a point PN11 (see FIG. 9) which is one of the points PN4 among the plurality of points PN4 included in the three-dimensional point group data PC3 (see FIG. 7) having a center line.

In addition, in step S5 of FIG. 4, the second calculation unit 52 calculates the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value for each of the plurality of points PN10. Among the multiple points PN10 included in the three-dimensional point group data PC6 whose center line is VL1 (see FIG. 6), the point PN12, which is the point PN10 having the minimum distance from the point PN11, is searched for, and the point PN12 and the point Calculate the gauge displacement at point PN11 based on the first distance from point PN11, or based on the Z coordinate (third coordinate) of point PN12 and the Z coordinate (third coordinate) of point PN11. Then, the level displacement at point PN11 is calculated.

In other words, in step S5 of FIG. 4, the measuring unit 15 calculates the distance between two points that minimizes the distance between the two points based on the three-dimensional coordinates of the center line of the top surface of the two left and right rails. The gauge displacement is calculated from the distance, or the level displacement is calculated from the difference in Z coordinate between the same two points. By performing this process continuously in the Y-axis direction, that is, by repeating the calculation of the track displacement while changing the selected point PN11, the gauge displacement or Measure level displacement.

Specifically, as shown in FIG. 9(c), the three-dimensional coordinates of point L (point PN11) are (x _L , y _L , z _L ), and the three-dimensional coordinates of point R (point PN12) are ( x _R , y _R , z _R ). In such a case, the gauge displacement at point L is expressed by the following equation (4), and the level displacement at point L is expressed by the following equation (5) or equation (6).
Gauge displacement = [(x _L - x _R ) ² + (y _L - y _R ) ² + (z _L - z _R ) ² ] ^1/2 ... (4)
Level displacement = z _L - z _R ... (5)
Level displacement = z _R - z _L ... (6)

With such a method, gauge displacement or level displacement can be easily and accurately measured over the entire track section for which three-dimensional point cloud data has been acquired.

Next, a method for calculating the orbit center spacing will be explained. When calculating the track center spacing, the minimum value of the distance between two points between the center lines of the two rails is calculated in the same way as when calculating the gauge displacement and level displacement.

When calculating the track center spacing, the track measuring device 1 uses a track 3b that extends in the Y-axis direction (first direction) in plan view and is adjacent to track 3a in the X-axis direction (second direction) in plan view. (See Figure 2). The track 3a includes a rail 2b that extends in the Y-axis direction (first direction) in a plan view and is spaced apart from the rail 2a in the X-axis direction (second direction) in a plan view. , a rail 2c (see FIG. 2) and a rail 2d (see FIG. 2) extending in the Y-axis direction (first direction) and spaced apart from each other in the X-axis direction (second direction) in plan view. The rail 2c included in the track 3b is adjacent to the rail 2b included in the track 3a in the X-axis direction (second direction) in plan view. Further, as shown in FIG. 3, the trajectory measuring device 1 further includes a third extraction section 62, a fifth selection section 63, and a fifth acquisition section 64. As the third extraction section 62, the fifth selection section 63, and the fifth acquisition section 64, the computer 8 can be used similarly to the first acquisition section 11 and the like described above.

In step S1 of FIG. 4, the first acquisition unit 11 obtains information about each of a plurality of points PN1 representing the shape of the surface of the trajectory 3a, the surface of the trajectory 3b, and the surface of objects around the trajectory 3a and the trajectory 3b. , Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1 (see FIG. 6). get.

In step S2 of FIG. 4, the third extraction unit 62 extracts the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third coordinate) of each of the plurality of points PN1 (see FIG. 6). ) and value VL1 (see FIG. 6), among the multiple points PN1 included in the three-dimensional point group data PC1 (see FIG. 6) along the railway, the X coordinate (second coordinate) is within the range RN9 (see FIG. 6) , the Z coordinate (third coordinate) is within the range RN10 (see Figure 6), and the value VL1 is within the range RN11 (see Figure 6). By extracting each as a representing point PN13 (see FIG. 6), the Y coordinate (first coordinate), X coordinate (second coordinate), and Z Three-dimensional point group data PC7 (see FIG. 6) of the parietal surface including the coordinates (third coordinates) and the value VL1 (see FIG. 6) is obtained.

In step S3 of FIG. 4, the fifth selection unit 63 selects the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third coordinate) of each of the plurality of points PN13 (see FIG. 6). ) and value VL1 (see FIG. 6), among the plurality of points PN13 included in the three-dimensional point cloud data PC7 (see FIG. 6) on the parietal surface, the Y coordinate (first coordinate) is in the Y-axis direction (first direction ), the points PN13 within the range RN12 centered on the value VL7 (see FIG. 7) are selected as points PN14 (see FIG. 7), and the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third coordinate), the Y coordinate (first coordinate) is the value VL7, and the X-axis direction (second direction) of the top surface of the rail 2c. A third calculation process is executed to calculate a point PN15 (see FIG. 7) located on the center line at .

Preferably, in step S3 of FIG. 4, the fifth selection unit 63 selects the Y coordinate (first coordinate), the X coordinate (second coordinate), and Among the plurality of points PN13 whose Z coordinate (third coordinate) and value VL1 (see FIG. 6) are included in the three-dimensional point group data PC7 (see FIG. 6) on the parietal surface, the Y coordinate (first coordinate) is Y. Points PN13 within a range RN12 (see FIG. 7) centered on the value VL7 (see FIG. 7) in the axial direction (first direction) are selected as points PN14 (see FIG. 7), and the selected points are A third approximation surface (not shown) that approximates the top surface of the rail 2c based on the Y coordinate (first coordinate), X coordinate (second coordinate), and Z coordinate (third coordinate) for each of PN14. ), and a third vertical plane that passes through the calculated third approximation plane and the point PN141 (see FIG. 7) whose Y coordinate (first coordinate) is equal to the value VL7 and is perpendicular to the Y-axis direction (first direction). Calculate the third intersection line (not shown) with the surface (not shown), and point the third intersection line at point PN142 (see FIG. 7) on the third intersection line in the Z-axis direction (third direction). A third calculation process is performed in which a point PN142 located at the center of the third intersection line in the X-axis direction (second direction) when viewed from the center is calculated as a point PN15.

When calculating the three-dimensional coordinates of the center line of the top surface of the rail using this method, the top surface of the rail is approximated within an approximation range with a certain degree of spread in the Y-axis direction (the direction in which the rail extends). An approximate surface is calculated, and the three-dimensional coordinates of a point located at the center of the calculated approximate surface are calculated as the three-dimensional coordinates of a point on the center line of the top surface of the rail. Therefore, the three-dimensional coordinates of the center line of the top surface of the rail can be accurately calculated.

Further, in step S4 of FIG. 4, the fifth acquisition unit 64 repeats the third calculation process by the fifth selection unit 63 while increasing the value VL7 (see FIG. 7) by the value VL8 (see FIG. 7). Calculate a plurality of points PN15 arranged at constant intervals equal to the value VL8 in the Y-axis direction (first direction) and located on the center line of the top surface of the rail 2c in the X-axis direction (second direction). , of the center line including the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1 (see FIG. 6) for each of the plurality of calculated points PN15. Obtain three-dimensional point group data PC8.

When calculating the orbit center interval, the measuring section 15 includes a sixth selecting section 71 and a third calculating section 72, as shown in FIG. As the sixth selection section 71 and the third calculation section 72, the computer 8 can be used similarly to the first acquisition section 11 and the like described above.

In step S5 of FIG. 4, the sixth selection unit 71 selects the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value VL1( (see FIG. 6), selects a point PN16 which is one of the points PN4 among the plurality of points PN4 included in the three-dimensional point group data PC3 having a center line.

Further, in step S5 of FIG. 4, the third calculation unit 72 calculates the Y coordinate (first coordinate), X coordinate (second coordinate), Z coordinate (third coordinate), and value for each of the plurality of points PN15. VL1 (see FIG. 6) searches for point PN17, which is the point PN15 with the minimum distance from point PN16, among a plurality of points PN15 included in the three-dimensional point group data PC8 whose center line is The orbit center spacing at point PN16 is calculated based on the second distance to point PN16.

In other words, when the line and an adjacent line are provided, such as a double track section, the track inspection device of this embodiment performs the processing of steps S1 to S4 in FIG. 4 not only on the line but also on the line. The measurement is also carried out for the rails of the adjacent line, and in step S5 of FIG. Based on the three-dimensional coordinates of the center line, the orbit center interval is calculated from the distance between two points that minimizes the distance between the two points. By performing this process continuously in the Y-axis direction, that is, by repeating the calculation of the orbit center interval while changing the selected point PN16, the orbit center in the entire orbit section where the three-dimensional point group data has been acquired. Measure intervals.

Specifically, as shown in Fig. 9(c), when calculating the gauge displacement, the method of calculating the minimum distance between two points between two rails included in the track is applied to the track. By performing this calculation on the right rails or the left rails of adjacent tracks, the track center spacing can be calculated.

With this method, it is possible to easily and accurately measure the track center spacing over the entire track section for which three-dimensional point cloud data has been acquired from images taken along the track of the double track section.

<Method of assigning three-dimensional coordinates to orbital displacement>
Next, a method for assigning three-dimensional coordinates to the measured orbital displacement (step S6 in FIG. 4) will be described with reference to FIGS. 10 and 11.

FIGS. 10 and 11 are diagrams for explaining a method of assigning three-dimensional coordinates to measured orbital displacements. FIG. 10(a) is a diagram for explaining a method of assigning three-dimensional coordinates to height displacement. FIG. 10(b) is a diagram for explaining a method of assigning three-dimensional coordinates to street displacement. FIG. 10(c) is a diagram for explaining a method of assigning three-dimensional coordinates to gauge displacement and level displacement. FIG. 11(a) shows data obtained by assigning three-dimensional coordinates to the measured height displacement, superimposed on three-dimensional point group data of the top surface of the rail. FIG. 11(b) shows the data shown in FIG. 11(a) in a YZ coordinate system (YZ plane).

In step S6 of FIG. 4, the providing unit 16 (see FIG. 3) uses the three-dimensional coordinates of the center line of the top surface of the rail obtained in step S4 of FIG. By assigning three-dimensional coordinates to the measured value of the track displacement or track center distance, the waveform indicating the Y-coordinate dependence of the track displacement or track center distance can be obtained from the waveform along the track acquired in step S1 in FIG. It is displayed superimposed on the three-dimensional point group data PC1 (see FIG. 6). Similarly, in step S6 of FIG. 4, the providing unit 16 calculates various track displacements or track center intervals based on the three-dimensional coordinates of the center line of the top surface of the rail acquired in step S4 of FIG. By assigning three-dimensional coordinates to the threshold value for the measured value, the reference line representing the threshold value is displayed in an overlapping manner with the three-dimensional point group data PC1 along the railway line acquired in step S1 of FIG.

In other words, in step S6 of FIG. 4, the providing unit 16 calculates the coordinates calculated in step S5 of FIG. By adding the measured values of orbital displacement or orbital center spacing, a three-dimensional coordinate is given to each measured value. With such a method, the measured values of orbital displacement or orbital center distance can be easily visualized as three-dimensional point group data.

Alternatively, in step S6 of FIG. 4, the providing unit 16 calculates the trajectory calculated in step S5 of FIG. Three-dimensional coordinates can also be given to each measured value by multiplying the measured value of the displacement or orbital center distance by a certain magnification and adding the obtained value. By multiplying by such a magnification, the measured value can be emphasized, so that the measured value of the orbital displacement or the orbital center interval can be more easily visualized as three-dimensional point group data.

Specifically, as shown in FIG. 10(a), the three-dimensional coordinates of point A (point PN5) are (x _A , y _A , z _A ), and the three-dimensional coordinates of point B (point PN6) are ( x _B , y _B , z _B ), and the three-dimensional coordinates of point C (point PN7) are (x _C , y _C , z _C ). In such a case, the three-dimensional coordinates of the height displacement of point B can be calculated using the following equation (7).
Three-dimensional coordinates of height displacement = (x _B , y _B , z _B + (height displacement of point B))... (7)

With such a method, the dependence of elevational displacement on the Y coordinate can be easily visualized, as shown in FIGS. 11(a) and 11(b). Similarly, the dependence of the elevational displacement on the Y coordinate can be easily visualized over the entire track section in which the elevational displacement is measured.

Moreover, specifically, as shown in FIG. 10(b), the three-dimensional coordinates of point A (point PN5) are (x _A , y _A , z _A ), and the three-dimensional coordinates of point B (point PN6) are Let be (x _B , y _B , z _B ), and let the three-dimensional coordinates of point C (point PN7) be (x _C , y _C , z _C ). In such a case, the three-dimensional coordinates of the displacement as per point B are expressed by the following equation (8).
Three-dimensional coordinates of street displacement = (x _B + (straight displacement of point B), y _B , z _B )... (8)

With such a method, the Y-coordinate dependence of the track displacement can be easily visualized over the entire track section in which the track displacement is measured.

Moreover, specifically, as shown in FIG. 10(c), the three-dimensional coordinates of point L (point PN11 or PN16) are (x _L , y _L , z _L ), and the point R (point PN12 or PN17) is Let the three-dimensional coordinates of be (x _R , y _R , z _R ). In such a case, the three-dimensional coordinates of the gauge displacement at point L are expressed by the following equation (9), and the three-dimensional coordinates of the level displacement at point L are expressed by the following equation (10).

Three-dimensional coordinates of gauge displacement = ((x _L + x _R )/2 + (gauge displacement at point L), (y _L + y _R )/2, (z _L + z _R )/2)... (9)
Three-dimensional coordinates of level displacement = ((x _L + x _R )/2, (y _L + y _R )/2, (z _L + z _R )/2 + (level displacement at point L))... (10)

With such a method, the Y-coordinate dependence of gauge displacement or level displacement can be easily visualized over the entire track section where gauge displacement or level displacement is measured.

Note that FIGS. 10(a) to 10(c) illustrate an example of a method of assigning three-dimensional coordinates to orbital displacement. Therefore, the method of assigning three-dimensional coordinates to the track displacement may be any method that uses the three-dimensional coordinates of the center line of the top surface of the rail as a reference, and the examples shown in FIGS. 10(a) to 10(c) is not limited to. Therefore, as a method for assigning three-dimensional coordinates to orbital displacement, many other types of assigning methods are conceivable.

In addition to displaying and confirming the measured values of track displacement or track center distance measured in step S5 in FIG. 4 on a chart, By superimposing the display on the three-dimensional point cloud data, it is possible to easily confirm the correspondence between the measured values and the ground-side equipment. In addition, waveform matching is performed between the measured value of the track displacement measured in step S5 in FIG. By assigning three-dimensional coordinates to the waveform data, the latter waveform data can also be displayed and confirmed overlappingly with the three-dimensional point group data along the railway line acquired in step S1 of FIG.

It should be noted that the track inspection device of this embodiment may be used to measure a different type of track, such as a measured value of track displacement measured by a track inspection vehicle or a measured value of sway acceleration measured on a vehicle. For the measured values measured by the measuring device, three-dimensional coordinates are also calculated in the same way as the orbit displacement or the orbit center interval measured by the measuring section 15 included in the orbit measuring device 1 of this embodiment. can be granted. That is, after synchronizing the measurement value measured by the measurement unit 15 included in the track measurement device 1 of the present embodiment with the position in the longitudinal direction of the rail, the measurement value is acquired in step S4 of FIG. The three-dimensional coordinates can be given by using the three-dimensional coordinates of the center line of the top surface of the rail as a reference. This allows the measured values of track displacement or track center spacing measured by a plurality of methods to be compared with each other, so that track displacement or track center spacing can be managed with higher precision.

The invention made by the present inventor has been specifically explained based on the embodiments thereof, but the present invention is not limited to the embodiments described above, and can be modified in various ways without departing from the gist thereof. Needless to say.

It is understood that those skilled in the art will be able to come up with various changes and modifications within the scope of the idea of the present invention, and these changes and modifications will also fall within the scope of the present invention.

For example, a person skilled in the art may appropriately add, delete, or change the design of each of the above-described embodiments, or may add, omit, or change the conditions of a process. As long as it has the gist, it is within the scope of the present invention.

INDUSTRIAL APPLICABILITY The present invention is effective when applied to a track inspection device and a track inspection method that measure track displacement of a track including a rail.

1 Track inspection device 2, 2a to 2d, 22, 24 Rail 3, 3a, 3b Track 4 Imaging section 5 Railway vehicle 6, 6a, 6b Camera 7 Image acquisition device 8 Computer 11 First acquisition section 12 First extraction section 13 First selection section 14 Second acquisition section 15 Measurement section 16 Adding section 17 Third acquisition section 21 Turnout 22a, 24a Lead rails 22b, 24b Wing rails 22c, 24c Nose rail 23 Missing line section 31 Second selection section 32 1 calculation unit 42 2nd extraction unit 43 3rd selection unit 44 4th acquisition unit 51 4th selection unit 52 2nd calculation unit 62 3rd extraction unit 63 5th selection unit 64 5th acquisition unit 71 6th selection unit 72 3 calculation section P1 to P4 Points PC1, PC4 Three-dimensional point group data along the railway line PC2, PC5, PC7 Three-dimensional point group data on the top of the head PC3, PC6, PC8 Three-dimensional point group data on the center line PN1, PN10 to PN14, PN141, PN142 Points PN15 to PN17, PN2 to PN9, PN91, PN92 Points RN1, RN10 to RN12, RN2 to RN9 Range VL1 to VL8 Value

Claims (10)

In a track inspection device that measures track displacement of a first track including a first rail extending in a first direction in a plan view,
A first coordinate in the first direction of each of a plurality of first points on the surface of the first orbit and the surface of an object around the first orbit, and a second coordinate in a second direction perpendicular to the first direction in plan view. acquiring first point cloud data including a second coordinate, a third coordinate in a third direction perpendicular to both the first direction and the second direction, and a first value that is a color value or a brightness value; 1 acquisition part,
Among the plurality of first points, a first point whose second coordinate is within a first range, whose third coordinate is within a second range, and whose first value is within a third range is selected. , by extracting each as a second point representing the top surface of the first rail, the first coordinates, the second coordinates, and a first extraction unit that acquires second point group data including the third coordinates;
Among the plurality of second points, a second point whose first coordinates are within a fourth range centered on the second value in the first direction is selected as a third point, and the plurality of selected Based on the first coordinate, the second coordinate, and the third coordinate for each of the third points, the first coordinate is the second value and is on the center line of the top surface of the first rail. a first selection unit that executes a first calculation process to calculate a fourth point located;
By repeating the first calculation process by the first selection unit while changing the second value, the rails are arranged at intervals in the first direction and are located on the center line of the top surface of the first rail. calculating the plurality of fourth points and acquiring third point group data including the first coordinate, the second coordinate, and the third coordinate for each of the plurality of calculated fourth points; 2 acquisition department,
a measuring unit that measures a trajectory displacement of the first trajectory based on the third point group data;
A track inspection device with The trajectory measuring device according to claim 1,
The plurality of first points are arranged in the first direction and the second direction when viewed from the third direction,
The intervals between the plurality of first points in the first direction are not constant,
The second acquisition unit is configured to repeat the first calculation process by the first selection unit while increasing the second value by a third value, thereby obtaining a constant interval equal to the third value in the first direction. Calculate the plurality of fourth points that are spaced apart and are located on the center line of the top surface of the first rail, and calculate the first coordinates of each of the calculated fourth points, A trajectory measuring device that acquires the third point group data including two coordinates and the third coordinate. The trajectory measuring device according to claim 2,
The first selection unit selects, among the plurality of second points, the second point whose first coordinates are within the fourth range centered on the second value in the first direction as the third point. , and approximates the top surface of the first rail based on the first coordinate, the second coordinate, and the third coordinate of each of the plurality of selected third points. an approximate surface is calculated, and a first intersection between the calculated first approximate surface and a first vertical surface that passes through a fifth point whose first coordinates are equal to the second value and is perpendicular to the first direction; the sixth point on the first intersection line, which is located at the center on the first intersection line in the second direction when the first intersection line is viewed from the third direction; A trajectory inspection device that executes the first calculation process of calculating a point as the fourth point. The trajectory measuring device according to claim 2 or 3,
When a railway vehicle equipped with an imaging unit that captures an image of the first track runs on the first track, by repeating an imaging process of capturing an image of the first track with the imaging unit, A group of images including a plurality of images of the first orbit taken at each of a plurality of different time points is obtained, and the surface of the first orbit is determined based on the plurality of images included in the acquired image group. and a fourth coordinate in a fourth direction for each of the plurality of first points on the surface of the object around the first orbit, a fifth coordinate in a fifth direction intersecting the fourth direction, the fourth direction, and a third acquisition unit that acquires fourth point group data including a sixth coordinate in a sixth direction intersecting any of the fifth directions and the first value;
The first acquisition unit is configured to perform coordinate transformation on the fourth coordinate, the fifth coordinate, and the sixth coordinate included in the fourth point group data, thereby obtaining the information about each of the plurality of first points. A trajectory measuring device that acquires the first point group data including a first coordinate, the second coordinate, the third coordinate, and the first value. The trajectory measuring device according to claim 4,
The imaging unit includes a first camera and a second camera that are installed at intervals in the second direction, are installed to face forward in the first direction, and respectively take images of the first trajectory. including;
The third acquisition unit is
By repeating the imaging process of capturing images of the first track using the first camera and the second camera when the railway vehicle travels on the first track, at each of a plurality of mutually different points in time. a plurality of first images in which the first trajectory is captured by the first camera, and a plurality of second images in which the first trajectory is captured by the second camera at each of a plurality of mutually different time points; a first acquisition process of acquiring the image group including;
Among the plurality of first images and the plurality of second images included in the image group acquired in the first acquisition process, the first of the first image and the second image respectively captured at the first time point. stereo matching processing that performs stereo matching by selecting a set and pairing feature points common to the first image and the second image included in the selected first set;
Iterative processing of repeating the stereo matching process while changing the selected first set;
A trajectory measuring device that acquires the fourth point group data based on the plurality of first images and the plurality of second images included in the image group by executing a second acquisition process including: The trajectory measuring device according to any one of claims 2 to 5,
The inspection department is
Among the plurality of fourth points, three fourth points are sequentially arranged in the first direction at constant intervals equal to a fourth value that is N times the third value (N is an integer of 2 or more). a second selection unit that selects a fifth point, a sixth point, and a seventh point, which are points;
The street displacement of the first rail at the sixth point is calculated based on the second coordinates of the fifth point, the second coordinates of the sixth point, and the second coordinates of the seventh point. or the first rail at the sixth point based on the third coordinates of the fifth point, the third coordinates of the sixth point, and the third coordinates of the seventh point. a first calculation unit that calculates the height displacement of the
Track inspection equipment, including: The trajectory measuring device according to any one of claims 2 to 5,
The track inspection device detects a track displacement of the first track that includes a second rail that extends in the first direction in a plan view and is spaced apart from the first rail in the second direction. Measure,
The trajectory inspection device further includes:
Among the plurality of first points, the second coordinate is within a fifth range, the third coordinate is within a sixth range, and the first value is within a seventh range. , by extracting each as an eighth point representing the top surface of the second rail, the first coordinates, the second coordinates, and a second extraction unit that acquires fifth point group data including the third coordinates;
Of the plurality of eighth points, the eighth point whose first coordinates are within an eighth range centered on the fifth value in the first direction is selected as the ninth point, and Based on the first coordinate, the second coordinate, and the third coordinate for each of the ninth points, the first coordinate is the fifth value and is on the center line of the top surface of the second rail. a third selection unit that executes a second calculation process to calculate a tenth point located;
By repeating the second calculation process by the third selection unit while increasing the fifth value by the sixth value, the fifth value is arranged at constant intervals equal to the sixth value in the first direction, and calculating the plurality of tenth points located on the center line of the top surface of two rails, and the first coordinate, the second coordinate, and the third coordinate of each of the plurality of calculated tenth points; a fourth acquisition unit that acquires sixth point cloud data including;
has
The inspection department is
a fourth selection unit that selects an eleventh point that is any fourth point among the plurality of fourth points;
Among the plurality of 10th points, search for a 12th point, which is the 10th point that has the smallest distance to the 11th point, and set the first distance between the 12th point and the 11th point. Based on the third coordinates of the 12th point and the third coordinates of the 11th point, calculate the gauge displacement at the 11th point. a second calculation unit that calculates
Track inspection equipment, including: The trajectory measuring device according to any one of claims 2 to 5,
The trajectory measuring device measures a trajectory displacement of a second trajectory adjacent to the first trajectory in the second direction in a plan view,
The first track includes a third rail extending in the first direction in a plan view and disposed in the second direction at a distance from the first rail,
The second track includes a fourth rail and a fifth rail that each extend in the first direction in plan view and are spaced apart in the second direction,
The fourth rail included in the second track is adjacent to the third rail included in the first track in the second direction,
The first acquisition unit is configured to acquire, for each of the plurality of first points on the surface of the first trajectory, the surface of the second trajectory, and the surface of an object around the first trajectory and the second trajectory, obtaining the first point group data including the first coordinate, the second coordinate, the third coordinate, and the first value;
The trajectory inspection device further includes:
Among the plurality of first points, a first point whose second coordinate is within a ninth range, whose third coordinate is within a tenth range, and whose first value is within an eleventh range is selected. , by extracting each as a thirteenth point representing the top surface of the fourth rail, the first coordinate, the second coordinate, and a third extraction unit that acquires seventh point group data including the third coordinates;
Of the plurality of 13th points, a 13th point whose first coordinates are within a 12th range centered on the seventh value in the first direction is selected as a 14th point, and Based on the first coordinate, the second coordinate, and the third coordinate for each of the fourteenth points, the first coordinate is the seventh value and is on the center line of the top surface of the fourth rail. a fifth selection unit that executes a third calculation process to calculate the located fifteenth point;
By repeating the third calculation process by the fifth selection unit while increasing the seventh value by the eighth value, the seventh value is arranged at constant intervals equal to the eighth value in the first direction, and 4. Calculate the plurality of fifteenth points located on the center line of the top surface of the four rails, and the first coordinate, the second coordinate, and the third coordinate of each of the plurality of calculated fifteenth points. a fifth acquisition unit that acquires eighth point cloud data including;
has
The inspection department is
a sixth selection unit that selects a 16th point that is any fourth point among the plurality of fourth points;
Among the plurality of 15th points, a 17th point is searched for, which is the 15th point having the minimum distance to the 16th point, and a second distance between the 17th point and the 16th point is searched. a third calculation unit that calculates a trajectory center interval at the 16th point based on the 16th point;
Track inspection equipment, including: The trajectory measuring device according to any one of claims 1 to 8,
The first track is connected to a turnout including a sixth rail extending in the first direction,
the first rail is connected to the sixth rail,
The sixth rail includes a missing line portion,
The fourth range in the first direction is longer than the length of the missing line portion in the first direction. In a track inspection method for measuring track displacement of a first track including a first rail extending in a first direction in a plan view,
(a) A first coordinate in the first direction of each of a plurality of first points on the surface of the first orbit and the surface of an object around the first orbit, and a first coordinate perpendicular to the first direction in plan view. First point group data including second coordinates in two directions, third coordinates in a third direction perpendicular to both the first direction and the second direction, and a first value that is a color value or a brightness value. a step of acquiring by a first acquisition unit;
(b) Among the plurality of first points, the second coordinate is within the first range, the third coordinate is within the second range, and the first value is within the third range. By extracting one point as a second point representing the top surface of the first rail by the first extraction unit, the second point for each of the plurality of second points representing the top surface of the first rail is extracted. acquiring second point group data including one coordinate, the second coordinate, and the third coordinate by the first extraction unit;
(c) Of the plurality of second points, a second point whose first coordinates are within a fourth range centered on the second value in the first direction is selected as a third point, and the selected second point is selected. Based on the first coordinate, the second coordinate, and the third coordinate for each of the plurality of third points, the first coordinate is the second value and the top surface of the first rail is a step of executing a first calculation process of calculating a fourth point located on the center line by a first selection unit;
(d) By repeating step (c) while changing the second value, a plurality of the A fourth point is calculated, and a second acquisition unit acquires third point group data including the first coordinate, the second coordinate, and the third coordinate for each of the plurality of calculated fourth points. step,
(e) measuring the orbital displacement of the first trajectory by a measuring unit based on the third point group data;
A trajectory inspection method having the following.

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