JPH05164519A - Measuring instrument for three-dimensional shape of structure surrounding railroad track - Google Patents

Abstract

PURPOSE:To obtain a measuring instrument for a three-dimensional shape which enables short-time and precise measurement of the three-dimensional shape of a structure surrounding a railroad track, such as a tunnel, on the side along the track. CONSTITUTION:An image processing device 5 determines the three-dimensional coordinates of a light-section line on the wall surface of a tunnel T, using as a reference point a TV camera 3 for a structure which is disposed on a moving truck 1 made to run on rails RR and RL and picks up an image of the light-section line on the wall surface of the tunnel T, and also it determines the three-dimensional coordinates of a light-section line showing specified parts of the rails RR and RL, using as a reference point a TV camera 4 for the rails which is disposed on the moving truck 1 and picks up an image of the light-section line on the rails RR and RL. Based on these three-dimensional coordinates and the coordinates showing the positional relationship of the two TV cameras 3 and 4, a computer 6 determines the three- dimensional coordinates of the light-section line on the wall surface of the tunnel T, using as a reference point the middle point between tracks in accordance with the running of the moving truck 1. According to this constitution, a measuring error due to shaking of the moving truck 1 can be made very small.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art As one of the maintenance and inspection works in railways, in order to accurately grasp the maintenance time by examining the secular change of railway track peripheral structures such as tunnels and bridges, and to meet the building limit of the railway track peripheral structures. In order to carry out the inspection, the three-dimensional shape of these track peripheral structures along the track is measured.

For example, the measurement of the shape of the tunnel wall surface is one of them, and an example of an apparatus generally used in this case is that disclosed in Japanese Patent Laid-Open No. 61-275616. FIG. 8 is a conceptual diagram of a tunnel cross-section measuring device according to this conventional technique, and FIG. 9 is an external perspective view of the measuring machine body.

As shown in FIG. 8, this tunnel cross-section measuring apparatus has a light source means 102 for projecting a distance measuring light beam a on the wall surface of a tunnel 101 to be measured and a light source means 102 for converging the reflected light. A light receiving lens 103 arranged at a predetermined distance D ₁ from the light receiving lens 103, and a position detecting photoelectric conversion means 104 arranged at a predetermined distance D ₂ from the light receiving lens 103 so as to receive reflected light converged by the light receiving lens 103. I have it. Further, a rotating means 105 for integrally rotating the light source means 102, the light receiving lens 103 and the photoelectric conversion means 104 about an axis parallel to the direction of the distance D ₁ is provided, and the distance measuring light beam by the rotating means 105 is provided. The angle detection means 106 for detecting the projection angle of a is provided, and the distances D ₁ and D ₂ and the photoelectric conversion means are provided.
The calculation means 107 calculates the cross section of the tunnel to be measured based on the respective outputs of 104 and the angle detection means 106.

In the tunnel cross-section measuring apparatus constructed as above, the position of the spot light on the wall surface of the tunnel to be measured 101 converged on the photoelectric conversion means 104 by the light receiving lens 103 is determined by the tunnel wall surface and the rotating means 105. It changes according to the distance L from the rotation center axis line b. When the distance from the reference position of the light receiving position of the spot light on the photoelectric conversion means 104 is x, the distance L is given by L = (1 / x) · D ₁ · D ₂ . Therefore, the cross section of the tunnel to be measured 101 is measured by calculating the distance L by the calculating means 107 based on the position information from the photoelectric converting means 104 according to the projection angle of the distance measuring light beam a obtained from the angle detecting means 106. I am trying.

More specifically, as shown in FIG. 9, the main body of the measuring device of the tunnel cross-section measuring device is provided with a rotation control unit 202 provided on a tripod 201. 203 is rotated about its base line (axis), and its rotation angle is detected by an inclinometer in the rotation control unit 202. The base rod 203 is provided with a light source unit 204 including a light source and a light projecting lens so as to rotate integrally therewith, and a light receiving lens and a photoelectric conversion element are provided on both sides of the light source unit 204 with a predetermined distance therebetween. The sensor units 205a and 205b provided with are provided.

With this, the main body of the measuring machine is positioned at a required position, and while the base rod 203 is rotated by the rotation control unit 202 about the base line, the light source unit 204 projects the spot light on the wall surface of the tunnel and reflects it. Light is received by the sensor units 205a and 205b, the distance L from the base line of the base rod 203 to the tunnel wall surface at each rotation angle is measured, and the cross-sectional shape at a required position in the tunnel is measured.

On the other hand, the present applicant has previously proposed a shape measuring device for a track peripheral structure which measures the three-dimensional shape of the track peripheral structure such as a tunnel or bridge in a railway along the track. (Japanese Patent Application No. 3-60716). Figure 10
FIG. 11 is a diagram showing an overall configuration of a shape measuring apparatus for a line peripheral structure according to this conventional technique, and FIG. 11 is a perspective view showing an outline of the shape measuring apparatus shown in FIG.

As shown in FIG. 10 and FIG. 11, the shape measuring apparatus for a track peripheral structure according to this prior art has a moving carriage 51 that travels on rails (tracks) RR and RL, and this moving carriage 51.
A light source device which is disposed above and projects flat plate-like light (planar slit light) S'radially spread in a plane substantially orthogonal to the tracks RR and RL, that is, in a plane substantially orthogonal to the traveling direction of the moving carriage 51. 52
And is arranged on the moving carriage 51 at a predetermined distance A from the light source device 52 toward the carriage traveling direction side (shown by an outline arrow in the figure).
It is provided with a television camera 53 as an image pickup device for picking up an image of the light cutting line C generated on the wall surface of the tunnel T by the flat light S ′ from the light source device 52. As the TV camera 53, a field storage type CCD TV camera is used,
The optical axis CP of the flat light S'is arranged so as to intersect at an angle θ.

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

The image processing device 54 is a television camera 53.
By detecting the position on the horizontal scanning line at which the brightness level changes with respect to the video signal output for each field (1/60 second) from C _k (u,
v), k = 1 to N, and the coordinates of the light section line C are obtained (see FIG. 6). Note that k represents the number of horizontal scanning lines.

The operation of the shape measuring apparatus for a line peripheral structure having the above structure will be described below. When the light source device 52 projects the radially extending flat plate light S ′ toward the wall surface of the tunnel T, a light cutting line C along the circumferential direction is generated on the wall surface of the tunnel T. The optical cutting line C is sequentially captured by the television camera 53 every 1/60 seconds as the moving carriage 51 travels.

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

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

[0015]

[Equation 1]

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

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

[0018]

Among the above-mentioned prior arts, in the former tunnel cross-section measuring apparatus, the distance measuring light beam is projected on the wall surface of the tunnel in a spot shape, and the projection angle of the distance measuring light beam is changed by the rotating means. However, because the configuration uses the flying spot method of measuring the cross-sectional shape of the tunnel at the required position, when measuring the three-dimensional shape of the tunnel wall surface over a long distance, “If you move a little along the track, it will be stationary. Therefore, there is a problem in that the measurement takes time.

On the other hand, the latter shape measuring apparatus for a peripheral structure of a line can measure a three-dimensional shape of a tunnel wall surface along a track in a short time. However, in this shape measuring device, the coordinates of the light cutting line on the light cutting image obtained by the image pickup device arranged on the moving carriage are obtained by the image processing means, and the light cutting line obtained by the image processing means is obtained. Since it is configured to calculate the coordinates of the light cutting line on the tunnel wall surface in the preset orthogonal coordinate system based on the coordinates of, the setting is made when the moving carriage is moving. There is a problem that an error occurs in the measurement result of the three-dimensional shape due to the displacement of the imaging device or the like with respect to the orthogonal coordinate system.

The present invention has been made in order to solve the above-mentioned problems, and is capable of measuring the three-dimensional shape of a railway peripheral structure such as a tunnel or a bridge in a railway along a track in a short time and with high accuracy. It is an object of the present invention to provide a three-dimensional shape measuring device for a structure around a track, which is well performed.

[0021]

In order to achieve the above object, a three-dimensional shape measuring apparatus for a track peripheral structure according to the present invention comprises: a: a moving carriage that travels on a track; and b: a moving carriage. A light source device that is disposed and projects a flat plate-like light that radially spreads in a plane that is substantially orthogonal to the traveling direction of the moving carriage;
A first light-emitting device is disposed on the movable carriage at a predetermined distance from the light source device, and sequentially captures light cutting lines generated on the line peripheral structure by the plate-shaped light from the light source device as the movable carriage travels. Image pickup device, d: Light-displacement lines, which are arranged on the movable carriage at a predetermined distance from the light source device and are generated on the track by the flat light from the light source device, are sequentially imaged as the movable carriage travels. A second image pickup device, e: for each light cut image obtained by the first image pickup device, two-dimensional coordinates of a light cut line indicating a line peripheral structure on the image are obtained, and the second image pickup is performed. Image processing means for obtaining, for each light-section image obtained by the device, the two-dimensional coordinates of the light-section line indicating a specific portion of the trajectory on the image; and f: on the light-section image obtained by the image processing means. Track circumference Based on the two-dimensional coordinates of the light section lines showing the structure portions to determine three-dimensional coordinates of the line peripheral structure on the optical cutting line as a reference point the first imaging device,
Based on the two-dimensional coordinates of the light cutting line showing a specific portion of the trajectory on the light cutting image obtained by the image processing means,
Using the second image pickup device as a reference point, the three-dimensional coordinates of the light cutting line indicating the specific portion of the trajectory are obtained, and these three-dimensional coordinates are calculated.
And the light on the track peripheral structure with the midpoint between the tracks as a reference point according to the traveling of the moving carriage based on the coordinates indicating the positional relationship between the first imaging device and the second imaging device. And a calculating means for obtaining the three-dimensional coordinates of the cutting line.

[0022]

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

Then, according to the traveling of the moving carriage, the calculation means calculates the three-dimensional coordinates and the coordinates indicating the preset positional relationship between the first image pickup device and the second image pickup device. Since the midpoint between the trajectories is used as a reference point to determine the three-dimensional coordinates of the light cutting line on the tunnel wall surface,
Even if the moving carriage moves while running, the measurement error due to the shaking of the moving carriage can be made extremely small, and the three-dimensional shape of the tunnel wall surface along the track can be accurately measured in a short time. In addition, the midpoint between the tracks (the midpoint between the tracks) is
It is the starting point when measuring the building limit in railway maintenance.

[0024]

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

In FIGS. 1 and 2, reference numeral 1 denotes a moving carriage that travels on rails (tracks) RR and RL. In this embodiment, the moving carriage 1 is a towing vehicle (not shown) and is indicated by a white arrow in the figure. It is designed to be pulled in the direction shown. As shown in the figure, the movable carriage 1 has a radial shape toward the wall surface of the tunnel T and the rails RR and RL in a plane substantially perpendicular to the rails RR and RL, that is, in a plane substantially perpendicular to the traveling direction of the movable carriage 1. The light source device 2 that projects the flat plate-shaped light S that spreads over is disposed. In addition, on the movable carriage 1, a structure television camera 3 as a first image pickup device for picking up an image of a light cutting line generated on the wall surface of the tunnel T by the flat light S from the light source device 2.
And, in order to eliminate the measurement error due to the shaking of the mobile trolley 1,
A rail television camera 4 as a second image pickup device for picking up an image of a light cutting line generated on the rails RR and RL by the flat light S from the light source device 2 is provided.

The above structure television camera 3 has an image of a light section line on the wall surface of the tunnel T (FIG. 6).
Is a field accumulation type CCD TV camera obtained every 1 field (1/60 seconds), and the light source is such that its optical axis CP ₁ intersects the plane of the flat light S at an angle θ _1. It is fixed at a position separated from the device 2 by a certain distance in the traveling direction of the carriage. Also, the rail TV camera 4 is
This is a field-storage CCD television camera that obtains a light-section line image (see FIG. 7) about the light-section line generated on the rails RR and RL for each field (1/60 seconds). The light source device 2 is fixed at a position separated by a certain distance in the traveling direction of the carriage so that its optical axis CP ₂ intersects the surface at an angle θ ₂ . These television cameras 3 and 4 are controlled to be synchronized.

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

Here, the orthogonal coordinate system will be explained. In the structure orthogonal coordinate system O-XYZ, the center between the rails RR and RL at a predetermined position of the rails RR and RL is the origin O, and the rails RR and RL. X in the direction in which the
The Y axis, which is set as an axis and is orthogonal to the X axis, indicates the width direction of the tunnel T, and the Z axis, which is orthogonal to the X axis, indicates the height direction of the tunnel T (see FIG. 2). Also,
The main point of the imaging lens of the structure TV camera 3 is the origin O _1i
Each of the axes of the structure camera orthogonal coordinate system O _1i -XYZ and the rail camera orthogonal coordinate system O _2i -XYZ whose origin is O _2i is the principal point of the imaging lens of the television camera 4 for rails. It is set to be parallel to that of the object orthogonal coordinate system O-XYZ (see FIG. 3). The suffix i (i = 1 to n) represents the number of tunnel cross-sections sequentially formed by the projection of the plate-shaped light S as the moving carriage 1 travels, and the coordinate system O _1i -XYZ, O _2i −
XYZ means a coordinate system set in the tunnel section i.

As will be described later, the image processing device 5 obtains the two-dimensional coordinates of the light cutting line indicating the wall surface of the tunnel T on each image for each light cutting image obtained by the structure television camera 3, and also the rail. Rails RR and RL on each light-cut image obtained by the TV camera 4 for use in the image
This is for obtaining the two-dimensional coordinates of the light cutting line indicating the edge (corner) inside the upper surface of the.

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

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

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

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

Further, as shown in the figure, the condenser lens system 24 includes a first cylindrical concave lens 27a and a second cylindrical convex lens 27a arranged in a posture having a lens action in the Z'-axis direction.
27b, and a third cylindrical convex lens 28 disposed on the light passage window 21a side in front of the second cylindrical convex lens 27b in a posture having a lens action in the Y'axis direction. ..

In the light source device 2 thus constructed, the high power semiconductor laser 22 is used as a light source, and the laser beam from the high power semiconductor laser 22 is collimated by the collimator lens 23 in the Z'X 'plane. After forming the light, the first cylindrical concave lens 27a and the second cylindrical convex lens 27b are used to expand the thickness of the beam, and the laser beam having the expanded thickness is converged and guided to the conical reflecting mirror 26. ing. On the other hand, in the Y'X 'plane, a collimating lens
The divergent laser beam that has passed through 23 is converged by the third cylindrical convex lens 28 and guided to the conical reflecting mirror 26. The circular aperture 25 is for adjusting the cross-sectional shape of the laser beam that has passed through the condenser lens system 24 into a circular shape. The laser beam thus formed is redirected by the conical reflecting mirror 26 and projected as a flat beam S having a radial thickness of about several mm toward the tunnel T wall surface and the rails RR and RL.

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

Further, in the image processing apparatus 5, for the video signal provided from the rail television camera 4 for each field (1/60 seconds), the pattern at the position where the brightness level on each horizontal scanning line changes to a predetermined value or more. By extracting the characteristic of the right rail RR, the two-dimensional coordinates C _{k = kR} (u, v) of the light cutting line indicating the edge position inside the upper surface of the right rail RR and the edge position inside the upper surface of the left rail RL are shown. The two-dimensional coordinates C _{k = kL} (u, v) of the light section line are _obtained at the video rate (1/60 seconds). Here, kR represents the number of the horizontal scanning line corresponding to the light cutting line position indicating the inner edge of the upper surface of the right rail RR, and kL corresponds to the light cutting line position indicating the inner edge of the upper surface of the left rail RL. The number of horizontal scanning lines to be displayed.

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

When the light source device 2 projects a flat plate-shaped light S that spreads radially in four directions in a plane substantially orthogonal to the traveling direction of the moving carriage 1, the structure TV camera 3 causes light cutting on the wall surface of the tunnel T. The line is imaged as the mobile trolley 1 travels, and the video signal is captured for each field (1/60
Second) to the image processing device 5 sequentially. Further, the rail TV camera 4 captures an image of an optical cutting line generated on the rails RR and RL as the moving carriage 1 travels, and the video signal is sent to the image processing device 5 for each field (1/60 seconds). Sequentially given.

By the way, this three-dimensional shape measuring apparatus sequentially images the optical cutting lines generated on the wall surface of the tunnel T and the rails RR and RL as described above, and detects the optical cutting lines of each cross section i of the tunnel T. Based on the position coordinates, the three-dimensional shape of the wall surface of the tunnel T along the rails RR and RL is measured while the moving carriage 1 is running. Therefore, in order to facilitate understanding, the operation of the tunnel T in one cross section i will be described below.

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

When the above-mentioned two-dimensional coordinate data is given, the computer 6 determines the next field time (about 16 msec).
In the meantime, first, the two-dimensional coordinates C _k (u, u of the light cutting line indicating the wall surface of the tunnel T on the light cutting image obtained by the image processing device 5 are shown.
v), k = 1 to N based on the structure television camera 3
Structures camera Cartesian coordinate system as the origin O _1i an O _1i -XY
Three-dimensional coordinate P of the light cutting line on the wall surface of the tunnel T in Z
_i ^k (X _i ^k , Y _i ^k , Z _i ^k ), k = 1 to N is calculated by Expressions (3) to (5).

[0043]

[Equation 2]

However, m ₁ is an image pickup magnification of the structure television camera 3, f ₁ is a focal length of the structure television camera 3, and X is
D _i is the X-axis coordinate value of the tunnel section i from the origin O of the structure orthogonal coordinate system O-XYZ.

The origin O of the structure television camera 3
A vector P _i ^k _meas having _1i as a starting point and a point P _i ^k (X _i ^k , Y _i ^k , Z _i ^k ) calculated by the above equations (3) to (5) as an end point is obtained.

Further, based on the two-dimensional coordinates C _{k = kR} (u, v) of the light cutting line indicating the inner edge of the upper surface of the right rail RR on the light cutting image obtained by the image processing device 5, Camera for rails Cartesian coordinate system O whose origin is O _2i
2i- XYZ, the three-dimensional coordinate r _Ri (X _Ri , Y _Ri , Z _Ri ) of the light cutting line showing the inner edge of the upper surface of the right rail RR is
It is calculated by the equations (6) to (8).

[0047]

[Equation 3]

However, m ₂ is the image pickup magnification of the rail TV camera 4, and f ₂ is the focal length of the rail TV camera 4.

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

[0050]

[Equation 4]

The origin O of the rail TV camera 4
_2iIs calculated by the above equations (6) to (8).
Point r_Ri(X_Ri, Y_Ri, Z_Ri) Is the end vector
R_RiAnd the origin O_2iStarting from, the above equations (9) to (1
Point r calculated by 1)_Li(X_Li, Y_Li, Z_Li) End
Vector R to be a point_LiAnd ask. These vectors R
_Ri, R_LiFrom R_Oi= (R_Ri+ R_Li) / 2 calculation
Origin O_2iStarting point is, midpoint O between rails RR and RL_iTo
Vector R to be the end point_OiCan be asked.

On the other hand, since the structure TV camera 3 and the rail TV camera 4 are rigidly fixed and their positional relationship is predetermined, the origin O _2i of the rail TV camera 4 is used as the starting point. , The vector K having the origin O _1i of the structure television camera 3 as an end point is constant. Therefore, starting from the middle point O _i between the rails RR and RL, the point P
A vector P _i ^k _true whose end point is _i ^k (X _i ^k , Y _i ^k , Z _i ^k ) is given by P _i ^k _true = P _i ^k _meas + K−R _Oi .

As a result, the three-dimensional coordinates of the light cutting line on the wall surface of the tunnel T can be obtained by using the midpoint O _i between the rails RR and RL as a reference point. Even if the vehicle is shaken, the measurement error due to the shaking of the moving carriage during traveling can be made extremely small. Therefore, by sequentially obtaining the three-dimensional coordinates of the light cutting line on the wall surface of the tunnel T in the one cross section i of the tunnel T thus obtained while the traveling carriage 1 is running, the tunnel along the rails RR and RL is obtained. It is possible to accurately measure the three-dimensional shape of the T wall surface in a short time.

[0054]

As described above, the three-dimensional shape measuring apparatus for a line peripheral structure such as a tunnel according to the present invention is
Using the image processing means as a reference point, the first image pickup device that is arranged on a moving carriage that travels on a track (rail) and picks up an optical cutting line on a line peripheral structure (for example, on a tunnel wall surface) is used as a reference point. The three-dimensional coordinates of the light cutting line on the object are obtained, and the third line of the light cutting line indicating a specific portion of the track is set with the second image pickup device provided on the moving carriage for imaging the light cutting line on the track as a reference point. While the original coordinates are obtained, the calculation means determines, based on these three-dimensional coordinates and the coordinates indicating the preset positional relationship between the first image pickup device and the second image pickup device, whether or not the moving carriage is traveling. The three-dimensional coordinates of the light cutting line on the line peripheral structure are obtained by using the midpoint between the tracks as a reference point. Therefore, when measuring the three-dimensional shape of the tunnel wall surface along the track, for example, according to the three-dimensional shape measuring apparatus for a line peripheral structure according to the present invention,
Since the three-dimensional coordinates of the light cutting line on the tunnel wall surface are determined using the midpoint between the tracks as a reference point according to the traveling of the moving carriage, the measurement error due to the shaking of the moving carriage during travel can be made extremely small. Therefore, the three-dimensional shape of the tunnel wall surface along the track can be measured accurately in a short time.

[Brief description of drawings]

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

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

FIG. 3 is a diagram for explaining a three-dimensional shape measuring method by the three-dimensional shape measuring apparatus shown in FIG.

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

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

FIG. 6 is an explanatory diagram of an optical cutting line image by a structure television camera regarding the optical cutting line generated on the wall surface of the tunnel.

FIG. 7 is an explanatory diagram of an optical cutting line image by a rail television camera regarding the optical cutting line generated on the rail.

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

9 is an external perspective view of a measuring machine body of the tunnel cross-section measuring apparatus shown in FIG.

FIG. 10 is a diagram showing an overall configuration of a shape measuring apparatus for a peripheral structure of a line according to a conventional technique.

11 is a perspective view showing an outline of the shape measuring apparatus shown in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Mobile trolley 2 ... Light source device 3 ... TV camera for structures 4 ... TV camera for rails 5 ... Image processing device 6
… Calculator 21… Casing 21a… Light-passing window 22…
High-power semiconductor laser 23 ... Collimating lens 24 ... Condensing lens system 25 ... Circular aperture 26 ... Conical reflecting mirror 27a
… First cylindrical concave lens 27b… Second cylindrical convex lens 28
… Third cylindrical convex lens RR, RL… Rail T… Tunnel S… Flat light

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshiro Nishimoto 5-18-7 Takenodai, Nishi-ku, Kobe City (72) Inventor Yuichiro Goto 1-4-1 Migatadai, Nishi-ku, Kobe City (72) Inventor Yamaguchi Certificate Kobe 1-4-1 Migatadai, Nishi-ku, Yokohama (72) Inventor Yasuharu Kami 2-26-3-416 Kojidai, Nishi-ku, Kobe (72) Inventor Yozo Fukumoto 2-7-2 Izumidai, Kita-ku, Kobe (72) Inventor Naito ▲ Hiro ▼ Sai 2-4-20 Takaba-cho, Nada-ku, Kobe-shi

Claims (1)

[Claims] 1. a: a moving carriage that travels on a track; b: a light source device that is disposed on the moving carriage and projects flat light that spreads radially in a plane substantially orthogonal to the traveling direction of the moving carriage; c: A light-cutting line which is disposed on the movable carriage at a predetermined distance from the light source device and sequentially picks up a light cutting line generated on the line peripheral structure by the plate-shaped light from the light source device as the movable carriage travels. 1) the image pickup device, and d: a light cutting line which is disposed on the moving carriage at a predetermined distance from the light source device and which is generated on the track by the flat light from the light source device as the moving carriage travels. A second image pickup device for picking up an image, e: for each light cut image obtained by the first image pickup device, two-dimensional coordinates of a light cut line indicating a line peripheral structure on the image are obtained, and By the imaging device Image processing means for obtaining the two-dimensional coordinates of the light cutting line indicating a specific portion of the trajectory on each of the obtained light cutting images; and f: a line peripheral structure on the light cutting image obtained by the image processing means. Based on the two-dimensional coordinates of the light cutting line indicating the object, the three-dimensional coordinates of the light cutting line on the line peripheral structure are obtained with the first image pickup device as a reference point, and the light obtained by the image processing means is obtained. Based on the two-dimensional coordinates of the light cutting line indicating the specific portion of the trajectory on the cut image, the second
The three-dimensional coordinates of the light cutting line indicating the specific part of the trajectory are obtained by using the image pickup device as a reference point, and these three-dimensional coordinates and the coordinates indicating the positional relationship between the first image pickup device and the second image pickup device. And a calculation means for determining the three-dimensional coordinates of the light cutting line on the line peripheral structure based on the midpoint between the tracks according to the traveling of the moving carriage as a reference point. Three-dimensional shape measuring device for peripheral structures.