KR20170089569A - the railroad tunnel inspecting system using train with the function of automatic registrating railroads tie ID and the sensing railroads tie ID - Google Patents

the railroad tunnel inspecting system using train with the function of automatic registrating railroads tie ID and the sensing railroads tie ID Download PDF

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KR20170089569A
KR20170089569A KR1020160009937A KR20160009937A KR20170089569A KR 20170089569 A KR20170089569 A KR 20170089569A KR 1020160009937 A KR1020160009937 A KR 1020160009937A KR 20160009937 A KR20160009937 A KR 20160009937A KR 20170089569 A KR20170089569 A KR 20170089569A
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image information
train
distance
present
information
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KR1020160009937A
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Korean (ko)
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KR101806814B1 (en
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정순배
김현우
김기돈
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(주)스마텍
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M1/00—Power supply lines for contact with collector on vehicle
    • B60M1/12—Trolley lines; Accessories therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
    • B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
    • B61K9/08—Measuring installations for surveying permanent way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
    • B61L23/042—Track changes detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/04—Indicating or recording train identities
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S3/00—Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
    • H01S3/0014—Monitoring arrangements not otherwise provided for
    • H04N5/2257—
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Electromagnetism (AREA)
  • Physics & Mathematics (AREA)
  • Geology (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Train Traffic Observation, Control, And Security (AREA)

Abstract

The present invention relates to a railway facility monitoring system using a railway vehicle. According to an embodiment of the present invention, the railway facility monitoring system includes: a laser generator (200); a camera (100); a three-dimensional image information conversion device (110); a signal processing device (400); and an integrated data processing device (500). The railway facility monitoring system can recognize the precise and detailed location of a tunnel as well as recognize cracks formed on the tunnel precisely.

Description

[0001] The present invention relates to a railroad tunnel inspection system using railroad tunneling, and more particularly,

[0001] The present invention relates to a railway facility monitoring system using a railway vehicle, and more particularly, to a remote monitoring system for acquiring and storing an image of a railway track, a railway line and other structures by mounting a surveillance camera on a tracked vehicle, The present invention relates to a railway facility surveillance system using a track vehicle capable of setting information, and grasping an exact position where a later crack has occurred according to set position information.

Railway and railway lines are required to be checked at all times for safety due to concerns about derailment of trains. However, it is difficult to thoroughly inspect the railway due to long driving distance and short inspection time when the train does not run. A check method is required. In the case of a subway running underground tunnel, the aged tunnel structure is an important safety check item.

However, cracks in aging tunnels are difficult to detect. Therefore, there is a need for a method of ensuring safety inspection of such railway facilities at all times.

[0002] Conventionally, Japanese Patent Application No. 10-1111569 (a railway facility monitoring system and method using a track vehicle, hereinafter referred to as " prior art ") discloses a technique for acquiring a tunnel structure, an orbit, An information acquisition device that stores noise and vibration data collected through a sensor unit mounted on a track vehicle, and a control unit that receives the data collected by the information acquisition device and stores the data in a database, and checks the image and collected data stored in the database. And a server unit for providing a railroad facility monitoring system.

However, the prior art has the disadvantage that the synchronization to the same measurement positions for the rail, catenary, sleeper and tunnel structures is uncertain. Particularly, there is still a problem that the distance error can not be solved even for an item in which accurate distance measurement is important, such as a rail or an electric line.

In order to solve the problems of the prior art described above, the applicant of the present invention has proposed a method of detecting the position of a train moving along the same track by accurately measuring the moving position of the train, The measurement data of the rail, the electric cable and the tunnel structure are repeatedly accumulated by using the monitoring device composed of the laser generator, the camera for acquiring the three-dimensional coordinate, and the measuring device for measuring the vibration of the train, A system for monitoring the same railway facilities ".

In addition, as disclosed in Japanese Patent Laid-Open No. 10-1111569 (system and method for monitoring railway facilities using track vehicles), "a surveillance camera is mounted on a track vehicle, and a tunnel structure, a track and an electric line image are acquired and stored, A server for receiving data collected by the information acquiring device and storing the received data in a database and checking the acquired image and collected data in a database, Railway facility monitoring system using a tracked vehicle composed of a railroad track ".

The above-mentioned prior art and prior art generally employs a system for inspecting and monitoring underground tunnels by photographing a moving track of a subway train or the like. However, there is a problem The present invention provides a railway facility monitoring system using a tracked vehicle capable of automatically detecting a position of a tunnel while moving on a tracked vehicle so as to grasp a precise position of the tunnel in detail.

Also, in the related art and prior art, there is a problem that the moving distance per second varies depending on the speed of the tracked vehicle, and thus inconsistency is not taken in photographing the underground tunnel, so that cracks in the underground tunnel can not be accurately checked. We want to solve the same problem.

In addition, in the related art and prior art, there is a problem that it is difficult to precisely contrast a previously taken picture with a currently taken picture, as vibrations are generated as the orbiting vehicle moves. The present invention solves the above problems, And to provide a railway facility monitoring system using a track vehicle that can be prepared.

In order to solve the above problems and needs,

A laser generator 200 provided in a train (or a subway, a train, etc.), a camera 100 that operates in cooperation with the laser generator and can acquire image information data capable of monitoring and measuring major parts of the railway facility, A three-dimensional image information conversion device 110 for converting the three-dimensional image information into three-dimensional image information using the image information data acquired from the camera, a position confirmation unit 300 for determining the position of the railway facility to be measured, Analyzing, or storing data such as distance information and / or speed information transmitted from the image information data, the three-dimensional image information, and / or the position confirming unit, And a comprehensive data processing device (500) for monitoring a railway facility.

In addition, the present invention provides a railway facility monitoring system, which comprises a unique identification transmitting device 131 and a unique identification recognizing device 130.

In addition, the present invention provides a railway facility monitoring system, wherein the integrated information processing apparatus (500) is provided with an image information readout correction unit (510).

Also, the present invention provides a railway facility monitoring system, wherein a distance shooting recognition device 120 is added.

There has been a problem in that the prior art and prior art have difficulty in grasping the precise exact position of the tunnels while the track vehicle is moving. However, the railroad facility monitoring system using the track vehicle according to the present invention recognizes the IDs of individual train stations as the track vehicle moves Function and has a function of setting a unique sleeping ID between individual sleepers and sleepers for a tunnel in a specific section of an individual train station and a train station, and having a function that can be recognized later, that is, And it is possible to grasp the precise position of the tunnel, so that it is possible to more accurately determine the faulty position of the tunnel.

In addition, in the related art and prior art, there is a problem that it is difficult to precisely contrast a previously photographed picture with a currently photographed picture as vibrations are generated as the orbiting vehicle moves. Therefore, The surveillance system has a function of correcting the image information of the read object to be precisely matched by providing the image information readout correction unit, thereby creating the effect of solving the problem.

Also, in the related art and prior art, there is a problem that the moving distance per second varies depending on the speed of the tracked vehicle, and thus inconsistency is not taken in photographing the underground tunnel, so that cracks in the underground tunnel can not be accurately checked. The same problem is completely solved.

Brief Description of the Drawings Fig. 1 is a schematic view of a distance-photographing recognition device mounted on a train according to the present invention and a distance between a sleeper.
FIG. 1B is a view showing another concept of a distance photographing recognition device mounted on a train according to the present invention and a distance between sleepers. FIG.
1C is a view showing a unique identification device, a distance photographing device, a laser generator and a camera constructed on a train according to the present invention.
2 is a conceptual diagram of a distance shooting recognition apparatus according to the present invention.
FIG. 3 is a schematic view of the configuration of the position determining unit of the present invention. FIG.
4 is a configuration diagram of a railway facility monitoring system of the present invention.
FIG. 5 is a diagram showing a unique identification transmitting apparatus provided in a train station according to the present invention; FIG.
FIG. 5B is a conceptual diagram of a unique identification device constructed on a train according to the present invention. FIG.
6 is a conceptual diagram showing a video information reading and correcting unit provided in an integrated information processing apparatus according to the present invention;
7 is a view showing image information of a tunnel taken by a camera according to the present invention.
FIG. 7B is a view showing image information of a tunnel taken by the camera in FIG. 7 and thereafter according to the present invention; FIG.
FIG. 7C is a diagram showing the configuration of the image information read out by the image information read / write correcting unit of FIG. 7B according to the composition of the image information of FIG. 7;

Hereinafter, the present invention will be described in detail with reference to the drawings.

The present invention can be applied to a laser generator (200) provided in a train (or a subway, a train, etc.), a camera (100) which operates in cooperation with the laser generator and can acquire image information data, A three-dimensional image information conversion device 110 for converting the three-dimensional image information into three-dimensional image information by using the image information data obtained from the laser generator and the camera, a position confirmation unit 300 for determining the position of the railway facility to be measured, A signal processor 400 for generating a command for generating a camera and a camera, and a processor 400 for processing, analyzing, and analyzing data such as distance information and / or speed information transmitted from the image information data, And a comprehensive data processing apparatus 500 for analyzing or storing data.

Since the present invention relates to a device for monitoring and measuring the defects of railway facilities in a running train, it is important to precisely locate the railway facilities currently being measured and accumulate information data thereon in order to continuously manage the railway facilities.

In the present invention, the railway facility means a rail, an electric cable, a sleeper or a tunnel structure.

The technical feature of the present invention is that a unique identification transmitting device 131 capable of recognizing a train station is installed for each train station and a unique identification recognizing device 130 for recognizing the unique identification transmitting device 131 is installed in the train, 1) to a specific train station (2).

In addition, according to the above-described configuration, a function of assigning a unique ID by designating an area from a specific train station 1 to a specific train station 2 in units of sleeping intervals is performed to determine which point of the tunnel has caused a crack It is a technical feature that it performs the function that enables precise position tracking.

As shown in FIG. 5, the unique identification transmitting apparatus 131 of the present invention is an apparatus or means for performing a function of transmitting unique identification of a train to each train station, and is installed at a predetermined place such as a rail or a rail near each train station. .

The unique ID transmission device 131 refers to a device for generating signals such as magnetic waves, wavelengths, and electric signals, which can transmit a unique ID for identifying a train station.

The unique identification recognizing device 130 of the present invention recognizes the unique ID of a train station that is mounted on a train and transmits the unique ID to the other train station, A function of setting the unique ID of a sleeping person and a function of recognizing the ID afterwards.

As shown in FIG. 5B, the unique identification device 130 of the present invention includes an ID recognition unit 132, an ID assignment unit 133, and an ID sleeper recognition unit 134.

As shown in FIG. 1C, the above-mentioned unique identification device 130 of the present invention is mounted on or mounted on a train.

The ID recognizing unit 132 means an apparatus or means for recognizing the unique ID of the individual train station.

In addition, the ID recognizing unit 132 means a device or means having a function of identifying a unique sleeper ID assigned to an individual sleeper.

Therefore, a unique ID (train station 1), a unique ID (train station 2), and the like, which are unique IDs for each train station 1, train station 2, ..., and train station n. ..., a unique ID (train station n), a position at which the train arrives at the train station and reaches and recognizes the location where the unique ID is installed (this recognizable location can be defined as a constant distance) The ID recognizing unit 132 recognizes the above information.

In the present invention, the D recognizing unit 132 recognizes unique information transmitted by the unique identification transmitting apparatus 131 installed in the train station to identify which train station the train station is.

The ID assigning unit 133 of the present invention means an apparatus or means for performing a function of assigning a unique ID of a sleeping person from a snake to be recognized for the first time after the train recognizes the unique ID of the specific train station .

Accordingly, the ID assignment unit 133 receives the sleeper recognition information recognized by the ID sleeper recognition unit 134 while the train is moving, and performs the function of assigning the unique sleeper ID to the recognized sleeper.

As shown in FIG. 5, the unique sleeper ID for the sleeper 10 for the train station 1 is the ID of the railroad station 1 and the unique sleeper ID for the sleeper 11 is the ID of the railroad station 1 sleeper 11, The unique sleeper ID for the sleeper 12 is the ID of the railroad station 1 and the sleeper ID is the ID of the sleeper 1, And is stored in the ID assignment unit 133 and transmitted to the ID recognition unit, and information is transmitted to the integrated data processing apparatus 500.

The ID recognizing unit 132 of the present invention has a function of recognizing the unique sleepers ID for the individual sleepers assigned by the above-mentioned ID addition.

The following mechanism can be used as a method of recognizing the unique sleepers ID for the individual sleepers in the ID recognition unit.

In the present invention, the unique sleeper IDs for the sleepers 10 for the particular train station, for example the train station 1, are assigned in the order in which the sleepers are recognized.

Therefore, the unique sleeper ID of the sleeper 10 recognized first is given as the ID of the railroad station (1) sleeper (10). When the train enters the specific station (1) again, the unique ID (Train station 1) ".

Then, a mechanism for recognizing the sleeper 10, which is firstly recognized after recognizing the "unique ID (train station 1) ", as" train station 1 sleeper 10 ID "

Likewise, the unique sleeper IDs for the sleepers 11 with respect to the train station 1 are assigned in the order in which the sleepers are recognized.

Therefore, the unique sleeper ID of the sleeper 11 recognized the second time is given as the ID of the railroad station (1) sleeper (11). When the train enters the specified station (1) again, the unique ID (Train station 1) ".

Then, the sleeper 11 recognized for the second time after recognizing the "unique ID (train station 1)" can be recognized as the "train station (1) sleeper 11" ID.

Implementation of such a configuration can be easily implemented with conventional electronic devices and application programs.

The ID sleeper recognition unit 134 means an apparatus or means capable of recognizing a sleeper, and the sleeper recognition unit 121 of the distance shooting recognition apparatus 120 may be used.

The technical feature of the present invention is that all the ties installed on the rail between the specific train station 1 and the specific train station 2 are assigned unique tie-down IDs in the ID assignment 133, When a tunnel is photographed with a laser and a camera, image information on the position of the tunnel corresponding to each sleeper is acquired. Thus, when a crack occurs in a specific area of the tunnel, it is easy to determine the position of the sleeper The tunnel effect can be improved remarkably quickly.

The unique ID recognition apparatus 130 of the present invention is provided with an ID image information inserting unit 135 to allow the camera to take a photograph when the sleeper is recognized as described below, And insert a unique sleeping < RTI ID = 0.0 > ID < / RTI >

Therefore, the ID image information inserting unit 135 of the present invention recognizes a specific sleeper and inserts the unique sleeper ID for the sleeper into the image information (photograph) of 15 to 20 frames photographed to be transmitted to the general data processing apparatus 500 .

Therefore, the above-mentioned unique identification device 130 of the present invention has hardware such as a general central processing unit such as an MCU and a CPU, a memory such as a RAM and a ROM, and an application program installed therein.

With this function and action of the present invention, when a crack occurs in a certain tunnel, it is possible to know whether the location where the crack occurs corresponds to the place where the sleeper is located, It is.

The technical feature of the present invention is that a distance photographing recognition device 120 is added to the camera 100 for acquiring the above-mentioned image information data so that photographing can be performed for each distance the train travels.

As described above, the prior art and the prior art for checking cracks and the like of the tunnels while moving a railway track vehicle or the like have adopted a method of photographing about 15 frames per second while moving a tracked vehicle and inspecting and monitoring underground tunnels have.

However, there is a problem in that the traveling speed of the tracked vehicle is changed in the process of passing through the tunnel, and accordingly, the moving distance per second is different, so that it is inconsistent in photographing the underground tunnel.

The problem of inconsistency of the photographed result is that the cracks of the underground tunnel can not be accurately checked.

In order to solve such a problem, the above-described distance photographing recognition device 120 is additionally provided so as to photograph a tunnel per distance as well as to accurately recognize the position of a tunnel, In order to recognize whether or not it has occurred.

The distance photographing recognition apparatus 120 of the present invention is interlocked with the camera 100 and transmits a photographing command to the camera.

The distance photographing recognizing apparatus 120 of the present invention is characterized in that a track vehicle runs on a normal rail and a railroad tie is formed on the rail to sense the railroad tie and execute a camera photographing command.

The distance photographing and recognizing device 120 may be mounted on a track vehicle and attached to the camera.

The distance photographing recognition apparatus 120 of the present invention includes a sleeper recognition unit 121 and a photographing instruction unit 122. [

The sleeper recognition unit 121 refers to a device or means that performs a function of sensing each sleeper configured on the rail when a track vehicle (train, subway, etc.) starts from the station.

1 and 2, the distance photographing recognition apparatus 120 of the present invention is mounted on the track vehicle 1000 and the sleeping recognition unit 121 is provided on the distance photographing recognition apparatus 120, 10), the sleepers (11), the sleepers (12), the sleepers (13) to the sleepers (n).

Therefore, the sleeper recognition unit 121 of the present invention has a sensor that performs a function of identifying a normal sleeper.

As the sensor mounted on the sleeper recognition unit 121, a sensor using general light, sound, and waves can be used.

That is, the sensor described above is formed such that the sleepers are attached to the rails and are formed higher than the ground surface, so that the light, sound, and waves emitted from the track vehicle senses the rails or the ground, Means a device or means that can be recognized.

The present invention transmits the sleeper recognition information sensed by the sleeper recognition unit 121 to the image capture command unit 122. [

The photographing command unit of the present invention means a device or means for receiving the sleeper recognition information sensed by the sleeper recognition unit 121 and instructing the camera 100 to shoot the sleeper recognition information.

In addition, the present invention is characterized in that, every time the sleeper recognition unit 121 recognizes each individual sleeper 10, sleepers 11, sleepers 12, sleeper 13 to sleepers n, And transmits the sleeper recognition information to the controller 122.

In the present invention, the camera 100 recognizes the image capturing command information transmitted from the image capturing command unit so that the camera 100 captures 10 to 20 frames per second.

Therefore, even if a change in the vehicle speed of the tracked vehicle (or a point or a point at which the tracked vehicle is stopped or started from the station) is uniformly formed, As the distance between the sleeper becomes 60 ~ 63cm, the distance of this gap can be moved within 1 second, so that 10 ~ 20 frames can be photographed for 1 second.

As shown in Fig. 1, the distance A1 between the sleepers 10 and 11, the distance A2 between the sleepers 11 and 12, and the interval A3 between the sleepers 12 and 13 Even if there is a difference, since the shooting command information is generated at the time when each sleeper is recognized, 10 to 20 frames can be photographed for 1 second, so that the inside and the inside of the tunnel of the sleepers can be accurately photographed.

As described above, as described above, since the tunnel monitoring system using the conventional tracked vehicle captures 10 to 20 frames per second regardless of the speed of the tracked vehicle to collect information, the speed of the vehicle is very fast There is a problem in that the accuracy of photographed frames is remarkably reduced due to a very long travel distance of the tunnel per second, which is completely solved.

That is, the present invention is characterized in that, at every moment when each of the individual sleepers 10, the sleepers 11, the sleepers 12, the sleepers 13 to 9 recognizes the sleepers, The sleeping room 11, the sleeping room 12, the sleeping room 13 to the sleeping room n, respectively, because the photographing command information is transmitted to the camera by the photographing command unit 122 to transmit the information. 10 to 20 frames per second are precisely photographed at the location where the tunnel is located, so that the photographing information of the correct tunnel can be obtained.

The photographing instruction unit 122 causes the sleeping recognition unit 121 of the distance photographing recognition apparatus 120 according to the present invention to transmit sleeping recognition information sensed to the photographing instruction unit 122, And transmits it to the signal processing device 400 that issues a command to operate the laser generator and the camera, so that the photographing is performed.

The laser generator 200 of the present invention refers to a conventional apparatus or means for generating a laser that irradiates an object and uses the reflected light to detect the shape, crack, flaw, etc. of the object.

Therefore, in the present invention, a normal laser can be used, but it is more preferable to use a band laser generator that generates a band laser.

The meaning of the camera 100 in the present invention means an overall device or means including an apparatus or means that can be acquired as ordinary image information.

Therefore, the camera of the present invention can acquire image information reflected from the laser generator.

As described above, the image information acquired by the laser generator and the camera interlocked with the laser generator is processed into three-dimensional image information by a three-dimensional image conversion device, and the three-dimensional image information is transmitted to the integrated data processing device.

Also, the image information that has not been converted to the three-dimensional image can be transmitted to the integrated data processing apparatus.

In the present invention, an apparatus for acquiring image information by a laser generator and a camera interlocked with the laser generator and converting the image information into a three-dimensional image using the image information may be implemented as a device or means capable of processing into commonly used three- do.

Therefore, according to the present invention, image information of a railway facility is acquired by a laser generator mounted on a running train and a camera interlocked with the laser generator. By using the three-dimensional image information processed by the three- .

That is, the camera acquires the image information that the band laser generated by the laser generator mounted on the train collides with the railway facility and reflects it, and when the image information continuously acquired is combined, it becomes the three-dimensional image information.

Such three-dimensional image information is acquired as image information of a railway facility existing at a specific location.

One example of a three-dimensional image conversion apparatus in the present invention is as follows.

However, such an embodiment is not limited to the 3D image conversion apparatus, and all of the apparatuses converted into three-dimensional images using a laser and a camera are included in the technical content of the present invention.

The three-dimensional image converting apparatus includes a central processing unit for processing and analyzing image information obtained from a laser generator and a camera linked to the laser generator, and a memory, and the central processing unit includes a coordinate extracting unit for extracting coordinates of image information, An abnormality inspection unit or an additional observation / discrimination unit.

According to another embodiment of the present invention, a three-dimensional image can be converted into a three-dimensional image using a laser generator (laser scanner) and a camera by using a method similar to the method disclosed in Japanese Patent No. 10-0898601 (Where the laser scanner can be understood as the same concept as the laser generator of the present invention)

A central processing unit for processing and analyzing image information obtained from the laser generator and the camera, and a memory, wherein the central processing unit comprises a laser generator controller for extracting the photographed point characteristics and coordinates through the data measured by the laser generator, And a camera controller for transmitting the coordinate values to the camera and allowing the camera to capture coordinates of the coordinates to acquire image information.

In the above-described three-dimensional image converting apparatus, the measurement data detected by the laser generator while the train moves in the axial direction of the tunnel is transmitted to the laser generator control unit, and the laser generator control unit And determines an abnormal part or an additional observation part, and transmits the coordinate value to the camera driving control part.

The camera driving control unit transmits coordinate values received through the laser generator control unit to the camera, and the camera captures the coordinates of the coordinates to acquire image data, so that the camera can acquire images for the coordinates do.

Through this apparatus, three-dimensional image information is acquired by using the measurement data by the laser generator and the image information by the camera.

The three-dimensional image converting apparatus for converting the three-dimensional image into the three-dimensional image by using the image information by the laser generator and the camera may be incorporated in the integrated data processing apparatus or separately installed.

As shown in FIG. 1C, the laser generator of the present invention is installed in a train so that it can be irradiated toward at least one of a rail, a catenary, a sleeper, or a tunnel structure.

In addition, the above-described camera that is interlocked with the laser generator is mounted so as to be able to shoot toward at least one of a rail, a catenary, a sleeper, and a tunnel structure.

As described above, the camera of the present invention is installed on a train so that at least one of a rail, a catenary, a sleeper, and a tunnel structure can be photographed so that the camera can acquire information provided by the laser generator.

The image information by the laser generator and the camera associated with the at least one of the rail, catenary, sleeper or tunnel structure thus acquired is converted into three-dimensional image information by the above-described three-dimensional image information conversion device.

Therefore, the three-dimensional image information on any one or more of the above-mentioned rail, electric cable, sleeper, or tunnel structure is transmitted to the above-described integrated data processing apparatus.

In the present invention, a location confirmation unit 300 is provided to accurately locate a railroad facility.

The positioning unit of the present invention performs functions and functions for accurately detecting the position of a rail, a catenary, a sleeper, and / or a tunnel structure by using various measurement factors such as a speed and a distance in a running train.

Therefore, the function of the position checking unit is to provide the signal processing apparatus with the distance information as the information for activating the operation of the laser generator and the camera for acquiring the image information of the tunnel structure among the above-mentioned railway facilities, , The precise location of the image information on the catenary line and the tunnel structure.

The position determining unit 300 of the present invention includes a dynamic behavior measuring device 310 for sensing the motion of a train, a distance measuring sensor 320 for measuring the moving position of the train, a speed measuring device 330, 340, and an information processing apparatus 350 having an MCU (microcontroller unit), a CPU (central processing unit), or an electronic circuit for processing information received from the apparatus or the sensor.

As already mentioned, the inconsistent data measurement has a small influence on the distance error when confirming the approximate position such as the change of the tunnel structure (cracks, partial falling objects, etc.) The distance error causes the reliability of the data to be significantly lowered.

The position check unit of the present invention has an effect of grasping not only the exact position of the tunnel structure but also the position in the case of the rail and the electric line.

In the present invention, the dynamic behavior measuring apparatus means a means or apparatus for determining whether or not a train is moving. An apparatus for measuring acceleration or the like, an encoder or the like can be used.

The dynamic behavior measuring device 310 functions to determine whether to operate the distance measuring sensor, as will be the case when the train is stopped. That is, it has a function of stopping the operation of the distance measuring sensor when the train is stopped and operating the distance measuring sensor again when the train is moving.

In the present invention, the distance measuring sensor 320 has a technical feature of performing the distance measurement in a manner significantly different from the conventional method.

The distance measuring sensor of the present invention means that the distance can be measured using a laser.

Therefore, the distance measuring sensor 320 comprises a laser generator 321 and a counter 322 for counting the number of sleepers by acquiring the reflected light of the laser generator and a transmitting means 323 for transmitting the counting information acquired from the counter.

The distance measuring sensor of the present invention counts the number of sleepers to a specific railway facility (for example, a tunnel structure) located along a railroad track from a start point of a train (for example, starting from Seoul station).

Multiplying the number of sleepers counted in this manner by the spacing between the sleepers, the distance from the starting point to the tunnel structure is calculated.

For example, if the spacing of the sleepers is 100cm and the number of sleepers is counted to 100,000, it is possible to accurately grasp that the tunnel structure is located 100km from Seoul Station.

In this way, it is also possible to grasp the position of rail, cranes or sleeper at a specific point very accurately.

Thus, it is possible to recognize whether the position of each railway facility is preset from the reference point and whether a particular railway facility corresponds to the set position by counting the number of the sleepers using the distance measuring sensor will be.

Of course, in this case, the reference point and the position of a certain railroad facility are stored in the information processing apparatus 340 as a predetermined value, and thus the data can be utilized.

In the present invention, an error in the position calculation by the distance measuring sensor may occur. Therefore, the information for correcting the accurate position can be provided by using the speed and time calculated by the speed measuring device 330.

The speed measuring device of the present invention means a mechanical or electronic speed measuring device for measuring the speed of a train wheel. A commonly used tachometer can be used.

It is possible to calculate the distance from the reference point by using the speed measured every time in such a tachometer by digital information and using the relation with the accurate time measured by the high speed precision clock 340. [

As described above, when the vehicle speed of a train departing from a certain reference point (for example, Seoul Station) is measured and the relationship between the vehicle speed and the time by the high-speed precision clock is integrated, the distance from the Seoul station is estimated.

Since the distance is the speed * time, the speed of each time can be obtained as an integral function of time. Such an integration operation is performed by the information processing apparatus 350 described above.

The integral calculation function can be implemented by an application program installed in the information processing apparatus.

Of course, in this case, the information about the motion of the train provided by the above-mentioned dynamic behavior measuring device may be used in relation to the time information provided in the high-speed precision clock, so that the distance may not be calculated when the train does not move. Also, if there is no train motion, the speed becomes 0 (zero), so the distance is not calculated as well.

The present invention is capable of more precisely measuring and synchronizing the position of a specific railway facility calculated by the distance measuring sensor and the speed measuring device.

Therefore, the target railway facilities (rails, electric cable lines, tunnel structures, sleeper, etc.) of the image information or 3D image information acquired by the laser generator and the camera linked to the laser generator by the distance measurement data by the distance measuring sensor, It is possible to accurately grasp the position.

That is, the distance predicted by the distance measuring sensor may be different from the distance predicted by the speed measuring device, thereby establishing the relationship between the two distance measuring values so that the accurate position can be known.

Therefore, it is possible to provide the information processing apparatus with the operation signal information to the signal processing apparatus to be set up in relation to the distance information acquired by the distance measuring sensor and the speed measuring apparatus preset by the user.

For example, the distance measured by the distance measuring sensor of the present invention can measure a distance by counting the number of sleepers, so that a very accurate distance can be measured. Accordingly, the distance to the image information by the laser generator and the camera is determined based on the distance measurement sensor.

However, if an error occurs in the distance measurement due to a reason such as the loss of a sleeper due to a certain reason, the distance information acquired by the speed measuring apparatus described above can be stored as auxiliary distance information, have.

Therefore, it is possible to accurately calculate the distance of the target railway facility by referring to the auxiliary distance information acquired by the speed measuring device.

In particular, when monitoring a tunnel structure located at a specific point on a rail, a distance between the distance measured by the distance measuring sensor and the center of the distance measured by the speed measuring device is used as the laser generator And a starting point for the operation of the camera, so that the operation signal information can be transmitted to the signal processing device when the intermediate point is recognized.

Also, as described above, the distance information measured by the distance measuring sensor and the distance information measured by the speed measuring device for a specific railway facility (e.g., a tunnel structure) can be accumulated and accumulated.

The distance information measured by the distance measuring sensor and the distance information measured by the speed measuring device are used to more accurately measure the position of the specific railway facility to be monitored, As shown in FIG.

Therefore, the position of the specific monitoring target railway facility can be grasped more accurately, and the information by the laser generator and the image information by the camera can be acquired.

Of course, such an example is an embodiment, and the distance information measured by the distance measuring sensor and the distance information about the distance measured by the speed measuring device are set in advance according to the intention and the request of the user, Of course.

The distance information obtained from the distance measuring sensor and the speed measuring device is provided to the integrated data processing device 500.

Therefore, it can be used as information for locating the railway facilities in the integrated data processing device.

In the present invention, the signal processing apparatus 400 means an apparatus or means for providing a laser generator for the tunnel structure and / or a moving signal of the camera.

Therefore, the signal processing device performs a function of realizing an operation to the laser generator and / or the camera that monitors the tunnel structure in response to the shooting information command received from the distance shooting recognition device 120 described above. That is, it functions to operate the laser scanner and / or the camera for the tunnel structure.

As described above, the integrated data processing apparatus 500 of the present invention may be configured to transmit data such as image information by the laser generator and the camera connected thereto or three-dimensional image information converted by the image information conversion apparatus, Means a device or means having a function capable of processing, analyzing, interpreting, or storing data on the speed, distance, and the like.

Accordingly, the integrated data processing apparatus 500 is equipped with a central processing unit, an information storage device, and an application program.

The application program receives the data such as the image information by the laser generator and the camera and / or the three-dimensional image information by the image information conversion apparatus and / or the speed and / or distance transmitted from the positioning unit Store, and process, analyze, and analyze them to read faulty rail, cranes, sleeper, or tunnel structures.

Accordingly, it is to be understood that the integrated data processing apparatus of the present invention may include a computer-readable medium for carrying out the operations of the present invention.

The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The media may be those specifically designed and configured for application program instructions used in the present invention, or may be those known and available to those skilled in the computer software.

Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

Examples of application commands include machine language code, such as those generated by the compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

The integrated information processing apparatus 500 of the present invention may be provided with an image information readout correction unit 510.

The image information reading and correcting unit 510 of the present invention checks the cracks of the tunnels when the image information photographed by the camera while the train is moving is not photographed in a frame having a constant structure due to the vibration and the traveling speed of the train And means for performing a function of correcting the crack to easily detect the occurrence of a crack.

FIG. 7 shows image information (V1) taken by a train while moving a part of a specific tunnel.

FIG. 7B shows the image information V2 taken by a train after moving a part of a specific tunnel described above. In this case, there is vibration of the train, which indicates a case where the image of FIG.

The image information V1 and the image information V2 are generated in order to recognize that the composition of the image information V1 and the image information V2 does not exactly coincide with each other as shown in FIGS. 7 and 7B, It is very difficult to recognize that the crack C has occurred.

The reason is that the composition of contrast image information does not coincide with each other.

That is, when the vertex coordinates (A, B, C, D) of a specific object (or a discriminating pattern or the like) in the photographed image information of Fig. 7 are different from the specific object (A1, B1, C1, D1) of the tunnel do not coincide with each other, so that they do not coincide with each other, do.

Therefore, the present invention includes the image information readout correction unit 510 to detect vertex coordinates (A1, B1, C1, D1) of a specific object (or discriminating pattern, etc.) (C) of the tunnel becomes coincident with the composition of both image information to be compared by a method of matching vertex coordinates (A, B, C, D) of a specific object (or a discriminating pattern or the like) This makes it possible to determine whether there has been a previous occurrence or a new occurrence, and to perform a function to correct for reading the image information.

The image information reading and correcting unit 510 of the present invention is a concept including a program, an apparatus, or a unit that allows the contrast of the contrast image information to be matched with each other to correct the occurrence of a crack in the tunnel so that it can be easily read.

Coordinates are given to the image information as described above and two or more coordinates of a vertex or an inflection point of "correction information information" such as a specific object (or a discriminating pattern) included in the image information are obtained, The present invention is not limited to such a method. However, the present invention is not limited to such a method, but any method of facilitating contrast by matching the configurations of the image information with each other And is included in the content of the image information readout correction unit 510.

The present invention has the function and effect of easily reading the image information with the image information readout correction unit 510 even when the image information of the camera is shaken due to the vibration or the like as the train moves.

As described above, the present invention provides a system for monitoring a railway facility using a moving train (or train).

The present invention is a very useful invention for industries that produce, manufacture, supply, or use trains.

Further, the present invention is a very useful invention for an industry that uses, uses, and provides a service using a rail-based vehicle.

100: camera 110: three-dimensional image information conversion device
120: distance photographing recognition device 121: sleeper recognition unit
122:
130: unique identification unit 132: ID recognition unit
133: ID assignment 134: ID sleeper recognition unit
200: laser generator
300:
310: Dynamic behavior measuring device 320: Distance measuring sensor
321: laser generator 322: counter
323: Transmitting means 330: Speed measuring device
340: High-speed precision clock 350: Information processing device
400: Signal processing device 500: Integrated data processing device
510: image information read /

Claims (4)

A laser generator 200 provided in a train (or a subway, a train, etc.), a camera 100 that operates in cooperation with the laser generator and can acquire image information data capable of monitoring and measuring major parts of the railway facility, A three-dimensional image information conversion device 110 for converting the three-dimensional image information into three-dimensional image information using the image information data acquired from the camera, a position confirmation unit 300 for determining the position of the railway facility to be measured, Analyzing, or storing data such as distance information and / or speed information transmitted from the image information data, the three-dimensional image information, and / or the position confirming unit, And an integrated data processing device (500).
The method according to claim 1,
Characterized in that a unique identification transmission device (131) and a unique identification device (130) are configured.
The method according to claim 1,
Wherein the integrated information processing apparatus (500) is provided with an image information readout correction unit (510).
4. The method according to any one of claims 1 to 3,
And a distance photographing recognizing device (120) is added.

KR1020160009937A 2016-01-27 2016-01-27 the railroad tunnel inspecting system using train with the function of automatic registrating railroads tie ID and the sensing railroads tie ID KR101806814B1 (en)

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CN107499337A (en) * 2017-08-29 2017-12-22 中车株洲电力机车有限公司 Rail vehicle and its velocity-measuring system
CN109515471A (en) * 2018-12-13 2019-03-26 四川拓绘科技有限公司 A kind of Non-contact type sleeper recognition methods under moving condition
KR102231023B1 (en) * 2019-10-18 2021-03-23 주식회사 카이 Method and apparatus of projecting content

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CA3153648A1 (en) 2019-09-17 2021-03-25 Freightlucid, Llc Railcar sensor communication system

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KR101228349B1 (en) * 2012-07-03 2013-02-13 (주)스마텍 The synchronized detecting system of railroad facilities
JP6178192B2 (en) * 2013-09-30 2017-08-09 日本信号株式会社 Closing device

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Publication number Priority date Publication date Assignee Title
CN107499337A (en) * 2017-08-29 2017-12-22 中车株洲电力机车有限公司 Rail vehicle and its velocity-measuring system
CN109515471A (en) * 2018-12-13 2019-03-26 四川拓绘科技有限公司 A kind of Non-contact type sleeper recognition methods under moving condition
KR102231023B1 (en) * 2019-10-18 2021-03-23 주식회사 카이 Method and apparatus of projecting content
WO2021075611A1 (en) * 2019-10-18 2021-04-22 주식회사 카이 Method and device for projecting content

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