TWI676001B - Detection device and detection method for traffic route equipment - Google Patents

Abstract

The calculation circuit 33 calculates the coordinates and the radius of the center point of the circle of the arc from the contour portion of the curved portion of the curve of the traffic route device using the circle least square method (step 102). Then, the coordinates of the center point of the circle having the same radius as the radius of the circle having the arc specified by the specifications of the traffic route device are calculated from two points on the circumference of the circle having the calculated center point and the radius. (Step 103). Next, the coordinates of the calculated center point are gradually shifted in each axis direction of the coordinate axis, and the sum of the squares of the errors between the radius calculated from the profile data and the radius of the circle of the arc specified by the specifications is individually minimized. Coordinates (step 104). Then, the position of the traffic route device is measured from the selected coordinates (step 105).

Description

Detection device and detection method for traffic route equipment

The invention relates to a detection device and a detection method for a traffic route device that uses laser light to detect the shape and position of a traffic route device, and more particularly to a traffic route suitable for covering a part of a surface formed by an arc with a structure. Detection device and detection method for traffic route equipment to perform equipment detection. In addition, the traffic route equipment referred to in the present invention refers to equipment constituting a traffic route of a traffic facility.

For example, railroad lines are provided with transportation equipment such as railroad tracks (tracks) on which vehicles travel, overhead power lines for power supply, or third rails (third rails). For the safe operation of the railway, the maintenance and inspection system of these transportation routes are necessary.

It is known that two-dimensional sensors such as laser displacement meters are used in detection devices that detect the shape and position of rails or overhead wires during the inspection of rails or overhead wires. For example, as a method for detecting the shape of a railroad track, Patent Document 1 discloses a technique for acquiring railroad track profile data using a two-dimensional sensor. [Prior Art Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open No. 2014-199208

[Problems to be Solved by the Invention] The surface of the rail or overhead wire is not covered with structures such as a protective cover. The third rail for power supply is used to protect the third rail from wind and rain and to prevent maintenance operations. Or an electric shock when a person falls to the line, etc., a protective cover is provided, and most of the surface of the third rail is covered by the protective cover. Therefore, if you want to use laser light to detect the shape and position of the third track, the outline data of the part covered by the protective cover will be lost, or the scattered light caused by the scattered light of the laser light due to the protective cover will cause noise, which cannot Accurately detect problems with the shape and position of the third track.

The subject of the present invention is to accurately measure the position of a traffic route device where a part of a surface formed by an arc is covered with a structure. [Technical means to solve problems]

The detection device for a traffic route device of the present invention includes a laser light source, which irradiates laser light to a traffic route device whose part of a surface formed by an arc is covered by a structure; a sensor that receives laser light due to the traffic route device And the scattered scattered light to output an image signal; and a processing device that processes the image signal from the sensor as contour data to detect the position of the traffic route equipment, wherein the processing device includes a calculation circuit and is used The circle least square method calculates the coordinates and radius of the center point of a circle of an arc from the contour portion of the curve portion of the section of the traffic route equipment, and calculates the circumference of the circle with the calculated center point coordinates and radius. At the two points above, the coordinates of the center point of a circle with the same radius as the circle having an arc specified by the specifications of the traffic route equipment are calculated, and the coordinates of the calculated center point are gradually shifted in the respective directions of the coordinate axis. , Respectively, select the total of the squares of the errors between the radius calculated from the profile data and the radius of the circle of the arc specified by the specifications. The coordinates of the smallest, self-selected coordinate measuring device of the position of transportation routes.

In addition, the method for detecting a traffic route device of the present invention includes the following steps: for a traffic route device whose part of the surface formed by an arc is covered by a structure, radiates laser light from a laser light source; and receives a laser light factor by a sensor Scattered light scattered by traffic route equipment; process image signals from sensors as contour data; use the circle least square method to round out the circular arc from the contour data that constitutes the curved portion of the cross section of the traffic route equipment The coordinates of the center point and the radius are calculated; from the two points on the circumference of the circle with the calculated center point coordinates and the radius, the radius of a circle with an arc specified by the specifications of the traffic route equipment is calculated to be the same radius The coordinates of the center point of the circle; the coordinates of the calculated center point are shifted in stages along the axes of the coordinate axis, and the square of the error between the radius calculated from the profile data and the radius of the circle of the arc specified by the specifications is selected individually The sum of the coordinates becomes the smallest coordinate; and the coordinates of the selected route determine the location of the traffic route equipment.

The conventional system calculates the coordinates and radius of the center point of the circle of the arc that constitutes the curve part of the cross section of the traffic route device using the equation of a circle passing through three points from the contour data, and measures the coordinates and radius of the center point from the calculation. Location of traffic route equipment. However, when a part of the surface of the traffic route device formed by an arc is covered by a structure, the position of the traffic route device cannot be accurately and accurately measured due to the loss of the profile data of the part covered by the structure. The present invention uses a circle least square method to calculate the radius of a circle having an arc defined by the specifications of a traffic route device from two points on the circumference of a circle having a calculated center point coordinate and a radius. The coordinates of the center point of the circle of radius. Next, the coordinates of the calculated center point are gradually shifted in each axis direction of the coordinate axis, and the sum of the squares of the errors between the radius calculated from the profile data and the radius of the circle of the arc specified by the specifications is individually minimized coordinate. Even if the profile data is missing, the coordinates of the center point of the circle of the arc that constitutes the curved part of the cross section of the traffic route device are accurately and well calculated using the radius of the circle specified by the specifications of the traffic route device. . Then, the position of the traffic route device is measured from the selected coordinates, so the position of the traffic route device whose part of the surface formed by the arc is covered by the structure is measured with high accuracy.

Furthermore, the detection device and detection method for a traffic route device of the present invention uses a circle least square method before calculating the coordinates and radius of a center point of a circle of an arc constituting a curved portion of a cross section of a traffic route device. , Remove the noise components caused by the scattered light from the profile data that caused the laser light to be scattered due to the structure, and use the profile data after removing the noise components for subsequent processing. The noise component caused by the scattered light from the surrounding structure of the traffic route device is eliminated, and the position of the traffic route device whose part of the surface formed by the arc is covered by the structure is detected with high accuracy.

Furthermore, the detection device and detection method of the traffic route device of the present invention use a point located near the contour data with the same Y coordinate as the center point, and rotating the point from the center point by -30 ° to -90 °. The points at arbitrary angular positions are two points on the circumference of a circle having the coordinates of the calculated center point and the radius.

Furthermore, in the detection device and detection method for a traffic route device according to the present invention, when the coordinates of the calculated center point are gradually shifted in each axis direction of the coordinate axis, the resolution of the sensor is set to a low axis coordinate. Compared to the high-axis coordinate of the sensor, the resolution is shifted more widely. The error of the radius of the sensor in the axial direction with a low resolution is calculated more than the error of the radius in the axial direction with a high resolution of the sensor, so that it is based on the resolution of the sensor. Depending on the axis direction, the coordinates of the center point are selected appropriately.

Or the detection device of the traffic route device of the present invention includes a laser light source, which irradiates laser light to the traffic route device whose part of the surface formed by the arc is covered by a structure; a sensor that receives the laser light due to the traffic route The scattered light scattered by the device and output the image signal; and a processing device for processing the image signal output from the sensor as contour data to detect the position of the traffic route device, wherein the processing device includes a calculation circuit, The circle least square method is used to calculate the coordinates and radius of the center point of an arc of a circle from the curve portion of the profile of the traffic route equipment. The circle has the coordinates of the calculated center point and the radius of the circle. At two points on the circumference, the coordinates of the center point of a circle having the same radius as an arc specified by the specifications of the traffic route device are calculated, and the position of the traffic route device is measured from the calculated coordinates of the center point.

In addition, the method for detecting a traffic route device of the present invention includes the following steps: for a traffic route device whose part of a surface formed by an arc is covered by a structure, radiates laser light from a laser light source; and receives a laser light factor by a sensor Scattered light scattered by traffic route equipment; process image signals from sensors as contour data; use the circle least square method to round out the circular arc from the contour data that constitutes the curved portion of the cross section of the traffic route equipment The coordinates of the center point and the radius are calculated; from the two points on the circumference of the circle with the calculated center point coordinates and the radius, the radius of a circle with an arc specified by the specifications of the traffic route equipment is calculated to be the same radius The coordinates of the center point of the circle. From the calculated coordinates of the center point, the position of the traffic route equipment is measured. [Contrast with the effect of the prior art]

According to the present invention, it is possible to accurately detect the position of a traffic route device in which a part of a surface formed by an arc is covered by a structure.

In addition, using the circle least square method, before calculating the coordinates and the radius of the center point of the circle of the arc that constitutes the curved part of the cross section of the traffic route device, the laser light from the profile data is scattered due to the structure. The noise component caused by the scattered light is removed, and the contour data after removing the noise component is used for subsequent processing, thereby eliminating the influence of the noise component caused by the scattered light from the surrounding structures of the traffic route equipment, and The position of the traffic route device where a part of the surface formed by the arc is covered by the structure can be detected with higher accuracy.

Furthermore, a point located near the contour data with the same Y coordinate as the center point, and a point where the point is rotated from the center point to an arbitrary angle between -30 ° and -90 °, is used as a calculation The coordinates of the center point of the center and two points on the circumference of the circle. From these two points, the coordinates of the center point of a circle with the same radius as a circle with an arc specified by the specifications of the traffic route equipment are calculated from the two points. In this case, the accuracy of the coordinates of the calculated center point can be further improved.

In addition, when the coordinates of the calculated center point are gradually shifted in the respective axial directions of the coordinate axis, the coordinates of the axial direction where the resolution of the sensor is low are compared with the axial directions where the resolution of the sensor is high. The coordinates of the sensor are shifted in a wider range, thereby selecting the coordinates of the center point appropriately according to the difference in the axial direction of the resolution of the sensor.

Or omit the coordinates that minimize the sum of the squares of the errors between the calculated center point and the axis of the coordinate axis, which are selected in stages, and the sum of the squares of the errors between the radius calculated from the profile data and the radius of the circle specified by the specification is minimized Processing, which can improve accuracy.

[Configuration of Detection Device] FIG. 1 is a diagram showing a schematic configuration of a detection device for a traffic route device according to an embodiment of the present invention. This embodiment shows an example of a detection device that detects the shape, position, and the like of a third rail for power supply of a line laid on a railway. The detection device 100 includes a sensor element 10, a control device 20, a distance pulse generator 23, and a processing device 30. The sensor element 10 is disposed under a chassis of a detection vehicle or a business vehicle. The control device 20, the distance pulse generator 23, and the processing device 30 are mounted on a detection vehicle or a business vehicle. In the following description, a vehicle detection is taken as an example.

The sensor element 10 includes a laser light source 11, a cylindrical lens 12, a condenser lens 13, and a sensor 14. The laser light source 11 is composed of, for example, a laser diode and the like to generate a laser beam. The laser beam generated from the laser light source 11 is diffused by the cylindrical lens 12 and irradiated from the sensor element 10.

FIG. 2 is a diagram illustrating the operation of the sensor element. A third rail 3 for power supply is laid at a designated height next to a side of the rail 2 laid on the sleeper 1 on a subway line or the like. A collector shoe (not shown) for collecting electricity is installed on the side of the vehicle under the chassis of the inspection vehicle 5 and the commercial vehicle. The collector shoe contacts the third rail 3 which is energized to detect the current. The vehicle 5 and the business vehicle supply power. In the vicinity of the third rail 3, the protective cover 4 is disposed close to the third rail 3. The sensor element 10 is disposed on a frame under the chassis of the detection vehicle 5. The laser light emitted from the sensor element 10 irradiates the third rail 3. Then, the irradiated laser light is scattered by the third track 3, and scattered light is generated.

In FIG. 1, the scattered laser light caused by the third track is condensed on the condenser lens 13 and is photosensitive on the photosensitive surface of the sensor 14. The sensor 14 is composed of, for example, a CCD linear sensor, and outputs an image signal corresponding to the intensity of the received scattered light.

FIG. 3 is a diagram showing an example of the third track. The body of the third rail 3 is made of a highly conductive metal such as aluminum. A protective plate 3a and a protective plate 3b made of stainless steel are mounted on the contact surfaces of the current collecting shoes located on the upper or lower portion of the third rail 3 to prevent abrasion of the contact surfaces. In this embodiment, the value of the radius of the circle of the arc of the curved portion of the surface of the protective plate 3b of the third rail 3 is "R" mm specified by the specifications of the third rail 3.

In FIG. 1, the control device 20 includes a control circuit 21 and a memory 22. The distance pulse generator 23 generates a distance pulse indicating the position information of the detection vehicle's running direction each time the vehicle detects a specified distance. The control circuit 21 collects the image signals output from the sensor 14 and the distance pulses generated from the distance pulse generator 23 and stores them in the memory 22.

The processing device 30 is composed of, for example, a personal computer (PC), and is configured to include a CPU 31, a memory 32, and a calculation circuit 33. The distance pulses and image signals stored in the memory 22 of the control device 20 are transferred to the memory 32. The CPU 31 is based on the distance pulse stored in the memory 32, and judges which image signal stored in the memory 32 is to detect which position in the vehicle's walking direction, and stores each image signal in the memory as contour data of its position. Body 32. The calculation circuit 33 controls the contour data stored in the memory 32 under the control of the CPU 31 to measure the position of the third track 3 as described below.

In addition, in this embodiment, the X-coordinate system of the profile data represents the lateral position of the drawing in FIG. 2, and the Y-coordinate system of the profile file represents the longitudinal direction of the drawing in FIG. 2 (the Z-axis direction of the third track 3 of the object) s position. As shown in FIG. 2, the third rail 3 is mostly covered by the protective cover 4. In this embodiment, the profile data is obtained only for the portion of the lower contact surface of the third rail 3 that is not covered by the protective cover 4.

[Operation of Calculation Circuit] (First Embodiment) FIG. 4 is a flowchart showing the operation of the calculation circuit according to an embodiment of the present invention. First, the calculation circuit 33 removes noise components caused by the scattered data of the outline data from the third track 3 caused by the laser light being scattered by the protective cover 4 (step 101). Next, the calculation circuit 33 performs the processing of the contour data of the noise component removed in step 101 by a circle least square method, and calculates the center point of the circle of the arc constituting the curved portion of the cross section of the third rail 3 Coordinates and radius (step 102). Then, the calculation circuit 33 calculates the radius R of a circle having an arc defined by the specifications of the third rail 3 from two points on the circumference of the circle having the coordinates of the center point calculated in step 102 and the radius. The coordinates of the center point of the circle with a radius, and the position of the center point is corrected (step 103). In addition, the calculation circuit 33 performs a fitting process to gradually shift the coordinates of the center point calculated in step 103 in each axis direction of the coordinate axis, and individually selects the calculated data from the contour data after removing the noise component in step 101 The sum of the squares of the errors between the radius and the radius of the circle of the arc specified by the specification becomes the smallest coordinate (step 104). Next, the calculation circuit 33 measures the position of the third rail 3 from the coordinates of the center point selected in step 104 (step 105). The processing of each step is described in detail below.

(Removal of Noise Components) FIG. 5 is a diagram illustrating removal of noise components in step 101 of FIG. 4. First, the calculation circuit 33 performs the same processing on the contour data from the third track 3 as the processing system of the circle least square method described below, and the arc of the curved portion constituting the cross section of the third track 3 is processed. The coordinates of the imaginary center point of the circle and the imaginary radius r 'are calculated. Next, the calculation circuit 33 determines the allowable range of the error of the profile data for the calculated imaginary radius r ', and sets the circle located at the imaginary center point with a center radius "r'-d" and a radius "r' + d "circle. In FIG. 5, a one-dot chain line indicates an arc of a circle having an imaginary radius r ', and a dotted line indicates an arc of a circle having a radius "r'-d" and an arc of a circle having a radius "r' + d". In addition, black dots other than the imaginary center point represent contour data.

The calculation circuit 33 checks whether each contour data lies between an arc of a circle having a radius "r'-d" and an arc of a circle having a radius "r '+ d". Next, the calculation circuit 33 removes the two profile data P1 and P2 located outside the arc from the tolerance range ± d of the arc as noise components caused by scattered light scattered by the protective cover 4 and removed. . The influence of the noise component due to the scattered light from the protective cover 4 around the third track 3 is eliminated, and the measurement of the position of the third track 3 by subsequent processing is performed with higher accuracy.

(Processing by Least Square Method of Circle) FIGS. 6 to 8 are diagrams illustrating the process by the least square method of step in FIG. 4. In FIG. 6, if the coordinates of the center point of the circle are (a, b) and the radius of the circle is r, for the coordinates (x, y) of an arbitrary point on the circumference, the formula of (1) holds. Transforming the formula of (1) so that it is = 0 and summing the squares of the sides becomes the formula of (2). Expand the left side of the formula (2), and insert A, B, and C as shown in the formulas (4), (5), and (6) to get the formula of (3). Regarding the formula of (3), respectively for partial differentials of A, B, and C, the formulas of (7), (8), and (9) of FIG. 7 are obtained. Next, using the determinant solutions (7), (8), and (9), the formulas (10) and (11) in FIG. 8 are obtained.

The calculation circuit 33 applies the values of the contour data of the noise component removed in step 101 to the formula of (11), calculates the values of A, B, and C, and calculates the values of A, B, and C from FIG. 6 The formulas of (4), (5), and (6) calculate the coordinates (a, b) of the center point of the circle and the radius r of the circle.

(Correction of Center Point Position) FIGS. 9 to 11 are diagrams illustrating the correction of the center point position in step 103 of FIG. 4. First, the calculation circuit 33 uses the coordinates (a, b) of the center point of the circle calculated in step 102 in FIG. 4 and the radius r of the circle to calculate the center having the center from each of the formulas (12) to (15) in FIG. 9. The coordinates of the point (a, b) and the coordinates of any two points (x1, y1), (x2, y2) on the circumference of the circle with the radius r. Next, using the calculated coordinates of two points (x1, y1) and (x2, y2), from the formulas (16) to (19) in Fig. 10, calculate the specifications of the third orbit 3 with these two points on the circumference. The coordinates (a ', b') of the center point of the circle with the radius R of the specified arc, and the position of the center point is corrected.

At this time, as shown in the formulas (12) to (15) in FIG. 9, if θ1 = 0 ° and θ2 = -45 °, cosθ1 = 1, sinθ1 = 0, cosθ2 = 1 / √2, and sinθ2 = -1 / √2, the calculation will become easy. In other words, if a point located near the contour data with the same Y coordinate as the center point and a point where the point is rotated by -45 ° from the center point are used as the two points on the circumference, then (16) from FIG. 10 The formula of ~ (19), when calculating the radius R of a circle with an arc specified by the specifications of the third rail 3, is the coordinates (a ', b') of the center point of the circle with the same radius, the calculation will change. It is easy, and the processing speed is increased.

The formulas (16) to (19) in FIG. 10 can be obtained as follows. First, if the distance between the point of the coordinates (x1, y1) on the circumference and the point of the coordinates (x2, y2) is L in FIG. 10, the formula of (16) holds.

Next, in FIG. 11, the coordinates of the center point O of the circle of radius R and the two points E and F on the circumference of the straight line EF are (m, n). The triangle OGE is a right-angled triangle. If the length of each side is s, L / 2, and R, the formula of (20) holds. In addition, if the formula of the straight line OG is obtained from the coordinates (x1, y1) of the point E and the coordinates (x2, y2) of the point F, it becomes the formula of (21). If the coordinates of the center point O (a ', b '), it becomes the formula of (22). On the other hand, if the straight line OG is a hypotenuse, the length of each side of a right-angled triangle OHG represented by a dashed line is "n-b '", "m-a'", and s. According to the formula of (20), Then get the formula of (23). If the formula of (22) is substituted into the formula of (23) and a 'is obtained, then the formula of (24) is obtained. Substituting m = (x1 + x2) / 2 into this formula becomes the formula of (25). If k is inserted like the formula of (17) of FIG. 10, the formula of (18) can be obtained. In addition, if the formula of (18), m = (x1 + x2) / 2, and n = (y1 + y2) / 2 are substituted into the formula of (22), the formula of (19) can be obtained.

(Fitting Process) FIG. 12 is a diagram illustrating the fitting process in step 104 of FIG. 4. For the X coordinate a ′ of the center point calculated in step 103 of FIG. 4, the displacement dx in the X-axis direction is changed stepwise from 0.05 to +1, for example, and calculated from step 101 The error drx between the radius calculated from the contour data of the noise component and the arc radius R prescribed by the specification is calculated as the sum of the squares of the errors drx. Next, the coordinate "a '+ dx" when the sum of the squares of the errors drx becomes the smallest displacement is selected as the X coordinate.

In addition, with respect to the Y coordinate b ′ of the center point calculated in step 103 in FIG. 4, the displacement dy in the Z-axis direction is changed stepwise from −3 to −1 every −0.05, for example. The error dry between the radius calculated from the contour data of the noise component and the arc radius R specified in the specification is calculated, and the sum of the squares of the errors dry is calculated. Next, the coordinate "b '+ dy" when the sum of the squares of the errors dry becomes the smallest displacement is selected as the Y coordinate.

In the sensor 14 used in this embodiment, the resolution in the Z-axis (Y-coordinate) direction is lower than the X-axis direction. Therefore, in the present embodiment, during the fitting process described above, the coordinates in the Z-axis direction where the resolution of the sensor is low are compared with the coordinates in the X-axis direction where the resolution of the sensor is high. Displace more widely. Accordingly, the error dry shown in FIG. 12 is calculated more than the error drx, and the coordinates of the center point are appropriately selected in accordance with the difference in the axial direction of the resolution of the sensor 14.

(Measurement of Position of Third Track) FIGS. 13 and 14 are diagrams illustrating the measurement of the position of the third track in step 105 in FIG. 4. First, the calculation circuit 33 uses the coordinates (a '+ dx, b' + dy) of the center point selected in step 104 and the radius R of the circle of the arc specified by the specification to calculate the curved portion of the section of the third rail 3 The coordinates of the vertices. In FIG. 13, the point from the center point of the coordinates (a ′ + dx, b ’+ dy) that is far from the radius R in the X-axis direction is the vertex of the curved portion of the cross section of the third rail 3. Next, the calculation circuit 33 calculates the coordinates of the apex of the curved portion of the cross section of the third rail 3 and the position of the side of the head of the rail 2 separately measured using the detection device for the rail 2 to calculate the rail shown in FIG. 14 The distance D between 2 and the third rail 3, and the position of the third rail 3 based on the position of the rail 2 is measured.

In steps 103 and 104 of FIG. 4, the coordinates of the center point of the circle calculated in step 102 are corrected. Therefore, even if the contour data is missing, the circle of the arc specified by the specifications of the third track 3 is used. Radius, the coordinates of the center point of the circle of the arc forming the curved portion of the cross section of the third rail 3 can be accurately and well obtained. Next, since the position of the third orbit 3 is measured from the coordinates of the center point after the correction in step 105, the position of the third orbit 3 from the coordinates and the radius of the center point of the circle calculated from step 102 is measured. Compared with the case, the position of the third rail 3 that is partially shielded by the protective cover 4 with a part of the surface formed by the arc is measured with high accuracy.

(Effect of the First Embodiment) According to the embodiment described above, the position of the third rail 3 that is partially shielded by the protective cover 4 with a part of the surface formed by the arc can be measured with high accuracy.

Furthermore, in step 101 of FIG. 4, noise components caused by the scattered light from the profile data caused by the scattered light of the laser light due to the protective cover 4 are removed, and the profile data from which the noise components are removed is used for subsequent processing. Thereby, the influence of noise components caused by the scattered light from the protective cover 4 around the third track 3 is eliminated, and a part of the surface formed by the arc formed by the protective cover 4 can be more accurately measured. Three-track 3 location.

In addition, in step 103 of FIG. 4, when the position of the center point is corrected, a point located near the contour data with the same Y coordinate as the center point, and a position where the point is rotated by an arbitrary angle from the center point is used. The two points on the circumference of the circle having the coordinates of the calculated center point and the radius in step 102 are used to improve the accuracy. In this embodiment, the point where the Y coordinate is the same as the center point and the point where the point is rotated by -45 ° from the center point will be described, but the rotation angle is not limited to -45 °. For example,- Any angle between 30 ° and -90 ° is acceptable.

Furthermore, when performing the fitting processing in step 104 of FIG. 4, the coordinates in the Z-axis direction where the resolution of the sensor is low are made larger than the coordinates in the X-axis direction where the resolution of the sensor is high. Wide range displacement. Thereby, it is possible to appropriately select the coordinates of the center point in accordance with the difference in the axial direction of the resolution of the sensor.

Second Embodiment FIG. 15 is a flowchart showing the operation of a calculation circuit according to another embodiment of the present invention. The operation of the calculation circuit according to the present embodiment is to omit the fitting process of step 104 shown in the first embodiment of FIG. 4.

The calculation circuit 33 removes noise components caused by the scattered data of the outline data from the third track 3 caused by the laser light being scattered by the protective cover 4 (step 201). Next, the calculation circuit 33 processes the contour data of the noise component removed in step 201 by using the circle least square method to calculate the coordinates of the center point of the circle of the arc constituting the curved portion of the section of the third rail 3 And radius (step 202). Then, the calculation circuit 33 calculates the radius R of a circle having an arc defined by the specifications of the third rail 3 by using two points on the circumference of the circle having the coordinates of the center point calculated in step 202 and the radius. The coordinates of the center point of the circle with a radius, and the position of the center point is corrected (step 203). Next, the calculation circuit 33 measures the position of the third rail 3 from the coordinates of the center point calculated in step 203 (step 204). The processing of steps 201 to 203 is the same as steps 101 to 103 of FIG. 4.

(Measurement of Position of Third Track) FIG. 16 is a diagram illustrating the measurement of the position of the third track in step 204 of FIG. 15. The calculation circuit 33 uses the coordinates (a ', b') of the center point calculated in step 203 and the radius R of the circle of the arc specified in the specification to calculate the coordinates of the apex of the curved portion of the cross section of the third rail 3. In FIG. 16, the point from the center point of the coordinates (a ', b') that is only far from the radius R in the X-axis direction is the vertex of the curved portion of the cross section of the third rail 3. Next, the calculation circuit 33 calculates the rail 2 and the third rail from the coordinates of the apex of the curved portion of the cross section of the third rail 3 and the position of the side of the head of the rail 2 that is separately measured using the detection device for the rail 2. 3, and the position of the third rail 3 based on the position of the rail 2 is measured.

(Effect of the Second Embodiment) According to the second embodiment described above, the processing speed can be increased by omitting the fitting process of step 104 in FIG. 4 in the first embodiment.

In addition, the present invention is not limited to the third track of a railway line, and can be applied to the detection of various traffic route devices in which structures such as a protective cover are set close to each other. In addition, the present invention is also applicable to the detection of a position where a part of a tunnel surface formed by an arc is covered by a structure such as a sign or a lighting device when detecting the shape of a tunnel of a railway or a road. In addition, in the embodiment described above, although the example in which the sensor element is installed under the chassis of the detection vehicle is described, the sensor element may be installed under a chassis such as a roof, etc., depending on the detection object. place.

1‧‧‧ Ties

2‧‧‧ railroad tracks

3‧‧‧ third track

3a‧‧‧Protection board

3b‧‧‧ protection board

4‧‧‧ protective cover

5‧‧‧Test vehicle

10‧‧‧ sensor element

11‧‧‧laser light source

12‧‧‧ cylindrical lens

13‧‧‧ condenser lens

14‧‧‧Sensor

20‧‧‧Control device

21‧‧‧Control loop

22‧‧‧Memory

23‧‧‧Distance pulse generator

30‧‧‧Processing device

31‧‧‧CPU

32‧‧‧Memory

33‧‧‧Calculation Circuit

100‧‧‧testing device

FIG. 1 is a diagram showing a schematic configuration of a detection device for a traffic route device according to an embodiment of the present invention. FIG. 2 is a diagram illustrating the operation of the sensor element. FIG. 3 is a diagram showing an example of the third track. FIG. 4 is a flowchart showing an operation of a calculation circuit according to an embodiment of the present invention. FIG. 5 is a diagram illustrating removal of noise components. FIG. 6 is a diagram illustrating processing by the least square method of a circle. FIG. 7 is a diagram illustrating processing by the least square method of a circle. FIG. 8 is a diagram illustrating processing by a circle least square method. FIG. 9 is a diagram explaining the correction of the position of the center point. FIG. 10 is a diagram explaining the correction of the position of the center point. FIG. 11 is a diagram explaining the correction of the position of the center point. FIG. 12 is a diagram illustrating a fitting process. FIG. 13 illustrates a position measurement of a third rail according to an embodiment of the present invention. FIG. 14 illustrates a position measurement of a third rail according to an embodiment of the present invention. FIG. 15 is a flowchart showing the operation of a calculation circuit according to another embodiment of the present invention. FIG. 16 is a diagram illustrating a position measurement of a third rail according to another embodiment of the present invention.

Claims (14)

A detection device for a traffic route device includes a laser light source, which irradiates laser light to a traffic route device whose part of a surface formed by an arc is covered by a structure; a sensor that receives the laser light due to the traffic route device And the scattered scattered light to output an image signal; and a processing device that processes the image signal output from the sensor as contour data to detect the position of the traffic route device, wherein the processing device includes a calculation The loop is calculated using the least square method of the circle, calculating the coordinates and the radius of the center point of the circle from the contour portion of the curved portion of the curve section of the traffic route device, and calculating the coordinates having the calculated center point. A circle having a radius and a radius is calculated to obtain two points on the circumference of the circle and calculate a circle having the same radius as a circle having an arc specified by the specifications of the traffic route device, and passing the obtained two points to calculate the circle The coordinates of the calculated center point of the circle are calculated, and the coordinates of the calculated center point are gradually shifted in each axis direction of the coordinate axis. The sum of the error between the square of the radius of the arc of a circle of the specified radius of the calculated data with the smallest size coordinate, the coordinate measured from the selected position of the transport route device. The detection device for a traffic route device according to claim 1, wherein the calculation circuit uses a circle least square method, the coordinates and the radius of a center point of a circle of an arc that will constitute a curved portion of a cross section of the traffic route device Before performing the calculation, the noise component from the profile data that caused the laser light to be scattered due to the structure is removed, and the profile data from which the noise component is removed is used for subsequent processing. The detection device for a traffic route device according to claim 1 or 2, wherein the calculation circuit uses a point located near the contour data with the same Y coordinate as the center point, and rotating the point from the center point by -30 ° to A point at a position of an arbitrary angle between -90 ° is taken as two points on the circumference of a circle having the coordinates of the calculated center point and the radius. The detection device for a traffic route device according to claim 1, wherein the calculation circuit causes the resolution of the sensor to be a low axial direction when the coordinates of the calculated center point are gradually shifted in each axial direction of the coordinate axis. The coordinates of the sensor are shifted in a wider range than the coordinates in the axial direction where the resolution of the sensor is high. A method for detecting a traffic route device includes the following steps: for a traffic route device whose part of a surface formed by an arc is covered by a structure, radiates laser light from a laser light source; and the sensor receives the laser light due to the traffic route The scattered light scattered by the device; the image signal output from the sensor is processed as the profile data; the circle least circle method is used to circle from the profile data the arc of the arc of the curved part of the section of the traffic route device The coordinates of the center point of the center point and the radius are calculated. From the two points on the circumference of the circle with the calculated center point coordinates and the radius, the radius of the circle with the arc specified by the specifications of the traffic route device is calculated. The coordinates of the center point of a circle of radius; the coordinates of the calculated center point are gradually shifted in the directions of the axes of the coordinate axis, and the radius between the radius calculated from the contour data and the radius of the circle of the arc specified by the specification is selected separately. The sum of the squares of the errors becomes the smallest coordinate; and the location of the traffic route equipment is measured from the selected coordinates. The method for detecting a traffic route device according to claim 5, wherein a circle least square method is used, and before calculating the coordinates and the radius of the center point of the circle of the arc that constitutes the curved portion of the cross section of the traffic route device, The noise component from the profile data that is caused by the scattered light of the laser light due to the structure is removed, and the profile data from which the noise component is removed is used for subsequent processing. The method for detecting a traffic route device according to claim 5 or 6, wherein a point located near the contour data with the same Y coordinate as the center point is used, and the point is rotated only -30 ° to -90 ° from the center point A point at an arbitrary angle between the two points on the circumference of a circle having the coordinates of the calculated center point and the radius. The method for detecting a traffic route device according to claim 5, wherein when the coordinates of the calculated center point are gradually shifted in each axis direction of the coordinate axis, the resolution of the sensor is made to be low in the axis direction coordinates. The sensor is shifted in a wider range than the coordinates in the axial direction where the resolution of the sensor is high. A detection device for a traffic route device includes a laser light source, which irradiates laser light to a traffic route device whose part of a surface formed by an arc is covered by a structure; a sensor that receives the laser light due to the traffic route device And the scattered scattered light to output an image signal; and a processing device that processes the image signal output from the sensor as contour data to detect the position of the traffic route device, wherein the processing device includes a calculation The loop is calculated by using the least square method of the circle to calculate the coordinates and the radius of the center point of the circle of the arc from the contour data that constitutes the curved portion of the cross section of the traffic route device. Two points on the circumference of a circle with a radius are calculated from the coordinates of the center point of a circle having the same radius as a circle with an arc specified by the specifications of the traffic route equipment, and are measured from the calculated center point coordinates The location of the traffic route device. The detection device for a traffic route device according to claim 9, wherein the calculation circuit uses a circle least square method, the coordinates and the radius of a center point of a circle of an arc that will constitute a curved portion of a cross section of the traffic route device Before performing the calculation, the noise component from the profile data that caused the laser light to be scattered due to the structure is removed, and the profile data from which the noise component is removed is used for subsequent processing. The detection device for a traffic route device according to claim 9 or 10, wherein the calculation circuit uses a point located near the contour data with the same Y coordinate as the center point, and rotating the point from the center point by -30 ° to A point at a position of an arbitrary angle between -90 ° is taken as two points on the circumference of a circle having the coordinates of the calculated center point and the radius. A method for detecting a traffic route device includes the following steps: for a traffic route device whose part of a surface formed by an arc is covered by a structure, radiates laser light from a laser light source; and the sensor receives the laser light due to the traffic route The scattered light scattered by the device; the image signal output from the sensor is processed as the profile data; the circle least circle method is used to circle from the profile data the arc of the arc of the curved part of the section of the traffic route device The coordinates of the center point of the center point and the radius are calculated. From the two points on the circumference of the circle with the calculated center point coordinates and the radius, the radius of the circle with the arc specified by the specifications of the traffic route device is calculated. The coordinates of the center point of the circle with the radius; and the coordinates of the center point to calculate the location of the traffic route device. The method for detecting a traffic route device according to claim 12, wherein a circle least square method is used, and before calculating the coordinates and the radius of the center point of the circle of the arc constituting the curved portion of the cross section of the traffic route device, The noise component from the profile data that is caused by the scattered light of the laser light due to the structure is removed, and the profile data from which the noise component is removed is used for subsequent processing. The method for detecting a traffic route device according to claim 12 or 13, wherein a point located near the contour data with the same Y coordinate as the center point is used, and the point is rotated only -30 ° to -90 ° from the center point A point at an arbitrary angle between the two points on the circumference of a circle having the coordinates of the calculated center point and the radius.