JP3065367B2 - Shape measurement device for structures around railway tracks - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shape measuring device for a railway peripheral structure capable of measuring a three-dimensional shape of a railway peripheral structure such as a tunnel or a bridge along a track in a short time. It is about.

[0002]

2. Description of the Related Art As one of maintenance and inspection work in railways, in order to know the aging of track surrounding structures such as tunnels and bridges, and to know the maintenance time accurately, it is necessary to check the side along the track of these track surrounding structures. 2. Description of the Related Art A three-dimensional shape is measured by obtaining three-dimensional position coordinates.

[0003] For example, the measurement of the shape of the tunnel wall is one of them, and as an example of an apparatus generally used in this case, there is a conventional apparatus disclosed in Japanese Patent Application Laid-Open No. 61-275616. FIG. 7 is a conceptual diagram of the tunnel section measuring apparatus according to the prior art, and FIG. 8 is an external perspective view of the measuring machine main body.

As shown in FIG. 7, this tunnel section measuring device includes a light source means 102 for projecting a distance measuring ray a in a spot shape on a wall surface of a tunnel 101 to be measured, and a light source means 102 for converging the reflected light. and a predetermined distance D ₁ apart and arranged light receiving lens 103, so as to receive the reflected light converged by the light-receiving lens 103, a predetermined distance D ₂ separating the positional detecting photoelectric conversion unit 104 arranged from the light receiving lens 103 Have. Further, the light source unit 102, a light receiving lens 103 and a photoelectric conversion unit 104, provided with a rotating means 105 for rotating together about an axis parallel to the direction of the distance D _1, the distance measuring light by the turning means 105 a detecting means 106 for detecting the projection angle of the distance a, the distances D ₁ and D ₂ ,
The configuration is such that the cross section of the tunnel to be measured is calculated by the calculating means 107 based on the outputs of the 104 and the angle detecting means 106.

[0005] In the tunnel section measuring apparatus thus constructed, the position of the spot light on the wall surface of the tunnel 101 to be measured converged on the photoelectric conversion means 104 by the light receiving lens 103 is determined by the position of the tunnel wall surface and the rotation means 105. It changes according to the distance L from the rotation center axis b. Here, assuming that the distance of the light receiving position of the spot light from the reference position on the photoelectric conversion unit 104 is x, the distance L is L = (1 / x) · D ₁ ·
It is given by D _2. Then, the section L of the tunnel 101 to be measured is measured by calculating the distance L by the calculating means 107 based on the position information from the photoelectric conversion means 104 according to the projection angle of the distance measuring light beam a obtained from the angle detecting means 106. Like that.

More specifically, as shown in FIG. 8, the measuring machine main body of the above-described tunnel section measuring device includes a rotation control unit 202 provided on a tripod 201, and the rotation control unit 202 controls the base rod. 203 is rotated about its base line (axis), and its rotation angle is detected by an inclinometer in the rotation control unit 202. The base rod 203 is provided with a light source unit 204 provided with a light source and a light projecting lens so as to rotate integrally with the base rod 203, and a light receiving lens and a photoelectric conversion element are provided on both sides of the light source unit 204 at a predetermined distance from each other. Are provided.

[0007] With this arrangement, the measuring instrument main body is positioned at a required position, and while the base rod 203 is rotated by the rotation control unit 202 around the base line, a spot light is projected from the light source unit 204 to the wall surface of the tunnel, and the reflected light is reflected. The light is received by the sensor units 205a and 205b, and the distance L from the base line of the base rod 203 to the wall surface of the tunnel at each rotation angle is measured to measure its cross-sectional shape at a required position in the tunnel.

[0008]

However, in such a conventional tunnel cross-section measuring apparatus, a distance measuring beam is projected in a spot shape on the wall surface of the tunnel, and the projection angle of the distance measuring beam is changed by rotating means. Because it is a configuration using the flying spot method of measuring the cross-sectional shape of the tunnel at the required position, when performing three-dimensional shape measurement over a long distance along the orbit of the tunnel wall,
There is a problem that it takes a long time to measure because it repeats "moving a little along the trajectory and then stopping and measuring". A similar problem occurs in the measurement of the three-dimensional shape of other track peripheral structures such as platforms and bridges along the track.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem, and can measure a three-dimensional shape on a side along a track of a track peripheral structure such as a tunnel or a bridge in a short time. It is an object of the present invention to provide a shape measuring device for a structure around a track.

In order to achieve the above object, a shape measuring apparatus for a track peripheral structure according to claim 1 of the present application is provided with a moving vehicle traveling on a track, and is disposed on the moving vehicle and is substantially orthogonal to the track. A light source device for projecting radial slit light in a plane, and a predetermined distance from the light source device such that the optical axis intersects the radial planar slit light on the movable carriage. A CCD television camera that captures an image of a light cutting line generated on a surface facing a track of a track surrounding structure by radial planar slit light from the light source device ;
And attached to the CCD TV camera, measuring accuracy and field of view
Vertical and horizontal camera field of view to simultaneously optimize size
Vertical and horizontal variable magnification lens device that can set different imaging magnifications in different directions
An image pickup device having an arrangement, image processing means for obtaining the coordinates of the light section line on the light section image obtained by the image pickup device, and based on the coordinates of the light section line obtained by the image processing means. Calculating means for calculating the coordinates of the light-section line on the track peripheral structure to obtain a three-dimensional shape of the track peripheral structure along the trajectory. Further, the invention of claim 2 is based on claim 1
In the shape measuring device for a track surrounding structure according to the description, the calculation means calculates the obtained three-dimensional shape data on the side along the track of the track surrounding structure and building limit data indicating a given safety limit. comparison, also characterized in that a determination of whether the line peripheral structure is violated construction gauge
It is .

[0011]

According to the first aspect of the present invention, when the movable truck travels on the track, the light source device disposed on the movable truck forms a radial surface in a plane substantially orthogonal to the track. The slit light is projected on the track
A light-section line is generated along the trajectory on a surface facing the trajectory of the peripheral structure, for example, on a tunnel wall surface . Continuously shooting one after another by the light section line imaging device arranged on a moving carriage
Imaged. The imaging device is a CCD television camera and the camera
Vertical configurable vertical and horizontal imaging magnifications
And a horizontal and variable magnification lens device.
The lateral direction (scanning line direction)
Direction) to the tunnel wall in the depth direction
Length of light cutting line while maintaining measurement accuracy (high measurement resolution)
The vertical camera field of view corresponding to the vertical direction can be expanded.
Wear. As a result, the CC equipped with
With a D-TV camera, a long and narrow line like a light section line
High-accuracy, wide-field imaging
Can be . The image processing means obtains coordinates of a light-section line (light-section image) on each light-section image obtained by the imaging device . Then, the calculation means calculates the coordinates of the light-section line on the track surrounding structure based on the coordinates of the light-section line on this image, and calculates the three-dimensional shape of the side along the track of the track surrounding structure. Can be

According to a second aspect of the present invention, there is provided an apparatus for measuring the shape of a track surrounding structure, wherein the calculation means calculates the three-dimensional shape data of the track surrounding structure along the trajectory and a given safety limit. Since the limit data is compared with the limit data, an inspection for a building limit can be further performed.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on embodiments. FIG. 1 is a diagram showing an overall configuration of a shape measuring device for a track peripheral structure according to an embodiment of the present invention, FIG. 2 is a perspective view showing its outline, and FIG. FIG.

In FIGS. 1 and 2, 1 is a track, 2 is a tunnel for measuring the three-dimensional shape of the wall surface along the track 1, and 3 is a moving vehicle traveling on the track 1. In this embodiment, the mobile trolley 3 is towed by a towing vehicle (not shown) in the running direction R shown in the figure. As shown in the figure, a light source device 4, which will be described later, projects a radial planar slit light S in a plane substantially orthogonal to the track 1, and a radial planar slit light S There is provided an imaging device 5 having a CCD television camera 51 for imaging an optical cutting line C generated on the wall surface of the tunnel 2. The light source device 4 is disposed such that its axis is directed to the center of the track 1. The CCD television camera 51 of the imaging device 5 is of a field accumulation type in which a light section image (see FIG. 3) can be obtained for each field (1/60 second). The light axis CP is disposed at a fixed distance A in the traveling direction R from the light source device 4 so that the optical axes CP intersect at an angle θ.

The above-mentioned CCD television camera 51 is arranged so that the vertical direction of the camera field of view (the direction orthogonal to the horizontal scanning line) is the length direction of the light cutting line C. As shown in FIG. 3, the light-section image obtained by the device 5 indicates a side closer to the trajectory 1 as the left side in the figure. Further, on the light-section image, a u-v orthogonal coordinate system in which the horizontal direction is u and the vertical direction is v is set. The origin O of the uv orthogonal coordinate system is defined by the optical axes CP and C of the CCD television camera 51 in FIG.
It is set at the intersection with the CD image sensor surface.

Reference numeral 6 denotes an image processing device, which will be described later, as an image processing means. The image processing device 6 obtains the coordinates of a light cutting line C on the light cutting image based on a video signal from the CCD television camera 51, and The coordinate values are given to a computer (computer) 7 as calculation means.

The computer 7 calculates the coordinates of the light cutting line C on the wall surface of the tunnel 2 based on the coordinates of the light cutting line C obtained by the image processing device 6, and calculates the coordinates along the trajectory 1 of the tunnel wall surface. A three-dimensional shape is obtained, and the obtained three-dimensional shape data of the tunnel wall is compared with pre-entered building limit data indicating a safety limit, thereby obtaining the tunnel 2.
It is also used to determine whether or not the wall has violated the architectural limit. Reference numeral 8 denotes a graphic display on which the measured three-dimensional shape of the wall surface of the tunnel 2 and the result of comparison with the building limit data are displayed.

In this embodiment, the orthogonal coordinate system XYZ of the structure has the origin at the center between the gauges at a predetermined position of the orbit 1, the X-axis of the orbit 1, and the orbit 1 on the orbit plane. The orthogonal direction is set as the Y axis, and the axial direction of the light source device 4 is set as the Z axis.

FIG. 4 is an explanatory view of a light source unit constituting the light source device 4 shown in FIG. As shown in the figure, the light source unit 41 has a semiconductor laser 42 as a light source that emits laser light, and has, on its optical axis, a spherical convex lens group 43 composed of a combination of spherical lenses, and a slit composed of three cylindrical convex lenses. A light-forming cylindrical lens group 44 and a divergence-angle-enlarging cylindrical lens 45 composed of one cylindrical concave lens are arranged in this order. By the light source unit 41, the light from the semiconductor laser 42 collimated by the spherical convex lens group 43 is formed into slit light by the slit light forming cylindrical lens group 44, and the light is further formed by the lens effect of the divergence angle enlarging cylindrical lens 45. By expanding the divergence angle, a fan-shaped slit light with a thickness of several mm and a divergence angle 約 of about 80 degrees is obtained with high brightness.

Although not shown, the light source device 4 is configured by disposing four sets of such light source units 41 on the same surface with the optical axis being shifted, and as shown in FIG. As described above, the planar slit light S having a radial shape close to a disk shape with a spread angle of about 300 degrees can be realized.

FIG. 5 is an explanatory view of the configuration of the image pickup device 5 shown in FIG. As shown in the figure, the above-described imaging device 5 includes a CCD television camera 51 having a camera lens 51a, a vertical / horizontal magnification lens device 52 and an optical filter 53 mounted on the CCD television camera 51. By the way, only the CCD television camera 51 provided with the normal camera lens 51a, which is arranged as described above, has a depth to the tunnel wall which is particularly important.
High measurement accuracy (high measurement resolution)
If the horizontal camera field of view, which is the scanning line direction, is narrowed, the vertical camera field of view corresponding to the length direction of the light cutting line C is also narrowed, which undesirably narrows the measurement area. Therefore, in this embodiment, high measurement accuracy in the depth direction up to the wall surface of the tunnel 2 is achieved without narrowing the measurement area.
The vertical and horizontal zoom lens device 52 is mounted on a CCD television camera 51 having a camera lens 51a so that the degree can be obtained.

That is, the vertical and horizontal variable power lens device 52 is
As shown in the figure, two lens groups, a camera lens side lens group 52a and a measurement object side lens group 52b, are arranged on the optical axis in order from the camera lens 51a side with a distance d between the main surfaces. It becomes. Camera lens side lens group 52a
Is, CCD television vertical direction (the light section line C longitudinal) in the lens effect of the camera field of view of the camera 51 is arranged in a posture with (refraction effect), the positive of one cylinder both having the focal length f ₁ It is composed of a convex lens.

The measurement object side lens group 52b has two cylindrical plano-concave lenses having a negative focal length and having a curved surface equidistant from the front and back surfaces in order to remove aberrations at the periphery of the visual field. used is configured with, as its composite focal length has a negative focal length f _2. The two cylindrical plano-concave lenses have a lens effect in the vertical direction of the camera's field of view, and the convex side of the curved surface thereof as viewed from the camera 51 is arranged toward the tunnel wall surface side. In addition, each of the cylindrical lenses described above is fixed to a frame (not shown) detachable from the camera lens 51a together with an optical filter 53 to be described later. The two lens groups 52a and 52b composed of such cylindrical lenses have a distance d between the principal surfaces of d = f ₁ +
It is arranged so as to satisfy the relationship of f _2.

Therefore, the vertical / horizontal magnification changing lens device 52 allows the CCD television camera to be connected via the camera lens 51a.
Compared to the case where only the camera lens 51a is provided on the imaging surface of 51, the horizontal camera field of view set to ensure the required measurement accuracy is the same, and the length of the light cutting line C is The image of the light cutting line C is formed in a state where the vertical camera field of view corresponding to the direction is enlarged. In addition,
In this case, the image forming magnification in the vertical direction is smaller than that in the horizontal direction, and the magnification ratio is smaller than the camera lens side lens group 52a.
The focal length f ₂ of the focal length f ₁ and the measurement object-side lens group 52b of
To be determined by the ratio. For example, f ₁ = 90
If mm and f ₂ = −30 mm, the camera field of view in the vertical direction can be expanded three times as compared with the case where only the camera lens 51a is used.

The optical filter 53 transmits only the wavelength (wavelength range) of the semiconductor laser 42 as a light source that forms the radial planar slit light S.

FIG. 6 is a block diagram of the image processing apparatus 6 shown in FIG. The image processing device 6 generates Ck (u, v), Ck (u, v) on a light-section image formed by a video signal output from the CCD television camera 51 every field (1/60 second).
The coordinates (coordinates of the light-section line image) of the light-section line represented by k = 1 to N are converted to all the horizontal scanning lines N (N is the number of effective scanning lines) at the video rate (1/60 second). It is about 240)
(See FIG. 3).

That is, as shown in FIG. 6, the image processor 6 amplifies the video signal from the CCD television camera 51, and converts the amplified video signal into a digital signal having a luminance level. AD converter for
62, a moving average circuit 63 for smoothing the signal from the AD converter 62, a differentiating circuit 64 for differentiating the signal from the moving average circuit 63, a signal from the moving average circuit 63 and a constant luminance Light cutting line C is compared with the set value indicating the level.
Moving average value comparing circuit 65, differentiating circuit 64 and moving average value comparing circuit 65 for extracting a signal corresponding to (light section line image)
A zero-crossing detection circuit 66 for detecting the coordinates of the light section line C as the position where the luminance level changes most based on the signal from the detection circuit 66,
The data of the light-section line coordinates Ck (u, v), k = 1 to N on the light-section image formed by the video signal for each field is temporarily stored in order to be given to the computer 7 at a predetermined timing. And a buffer 67 and the like.

The operation of the apparatus for measuring the shape of a line peripheral structure having the above configuration will be described below. When the movable trolley 3 travels on the track 1, the light source device 4 projects radial slit light S in a plane substantially perpendicular to the track 1, so that a light cutting line C is formed on the wall surface of the tunnel 2. Is generated along. The light cutting line C is successively imaged every 1/60 second by the CCD television camera 51 arranged on the movable carriage 3.

In this case, the vertical and horizontal variable magnification lens device 52 mounted on the CCD television camera 51 ensures that the required depth measurement accuracy up to the wall surface of the tunnel 2 is ensured by the light cutting line C.
The camera view in the vertical direction corresponding to the length direction can be expanded, and even a long and thin line-shaped object such as the light-section line C can be imaged over a wide measurement area. Further, since the CCD television camera 51 is equipped with an optical filter 53 that transmits only the wavelength of the semiconductor laser 42 as a light source, the optical cutting line C is not affected by sunlight or illumination light around the track. An image can be clearly captured.

The video signal from the CCD television camera 51 is
It is provided to the image processing device 6 for each field (1/60 second). In response to this, the image processing device 6, as described above,
Coordinates Ck (u, v) and k = of light section line C on the light section image
1 to N are obtained at a video rate (1/60 second), and the obtained light section line coordinates Ck (u, v), k = 1 for each field are obtained.
To N are given to the computer 7 during the blanking time (about 1.2 msec).

From the coordinates Ck (u, v) of the light-section line C on the light-section image, k = 1 to N, the computer 7 calculates the light-section on the wall surface of the tunnel 2 by the following formula and Line C
Is calculated, and three-dimensional coordinates Pi (Xi, Yi, Zi) of the light section line C corresponding to one cross-sectional shape of the tunnel 2 are obtained.

[0032]

(Equation 1)

Here, m is the imaging magnification of the imaging device 5, f is the focal length of the imaging device 5, θ is the angle between the plane of the radial planar light S and the optical axis CP of the imaging device 5, h Is the height from the orbital plane of the intersection Q between the plane of the radial planar slit light S and the optical axis CP of the imaging device 5. The X-axis coordinate values are provided by a position detector (not shown).

While the movable trolley 3 moves on the track 1, the three-dimensional coordinates Pi (Xi, Yi, Zi) of the light cutting line C corresponding to one cross-sectional shape of the tunnel 2 are 1/60 second. It is obtained sequentially for each. Thus, the three-dimensional coordinates Pi (Xi, Y
i, Zi) can be obtained along the track 1 to obtain three-dimensional coordinates Pi (Xi, Yi, Zi), i = 1 to n of the wall of the tunnel 2, and the three-dimensional coordinates Pi along the track 1 of the tunnel wall can be obtained. A three-dimensional shape can be measured in a short time. The three-dimensional shape data Pi (Xi, Yi, Zi) of these tunnel walls, i = 1 to
n is stored in the memory of the computer 7 and displayed on the graphic display 8.

In the computer 7, the three-dimensional coordinates Pi (Xi, Xi,
Each time Yi, Zi) is obtained, the three-dimensional shape data is compared with pre-input building limit data indicating a safety limit to determine whether the wall surface of the tunnel 2 violates the building limit. I do. Then, the deviation value and the like are displayed on the graphic display 8. Thereby, the mobile trolley 3
While moving on the track 1, inspection for building limits can also be performed.

Although the above embodiment has been described with respect to an example in which one image pickup device 5 and one image processing device 6 are configured as a single channel, the present invention is not limited to this. An imaging device for imaging a line and an image processing device may be configured with a plurality of channels.
As a result, the measurement area can be divided to narrow the camera field of view of each imaging device, and the measurement accuracy can be further improved. Also, in this case, the size of the camera field of view of each imaging device can be changed, and the camera field of view of a specific imaging device that is in charge of a measurement area where particularly high precision is required can be further narrowed. It becomes possible.

[0037]

According to the apparatus for measuring the shape of a track surrounding structure according to the first aspect of the present invention, while traveling on a track, the track surrounding structure can be measured.
Light cutting lines (for example, on the tunnel wall) are continuously and successively
The image is taken to obtain a light section image, and the light section on each light section image is obtained.
Light cutting line on the track surrounding structure based on the coordinates of the disconnection
Calculate the coordinates of the three-dimensional shape along the trajectory of this structure
Because it is designed to measure the shape, tunnels, bridges
The three-dimensional shape on the side along the track of the track surrounding structures such as beams
The time required for measurement can be significantly reduced
Wear. In addition, the CCD TV camera has a vertical and horizontal zoom lens device.
Equipped with an image pickup device
So that the radial slit light
Even a long and thin optical cutting line generated on the tunnel wall
Light cutting images over the entire measurement area while maintaining measurement accuracy
With a small number of imaging devices, one or a few images
Can be obtained .

According to the apparatus for measuring the shape of a track surrounding structure according to the second aspect, in addition to the above-described effects, the calculating means calculates the three-dimensional shape data on the side along the trajectory of the obtained track surrounding structure,
By comparing with the building limit data showing the given safety limit, it is also possible to judge whether the structure around the track has violated the building limit, so that the inspection for the building limit can be easily performed and the railway Can further improve the efficiency of maintenance and inspection work.

[Brief description of the drawings]

FIG. 1 is a diagram showing an entire configuration of a shape measuring device for a track peripheral structure according to an embodiment of the present invention.

FIG. 2 is a perspective view schematically showing the shape measuring device shown in FIG.

FIG. 3 is an explanatory diagram of a light-section image obtained by the imaging device in FIG. 1;

FIG. 4 is a configuration explanatory view of a light source unit constituting the light source device in FIG. 1;

FIG. 5 is an explanatory diagram of a configuration of an imaging device in FIG. 1;

FIG. 6 is a block diagram of the image processing apparatus in FIG. 1;

FIG. 7 is a conceptual diagram of a tunnel cross-section measuring device according to the related art.

8 is an external perspective view of a measuring machine main body of the tunnel cross-section measuring device shown in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Track 2 ... Tunnel 3 ... Moving trolley 4 ... Light source device
41 ... Light source unit 42 ... Semiconductor laser 43 ... Spherical convex lens group 44 ... Slit light forming cylindrical lens group 45 ... Spread angle enlargement cylindrical lens 5 ... Imaging device 51 ... CCD television camera 51a ... Camera lens 52 ...
53 ... Optical filter 6 ... Image processing device 7 ... Computer S
... Radial planar slit light C. Light cutting line

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Yoshiro Nishimoto 5-18, Takenodai, Nishi-ku, Kobe 7 (72) Inventor Yasuharu 2-4-2, Kojidai, Nishi-ku, Kobe 3-416 (72) Inventor Yuichiro Goto (72) Inventor Shingo Sumie 354-53, Higashi-Kamiyoshi-cho, Sandabe, Kakogawa-shi (72) Inventor Yozo Fukumoto 2-7-1, Izumidai, Kita-ku, Kobe-shi (72) Inventor Hiroyuki Naito 2-4-20 Takaba-cho, Nada-ku, Kobe-shi (72) Inventor Yoshikazu Aono 2-3-1 Shinohara-Amonoyama-cho, Nada-ku, Kobe (56) References JP-A-2-38907 (JP, A) JP-A-2-302604 (JP, A) JP-A-3-28705 (JP, A) JP-A-62-267212 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01B 11 / 00-11/30 E01B 35/00 H04N 7/18

Claims (2)

(57) [Claims] 1. A moving vehicle traveling on a track, a light source device disposed on the moving vehicle and projecting a radial slit light in a plane substantially orthogonal to the track, and A surface which is disposed at a predetermined distance from the light source device so that its optical axis intersects with the planar slit light forming the surface slit light, and faces the track of the line peripheral structure by the radial planar light from the light source device. CCD camera for imaging a light cutting line generated in the camera, and the CCD television camera
To optimize measurement accuracy and field size at the same time.
Different image magnifications in the vertical and horizontal directions of the camera's field of view
An imaging device having a settable vertical / horizontal magnification lens device ; image processing means for obtaining coordinates of the light cutting line on a light cutting image obtained by the imaging device; and the light obtained by the image processing means Calculating means for calculating the coordinates of the light cutting line on the track peripheral structure based on the coordinates of the cutting line to obtain a three-dimensional shape along the trajectory of the track peripheral structure. The shape measuring device of the track surrounding structure. 2. The method according to claim 1, wherein the calculating means compares the obtained three-dimensional shape data on the side of the track surrounding structure along the trajectory with building limit data indicating a given safety limit. The shape measuring device for a track peripheral structure according to claim 1, wherein it is determined whether or not the object violates a building limit.