JP4627007B2 - Map correction information selection device, map correction information selection method, and map correction information selection program - Google Patents

Description

  The present invention relates to a map data correction apparatus for creating a map of a trajectory with high accuracy.

  FIG. 13 shows a main part of a conventional road map creation system disclosed in, for example, Japanese Patent Laid-Open No. 2002-318533. 201 is a map data storage means, 202 is a receiver of the global positioning system (hereinafter referred to as GPS), 203 is a travel locus data calculation processing means, and 204 is a map data correction processing means. Here, in Japanese Patent Laid-Open No. 2002-318533, a travel locus is obtained by the travel locus data calculation processing means 203 based on the information of the GPS receiver 202 that precisely records the travel position, and map data is obtained based on this travel locus. The map data in the storage unit 201 is corrected by the map data correction processing unit 204 and stored in the map data storage unit 201 again.

  In such a system, even if processing such as smoothing of the travel locus data is performed by the travel locus data calculation processing means 203, the travel locus is basically made into precise map data. However, tracks, especially railroad tracks, are composed of arcuate curves (quadratic curves) or relaxation curves (cubic curves) that smoothly connect straight lines and arcs to make railcars run smoothly. Usually, such curve information cannot be reflected in the map data. Also on highways, the curve is usually composed of a higher order curve such as a clothoid curve, and parameter information of such a curve cannot be reflected in the map data as well.

FIG. 13 is also a main part of the database correction apparatus and the database correction method disclosed in, for example, Japanese Patent Laid-Open No. 2001-174267. The map data correction processing unit 204 can correct the road locus as parameter information. ing. However, Japanese Patent Laid-Open No. 2001-174267 cannot grasp the start and end points of the trajectory curve. The GPS receiver 202 only measures its own position precisely, and has no function of determining which point is the start or end point of the trajectory curve.
JP 2002-318533 A JP 2001-174267 A

  Although the conventional cartographic system has a means to accurately measure one point or the absolute position of the running locus with GPS and reflect it in the map data, the map data according to the curve parameter originally possessed by the trajectory at the time of design is obtained. There was a problem that it could not be created.

  On the other hand, it is customary that a sign such as a curve mark that indicates the start and end points of a curve at an accurate position is usually installed, particularly on the track, particularly on the railroad track. Therefore, it was possible to precisely measure the position of each marker and create a precise map based on the marker position and the curve parameters represented by the marker. However, this method has a problem in that map creation cannot be automated even if the marker position can be accurately measured by GPS.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a map creation device that automates the creation of a precise map using a sign.

The trajectory map data correction device of the present invention is
In a trajectory map data correction device for correcting trajectory map data indicating a map related to a trajectory having a plurality of signs installed in association,
A trajectory map data storage unit for storing trajectory map data to be corrected;
A sign corresponding data storage unit that corresponds to each of the plurality of signs and stores a plurality of sign corresponding data that is design data of the trajectory,
The position of the sign measured by the sign measurement device for measuring the position of the sign is input, and the position is measured from the plurality of label correspondence data stored in the sign correspondence data storage unit using the input position of the sign. A selection unit for selecting data corresponding to the sign corresponding to the sign;
And a correction unit that corrects the trajectory map data stored in the trajectory map data storage unit based on the position of the marker input by the selection unit and the selected label correspondence data.

  According to the present invention, it is possible to correct the trajectory map data by reflecting the design information, so that it is possible to perform correction with high accuracy.

Embodiment 1 FIG.
The first embodiment will be described with reference to FIGS. FIG. 1 shows a configuration of a map creation device 100 (an example of a trajectory map data correction device) according to the first embodiment. As shown in the figure, the map creation device 100 includes a design information storage unit 101 (an example of a sign correspondence data storage unit), a map storage unit 102 (an example of a trajectory map data storage unit), and a sign correspondence unit 103 (an example of a selection unit). , A map correction unit 104 (an example of a correction unit), and an input unit 105. The input unit 105 inputs the position of the sign measured by the sign measuring device 110 as will be described later.

  The map creating apparatus 100 corrects “orbit map data” indicating a map relating to a trajectory having a plurality of signs installed therewith. The map storage unit 102 stores “orbit map data” indicating a map targeting the “trajectory” in which a plurality of signs are installed. Each of the plurality of signs is installed at a predetermined position of the track, and each of the marks corresponds to the design information of the track. The design information corresponding to the sign may be hereinafter referred to as “sign-signed data”. The design information storage unit 101 stores label correspondence data for each label. The sign corresponding unit 103 inputs the measurement position of the sign measured by the sign measurement device 110 via the input unit 105. The sign corresponding unit 103 uses the input measurement position of the sign to select the label corresponding data corresponding to the sign related to the input measurement position from among the plurality of label correspondence data stored in the design information storage unit 101. The map correcting unit 104 corrects the trajectory map data stored in the map storage unit 102 based on the sign measurement position and the sign corresponding data corresponding to the sign.

In FIG.
(1) The design information storage unit 101 is a data storage device such as a magnetic disk device for storing orbit design information (marking correspondence data). As design information (label corresponding data), the point of transition from the straight part of the trajectory to the curved part, the point of transition from the curved part to the straight part, the point where the curved parts having different parameters are joined (referred to as the start and end points of the trajectory curve In some cases, the position is stored as a kilometer from the starting point of the trajectory, and the curved portion further includes information on the trajectory radius and trajectory shape (arc, relaxation curve, etc.).
(2) The map storage unit 102 is a data storage device such as a magnetic disk device that stores information (orbit map data) for drawing a trajectory on a map.
(3) The sign corresponding unit 103 automatically or interacts with the correspondence between the sign information (mark corresponding data) stored in the design information storage unit 101 and the position of the sign measured by the sign measuring device 110. Therefore, the correspondence information is returned to the design information storage unit 101.
(4) The map correcting unit 104 corrects the drawing information (orbit map data) of the trajectory stored in the map storage unit 102 based on the design information storage unit 101, and stores the corrected drawing information of the trajectory on the map. Return to part 102.
(5) The input unit 105 inputs the position of the sign measured by the sign measurement device 110. As an example, the sign measuring device 110 measures the position of the sign using a GPS (GLOBAL POSITIONING SYSTEM) device as described later.

  Next, the operation of the map creation device 100 will be described with reference to FIG. FIG. 2 is a flowchart for explaining the operation of the map creating apparatus 100 according to the first embodiment. In the first embodiment, at the time when the sign measurement device 110 has not yet performed the measurement of the sign, the design information storage unit 101 stores information such as the inflection point of the orbit (label corresponding data). It is only recorded by kilometers from the starting point. The precise position indicating the “latitude / longitude” of the inflection point itself is not stored. For this reason, the map correction unit 104, based on the information on “latitude / longitude”, orbital position (orbit map data) on the map of the map storage unit 102 in which information such as straight lines and curves on the map is stored. Can not be corrected.

  On the other hand, in S10, the sign measuring device 110 accurately measures the position (latitude / longitude) of the sign on the side of the track. Then, the input unit 105 inputs the measurement position of the measured sign.

  In S <b> 20, the sign corresponding unit 103 takes correspondence with which sign corresponding data among the plurality of label corresponding data stored in the design information storage unit 101. In other words, the sign corresponding unit 103 uses the measurement position of the sign input by the input unit 105, so that the sign information corresponding to the sign measured by the sign measurement device 110 is stored in the design information storage unit 101. The corresponding label corresponding data is selected.

  An example of how to deal with this is as follows. The sign corresponding unit 103 extracts a corresponding trajectory from the map in the map storage unit 102. The sign corresponding unit 103 uses the start position and the measurement position of the sign measured by the sign measurement device 110 to calculate the movement distance on the map data from the start position to the measurement position of the sign whose position is measured. Fit to actual distance according to scale. Then, the obtained distance is interpreted as a kilometer of the starting point position, and an approximate sign is determined from the sign stored in the design information storage unit 101.

  After the correspondence between the position of the corresponding sign on the map data and the measurement position of the sign measured by the sign measuring device 110 is taken in this way, the design information storage unit 101 stores the sign correspondence unit 103 in S30. Among the design information (label corresponding data) to be performed, the map correction unit 104 is caused to output design information to be replaced with at least a part of the map shape stored in the map storage unit 102.

  In S <b> 40, the map correction unit 104 receives the design information (label corresponding data) output from the design information storage unit 101, and stores the input design information as drawing information for drawing a trajectory in consideration of the scale. Further, the map correction unit 104 inputs the position of the sign from the input unit 105 and corrects the trajectory map data stored in the map storage unit 102 based on the map correction information (drawing information) and the input position of the sign.

  By repeating the above steps S10 to S40, the shape from the starting position of the trajectory can be matched with the design information.

  An example of the sign assumed in the first embodiment is shown in FIG. A sign 301 shown in FIG. 3 is a curve mark widely used in the railway industry in Japan. A side 301A facing the railroad track and its back side 301B are shown. In the case of FIG. 3, “800” described in 301A indicates a curve radius. “TCL = 40” indicates the relaxation curve length. “CCL = 30” indicates a curve length. These are design information. Since the sign is installed beside the track, the position where the sign faces in the normal direction from the track becomes the sign position in the actual design information.

  Since the map creation apparatus 100 of the first embodiment is configured as described above, map storage information (orbit map data) is obtained using design information based on the sign position obtained by the sign measurement apparatus 110. The map can be drawn based on the design information after correction.

  In the map creation device of Embodiment 1, the map correction unit corrects the trajectory map data based on the position of the sign measured by the sign measurement device and the sign correspondence data stored in the design information storage part. It is possible to correct the trajectory map data reflecting the above.

Embodiment 2. FIG.
Next, Embodiment 2 will be described with reference to FIG. The second embodiment describes a configuration in which the sign measurement device 110 measures the position of a sign using a GPS device. The configuration of the map creation device 100 is the same as that of FIG. 1 of the first embodiment, except that the sign measurement device 110 measures the position of the sign using a GPS device.

  FIG. 4 shows an example of the configuration of the sign measuring device 110. As shown in the figure, the marker measuring device 110 can travel along the track 400. The sign measuring device 110 includes a carriage 401 that can travel along the track 400, a normal direction collimator 402, and a GPS device 111.

  In the first embodiment, the type of the marker measuring device 110 is not specified. In the second embodiment, as described above, the sign measurement device 110 receives the positioning information transmitted from the cart 401, the normal direction collimator 402, and the GPS satellite that can travel on the track 400, and measures the position. It consists of a GPS device 111. A GPS satellite is an example of an artificial satellite that transmits positioning information. The sign measuring device 110 arranges the GPS device 111 on a cart 401 that can travel on the track 400 in order to measure the position of the sign 301 beside the track 400, and further grasps an object normal to the track from the cart 401. And a normal direction collimator 402. In the second embodiment, it is possible to measure the position of the corresponding sign by reading the GPS device 111 when the sign 301 is captured in the normal direction from the carriage 401 by the normal direction collimator 402. The GPS device 111 can transmit the measurement position to the sign corresponding unit 103 provided separately by holding the measurement position in an internal memory (not shown) of the GPS device 111. Therefore, it is possible to correct the map.

  As described above, the sign measurement device 110 receives the positioning information from the artificial satellite and measures the position of the sign based on the received positioning information. The sign correspondence unit 103 inputs the position of the sign measured by the sign measurement device 110, and the sign whose position is measured from the plurality of sign correspondence data stored in the design information storage unit 101 using the input sign position. The label corresponding data corresponding to is selected.

Embodiment 3 FIG.
Next, Embodiment 3 will be described with reference to FIG. In the third embodiment, the sign measuring device 110 calculates the distance to the sign. Then, the sign correspondence unit 103 uses the kilometer calculated by the sign measurement device 110 to obtain the label correspondence data corresponding to the sign for which the kilometer is calculated from the plurality of sign correspondence data stored in the design information storage unit 101. select. The configuration of the map creation apparatus 100 of the third embodiment is the same as that of FIG. 1 of the first embodiment.

  The third embodiment is characterized in that the travel amount (travel distance) of the carriage traveling on the track is calculated, and the corresponding sign positions are thereby obtained. That is, the sign correspondence unit 103 uses the travel distance calculated by the sign measurement device 110 to obtain the sign correspondence data corresponding to the sign related to the travel distance calculated from the plurality of sign correspondence data stored in the design information storage unit 101. select. Thereafter, as in the first embodiment, the map correction unit 104 corrects the trajectory map data based on the selected sign corresponding data and the measured position of the sign.

  FIG. 5 shows an example of the configuration of the marker measuring apparatus 110 according to the third embodiment. FIG. 5 shows a configuration in which a kilometer calculation unit 403 is further added to the sign measurement device 110 shown in FIG.

  The kilometer calculation unit 403 detects, for example, the number of rotations of the wheels (not shown) of the carriage 401 and adds up to calculate the traveling kilometers of the carriage from the starting point (a predetermined traveling start position on the track). It is. In addition to the reading of the GPS device at the point (the corresponding position corresponding to the sign in the orbit) where the sign 301 is captured in the normal direction of the orbit 400 from the carriage 401 by the normal direction collimator 402, the sign measuring device 110 Record the appropriate kilometer at the point. Thereby, the marker corresponding unit 103 can select the marker corresponding data corresponding to the marker captured in the normal direction from the plurality of marker corresponding data stored in the design information storage unit 101.

An outline of the operation of the map creation apparatus 100 according to the third embodiment will be described.
(1) The sign measuring device 110 can travel on the track 400. The sign measuring device 110 uses the kilometer calculation unit 403 to correspond to the sign 301 on the track 400 from the starting point (predetermined travel start position) on the track 400 (the position where the sign 301 is desired in the normal direction from the sign measuring device 110). The travel distance is calculated. Further, the sign measuring device 110 measures the position of the sign 301 by the GPS device 111.
(2) The input unit 105 inputs the travel distance calculated by the sign measurement device 110 and the measured position of the sign 301.
(3) The sign corresponding unit 103 uses the travel distance input by the input unit 105 to select the sign corresponding data corresponding to the sign 301 associated with the corresponding position from the plurality of sign corresponding data stored in the design information storage unit 101. .
(4) The map correction unit 104 stores the trajectory map data stored in the map storage unit 102 based on the sign correspondence data selected by the sign correspondence unit 103 and the position of the sign 301 related to the corresponding position input by the input unit 105. Correct it.

  In the trajectory map data correction device according to the third embodiment, since the selection unit selects the sign corresponding data using the travel distance calculated by the sign measuring device, the sign corresponding data corresponding to the sign can be easily selected.

Embodiment 4 FIG.
The fourth embodiment makes it possible to obtain the position detection of the sign performed on the vehicle by post-processing after the vehicle travels.

  FIG. 6 shows a configuration diagram of the marker measuring device 110 according to the fourth embodiment. FIG. 6 shows a configuration in which the normal direction collimator 402 of the sign measurement device 110 of the third embodiment shown in FIG.

  FIG. 7 shows how video is recorded by the video camera 404. FIG. 7 schematically shows the configuration of the video tape 500. It shows a state where a frame 501 consisting of 30 frames per second is continuously recorded. For example, when traveling at a speed of 36 kilometers per hour (10 meters per second), images are recorded in successive frames every 1/30 seconds, so an image is recorded every 1/3 meters of travel distance on the track. Usually, the sign is installed about 1 meter from the end of the track, and is installed about 4 meters from the end of the track even when the counter track in the case of double track is exceeded. Therefore, a sign is photographed in a continuous frame like a frame 501A and a frame 501B. Therefore, after running on the video tape 500, it is possible to know which frame is marked in the normal direction from the track by checking with a video tape deck that can be fed forward or backward in frame units. it can. On the other hand, 1/30 of the number of frames (in the case of 30 frames per second) is the number of seconds from the start of shooting. Therefore, the GPS device 111 can know the position where the corresponding frame was shot by recording the time when the shooting was started. Thereby, it becomes possible to take correspondence between the sign correspondence data stored in the design information storage unit 101 and the sign taken in the normal direction, and calculate which item of the design material the sign 301 corresponds to, It is possible to obtain a precise position of the sign and modify the map.

Embodiment 5. FIG.
Embodiment 5 will be described with reference to FIGS. The fifth embodiment makes it possible to automatically obtain the position detection of the sign by the sign measurement device 110 by post processing after the travel of the sign measurement device 110 is finished. The configuration of the sign measurement device 110 of the fifth embodiment is the same as that shown in FIG. FIG. 8 shows the configuration of map creating apparatus 100 according to the fifth embodiment. The configuration of FIG. 8 is different from that of FIG. 1 in that an image data storage unit 106 is added. The image data storage unit 106 stores a standard shape model as image data for each marker installed along the trajectory. The sign installed along the track, the image data of the sign, and the sign correspondence information are linked.

  FIG. 9 shows the principle of automatic processing. FIG. 9 shows a sign shape model 510 and frames 501A and 501B containing signs.

  In general, a frame 501 as shown in FIG. 7 in which the sign 301 is photographed includes “elements other than signs” such as 502A and 502B shown in FIG. However, from the positional relationship between the video camera 404 and the sign 301 in FIG. 6, it can be considered that there are almost no “elements other than the sign” that cover the front face of the sign in the frame 501. In such a case, it can be captured that a pattern similar to the sign shape model 510 exists in the center of the frame. As a result, the computer system (the sign corresponding unit 103) can automatically obtain the frame containing the sign. Characters described in the sign 301 can be read by the sign corresponding unit 103 using an existing character reading algorithm. Thereby, the sign corresponding unit 103 corresponds to the sign captured in the frame of the video tape by the video camera 404 directed in the normal direction of the trajectory 400 from the plurality of sign corresponding data stored in the design information storage unit 101. It becomes possible to select the label corresponding data to be selected.

An outline of the operation of the map creation device 100 according to the fifth embodiment will be described.
(1) The sign measuring device 110 can travel on the track 400 in FIG.
When the sign measurement device 110 travels from a predetermined travel start position (for example, a starting point) on the track 400 to a predetermined travel end position, the sign measurement device 110 captures the sign installed along the track 400 and the sign to be photographed. The position is measured by the GPS device 111.
(2) The input unit 105 inputs information (image) of the video frame in which the sign is photographed and the position of the measured sign.
(3) The sign corresponding unit 103 uses the video frame information (image) input by the input unit 105 and the sign image data stored in the image data storage unit to store a plurality of information stored in the design information storage unit 101. The label correspondence data corresponding to the sign (the sign photographed in the video frame) photographed from the sign correspondence data is selected.
(4) The map correction unit 104 corrects the trajectory map data stored in the map storage unit 102 based on the sign correspondence data selected by the sign correspondence unit 103 and the sign position inputted by the input unit 105.

  In the trajectory map data correction apparatus according to the fifth embodiment, the selection unit selects the sign corresponding data based on the captured image of the sign, and therefore can easily select the sign corresponding data corresponding to the sign.

Embodiment 6 FIG.
The sixth embodiment will be described with reference to FIGS. The sixth embodiment is an embodiment in which the operation of the map creating apparatus 100 according to the first embodiment is implemented by a method, a program, and a recording medium that records the program.

  In the first embodiment, the operation of each component in the map creating apparatus 100 is related to each other, and can be replaced with a series of steps while considering the relationship of the operation. By replacing the operation of the component with a series of steps, an embodiment of the trajectory map data correction method can be obtained.

  10 replaces the operation of the map storage unit 102, the operation of the design information storage unit 101, the operation of the sign corresponding unit 103, and the operation of the map correction unit 104 of the map creation device 100 of FIG. The flowchart made into embodiment of the correction method is shown.

  S110 is a step of storing orbit map data to be corrected. This corresponds to the operation of the map storage unit 102.

  S120 is a step of storing a plurality of marker correspondence data corresponding to each of the markers and track design data. This corresponds to the operation of the design information storage unit 101.

  S130 inputs the position of the sign measured by the sign measuring device that measures the position of the sign, and uses the input position of the sign to correspond to the sign corresponding to the sign whose position has been measured from a plurality of stored label correspondence data. This is a process of selecting data. This corresponds to the operation of the sign corresponding unit 103.

  S140 is a step of correcting the stored trajectory map data based on the input sign position and the selected sign correspondence data. This corresponds to the operation of the map correction unit 104.

  Moreover, it can be set as embodiment of a track map data correction program by replacing the process of said S110-S140 with the process of each component. Further, by recording this orbit map data correction program on a computer-readable recording medium, an embodiment of a computer-readable recording medium on which the program is recorded can be obtained.

  The embodiment of the program and the embodiment of the computer-readable recording medium on which the program is recorded can be configured by a program operable by a computer.

  FIG. 11 shows the external appearance of a computer system 800 that implements the functions of the map creation apparatus 100 of the first embodiment shown in FIG. In FIG. 11, a computer system 800 includes a system unit 700, a liquid crystal display 610, a keyboard (K / B) 611, a mouse 612, a compact disk device (CDD) 750, and a printer 760, which are connected by a cable. The computer system 800 is connected to the sign measuring device 110 via the network 770, and the computer system 800 and the sign measuring device 110 can communicate with each other. In FIG. 11, the computer system 800 is separated from the sign measuring device 110, but the computer system 800 may be arranged on the cart 401 of the sign measuring device 110 as a portable personal computer.

  FIG. 12 is a hardware configuration diagram of the computer system 800 of FIG. In FIG. 12, a computer system 800 includes a CPU (Central Processing Unit) 710 that executes a program. The CPU 710 is connected to the ROM 731, RAM 732, liquid crystal display 610, K / B 611, mouse 612, communication board 733, FDD (Flexible Disk Drive) 740, CDD 750, printer 760, and magnetic disk device 720 via the bus 711. .

  The magnetic disk device 720 stores an operating system (OS) 721, a window system 722, a program group 723, and a file group 724. The program group 723 is executed by the CPU 710, the OS 721, and the window system 722.

  The program group 723 stores a program for executing the function described as “˜unit” in the description of FIG. 1 of the first embodiment. The program is read and executed by the CPU 710. The file group 724 stores data stored in the design information storage unit 101 and the map storage unit 102 as “˜file” in the description of the first embodiment.

  A correspondence relationship between the map creation device 100 of FIG. 1 and the computer system 800 of FIG. 12 will be described. The operations of the sign corresponding unit 103, the map correction unit 104, and the like in the map creation device 100 of FIG. 1 are implemented by a program. The program is stored in a program group 723 of the magnetic disk device 720. Alternatively, it is stored in the ROM 731 in advance.

  The input unit 105 of the map creating apparatus 100 corresponds to the communication board 733, the K / B 611, the FDD 740, and the like. That is, the sign position measured by the sign measurement device 110 is input from the communication board 733, K / B 611, FDD 740, or the like. Further, as described above, the data stored in the design information storage unit 101 and the map storage unit 102 of the map creation device 100 are stored as “˜file” in the file group 724 of the magnetic disk device 720.

  1 may be realized by firmware stored in the ROM 731. Alternatively, it may be implemented by software alone, hardware alone, a combination of software and hardware, or a combination of firmware.

  Each process in the embodiment of the program and the embodiment of the computer-readable recording medium on which the program is recorded is executed by the program, and this program is recorded in the program group 723 as described above. Then, the program is read from the program group 723 into the CPU 710, and each process of the program is executed by the CPU 710.

  Further, the software or program may be executed by firmware stored in the ROM 731. Alternatively, the program may be executed by a combination of software, firmware, and hardware.

  In the orbit map data correction method according to the sixth embodiment, the orbit map data is corrected based on the sign position measured by the sign measurement device and the stored sign correspondence data, and thus the orbit map data is corrected to reflect the design information. It becomes possible to do.

  The trajectory map data correction program according to the sixth embodiment causes the computer to execute processing for correcting the trajectory map data based on the sign positions measured by the sign measurement device and the stored sign correspondence data, and therefore reflects the design information. This makes it possible to correct the orbit map data.

  The map creation system shown in the above embodiment reflects the track design data and survey results on the map on which railroad tracks or roads (also referred to as tracks) are written. This is a system that creates a more precise map of the trajectory, etc. by correcting the position of the etc., as the design information, the point of transition from the straight part of the trajectory to the curved part, the point of transition from the curved part to the straight part, different For the points where curved parts with parameters are joined (also called the start and end points of the orbital curve), the position is stored as a kilometer from the start point of the orbit, and for the curved part, the orbital radius and orbital shape (arc, Design information storage means for storing information such as relaxation curves, etc., for map drawing, the points on the map that make up the trajectory shift from the straight part to the curved part, and the curved part to the straight part Point, different parameters For the points where the curved curve parts are connected (also called the start and end points of the map curve), the position is stored as a kilometer from the start point of the trajectory, and for the curved parts, the trajectory radius and trajectory shape (arc, relaxation) A map storage means for storing information on curves, etc., and a sign measuring means for measuring the position of track signs, road signs, etc. (referred to as signs) installed on or along the track according to the design information. And a sign corresponding means for obtaining a precise position (latitude / longitude) of the sign or the like by indicating which item of the design material the sign corresponds to, and stored in the sign corresponding means. And a map correcting means for correcting the position of the trajectory on the map storage means based on the precise position of the sign or the like.

  In the map creation system shown in the above embodiment, the sign measuring means travels on the orbit with a device that precisely measures the position of the local point by the global position measurement system, and the sign faces the normal line. The sign position is measured by measuring.

  In the map creation system shown in the above embodiment, the sign corresponding means calculates the approximate kilometer from the starting point for the position where the sign faces the normal line by accumulating the travel amount when traveling on the track. Then, by calculating the correspondence between the calculated value and the design information, it is calculated which item of the design material the sign corresponds to, thereby obtaining the precise position of the sign Features.

  In the map creation system shown in the above embodiments, the sign corresponding means takes a sign by photographing the side of the orbit with a video camera and recognizing the sign from the video frame taken when traveling on the orbit. It is characterized by detecting the position and obtaining a precise position for each sign.

  In the map creation system shown in the above embodiment, the sign corresponding means automatically recognizes the sign from the captured video frame, thereby detecting the position facing the sign and acquiring the precise position for each sign. It is characterized by that.

1 shows a configuration of a map creation device 100 according to Embodiment 1. 3 is a flowchart illustrating an operation of the map creation device 100 according to the first embodiment. An example of the label | marker in Embodiment 1 is shown. The structure of the label | marker measuring device 110 in Embodiment 2 is shown. The structure of the marker measurement apparatus 110 in Embodiment 3 is shown. The structure of the label | marker measuring apparatus 110 in Embodiment 4 is shown. 10 shows a frame of a video tape in Embodiment 4. The structure of the map creation apparatus 100 in Embodiment 5 is shown. The frame in Embodiment 5 is shown. 10 is a flowchart showing steps of a method invention in the sixth embodiment. 18 shows an appearance of a computer system 800 according to a sixth embodiment. 20 shows a hardware configuration of a computer system 800 in a sixth embodiment. It is a figure explaining the prior art.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 Map production apparatus, 101 Design information memory | storage part, 102 Map memory | storage part, 103 Sign corresponding | compatible part, 104 Map correction part, 105 Input part, 106 Image data memory | storage part, 110 Sign measuring device, 111 GPS apparatus, 201 Map data memory | storage means , 202 GPS receiver, 203 traveling locus data calculation processing means, 204 map data correction processing means, 301 sign, 400 orbit, 401 carriage, 402 normal direction collimator, 403 km calculation unit, 404 video camera, 500 video Tape, 501, 501A, 501B Frame, 510 Label shape model, 610 Liquid crystal display, 611 Keyboard, 612 Mouse, 700 System unit, 710 CPU, 711 Bus, 720 Magnetic disk unit, 721 OS, 722 Window system 723 programs, 724 files, 731 ROM, 732 RAM, 733 communication board, 740 FDD, 750 CDD, 760 Printer, 770 network, 800 computer system.

Claims (5)

A trajectory map data storage unit for storing trajectory map data including a map related to a trajectory with a plurality of signs installed and storing a trajectory map data including a start position of the trajectory ;
A sign corresponding data storage unit that stores each of the plurality of signs corresponding to each of the plurality of signs , and is a design data of the trajectory , and stores a plurality of sign corresponding data to which a kilometer from the start point position of the trajectory is given ,
By using the position of the sign measured by the sign measurement apparatus that measures the position of the sign, the sign measured by the sign measurement apparatus from the starting point position of the orbit map data stored in the orbit map data storage unit. The sign corresponding data having a kilometer approximate to the determined kilometer is obtained in the trajectory of the trajectory map data up to the position on the trajectory map data corresponding to the position of the sign map data storage unit. a selection unit but a plurality of labels corresponding data or al selection for storing
Map correction information selecting device characterized by comprising a. The selection unit includes:
As the position of the sign,
The map according to claim 1, wherein the position of the sign measured by a sign measuring device that receives the positioning information from an artificial satellite that transmits the positioning information and measures the position of the sign based on the received positioning information is used. Correction information selection device. A trajectory map data storage unit for storing trajectory map data including a map related to a trajectory with a plurality of signs installed and storing a trajectory map data including a start position of the trajectory ;
A sign corresponding data storage unit that stores each of the plurality of signs corresponding to each of the plurality of signs , and is a design data of the trajectory , and stores a plurality of sign corresponding data to which a kilometer from the start point position of the trajectory is given ,
A sign measuring device that is capable of traveling on the track and that calculates a kilometer that is a travel distance from a starting point position on the track to a corresponding position corresponding to the sign on the track and that measures the position of the sign related to the corresponding position. An input unit for inputting the kilometer calculated by and the position of the marker related to the measured corresponding position;
Labeled enabled data having a kilometrage which approximates as the kilometers which the input unit is inputted, the label corresponding data storage unit including a <br/> plurality of labels corresponding data or al selection selecting unit for storing A map correction information selection device characterized by that. A map correction information selection device for selecting map correction information for correcting orbit map data indicating a map relating to a trajectory having a plurality of signs installed accompanying the trajectory map data including a start position of the trajectory. A trajectory map data storage unit and corresponding to each of the plurality of signs, and stores a plurality of sign correspondence data which are design data of the trajectory and which are given a kilometer from the starting point position of the trajectory. In a map correction information selection method executed by a map correction information selection device including a sign corresponding data storage unit,
By using the position of the sign measured by the sign measurement apparatus that measures the position of the sign, the selection unit uses the position of the sign of the trajectory map data stored in the trajectory map data storage unit. Find the kilometer in the trajectory of the trajectory map data up to the position on the trajectory map data corresponding to the measured position of the sign, and sign corresponding data having a kilometer approximate to the obtained kilometer Select from a plurality of marker correspondence data stored in the correspondence data storage unit
The map correction information selection method characterized by this. A map correction information selection device, which is a computer for selecting map correction information for correcting orbit map data indicating a map related to a trajectory having a plurality of signs installed, and includes orbit map data including a start position of the trajectory A trajectory map data storage unit for storing the trajectory, and a plurality of sign correspondence data corresponding to each of the plurality of signs, the design data of the trajectory, and the kilometer from the start point position of the trajectory A map correction information selection program for causing a map correction information selection device having a sign corresponding data storage unit to store the following processing (1)
(1) By using the position of the sign measured by the sign measuring apparatus that measures the position of the sign, the sign measuring apparatus measures from the starting point position of the orbit map data stored in the orbit map data storage unit. Obtain the kilometer in the trajectory of the trajectory map data up to the position on the trajectory map data corresponding to the position of the sign, and sign corresponding data having a kilometer approximate to the obtained kilometer A process of selecting from a plurality of label corresponding data stored in the data storage unit.

Images