[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

WO2021106183A1 - Device and method for measuring facilities along railway - Google Patents

Device and method for measuring facilities along railway Download PDF

Info

Publication number
WO2021106183A1
WO2021106183A1 PCT/JP2019/046751 JP2019046751W WO2021106183A1 WO 2021106183 A1 WO2021106183 A1 WO 2021106183A1 JP 2019046751 W JP2019046751 W JP 2019046751W WO 2021106183 A1 WO2021106183 A1 WO 2021106183A1
Authority
WO
WIPO (PCT)
Prior art keywords
equipment
reference line
line
track
railway
Prior art date
Application number
PCT/JP2019/046751
Other languages
French (fr)
Japanese (ja)
Inventor
恵 入江
克之 亀井
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2020547228A priority Critical patent/JP6890728B1/en
Priority to PCT/JP2019/046751 priority patent/WO2021106183A1/en
Publication of WO2021106183A1 publication Critical patent/WO2021106183A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
    • E01B35/00—Applications of measuring apparatus or devices for track-building purposes

Definitions

  • the present invention relates to a railway line equipment measuring device for measuring equipment installed along a railway line and a railway line equipment measuring method.
  • the imaging range is limited with one line sensor camera.
  • multiple line sensor cameras take pictures, or if one line sensor camera is used, the picture direction is changed and the same place is run multiple times to take pictures. Is needed.
  • the focal position of the camera differs depending on the distance to the imaging target, it is necessary to capture images of various facilities along the railway line without blurring in order to obtain an image with the accuracy required for the matching process. For that purpose, there is also a problem that it is necessary to travel in the same place a plurality of times to take an image, or to allocate one camera for each imaging target distance.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a railway line equipment measuring device capable of improving the accuracy of measuring a distance for equipment installed along a railway line.
  • the railway line equipment measuring device of the present invention obtains by three-dimensionally measuring the railway line based on the track reference data indicating the position of the track on which the rail vehicle travels.
  • a facility detection unit that extracts the first point cloud data within the range specified for the track reference data from the obtained point cloud data, and detects the equipment along the railway line represented by the extracted first point cloud data.
  • the reference line position calculation that calculates the reference line position that is the shortest distance from the position of the equipment along the railway line or the second point cloud data representing the specified specified position. It is characterized by including a unit and a distance calculation unit that calculates the distance between the first reference line position and the second reference line position calculated by the reference line position calculation unit along the orbital reference line.
  • the equipment measuring device along the railway line has an effect that the accuracy of measuring the distance can be improved for the equipment installed along the railway line.
  • FIG. 1 is a diagram showing a configuration example of a railway line equipment measuring device 1 according to a first embodiment of the present invention.
  • the railway line equipment measuring device 1 is a device that measures the distance between the railway line equipment along the reference on the track for the railway line equipment which is the equipment installed along the railway line.
  • Equipment along railway lines includes, for example, ground elements installed between the left and right rails, which are tracks on which railway vehicles travel, and traffic lights installed beside the tracks, and is not limited thereto.
  • the equipment along the railway line may be a kilometer post installed on the side of the track.
  • the on-track reference is any or all of the track center, the left rail, and the right rail, which are the central positions between the left and right rails that make up the track on which the rail vehicle travels.
  • the railway line equipment measuring device 1 includes a data unit 10, an equipment detection unit 20, a reference line position calculation unit 30, a distance calculation unit 40, a display unit 50, and an operation reception unit 60.
  • the data unit 10 includes a point cloud data unit 11, a left rail data unit 12, a right rail data unit 13, a track center data unit 14, and an equipment data unit 15.
  • the point cloud data unit 11 stores the point cloud data obtained by three-dimensionally measuring the railway line using a laser scanner or the like.
  • the laser scanner can measure various equipment along the railway line in three dimensions in a single run of a railway vehicle equipped with the laser scanner.
  • FIG. 2 is a diagram showing an example of point cloud data stored in the point cloud data unit 11 of the data unit 10 according to the first embodiment.
  • each point cloud data stored in the point cloud data unit 11 is (X n , Y n , Z n ), that is, information on three axes of the X coordinate, the Y coordinate, and the Z coordinate. expressed.
  • n is an integer of 1 or more, and the same applies to the following.
  • the XY axis can be taken on the horizontal plane and the Z axis can be taken in the height direction.
  • a coordinate system may be used in which the origin is an arbitrary point, for example, the eastward direction is the X-axis direction, the northward direction is the Y-axis direction, and the vertically upward direction is the Z-axis direction.
  • meters (m) or the like can be used, but the unit is not limited to this.
  • the left rail data unit 12 stores left rail data indicating the position of the left rail.
  • the position of the left rail is, for example, the position of the crown of the left rail.
  • FIG. 3 is a diagram showing an example of left rail data stored in the left rail data unit 12 of the data unit 10 according to the first embodiment.
  • each left rail data stored in the left rail data unit 12 is (X Ln , Y Ln , Z Ln ), that is, information on three axes of the X coordinate, the Y coordinate, and the Z coordinate. expressed.
  • the right rail data unit 13 stores right rail data indicating the position of the right rail.
  • the position of the right rail is, for example, the position of the crown of the right rail.
  • FIG. 4 is a diagram showing an example of right rail data stored in the right rail data unit 13 of the data unit 10 according to the first embodiment. As shown in FIG. 4, each right rail data stored in the right rail data unit 13 is (X Rn , Y Rn , Z Rn ), that is, information on three axes of the X coordinate, the Y coordinate, and the Z coordinate. expressed.
  • the track center data unit 14 stores track center data indicating the position of the track center, which is the center position between the left rail and the right rail constituting the track.
  • the central position between the left rail and the right rail is, for example, the central position between the crown of the left rail and the crown of the right rail.
  • FIG. 5 is a diagram showing an example of orbit center data stored in the orbit center data unit 14 of the data unit 10 according to the first embodiment. As shown in FIG. 5, each orbit center data stored in the orbit center data unit 14 is (X Cn , Y Cn , Z Cn ), that is, information on three axes of the X coordinate, the Y coordinate, and the Z coordinate. expressed.
  • FIG. 5 is a diagram showing an example of orbit center data stored in the orbit center data unit 14 of the data unit 10 according to the first embodiment. As shown in FIG. 5, each orbit center data stored in the orbit center data unit 14 is (X Cn , Y Cn , Z Cn ), that is, information on three axes of the
  • the track center indicated by the track center data is the center between the left rail indicated by the left rail data and the right rail indicated by the right rail data.
  • the track center may be obtained from between the inside of the left rail indicated by the left rail data and the inside of the right rail indicated by the right rail data.
  • the left rail data, the right rail data, and the track center data are collectively referred to as track reference data.
  • the line represented by the left rail data is referred to as a left rail line
  • the line represented by the right rail data is referred to as a right rail line
  • the line represented by the track center data is referred to as a track center line.
  • the left rail line, the right rail line, and the track center line are collectively referred to as a track reference line, or each of the left rail line, the right rail line, and the track center line is referred to as a track reference line.
  • FIG. 7 is a diagram showing an example of a track reference line represented by the left rail data, the right rail data, and the track center data according to the first embodiment. As shown in FIG.
  • the left rail line is formed by connecting the points adjacent to each other in position.
  • the right rail line is obtained by connecting the points adjacent to each other in position.
  • the orbit center line is obtained by connecting the points adjacent to each other in position.
  • the equipment data unit 15 stores equipment data indicating the positions of equipment along the railway line detected by the equipment detection unit 20.
  • FIG. 8 is a diagram showing an example of equipment data stored in the equipment data unit 15 of the data unit 10 according to the first embodiment.
  • the equipment data stored in the equipment data unit 15 is information about the positions of equipment along the railway line such as ground elements and traffic lights detected by the equipment detection unit 20 described later.
  • the equipment data includes an ID (IDentification), which is an identification number for identifying the equipment along the railway, and the equipment type for each equipment along the railway. Further, as shown in FIG.
  • ID IDentification
  • the point cloud data of the representative position indicating the position of the equipment along the railway line is (X Sn , Y Sn , Z Sn ), that is, the information of the three axes of the X coordinate, the Y coordinate, and the Z coordinate. It is represented by.
  • the equipment data includes information indicating the position on the track reference line when a perpendicular line is drawn to the track reference line from the point cloud data representing the representative position of the equipment along the railway line calculated by the reference line position calculation unit 30 described later. included.
  • the position where the vertical line is drawn from the point cloud data of the representative position representing the equipment along the railway line to the track reference line is the position where the position with the representative point cloud data representing the equipment along the railway line is the shortest on the track reference line.
  • the position on the track center line, the position on the left rail line, and the position on the right rail line correspond to each other.
  • the equipment data includes information about the distance between the equipment along the railway line and the equipment subject to distance calculation calculated by the distance calculation unit 40, which will be described later, and the equipment subject to distance calculation.
  • the distance calculation target equipment ID and the distance to the target equipment correspond.
  • the railway line equipment measuring device 1 is not provided with the data unit 10, and data can be read and written by wired communication or wireless communication with the data unit 10 outside the railway line equipment measuring device 1. Good.
  • the equipment detection unit 20 detects equipment along the railway line such as ground elements and traffic lights from the point cloud data unit 11 of the data unit 10.
  • the equipment detection unit 20 is constant from the point cloud data unit 11 from the track reference line, which is the reference position, with reference to the positions and heights of the left and right rails or the position and height of the track center. Extract the point cloud data of the range.
  • the equipment detection unit 20 extracts point cloud data having a height that is a certain value lower than the height of the left and right rails between the left and right rails from the point cloud data unit 11.
  • the equipment detection unit 20 extracts point cloud data in a range separated from the rail by a certain distance from the point cloud data unit 11 on the outside of the right rail or the outside of the left rail.
  • FIG. 9 is a diagram showing an example of an extraction range of point cloud data when the equipment detection unit 20 according to the first embodiment detects a ground element from the point cloud data unit 11.
  • the equipment detecting unit 20 in between the left rail and the right rail, from the direction of L LN right rail position from the left rail position of L LF range, and from the right and left rail height in the vertical direction the range of H D from H U at the lower, and the extraction range of the point group data.
  • FIG. 10 is a diagram showing an example of an extraction range of point cloud data when the equipment detection unit 20 according to the first embodiment detects a traffic light from the point cloud data unit 11.
  • the equipment detecting unit 20 the range of the left rail position from the outside direction of the L LN of L LF, and the range from the lower side of the H D of the upper H U vertical from the left and right rail height , The extraction range of point group data.
  • the reference for extracting the point cloud data from the point cloud data unit 11 is not limited to the left and right rails or the center of the track.
  • the equipment detection unit 20 uses the traveling position as a reference for the point cloud data.
  • Point cloud data may be extracted from part 11.
  • the device for performing three-dimensional measurement may be an MMS (Mobile Mapping System) equipped with a laser scanner or the like.
  • the equipment detection unit 20 classifies the extracted point cloud data by clustering. For example, the equipment detection unit 20 projects the extracted point cloud data onto a surface including the left and right rails or a surface including the center of the track, encloses the clustered result in a rectangle, and calculates the position at the center of the rectangle.
  • FIG. 11 is a diagram showing an example in which the point cloud data extracted by the equipment detection unit 20 according to the first embodiment for the ground element is projected onto a surface including the left and right rails.
  • FIG. 12 is a diagram showing an example in which the point cloud data extracted by the equipment detection unit 20 according to the first embodiment for a traffic light is projected onto a surface including the center of the orbit.
  • the equipment detection unit 20 may calculate the rectangular vertex position, the rectangular end position, and the like instead of the rectangular center position.
  • the equipment detection unit 20 may set the position of the center of gravity of the three-dimensional shape as a result of clustering as a representative position without projecting and rectangularizing.
  • the equipment detection unit 20 assigns an ID to the calculated representative position and stores it in the equipment data unit 15 as (X Sn , Y Sn , Z Sn). Further, the equipment detection unit 20 determines the detected equipment type of the equipment along the railway line based on the positional relationship between the representative position and the rail and the size of the rectangle obtained by clustering, and stores it in the equipment data unit 15.
  • the equipment detection unit 20 determines, for example, that the size of vertical A ⁇ a ⁇ horizontal B ⁇ b between the left and right rails is a ground element. Further, the equipment detection unit 20 determines that a traffic light having a size of vertical D ⁇ d ⁇ horizontal E ⁇ e, which is within a distance C ⁇ c from the rails in the outer direction of the two rails.
  • the equipment detection unit 20 is represented by the track reference data from the point cloud data obtained by three-dimensionally measuring the railway line based on the track reference data indicating the position of the track on which the railroad vehicle travels.
  • the first point cloud data within the range specified for the orbital reference line is extracted.
  • the equipment detection unit 20 detects the equipment along the railway line represented by the first point cloud data based on the position and size of the shape represented by the extracted first point cloud data.
  • the reference line position calculation unit 30 is a position on the track center line that is the shortest distance from each of the track center line, the left rail line, and the right rail line from the representative position of the equipment along the railway line detected by the equipment detection unit 20. , Calculate the position on the left rail line, and the position on the right rail line.
  • the reference line position calculation unit 30 sets the calculated position on the track center line, the position on the left rail line, and the position on the right rail line as the reference line position, and associates the calculated position with the representative position of the equipment along the railway line to the equipment data unit 15.
  • the reference line position calculation unit 30 calculates the left rail data of two points close to the representative position of the equipment along the railway line.
  • the reference line position calculation unit 30 obtains the intersection point when the perpendicular line is drawn down the straight line connecting the two calculated left rails from the representative position of the equipment along the railway line as the position to be the shortest distance.
  • the reference line position calculation unit 30 is the same when calculating the position on the right rail line which is the shortest distance to the right rail line and when calculating the position on the track center line which is the shortest distance to the track center line. It can be obtained by the method of.
  • the reference line position calculation unit 30 has the shortest distance from the second point cloud data, which is a representative position representing the position of the equipment along the railway line, on the track reference line represented by the track reference data. Calculate the position.
  • the reference line position calculation unit 30 calculates the first reference line position for the first railway line equipment, which is the equipment along the railway line detected by the equipment detection unit 20, and is the equipment subject to distance calculation. Then, the second reference line position is calculated for the second railway line equipment, which is the railway line equipment detected by the equipment detection unit 20.
  • the reference line position calculation unit 30 determines the position of the first reference line on the track reference line, which is the shortest distance from the ground element. Calculate and calculate the second reference line position where the distance to the traffic light is the shortest.
  • the reference line position calculation unit 30 uses the track center line, which is the track reference line represented by the track center data, the left rail line, which is the track reference line represented by the left rail data, and the track reference represented by the right rail data. On the right rail line, which is a line, the first reference line position and the second reference line position can be calculated.
  • the distance calculation unit 40 specifies the equipment subject to distance calculation for the equipment along the railway line detected by the equipment detection unit 20.
  • the distance calculation unit 40 sets the distance between the equipment along the railway line detected by the equipment detection unit 20 and the equipment subject to distance calculation on the track reference line, that is, the track center line, the left rail line, and the right rail line, respectively. Calculated as the distance along.
  • the distance along the track reference line is between the position on the track reference line that is the shortest distance between the equipment along the railway line detected by the equipment detection unit 20 and the position on the track reference line that is the shortest distance between the equipment to be calculated. It means the sum of the distances between the points existing in.
  • FIG. 13 is a diagram showing an image of a process in which the distance calculation unit 40 according to the first embodiment calculates the distance between the equipment along the railway line detected by the equipment detection unit 20 and the equipment subject to distance calculation.
  • FIG. 13 shows a case where the track reference line is the left rail line as an example.
  • the representative position of the detected equipment along the railway line is X1
  • the reference line position that is the shortest distance from the representative position X1 on the left rail line is Y1
  • the representative position of the equipment subject to distance calculation is X2
  • the left rail is the reference line position that is the shortest distance from the representative position X2 on the line.
  • the distance calculation unit 40 includes the distance ds between the reference line position Y1 and the left rail data R1 in the reference line position Y2 direction, the distance d1 between the left rail data R1 and the left rail data R2, the left rail data R2 and the left rail data R3. And the distance d3 between the left rail data R3 and the left rail data R4 are calculated. Further, the distance calculation unit 40 includes a distance d4 between the left rail data R4 and the left rail data R5, a distance d5 between the left rail data R5 and the left rail data R6, and a distance d6 between the left rail data R6 and the left rail data R7. And the distance de between the left rail data R7 and the reference line position Y2 is calculated.
  • the distance calculation unit 40 adds the calculated distances, that is, the equipment along the railway line and the distance calculation target detected by the equipment detection unit 20 by the distance ds + distance d1 + distance d2 + distance d3 + distance d4 + distance d5 + distance d6 + distance de.
  • the distance to the equipment can be calculated as the distance along the track reference line, here the left rail line.
  • the distance calculation unit 40 calculates the distance between the first reference line position and the second reference line position calculated by the reference line position calculation unit 30 along the trajectory reference line.
  • the distance calculation unit 40 is the distance between the first reference line position with respect to the first railway line equipment and the second reference line position with respect to the distance calculation target equipment and the second railway line equipment. Is calculated along the orbital reference line.
  • the distance calculation unit 40 sets the distance between the first reference line position and the second reference line position as the distance between the ground element and the traffic light. The distance of is calculated along the orbit reference line.
  • the distance calculation unit 40 can calculate the distance between the first reference line position and the second reference line position along the track center line, the left rail line, and the right rail line.
  • the distance calculation unit 40 stores the calculated distance between the equipments in the equipment data unit 15 in association with the representative positions of the equipment along the railway line detected by the equipment detection unit 20.
  • the display unit 50 reports each data stored in the data unit 10, the equipment detected by the equipment detection unit 20, the type of equipment, the equipment for which the distance is calculated, the distance between the equipment along the track reference line, and the like. , Plan view, point cloud data is displayed by superimposing it on a three-dimensional display screen.
  • the display unit 50 includes only a display control unit that displays each data stored in the data unit 10 in a display unit (not shown), and the display unit is externally connected to the railway equipment measuring device 1. It may be in the form of using an external display unit or the like.
  • the operation reception unit 60 receives operations from the user. For example, the operation reception unit 60 receives information from the user about the equipment to be calculated for the distance to the detected equipment, and stores the information in the equipment data unit 15 of the data unit 10. The operation reception unit 60 may receive the detected type of equipment from the user and store it in the equipment data unit 15 of the data unit 10. The operation reception unit 60 may receive attribute information about the equipment such as a comment on the detected equipment from the user and store it in association with the equipment data unit 15 of the data unit 10.
  • the operation reception unit refers to the equipment subject to distance calculation when the distance calculation unit 40 calculates the distance between the equipment along the railway line detected by the equipment detection unit 20 and the equipment subject to distance calculation.
  • the user may specify from 60, or the distance calculation unit 40 may determine the equipment for which the distance is calculated.
  • the track center data, the left rail data, and the right rail data are sorted in ascending order in the ascending or descending direction in advance.
  • the distance calculation unit 40 searches the equipment data unit 15 and calculates the distance.
  • the distance between the equipment detected by the equipment detection unit 20 and the equipment for which the distance is to be calculated may be automatically calculated by selecting the equipment of. That is, the distance calculation unit 40 may automatically specify the equipment for which the distance is calculated, that is, the combination of the ground element and the traffic light.
  • FIG. 14 is a flowchart showing the operation of the railway line equipment measuring device 1 according to the first embodiment.
  • the data unit 10 acquires the point cloud data measured three-dimensionally by the above-mentioned laser scanner or the like, and acquires the left rail data, the right rail data, and the orbit reference data which is the orbit center data from the point cloud data (step S1). ).
  • the equipment detection unit 20 extracts a certain range of point cloud data from the orbit reference line represented by the orbit reference data based on the orbit reference data from the point cloud data unit 11 (step S2).
  • the equipment detection unit 20 detects the equipment along the railway line from the result of clustering the extracted point cloud data, and determines the type of the detected equipment along the railway line (step S3).
  • the reference line position calculation unit 30 calculates a reference line position that is the shortest distance from the equipment along the railway line detected by the equipment detection unit 20 on the track reference line (step S4).
  • the distance calculation unit 40 specifies the equipment along the railway line detected by the equipment detection unit 20 and the equipment for which the distance is to be measured (step S5).
  • the distance calculation unit 40 calculates the distance between the equipment along the railway line detected by the equipment detection unit 20 and the equipment subject to distance calculation, that is, the distance between the equipment along the track reference line (step S6).
  • the distance calculation unit 40 stores the calculated distance between the equipments in the equipment data unit 15.
  • the display unit 50 displays the distance between the equipment along the railway line and the equipment subject to distance calculation, which is calculated by the distance calculation unit 40 and is detected by the equipment detection unit 20 (step S7).
  • the distance calculation unit 40 does not directly acquire the data of the reference line position calculated by the reference line position calculation unit 30 from the reference line position calculation unit 30, but the equipment of the data unit 10. It may be read from the data unit 15.
  • FIG. 15 is a diagram showing another configuration example of the railway line equipment measuring device 1 according to the first embodiment.
  • the distance calculation unit 40 reads the data of the reference line position calculated by the reference line position calculation unit 30 from the equipment data unit 15 of the data unit 10. Even in this case, the distance calculation unit 40 can perform the same operation as described above. Further, the distance calculation unit 40 can calculate the distance between equipments for a combination of equipments that has not been calculated in the past by using the data stored in the equipment data unit 15 of the data unit 10. ..
  • the data unit 10 is a memory.
  • the display unit 50 is a monitor such as an LCD (Liquid Crystal Display).
  • the operation reception unit 60 is an input interface such as a keyboard.
  • the equipment detection unit 20, the reference line position calculation unit 30, and the distance calculation unit 40 are realized by a processing circuit.
  • the processing circuit may be a processor and memory for executing a program stored in the memory, or may be dedicated hardware.
  • the processing circuit is also called a control circuit.
  • FIG. 16 is a diagram showing a configuration example of a processing circuit when the processing circuit 90 included in the railway line equipment measuring device 1 according to the first embodiment is realized by a processor and a memory.
  • the processing circuit 90 shown in FIG. 16 is a control circuit and includes a processor 91 and a memory 92.
  • each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware.
  • the software or firmware is written as a program and stored in the memory 92.
  • each function is realized by the processor 91 reading and executing the program stored in the memory 92.
  • the processing circuit 90 includes a memory 92 for storing a program in which the processing of the equipment measuring device 1 along the railway line is eventually executed. It can be said that this program is a program for causing the railway equipment measuring device 1 to execute each function realized by the processing circuit 90.
  • This program may be provided by a storage medium in which the program is stored, or may be provided by other means such as a communication medium.
  • the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.
  • the memory 92 is, for example, non-volatile or volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM). This includes semiconductor memory, magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs (Digital Versatile Disc), and the like.
  • FIG. 17 is a diagram showing an example of a processing circuit in the case where the processing circuit included in the railway line equipment measuring device 1 according to the first embodiment is configured by dedicated hardware.
  • the processing circuit 93 shown in FIG. 17 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The thing is applicable.
  • the processing circuit a part may be realized by dedicated hardware and a part may be realized by software or firmware.
  • the processing circuit can realize each of the above-mentioned functions by the dedicated hardware, software, firmware, or a combination thereof.
  • the equipment detection unit 20 stores the point cloud data obtained by three-dimensionally measuring the area along the railway line with a laser scanner or the like. From the point cloud data unit 11, point cloud data within a certain range with respect to the track reference line is extracted to detect equipment along the railway line such as ground elements and traffic lights.
  • the reference line position calculation unit 30 calculates a position that is the shortest distance from the detected equipment position on the track reference line such as the track center line.
  • the distance calculation unit 40 decides to calculate the distance between the facilities along the track reference line by using the position that is the shortest distance calculated by the reference line position calculation unit 30.
  • the railway line equipment measuring device 1 can accurately calculate the distance between the facilities for various facilities along the railway line by the distance with respect to the track reference line which is the reference on the track.
  • the railway line equipment measuring device 1 can improve the accuracy of measuring the distance for the equipment installed along the railway line.
  • the distance calculation unit 40 calculates the distance between the facilities along the track center line, the left rail line, and the right rail line as the track reference line which is the reference on the track. ..
  • the display unit 50 may also display the distances calculated along the track center line, the left rail line, and the right rail line.
  • Embodiment 2 the railway line equipment measuring device 1 calculates the distance between the detected equipment along the track reference line. In the second embodiment, a case where the railway line equipment measuring device 1 calculates the distance between the detected equipment and the designated specified position along the track reference line will be described.
  • the configuration of the equipment measuring device 1 along the railway line is the same as the configuration in the first embodiment shown in FIG. 1 or FIG.
  • the operation reception unit 60 of the equipment measuring device 1 along the railway line receives from the user the designation of the specified position to be the distance calculation target for the equipment detected by the equipment detection unit 20.
  • the specified position may be a position indicated by the point cloud data stored in the point cloud data unit 11, or a position different from the position indicated by the point cloud data stored in the point cloud data unit 11. It may be.
  • the user may specify the equipment along the railway line detected by the equipment detection unit 20 and stored in the equipment data unit 15 as the specified position.
  • FIG. 18 is a diagram showing an example of equipment data stored in the equipment data unit 15 of the data unit 10 according to the second embodiment.
  • the equipment data shown in FIG. 18 is obtained by adding data for a specified position specified by the user to the equipment data in the first embodiment shown in FIG. As shown in FIG. 18, the data at the specified position is added as the ID “S009”.
  • the specified position is also represented by information on three axes of the X coordinate, the Y coordinate, and the Z coordinate, as in the case of the representative position of the equipment detected by the equipment detection unit 20.
  • the position on the track reference line with respect to the specified position is calculated by the reference line position calculation unit 30 in the same manner as the representative position of the equipment detected by the equipment detection unit 20 in the first embodiment.
  • the reference line position calculation unit 30 is calculated in the same manner as the representative position of the equipment detected by the equipment detection unit 20 in the first embodiment.
  • the user sets the distance calculation target equipment ID for the equipment data unit 15 of the data unit 10 and the ground element with the ID “S002” via the operation reception unit 60. Specify the ID "S009" of the specified position.
  • the reference line position calculation unit 30 calculates the reference line position in which the distance from the second point cloud data representing the designated specified position is the shortest in the orbit reference line represented by the orbit reference data.
  • the reference line position calculation unit 30 calculates the first reference line position for the equipment along the railway line detected by the equipment detection unit 20, and calculates the second reference line position for the specified position.
  • the distance calculation unit 40 calculates the distance from the specified position of the ID "S009" as the equipment for distance calculation for the ground element of the ID "S002" along the orbit reference line.
  • the distance calculation unit 40 can perform the distance calculation method itself by the same method as that of the first embodiment, only the position of X2 shown in FIG. 13 is replaced with the specified position.
  • the distance calculation unit 40 uses the track center line, the left rail line, and the right rail line as the track reference lines, along with the ground element of the ID "S002" and the ID "S009".
  • the distance from the specified position can be calculated.
  • the distance calculation unit 40 calculates the distance between the first reference line position with respect to the equipment along the railway line and the second reference line position with respect to the specified position along the track reference line.
  • the display unit 50 may display the state along the railway line using the point cloud data stored in the point cloud data unit 11 of the data unit 10 so that the user can specify the specified position.
  • the railway line equipment measuring device 1 also determines the distance between the railway line equipment detected by the equipment detection unit 20 and the specified position specified by the user as a track reference. It can be calculated along the line.
  • the configuration shown in the above-described embodiment shows an example of the content of the present invention, can be combined with another known technique, and is one of the configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
  • 1 Railway line equipment measuring device 10 data unit, 11 point group data unit, 12 left rail data unit, 13 right rail data unit, 14 track center data unit, 15 equipment data unit, 20 equipment detection unit, 30 reference line position calculation Department, 40 distance calculation unit, 50 display unit, 60 operation reception unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Machines For Laying And Maintaining Railways (AREA)

Abstract

This device for measuring facilities along a railway is provided with: a facility detection unit (20) that extracts, on the basis of track reference data indicating the position of a track on which a railway vehicle travels, first point group data within a prescribed range with respect to the track reference data from among point group data acquired through three-dimensional measurement performed along the railway, and detects facilities along the railway indicated by the extracted first point group data; a reference line position calculation unit (30) that calculates a reference line position where the distance from second point group data indicating the positions of the facilities along the railway or designated prescribed positions becomes minimum, in a track reference line indicated by the track reference data; and a distance calculation unit (40) that calculates, along the track reference line, a distance between first and second reference line positions calculated by the reference line position calculation unit (30).

Description

鉄道沿線設備計測装置および鉄道沿線設備計測方法Railway line equipment measuring device and railway line equipment measurement method
　本発明は、鉄道沿線に設置された設備を計測する鉄道沿線設備計測装置および鉄道沿線設備計測方法に関する。 The present invention relates to a railway line equipment measuring device for measuring equipment installed along a railway line and a railway line equipment measuring method.
　従来、地上子、信号機などの鉄道沿線に設置された設備は、鉄道の安全運行に必要な設備である。また、各設備の位置、各設備間の距離、例えば、地上子と信号機との間の距離などの情報は、鉄道の安全運行に必要不可欠な管理情報である。鉄道会社は、鉄道を安全に運行させるため、地上子、信号機などの鉄道沿線の設備が適切な位置に配置され、設備間の距離を把握することで、列車の運行を適切に制御できるように管理している。特許文献１には、ラインセンサカメラで鉄道沿線設備を撮像し、マッチング処理で設備を検知し、撮像のタイミングを車軸パルスによってコントロールすることで撮像データに対応する位置データを算出し、各設備と各設備が設置された位置とを関連付ける技術が開示されている。 Conventionally, equipment installed along railway lines such as ground elements and traffic lights is equipment necessary for safe operation of railways. In addition, information such as the position of each equipment and the distance between each equipment, for example, the distance between the ground element and the traffic light, is indispensable management information for the safe operation of the railway. In order for railway companies to operate railways safely, equipment along the railway lines such as ground elements and traffic lights is placed at appropriate positions, and by grasping the distance between the equipment, train operation can be controlled appropriately. I manage it. In Patent Document 1, a line sensor camera images equipment along a railway line, equipment is detected by matching processing, and the timing of imaging is controlled by an axle pulse to calculate position data corresponding to the imaged data. A technique for associating each facility with the location where it is installed is disclosed.
特開２０１６－１３３８５７号公報Japanese Unexamined Patent Publication No. 2016-133857
　しかしながら、上記従来の技術によれば、車軸パルスを用いて各設備の位置を算出している。そのため、車輪の摩耗、空転、滑走などの影響によって誤差が発生し、各設備間の距離を正確に表現できない、という問題があった。 However, according to the above-mentioned conventional technique, the position of each equipment is calculated using the axle pulse. Therefore, there is a problem that an error occurs due to the influence of wheel wear, idling, sliding, etc., and the distance between each equipment cannot be accurately expressed.
　また、ラインセンサカメラ１台では撮像範囲が限られる。鉄道沿線上の様々な設備を捉えようとした場合には、複数のラインセンサカメラによって撮像する、または１台のラインセンサカメラであれば撮像方向を変えて複数回同じ場所を走行して撮像することが必要になる。さらに、撮像対象までの距離によってカメラの焦点位置が異なるため、マッチング処理に必要な精度の画像を得ようとすれば、鉄道沿線上の様々な設備をピンボケすることなく撮像する必要がある。そのためには、複数回同じ場所を走行して撮像する、または撮像対象距離ごとにカメラを１台割り当てる必要がある、という問題もあった。 Also, the imaging range is limited with one line sensor camera. When trying to capture various equipment along the railway line, multiple line sensor cameras take pictures, or if one line sensor camera is used, the picture direction is changed and the same place is run multiple times to take pictures. Is needed. Furthermore, since the focal position of the camera differs depending on the distance to the imaging target, it is necessary to capture images of various facilities along the railway line without blurring in order to obtain an image with the accuracy required for the matching process. For that purpose, there is also a problem that it is necessary to travel in the same place a plurality of times to take an image, or to allocate one camera for each imaging target distance.
　本発明は、上記に鑑みてなされたものであって、鉄道沿線に設置された設備を対象にして距離を計測する精度を向上可能な鉄道沿線設備計測装置を得ることを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to obtain a railway line equipment measuring device capable of improving the accuracy of measuring a distance for equipment installed along a railway line.
　上述した課題を解決し、目的を達成するために、本発明の鉄道沿線設備計測装置は、鉄道車両が走行する軌道の位置を示す軌道基準データに基づいて、鉄道沿線を３次元計測して得られた点群データから、軌道基準データに対して規定された範囲にある第１の点群データを抽出し、抽出した第１の点群データで表される鉄道沿線設備を検出する設備検出部と、軌道基準データで表される軌道基準線において、鉄道沿線設備の位置または指定された規定位置を表す第２の点群データとの距離が最短となる基準線位置を算出する基準線位置算出部と、基準線位置算出部で算出された第１の基準線位置と第２の基準線位置との距離を軌道基準線に沿って算出する距離算出部と、を備えることを特徴とする。 In order to solve the above-mentioned problems and achieve the object, the railway line equipment measuring device of the present invention obtains by three-dimensionally measuring the railway line based on the track reference data indicating the position of the track on which the rail vehicle travels. A facility detection unit that extracts the first point cloud data within the range specified for the track reference data from the obtained point cloud data, and detects the equipment along the railway line represented by the extracted first point cloud data. And, in the track reference line represented by the track reference data, the reference line position calculation that calculates the reference line position that is the shortest distance from the position of the equipment along the railway line or the second point cloud data representing the specified specified position. It is characterized by including a unit and a distance calculation unit that calculates the distance between the first reference line position and the second reference line position calculated by the reference line position calculation unit along the orbital reference line.
　本発明によれば、鉄道沿線設備計測装置は、鉄道沿線に設置された設備を対象にして距離を計測する精度を向上させることができる、という効果を奏する。 According to the present invention, the equipment measuring device along the railway line has an effect that the accuracy of measuring the distance can be improved for the equipment installed along the railway line.
実施の形態１に係る鉄道沿線設備計測装置の構成例を示す図The figure which shows the configuration example of the equipment measuring apparatus along a railway line which concerns on Embodiment 1. 実施の形態１に係るデータ部の点群データ部が記憶している点群データの例を示す図The figure which shows the example of the point cloud data stored in the point cloud data part of the data part which concerns on Embodiment 1. 実施の形態１に係るデータ部の左レールデータ部が記憶している左レールデータの例を示す図The figure which shows the example of the left rail data stored in the left rail data part of the data part which concerns on Embodiment 1. 実施の形態１に係るデータ部の右レールデータ部が記憶している右レールデータの例を示す図The figure which shows the example of the right rail data stored in the right rail data part of the data part which concerns on Embodiment 1. 実施の形態１に係るデータ部の軌道中心データ部が記憶している軌道中心データの例を示す図The figure which shows the example of the orbit center data stored in the orbit center data part of the data part which concerns on Embodiment 1. 実施の形態１に係るデータ部の左レールデータ部、右レールデータ部、および軌道中心データ部で記憶されている各データの位置関係を示す図The figure which shows the positional relationship of each data stored in the left rail data part, the right rail data part, and the track center data part of the data part which concerns on Embodiment 1. 実施の形態１に係る左レールデータ、右レールデータ、および軌道中心データで表される軌道基準線の例を示す図The figure which shows the example of the track reference line represented by the left rail data, the right rail data, and the track center data which concerns on Embodiment 1. 実施の形態１に係るデータ部の設備データ部が記憶している設備データの例を示す図The figure which shows the example of the equipment data stored in the equipment data part of the data part which concerns on Embodiment 1. 実施の形態１に係る設備検出部が点群データ部から地上子を検出する際の点群データの抽出範囲の例を示す図The figure which shows the example of the extraction range of the point cloud data when the equipment detection part which concerns on Embodiment 1 detects a ground element from a point cloud data part. 実施の形態１に係る設備検出部が点群データ部から信号機を検出する際の点群データの抽出範囲の例を示す図The figure which shows the example of the extraction range of the point cloud data when the equipment detection part which concerns on Embodiment 1 detects a traffic light from a point cloud data part. 実施の形態１に係る設備検出部が地上子を対象にして抽出した点群データを、左右レールを含む面に投影した例を示す図The figure which shows the example which projected the point cloud data extracted for the ground element by the equipment detection part which concerns on Embodiment 1 on the surface including the left and right rails. 実施の形態１に係る設備検出部が信号機を対象にして抽出した点群データを、軌道中心を含む面に投影した例を示す図The figure which shows the example which projected the point cloud data extracted for the traffic light by the equipment detection part which concerns on Embodiment 1 on the plane including the orbit center. 実施の形態１に係る距離算出部が設備検出部で検出された鉄道沿線設備と距離算出対象設備との距離を算出する処理のイメージを示す図The figure which shows the image of the process which the distance calculation unit which concerns on Embodiment 1 calculates the distance between the equipment along a railway line detected by the equipment detection unit, and the equipment subject to distance calculation. 実施の形態１に係る鉄道沿線設備計測装置の動作を示すフローチャートA flowchart showing the operation of the equipment measuring device along the railway line according to the first embodiment. 実施の形態１に係る鉄道沿線設備計測装置の他の構成例を示す図The figure which shows the other configuration example of the equipment measuring apparatus along a railway line which concerns on Embodiment 1. 実施の形態１に係る鉄道沿線設備計測装置が備える処理回路をプロセッサおよびメモリで実現する場合の処理回路の構成例を示す図The figure which shows the configuration example of the processing circuit in the case where the processing circuit provided in the equipment measuring apparatus along a railway line which concerns on Embodiment 1 is realized by a processor and a memory. 実施の形態１に係る鉄道沿線設備計測装置が備える処理回路を専用のハードウェアで構成する場合の処理回路の例を示す図The figure which shows the example of the processing circuit in the case where the processing circuit provided in the equipment measuring apparatus along a railway line which concerns on Embodiment 1 is configured by exclusive hardware. 実施の形態２に係るデータ部の設備データ部が記憶している設備データの例を示す図The figure which shows the example of the equipment data stored in the equipment data part of the data part which concerns on Embodiment 2.
　以下に、本発明の実施の形態に係る鉄道沿線設備計測装置および鉄道沿線設備計測方法を図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, the railway line equipment measuring device and the railway line equipment measuring method according to the embodiment of the present invention will be described in detail based on the drawings. The present invention is not limited to this embodiment.
実施の形態１．
　図１は、本発明の実施の形態１に係る鉄道沿線設備計測装置１の構成例を示す図である。実施の形態１において、鉄道沿線設備計測装置１は、鉄道沿線に設置された設備である鉄道沿線設備について、鉄道沿線設備間の距離を軌道上の基準に沿って測定する装置である。鉄道沿線設備は、例えば、鉄道車両が走行する軌道である左右のレール間に設置された地上子、軌道の脇に設置された信号機などであるが一例であり、これらに限定されない。鉄道沿線設備は、軌道の脇に設置されたキロポストなどであってもよい。軌道上の基準とは、鉄道車両が走行する軌道を構成する左レールおよび右レールの間の中央位置である軌道中心、左レール、および右レールのいずれかまたは全てである。 Embodiment 1.
FIG. 1 is a diagram showing a configuration example of a railway line equipment measuring device 1 according to a first embodiment of the present invention. In the first embodiment, the railway line equipment measuring device 1 is a device that measures the distance between the railway line equipment along the reference on the track for the railway line equipment which is the equipment installed along the railway line. Equipment along railway lines includes, for example, ground elements installed between the left and right rails, which are tracks on which railway vehicles travel, and traffic lights installed beside the tracks, and is not limited thereto. The equipment along the railway line may be a kilometer post installed on the side of the track. The on-track reference is any or all of the track center, the left rail, and the right rail, which are the central positions between the left and right rails that make up the track on which the rail vehicle travels.
　鉄道沿線設備計測装置１の構成について説明する。鉄道沿線設備計測装置１は、データ部１０と、設備検出部２０と、基準線位置算出部３０と、距離算出部４０と、表示部５０と、操作受付部６０と、を備える。 The configuration of the equipment measuring device 1 along the railway line will be explained. The railway line equipment measuring device 1 includes a data unit 10, an equipment detection unit 20, a reference line position calculation unit 30, a distance calculation unit 40, a display unit 50, and an operation reception unit 60.
　データ部１０は、点群データ部１１と、左レールデータ部１２と、右レールデータ部１３と、軌道中心データ部１４と、設備データ部１５と、を備える。 The data unit 10 includes a point cloud data unit 11, a left rail data unit 12, a right rail data unit 13, a track center data unit 14, and an equipment data unit 15.
　点群データ部１１は、レーザスキャナなどを用いて鉄道沿線を３次元計測することによって得られた点群データを記憶している。レーザスキャナは、レーザスキャナを搭載した鉄道車両の一回の走行で、鉄道沿線の様々な設備を３次元計測することができる。図２は、実施の形態１に係るデータ部１０の点群データ部１１が記憶している点群データの例を示す図である。図２に示すように、点群データ部１１に記憶されている各点群データは、（Ｘｎ，Ｙｎ，Ｚｎ）、すなわちＸ座標、Ｙ座標、およびＺ座標の３軸の情報で表される。なお、ｎは１以上の整数とし、以降についても同様とする。Ｘ座標、Ｙ座標、およびＺ座標については、例えば、平面直角座標系を用いて、ＸＹ軸を水平面上にとり、Ｚ軸を高さ方向にとることができる。または、任意の点を原点として、例えば、東向き方向をＸ軸方向、北向き方向をＹ軸方向、鉛直上向き方向をＺ軸方向とする座標系でもよい。各点の座標値を示すデータの単位については、メートル（ｍ）などを使用することができるが、これに限定されるものではない。 The point cloud data unit 11 stores the point cloud data obtained by three-dimensionally measuring the railway line using a laser scanner or the like. The laser scanner can measure various equipment along the railway line in three dimensions in a single run of a railway vehicle equipped with the laser scanner. FIG. 2 is a diagram showing an example of point cloud data stored in the point cloud data unit 11 of the data unit 10 according to the first embodiment. As shown in FIG. 2, each point cloud data stored in the point cloud data unit 11 is (X n , Y n , Z n ), that is, information on three axes of the X coordinate, the Y coordinate, and the Z coordinate. expressed. In addition, n is an integer of 1 or more, and the same applies to the following. Regarding the X coordinate, the Y coordinate, and the Z coordinate, for example, using a plane rectangular coordinate system, the XY axis can be taken on the horizontal plane and the Z axis can be taken in the height direction. Alternatively, a coordinate system may be used in which the origin is an arbitrary point, for example, the eastward direction is the X-axis direction, the northward direction is the Y-axis direction, and the vertically upward direction is the Z-axis direction. As the unit of data indicating the coordinate values of each point, meters (m) or the like can be used, but the unit is not limited to this.
　左レールデータ部１２は、左レールの位置を示す左レールデータを記憶している。左レールの位置とは、例えば、左レールの頭頂部の位置である。図３は、実施の形態１に係るデータ部１０の左レールデータ部１２が記憶している左レールデータの例を示す図である。図３に示すように、左レールデータ部１２に記憶されている各左レールデータは、（ＸＬｎ，ＹＬｎ，ＺＬｎ）、すなわちＸ座標、Ｙ座標、およびＺ座標の３軸の情報で表される。 The left rail data unit 12 stores left rail data indicating the position of the left rail. The position of the left rail is, for example, the position of the crown of the left rail. FIG. 3 is a diagram showing an example of left rail data stored in the left rail data unit 12 of the data unit 10 according to the first embodiment. As shown in FIG. 3, each left rail data stored in the left rail data unit 12 is (X Ln , Y Ln , Z Ln ), that is, information on three axes of the X coordinate, the Y coordinate, and the Z coordinate. expressed.
　右レールデータ部１３は、右レールの位置を示す右レールデータを記憶している。右レールの位置とは、例えば、右レールの頭頂部の位置である。図４は、実施の形態１に係るデータ部１０の右レールデータ部１３が記憶している右レールデータの例を示す図である。図４に示すように、右レールデータ部１３に記憶されている各右レールデータは、（ＸＲｎ，ＹＲｎ，ＺＲｎ）、すなわちＸ座標、Ｙ座標、およびＺ座標の３軸の情報で表される。 The right rail data unit 13 stores right rail data indicating the position of the right rail. The position of the right rail is, for example, the position of the crown of the right rail. FIG. 4 is a diagram showing an example of right rail data stored in the right rail data unit 13 of the data unit 10 according to the first embodiment. As shown in FIG. 4, each right rail data stored in the right rail data unit 13 is (X Rn , Y Rn , Z Rn ), that is, information on three axes of the X coordinate, the Y coordinate, and the Z coordinate. expressed.
　軌道中心データ部１４は、軌道を構成する左レールおよび右レールの間の中央位置である軌道中心の位置を示す軌道中心データを記憶している。左レールおよび右レールの間の中央位置とは、例えば、左レールの頭頂部と右レールの頭頂部との間の中心位置である。図５は、実施の形態１に係るデータ部１０の軌道中心データ部１４が記憶している軌道中心データの例を示す図である。図５に示すように、軌道中心データ部１４に記憶されている各軌道中心データは、（ＸＣｎ，ＹＣｎ，ＺＣｎ）、すなわちＸ座標、Ｙ座標、およびＺ座標の３軸の情報で表される。図６は、実施の形態１に係るデータ部１０の左レールデータ部１２、右レールデータ部１３、および軌道中心データ部１４で記憶されている各データの位置関係を示す図である。図６に示すように、軌道中心データで示される軌道中心は、左レールデータで示される左レールと右レールデータで示される右レールとの間の中央になる。なお、軌道中心は、左レールデータで示される左レールの内側と右レールデータで示される右レールの内側との間から求めてもよい。 The track center data unit 14 stores track center data indicating the position of the track center, which is the center position between the left rail and the right rail constituting the track. The central position between the left rail and the right rail is, for example, the central position between the crown of the left rail and the crown of the right rail. FIG. 5 is a diagram showing an example of orbit center data stored in the orbit center data unit 14 of the data unit 10 according to the first embodiment. As shown in FIG. 5, each orbit center data stored in the orbit center data unit 14 is (X Cn , Y Cn , Z Cn ), that is, information on three axes of the X coordinate, the Y coordinate, and the Z coordinate. expressed. FIG. 6 is a diagram showing the positional relationship of each data stored in the left rail data unit 12, the right rail data unit 13, and the track center data unit 14 of the data unit 10 according to the first embodiment. As shown in FIG. 6, the track center indicated by the track center data is the center between the left rail indicated by the left rail data and the right rail indicated by the right rail data. The track center may be obtained from between the inside of the left rail indicated by the left rail data and the inside of the right rail indicated by the right rail data.
　ここで、左レールデータ、右レールデータ、および軌道中心データをまとめて軌道基準データと称する。また、左レールデータで表される線を左レール線と称し、右レールデータで表される線を右レール線と称し、軌道中心データで表される線を軌道中心線と称する。左レール線、右レール線、および軌道中心線をまとめて、または左レール線、右レール線、および軌道中心線の各線のことを軌道基準線と称する。図７は、実施の形態１に係る左レールデータ、右レールデータ、および軌道中心データで表される軌道基準線の例を示す図である。図７に示すように、左レールの位置を示す左レールデータにおいて、位置的に隣り合う各点を接続したものが左レール線となる。同様に、右レールの位置を示す右レールデータにおいて、位置的に隣り合う各点を接続したものが右レール線となる。同様に、軌道中心の位置を示す軌道中心データにおいて、位置的に隣り合う各点を接続したものが軌道中心線となる。 Here, the left rail data, the right rail data, and the track center data are collectively referred to as track reference data. Further, the line represented by the left rail data is referred to as a left rail line, the line represented by the right rail data is referred to as a right rail line, and the line represented by the track center data is referred to as a track center line. The left rail line, the right rail line, and the track center line are collectively referred to as a track reference line, or each of the left rail line, the right rail line, and the track center line is referred to as a track reference line. FIG. 7 is a diagram showing an example of a track reference line represented by the left rail data, the right rail data, and the track center data according to the first embodiment. As shown in FIG. 7, in the left rail data indicating the position of the left rail, the left rail line is formed by connecting the points adjacent to each other in position. Similarly, in the right rail data indicating the position of the right rail, the right rail line is obtained by connecting the points adjacent to each other in position. Similarly, in the orbit center data indicating the position of the orbit center, the orbit center line is obtained by connecting the points adjacent to each other in position.
　設備データ部１５は、設備検出部２０によって検出された鉄道沿線設備の位置などを示す設備データを記憶している。図８は、実施の形態１に係るデータ部１０の設備データ部１５が記憶している設備データの例を示す図である。設備データ部１５に記憶されている設備データは、後述する設備検出部２０で検出された、地上子、信号機などの鉄道沿線設備の位置についての情報である。図８に示すように、設備データには、各鉄道沿線設備について、鉄道沿線設備を識別するための識別番号であるＩＤ（IDentification）、および設備種別が含まれる。また、図８に示すように、鉄道沿線設備の位置を示す代表位置の点群データは、（ＸＳｎ，ＹＳｎ，ＺＳｎ）、すなわちＸ座標、Ｙ座標、およびＺ座標の３軸の情報で表される。また、設備データには、後述する基準線位置算出部３０によって算出された鉄道沿線設備の代表位置を表す点群データから軌道基準線に垂線を下したときの軌道基準線上の位置を示す情報が含まれる。鉄道沿線設備を表す代表位置の点群データから軌道基準線に垂線を下した位置とは、軌道基準線において、鉄道沿線設備を表す代表の点群データとの位置が最短になる位置である。図８において、軌道中心線上の位置、左レール線上の位置、および右レール線上の位置が該当する。また、設備データには、各鉄道沿線設備について、後述する距離算出部４０で算出された距離算出対象設備との距離、および距離算出対象設備についての情報が含まれる。図８において、距離算出対象設備ＩＤ、および対象設備との距離が該当する。 The equipment data unit 15 stores equipment data indicating the positions of equipment along the railway line detected by the equipment detection unit 20. FIG. 8 is a diagram showing an example of equipment data stored in the equipment data unit 15 of the data unit 10 according to the first embodiment. The equipment data stored in the equipment data unit 15 is information about the positions of equipment along the railway line such as ground elements and traffic lights detected by the equipment detection unit 20 described later. As shown in FIG. 8, the equipment data includes an ID (IDentification), which is an identification number for identifying the equipment along the railway, and the equipment type for each equipment along the railway. Further, as shown in FIG. 8, the point cloud data of the representative position indicating the position of the equipment along the railway line is (X Sn , Y Sn , Z Sn ), that is, the information of the three axes of the X coordinate, the Y coordinate, and the Z coordinate. It is represented by. In addition, the equipment data includes information indicating the position on the track reference line when a perpendicular line is drawn to the track reference line from the point cloud data representing the representative position of the equipment along the railway line calculated by the reference line position calculation unit 30 described later. included. The position where the vertical line is drawn from the point cloud data of the representative position representing the equipment along the railway line to the track reference line is the position where the position with the representative point cloud data representing the equipment along the railway line is the shortest on the track reference line. In FIG. 8, the position on the track center line, the position on the left rail line, and the position on the right rail line correspond to each other. In addition, the equipment data includes information about the distance between the equipment along the railway line and the equipment subject to distance calculation calculated by the distance calculation unit 40, which will be described later, and the equipment subject to distance calculation. In FIG. 8, the distance calculation target equipment ID and the distance to the target equipment correspond.
　なお、鉄道沿線設備計測装置１は、データ部１０については備えず、鉄道沿線設備計測装置１の外部にあるデータ部１０との間で有線通信または無線通信によってデータの読み書きを行うようにしてもよい。 The railway line equipment measuring device 1 is not provided with the data unit 10, and data can be read and written by wired communication or wireless communication with the data unit 10 outside the railway line equipment measuring device 1. Good.
　設備検出部２０は、データ部１０の点群データ部１１から、地上子、信号機などの鉄道沿線設備を検出する。具体的には、設備検出部２０は、点群データ部１１から、左右のレールの位置および高さ、または、軌道中心の位置および高さを基準として、基準位置である軌道基準線から一定の範囲の点群データを抽出する。設備検出部２０は、例えば、地上子を検出する場合、点群データ部１１から、左右のレールの間において、左右のレールの高さから一定値低い高さの点群データを抽出する。また、設備検出部２０は、例えば、信号機を検出する場合、点群データ部１１から、右レールの外側または左レールの外側において、レールから一定距離離れた範囲の点群データを抽出する。 The equipment detection unit 20 detects equipment along the railway line such as ground elements and traffic lights from the point cloud data unit 11 of the data unit 10. Specifically, the equipment detection unit 20 is constant from the point cloud data unit 11 from the track reference line, which is the reference position, with reference to the positions and heights of the left and right rails or the position and height of the track center. Extract the point cloud data of the range. For example, when detecting a ground element, the equipment detection unit 20 extracts point cloud data having a height that is a certain value lower than the height of the left and right rails between the left and right rails from the point cloud data unit 11. Further, for example, when detecting a traffic light, the equipment detection unit 20 extracts point cloud data in a range separated from the rail by a certain distance from the point cloud data unit 11 on the outside of the right rail or the outside of the left rail.
　図９は、実施の形態１に係る設備検出部２０が点群データ部１１から地上子を検出する際の点群データの抽出範囲の例を示す図である。図９の例では、設備検出部２０は、左レールと右レールとの間において、左レール位置から右レール位置の方向のＬＬＮからＬＬＦの範囲、および左右のレール高さから鉛直方向の下側でＨＵからＨＤの範囲を、点群データの抽出範囲としている。図１０は、実施の形態１に係る設備検出部２０が点群データ部１１から信号機を検出する際の点群データの抽出範囲の例を示す図である。図１０の例では、設備検出部２０は、左レール位置から外方向のＬＬＮからＬＬＦの範囲、および左右のレール高さから鉛直方向の下側のＨＤから上側のＨＵの範囲を、点群データの抽出範囲としている。 FIG. 9 is a diagram showing an example of an extraction range of point cloud data when the equipment detection unit 20 according to the first embodiment detects a ground element from the point cloud data unit 11. In the example of FIG. 9, the equipment detecting unit 20, in between the left rail and the right rail, from the direction of L LN right rail position from the left rail position of L LF range, and from the right and left rail height in the vertical direction the range of H D from H U at the lower, and the extraction range of the point group data. FIG. 10 is a diagram showing an example of an extraction range of point cloud data when the equipment detection unit 20 according to the first embodiment detects a traffic light from the point cloud data unit 11. In the example of FIG. 10, the equipment detecting unit 20, the range of the left rail position from the outside direction of the L LN of L LF, and the range from the lower side of the H D of the upper H U vertical from the left and right rail height , The extraction range of point group data.
　なお、点群データ部１１から点群データを抽出する際の基準については、左右のレールまたは軌道中心に限定されない。設備検出部２０は、３次元計測によって点群データを取得したレーザスキャナを搭載した車両の走行時の走行位置の情報がデータ部１０に記憶されている場合、走行位置を基準にして点群データ部１１から点群データを抽出してもよい。３次元計測を行う装置については、レーザスキャナを備えるＭＭＳ（Mobile　Mapping　System）などであってもよい。 The reference for extracting the point cloud data from the point cloud data unit 11 is not limited to the left and right rails or the center of the track. When the data unit 10 stores information on the traveling position of the vehicle equipped with the laser scanner that has acquired the point cloud data by three-dimensional measurement, the equipment detection unit 20 uses the traveling position as a reference for the point cloud data. Point cloud data may be extracted from part 11. The device for performing three-dimensional measurement may be an MMS (Mobile Mapping System) equipped with a laser scanner or the like.
　設備検出部２０は、抽出した点群データをクラスタリングによって分類する。設備検出部２０は、例えば、抽出した点群データを、左右レールを含む面、または軌道中心を含む面に投影し、クラスタリングした結果を矩形で囲み、矩形中央位置を算出する。図１１は、実施の形態１に係る設備検出部２０が地上子を対象にして抽出した点群データを、左右レールを含む面に投影した例を示す図である。図１２は、実施の形態１に係る設備検出部２０が信号機を対象にして抽出した点群データを、軌道中心を含む面に投影した例を示す図である。 The equipment detection unit 20 classifies the extracted point cloud data by clustering. For example, the equipment detection unit 20 projects the extracted point cloud data onto a surface including the left and right rails or a surface including the center of the track, encloses the clustered result in a rectangle, and calculates the position at the center of the rectangle. FIG. 11 is a diagram showing an example in which the point cloud data extracted by the equipment detection unit 20 according to the first embodiment for the ground element is projected onto a surface including the left and right rails. FIG. 12 is a diagram showing an example in which the point cloud data extracted by the equipment detection unit 20 according to the first embodiment for a traffic light is projected onto a surface including the center of the orbit.
　なお、設備検出部２０は、抽出した点群データの代表位置を特定できればよいので、矩形中央位置でなくでも、矩形頂点位置、矩形端位置などを算出してもよい。設備検出部２０は、投影して矩形化しなくても、クラスタリングした結果の立体形状重心位置を代表位置にしてもよい。設備検出部２０は、算出した代表位置にＩＤを付与して、（ＸＳｎ，ＹＳｎ，ＺＳｎ）として設備データ部１５に記憶させる。また、設備検出部２０は、代表位置とレールとの位置関係、およびクラスタリングによって得られた矩形のサイズに基づいて、検出した鉄道沿線設備の設備種別を判定し、設備データ部１５に記憶させる。設備検出部２０は、例えば、左右レール間にある、縦Ａ±ａ×横Ｂ±ｂのサイズのものは地上子と判定する。また、設備検出部２０は、２本のレールの外方向でレールから距離Ｃ±ｃ内にある、縦Ｄ±ｄ×横Ｅ±ｅのサイズのものは信号機と判定する。 Since the equipment detection unit 20 only needs to be able to specify the representative position of the extracted point cloud data, the equipment detection unit 20 may calculate the rectangular vertex position, the rectangular end position, and the like instead of the rectangular center position. The equipment detection unit 20 may set the position of the center of gravity of the three-dimensional shape as a result of clustering as a representative position without projecting and rectangularizing. The equipment detection unit 20 assigns an ID to the calculated representative position and stores it in the equipment data unit 15 as (X Sn , Y Sn , Z Sn). Further, the equipment detection unit 20 determines the detected equipment type of the equipment along the railway line based on the positional relationship between the representative position and the rail and the size of the rectangle obtained by clustering, and stores it in the equipment data unit 15. The equipment detection unit 20 determines, for example, that the size of vertical A ± a × horizontal B ± b between the left and right rails is a ground element. Further, the equipment detection unit 20 determines that a traffic light having a size of vertical D ± d × horizontal E ± e, which is within a distance C ± c from the rails in the outer direction of the two rails.
　このように、設備検出部２０は、鉄道車両が走行する軌道の位置を示す軌道基準データに基づいて、鉄道沿線を３次元計測して得られた点群データから、軌道基準データで表される軌道基準線に対して規定された範囲にある第１の点群データを抽出する。設備検出部２０は、抽出した第１の点群データで表される形状の位置およびサイズに基づいて、第１の点群データで表される鉄道沿線設備を検出する。 In this way, the equipment detection unit 20 is represented by the track reference data from the point cloud data obtained by three-dimensionally measuring the railway line based on the track reference data indicating the position of the track on which the railroad vehicle travels. The first point cloud data within the range specified for the orbital reference line is extracted. The equipment detection unit 20 detects the equipment along the railway line represented by the first point cloud data based on the position and size of the shape represented by the extracted first point cloud data.
　基準線位置算出部３０は、設備検出部２０によって検出された鉄道沿線設備の代表位置から、軌道中心線、左レール線、および右レール線のそれぞれに対して最短距離となる軌道中心線上の位置、左レール線上の位置、および右レール線上の位置を算出する。基準線位置算出部３０は、算出した軌道中心線上の位置、左レール線上の位置、および右レール線上の位置を基準線位置として、鉄道沿線設備の代表位置に対応付けて、設備データ部１５に記憶させる。基準線位置算出部３０は、例えば、左レール線に対して最短距離となる左レール線上の位置を算出する場合、鉄道沿線設備の代表位置から近い２点の左レールデータを算出する。基準線位置算出部３０は、鉄道沿線設備の代表位置から、算出した２点の左レールを接続する直線に垂線をおろしたときの交点を、最短距離となる位置として求める。基準線位置算出部３０は、右レール線に対して最短距離となる右レール線上の位置を算出する場合、および軌道中心線に対して最短距離となる軌道中心線上の位置を算出する場合も同様の方法によって求めることができる。 The reference line position calculation unit 30 is a position on the track center line that is the shortest distance from each of the track center line, the left rail line, and the right rail line from the representative position of the equipment along the railway line detected by the equipment detection unit 20. , Calculate the position on the left rail line, and the position on the right rail line. The reference line position calculation unit 30 sets the calculated position on the track center line, the position on the left rail line, and the position on the right rail line as the reference line position, and associates the calculated position with the representative position of the equipment along the railway line to the equipment data unit 15. Remember. For example, when calculating the position on the left rail line which is the shortest distance with respect to the left rail line, the reference line position calculation unit 30 calculates the left rail data of two points close to the representative position of the equipment along the railway line. The reference line position calculation unit 30 obtains the intersection point when the perpendicular line is drawn down the straight line connecting the two calculated left rails from the representative position of the equipment along the railway line as the position to be the shortest distance. The reference line position calculation unit 30 is the same when calculating the position on the right rail line which is the shortest distance to the right rail line and when calculating the position on the track center line which is the shortest distance to the track center line. It can be obtained by the method of.
　このように、基準線位置算出部３０は、軌道基準データで表される軌道基準線において、鉄道沿線設備の位置を表す代表位置である第２の点群データとの距離が最短となる基準線位置を算出する。実施の形態１において、基準線位置算出部３０は、設備検出部２０で検出された鉄道沿線設備である第１の鉄道沿線設備について第１の基準線位置を算出し、距離算出対象設備であって、設備検出部２０で検出された鉄道沿線設備である第２の鉄道沿線設備について第２の基準線位置を算出する。第１の鉄道沿線設備が地上子、第２の鉄道沿線設備が信号機の場合、基準線位置算出部３０は、軌道基準線において、地上子との距離が最短となる第１の基準線位置を算出し、信号機との距離が最短となる第２の基準線位置を算出する。基準線位置算出部３０は、軌道中心データで表される軌道基準線である軌道中心線、左レールデータで表される軌道基準線である左レール線、および右レールデータで表される軌道基準線である右レール線において、第１の基準線位置および第２の基準線位置を算出することができる。 In this way, the reference line position calculation unit 30 has the shortest distance from the second point cloud data, which is a representative position representing the position of the equipment along the railway line, on the track reference line represented by the track reference data. Calculate the position. In the first embodiment, the reference line position calculation unit 30 calculates the first reference line position for the first railway line equipment, which is the equipment along the railway line detected by the equipment detection unit 20, and is the equipment subject to distance calculation. Then, the second reference line position is calculated for the second railway line equipment, which is the railway line equipment detected by the equipment detection unit 20. When the equipment along the first railway line is a ground element and the equipment along the second railway line is a traffic light, the reference line position calculation unit 30 determines the position of the first reference line on the track reference line, which is the shortest distance from the ground element. Calculate and calculate the second reference line position where the distance to the traffic light is the shortest. The reference line position calculation unit 30 uses the track center line, which is the track reference line represented by the track center data, the left rail line, which is the track reference line represented by the left rail data, and the track reference represented by the right rail data. On the right rail line, which is a line, the first reference line position and the second reference line position can be calculated.
　距離算出部４０は、設備検出部２０で検出された鉄道沿線設備に対して、距離算出対象設備を特定する。距離算出部４０は、設備検出部２０で検出された鉄道沿線設備と、距離算出対象設備との間の距離を、軌道基準線、すなわち軌道中心線、左レール線、および右レール線のそれぞれに沿った距離として算出する。軌道基準線に沿った距離とは、設備検出部２０で検出された鉄道沿線設備と最短距離となる軌道基準線上の位置と、距離算出対象設備と最短距離となる軌道基準線上の位置との間に存在する各点間の距離の和を意味している。 The distance calculation unit 40 specifies the equipment subject to distance calculation for the equipment along the railway line detected by the equipment detection unit 20. The distance calculation unit 40 sets the distance between the equipment along the railway line detected by the equipment detection unit 20 and the equipment subject to distance calculation on the track reference line, that is, the track center line, the left rail line, and the right rail line, respectively. Calculated as the distance along. The distance along the track reference line is between the position on the track reference line that is the shortest distance between the equipment along the railway line detected by the equipment detection unit 20 and the position on the track reference line that is the shortest distance between the equipment to be calculated. It means the sum of the distances between the points existing in.
　図１３は、実施の形態１に係る距離算出部４０が設備検出部２０で検出された鉄道沿線設備と距離算出対象設備との距離を算出する処理のイメージを示す図である。図１３は、一例として、軌道基準線が左レール線の場合を示している。図１３では、検出された鉄道沿線設備の代表位置をＸ１とし、左レール線上において代表位置Ｘ１との最短距離となる基準線位置をＹ１とし、距離算出対象設備の代表位置をＸ２とし、左レール線上において代表位置Ｘ２との最短距離となる基準線位置をＹ２としている。距離算出部４０は、基準線位置Ｙ１と基準線位置Ｙ２方向の左レールデータＲ１との距離ｄｓ、左レールデータＲ１と左レールデータＲ２との距離ｄ１、左レールデータＲ２と左レールデータＲ３との距離ｄ２、および左レールデータＲ３と左レールデータＲ４との距離ｄ３を算出する。また、距離算出部４０は、左レールデータＲ４と左レールデータＲ５との距離ｄ４、左レールデータＲ５と左レールデータＲ６との距離ｄ５、左レールデータＲ６と左レールデータＲ７との距離ｄ６、および左レールデータＲ７と基準線位置Ｙ２との距離ｄｅを算出する。距離算出部４０は、算出した各距離を加算して、すなわち、距離ｄｓ＋距離ｄ１＋距離ｄ２＋距離ｄ３＋距離ｄ４＋距離ｄ５＋距離ｄ６＋距離ｄｅによって、設備検出部２０で検出された鉄道沿線設備と距離算出対象設備との距離を、軌道基準線、ここでは左レール線に沿った距離として算出することができる。 FIG. 13 is a diagram showing an image of a process in which the distance calculation unit 40 according to the first embodiment calculates the distance between the equipment along the railway line detected by the equipment detection unit 20 and the equipment subject to distance calculation. FIG. 13 shows a case where the track reference line is the left rail line as an example. In FIG. 13, the representative position of the detected equipment along the railway line is X1, the reference line position that is the shortest distance from the representative position X1 on the left rail line is Y1, the representative position of the equipment subject to distance calculation is X2, and the left rail. Y2 is the reference line position that is the shortest distance from the representative position X2 on the line. The distance calculation unit 40 includes the distance ds between the reference line position Y1 and the left rail data R1 in the reference line position Y2 direction, the distance d1 between the left rail data R1 and the left rail data R2, the left rail data R2 and the left rail data R3. And the distance d3 between the left rail data R3 and the left rail data R4 are calculated. Further, the distance calculation unit 40 includes a distance d4 between the left rail data R4 and the left rail data R5, a distance d5 between the left rail data R5 and the left rail data R6, and a distance d6 between the left rail data R6 and the left rail data R7. And the distance de between the left rail data R7 and the reference line position Y2 is calculated. The distance calculation unit 40 adds the calculated distances, that is, the equipment along the railway line and the distance calculation target detected by the equipment detection unit 20 by the distance ds + distance d1 + distance d2 + distance d3 + distance d4 + distance d5 + distance d6 + distance de. The distance to the equipment can be calculated as the distance along the track reference line, here the left rail line.
　このように、距離算出部４０は、基準線位置算出部３０で算出された第１の基準線位置と第２の基準線位置との距離を軌道基準線に沿って算出する。実施の形態１において、距離算出部４０は、第１の鉄道沿線設備に対する第１の基準線位置と、距離算出対象設備であって第２の鉄道沿線設備に対する第２の基準線位置との距離を軌道基準線に沿って算出する。第１の鉄道沿線設備が地上子、第２の鉄道沿線設備が信号機の場合、距離算出部４０は、第１の基準線位置と第２の基準線位置との距離として、地上子と信号機との距離を軌道基準線に沿って算出する。距離算出部４０は、第１の基準線位置と第２の基準線位置との距離を、軌道中心線、左レール線、および右レール線に沿って算出することができる。距離算出部４０は、算出した設備間の距離を、設備検出部２０で検出された鉄道沿線設備の代表位置に対応付けて、設備データ部１５に記憶させる。 In this way, the distance calculation unit 40 calculates the distance between the first reference line position and the second reference line position calculated by the reference line position calculation unit 30 along the trajectory reference line. In the first embodiment, the distance calculation unit 40 is the distance between the first reference line position with respect to the first railway line equipment and the second reference line position with respect to the distance calculation target equipment and the second railway line equipment. Is calculated along the orbital reference line. When the equipment along the first railway line is a ground element and the equipment along the second railway line is a traffic light, the distance calculation unit 40 sets the distance between the first reference line position and the second reference line position as the distance between the ground element and the traffic light. The distance of is calculated along the orbit reference line. The distance calculation unit 40 can calculate the distance between the first reference line position and the second reference line position along the track center line, the left rail line, and the right rail line. The distance calculation unit 40 stores the calculated distance between the equipments in the equipment data unit 15 in association with the representative positions of the equipment along the railway line detected by the equipment detection unit 20.
　表示部５０は、データ部１０に記憶されている各データ、設備検出部２０で検出された設備、設備の種別、距離算出対象の設備、軌道基準線に沿った設備間の距離などを、レポート、平面図、点群データを３次元表示した画面との重畳表示などによって表示する。なお、表示部５０は、図示しないディスプレイ部にデータ部１０に記憶されている各データなどを表示する表示制御部のみを備え、ディスプレイ部については鉄道沿線設備計測装置１に外付けで接続される外部のディスプレイ部などを用いる形態でもよい。 The display unit 50 reports each data stored in the data unit 10, the equipment detected by the equipment detection unit 20, the type of equipment, the equipment for which the distance is calculated, the distance between the equipment along the track reference line, and the like. , Plan view, point cloud data is displayed by superimposing it on a three-dimensional display screen. The display unit 50 includes only a display control unit that displays each data stored in the data unit 10 in a display unit (not shown), and the display unit is externally connected to the railway equipment measuring device 1. It may be in the form of using an external display unit or the like.
　操作受付部６０は、ユーザからの操作を受け付ける。例えば、操作受付部６０は、ユーザから、検出された設備に対する距離算出対象の設備の情報を受け付け、データ部１０の設備データ部１５に記憶させる。操作受付部６０は、ユーザから、検出された設備の種別を受け付け、データ部１０の設備データ部１５に記憶させてもよい。操作受付部６０は、ユーザから、検出した設備に対するコメントなど、設備についての属性情報を受け付け、データ部１０の設備データ部１５に関連付けて記憶させてもよい。 The operation reception unit 60 receives operations from the user. For example, the operation reception unit 60 receives information from the user about the equipment to be calculated for the distance to the detected equipment, and stores the information in the equipment data unit 15 of the data unit 10. The operation reception unit 60 may receive the detected type of equipment from the user and store it in the equipment data unit 15 of the data unit 10. The operation reception unit 60 may receive attribute information about the equipment such as a comment on the detected equipment from the user and store it in association with the equipment data unit 15 of the data unit 10.
　本実施の形態では、距離算出部４０が設備検出部２０で検出された鉄道沿線設備と距離算出対象設備との距離を算出する際の距離算出対象の設備について、前述のように、操作受付部６０からユーザが指定してもよいし、距離算出部４０が距離算出対象の設備を決定してもよい。例えば、軌道中心データ、左レールデータ、および右レールデータに対して、あらかじめ上り方向または下り方向に昇順の順番をつけておく。距離算出部４０は、例えば、「地上子と、地上子から上り昇順に一番近い信号機との距離を算出する」という指示が与えられている場合、設備データ部１５を検索して距離算出対象の設備を選択して、設備検出部２０で検出された設備と距離算出対象の設備との距離を自動的に算出してもよい。すなわち、距離算出部４０は、距離算出対象の設備、すなわち地上子と信号機との組み合わせを自動的に特定してもよい。 In the present embodiment, as described above, the operation reception unit refers to the equipment subject to distance calculation when the distance calculation unit 40 calculates the distance between the equipment along the railway line detected by the equipment detection unit 20 and the equipment subject to distance calculation. The user may specify from 60, or the distance calculation unit 40 may determine the equipment for which the distance is calculated. For example, the track center data, the left rail data, and the right rail data are sorted in ascending order in the ascending or descending direction in advance. For example, when the instruction to "calculate the distance between the ground element and the signal closest to the ground element in the ascending ascending order" is given, the distance calculation unit 40 searches the equipment data unit 15 and calculates the distance. The distance between the equipment detected by the equipment detection unit 20 and the equipment for which the distance is to be calculated may be automatically calculated by selecting the equipment of. That is, the distance calculation unit 40 may automatically specify the equipment for which the distance is calculated, that is, the combination of the ground element and the traffic light.
　鉄道沿線設備計測装置１の動作を、フローチャートを用いて説明する。図１４は、実施の形態１に係る鉄道沿線設備計測装置１の動作を示すフローチャートである。データ部１０は、前述のレーザスキャナなどで３次元計測された点群データを取得し、点群データから左レールデータ、右レールデータ、および軌道中心データである軌道基準データを取得する（ステップＳ１）。設備検出部２０は、点群データ部１１から、軌道基準データに基づいて、軌道基準データで表される軌道基準線から一定範囲の点群データを抽出する（ステップＳ２）。設備検出部２０は、抽出した点群データをクラスタリングした結果から鉄道沿線設備を検出し、検出した鉄道沿線設備の種別を判定する（ステップＳ３）。基準線位置算出部３０は、軌道基準線において、設備検出部２０で検出された鉄道沿線設備と最短距離となる基準線位置を算出する（ステップＳ４）。距離算出部４０は、設備検出部２０で検出された鉄道沿線設備と距離を測定する対象の距離算出対象設備を特定する（ステップＳ５）。距離算出部４０は、設備検出部２０で検出された鉄道沿線設備と距離算出対象設備との距離、すなわち設備間の距離を軌道基準線に沿って算出する（ステップＳ６）。距離算出部４０は、算出した設備間の距離を設備データ部１５に記憶させる。表示部５０は、距離算出部４０で算出された、設備検出部２０で検出された鉄道沿線設備と距離算出対象設備との設備間距離を表示する（ステップＳ７）。 The operation of the equipment measuring device 1 along the railway line will be explained using a flowchart. FIG. 14 is a flowchart showing the operation of the railway line equipment measuring device 1 according to the first embodiment. The data unit 10 acquires the point cloud data measured three-dimensionally by the above-mentioned laser scanner or the like, and acquires the left rail data, the right rail data, and the orbit reference data which is the orbit center data from the point cloud data (step S1). ). The equipment detection unit 20 extracts a certain range of point cloud data from the orbit reference line represented by the orbit reference data based on the orbit reference data from the point cloud data unit 11 (step S2). The equipment detection unit 20 detects the equipment along the railway line from the result of clustering the extracted point cloud data, and determines the type of the detected equipment along the railway line (step S3). The reference line position calculation unit 30 calculates a reference line position that is the shortest distance from the equipment along the railway line detected by the equipment detection unit 20 on the track reference line (step S4). The distance calculation unit 40 specifies the equipment along the railway line detected by the equipment detection unit 20 and the equipment for which the distance is to be measured (step S5). The distance calculation unit 40 calculates the distance between the equipment along the railway line detected by the equipment detection unit 20 and the equipment subject to distance calculation, that is, the distance between the equipment along the track reference line (step S6). The distance calculation unit 40 stores the calculated distance between the equipments in the equipment data unit 15. The display unit 50 displays the distance between the equipment along the railway line and the equipment subject to distance calculation, which is calculated by the distance calculation unit 40 and is detected by the equipment detection unit 20 (step S7).
　なお、鉄道沿線設備計測装置１では、距離算出部４０は、基準線位置算出部３０で算出された基準線位置のデータを、基準線位置算出部３０から直接取得せず、データ部１０の設備データ部１５から読み出すようにしてもよい。図１５は、実施の形態１に係る鉄道沿線設備計測装置１の他の構成例を示す図である。図１５では、距離算出部４０は、基準線位置算出部３０で算出された基準線位置のデータを、データ部１０の設備データ部１５から読み出す。この場合においても、距離算出部４０は、前述と同様の動作を行うことが可能である。また、距離算出部４０は、データ部１０の設備データ部１５に記憶されているデータを用いることで、過去に算出されていない設備の組み合わせについて、設備間の距離を算出することも可能である。 In the railway line equipment measuring device 1, the distance calculation unit 40 does not directly acquire the data of the reference line position calculated by the reference line position calculation unit 30 from the reference line position calculation unit 30, but the equipment of the data unit 10. It may be read from the data unit 15. FIG. 15 is a diagram showing another configuration example of the railway line equipment measuring device 1 according to the first embodiment. In FIG. 15, the distance calculation unit 40 reads the data of the reference line position calculated by the reference line position calculation unit 30 from the equipment data unit 15 of the data unit 10. Even in this case, the distance calculation unit 40 can perform the same operation as described above. Further, the distance calculation unit 40 can calculate the distance between equipments for a combination of equipments that has not been calculated in the past by using the data stored in the equipment data unit 15 of the data unit 10. ..
　つづいて、鉄道沿線設備計測装置１のハードウェア構成について説明する。鉄道沿線設備計測装置１において、データ部１０は、メモリである。表示部５０は、ＬＣＤ（Liquid　Crystal　Display）などのモニタである。操作受付部６０は、キーボードなどの入力インタフェースである。設備検出部２０、基準線位置算出部３０、および距離算出部４０は処理回路により実現される。処理回路は、メモリに格納されるプログラムを実行するプロセッサおよびメモリであってもよいし、専用のハードウェアであってもよい。処理回路は制御回路とも呼ばれる。 Next, the hardware configuration of the equipment measuring device 1 along the railway line will be described. In the railway line equipment measuring device 1, the data unit 10 is a memory. The display unit 50 is a monitor such as an LCD (Liquid Crystal Display). The operation reception unit 60 is an input interface such as a keyboard. The equipment detection unit 20, the reference line position calculation unit 30, and the distance calculation unit 40 are realized by a processing circuit. The processing circuit may be a processor and memory for executing a program stored in the memory, or may be dedicated hardware. The processing circuit is also called a control circuit.
　図１６は、実施の形態１に係る鉄道沿線設備計測装置１が備える処理回路９０をプロセッサおよびメモリで実現する場合の処理回路の構成例を示す図である。図１６に示す処理回路９０は制御回路であり、プロセッサ９１およびメモリ９２を備える。処理回路９０がプロセッサ９１およびメモリ９２で構成される場合、処理回路９０の各機能は、ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせにより実現される。ソフトウェアまたはファームウェアはプログラムとして記述され、メモリ９２に格納される。処理回路９０では、メモリ９２に記憶されたプログラムをプロセッサ９１が読み出して実行することにより、各機能を実現する。すなわち、処理回路９０は、鉄道沿線設備計測装置１の処理が結果的に実行されることになるプログラムを格納するためのメモリ９２を備える。このプログラムは、処理回路９０により実現される各機能を鉄道沿線設備計測装置１に実行させるためのプログラムであるともいえる。このプログラムは、プログラムが記憶された記憶媒体により提供されてもよいし、通信媒体など他の手段により提供されてもよい。 FIG. 16 is a diagram showing a configuration example of a processing circuit when the processing circuit 90 included in the railway line equipment measuring device 1 according to the first embodiment is realized by a processor and a memory. The processing circuit 90 shown in FIG. 16 is a control circuit and includes a processor 91 and a memory 92. When the processing circuit 90 is composed of the processor 91 and the memory 92, each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 92. In the processing circuit 90, each function is realized by the processor 91 reading and executing the program stored in the memory 92. That is, the processing circuit 90 includes a memory 92 for storing a program in which the processing of the equipment measuring device 1 along the railway line is eventually executed. It can be said that this program is a program for causing the railway equipment measuring device 1 to execute each function realized by the processing circuit 90. This program may be provided by a storage medium in which the program is stored, or may be provided by other means such as a communication medium.
　ここで、プロセッサ９１は、例えば、ＣＰＵ（Central　Processing　Unit）、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、またはＤＳＰ（Digital　Signal　Processor）などである。また、メモリ９２は、例えば、ＲＡＭ（Random　Access　Memory）、ＲＯＭ（Read　Only　Memory）、フラッシュメモリ、ＥＰＲＯＭ（Erasable　Programmable　ＲＯＭ）、ＥＥＰＲＯＭ（登録商標）（Electrically　ＥＰＲＯＭ）などの、不揮発性または揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、またはＤＶＤ（Digital　Versatile　Disc）などが該当する。 Here, the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like. The memory 92 is, for example, non-volatile or volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM). This includes semiconductor memory, magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs (Digital Versatile Disc), and the like.
　図１７は、実施の形態１に係る鉄道沿線設備計測装置１が備える処理回路を専用のハードウェアで構成する場合の処理回路の例を示す図である。図１７に示す処理回路９３は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Application　Specific　Integrated　Circuit）、ＦＰＧＡ（Field　Programmable　Gate　Array）、またはこれらを組み合わせたものが該当する。処理回路については、一部を専用のハードウェアで実現し、一部をソフトウェアまたはファームウェアで実現するようにしてもよい。このように、処理回路は、専用のハードウェア、ソフトウェア、ファームウェア、またはこれらの組み合わせによって、上述の各機能を実現することができる。 FIG. 17 is a diagram showing an example of a processing circuit in the case where the processing circuit included in the railway line equipment measuring device 1 according to the first embodiment is configured by dedicated hardware. The processing circuit 93 shown in FIG. 17 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The thing is applicable. As for the processing circuit, a part may be realized by dedicated hardware and a part may be realized by software or firmware. As described above, the processing circuit can realize each of the above-mentioned functions by the dedicated hardware, software, firmware, or a combination thereof.
　以上説明したように、本実施の形態によれば、鉄道沿線設備計測装置１において、設備検出部２０は、レーザスキャナなどで鉄道沿線を３次元計測することによって得られた点群データを記憶する点群データ部１１から、軌道基準線に対して一定範囲にある点群データを抽出して地上子、信号機などの鉄道沿線設備を検出する。基準線位置算出部３０は、軌道中心線などの軌道基準線において、検出された設備の位置と最短距離となる位置を算出する。距離算出部４０は、基準線位置算出部３０で算出された最短距離となる位置を用いて、設備間の距離を軌道基準線に沿って算出することとした。これにより、鉄道沿線設備計測装置１は、鉄道沿線にある様々な設備を対象として、設備間の距離を、軌道上の基準である軌道基準線に対する距離で正確に算出することができる。鉄道沿線設備計測装置１は、鉄道沿線に設置された設備を対象にして距離を計測する精度を向上させることができる。 As described above, according to the present embodiment, in the equipment measuring device 1 along the railway line, the equipment detection unit 20 stores the point cloud data obtained by three-dimensionally measuring the area along the railway line with a laser scanner or the like. From the point cloud data unit 11, point cloud data within a certain range with respect to the track reference line is extracted to detect equipment along the railway line such as ground elements and traffic lights. The reference line position calculation unit 30 calculates a position that is the shortest distance from the detected equipment position on the track reference line such as the track center line. The distance calculation unit 40 decides to calculate the distance between the facilities along the track reference line by using the position that is the shortest distance calculated by the reference line position calculation unit 30. As a result, the railway line equipment measuring device 1 can accurately calculate the distance between the facilities for various facilities along the railway line by the distance with respect to the track reference line which is the reference on the track. The railway line equipment measuring device 1 can improve the accuracy of measuring the distance for the equipment installed along the railway line.
　また、鉄道沿線設備計測装置１において、距離算出部４０は、設備間の距離を、軌道上の基準である軌道基準線として、軌道中心線、左レール線、および右レール線に沿って算出する。表示部５０は、軌道中心線、左レール線、および右レール線の各線に沿って算出された距離を併せて表示してもよい。これにより、鉄道沿線設備計測装置１は、カーブによる左右レールの距離差を表現でき、各設備間の距離を詳細に算出し、把握することが可能になる。 Further, in the railway line equipment measuring device 1, the distance calculation unit 40 calculates the distance between the facilities along the track center line, the left rail line, and the right rail line as the track reference line which is the reference on the track. .. The display unit 50 may also display the distances calculated along the track center line, the left rail line, and the right rail line. As a result, the equipment measuring device 1 along the railway line can express the distance difference between the left and right rails due to the curve, and can calculate and grasp the distance between each equipment in detail.
実施の形態２．
　実施の形態１では、鉄道沿線設備計測装置１は、検出した設備間の距離を軌道基準線に沿って算出していた。実施の形態２では、鉄道沿線設備計測装置１が、検出した設備と指定された規定位置との距離を軌道基準線に沿って算出する場合について説明する。 Embodiment 2.
In the first embodiment, the railway line equipment measuring device 1 calculates the distance between the detected equipment along the track reference line. In the second embodiment, a case where the railway line equipment measuring device 1 calculates the distance between the detected equipment and the designated specified position along the track reference line will be described.
　実施の形態２において、鉄道沿線設備計測装置１の構成は、図１または図１５に示す実施の形態１のときの構成と同様である。実施の形態２において、鉄道沿線設備計測装置１の操作受付部６０は、ユーザから、設備検出部２０で検出された設備に対して距離算出対象となる規定位置の指定を受け付ける。規定位置については、点群データ部１１に記憶されている点群データで示される位置であってもよいし、点群データ部１１に記憶されている点群データで示される位置とは異なる位置であってもよい。また、ユーザは、規定位置として、設備検出部２０で検出され、設備データ部１５に記憶されている鉄道沿線設備を指定してもよい。 In the second embodiment, the configuration of the equipment measuring device 1 along the railway line is the same as the configuration in the first embodiment shown in FIG. 1 or FIG. In the second embodiment, the operation reception unit 60 of the equipment measuring device 1 along the railway line receives from the user the designation of the specified position to be the distance calculation target for the equipment detected by the equipment detection unit 20. The specified position may be a position indicated by the point cloud data stored in the point cloud data unit 11, or a position different from the position indicated by the point cloud data stored in the point cloud data unit 11. It may be. Further, the user may specify the equipment along the railway line detected by the equipment detection unit 20 and stored in the equipment data unit 15 as the specified position.
　図１８は、実施の形態２に係るデータ部１０の設備データ部１５が記憶している設備データの例を示す図である。図１８に示す設備データは、図８に示す実施の形態１のときの設備データに対して、ユーザが指定した規定位置についてのデータを追加したものである。図１８に示すように、ＩＤ「Ｓ００９」として規定位置のデータが追加されている。規定位置についても、設備検出部２０で検出された設備の代表位置と同様、Ｘ座標、Ｙ座標、およびＺ座標の３軸の情報で表される。規定位置に対する軌道基準線上の位置については、実施の形態１において設備検出部２０で検出された設備の代表位置と同様、基準線位置算出部３０が算出する。ここで、図１８の例では、ユーザは、操作受付部６０を介して、データ部１０の設備データ部１５に対して、ＩＤ「Ｓ００２」の地上子に対して、距離算出対象設備ＩＤとして、規定位置のＩＤ「Ｓ００９」を指定する。この場合、基準線位置算出部３０は、軌道基準データで表される軌道基準線において、指定された規定位置を表す第２の点群データとの距離が最短となる基準線位置を算出する。実施の形態２において、基準線位置算出部３０は、設備検出部２０で検出された鉄道沿線設備について第１の基準線位置を算出し、規定位置について第２の基準線位置を算出する。 FIG. 18 is a diagram showing an example of equipment data stored in the equipment data unit 15 of the data unit 10 according to the second embodiment. The equipment data shown in FIG. 18 is obtained by adding data for a specified position specified by the user to the equipment data in the first embodiment shown in FIG. As shown in FIG. 18, the data at the specified position is added as the ID “S009”. The specified position is also represented by information on three axes of the X coordinate, the Y coordinate, and the Z coordinate, as in the case of the representative position of the equipment detected by the equipment detection unit 20. The position on the track reference line with respect to the specified position is calculated by the reference line position calculation unit 30 in the same manner as the representative position of the equipment detected by the equipment detection unit 20 in the first embodiment. Here, in the example of FIG. 18, the user sets the distance calculation target equipment ID for the equipment data unit 15 of the data unit 10 and the ground element with the ID “S002” via the operation reception unit 60. Specify the ID "S009" of the specified position. In this case, the reference line position calculation unit 30 calculates the reference line position in which the distance from the second point cloud data representing the designated specified position is the shortest in the orbit reference line represented by the orbit reference data. In the second embodiment, the reference line position calculation unit 30 calculates the first reference line position for the equipment along the railway line detected by the equipment detection unit 20, and calculates the second reference line position for the specified position.
　距離算出部４０は、ＩＤ「Ｓ００２」の地上子について、距離算出対象設備としてＩＤ「Ｓ００９」の規定位置との距離を軌道基準線に沿って算出する。距離算出部４０は、図１３に示すＸ２の位置が規定位置に置き換わるだけで、距離の算出方法自体は実施の形態１と同様の方法によって行うことができる。距離算出部４０は、実施の形態１のときと同様、軌道基準線として、軌道中心線、左レール線、および右レール線の各線に沿って、ＩＤ「Ｓ００２」の地上子とＩＤ「Ｓ００９」の規定位置との距離を算出することができる。実施の形態２において、距離算出部４０は、鉄道沿線設備に対する第１の基準線位置と規定位置に対する第２の基準線位置との距離を軌道基準線に沿って算出する。 The distance calculation unit 40 calculates the distance from the specified position of the ID "S009" as the equipment for distance calculation for the ground element of the ID "S002" along the orbit reference line. The distance calculation unit 40 can perform the distance calculation method itself by the same method as that of the first embodiment, only the position of X2 shown in FIG. 13 is replaced with the specified position. As in the case of the first embodiment, the distance calculation unit 40 uses the track center line, the left rail line, and the right rail line as the track reference lines, along with the ground element of the ID "S002" and the ID "S009". The distance from the specified position can be calculated. In the second embodiment, the distance calculation unit 40 calculates the distance between the first reference line position with respect to the equipment along the railway line and the second reference line position with respect to the specified position along the track reference line.
　表示部５０は、ユーザが規定位置を指定できるように、データ部１０の点群データ部１１に記憶されている点群データを用いて鉄道沿線の状態を表示するようにしてもよい。 The display unit 50 may display the state along the railway line using the point cloud data stored in the point cloud data unit 11 of the data unit 10 so that the user can specify the specified position.
　以上説明したように、本実施の形態によれば、鉄道沿線設備計測装置１は、設備検出部２０で検出された鉄道沿線設備と、ユーザによって指定された規定位置との距離についても、軌道基準線に沿って算出することができる。 As described above, according to the present embodiment, the railway line equipment measuring device 1 also determines the distance between the railway line equipment detected by the equipment detection unit 20 and the specified position specified by the user as a track reference. It can be calculated along the line.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration shown in the above-described embodiment shows an example of the content of the present invention, can be combined with another known technique, and is one of the configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
　１　鉄道沿線設備計測装置、１０　データ部、１１　点群データ部、１２　左レールデータ部、１３　右レールデータ部、１４　軌道中心データ部、１５　設備データ部、２０　設備検出部、３０　基準線位置算出部、４０　距離算出部、５０　表示部、６０　操作受付部。 1 Railway line equipment measuring device, 10 data unit, 11 point group data unit, 12 left rail data unit, 13 right rail data unit, 14 track center data unit, 15 equipment data unit, 20 equipment detection unit, 30 reference line position calculation Department, 40 distance calculation unit, 50 display unit, 60 operation reception unit.

Claims (12)

  1. 　鉄道車両が走行する軌道の位置を示す軌道基準データに基づいて、鉄道沿線を３次元計測して得られた点群データから、前記軌道基準データに対して規定された範囲にある第１の点群データを抽出し、抽出した前記第１の点群データで表される鉄道沿線設備を検出する設備検出部と、
    　前記軌道基準データで表される軌道基準線において、前記鉄道沿線設備の位置または指定された規定位置を表す第２の点群データとの距離が最短となる基準線位置を算出する基準線位置算出部と、
    　前記基準線位置算出部で算出された第１の基準線位置と第２の基準線位置との距離を前記軌道基準線に沿って算出する距離算出部と、
    　を備えることを特徴とする鉄道沿線設備計測装置。     The first point within the range specified for the track reference data from the point cloud data obtained by three-dimensionally measuring the railway line based on the track reference data indicating the position of the track on which the railroad vehicle travels. An equipment detection unit that extracts group data and detects equipment along the railway line represented by the extracted first point cloud data, and
    In the track reference line represented by the track reference data, the reference line position calculation that calculates the reference line position that is the shortest distance from the position of the equipment along the railway line or the second point cloud data representing the designated specified position. Department and
    A distance calculation unit that calculates the distance between the first reference line position and the second reference line position calculated by the reference line position calculation unit along the track reference line, and a distance calculation unit.
    A railway line equipment measuring device characterized by being equipped with.
  2. 　前記基準線位置算出部は、前記設備検出部で検出された前記鉄道沿線設備である第１の鉄道沿線設備について前記第１の基準線位置を算出し、前記設備検出部で検出された前記鉄道沿線設備である第２の鉄道沿線設備について前記第２の基準線位置を算出し、
    　前記距離算出部は、前記第１の鉄道沿線設備に対する前記第１の基準線位置と前記第２の鉄道沿線設備に対する前記第２の基準線位置との距離を前記軌道基準線に沿って算出する、
    　ことを特徴とする請求項１に記載の鉄道沿線設備計測装置。     The reference line position calculation unit calculates the first reference line position for the first railway line equipment which is the equipment along the railway line detected by the equipment detection unit, and the railway detected by the equipment detection unit. Calculate the position of the second reference line for the equipment along the second railway line, which is the equipment along the railway line.
    The distance calculation unit calculates the distance between the first reference line position with respect to the first railway line equipment and the second reference line position with respect to the second railway line equipment along the track reference line. ,
    The equipment measuring device along a railway line according to claim 1.
  3. 　前記設備検出部は、前記鉄道沿線設備として地上子および信号機を検出し、
    　前記基準線位置算出部は、前記軌道基準線において、前記地上子との距離が最短となる前記第１の基準線位置を算出し、前記信号機との距離が最短となる前記第２の基準線位置を算出し、
    　前記距離算出部は、前記第１の基準線位置と前記第２の基準線位置との距離として、前記地上子と前記信号機との距離を前記軌道基準線に沿って算出する、
    　ことを特徴とする請求項２に記載の鉄道沿線設備計測装置。     The equipment detection unit detects ground elements and traffic lights as equipment along the railway line,
    The reference line position calculation unit calculates the first reference line position in which the distance to the ground element is the shortest in the track reference line, and the second reference line in which the distance to the traffic light is the shortest. Calculate the position,
    The distance calculation unit calculates the distance between the ground element and the traffic light along the track reference line as the distance between the first reference line position and the second reference line position.
    The equipment measuring device along a railway line according to claim 2, wherein the equipment is measured.
  4. 　前記基準線位置算出部は、前記設備検出部で検出された前記鉄道沿線設備について前記第１の基準線位置を算出し、前記規定位置について前記第２の基準線位置を算出し、
    　前記距離算出部は、前記鉄道沿線設備に対する前記第１の基準線位置と前記規定位置に対する前記第２の基準線位置との距離を前記軌道基準線に沿って算出する、
    　ことを特徴とする請求項１に記載の鉄道沿線設備計測装置。     The reference line position calculation unit calculates the first reference line position for the railway line equipment detected by the equipment detection unit, and calculates the second reference line position for the specified position.
    The distance calculation unit calculates the distance between the first reference line position with respect to the railway line equipment and the second reference line position with respect to the specified position along the track reference line.
    The equipment measuring device along a railway line according to claim 1.
  5. 　ユーザから前記規定位置の指定を受け付ける操作受付部、
    　を備えることを特徴とする請求項４に記載の鉄道沿線設備計測装置。     Operation reception unit that accepts the designation of the specified position from the user,
    The equipment measuring device along a railway line according to claim 4, wherein the equipment is provided.
  6. 　前記点群データ、前記軌道基準データ、および前記基準線位置算出部で算出された前記基準線位置を記憶するデータ部、
    　を備えることを特徴とする請求項１から５のいずれか１つに記載の鉄道沿線設備計測装置。     A data unit that stores the point cloud data, the trajectory reference data, and the reference line position calculated by the reference line position calculation unit.
    The railway line equipment measuring device according to any one of claims 1 to 5, wherein the equipment is provided.
  7. 　前記軌道基準データは、前記軌道を構成する左レールおよび右レールの間の中央位置である軌道中心の位置を示す軌道中心データ、前記左レールの位置を示す左レールデータ、および前記右レールの位置を示す右レールデータを含み、
    　前記基準線位置算出部は、前記軌道中心データで表される前記軌道基準線である軌道中心線、前記左レールデータで表される前記軌道基準線である左レール線、および前記右レールデータで表される前記軌道基準線である右レール線において、前記第１の基準線位置および前記第２の基準線位置を算出し、
    　前記距離算出部は、前記第１の基準線位置と前記第２の基準線位置との距離を、前記軌道中心線、前記左レール線、および前記右レール線に沿って算出する、
    　ことを特徴とする請求項１から６のいずれか１つに記載の鉄道沿線設備計測装置。     The track reference data includes track center data indicating the position of the track center, which is the center position between the left rail and the right rail constituting the track, left rail data indicating the position of the left rail, and the position of the right rail. Including right rail data showing
    The reference line position calculation unit includes the track center line, which is the track reference line represented by the track center data, the left rail line, which is the track reference line represented by the left rail data, and the right rail data. In the right rail line which is the track reference line represented, the first reference line position and the second reference line position are calculated.
    The distance calculation unit calculates the distance between the first reference line position and the second reference line position along the track center line, the left rail line, and the right rail line.
    The equipment measuring device along a railway line according to any one of claims 1 to 6, wherein the equipment is measured.
  8. 　設備検出部が、鉄道車両が走行する軌道の位置を示す軌道基準データに基づいて、鉄道沿線を３次元計測して得られた点群データから、前記軌道基準データに対して規定された範囲にある第１の点群データを抽出し、抽出した前記第１の点群データで表される鉄道沿線設備を検出する第１のステップと、
    　基準線位置算出部が、前記軌道基準データで表される軌道基準線において、前記鉄道沿線設備の位置または指定された規定位置を表す第２の点群データとの距離が最短となる基準線位置を算出する第２のステップと、
    　距離算出部が、前記基準線位置算出部で算出された第１の基準線位置と第２の基準線位置との距離を前記軌道基準線に沿って算出する第３のステップと、
    　を含むことを特徴とする鉄道沿線設備計測方法。     From the point cloud data obtained by three-dimensional measurement along the railway line based on the track reference data indicating the position of the track on which the railroad vehicle travels, the equipment detection unit within the range specified for the track reference data. The first step of extracting a certain first point cloud data and detecting the equipment along the railway line represented by the extracted first point cloud data, and
    The reference line position calculation unit has the shortest distance from the position of the equipment along the railway line or the second point cloud data representing the designated specified position on the track reference line represented by the track reference data. The second step to calculate
    A third step in which the distance calculation unit calculates the distance between the first reference line position and the second reference line position calculated by the reference line position calculation unit along the track reference line.
    A method for measuring equipment along railway lines, which is characterized by including.
  9. 　前記第２のステップにおいて、前記基準線位置算出部は、前記設備検出部で検出された前記鉄道沿線設備である第１の鉄道沿線設備について前記第１の基準線位置を算出し、前記設備検出部で検出された前記鉄道沿線設備である第２の鉄道沿線設備について前記第２の基準線位置を算出し、
    　前記第３のステップにおいて、前記距離算出部は、前記第１の鉄道沿線設備に対する前記第１の基準線位置と前記第２の鉄道沿線設備に対する前記第２の基準線位置との距離を前記軌道基準線に沿って算出する、
    　ことを特徴とする請求項８に記載の鉄道沿線設備計測方法。     In the second step, the reference line position calculation unit calculates the first reference line position for the first railway line equipment, which is the equipment along the railway line detected by the equipment detection unit, and detects the equipment. The second reference line position was calculated for the second railway line equipment detected by the section.
    In the third step, the distance calculation unit determines the distance between the first reference line position with respect to the first railway line equipment and the second reference line position with respect to the second railway line equipment. Calculate along the reference line,
    The method for measuring equipment along a railway line according to claim 8.
  10. 　前記第１のステップにおいて、前記設備検出部は、前記鉄道沿線設備として地上子および信号機を検出し、
    　前記第２のステップにおいて、前記基準線位置算出部は、前記軌道基準線において、前記地上子との距離が最短となる前記第１の基準線位置を算出し、前記信号機との距離が最短となる前記第２の基準線位置を算出し、
    　前記第３のステップにおいて、前記距離算出部は、前記第１の基準線位置と前記第２の基準線位置との距離として、前記地上子と前記信号機との距離を前記軌道基準線に沿って算出する、
    　ことを特徴とする請求項９に記載の鉄道沿線設備計測方法。     In the first step, the equipment detection unit detects a ground element and a traffic light as equipment along the railway line.
    In the second step, the reference line position calculation unit calculates the first reference line position where the distance to the ground element is the shortest on the track reference line, and the distance to the traffic light is the shortest. The second reference line position is calculated and
    In the third step, the distance calculation unit sets the distance between the ground element and the traffic light as the distance between the first reference line position and the second reference line position along the orbit reference line. calculate,
    The method for measuring equipment along a railway line according to claim 9, wherein the method is characterized by the above.
  11. 　前記第２のステップにおいて、前記基準線位置算出部は、前記設備検出部で検出された前記鉄道沿線設備について前記第１の基準線位置を算出し、前記規定位置について前記第２の基準線位置を算出し、
    　前記第３のステップにおいて、前記距離算出部は、前記鉄道沿線設備に対する前記第１の基準線位置と前記規定位置に対する前記第２の基準線位置との距離を前記軌道基準線に沿って算出する、
    　ことを特徴とする請求項８に記載の鉄道沿線設備計測方法。     In the second step, the reference line position calculation unit calculates the first reference line position for the equipment along the railway line detected by the equipment detection unit, and the second reference line position for the specified position. Is calculated and
    In the third step, the distance calculation unit calculates the distance between the first reference line position with respect to the railway line equipment and the second reference line position with respect to the specified position along the track reference line. ,
    The method for measuring equipment along a railway line according to claim 8.
  12. 　前記軌道基準データは、前記軌道を構成する左レールおよび右レールの間の中央位置である軌道中心の位置を示す軌道中心データ、前記左レールの位置を示す左レールデータ、および前記右レールの位置を示す右レールデータを含み、
    　前記第２のステップにおいて、前記基準線位置算出部は、前記軌道中心データで表される前記軌道基準線である軌道中心線、前記左レールデータで表される前記軌道基準線である左レール線、および前記右レールデータで表される前記軌道基準線である右レール線において、前記第１の基準線位置および前記第２の基準線位置を算出し、
    　前記第３のステップにおいて、前記距離算出部は、前記第１の基準線位置と前記第２の基準線位置との距離を、前記軌道中心線、前記左レール線、および前記右レール線に沿って算出する、
    　ことを特徴とする請求項８から１１のいずれか１つに記載の鉄道沿線設備計測方法。     The track reference data includes track center data indicating the position of the track center which is the center position between the left rail and the right rail constituting the track, left rail data indicating the position of the left rail, and the position of the right rail. Including right rail data showing
    In the second step, the reference line position calculation unit uses the track center line, which is the track reference line represented by the track center data, and the left rail line, which is the track reference line represented by the left rail data. , And the right rail line, which is the track reference line represented by the right rail data, calculates the first reference line position and the second reference line position.
    In the third step, the distance calculation unit sets the distance between the first reference line position and the second reference line position along the track center line, the left rail line, and the right rail line. Calculate
    The method for measuring equipment along a railway line according to any one of claims 8 to 11, wherein the equipment is measured.
PCT/JP2019/046751 2019-11-29 2019-11-29 Device and method for measuring facilities along railway WO2021106183A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2020547228A JP6890728B1 (en) 2019-11-29 2019-11-29 Railway line equipment measuring device and railway line equipment measurement method
PCT/JP2019/046751 WO2021106183A1 (en) 2019-11-29 2019-11-29 Device and method for measuring facilities along railway

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/046751 WO2021106183A1 (en) 2019-11-29 2019-11-29 Device and method for measuring facilities along railway

Publications (1)

Publication Number Publication Date
WO2021106183A1 true WO2021106183A1 (en) 2021-06-03

Family

ID=76129286

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/046751 WO2021106183A1 (en) 2019-11-29 2019-11-29 Device and method for measuring facilities along railway

Country Status (2)

Country Link
JP (1) JP6890728B1 (en)
WO (1) WO2021106183A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10311722A (en) * 1997-05-13 1998-11-24 Kyosan Electric Mfg Co Ltd Distance-measuring device for railroad
JP2005072654A (en) * 2003-08-25 2005-03-17 East Japan Railway Co Radio wave propagation simulation apparatus and radio wave propagation simulation method
JP2015158397A (en) * 2014-02-24 2015-09-03 株式会社カネコ Railway track structure measurement support device, railway track structure measurement method, railroad track structure measurement support program, recording medium
WO2016006283A1 (en) * 2014-07-10 2016-01-14 三菱電機株式会社 Structure maintenance management system
WO2017103999A1 (en) * 2015-12-15 2017-06-22 三菱電機株式会社 Trolley wire measuring apparatus and trolley wire measuring method
WO2018087931A1 (en) * 2016-11-14 2018-05-17 三菱電機株式会社 Trolley wire display device, trolley wire display system, and trolley wire display data creation method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10311722A (en) * 1997-05-13 1998-11-24 Kyosan Electric Mfg Co Ltd Distance-measuring device for railroad
JP2005072654A (en) * 2003-08-25 2005-03-17 East Japan Railway Co Radio wave propagation simulation apparatus and radio wave propagation simulation method
JP2015158397A (en) * 2014-02-24 2015-09-03 株式会社カネコ Railway track structure measurement support device, railway track structure measurement method, railroad track structure measurement support program, recording medium
WO2016006283A1 (en) * 2014-07-10 2016-01-14 三菱電機株式会社 Structure maintenance management system
WO2017103999A1 (en) * 2015-12-15 2017-06-22 三菱電機株式会社 Trolley wire measuring apparatus and trolley wire measuring method
WO2018087931A1 (en) * 2016-11-14 2018-05-17 三菱電機株式会社 Trolley wire display device, trolley wire display system, and trolley wire display data creation method

Also Published As

Publication number Publication date
JP6890728B1 (en) 2021-06-18
JPWO2021106183A1 (en) 2021-12-02

Similar Documents

Publication Publication Date Title
JP6119097B2 (en) Road surface inspection program and road surface inspection device
US10093332B2 (en) Device for creating construction gauge measurement diagram, device for creating construction gauge measurement diagram data, and method for creating construction gauge measurement diagram
US9251586B2 (en) Optical overhead wire measurement
US20190031217A1 (en) Method and measuring system for registering a fixed point adjacent a track
JP6177483B1 (en) Trolley line display device, trolley line display system, and trolley line display data creation method
US20140336928A1 (en) System and Method of Automated Civil Infrastructure Metrology for Inspection, Analysis, and Information Modeling
JP6296477B2 (en) Method and apparatus for determining the three-dimensional coordinates of an object
WO2008130219A1 (en) Method of and apparatus for producing road information
JP6424362B2 (en) Filament measurement apparatus and method thereof
JP5698285B2 (en) Overhead wire position measuring apparatus and method
JP6159177B2 (en) Overhead wire position measuring apparatus and method
JP6268126B2 (en) Architectural limit point cloud determination system using laser point cloud, architectural limit point cloud determination method using laser point cloud, and building limit internal point cloud determination program using laser point cloud
TW201632829A (en) Overhead wire wear measurement device and overhead wire wear measurement method
CN115435700A (en) A device for fast and automatic measurement of the limit of trackside equipment
JPWO2021044564A1 (en) Calibration method of front monitoring device and front monitoring device
WO2017103999A1 (en) Trolley wire measuring apparatus and trolley wire measuring method
JP5952759B2 (en) Overhead wire position measuring apparatus and method
TW201211941A (en) Analyzing device for vehicle dynamic behavior and analyzing program for vehicle dynamic behavior
JP3486239B2 (en) Orbital deviation measuring device and method, and curvature measuring method
JP2021099707A (en) Camera automatic inspection system
JP6890728B1 (en) Railway line equipment measuring device and railway line equipment measurement method
JP2012007950A (en) Method and device for measuring vehicle dimension
JP2019202680A (en) Device to detect abnormality of peripheral object around track and method for the same
JP6635183B1 (en) Wear measuring device and wear measuring method
JP2023112536A (en) Calculation method of road surface damage position

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2020547228

Country of ref document: JP

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19953860

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19953860

Country of ref document: EP

Kind code of ref document: A1