JPH04295707A - Shape measuring apparatus for structure around railroad - Google Patents

Abstract

PURPOSE:To obtain an apparatus which can measure the three-dimensional shape of a structure around a railroad such as a tunnel and a bridge on the side along a track. CONSTITUTION:On a dolly 3 running on a track 1, a light source device 4 for emitting radial planar slit light S in a plane which is approximately perpendicular to the track 1 and an image sensing device 5 for picking up a light cutting line C generated at the wall surface of a tunnel 2 are arranged. When the dolly 3 is running on the track 1, the image sensing device 5 continuously picks up the images of the light cutting lines C sequentially. An image processing device 6 obtains the coordinates of the light cutting line on the light cutting images obtained with the image sensing device 5. The coordinates are imparted to a computer 7. In the computer 7, the coodinates of the light cutting line C on the wall surface of the tunnel is computed, and the three-dimensional shape of the wall surface of the tunnel along the track 1 is obtained. In the computer 7, the three-dimensional shape data of the wall surface of the tunnel are compared with the construction gauge data.

Description

[Detailed description of the invention]

0001

[Industrial Field of Application] This invention is a shape measuring device for structures surrounding railway tracks, such as tunnels and bridges, which can measure the three-dimensional shape of the side along the track of railway structures such as tunnels and bridges in a short time. It is related to.

0002

[Prior Art] As part of the maintenance and inspection work on railways, in order to examine the aging of structures around the track, such as tunnels and bridges, and to accurately determine when to maintain them, the side of these structures along the track is inspected. Three-dimensional shapes are measured by determining three-dimensional position coordinates.

For example, measuring the shape of a tunnel wall surface is one of these methods, and one example of a device commonly used in this case is the one disclosed in Japanese Patent Laid-Open No. 61-275616. FIG. 7 is a conceptual diagram of a tunnel cross-section measuring device according to the prior art, and FIG. 8 is an external perspective view of the main body of the measuring device.

As shown in FIG. 7, this tunnel cross section measuring device includes a light source means 102 that projects a distance measuring light beam a in a spot shape onto the wall surface of a tunnel to be measured 101, and a light source means 102 that converges the reflected light. a light-receiving lens 103 arranged a predetermined distance D1 from the light-receiving lens 1;
The photoelectric conversion means 104 for position detection is provided at a predetermined distance D2 from the light receiving lens 103 so as to receive the reflected light converged at 03. Further, a light source means 102, a light receiving lens 103, and a photoelectric conversion means 10
A rotating means 105 is provided for integrally rotating 4 and 4 about an axis parallel to the direction of the distance D1, and an angle detecting means 106 is provided for detecting the projection angle of the ranging beam a by the rotating means 105. The calculation means 107 calculates the cross section of the tunnel to be measured based on the distances D1 and D2 and the respective outputs of the photoelectric conversion means 104 and the angle detection means 106.

In the tunnel cross-section measuring device constructed as described above, the photoelectric conversion means 104 is detected by the light receiving lens 103.
The position of the upwardly focused spot light on the wall surface of the tunnel to be measured 101 changes depending on the distance L between the tunnel wall surface and the rotation center axis b of the rotation means 105. Here, if the distance from the reference position of the spot light receiving position on the photoelectric conversion means 104 is x, then the distance L is
It is given by L=(1/x)・D1・D2. Therefore, the cross section of the tunnel to be measured 101 is measured by calculating the distance L by the calculation means 107 based on the position information from the photoelectric conversion means 104 according to the projection angle of the ranging beam a obtained from the angle detection means 106. That's what I do.

More specifically, as shown in FIG. 8, the main body of the tunnel cross-section measuring device is equipped with a rotation control unit 202 mounted on a tripod 201. 203
is rotated about its base line (axis), and the rotation angle is detected by an inclinometer in the rotation control unit 202. A light source unit 204 equipped with a light source and a light emitting lens is provided on the base rod 203 so as to rotate together with the base rod 203, and a light receiving lens and a photoelectric conversion element are arranged on both sides of the light source unit 204 at a predetermined distance. Sensor units 205a and 205b are provided.

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

[0008]

[Problems to be Solved by the Invention] However, in the tunnel cross section measuring device according to the prior art, the distance measuring beam is projected onto the wall of the tunnel in the form of a spot, and the projection angle of the distance measuring beam is changed by a rotating means. However, since the configuration uses the flying spot method to measure the cross-sectional shape of the tunnel at a predetermined position, when measuring the three-dimensional shape over a long distance along the trajectory of the tunnel wall surface,
The problem was that it took a long time to take measurements because the robot had to move a little along the orbit and then stop and take measurements. Similar problems also occur when measuring the three-dimensional shape of other structures around the track, such as platforms and bridges along the track.

[0009] This invention was made to solve the above-mentioned problems, and it is possible to measure the three-dimensional shape of the side along the track of structures around the railway such as tunnels and bridges in a short time. , aims to provide a shape measuring device for structures around railway tracks.

0010

[Means for Solving the Problems] In order to achieve the above object, a shape measuring device for a structure around a railway track according to claim 1 of the present application includes a moving bogie running on a track and a device disposed on the moving bogie. , a light source device that projects radial planar slit light in a plane substantially perpendicular to the trajectory; and a light source device that projects a radial planar slit light onto the moving carriage at a certain distance from the light source device so that its optical axis intersects with the radial planar slit light. an imaging device that images a light cutting line generated on a surface facing the track of a structure surrounding the track by the radial planar slit light from the light source device, and a light cutting line obtained by the imaging device; An image processing means for determining the coordinates of the light section line on the image, and calculating the coordinates of the light section line on the structure surrounding the railway based on the coordinates of the light section line obtained by the image processing means. and calculation means for determining the three-dimensional shape of the railway peripheral structure on the side along the track. Further, the shape measuring device for a structure around a railway track according to claim 2,
The calculation means compares the obtained three-dimensional shape data of the side along the track of the structure around the railway with building limit data indicating a given safety limit, and determines whether the structure around the railway line exceeds the building limit. It is designed to determine whether or not a violation has occurred.

[0011]

[Operation] In the device for measuring the shape of a structure around a track according to claim 1, when the movable trolley runs on the track, the light source device disposed on the movable trolley forms a radial shape in a plane substantially orthogonal to the track. By projecting the slit light, a light cutting line is generated along the track on the surface of the track surrounding structure facing the track. This optical cutting line is continuously imaged one after another by an imaging device placed on the moving carriage. The image processing means determines the coordinates of a light section line (light section line image) on each light section image obtained by the imaging device. Then, the calculation means calculates the coordinates of the light section line on the structure around the track based on the coordinates of the light section line on this image, and calculates the three-dimensional shape of the side along the track of the structure around the track. It will be done.

[0012] In the shape measuring device for a structure around a railway track according to claim 2, the calculation means calculates the three-dimensional shape data of the side along the track of the structure around the railway track obtained and the architectural data indicating the given safety limit. In addition, inspections against building limits can also be performed since the limit data are compared.

[0013]

EXAMPLES The present invention will be explained below based on examples. FIG. 1 is a diagram showing the overall configuration of a shape measuring device for structures around a railway line according to an embodiment of the present invention, FIG. 2 is a perspective view showing the outline thereof, and FIG. 3 is a light section image obtained by the imaging device shown in FIG. 1. FIG.

In FIGS. 1 and 2, 1 is a track, 2 is a tunnel in which the three-dimensional shape of the wall along the track 1 is to be measured, and 3 is a movable cart running on the track 1. In this embodiment, the movable trolley 3 is towed in the running direction R shown in the figure by a tow vehicle (not shown). On the movable trolley 3, as shown in the figure, a light source device 4, which will be described later, projects radial planar slit light S into a plane substantially orthogonal to the track 1, and a light source device 4, which will be described later, projects radial planar slit light S. An imaging device 5, which will be described later, is provided with a CCD television camera 51 to take an image of the optical cutting line C generated on the wall surface of the tunnel 2 by the above-described method. The light source device 4 is arranged so that its axis is directed toward the center of the track 1. The CCD television camera 51 of the imaging device 5 captures every field (1/60
The light source device 4 is a field accumulation type that can obtain a light section line image (see FIG. 3) in seconds), and the light source device 4 is arranged so that its optical axis CP intersects the plane of the radial planar slit light S at an angle θ. It is arranged at a constant distance A from the vehicle in the running direction R.

The above-mentioned CCD television camera 51 is arranged so that the vertical direction of the camera field of view (direction perpendicular to the horizontal scanning line) is the length direction of the light cutting line C. In this embodiment, the imaging As shown in FIG. 3, the optical section image obtained by the device 5 shows the side closer to the orbit 1 as the left side in the figure. Further, on the light section image, a uv orthogonal coordinate system is set in which the horizontal direction is u and the vertical direction is v. Note that the origin O of this uv orthogonal coordinate system is the optical axis CP of the CCD television camera 51 in FIG.
and the CCD image sensor surface.

Reference numeral 6 denotes an image processing device to be described later as an image processing means, which calculates the coordinates of the light section line C on the light section image based on the video signal from the CCD television camera 51, and calculates the coordinates of the obtained light section line C. Calculator as a means of calculating coordinate values (
computer) 7.

The computer 7 calculates the coordinates of the light section line C on the wall surface of the tunnel 2 based on the coordinates of the light section line C obtained by the image processing device 6, and calculates the coordinates of the light section line C on the tunnel wall surface along the trajectory 1 of the tunnel wall surface. In addition to determining the three-dimensional shape, the three-dimensional shape data of the tunnel wall surface that has been determined is compared with the construction limit data that indicates the safety limits that have been entered in advance, and the tunnel 2
It also determines whether the walls violate the building limits. 8 is a graphic display on which the measured three-dimensional shape of the wall of the tunnel 2, the results of comparison with building limit data, etc. are displayed.

[0018] In this embodiment, the structure's orthogonal coordinate system The orthogonal direction is set as the Y axis, and the axial direction of the light source device 4 is set as the Z axis.

FIG. 4 is an explanatory diagram of the configuration of a light source unit that constitutes the light source device 4 shown in FIG. 1. As shown in FIG. The light source unit 41 is
As shown in the figure, it has a semiconductor laser 42 as a light source that emits laser light, and on its optical axis there is a spherical convex lens group 43 made up of a combination of spherical lenses, and a slit light forming cylindrical lens made of three cylindrical convex lenses. It is constructed by sequentially arranging a group 44 and a cylindrical lens 45 for expanding the divergence angle, which is a single concave cylindrical lens. With this light source unit 41, the light from the semiconductor laser 42 that has been collimated by the spherical convex lens group 43 is formed into a slit light by the slit light forming cylindrical lens group 44, and further, by the lens effect of the divergence angle expanding cylindrical lens 45. The spread angle is expanded to obtain a highly bright fan-shaped slit light with a thickness of several mm and a spread angle ψ of about 80 degrees.

Although not shown, the light source device 4 described above is constructed by arranging four sets of such light source units 41 on the same plane with their optical axes shifted. Thus, it is possible to realize a planar slit light S having a radial shape close to a disk shape with a spread angle of about 300 degrees.

FIG. 5 is an explanatory diagram of the configuration of the imaging device 5 shown in FIG. 1. As shown in the figure, the above-mentioned imaging device 5 includes a CCD television camera 51 having a camera lens 51a, a vertical/horizontal variable magnification lens device 52 and an optical filter 53 attached to the CCD television camera 51. By the way, in order to ensure the required measurement accuracy (measurement accuracy) regarding the depth of the wall surface of the tunnel 2, which is particularly important, only the CCD television camera 51 equipped with the normal camera lens 51a, which is arranged as described above, can be used. Furthermore, if the camera field of view in the horizontal direction, which is the scanning line direction, is narrowed, the camera field of view in the vertical direction, which corresponds to the length direction of the light cutting line C, is also narrowed, which is undesirable because the measurement area becomes narrow. Therefore, in this embodiment, the vertical and horizontal variable magnification lens device 52 is attached to the camera lens 5 in order to obtain the required depth measurement accuracy to the wall surface of the tunnel 2 without narrowing the measurement area.
1a is attached to a CCD television camera 51.

That is, as shown in FIG. 5, the vertical and horizontal variable magnification lens device 52 has two lens groups, a camera lens side lens group 52a and a measurement object side lens group 52b, on its optical axis in order from the camera lens 51a side. Two lens groups are arranged with a distance d between principal surfaces. The camera lens side lens group 52a has a positive focal length f1 and is arranged in a posture that has a lens effect (refraction effect) in the vertical direction of the camera field of view of the CCD television camera 51 (the length direction of the light cutting line C). It consists of a single cylindrical biconvex lens.

The measurement object side lens group 52b includes two cylindrical plano-concave lenses having a negative focal length and whose surfaces equidistant from both the front and back sides form curved surfaces in order to eliminate aberrations at the peripheral part of the visual field. The composite focal length has a negative focal length f2. These two cylindrical plano-concave lenses are arranged in such a manner that they both have a lens effect in the vertical direction of the camera field of view, with the convex sides of their curved surfaces facing the tunnel wall side when viewed from the camera 51. It should be noted that each of the cylindrical lenses described above, together with an optical filter 53 described later, is fixed to a frame (not shown) that is detachable from the camera lens 51a. Both lens groups 52a and 52b composed of such cylindrical lenses are arranged so that the distance d between their principal surfaces satisfies the relationship d=f1+f2.

Therefore, this vertically and horizontally variable magnification lens device 52
Therefore, the horizontal camera field of view set to ensure the required measurement accuracy is the same as in the case of using only the camera lens 51a, on the imaging plane of the CCD television camera 51 via the camera lens 51a. Thus, an image of the light section line C is formed in a state where the camera field of view in the vertical direction corresponding to the length direction of the light section line C is expanded. In this case, the imaging magnification in the vertical direction is smaller than that in the horizontal direction, and the magnification ratio is determined by the focal length f1 of the camera lens side lens group 52a and the measurement object side lens group 52.
It is determined by the ratio of focal length b to f2. For example, when f1=90 mm and f2=-30 mm, the vertical camera field of view is expanded three times compared to the case where only the camera lens 51a is used.

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

FIG. 6 is a block diagram of the image processing device 6 shown in FIG. This image processing device 6 processes Ck(u
, v), k=1 ~N The coordinates of the light section line (coordinate values of the light section image) are calculated at the video rate (1/60 seconds) for all horizontal scanning lines N (N is the effective scanning line). 240 in number of lines
(see Figure 3).

That is, as shown in FIG. 6, the image processing device 6 includes an amplifier 61 for amplifying the video signal from the CCD television camera 51, and converting the amplified video signal into a digital signal having a brightness level. A moving average circuit 63 for smoothing the signal from the AD converter 62, a differentiation circuit 64 for differentiating the signal from the moving average circuit 63, and a moving average circuit 63 for smoothing the signal from the AD converter 62.
A moving average comparison circuit 65, a differentiating circuit 64, and a moving average for extracting a signal corresponding to the optical section line C (optical section line image) by comparing the signal from the C and a set value indicating a constant brightness level. A zero-cross detection circuit 66 for detecting the coordinates of the optical cutting line C as the position where the brightness level changes the most based on the signal from the value comparison circuit 65, and Light cutting line coordinates Ck(u
, v), k=1 to N data, which are temporarily stored in order to be provided to the computer 7 at a predetermined timing.

The operation of the apparatus for measuring the shape of a structure around a track having the above structure will be explained below. When the mobile cart 3 travels on the track 1, the light source device 4 projects radial planar slit light S in a plane substantially orthogonal to the track 1, so that a light cutting line C is formed on the wall of the tunnel 2 along the track. generated according to. This optical cutting line C is imaged one after another every 1/60 seconds by a CCD television camera 51 placed on the moving carriage 3.

In this case, the vertical and horizontal magnification lens device 52 attached to the CCD television camera 51 is used to measure the vertical direction corresponding to the length direction of the optical cutting line C while ensuring the required depth measurement accuracy to the wall surface of the tunnel 2. The directional camera field of view can be expanded, and even if it is a long and thin line like the light section line C, it can be imaged over a wide measurement area. In addition, since the CCD television camera 51 is equipped with an optical filter 53 that transmits only the wavelength of the semiconductor laser 42 as a light source, the optical cutting line C can be detected without being affected by sunlight or illumination light around the track. Can be imaged clearly.

The video signal from the CCD television camera 51 is given to the image processing device 6 every field (1/60 second). In response to this, the image processing device 6 outputs the coordinates Ck (u, v
), k=1 ~N at the video rate (1/60 seconds), and the obtained optical cutting line coordinates Ck (
u, v), k=1 to N as the blanking time (about 1.
2 msec) to the computer 7.

From the coordinates Ck(u,v), k=1 to N of the light section line C on the above light section image, the computer 7 calculates the distance on the wall of the tunnel 2 using the following equations (1) and (2). The coordinates of the optical section line C are calculated, and the three-dimensional coordinates Pi (Xi, Yi, Zi) of the optical section line C corresponding to one cross-sectional shape of the tunnel 2 are determined.

[0032]

[Table 1]

Here, m is the imaging magnification of the imaging device 5, f is the focal length of the imaging device 5, θ is the angle between the surface of the radial planar slit light S and the optical axis CP of the imaging device 5, and h is the surface of the radial planar slit light S and the optical axis C of the imaging device 5
This is the height of the intersection point Q with P from the orbital surface. Note that the X-axis coordinate value is provided by a position detector (not shown).

While the mobile cart 3 is moving on the track 1, the three-dimensional coordinates Pi (Xi, Yi, Zi) of the optical cutting line C corresponding to one cross-sectional shape of the tunnel 2 is reduced to 1/6.
It is calculated sequentially every 0 seconds. As a result, the three-dimensional coordinates Pi (Xi, Yi, Zi) of the wall surface of the tunnel 2 are obtained by stacking these three-dimensional coordinates Pi (Xi, Yi, Zi) along the trajectory 1.
Zi), i=1 to n can be determined, and the three-dimensional shape of the tunnel wall surface along trajectory 1 can be measured in a short time. These three-dimensional shape data Pi (Xi, Yi, Zi), i=1 to n of the tunnel wall surface are stored in the memory of the computer 7 and displayed on the graphic display 8.

Further, the computer 7 calculates the three-dimensional coordinates Pi(X
i, Yi, Zi) is obtained, this three-dimensional shape data is compared with pre-input building limit data indicating safety limits, and it is determined whether the wall surface of tunnel 2 violates the building limits. Make a judgment. Then, the deviation value and the like are displayed on the graphic display 8. Thereby, while the movable trolley 3 moves on the track 1, it is also possible to perform an inspection against the building limits.

[0036] In the above embodiment, an example was explained in which a single channel including one imaging device 5 and one image processing device 6 was configured as a set, but the present invention is not limited to this. An imaging device and an image processing device for imaging a line may be configured with a plurality of channels. This makes it possible to divide the measurement area and narrow the camera field of view of each imaging device, thereby further improving measurement accuracy. In this case, it is also possible to change the size of the camera field of view of each individual imaging device, and it is also possible to narrow the camera field of view of a specific imaging device that is in charge of a measurement area where particularly high accuracy is required. It becomes possible.

[0037]

According to the device for measuring the shape of a structure around a railway track according to claim 1, the light source device projects planar slit light radiating in a plane substantially orthogonal to the track onto a movable bogie running on the track. An imaging device is installed to image the light cut line generated on the surface of the structure surrounding the track facing the track by the radial planar slit light. It is possible to obtain a light section image by sequentially capturing images of the light section line that occurs along the trajectory on the surface facing the trajectory of the object using an imaging device, and to calculate the coordinates of the light section line on this light section image. Based on this, the coordinates of the optical cutting line on the structure around the track are calculated by a calculation means, and the three-dimensional shape of the structure along the track is measured. The time required to measure the three-dimensional shape of a structure around a railway track along the track can be significantly shortened compared to the conventional method.

Furthermore, according to the shape measuring device for railway surrounding structures of claim 2, in addition to the above-mentioned effects, the calculation means calculates the obtained three-dimensional shape data of the railway surrounding structures on the side along the track;
It also compares the given safety limits with building limit data and determines whether or not the structures around the railway violate the building limits, making inspections against building limits easy. This can contribute to further improving the efficiency of maintenance and inspection work.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing the overall configuration of a shape measuring device for a structure around a railway line according to an embodiment of the present invention.

FIG. 2 is a perspective view schematically showing the shape measuring device shown in FIG. 1;

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

FIG. 4 is a configuration explanatory diagram of a light source unit that constitutes the light source device shown in FIG. 1;

FIG. 5 is an explanatory diagram of the configuration of the imaging device shown in FIG. 1.

FIG. 6 is a block diagram of the image processing device shown in FIG. 1.

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

8 is an external perspective view of the measuring device main body of the tunnel cross-section measuring device shown in FIG. 7. FIG.

[Explanation of symbols]

1... Track 2... Tunnel 3... Moving trolley 4... Light source device 41... Light source unit 42... Semiconductor laser 43... Spherical convex lens group 44
...Slit light forming cylindrical lens group 45...Cylindrical lens for expanding the spread angle 5...Imaging device
51...CCD television camera 51a...camera lens
52... Vertical and horizontal variable magnification lens device 53... Optical filter
6... Image processing device 7... Computer S... Radial planar slit light C... Light cutting line

Claims (2)

[Claims] 1. A movable trolley that travels on a track; a light source device disposed on the movable trolley that projects planar slit light radially in a plane substantially orthogonal to the track; disposed at a predetermined distance from the light source device so that its optical axis intersects the planar slit light forming the
an imaging device that images a light cutting line generated on a surface facing the track of a structure around the track by radial planar slit light from the light source device; and an imaging device that images the light cutting line on the light cutting image obtained by the imaging device; an image processing means for calculating the coordinates of the line; and an image processing means for calculating the coordinates of the light cutting line on the railway surrounding structure based on the coordinates of the light cutting line obtained by the image processing means, and calculating the coordinates of the light cutting line on the railway surrounding structure. 1. A shape measuring device for a structure around a railway track, comprising: calculation means for determining the three-dimensional shape of the side along the track. 2. The calculation means compares the obtained three-dimensional shape data of the track-side structure along the track with building limit data indicating a given safety limit, and 2. The shape measuring device for a structure around a railway track according to claim 1, wherein the device determines whether or not an object violates a building limit.