Platform fence limit measurement device and platform fence limit measurement program

Abstract

To accurately measure a distance between a platform fence and a building limit.SOLUTION: A platform fence limit measurement device includes point cloud data acquisition means 101 for generating point cloud data representing the 3D coordinates of physical objects such as platform fences on the basis of reflected light of a laser beam emitted from a laser scanner 21 mounted on a cart 3 toward the physical objects such as platform fences arranged around the cart 3, a division unit 103 that divides the point cloud data into point cloud regions at predetermined intervals in the direction of travel of the cart 3, and a calculation unit 104 that calculates the shortest distance as the shortest distance between the points in the point cloud regions and the building limit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a home fence limit measuring device and a home fence limit measuring program that continuously and accurately measure the distance between a home fence and a building limit.

Background Art

[0002] A home fence installed on a railway platform or the like is a facility that improves safety on the platform, which is used to shield the space between the platform and the track, prevent passengers from falling from the platform to the track, and prevent contact accidents between running trains and passengers.

[0003] Since this home fence is installed adjacent to the building limit at the end of the platform, management values regarding the installation position considering safety during train operation and passenger boarding and alighting are defined. Specifically, a building limit indicating the range where buildings should not be installed with respect to the track on which railway vehicles run, and a vehicle limit indicating the limit range of the size of the vehicle body cross-section that trains must follow are defined.

[0004] Therefore, it is necessary to periodically measure whether the building limit is exceeded during and after the installation of the home fence, confirm the positional relationship, and perform safety management.

[0005] Patent Document 1 discloses a movable home fence measurement device including an upper non-contact position sensor installed at a position capable of measuring the top of the movable home fence body and the top of the obstacle sensor box, a carriage capable of traveling on a track, and a distance measurement means for continuously measuring the distance to the movable home fence when the carriage travels. When the amount of change in the measurement data measured by the distance measurement means is greater than a threshold value, the upper non-contact position sensor installed at a position capable of measuring the top of the fence body and the top of the obstacle sensor box on the carriage measures the longitudinal profile in the direction orthogonal to the track. When it is determined from the amount of change in the measurement data measured by the upper non-contact position sensor that it is the location where the obstacle sensor box is installed, the distance of the top of the fence body, the height and distance of the top of the obstacle sensor box, and the distance of the lower part of the obstacle sensor box are respectively obtained.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, in the technology described in Patent Document 1, although the distance of the top of the fence body, the height and distance of the top of the obstacle sensor box, and the distance of the lower part of the obstacle sensor box are respectively obtained, it is impossible to continuously measure the distance between the home fence and the building limit, and it is difficult to accurately measure the distance between the home fence and the building limit.

[0008] The present invention has been made in view of the above problems, and an object thereof is to provide a home fence limit measurement device and a home fence limit measurement program for accurately measuring the distance between a home fence and a building limit.

Means for Solving the Problems

[0009] To solve the above object, the first feature of the home fence limit measuring device according to the present invention is that a point cloud data generation unit that generates three-dimensional coordinates of the home fence as point cloud data based on reflected light of laser light irradiated from a laser scanner mounted on a moving body to the home fence provided around the moving body; a dividing unit that divides the point cloud data into point cloud regions at predetermined intervals in the traveling direction of the moving body; a calculation unit that calculates, as a shortest distance, the distance of a point located at the shortest position from the building limit among the point clouds included in the point cloud region; is provided.

[0010] The second feature of the point cloud data generation device according to the present invention is that the dividing unit further divides the divided point cloud regions into a plurality of point cloud regions in the vertical direction based on the shape of the building limit.

[0011] The third feature of the point cloud data generation device according to the present invention is that the calculation unit calculates, as the shortest distance, the distance of a point located at the shortest position perpendicular to the limit frame side included in the building limit or the distance of a point located at the shortest position from the limit frame vertex.

[0012] The fourth feature of the point cloud data generation device according to the present invention is that the calculation unit excludes, as isolated points, points that are below a predetermined number of nearest neighbor points in a neighborhood region within a predetermined range among the point clouds included in the point cloud region, and calculates, as the shortest distance, the distance of a point located at the shortest position from the building limit among the excluded point clouds.

[0013] The first feature of the home fence limit measurement program according to the present invention is that a point cloud data generation step of generating three-dimensional coordinates of the home fence as point cloud data based on reflected light of laser light irradiated from a laser scanner mounted on a moving body to the home fence provided around the moving body; A dividing step of dividing the point cloud data into point cloud regions at predetermined intervals in the traveling direction of the moving body, and a calculating step of calculating, as a shortest distance, the distance of a point at the shortest position from the building limit among the point clouds included in the point cloud region, and causing a computer to execute the steps.

Advantages of the Invention

[0014] According to the home fence limit measuring device and the home fence limit measuring program according to the present invention, the distance between the home fence and the building limit can be accurately measured.

Brief Description of the Drawings

[0015]

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[0016] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The same or equivalent parts and components are denoted by the same or equivalent reference numerals throughout the drawings. However, it should be noted that the drawings are schematic and different from the actual ones. Also, there are portions where the dimensional relationships and ratios are different between the drawings.

[0017] In addition, the embodiments shown below are examples of devices for embodying the technical idea of the present invention, and the technical idea of the present invention does not specify the arrangement of each component part as follows. The technical idea of the present invention can be variously modified within the scope of the claims.

[0018] Hereinafter, a home fence limit measurement system including a home fence limit measurement device according to an embodiment of the present invention will be described.

[0019] FIG. 1 is a schematic configuration diagram showing the schematic configuration of a home fence limit measurement system according to an embodiment of the present invention.

[0020] As shown in FIG. 1, a home fence limit measurement system 100 includes a home fence limit measurement device 1, a point cloud data acquisition device 2, a carriage (mobile body) 3, and a monitor 5.

[0021] The point cloud data acquisition device 2 is mounted on a carriage 3 that moves along a rail 4. While the carriage 3 is moving, the point cloud data acquisition device 2 irradiates laser light onto the features around the carriage 3. Then, the point cloud data acquisition device 2 generates the three-dimensional coordinates of the features as point cloud data based on the reflected light of the irradiated laser light. Note that the features refer to all objects on the ground such as, for example, a home fence, a tunnel, a signal, a sign, and a tree.

[0022] The home fence limit measurement device 1 acquires point cloud data and movement data from the point cloud data acquisition device 2 in order to determine whether the home fence exceeds the building limit, and calculates the distance of the point at the shortest position from the building limit based on the acquired point cloud data. Here, the building limit is the range where buildings must not be installed with respect to the track on which the railway vehicle runs. Note that the limit range of the size of the car body cross-section that the train must follow is called the vehicle limit.

[0023] The monitor 5 displays various screens such as a screen for displaying the home fence based on the point cloud data generated by the home fence limit measurement device 1.

[0024] <Generation of point cloud data by the point cloud data acquisition device 2> FIG. 2 is an explanatory diagram schematically explaining the generation of point cloud data by the point cloud data acquisition device 2 included in the home fence limit measurement system 100 according to an embodiment of the present invention.

[0025] As shown in FIGS. 1 and 2, the point cloud data acquisition device 2 includes a laser scanner 21, a GNSS (Global Navigation Satellite System) 22, an IMU (Inertial Measurement Unit) 23, a data collection means 24, and a data temporary storage unit 25.

[0026] The laser scanner 21 is provided behind the carriage 3 and irradiates laser light 360 degrees around while rotating. The reach distance of the irradiated laser light is in the range of 1 m to 100 m. For example, the laser light is emitted at 1 MHz while rotating the 360-degree range at a 200 Hz cycle. Then, the laser scanner 21 receives the reflected light of the emitted laser light, and based on the received reflected light, acquires laser data (Time, θ, L, I) indicating the measurement time, the angle to the home fence, the distance, and the reflection intensity received.

[0027] The GNSS 22 acquires positioning (position coordinate) data using signals emitted from artificial satellites.

[0028] The IMU 23 can detect the inertial measurement (attitude) data of the laser scanner 21. The attitudes obtained by these IMUs 23 are supplied to the data collection means 24 as POS (Position and Orientation System) data in correspondence with the position coordinate data obtained by the GNSS 22. That is, the POS data includes data (Time, xi, yi, zi, Roll, Pitch, Yaw, α) indicating the position and attitude (measurement time, position coordinates, attitude, acceleration, predicted accuracy) of the reference IMU 23, which is a combination of the position coordinate data from the GNSS 22 and the detected attitude. zi is the elevation value at which the IMU 23 is attached from the ground level.

[0029] The position coordinates of the laser scanner 21 with respect to the IMU 23 can be represented by (Δx, Δy, Δz).

[0030] The data collection means 24 collects the POS data obtained from the IMU 23 and the laser data (Time, θ, L) obtained from the laser scanner 21.

[0031] The data temporary storage unit 25 temporarily stores the laser data (Time, θ, L) collected by the data collection means 24 in association with the POS data. Each stored data is supplied to the home fence limit measurement device 1. Here, an example is described in which each data stored in the data temporary storage unit 25 is supplied from the data temporary storage unit 25 to the home fence limit measurement device 1 when the home fence limit measurement device 1 and the point cloud data acquisition device 2 are connected, but it is not limited to this. For example, it may be supplied to the home fence limit measurement device 1 in real time via a wireless network.

[0032] <Configuration of the home fence limit measurement device 1> Returning to FIG. 1, the home fence limit measurement device 1 includes a point cloud data acquisition means 101, a data storage unit 102, a division unit 103, a calculation unit 104, a determination unit 105, a storage unit 110, and a display control means 111.

[0033] The point cloud data acquisition means 101 acquires the POS data supplied from the data temporary storage unit 25 of the point cloud data acquisition device 2 and the laser data, and based on the acquired POS data and the laser data, generates a collection of three-dimensional coordinates indicating the position of the home fence as point cloud data (X, Y, Z). Then, the point cloud data acquisition means 101 stores the generated point cloud data in the data storage unit 102.

[0034] The data storage unit 102 is composed of, for example, a hard disk drive or the like, and stores the point cloud data.

[0035] The splitting unit 103 determines the measurement position on the startup center and splits the point cloud data into point cloud regions at a predetermined interval.

[0036] When measuring the home fence limit, it is necessary to acquire the track center information (position, cant, expansion dimension, etc.) for each measurement location. The track center information is set at intervals of, for example, 1 m in the traveling direction of the carriage 3 according to the parameters of the rail extraction process.

[0037] The analysis of the home fence limit measurement is executed for the range of the home section of the platform based on the input station section extraction result. Depending on the start point of the home section and the splitting width in the traveling direction of the specified carriage 3, it may not match the position of the track center at 1 m intervals.

[0038] Therefore, the traveling direction splitting unit 103A of the splitting unit 103 searches for the measurement location (track center information) at the center of an appropriate splitting width.

[0039] Figs. 3(a) to (c) are schematic diagrams schematically showing the search process of the measurement location (track center information) at the center of the splitting width by the splitting unit 103 provided in the home fence limit measurement system 100 according to an embodiment of the present invention. Here, a plan view is shown.

[0040] As shown in Fig. 3(a), the advancing direction dividing part 103A of the dividing part 103 divides the point cloud data into point cloud regions at a predetermined interval (arbitrary width X, for example, 1 m) in the advancing direction X1 of the carriage 3 between the sections HA1 to HA2 where the home fence H101 is provided in the advancing direction of the carriage 3, starting from the position Q1 at the tip of the sections HA1 to HA2, to obtain divided regions G101, G102, ···. Here, the region from the position Q1 to the position Q2 which is 1 m away from the position Q1 is divided as the divided region G101.

[0041] Then, as shown in Fig. 3(b), the advancing direction dividing part 103A searches for two points of track center information at 1 m intervals close to the searched measurement location S1. Here, the track centers P1 and P2 are searched. Then, the advancing direction dividing part 103A obtains the track center information of the search location by proportional distribution based on the distance from the measurement location S1 to the track center P1 and the distance from the measurement location S1 to the track center P2.

[0042] Also, as shown in Fig. 3(c), even when the rail 4 is curved, the advancing direction dividing part 103A sets the division width so that no gap occurs in the divided region along the track centers P11 to P15. For example, the division width is set so that no gap occurs in the divided region even in the region where the divided region G111 and the divided region G112 are in the curved region.

[0043] Fig. 4 is a diagram showing an example of a home fence, and Fig. 5 is a diagram showing an example in which the advancing direction dividing part 103A divides the vicinity of the home fence into point cloud regions at a predetermined interval in the advancing direction X1 of the carriage 3.

[0044] As shown in Fig. 4, a platform PH1 is provided along the rail 4. The home fence H101 is installed on the platform PH1.

[0045] This home fence H101 is provided with protrusions H102 and H103. Even when installing or after installing the home fence H101 including these, it is necessary to regularly measure whether it exceeds the construction limit so as not to contact the carriage 3 traveling on the rail 4 in the traveling direction X1, confirm the positional relationship, and perform safety management.

[0046] Therefore, first, as shown in FIG. 5, the traveling direction dividing section 103A divides the point group data including the home fence H101 into point group regions at a predetermined interval (arbitrary width X) in the traveling direction X1 of the carriage 3.

[0047] In the example shown in FIG. 5, the point group data is divided into divided regions G101 to G105 with an arbitrary width X in the traveling direction X1 of the carriage 3.

[0048] The vertical dividing section 103B further divides the divided point group regions into a plurality of point group regions in the vertical direction based on the shape of the construction limit.

[0049] The calculation section 104 calculates, as the shortest distance, the distance of the point at the shortest position perpendicular to the construction limit frame side among the point groups included in the point group region or the distance of the point at the shortest position from the limit frame vertex.

[0050] FIG. 6 is a schematic diagram schematically showing the processing in the vertical dividing section 103B and the calculation section 104. FIG. 7(a) shows the whole shape of the construction limit, and (b) shows the detection result of the shortest distance in the calculation section 104.

[0051] As shown in FIGS. 6 and 7, the vertical dividing section 103B generates a construction limit KL enlarged by an enlargement dimension from the track center of the measurement location.

[0052] The construction limit KL includes an upper construction limit side KL1 and a lower construction limit side KL2 recognized as sides of the construction limit.

[0053] Therefore, the calculation unit 104 calculates the distance from the point at the shortest position perpendicular to the frame sides of the upper building limit side KL1 and the lower building limit side KL2 included in the building limit KL as the shortest distance.

[0054] In the example shown in FIG. 6, the distance from the upper building limit side KL1 to the point MP101 at the shortest position among the point group of the home fence H101 is calculated as the shortest distance L101, and the distance from the lower building limit side KL2 to the point MP103 at the shortest position among the point group of the home fence H101 is calculated as the shortest distance L103.

[0055] Also, the distance from the building limit corner KD1, which is the connection point between the upper building limit side KL1 and the lower building limit side KL2, to the point MP102 at the shortest position among the point group of the home fence H101 is calculated as the shortest distance L102. Thereby, the distance between the home fence H101 and the building limit can be accurately measured.

[0056] The determination unit 105 determines whether all of the shortest distances calculated by the calculation unit 104 are equal to or less than a preset threshold Th. If even one of the shortest distances is less than the preset threshold Th, the determination unit 105 determines that there is a possibility that the carriage 3 traveling on the rail 4 in the traveling direction X1 may contact the home fence H101. On the other hand, if all of the shortest distances are equal to or greater than the preset threshold Th, the determination unit 105 determines that the carriage 3 traveling on the rail 4 in the traveling direction X1 will not contact the home fence H101. Thereby, it can be determined whether there is a possibility that the carriage 3 may contact the home fence H101.

[0057] The storage unit 110 stores the shortest distance calculated by the calculation unit 104, the determination result by the determination unit 105, and the like.

[0058] The display control means 111 causes the monitor 5 to display the shortest distance stored by the storage unit 110, the determination result by the determination unit 105, and the like.

[0059] FIG. 8 is a flowchart for explaining the processing content in the home fence limit measurement system 100 according to an embodiment of the present invention.

[0060] In step S101, the point cloud data acquisition means 101 acquires user input from an input device (not shown), POS data within the range of kilometers of the target station, and laser data from the data temporary storage unit 25 of the point cloud data acquisition device 2, and based on the acquired POS data and laser data, generates a collection of three-dimensional coordinates indicating the position of the home fence as point cloud data (X, Y, Z). Specifically, from an input device (not shown), the user inputs the measurement direction of the platform of the target station, the point cloud search range, the outlier removal parameter, the point cloud deletion parameter for the height of the laser scanner 21, the target layer, the classification type, the home fence information file, and the like.

[0061] In step S103, the splitting unit 103 splits the point cloud data into point cloud regions at predetermined intervals in the traveling direction of the carriage 3, and determines the measurement position on the starting center for the split sections.

[0062] As shown in step S105, for each of the split sections, the processes of steps S107 to S115 are repeatedly executed.

[0063] In step S107, the splitting unit 103 acquires the point cloud data of the split section to be processed.

[0064] In step S109, the calculation unit 104 executes noise processing for removing noise.

[0065] FIG. 9 is an explanatory diagram for explaining noise processing by the calculation unit 104 provided in the home fence limit measurement system 100 according to an embodiment of the present invention.

[0066] As shown in FIG. 9, the calculation unit 104 sets a range with a radius L301 centered on an arbitrary point R10 among the point groups included in the point group region as the neighborhood region A101. Then, when the number of point groups in the neighborhood region A101 is less than a predetermined number of nearest neighbor points, the calculation unit 104 removes noise by excluding any such point as an outlier. In the example shown in FIG. 9, the point groups in the neighborhood region A101 are the four points of point groups R101 to R104. Here, when the number of nearest neighbor points is set to 5, the calculation unit 104 determines that the number of point groups in the neighborhood region A101 is less than the predetermined number of nearest neighbor points, and excludes an arbitrary point R10 as an outlier.

[0067] In step S111, the calculation unit 104 generates a measurement reference line from the building limit frame.

[0068] In step S113, the calculation unit 104 calculates the distance of the point that is at the shortest position from the building limit among the point groups included in the point group region based on the generated measurement reference line.

[0069] In step S115, the calculation unit 104 generates an analysis result, that is, an image based on the distance of the point that is at the shortest position from the building limit.

[0070] In step S119, the calculation unit 104 outputs the analysis result to a file in CSV format.

[0071] Note that the above-described embodiment can also be realized by executing a program installed in a computer.

Explanation of Reference Numerals

[0072] 1 Home fence limit measuring device 2 Point group data acquisition device 3 Cart (mobile body) 4 Rail 5 Monitor 21 Laser scanner 24 Data collection means 25 Data temporary storage unit 100 Home Fence Limit Measurement System 101 Point Cloud Data Acquisition Means 102 Data Storage Unit 103 Division Unit 103A Forward Direction Division Unit 103B Vertical Direction Division Unit 104 Calculation Unit 105 Judgment Unit 110 Storage Unit 111 Display Control Means

Claims

1. A point cloud data generation unit that generates three-dimensional coordinates of the home fence as point cloud data based on the reflected light of the laser light irradiated from a laser scanner mounted on a moving body to the home fence provided around the moving body; A dividing unit that divides the point cloud data into point cloud regions at predetermined intervals in the traveling direction of the moving body; A calculating unit that calculates, as the shortest distance, the distance of a point at the shortest position from the building limit among the point clouds included in the point cloud region; A home fence limit measuring device, characterized by comprising the above.

2. The dividing unit: further divides the divided point cloud regions into a plurality of point cloud regions in the vertical direction based on the shape of the building limit. The home fence limit measuring device according to Claim 1, characterized by the above.

3. The calculating unit: calculates, as the shortest distance, the distance of a point at the shortest position perpendicular to the limit frame side included in the building limit or the distance of a point at the shortest position from the limit frame vertex. The home fence limit measuring device according to Claim 2, characterized by the above.

4. The calculating unit: excludes, as isolated points, points in a neighborhood region within a predetermined range among the point clouds included in the point cloud region that are less than a predetermined number of nearest neighbor points, and calculates, as the shortest distance, the distance of a point at the shortest position from the building limit among the excluded point clouds. The home fence limit measuring device according to Claim 1, characterized by the above.

5. A point cloud data generation step of generating three-dimensional coordinates of the home fence as point cloud data based on the reflected light of the laser light irradiated from a laser scanner mounted on a moving body to the home fence provided around the moving body; A dividing step of dividing the point cloud data into point cloud regions at predetermined intervals in the traveling direction of the moving body; A calculating step of calculating, as the shortest distance, the distance of a point at the shortest position from the building limit among the point clouds included in the point cloud region; A home fence limit measuring program, characterized by causing a computer to execute the above.

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