Information processing apparatus, information processing method, and program

Abstract

According to the present disclosure, it is possible to provide an information processing device capable of performing highly accurate measurement.SOLUTION: An information processing device according to the present disclosure includes an acquisition unit that acquires first three dimensional data of a target object measured on a facility whose displacement is to be measured and second three dimensional data of the target object measured on the facility in a state where no displacement occurs, and a specification unit that specifies displacement of the facility on the basis of a difference in position between the first three dimensional data and the second three dimensional data.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device, an information processing method, and a program. [Background technology]

[0002] In recent years, measurements of structures have been made using LiDAR (Light Detection and Ranging) and other technologies. For example, the use of sensing devices such as LiDAR to measure deformation of railway tracks is being considered. LiDAR scans with a laser beam to perform 3D (three-dimensional) scans. 3D data generated using LiDAR and other technologies is displayed on a screen using a specific application installed on a computer device.

[0003] Patent document 1 discloses the configuration of an information processing device that identifies the displacement of an object at a second time point relative to a first time point based on the results of fitting the three-dimensional data of the object measured at a first time point and a second time point to a predetermined model.

[0004] Patent Document 2 discloses the configuration of a system that monitors fluctuations in a monitored portion by comparing the results of measuring the monitored portion, which is the object of monitoring fluctuations, with a reference point at predetermined time intervals.

[0005] Patent Document 3 discloses measuring the displacement of a TIN (Triangulated Irregular Network) model generated based on three-dimensional point cloud data of a measurement object. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] International Publication No. 2023 / 127037 [Patent Document 2] Japanese Patent Application Laid-Open No. 2008-076058 [Patent Document 3] Japanese Patent Application Laid-Open No. 2007-170821 Summary of the Invention [Problem to be solved by the invention]

[0007] Patent Documents 1 to 3 disclose generating three-dimensional data on an object for measuring fluctuation or displacement. Here, when measuring deformation of a railroad track, a precision is required in which the measurement result has an error of about several tens of millimeters. On the other hand, the precision of a measuring device using LiDAR is generally about several centimeters. Therefore, there is a problem in that it is difficult to use LiDAR to identify the displacement of a structure, which requires a higher precision of error than the precision of a measuring device using LiDAR.

[0008] An object of the present disclosure is to provide an information processing device, a measurement system, an information processing method, and a program that enable highly accurate identification of displacement. [Means for solving the problem]

[0009] The information processing device according to the present disclosure includes an acquisition unit that acquires first three-dimensional data of a target object measured from above equipment whose displacement is to be measured, and second three-dimensional data of the target object measured from above the equipment in a state where no displacement is occurring, and an identification unit that identifies the displacement of the equipment based on the difference in position between the first three-dimensional data and the second three-dimensional data.

[0010] The information processing method of the present disclosure acquires first three-dimensional data of a target object measured from above equipment whose displacement is to be measured, and second three-dimensional data of the target object measured from above the equipment in a state where no displacement is occurring, and identifies the displacement of the equipment based on the difference in position between the first three-dimensional data and the second three-dimensional data.

[0011] The program of the present disclosure causes a computer to acquire first three-dimensional data of a target object measured from above equipment whose displacement is to be measured, and second three-dimensional data of the target object measured from above the equipment in a state where no displacement is occurring, and to identify the displacement of the equipment based on the difference in position between the first three-dimensional data and the second three-dimensional data. [Effects of the Invention]

[0012] The present disclosure can provide an information processing device, a measurement system, an information processing method, and a program that enable high-precision measurement. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 shows an example of the configuration of an information processing device. [Figure 2] FIG. 2 is a diagram showing the flow of the measurement process executed in the information processing device. [Figure 3] FIG. 3 shows an example of the configuration of a measurement system. [Figure 4] FIG. 4 shows an example of the configuration of an information processing device. [Figure 5] Figure 5 shows the situation of measuring the target object from orbit at different times. [Figure 6] FIG. 6 shows the imaging direction of the target object in the measuring device. [Figure 7] FIG. 7 shows data obtained by combining point cloud data of the target object at time T1 and point cloud data of the target object at time T2. [Figure 8] Figure 8 shows the orbital altitude. [Figure 9] FIG. 9 shows the traveling direction, lateral direction and vertical direction of the vehicle on which the measuring device is installed. [Figure 10] FIG. 10 shows the arrangement of the target object in the ZY plane at time T1 and time T2. [Figure 11]FIG. 11 shows the flow of the determination process executed in the information processing device. [Figure 12] FIG. 12 shows a vehicle running on a track where track irregularity has occurred. [Figure 13] FIG. 13 shows a situation where alignment displacement occurs. [Figure 14] Figure 14 shows a situation where level displacement has occurred. [Figure 15] FIG. 15 is a block diagram illustrating an example of the configuration of an information processing device. DETAILED DESCRIPTION OF THE INVENTION

[0014] (Embodiment 1) 1 shows an example of the configuration of an information processing device 10. The information processing device 10 may be a computer device that operates when a processor executes a program stored in a memory. The information processing device 10 may also be a server device.

[0015] The information processing device 10 includes an acquisition unit 11 and an identification unit 12. The acquisition unit 11 and the identification unit 12 may be software or modules that are executed by a processor executing a program stored in a memory, or may be hardware such as a circuit or a chip.

[0016] The acquiring unit 11 may be used as a means for acquiring data, and the identifying unit 12 may be used as a means for identifying desired data.

[0017] The acquisition unit 11 acquires first three-dimensional data of a target object measured from the equipment whose displacement is to be measured, and second three-dimensional data of the target object measured from the equipment in a state where no displacement is occurring.

[0018] The facility for which displacement is to be measured may be, for example, a structure or object used for vehicle travel, such as a track, a railway line, or a road. Measuring from the facility may involve installing a measuring device in a position adjacent to the facility, or may involve using a measuring device installed on a moving object that moves on the facility. The moving object may be a vehicle, a robot, a person, etc.

[0019] The measuring device may be a sensor. Specifically, the sensor may be a ranging sensor that measures the distance to a target object. The ranging sensor may be, for example, a sensor that uses LiDAR. The measuring device is installed in a position that is in direct contact with the equipment whose displacement is to be measured, or in a position that is in indirect contact with the equipment via a moving object or the like. The displacement of the equipment is measured based on the results of measurement by the measuring device. Measuring the displacement of the equipment may also mean detecting or identifying the displacement of the equipment. Alternatively, the measuring device may be an imaging device that captures an image.

[0020] The equipment in a state where no displacement is occurring is the same equipment as the equipment that is the target of displacement measurement. Furthermore, the position on the equipment in a state where no displacement is occurring and the position on the equipment that is the target of displacement measurement may be substantially the same, or the difference between the two positions may be within a predetermined range. In other words, the measurement point on the equipment in a state where no displacement is occurring and the measurement point on the equipment that is the target of displacement measurement may be substantially the same, or the difference between the two positions may be within a predetermined range.

[0021] The target object is an object attached to a road or the ground, and may be, for example, real estate such as a building, an object installed on the ground such as a traffic light or sign, or a plant, etc. The target object may be an object whose position and appearance do not change within a predetermined period of time.

[0022] The three-dimensional data may be data generated according to the measurement results of a sensor, data that can identify the shape or appearance of an object, point cloud data, or image data that has depth information.

[0023] Point cloud data is a collection of points having three-dimensional information. The three-dimensional information may be coordinates on the X-axis, Y-axis, and Z-axis that represent a three-dimensional space. The X-axis, Y-axis, and Z-axis are orthogonal to each other. The point cloud data may be generated using a sensor. The point cloud data may be generated in a sensor that uses LiDAR. Alternatively, the point cloud data may be generated by matching feature points of multiple image data obtained by photographing the same object from multiple locations. The generation of point cloud data using multiple image data may be performed using, for example, SfM (Structure from Motion). The image data may be generated by an imaging device used as a sensor.

[0024] The identification unit 12 identifies the displacement of the equipment based on the difference in position between the first three-dimensional data and the second three-dimensional data. The difference in position may be the difference in position on three-dimensional coordinates representing the first three-dimensional data and the second three-dimensional data. Furthermore, the difference in position may be the difference in the X-coordinate component, the difference in the Y-coordinate component, or the difference in the Z-coordinate component between the first three-dimensional data and the second three-dimensional data. Alternatively, the difference in position may be a value obtained by combining or synthesizing the differences in two or more coordinate components among the difference in the X-coordinate component, the difference in the Y-coordinate component, and the difference in the Z-coordinate component between the first three-dimensional data and the second three-dimensional data. The three-dimensional coordinates may be, for example, coordinates in a coordinate system based on the position of the measuring device itself, or may be coordinates in another coordinate system. Furthermore, the three-dimensional coordinates may be determined based on the measurement direction of the measuring device. The positions of the first three-dimensional data and the second three-dimensional data are indicated in the same coordinate system.

[0025] The position difference may also be the distance between an arbitrary point in the first three-dimensional data and a point in the second three-dimensional data that corresponds to the arbitrary point in the first three-dimensional data.

[0026] The measurement directions of a measuring device installed on equipment in a state where no displacement occurs are different from those of a measuring device installed on equipment in a state where displacement occurs. That is, the measuring device installed on equipment in a state where no displacement occurs and the measuring device installed on equipment in a state where displacement occurs measure target objects located in different directions. As a result, the first 3D data and the second 3D data are represented as objects at different positions in a single coordinate system.

[0027] 2 is a diagram showing the flow of measurement processing executed by information processing device 10. First, acquisition unit 11 acquires first three-dimensional data of a target object measured from above the equipment whose displacement is to be measured, and second three-dimensional data of the target object measured from above the equipment in a state where no displacement has occurred (S11). Next, identification unit 12 identifies the displacement of the equipment based on the difference in position between the first three-dimensional data and the second three-dimensional data (S12).

[0028] As described above, the information processing device 10 does not measure the displacement of the equipment itself, but rather measures the position of a target object measured from the same position before and after the displacement occurs. Furthermore, the information processing device 10 identifies the displacement of the equipment based on the difference in the position of the target object. As a result, the information processing device 10 can identify the displacement of the equipment, which cannot be measured directly due to the influence of errors, by measuring the target object.

[0029] (Embodiment 2) FIG. 3 shows an example of the configuration of a measurement system. The measurement system of FIG. 3 includes an information processing device 20 and a measurement device 30. The information processing device 20 corresponds to the information processing device 10 of FIG. 1. The measurement device 30 may be a distance measurement sensor that measures the distance to an object using LiDAR. The information processing device 20 and the measurement device 30 may communicate via a network. The network may be, for example, a mobile network provided by a telecommunications carrier. The mobile network may be a network that provides wireless communication methods such as 4G or 5G. Alternatively, the network may be an IP network such as the Internet. The information processing device 20 and the measurement device 30 may be connected to the network via a wireless LAN (Local Area Network). Alternatively, the information processing device 20 may acquire measurement results held by the measurement device 30 offline. For example, the information processing device 20 may acquire measurement results of the measurement device 30 via a portable memory device or the like. Alternatively, the information processing device 20 and the measurement device 30 may be configured as an integrated device. In this case, the measurement device 30 is one component of the information processing device 20.

[0030] The measuring device 30 is attached to a vehicle traveling on a track. For example, the measuring device 30 may be attached to the vehicle so that measurements are performed with the traveling direction of the vehicle as the front. The direction with the traveling direction of the vehicle as the front may be, for example, a direction substantially parallel to the traveling direction of the vehicle. The measuring device 30 may determine that the position where a beam output from the measuring device 30 in a direction parallel to the traveling direction of the vehicle is reflected is the center position of the point cloud data.

[0031] 4 shows an example of the configuration of an information processing device 20. The information processing device 20 corresponds to the information processing device 10 in FIG. 1. The information processing device 20 has an acquisition unit 21, an identification unit 22, an output unit 23, and a storage unit 24. The acquisition unit 21 and the identification unit 22 correspond to the acquisition unit 11 and the identification unit 12 in FIG. 1. In the following explanation, the functions and processes of the acquisition unit 21 and the identification unit 22 that are different from those of the acquisition unit 11 and the identification unit 12 of the information processing device 10 will be explained.

[0032] The acquisition unit 21, the identification unit 22, and the output unit 23 may be software or modules that are executed by a processor executing a program stored in a memory, or may be hardware such as a circuit or a chip.

[0033] The output unit 23 may be used as a means for outputting information. The storage unit 24 may be used as a means for storing information. "Storing" may be rephrased as "recording," "memorizing," "saving," etc. The storage unit 24 may be, for example, a memory included in the information processing device 20. Specifically, the storage unit 24 may be a memory provided inside the information processing device 20. Alternatively, the storage unit 24 may be a memory external to the information processing device 20.

[0034] The acquisition unit 21 acquires three-dimensional data from the measurement device 30. For example, the acquisition unit 21 acquires point cloud data from the measurement device 30. The measurement device 30 may perform measurements, for example, when a vehicle passes an observation position on the track. The observation position may be determined in advance. Furthermore, a plurality of observation positions may be provided on the track. The measurement device 30 generates point cloud data related to at least one object by performing measurements at the observation positions. The acquisition unit 21 acquires point cloud data measured at different times by the measurement device 30. In other words, the acquisition unit 21 acquires a plurality of point cloud data measured at different times at the same observation position.

[0035] Here, the measuring device 30 is installed on a moving vehicle. Therefore, the measuring device 30 generates point cloud data of the target object 60 while moving. As a result, the relative position between the measuring device 30 and the target object 60 changes, and the image of the target object 60 represented by the point cloud data may become distorted. A distorted image of the target object 60 may mean that the target object 60 appears elongated as a result of accumulating point cloud data generated while moving.

[0036] In such a case, the acquisition unit 21 may use data from, for example, an IMU (Inertial Measurement Unit) to correct the amount of movement in the direction of travel of the vehicle 40, i.e., the direction of travel of the measuring device 30, and restore point cloud data indicating the target object 60.

[0037] The identification unit 22 identifies track displacement using point cloud data. Starting displacement is also called track irregularity. Track displacement may be the amount of deformation of the track. Track displacement may be, for example, displacement occurring on a railway line. The railway line may be, for example, the rails on which railway vehicles run. Track displacement occurs due to various factors. For example, track displacement may occur due to the effects of natural disasters or construction work around the track. Alternatively, track displacement may occur due to deterioration of the rail over time.

[0038] Track irregularities include, for example, alignment deviation, elevation deviation, level deviation, gauge deviation, and planar deviation. Alignment deviation is distortion of the rail side in the longitudinal direction. Level deviation is distortion of the rail head surface in the longitudinal direction. Level deviation is a difference in height between the left and right rails. Gauge deviation is a difference from the basic dimension of the gauge (distance between the left and right rails). Planar deviation is a state in which the track is "twisted" relative to its plane, and is a difference in level between two points spaced a certain distance apart.

[0039] Here, a method for identifying track irregularity will be explained using Figure 5. Figure 5 shows a situation in which a target object is measured from orbit at different times. Figure 5 shows timing T1 and timing T2 as measurement timings. Timing T2 is assumed to be later than timing T1. In other words, timing T1 is assumed to be earlier than timing T2. Timing T1 is assumed to be the timing before track irregularity occurs. Timing T2 is assumed to be the timing after track irregularity occurs.

[0040] FIG. 5 also shows that a vehicle 40 equipped with a measuring device 30 measures a target object 60 at a measurement point P1 on the track 50 while traveling along the track 50. The measurement point may be referred to as an observation position. The vehicle 40 may be, for example, a train traveling on a railroad track. FIG. 5 also shows a tree as the target object 60. The track 50 at time T2 is in a state where elevation displacement occurs relative to the track 50 at time T1. Measuring the target object 60 at the measurement point P1 means generating or acquiring point cloud data of the target object 60 at the measurement point P1.

[0041] Fig. 6 shows the imaging direction of the target object 60 in the measuring device 30. Fig. 6 shows point cloud data of the target object 60 generated by the measuring device 30 at timing T1 and point cloud data of the target object 60 generated at timing T2.

[0042] The angle θ is the angle between the direction in which the measuring device 30 measures the target object 60 at measurement point P1 at time T1 and the direction in which the measuring device 30 measures the target object 60 at measurement point P2 at time T2. The direction in which the measuring device 30 measures the target object 60 at measurement point P1 may be, for example, a straight line connecting the measuring device 30 and any point included in the target object 60. The any point may be, for example, a point located at the center of gravity of the target object 60, the highest point on the tree, the lowest point on the tree, etc.

[0043] The distance between the measurement device 30 and the target object 60 at time T1 is defined as d. Furthermore, the distance between the position of the target object 60 at time T1 and the position of the target object 60 at time T2 is defined as L. The distance L, the distance d, and the angle θ are expressed as L = d × tan θ. Here, the distance L will be explained using FIG. 7.

[0044] 7 shows data obtained by combining point cloud data of the target object 60 at time T1 and point cloud data of the target object 60 at time T2. Combining may mean expressing the point cloud data of the target object 60 at time T1 and the point cloud data of the target object 60 at time T2 in the same coordinate system. While FIG. 7 shows two-dimensional data for ease of explanation, it may also be shown as three-dimensional data.

[0045] At time T2, due to the influence of elevation changes occurring in the orbit, the measurement device 30 measures above the direction horizontal to the ground surface, so the position of the target object 60 at time T2 is lower than the position of the target object 60 at time T1.

[0046] Here, the position of the target object 60 is a position determined in a coordinate system defined by the measuring device 30. The coordinate system defined by the measuring device 30 is, for example, a coordinate system centered on the measuring device 30. In other words, the coordinate system defined by the measuring device 30 may be a coordinate system determined based on a specific measurement direction of the measuring device 30. Therefore, if the measurement direction of the measuring device 30 changes due to the influence of trajectory displacement, the target objects 60 will be located at different positions even if the target objects 60 are measured from the same measurement point at different times.

[0047] 7, the difference between the highest vertex of the target object 60 at time T1 and the highest vertex of the target object 60 at time T2 is represented as the distance L between the target objects 60. Distance L may be calculated using the lowest vertex, a point located at the center of gravity, or the like, instead of the highest vertex of the target object 60.

[0048] After determining the distances L and d, the determination unit 22 determines the angle θ by calculating the angle θ=arctan(L / D). The determination unit 22 determines the angle θ at each measurement point on the orbit. The determination unit 22 determines the amount of orbital displacement at timing T2 using the angle θ.

[0049] FIG. 8 shows the altitude of the trajectory. The solid line in FIG. 8 indicates the trajectory at time T1, and the dotted line indicates the trajectory at time T2. The circles indicate measurement points. The distance between the measurement points at time T2 is Δm. The symbol i indicates the i-th measurement point. Δm(i+1) is the distance between the i+1-th measurement point and the i-th measurement point. θ(i) is the angle at the i-th measurement point. The angle is the value of the angle between the measurement directions of the measurement device 30 at times T1 and T2. The measurement direction may be the traveling direction of the vehicle 40 on which the measurement device 30 is installed. In other words, the angle may be the angle between the traveling directions at the same measurement point on the trajectory at times T1 and T2.

[0050] At this time, the altitude Z of the orbit to be measured at the timing T2 is expressed by the following equation (1).

[0051] TIFF2026006718000002.tif8117

[0052] Furthermore, if the measurement data on orbit can be treated as continuous values, the altitude information of the orbit can be obtained using the following equation (2).

[0053] TIFF2026006718000003.tif11113

[0054] The identification unit 22 may determine that an unacceptable amount of deviation has occurred if the altitude at time T2, which indicates deviation from the orbit at time T1, exceeds a threshold value. The output unit 23 outputs information indicating an abnormality when it is determined that an unacceptable amount of deviation has occurred. Furthermore, the output unit 23 may output information indicating normality when it is determined that an unacceptable amount of deviation has not occurred. The information indicating an abnormality may be, for example, a message shown on a display or the like, or a sound notifying the user of an abnormality. The threshold value may be a predetermined value at which orbital deviation is considered to have occurred. Alternatively, the threshold value may be a value smaller than the value at which orbital deviation is considered to have occurred. Setting the threshold value to a value smaller than the value at which orbital deviation is considered to have occurred may be intended to preventively detect orbital deviation.

[0055] In the explanation of FIGS. 5 to 8, the explanation has been mainly about elevational irregularities, but the same applies to other track irregularities.

[0056] 9 shows the traveling direction, lateral direction, and vertical direction of a vehicle 40 on which a measuring device 30 is installed. The traveling direction of the vehicle 40 on the track is defined as the X axis, the lateral direction as the Y axis, and the vertical direction as the Z axis. The rotation angle around the X axis is defined as the roll angle, the rotation angle around the Y axis as the pitch angle, and the rotation angle around the Z axis as the yaw angle.

[0057] The angle θ used to detect elevation displacement in Figures 5 to 8 indicates the pitch angle. Here, to detect horizontal and horizontal displacement, it is necessary to specify the roll angle. To detect vertical displacement, it is necessary to specify the yaw angle.

[0058] If the yaw angle is ψ, the displacement in the X-axis direction can be calculated using the following equation (3).

[0059] TIFF2026006718000004.tif7137

[0060] Furthermore, the displacement in the Y-axis direction can be calculated using the following equation (4).

[0061] TIFF2026006718000005.tif8139

[0062] The displacement in the Z-axis direction can be calculated using equation (1).

[0063] For example, the determination unit 22 may determine that an unacceptable amount of displacement has occurred when the displacement in the Y-axis direction exceeds a threshold value. The determination unit 22 may also determine that a right-angle displacement has occurred when the displacement in the Y-axis direction exceeds a threshold value.

[0064] FIG. 10 shows the position of the target object 60 on the ZY plane at timings T1 and T2. The upper left of FIG. 10 shows a state in which no unacceptable amount of displacement occurs in the trajectory 50. In other words, it shows a normal state. The upper right of FIG. 10 shows a state in which elevation displacement occurs in the trajectory 50. The lower right of FIG. 10 shows a state in which vertical displacement occurs in the trajectory 50. The lower left of FIG. 10 shows a state in which the displacement in the roll angle exceeds a threshold, causing horizontal displacement.

[0065] 11 shows the flow of the determination process executed by the information processing device 20. First, the acquisition unit 21 acquires three-dimensional data of the target object 60 at timing T1 and timing T2 (S21). Next, the identification unit 22 identifies the rotation angle based on the displacement of the position of the target object 60 at timing T2 relative to the position of the target object 60 at timing T1 (S22).

[0066] Next, the identification unit 22 determines whether or not the displacement of the actuation position in the specified direction exceeds a threshold value (S23). For example, the identification unit 22 identifies the displacement of the trajectory in the Y-axis direction or the Z-axis direction according to the rotation angle identified in step S22. The identification unit 22 may further determine whether or not the rotation angle exceeds a threshold value. The identification unit 22 determines whether or not the identified displacement of the trajectory exceeds a threshold value. Next, if the output unit 23 determines in step S23 that the actuation displacement exceeds the threshold value, it outputs information indicating an abnormality (S24). The output unit 23 may output, as abnormality information, a type of displacement determined according to the axis or rotation angle along which the displacement of the trajectory exceeds the threshold value.

[0067] As described above, the information processing device 20 can identify the displacement of the trajectory in accordance with the displacement of the position of the target object 60, without directly measuring the trajectory. As a result, even if the measurement device does not have enough accuracy to identify the displacement, the information processing device 20 can identify the displacement of the trajectory.

[0068] (Embodiment 3) FIG. 12 shows a vehicle 40 traveling on a track where track irregularity has occurred. The traveling direction of the vehicle 40 after the track irregularity has occurred is assumed to be at an angle θ with respect to the traveling direction of the vehicle 40 before the track irregularity occurred. The angle θ indicates the pitch angle. Here, the length between the wheels of the vehicle, which is the point of contact between the vehicle 40 and the track, is assumed to be the base length D. The base length D is a line used as a reference length when using the amount of track irregularity. The base length may also be the length of the vehicle instead of the length between the wheels.

[0069] In FIG. 12, the displacement ΔZ in the Z-axis direction is expressed by the following equation (5).

[0070] TIFF2026006718000006.tif9100

[0071] If the base line length D is sufficiently long, the identification unit 22 can detect track irregularity without adding the displacement in the Z-axis direction using formula (1) or formula (2). For example, if the base line length D is long enough to detect a value of ΔZ that exceeds the threshold for detecting elevational irregularity, then the base line length D can be said to be sufficiently long.

[0072] For example, assume that the identifying unit 22 can identify elevation displacement when ΔZ is 20 millimeters or more. Here, if the angle θ indicates an angular displacement of 0.5 degrees and the baseline length is 1 meter, the value of ΔZ is approximately 9 millimeters. Also, if the angle θ indicates an angular displacement of 0.5 degrees and the baseline length is 10 meters, the value of ΔZ is approximately 87 millimeters. Thus, when the baseline length is 10 meters, the identifying unit 22 can detect track irregularity without adding the displacement in the Z-axis direction using equation (1) or equation (2).

[0073] When a vehicle having a baseline length longer than a predetermined length is used, the identification unit 22 may identify the track irregularity according to the value of ΔZ calculated using equation (5). The predetermined length may be, for example, a length that allows a value of ΔZ that can identify the track irregularity to be calculated when the predetermined angular displacement value is reached. For example, when the value of the predetermined pitch angle θ is 0.5 degrees, the predetermined length may be the baseline length at which ΔZ is 20 millimeters or more.

[0074] While the specification of elevation displacement has been described with reference to FIG. 12, the specification of alignment displacement and level displacement will be described below.

[0075] Figure 13 shows a situation in which trajectory displacement occurs. Figure 13 shows the state when the trajectory is viewed from the Z-axis direction, which is the direction perpendicular to the Earth's surface. The yaw angle ψ indicates the angle of the measurement direction of the measurement device 30 at time T2 relative to the measurement direction of the measurement device 30 at time T1. In this case, ΔY, which is the displacement in the Y-axis direction, is calculated by changing the pitch angle to the yaw angle ψ in equation (5).

[0076] Figure 14 shows a situation where level displacement has occurred. Figure 14 shows the state as seen from the direction of travel of the track 50. The roll angle φ indicates the inclination of the vehicle caused by the difference in height between the left and right rails at time T2. In this case, ΔZ, which is the displacement in the Z-axis direction, is calculated by changing the pitch angle to the roll angle φ in equation (5).

[0077] As described above, when the measuring device 30 is installed on a vehicle having a baseline length longer than a predetermined length, the information processing device 20 can easily identify the amount of track displacement using equation (5).

[0078] (Fourth embodiment) In the fourth embodiment, a process will be described in which the identification unit 22 compares the amount of displacement of the target object with a threshold value to determine whether or not track displacement has occurred.

[0079] 10, the identification unit 22 may compare the amount of displacement in the Z-axis direction between the target object 60 at time T1 and the target object 60 at time T2, which are displayed on a ZY plane that is perpendicular to the traveling direction, with a threshold value. The amount of displacement in the Z-axis direction may be, for example, the difference in Z coordinate components between an arbitrary point on the target object 60 at time T1 and a point on the target object 60 at time T2 that corresponds to the arbitrary point. The identification unit 22 may determine that a vertical displacement has occurred when the amount of displacement in the Z-axis direction is greater than the threshold value.

[0080] Furthermore, the identification unit 22 may compare the amount of displacement in the Y-axis direction between the target object 60 at time T1 and the target object 60 at time T2 with a threshold value. If the amount of displacement in the Y-axis direction is greater than the threshold value, the identification unit 22 may determine that a pass displacement has occurred.

[0081] Furthermore, the identification unit 22 may compare the amount of rotation of the target object 60 at timing T2 relative to the target object 60 at timing T1 with a threshold value. The amount of rotation may be the angle formed between an axis passing through two points constituting the target object 60 at timing T1 and an axis passing through two points constituting the target object 60 at timing T2 that correspond to the two points constituting the target object 60 at timing T1. The identification unit 22 may determine that a level displacement has occurred when the amount of rotation is greater than the threshold value.

[0082] The threshold value that the identification unit 22 compares with the amount of displacement or rotation may be determined based on the distance between the measurement device 30 and the target object 60. As the distance between the measurement device 30 and the target object 60 increases, the amount of displacement or rotation of the target object 60 increases. Therefore, the threshold value may be set to a larger value as the distance between the measurement device 30 and the target object 60 increases.

[0083] As described above, the identification unit 22 determines whether or not trajectory deviation has occurred by comparing the amount of displacement or rotation of the target object 60 with a threshold value. This allows the identification unit 22 to omit the process of calculating the amount of displacement of the trajectory itself. As a result, the processing load on the information processing device 20 is reduced compared to when the process of calculating the amount of displacement of the trajectory itself is executed.

[0084] FIG. 15 is a block diagram showing a configuration example of an information processing device 10 and an information processing device 20 (hereinafter referred to as the information processing device 10, etc.). Referring to FIG. 15, the information processing device 10, etc. includes a network interface 1201, a processor 1202, and a memory 1203. The network interface 1201 may be used to communicate with a network node. The network interface 1201 may include, for example, a network interface card (NIC) conforming to the IEEE 802.3 series. IEEE stands for Institute of Electrical and Electronics Engineers.

[0085] The processor 1202 reads and executes software (computer programs) from the memory 1203 to perform the processes of the measuring device 10 and the like described using the flowcharts. The processor 1202 may be, for example, a microprocessor, an MPU, or a CPU. The processor 1202 may include multiple processors.

[0086] The memory 1203 is configured by a combination of volatile memory and non-volatile memory. The memory 1203 may include storage located remotely from the processor 1202. In this case, the processor 1202 may access the memory 1203 via an I / O (Input / Output) interface (not shown).

[0087] 15, the memory 1203 is used to store a group of software modules. The processor 1202 can perform processing of the information processing device 10, etc. by reading and executing the group of software modules from the memory 1203.

[0088] As described with reference to FIG. 15, each of the processors included in the information processing device 10 or the like executes one or more programs including a group of instructions for causing a computer to execute the algorithm described with reference to the drawings.

[0089] In the above examples, the program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0090] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0091] Each drawing is merely an example for describing one or more embodiments. Each drawing may relate not only to one particular embodiment, but also to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessary to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0092] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes. (Appendix 1) an acquisition unit that acquires first three-dimensional data of a target object measured from above a facility that is the object of displacement measurement, and second three-dimensional data of the target object measured from above the facility in a state where no displacement occurs; an identification unit that identifies a displacement of the facility based on a difference in position between the first three-dimensional data and the second three-dimensional data. (Appendix 2) The identification unit An information processing device as described in Appendix 1, which determines the angle of the measurement direction of the sensor that measures the first three-dimensional data based on the measurement direction of the sensor that measures the second three-dimensional data, and determines the displacement of the equipment based on the angle. (Appendix 3) The displacement of the equipment is 3. The information processing device according to claim 2, wherein the displacement is a value obtained by adding up the displacement amounts at a plurality of measurement points on the equipment. (Appendix 4) The displacement of the equipment is The information processing device according to claim 2, wherein the angle is determined based on the angle and a baseline length determined based on the size of the moving body on which the sensor is mounted. (Appendix 5) 5. The information processing device according to claim 1, wherein the facility is a track. (Appendix 6) The identification unit The information processing device described in Appendix 5, which identifies the elevation change of the trajectory based on the difference in position between the first three-dimensional data and the second three-dimensional data in the up-down direction, which is a direction substantially perpendicular to the Earth's surface. (Appendix 7) The identification unit The information processing device described in Appendix 5, wherein a deviation of the trajectory is identified based on a difference in position between the first three-dimensional data and the second three-dimensional data in a left-right direction that is a direction substantially parallel to the earth's surface. (Appendix 8) The identification unit 6. The information processing device according to claim 5, wherein the information processing device identifies a level displacement of the track based on an angle of inclination of the first three-dimensional data relative to the second three-dimensional data. (Appendix 9) The identification unit The information processing device according to claim 6, wherein the elevation change of the trajectory is identified based on a result of comparison between a difference in the vertical position between the first three-dimensional data and the second three-dimensional data and a threshold value. (Appendix 10) 10. The information processing device according to any one of claims 5 to 9, wherein the first three-dimensional data and the second three-dimensional data are measured using sensors attached to a vehicle traveling on the track. (Appendix 11) a measuring device for measuring the distance to a target object; A measurement system comprising an information processing device having an acquisition unit that acquires first three-dimensional data of a target object measured from above the equipment whose displacement is to be measured, and second three-dimensional data of the target object measured from above the equipment in a state where no displacement is occurring, and an identification unit that identifies the displacement of the equipment based on the positional difference between the first three-dimensional data and the second three-dimensional data. (Appendix 12) Acquire first three-dimensional data of a target object measured from above a facility that is the object of displacement measurement, and acquire second three-dimensional data of the target object measured from above the facility in a state where no displacement occurs; An information processing method for identifying a displacement of the facility based on a difference in position between the first three-dimensional data and the second three-dimensional data. (Appendix 13) Acquire first three-dimensional data of a target object measured from above a facility that is the object of displacement measurement, and acquire second three-dimensional data of the target object measured from above the facility in a state where no displacement occurs; and determining a displacement of the facility based on a difference in position between the first three-dimensional data and the second three-dimensional data.

[0093] Some or all of the elements (e.g., configurations and functions) described in Supplementary Notes 2 to 10 that are dependent on Supplementary Notes 1 may also be dependent on Supplementary Notes 11 to 13 in the same dependency relationship as Supplementary Notes 2 to 10. Some or all of the elements described in any Supplementary Note may be applied to various hardware, software, recording means for recording software, systems, and methods. [Explanation of symbols]

[0094] 10. Information processing equipment 11 Acquisition Department 12 Specific part 20 Information processing equipment 21 Acquisition Department 22 Specific section 23 Output section 24 Storage area 30 Measuring Equipment 40 vehicles 50 orbits 60 Target Object

Claims

1. an acquisition unit that acquires first three-dimensional data of a target object measured from a facility that is an object to be displaced and second three-dimensional data of the target object measured from the facility in a state where no displacement occurs; an identification unit that identifies a displacement of the facility based on a difference in position between the first three-dimensional data and the second three-dimensional data.

2. The identification unit The information processing device according to claim 1 , further comprising: determining an angle of a measurement direction of the sensor that measures the first three-dimensional data relative to a measurement direction of the sensor that measures the second three-dimensional data; and determining a displacement of the facility based on the angle.

3. The displacement of the equipment is The information processing device according to claim 2 , wherein the displacement is a value obtained by adding up displacement amounts at a plurality of measurement points on the facility.

4. The displacement of the equipment is The information processing device according to claim 2 , wherein the distance is determined based on the angle and a base length determined based on the size of a moving object on which the sensor is mounted.

5. The information processing device according to claim 1 , wherein the facility is a track.

6. The identification unit The information processing device according to claim 5 , wherein the elevation change of the trajectory is determined based on a difference in position between the first three-dimensional data and the second three-dimensional data in an up-down direction that is a direction substantially perpendicular to the Earth's surface.

7. The identification unit The information processing apparatus according to claim 5 , wherein a deviation of the trajectory is identified based on a difference in position between the first three-dimensional data and the second three-dimensional data in a left-right direction that is a direction substantially parallel to the earth's surface.

8. The identification unit The information processing apparatus according to claim 6 , wherein the elevation change of the trajectory is identified based on a result of comparison between a difference in the vertical position between the first three-dimensional data and the second three-dimensional data and a threshold value.

9. Acquire first three-dimensional data of a target object measured from above a facility that is an object to be displaced, and acquire second three-dimensional data of the target object measured from above the facility in a state where no displacement occurs; an information processing method for identifying a displacement of the facility based on a difference in position between the first three-dimensional data and the second three-dimensional data;

10. Acquire first three-dimensional data of a target object measured from above a facility that is an object to be displaced, and acquire second three-dimensional data of the target object measured from above the facility in a state where no displacement occurs; and determining a displacement of the facility based on a difference in position between the first three-dimensional data and the second three-dimensional data.

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