Ground equipment position measurement method, position measurement device, position measurement program, and position measurement marker

Abstract

This invention provides a method for measuring the position of ground equipment, a position measurement device, a position measurement program, and a position measurement marker that can accurately measure the positional relationship of ground equipment laid along railway tracks. [Solution] Position measurement method #100 is a method for measuring the position of ground equipment laid along a railway track based on moving images taken while moving along the railway track. Position measurement method #100 includes a position relationship measurement step #190 which measures the positional relationship between the railway track and the ground equipment based on railway track side and ground equipment side markers used to identify locations where the railway track and ground equipment are at the same position in the depth direction from the moving images. Image extraction step #150 extracts marker images in which the railway track side and ground equipment side markers are captured from the moving images. Position relationship measurement step #190 measures the positional relationship between the railway track and the ground equipment based on the marker images.

Description

[Technical Field]

[0001] This invention relates to a method for measuring the position of ground equipment, a position measuring device, a position measuring program, and a position measuring marker for measuring the position of ground equipment laid along a railway track, based on forward images taken while moving along the track. [Background technology]

[0002] To ensure the safety of railway operations, proper maintenance of track equipment is necessary. Currently, workers and technicians conduct site inspections and maintenance. However, there is a shortage of manpower required for these inspections, making labor-saving measures essential. The use of video processing technology, which has been becoming increasingly popular in recent years, is therefore needed. For example, efforts are being made to utilize video (forward-facing images) obtained from handheld cameras installed in front of trains, and progress is being made in detecting equipment and determining deterioration and malfunctions using forward-facing images.

[0003] The positional measurement of railway trackside equipment has been considered from the perspective of verifying the clearance limits set to avoid contact with trains. Here, the clearance limits are the boundaries of the space secured on the track so that nothing can touch the trains and no part of the facilities can be violated in order to safely operate railway vehicles. On the other hand, measuring the distance and height of ground equipment such as ground beacons, platforms, and utility poles from the rails requires millimeter-level accuracy, so a lot of manpower is spent on on-site measurements. For these measurements, specialized methods other than forward-facing images have long been considered, such as ground distance measurement, clearance obstruction detection using specialized equipment, and bearing detection using lidar (Light Detection and ranging (LiDAR)).

[0004] Forward-facing images obtained from cameras mounted on regular passenger trains are easy to acquire and have a wide range of applications, so many inspection technologies for ground equipment using forward-facing images have already been considered. In "Inspection of Track Equipment by Image Analysis Using Train Forward Images," in addition to projection transformation of forward-facing images and optical flow estimation, machine learning techniques using deep learning are utilized to estimate kilometer mileage, estimate rail joint gaps, determine deterioration of wooden sleepers, and detect detachment of fastening devices (see, for example, Non-Patent Document 1). Furthermore, this conventional technology has developed a track bed shape estimation technique using 3D position estimation that takes vanishing points into consideration.

[0005] In "Study of Preventive Maintenance Measures for Railways Using Image Analysis Technology," the study examines the condition diagnosis of safety equipment such as signals using forward-facing images. This involves extracting the location of equipment using GPS (Global Positioning System) and identifying signal lights, level crossing barriers, and points through image recognition of each signal equipment based on image processing such as edge extraction (see, for example, Non-Patent Document 2). In addition, numerous studies have been reported in the road sector that apply Deep Learning and semantic segmentation to moving images obtained from cameras installed in automobiles to detect cracks and abnormalities on the road surface and diagnose the degree of deterioration. [Prior art documents] [Patent Documents]

[0006] [Non-Patent Document 1] Nozomi Nagamine, et al., "Inspection of Track Equipment by Image Analysis Using Train Forward Images," Railway Technical Research Institute Report, Vol. 36, No. 12, (2022.12), pp. 7-12.

[0007] [Non-Patent Document 2] Nozomi Kudo, et al., "Examination of preventive maintenance measures for railways using image analysis technology," Japan Institute for Traffic Safety and Environment, Vol. 18, 2014, pp. 1-7 [Overview of the Initiative] [Problems that the invention aims to solve]

[0008] Currently, millimeter-level accuracy in measuring the distance and height of ground equipment such as ground coils, platforms, and utility poles from the rails has not been achieved. In measuring distance and height using forward-facing images, the challenge lies in identifying locations with the same depth. As shown in Figure 15, capturing a 3D space with a 2D image makes it difficult to determine which locations are at the same depth as the ground equipment. As shown in Figure 15, location P of platform 105 is shown. 105 However, at which position P on rails 102R and 102L of track 101? 101A ~P 101C It's unclear how this corresponds to the depth direction. Thus, when the height is different, there's a problem in determining where the measured platform position corresponds to on the rails.

[0009] Possible solutions include the use of stereo cameras and monocular stereo technology, but neither can accurately determine the position in the depth direction with the precision required to measure distances in millimeters. Furthermore, using stereo cameras or LiDAR requires specialized equipment, making measurement and installation more time-consuming and complex compared to using forward-facing images.

[0010] The object of this invention is to provide a method for measuring the position of ground equipment, a position measuring device, a position measuring program, and a position measuring marker that can measure the positional relationship of ground equipment laid along railway tracks with high precision. [Means for solving the problem]

[0011] This invention solves the aforementioned problem by the following means. Although the reference numerals corresponding to embodiments of this invention are enclosed in parentheses for explanation, the invention is not limited to these embodiments. The invention of claim 1 is a method for measuring the position of ground equipment (5) laid along a railway track (1), as shown in Figures 1, 2, 4, 5, 8, 10, 12, and 13, based on moving images taken while moving along the railway track (1), and is characterized by including a position relationship measurement step (#190) for measuring the position relationship between the railway track and the ground equipment based on railway track-side markers (13A~13C) and ground equipment-side markers (14A, 14B) for identifying locations where the railway track and the ground equipment are at the same position in the depth direction from the moving images.

[0012] The invention of claim 2 is a method for measuring the position of ground equipment as described in claim 1, characterized in that, as shown in Figure 10, it includes an image extraction step (#150) of extracting marker images in which the track-side marker and the ground equipment-side marker are photographed from the moving image, and the position relationship measurement step includes a step of measuring the position relationship between the track and the ground equipment based on the marker images.

[0013] The invention of claim 3 is a method for measuring the position of ground equipment as described in claim 1, characterized in that the position relationship measurement step includes a step of measuring the distance (W) and / or height (H) from the railway line to the ground equipment, as shown in Figures 4 to 7, 9 and 12 to 14.

[0014] The invention of claim 4 relates to the method for measuring the position of ground equipment described in claim 1, and as shown in Figures 4, 6, 7, 9, 12, and 14, the position relationship measurement step is to measure the center point (P) between the left and right rails (2R, 2L) of the track, which is perpendicular to the straight line (L1) passing through the track-side marker. M The perpendicular line (L) passing through ) P1 ) A perpendicular line (L) is drawn from the reference point (P1) of the ground equipment, which is located on a straight line (L2) passing through the ground equipment side marker. P2 This is a method for measuring the position of ground equipment, characterized by including a step of measuring the length of the ) as the distance (W) from this center point to this ground equipment.

[0015] The invention according to claim 5 is a method for measuring the position of ground equipment according to claim 1, wherein, as shown in FIGS. 4, 6, 7, 9, 12 and 14, in the position relationship measurement step, a perpendicular line (L P3 ) drawn from the reference point (P1) of this ground equipment located on the straight line (L2) passing through the ground equipment side marker to the straight line (L1) passing through the track side marker is the length between the left and right rails (2R, 2L) of the track The method for measuring the position of ground equipment is characterized by including a step of measuring as the height (H) from the center point (P M ) to this ground equipment.

[0016] The invention according to claim 6 is a method for measuring the position of ground equipment according to claim 1, wherein, as shown in FIGS. 4 to 10 and FIGS. 12 to 14, the straight lines (L1 to L3, L 21 , L 22 , L 41 , L 42 ) passing through the track side marker and the ground equipment side marker are used as reference lines for estimation in a reference line estimation step (#160), and the intersection points (P1, P2, P 51 , P 52 ) where the reference lines intersect and the center point (P M ) between the left and right rails (2R, 2L) of the track are used as reference points for estimation in a reference point estimation step (#170). The position relationship measurement step includes a step of measuring the position relationship between the track and the ground equipment based on the reference points. The method for measuring the position of ground equipment is characterized by this.

[0017] The invention according to claim 7 is a method for measuring the position of ground equipment according to claim 6, wherein, as shown in FIG. 8, in the reference line estimation step, the straight line (L 21 ) passing through one edge (14a) of the ground equipment side marker (14A) and the straight line (L 22 ) passing through the other edge (14b) of the ground equipment side marker, the straight line closer to the straight line (L1) passing through the track side markers (13A to 13C) is estimated as the straight line passing through this ground equipment side marker. The method for measuring the position of ground equipment is characterized by including this step.

[0018] The invention of claim 8 is a method for measuring the position of ground equipment as described in claim 7, characterized in that the reference line estimation step includes a step of estimating a straight line (L2) passing through the ground equipment side marker based on an installation-time image taken from the ground side showing the positional relationship between the track-side marker and the ground equipment-side marker at the time of installation.

[0019] The invention of claim 9 is a method for measuring the position of ground equipment as described in claim 1, characterized in that the position relationship measurement step includes a step of measuring the actual dimensions of the distance and / or height from the railway line to the ground equipment in the marker image based on the pixel values ​​of the portion in the marker image whose actual dimensions are known.

[0020] The invention of claim 10 is a method for measuring the position of ground equipment as described in claim 1, characterized in that it includes a position relationship correction step (#200) for correcting the measurement result of the position relationship between the line and the ground equipment in the position relationship measurement step, as shown in Figure 10.

[0021] The invention of claim 11 is a method for measuring the position of ground equipment as described in claim 10, characterized in that, as shown in Figure 9, the position relationship correction step includes a step of correcting the position relationship between the railway line and the ground equipment based on the angle (φ) between a straight line (L1) passing through the railway line side marker (13A) and a straight line (L2) passing through the ground equipment side marker (14A).

[0022] The invention of claim 12 is a ground equipment position measuring device (15) that measures the position of ground equipment (5) laid along a railway track (1) based on moving images taken while moving along the railway track (1), as shown in Figures 1 to 5, 8, 12 and 13, and is characterized by comprising a position relationship measuring unit (21) that measures the position relationship between the railway track and the ground equipment based on railway track-side markers (13 to 13C) and ground equipment-side markers (14A, 14B) for identifying locations where the railway track and the ground equipment are in the same position in the depth direction from the moving images.

[0023] The invention of claim 13 is a ground equipment position measurement program for measuring the position of ground equipment (5) laid along a railway track (1) based on moving images taken while moving along the railway track (1), as shown in Figures 1 to 5, 8, 12 and 13, characterized in that it causes a computer to execute a position relationship measurement procedure (S160) to measure the position relationship between the railway track and the ground equipment based on railway track-side markers (13 to 13C) and ground equipment-side markers (14A, 14B) for identifying locations where the railway track and the ground equipment are at the same position in the depth direction from the moving images.

[0024] The invention of claim 14 is a ground equipment position measuring marker (12) for measuring the position of ground equipment (5) laid along a railway track (1) based on moving images taken while moving along the railway track (1), as shown in Figures 2, 4, 5, 8, 12 and 13, characterized in that it comprises a railway track side marker (13~13C) and a ground equipment side marker (14A, 14B) for identifying from the moving images locations where the railway track and the ground equipment are in the same position in the depth direction. [Effects of the Invention]

[0025] According to this invention, the positional relationship of ground equipment laid along railway tracks can be measured with high precision. [Brief explanation of the drawing]

[0026] [Figure 1] This is a conceptual diagram of a position measurement system equipped with a position measurement device for ground equipment according to the first embodiment of this invention, where (A) is a side view and (B) is a front view. [Figure 2] This is a schematic diagram of a moving image captured by a photographic device of a position measurement system equipped with a position measurement device for ground equipment according to the first embodiment of this invention. [Figure 3] This is an overall configuration diagram of a ground equipment position measurement system according to the first embodiment of this invention. [Figure 4] This is a schematic perspective view showing the state in which the position measuring marker for the ground equipment according to the first embodiment of this invention is installed. [Figure 5] This is a plan view illustrating the principle of position measurement by a position measuring device for ground equipment according to the first embodiment of this invention. [Figure 6] This is a front view illustrating the principle of position measurement of a straight section by a ground equipment position measuring device according to the first embodiment of this invention. [Figure 7] This is a front view illustrating the principle of position measurement in a curved section using a ground equipment position measuring device according to the first embodiment of this invention. [Figure 8] This is a schematic plan view showing the correspondence between the track-side marker and the ground equipment-side marker when installed, according to the first embodiment of this invention. (A) is a plan view when a straight line passing through one edge of the ground equipment-side marker is close to a straight line passing through the track-side marker, and (B) is a plan view when a straight line passing through the other edge of the ground equipment-side marker is close to a straight line passing through the track-side marker. [Figure 9] This is a conceptual diagram illustrating the positional relationship correction principle of a positional measurement device for ground equipment according to the first embodiment of this invention. [Figure 10] This is a process diagram of a positional relationship measurement method according to the first embodiment of this invention. [Figure 11] This is a flowchart illustrating the operation of the position measuring device according to the first embodiment of this invention. [Figure 12] This is a schematic perspective view showing the state in which the position measuring marker for the ground equipment according to the second embodiment of this invention is installed. [Figure 13] This is a plan view illustrating the principle of position measurement by a position measuring device for ground equipment according to a second embodiment of this invention. [Figure 14] This is a front view illustrating the principle of position measurement of a straight section by a ground equipment position measuring device according to a second embodiment of the present invention. [Figure 15] This is a schematic diagram illustrating the challenges involved in measuring the distance and height of a platform. [Modes for carrying out the invention]

[0027] (First Embodiment) A first embodiment of this invention will be described in detail below with reference to the drawings. The track 1 shown in Figures 1, 2, and 4-9 is the passage (track) on which the vehicle 6 travels. The track 1 comprises rails 2R and 2L shown in Figures 1, 2, and 4-9, support bodies 3 shown in Figures 2, 4-7, and 9, and rail fastening devices 4 shown in Figures 4-7 and 9. The track 1 shown in Figures 1, 2, and 4-9 is a single track consisting of one main line, and the single main line is used in both directions: the downward direction D1 from the starting point to the ending point, and the upward direction D2 from the ending point to the starting point.

[0028] The rails 2R and 2L shown in Figures 1, 2, and 4-9 are components that support and guide the wheels 7R and 7L of the vehicle 6, allowing the vehicle 6 to run. As shown in Figure 4, the rails 2R and 2L consist of a rail head 2a, a rail bottom (flange portion) 2b, and a rail web 2c. The rail head 2a is the portion that contacts the wheels 7R and 7L. The rail head 2a consists of a top surface (upper head surface) 2d that directly supports the wheels 7R and 7L, and side surfaces 2e that form the left and right sides of the rail head 2a and are continuous with the top surface 2d. The rail bottom 2b is the portion that is supported by the support body 3. The rail bottom 2b is installed on the support body 3 and is attached to the support body 3 by a rail fastening device 4. The rail web 2c is the portion that connects the rail head 2a and the rail bottom 2b. The rail web 2c transmits the wheel load and lateral pressure acting on the rail head 2a to the rail bottom 2b.

[0029] The support bodies 3 shown in Figures 1, 2, 4-7, and 9 are support structures that support the rails 2R and 2L. The support bodies 3 are installed between the rails 2R and 2L and the track bed to fix the rails 2R and 2L, maintain the track gauge accurately, and distribute the train load transmitted from the rails 2R and 2L widely across the track bed. Examples of support bodies 3 include prestressed concrete (PC) sleepers that are prestressed by steel used as tensioning material, wooden sleepers, iron or cast iron sleepers, or synthetic sleepers molded from foamed urethane resin reinforced with glass fibers.

[0030] The rail fastening device 4 shown in Figures 4 to 7 and Figure 9 is a device for fastening rails 2R and 2L to the support body 3. The rail fastening device 4 is positioned on the inside (inside the track gauge) of the left and right rails 2R and 2L, and on the outside (outside the track gauge) of the left and right rails 2R and 2L. The rail fastening device 4 is equipped with a fastening spring 4a and a fastening bolt 4b. The fastening spring 4a is a leaf spring that presses against the rails 2R and 2L. The fastening bolt 4b is equipped with a male threaded portion that is screwed into the support body 3, and a bolt head that presses the fastening spring 4a against the upper surface of the rail bottom 2b. The rail fastening device 4 fastens the rail bottom 2b and the fastening spring 4a with the fastening bolt 4b.

[0031] The platform 5 shown in Figures 1, 2, and 4-9 is a boarding and alighting area provided for the purpose of passengers getting on and off. The platform 5 is a ground facility laid along the track 1 and is provided at stations such as passenger stations where trains 6 are stopped to allow passengers to get on and off. The platform 5 shown in Figures 1, 2, and 4-9 is a single-sided platform (one-sided platform) with a single-sided, single-track structure where only one side is adjacent to the track 1. The platform 5 comprises the platform floor (horizontal surface) 5a which constitutes the upper surface of the platform 5 and on which passengers walk, the platform edge 5b which constitutes the edge on the track 1 side, the platform lower surface (vertical surface) 5c which constitutes the lower side of the platform 5 as shown in Figures 4, 6, 7, and 9, and the chamfered portion 5d which is a corner (C-face) or rounded (R-face) formed on the platform edge 5b as shown in Figures 4-9. Platform 5 is, for example, a straight platform provided along the straight section of track 1 as shown in Figures 1, 2, and 4-6, or a curved platform provided along the straight section of track 1 as shown in Figures 7 and 9. As shown in Figures 4, 6, 7, and 9, the lower surface 5c of platform 5 between the platform edge 5b and track 1 is formed as a vertical wall, and a waiting space is formed on the lower surface 5c of platform as needed. Platform 5 is constructed with a step of approximately 30 mm and a gap of approximately 70 mm between it and the train 6 to prevent contact with the train 6 and to allow passengers to board and alight safely.

[0032] The vehicle 6 shown in Figure 1 is a moving object that travels along track 1. Vehicle 6 is a railway vehicle such as an electric train, diesel railcar, locomotive, passenger car, or freight car. Vehicle 6 can be one or more vehicles that make up a train. Vehicle 6 can be a commercial train formed for the purpose of transporting passengers or freight, or an inspection train formed for the purpose of testing and inspecting vehicles, tracks, or overhead lines. The vehicle 6 shown in Figure 1 is traveling in the downward direction D1. Vehicle 6 is equipped with wheels 7R and 7L as shown in Figure 1.

[0033] The wheels 7R and 7L are components that rotate and contact the rails 2R and 2L. The wheels 7R and 7L are the main components of the bogie that supports the body of the vehicle 6 and runs on the track 1. As shown in Figure 1, the wheels 7R and 7L have a tread surface 7a that contacts the top surface 2d of the rail head 2a shown in Figures 4 to 7 and receives frictional resistance, and a flange surface 7b that is continuously formed on the outer circumference of the wheels 7R and 7L to prevent derailment.

[0034] The position measurement system 9 shown in Figures 1 and 3 is a system that measures the position of platform 5 based on moving images taken while moving along the railway track 1. The position measurement system 9 comprises a camera 10 shown in Figures 1 and 3, a communication network 11 shown in Figure 3, position measurement markers 12 shown in Figures 1, 4, 5, and 8, a position measurement device 15 shown in Figures 1 and 3, and a camera 28 shown in Figure 3. The position measurement system 9 transmits moving images of the train 6 taken by the camera 10 to the position measurement device 15 via the communication network 11, and the position measurement device 15 measures the positional relationship between the railway track 1 and platform 5 based on these moving images.

[0035] The camera 10 shown in Figures 1 and 3 is a device that takes pictures while moving with the vehicle 6. As shown in Figure 1, the camera 10 is mounted on the vehicle 6 and, as shown in Figure 2, takes video (forward image) of a predetermined area in front of the vehicle 6. As shown in Figure 1(B), the camera 10 is installed in the driver's cab where the driver of the vehicle 6 is stationed, and takes pictures of the outside from inside the cab through the front glass, such as the through-door of the leading vehicle 6. The camera 10 is, for example, a video camera such as a handheld camera, or a mobile device with a camera function such as a smartphone. The camera 10 converts the captured video into an electrical signal to produce moving image data D. 12 Output as follows.

[0036] The communication network 11 shown in Figure 3 is a network that transmits and receives various data related to the position measurement system 9. As shown in Figure 1, the communication network 11 transmits moving image data D from the imaging device 10 to the position measurement device 15. 12The image data D captured at the time of installation is transmitted from the shooting device 28 to the position measuring device 15. 14 The data is transmitted. The communication network 11 is a telecommunications line, such as a telephone line or an internet line, that connects the imaging devices 10, 28 and the position measuring device 15 so that they can communicate with each other.

[0037] The position measurement markers 12 shown in Figures 1, 4, 5, and 8 are markers for measuring the position of platform 5 based on moving images taken while moving along track 1. As shown in Figures 2 and 4, the position measurement markers 12 are markers for identifying locations in the moving images where the track 1 and platform 5 are at the same position in the depth direction (length direction of track 1). The position measurement markers 12 are used when measuring the positional relationship of platform 5 with respect to track 1. The position measurement markers 12 are attached to track 1 and platform 5 so that locations where the track 1 and platform 5 are at the same depth can be identified from the moving images, in order to determine from the moving images where the position of platform 5 corresponds to a position on track 1. The position measurement markers 12 include track-side markers 13A to 13C shown in Figures 4 and 5, and ground equipment-side markers 14A and 14B shown in Figure 4. As shown in Figure 5, the position measurement markers 12 are arranged such that, when the track 1 and platform 5 are viewed from above, the track-side markers 13A to 13C and the ground equipment-side marker 14A are aligned in the same straight line.

[0038] The trackside markers 13A to 13C shown in Figures 4 and 5 are markers installed on the trackside 1 to identify locations where the trackside 1 and platform 5 are at the same position in the depth direction from moving images. When the trackside 1 is in a straight section, the trackside markers 13A to 13C are formed on a straight line perpendicular to the length direction of rails 2R and 2L, and when the trackside 1 is in a curved section, they are formed on a straight line perpendicular to the straight line that contacts rails 2R and 2L. The trackside markers 13A to 13C are formed in a predetermined color and shape that can be easily recognized from moving images.

[0039] As shown in Figures 4, 5, and 8, the track-side markers 13A are attached to the left and right rails 2R and 2L, and are formed on the rail heads 2a of rails 2R and 2L with a predetermined width and length. The track-side markers 13A are formed on the top surface 2d and the side surface 2e of the rails 2R and 2L, as shown in Figures 4 and 5, so that the track-side markers 13A remain on the rails 2R and 2L even when the tread surface 7a of the wheels 7R and 7L, as shown in Figure 1(B), rolls and makes contact with the top surface 2d of the rails 2R and 2L. The track-side markers 13A are formed, for example, by spraying or brushing on white paint, and are formed in a rectangular shape in plan view, as shown in Figures 5 and 8. The track-side markers 13A are formed, for example, in the longitudinal direction of rails 2R and 2L with a width of 50 mm (fixed) and a length of approximately 10 mm.

[0040] As shown in Figures 4 and 5, the track-side marker 13B is attached to the support body 3 and is formed on the upper surface of the support body 3 on the outside (outside the gauge) of the left and right rails 2R and 2L. The track-side marker 13B is used as an auxiliary when the position of the platform 5 cannot be measured using only the track-side marker 13A. The track-side marker 13B is formed, for example, by spraying or brushing on white paint or by attaching white tape, and is formed in a rectangular shape in plan view as shown in Figure 5.

[0041] As shown in Figures 4 and 5, the track-side marker 13C is attached to the rail fastening device 4 and is formed on the upper surface of the bolt head of the fastening bolt 4b. The track-side marker 13C is used as an auxiliary when the position of the platform 5 cannot be measured using only the track-side marker 13A. The track-side marker 13C is formed in a circular shape in plan view, as shown in Figure 5, for example, by spraying or brushing on white paint.

[0042] The ground equipment side markers 14A and 14B shown in Figure 4 are markers installed on the platform 5 side to identify locations where the track 1 and platform 5 are at the same position in the depth direction from captured images. The ground equipment side markers 14A and 14B are formed in a predetermined color and shape that can be easily recognized from moving captured images. The ground equipment side markers 14A and 14B are installed, for example, by spraying or brushing white paint onto platform 5, or by attaching white tape to platform 5. The ground equipment side markers 14A and 14B are formed, for example, by placing a stencil that has been pre-cut to the same shape as the marker onto platform 5, painting it, and then removing the stencil after painting.

[0043] As shown in Figures 4, 5, and 8, the ground equipment side markers 14A are attached to platform 5 and formed on the platform floor surface 5a of platform 5. The ground equipment side markers 14A are formed in a direction perpendicular to the track 1, extending from the platform edge 5b toward the center of the platform. Multiple markers of the same shape are formed, with the expectation that they will be used when converting the pixel values ​​of these ground equipment side markers 14A in moving images to actual dimensions. By calculating the average value of the multiple markers, the effects of random errors such as marker blurring are reduced. The ground equipment side markers 14A are formed in a rectangular shape in plan view and are arranged in a straight line with predetermined intervals between them. The marker end closest to the track 1 side of the ground equipment side markers 14A is in contact with the upper edge of the chamfered portion 5d. For example, the ground equipment side markers 14A are formed in a 100mm x 100mm square shape, with four markers formed at 100mm intervals.

[0044] As shown in Figure 4, the ground equipment side marker 14B is attached to the platform 5 and is formed on the lower surface 5c of the platform 5. The ground equipment side marker 14B is formed in a direction perpendicular to the ground equipment side marker 14A, extending downward from the platform edge 5b. The ground equipment side marker 14B is arranged so that it exists in the same straight line when the lower surface 5c of the platform is viewed from above. The ground equipment side marker 14B is formed in a rectangular shape when viewed from above, and is arranged in a straight line with predetermined intervals between them. The marker end of the ground equipment side marker 14B closest to the platform floor surface 5a is in contact with the lower edge of the chamfered portion 5d. For example, four ground equipment side markers 14B are formed, having the same shape and size as the ground equipment side marker 14A, and with the same intervals between them as the ground equipment side marker 14A.

[0045] The position measuring device 15 shown in Figures 1 and 3 is a device that measures the position of platform 5 based on moving images taken while moving along the track 1. The position measuring device 15 measures the position of platform 5 with respect to the track 1 based on marker images of track-side markers 13A to 13C and ground equipment-side markers 14A and 14B extracted from the moving images taken by the camera 10. The position measuring device 15 is installed, for example, in a central control center (operation control room) that issues operation and operational commands to ensure the smooth operation of trains 6. As shown in Figure 3, the position measuring device 15 includes a data input unit 16, an image extraction unit 17, a reference line estimation unit 18, a reference point estimation unit 19, a conversion magnification calculation unit 20, a position relationship measurement unit 21, a position relationship correction unit 22, a movement distance measurement unit 23, a data storage unit 24, a position relationship measurement program storage unit 25, a data display unit 26, and a control unit 27. The position measurement device 15 is composed of a general-purpose computer, such as a personal computer, and performs predetermined processing according to a position measurement program.

[0046] The data input unit 16 shown in Figure 3 is a means for inputting various data related to the position measuring device 15. The data input unit 16 receives moving image data D output by the imaging device 10. 12 And the image data D captured during installation is output by the imaging device 28.14 The data is input to the position measuring device 15, and the moving image data D 12 and image data taken during installation D 14 The data is stored in the data storage unit 24. The data input unit 16 receives, for example, moving image data D from the communication network 11. 12 and image data taken during installation D 14 It includes an interface (I / F) circuit that receives signals and inputs them to the control unit 27.

[0047] The image extraction unit 17 is a means for extracting marker images in which the track-side markers 13A-13C and ground equipment-side markers 14A, 14B are photographed from moving images. The image extraction unit 17 searches the moving images taken by the camera 10 and extracts marker images in which the track-side markers 13A-13C and ground equipment-side markers 14A, 14B are photographed, as shown in Figures 2 and 4. The image extraction unit 17 extracts frames in which the track-side markers 13A-13C and ground equipment-side markers 14A, 14B are visible from the moving images (video) taken by the camera 10, and finally extracts the frame in which the track-side markers 13A-13C and ground equipment-side markers 14A, 14B are closest to the vehicle 6 from the extracted frames as the analysis image.

[0048] The image extraction unit 17 extracts marker images from moving images, for example, by template matching or deep learning (DL). In the case of template matching, the image extraction unit 17 extracts marker images from the moving images that are most similar to the template images of the track-side markers 13A to 13C and the ground equipment-side markers 14A and 14B. In the case of deep learning, the image extraction unit 17 specifies the entire range of track-side markers 13A to 13C and ground equipment-side markers 14A and 14B as the learning range, and extracts marker images from the moving images by learning using images in which track-side markers 13A to 13C and ground equipment-side markers 14A and 14B are captured and images in which they are not. The image extraction unit 17 then stores the extracted marker images as marker image data D. 13This is then stored in the data storage unit 24.

[0049] The reference line estimation unit 18 shown in Figure 3 passes through straight lines L1 to L3, L2, L3 21 ,L 22 ,L 41 ,L 42 This is a means of estimating a reference line. The reference line estimation unit 18 estimates a reference line that will be used as a reference when measuring the positional relationship between the track 1 and the platform 5, as shown in Figures 4 to 8. Based on marker images taken of the track-side markers 13A to 13C and the ground equipment-side markers 14A and 14B as shown in Figures 2 and 4, the reference line estimation unit 18 estimates the straight lines L1 to L3, L that are necessary when measuring the positional relationship between the track 1 and the platform 5 as shown in Figures 4 to 8. 21 ,L 22 ,L 41 ,L 42 The baseline is estimated using the lines L1 to L3, L 21 ,L 22 ,L 41 ,L 42 Identify the lines L1~L3, L 21 ,L 22 ,L 41 ,L 42 The equation is calculated. The baseline estimation unit 18 calculates the lines L1~L3, L 21 ,L 22 ,L 41 ,L 42 The equation of the baseline data D 15 This is then stored in the data storage unit 24.

[0050] As shown in Figures 4 to 8, the reference line estimation unit 18 identifies a straight line L1 that passes through the track-side marker 13A based on the marker image. Here, the straight line L1 is a reference line that passes through the track-side marker 13A on the rail heads 2a of the left and right rails 2R and 2L, and is the line connecting the track-side marker 13A attached to rail 2R and the track-side marker 13A attached to rail 2L. The reference line estimation unit 18 analyzes the marker image to capture the track-side marker 13A on the left and right rails 2R and 2L as a shape and identifies a straight line L1 that passes through the centroids of the respective track-side markers 13A on rails 2R and 2L. For example, the reference line estimation unit 18 extracts the centers of the track-side markers 13A on the left and right rails 2R and 2L based on a binary image obtained by binary conversion (binarization processing) of the marker image. Here, binary conversion is a process that determines whether the value of each pixel in the marker image exceeds a threshold, converts pixels that exceed the threshold to white, and converts pixels below the threshold to black, thereby separating the track-side marker 13A from the rails 2R and 2L. The reference line estimation unit 18 calculates the equation of the straight line L1 that connects the centers of the two track-side markers 13A extracted by the binary conversion.

[0051] When the track-side marker 13A in the marker image is unclear, the reference line estimation unit 18 uses the track-side marker 13B or track-side marker 13C shown in Figures 4 and 5 to identify the straight line L1 and calculate the equation of the straight line L1. For example, the reference line estimation unit 18 uses the height difference (distance) H between the upper surface of the support body 3 and the top surface 2d of the rail head 2a shown in Figures 4 to 7. 11 When it is constant, the straight line L passes through the trackside marker 13B. 11 Elevation difference H 11 The equation of the straight line L1 is calculated by adding this as a correction value. The reference line estimation unit 18 calculates, for example, the height difference (distance) H between the upper surface of the head of the fastening bolt 4b and the top surface 2d of the rail head 2a shown in Figures 4 to 7. 12 When it is constant, the straight line L passes through the trackside marker 13C. 12 Elevation difference H 12 Add this as a correction value and calculate the equation of the line L1.

[0052] As shown in Figures 4 to 7, the reference line estimation unit 18 identifies straight lines L2 and L3 that pass through the ground equipment side markers 14A and 14B based on the marker image. Here, as shown in Figures 4 and 5, straight line L2 is a reference line that passes through the ground equipment side marker 14A on the platform floor 5a of platform 5. Straight line L3 is a reference line that passes through the ground equipment side marker 14B on the lower side surface 5c of platform 5, as shown in Figure 4, and is a line perpendicular to straight line L2 as shown in Figures 4, 6, and 7. The reference line estimation unit 18 analyzes the marker image to identify straight line L2 that passes through the edge of ground equipment side marker 14A, and straight line L3 that passes through the edge of ground equipment side marker 14B. For example, the reference line estimation unit 18 detects edges in the marker image to estimate the contour coordinates of the ground equipment side markers 14A and 14B. Here, edge detection is a process that processes the image of the boundary of the density change between the ground equipment side markers 14A and 14B in the marker image and the background platform floor 5a and platform lower side surface 5c, and detects the position where the absolute value of the first derivative of the density change is maximum, or the position where the second derivative of the density change crosses zero, as the edge of the ground equipment side markers 14A and 14B. Based on the contour coordinates of the ground equipment side markers 14A and 14B estimated by edge detection, the reference line estimation unit 18 calculates the equation of the line L2 passing through the edge of the ground equipment side marker 14A and the equation of the line L3 passing through the edge of the ground equipment side marker 14B and perpendicular to the line L2.

[0053] As shown in Figure 8, the reference line estimation unit 18 is a straight line L that passes through one edge 14a of the ground equipment side marker 14A. 21 and the straight line L passing through the other edge 14b 22 Of these, the straight line closest to the straight line L1 that passes through the track-side marker 13A is estimated to be the straight line L2 that passes through the ground equipment-side marker 14A. Here, the straight line L shown in Figure 8(A) 21 This is the line that passes through the edge 14a of the ground equipment side marker 14A on the far side (end of track 1) relative to the direction of travel of vehicle 6 traveling in the downward direction D1. Straight line L shown in Figure 8(B). 22This is the line that passes through the edge 14b of the ground equipment side marker 14A on the near side (the starting point side of track 1) relative to the direction of travel of the vehicle 6 traveling in the downward direction D1. The reference line estimation unit 18 estimates the straight line L2 that passes through the ground equipment side marker 14A based on the installation image taken from the ground side showing the positional relationship of the track side marker 13A and the ground equipment side marker 14A at the time of installation, as shown in Figure 8. When the track 1 and platform 5 are viewed from above, the reference line estimation unit 18 estimates the straight line L2 that is closer to the straight line L1 when the track side marker 13A and the ground equipment side marker 14A are not on the same straight line but are offset. 21 or straight line L 22 We estimate that one of the two lines L2 is the straight line.

[0054] As shown in Figures 4 and 5, the reference line estimation unit 18 estimates a straight line L that passes inside the rail heads 2a of the left and right rails 2R and 2L based on the marker image. 41 ,L 42 Identify the line L. 41 This is a reference line that passes inside the rail head 2a of the right rail 2R, and reference point P is on the inner side of the rail head 2e of the right rail 2R. 41 ,P 42 It is the line connecting the two points. Straight line L 42 This is a reference line that passes inside the side surface 2e of the rail head 2a of the left rail 2L, and reference point P is inside the side surface 2e of the rail head on the inside of the left rail 2L. 41 ,P 42 It is the line connecting the two points. Straight line L 41 It passes the trackside marker 13A on the right rail 2R, and then straight L 42 The track passes the trackside marker 13A of the left rail 2L. The reference line estimation unit 18 analyzes the marker image and determines the straight line L 41 ,L 42 The reference line estimation unit 18 identifies the reference points P at any two points inside the left and right rails 2R and 2L, for example, by detecting edges in the marker image. 41 ,P 42 Extract the reference point P 41 ,P 42 A straight line L passing through 41 ,L 42Identify. When the track 1 is a curved section, for example, the reference line estimation unit 18 focuses only on the vicinity of the track-side marker 13A, approximates the left and right rails 2R and 2L with a straight line approximately, and selects two arbitrary reference points P 41 ,P 42 inside the left and right rails 2R and 2L. 41 ,P 42 The straight line L 41 ,L 42 passing through is identified. The reference line estimation unit 18 calculates the equations of two straight lines L 41 ,L 42 corresponding to the inside of the left and right rails 2R and 2L estimated by edge detection.

[0055] The reference point estimation unit 19 shown in FIG. 3 uses the intersection points P1, P2, P 41 ,L 42 where the straight lines L1 to L3 and L 51 ,P 52 intersect, and the center point P M between the left and right rails 2R and 2L as the reference points for estimation. Here, the intersection point P1 shown in FIGS. 4, 6, and 7 is the point where the straight line L2 and the straight line L3 intersect, and the intersection point P2 is the point where the straight line L1 and the straight line L3 intersect. The intersection point P 51 shown in FIGS. 4 and 5 is the point where the straight line L1 and the straight line L 41 intersect, and the intersection point P 52 is the point where the straight line L1 and the straight line L 42 intersect. The reference point estimation unit 19 estimates the reference points that serve as a reference when measuring the positional relationship between the track 1 and the platform 5. The reference point estimation unit 19 measures the positional relationship between the track 1 and the platform 5 as shown in FIGS. 4 to 7 based on the marker captured image in which the track-side markers 13A to 13C and the ground facility-side markers 14A and 14B as shown in FIGS. 1 and 2 are captured, and estimates the intersection points P1, P2, P 51 ,P 52 and the center point P M required for measurement as the reference points.

[0056] The reference point estimation unit 19 calculates the coordinates of the intersection point P1 where the line L2 and the line L3, calculated based on edge detection, intersect. For example, as shown in Figures 4 to 7, when a chamfered portion 5d is formed on the home 5, the reference point estimation unit 19 estimates the intersection point P1 as the home edge 5b of the home 5. When the chamfered portion 5d exists at the upper corner of the home edge 5b, and the intersection point P1, which is the upper corner of the home edge 5b, cannot be identified from the marker image, the reference point estimation unit 19 estimates the intersection point P1 where the line L2 and the line L3 intersect as the home edge 5b.

[0057] The reference point estimation unit 19 calculates the coordinates of the intersection point P2 where the line L1 calculated based on binary conversion and the line L3 calculated based on edge detection intersect. 41 ,L 42 Two intersection points P where and intersect. 51 ,P 52 The coordinates are calculated, and the center point (midpoint (track centerline)) P between the left and right rails 2R and 2L is also calculated. M The coordinates are calculated. The reference point estimation unit 19 calculates the coordinates of the intersection points P1, P2, P 51 ,P 52 The coordinates and center point P M The coordinates of reference point data D 16 This is then stored in the data storage unit 24.

[0058] The conversion magnification calculation unit 20 shown in Figure 3 is a means for calculating a conversion magnification α to convert the pixel values ​​of parts of the marker image where the actual dimensions are known to the actual dimensions. The conversion magnification calculation unit 20 calculates a conversion magnification α to convert the distance from the rails 2R, 2L of track 1 to the platform 5 in the marker image to the actual dimensions, based on the pixel values ​​of parts of the marker image where the actual dimensions are known. For example, the conversion magnification calculation unit 20 calculates the pixel values ​​of parts of known length, such as the track gauge, which is the shortest distance between the rail heads 2a of the left and right rails 2R, 2L shown in Figures 2 and 4 to 7, from the marker image. The conversion magnification calculation unit 20 calculates a conversion magnification α, which is a pixel / distance conversion coefficient for converting from pixel values ​​to actual dimensions, from the ratio of the pixel values ​​of the track gauge in the marker image to the actual dimensions of the track gauge. The conversion magnification calculation unit 20 calculates the two intersection points P shown in Figures 4 to 7 51 ,P 52 The unit calculates the pixel values ​​of the track gauge on the marker image from the coordinates and uses the actual dimensions of the track gauge (for example, 1067 mm for conventional lines and 1435 mm for Shinkansen lines) to calculate a conversion factor (conversion coefficient) α to convert the pixel values ​​to the actual dimensions. The conversion factor calculation unit 20 converts the calculated conversion factor into conversion factor data D 17 This is then stored in the data storage unit 24.

[0059] The positional relationship measurement unit 21 shown in Figure 3 is a means for measuring the positional relationship between the track 1 and the platform 5 based on the track-side markers 13A to 13C and the ground equipment-side markers 14A and 14B. The positional relationship measurement unit 21 measures the positional relationship between the track 1 and the platform 5 based on marker images taken of the track-side markers 13A to 13C and the ground equipment-side markers 14A and 14B as shown in Figures 1 and 2. The positional relationship measurement unit 21 measures the positional relationship between the track 1 and the platform 5 based on the intersections P1, P2, P shown in Figures 4 to 7. 51 ,P 52 and center point P M Based on this, the positional relationship between track 1 and platform 5 is measured. The positional relationship measurement unit 21 measures the distance W and height H from track 1 to platform 5.

[0060] Here, the separation W is perpendicular to the line L1 and has a center point P, as shown in Figures 4 to 7.M Perpendicular line L passing through P1 Perpendicular line L drawn from intersection point P1 (home edge 5b) P2 This is the length. The height H is the perpendicular line L drawn from the intersection point P1 (home edge 5b) to the straight line L1, as shown in Figures 4, 6, and 7. P3 This is the length. The distance W is usually specified to be about 1475 mm for conventional lines and about 1800 mm for Shinkansen lines. The height H is usually specified to be about 1100 mm for conventional lines and about 1250 mm for Shinkansen lines. The positional relationship measurement unit 21 is at the intersections P1, P2, P shown in Figures 4 to 7. 51 ,P 52 The coordinates and center point P M Based on the coordinates, the distance W and height H from track 1 to platform 5 are measured.

[0061] The positional relationship measurement unit 21 measures the actual dimensions of the distance W and height H from the rails 2R, 2L to the platform 5 within the marker image based on the pixel values ​​of the parts in the marker image whose actual dimensions are known. The positional relationship measurement unit 21 measures the intersection points P1, P2, P estimated by the reference point estimation unit 19. 51 ,P 52 The coordinates and center point P M The positional relationship measurement unit 21 calculates the pixel values ​​of the distance W0 and height H0 from track 1 to platform 5 within the marker image using the coordinates. The positional relationship measurement unit 21 multiplies the pixel values ​​of the distance W0 and height H0 from track 1 to platform 5 within the marker image by the conversion magnification α calculated by the conversion magnification calculation unit 20 to calculate the actual dimensions of the distance W and height H from track 1 to platform 5.

[0062] The positional relationship measurement unit 21 measures the center point P in the straight section shown in Figure 6 and the curved section shown in Figure 7. M The horizontal and vertical distances from platform 5 are measured. The positional relationship measurement unit 21 measures the coordinates of intersection point P2 and center point P shown in Figures 4, 6, and 7. M Based on the coordinates, the perpendicular L P2 Calculate the length of the perpendicular L P2The length is measured as W. The positional relationship measurement unit 21 measures the perpendicular L based on the coordinates of intersection point P1 and intersection point P2 shown in Figures 4, 6, and 7. P3 Calculate the length of the perpendicular L P3 The length is measured as height H. The positional relationship measurement unit 21 records the distance W and height H after measurement as positional relationship measurement data D. 18 This is then stored in the data storage unit 24.

[0063] The positional relationship correction unit 22 shown in Figure 3 is a means for correcting the measurement results of the positional relationship between the track 1 and the platform 5 by the positional relationship measurement unit 21. The positional relationship correction unit 22 corrects the measurement results of the positional relationship measurement unit 21 when, for example, as shown in Figure 9, there is a slope in the straight line L1 and there is also a slope in the straight line L2, and the platform floor surface 5a and the lower side surface 5c of the platform are at a right angle. The positional relationship correction unit 22 corrects the positional relationship between the track 1 and the platform 5 based on the angle φ made by the straight line L1 and the straight line L2. The positional relationship correction unit 22 corrects the positional relationship between the track 1 and the platform 5 by the following equation 1.

[0064]

number

[0065] Here, L shown in Equation 1 P1,P2 L is the distance from intersection point P1 to intersection point P2. P2,PM From intersection point P2 to center point P M This is the distance to [the point]. The angle φ is the perpendicular line L drawn from intersection point P1 to the line L1. P3 This is the angle between line L1 and line L3, and is equal to the angle between line L1 and line L2. The intersection point P3 shown in Figure 9 is the angle between line L1 and perpendicular line L P3 This is the point where the two lines intersect. The positional relationship correction unit 22 can approximate cosφ ≈ 1 when the angle φ is small, so the correction of height H can be omitted.

[0066] The positional relationship correction unit 22 calculates the distance L within the marker image based on the coordinates of intersection point P1 and intersection point P2 estimated by the reference point estimation unit 19. P1,P2 The pixel value is calculated, and the distance LP1,P2 The pixel value is multiplied by the conversion factor α to obtain the distance L. P1,P2 The actual dimensions are calculated. The positional relationship correction unit 22 uses the coordinates of the intersection point P2 estimated by the reference point estimation unit 19 and the center point P M Based on the coordinates, distance L in the marker image P2,PM The pixel value is calculated, and the distance L P2,PM The pixel value is multiplied by the conversion factor α to obtain the distance L. P2,PM The actual dimensions are calculated. The positional relationship correction unit 22 calculates the angle φ based on the equations of the straight lines L1 and L2 estimated by the reference line estimation unit 18. The positional relationship correction unit 22 calculates the distance L P1,P2 Actual dimensions, distance L P2,PM Based on the actual dimensions and angle φ, the corrected distance W and height H are calculated using equation 1. The position relationship correction unit 22 then calculates the corrected distance W and height H using the position relationship measurement data D 18 This is then stored in the data storage unit 24.

[0067] The distance measurement unit 23 shown in Figure 3 is a means for measuring the distance traveled by the vehicle 6. The distance measurement unit 23 measures the distance traveled by the vehicle 6 based on the moving images captured by the camera 10. The distance measurement unit 23 analyzes the moving images and calculates the distance traveled as the kilometer mileage for each frame of the moving images. Here, the kilometer mileage is the length of the track from the starting point of the track 1, and is generally set to ascend from the starting point to the ending point. The distance measurement unit 23 calculates the distance traveled by the vehicle 6 from the starting point of the track 1, for example, by using optical flow, which represents the movement of an object as a vector in a series of time-continuous moving images (digital images). The distance measurement unit 23 calculates the velocity field at all pixels in the moving images, takes the velocity vector at each frame as the vehicle 6's speed, accumulates the pixel speeds at each frame to create pixel-level distance data, and calculates the distance traveled by the vehicle 6 from the start of travel (start of video). The distance measurement unit 23 measures the distance traveled by the vehicle 6 as distance data D 19 This is then stored in the data storage unit 24.

[0068] The data storage unit 24 is a means for storing various data related to the position measuring device 15. For example, the data storage unit 24 stores marker data D 11 , moving image data D 12 , Marker image data D 13 Image data captured during installation D 14 , Reference line data D 15 Reference point data D 16 , conversion ratio data D 17 Positional relationship measurement data D 18 and travel distance data D 19 It is a memory device that stores things like that.

[0069] Marker data D 11 This is various data related to trackside markers 13A-13C and ground equipment side marker 14A. Marker Data D 11 This data includes, for example, the installation locations of track-side markers 13A-13C and ground equipment-side markers 14A, 14B, and the track gauge of track 1 on which track-side markers 13A-13C are installed. Marker Data D 11 This includes data such as the distance (in kilometers) from the starting point to the installation points of the track-side markers 13A to 13C and the ground equipment-side marker 14A, and the track gauge of the curved section, which is necessary when calculating the conversion factor α when slack is added to widen the track gauge beyond a predetermined width in order to smoothly run through the curved section.

[0070] Mobile shooting image data D 12 This is data relating to the moving image captured by the imaging device 10. Moving image data D 12 This is the travel distance data D 19 It is stored in correspondence with the marker image data D. 13 This is data relating to the marker image extracted by the image extraction unit 17. Marker image data D 13 To identify the shooting location of the extracted marker images, the travel distance data D is used. 19 The data is stored in a corresponding format for each shooting location.

[0071] Image data taken during installation (D) 14This data pertains to images taken from the ground side showing the relative positions of the trackside markers 13A-13C and the ground equipment side marker 14A during installation. Installation Image Data D 14 This is data taken from the platform 5 side, for example, when track-side markers 13A-13C and ground equipment-side marker 14A are installed, so that they are aligned in a straight line toward the track-side markers 13A-13C and ground equipment-side marker 14A. Installation-time image data D 14 To identify the shooting location of the image taken during installation, the travel distance data D is used. 19 The data is stored in a corresponding format for each shooting location.

[0072] Reference line data D 15 The reference lines L1~L3,L estimated by the reference line estimation unit 18 21 ,L 22 ,L 41 ,L 42 This is data related to each of the equations, etc. Reference line data D 15 For each installation point of the trackside markers 13A-13C and the ground equipment side marker 14A, the travel distance data D 19 It is stored in correspondence with the reference point data D. 16 The reference point estimation unit 19 estimated the intersection points P1 to P3, P 41 ,P 42 ,P 51 ,P 52 The coordinates and center point P M This is data regarding the coordinates of each point. Reference point data D 16 For each installation point of the trackside markers 13A-13C and the ground equipment side marker 14A, the travel distance data D 19 It is stored in correspondence with the conversion ratio data D. 17 This is data related to the conversion ratio α calculated by the conversion ratio calculation unit 20. Conversion ratio data D 17 For each installation point of the trackside markers 13A-13C and the ground equipment side marker 14A, the travel distance data D 19 It is stored in correspondence with that.

[0073] Positional relationship measurement data D 18This data pertains to the measurement results by the positional relationship measurement unit 21 and the measurement results after correction by the positional relationship correction unit 22. Positional relationship measurement data D 18 This is data relating to the distance W and height H, which represent the positional relationship between track 1 and platform 5. Positional relationship measurement data D 18 To identify the location measurement point, travel distance data D is collected for each installation point of the trackside markers 13A~13C and the ground equipment side marker 14A. 19 It is stored in correspondence with the distance traveled data D. 19 This is data relating to the distance traveled by the vehicle 6, calculated by the distance traveled measurement unit 23.

[0074] The position relationship measurement program storage unit 25 is a means for storing a position relationship measurement program for measuring the position of platform 5 based on moving images taken while moving along the railway track 1. The position relationship measurement program storage unit 25 is, for example, an information recording medium that records the position relationship measurement program or a storage device that stores this position relationship measurement program read from a telecommunications line that transmits the position relationship measurement program.

[0075] The data display unit 26 is a means for displaying various data related to the position measuring device 15. The data display unit 26 is a display device that displays various data related to the position measuring device 15 on a screen. For example, the data display unit 26 displays the measurement results of the distance W and height H measured by the position relationship measurement unit 21 for each installation point of the track-side markers 13A to 13C and the ground equipment-side markers 14A and 14B, displays the actual measured values ​​of the distance and height representing the positional relationship between the track 1 and the platform 5 measured by workers using specialized equipment on site, and compares them with the measured values ​​measured by the position relationship measurement unit 21, or displays the difference between the measured values ​​by the position relationship measurement unit 21 and the actual measured values ​​by specialized equipment.

[0076] The control unit 27 is a central processing unit (CPU) that controls various operations related to the position measuring device 15. The control unit 27 reads the position relationship measurement program from the position relationship measurement program storage unit 25 and executes a series of position relationship measurement processes according to this position relationship measurement program. For example, the control unit 27 commands the image extraction unit 17 to extract marker images from moving images, or reference lines L1~L3,L 21 ,L 22 ,L 41 ,L 42 The estimation of the baseline is commanded to the baseline estimation unit 18, or the intersection points P1~P3, P 41 ,P 42 ,P 51 ,P 52 and center point P M The control unit 27 commands the reference point estimation unit 19 to estimate the conversion ratio α, commands the conversion ratio calculation unit 20 to calculate the conversion ratio α, commands the position relationship measurement unit 21 to measure the distance W and height H representing the positional relationship between the track 1 and the platform 5, and commands the position relationship correction unit 22 to correct the measurement results of the position relationship measurement unit 21. The control unit 27 is connected to the data input unit 16, image extraction unit 17, reference line estimation unit 18, reference point estimation unit 19, conversion ratio calculation unit 20, position relationship measurement unit 21, position relationship correction unit 22, travel distance measurement unit 23, data storage unit 24, position relationship measurement program storage unit 25, and data display unit 26 so as to be able to communicate with each other.

[0077] The imaging device 28 shown in Figures 1 and 3 is a device that photographs the positional relationship of the track-side markers 13A-13C and the ground equipment-side marker 14A from the ground side when they are installed. The imaging device 28 is used by workers to photograph the track-side markers 13A-13C and the ground equipment-side marker 14A from the platform 5 side when they are installed. The imaging device 28 photographs the track-side markers 13A-13C and the ground equipment-side marker 14A so that they are aligned in a straight line, from the end of the ground equipment-side marker 14A on the platform 5 side toward the end of the track-side markers 13A-13C opposite to platform 5. The imaging device 28 is, for example, a digital still camera that takes still images, or a mobile terminal with a camera function such as a smartphone. The imaging device 10 converts the captured video into an electrical signal and records the image data D taken at the time of installation. 14 Output as follows.

[0078] Next, a method for measuring the positional relationship of ground equipment according to the first embodiment of this invention will be described. The positional relationship measurement method #100 shown in Figure 10 is a method for measuring the position of platform 5 based on moving images taken while moving along track 1. In positional relationship measurement method #100, first, as shown in Figures 2 and 4, track-side markers 13A to 13C and ground equipment-side markers 14A and 14B are installed, and on-site work is carried out to photograph the installed track-side markers 13A to 13C and ground equipment-side marker 14A, as shown in Figure 8. Next, in positional relationship measurement method #100, as shown in Figures 1 and 2, on-board measurement is carried out by taking forward images from the vehicle 6 of the installation locations of track-side markers 13A to 13C and ground equipment-side markers 14A and 14B. In positional relationship measurement step #100, the distance W0 and height H0 between track 1 and platform 5 are measured based on the forward image of the vehicle 6, and image processing is performed to convert the pixel values ​​of the distance on this forward image into the actual values ​​of the distance W and height H between track 1 and platform 5. As shown in Figure 10, the positional relationship measurement process #100 includes a marker installation process #110, an installation image capture process #120, a movement image capture process #130, a movement distance measurement process #140, an image extraction process #150, a reference line estimation process #160, a reference point estimation process #170, a conversion magnification calculation process #180, a positional relationship measurement process #190, and a positional relationship correction process #200.

[0079] Marker installation process #110 is the process of installing track-side markers 13A-13C and ground equipment-side markers 14A and 14B. In marker installation process #110, as shown in Figures 2 and 4, track-side markers 13A-13C are installed on track 1, and ground equipment-side markers 14A and 14B are installed on platform 5. In marker installation process #110, workers apply paint to the rail heads 2a of the left and right rails 2R and 2L with a brush or spray to install track-side markers 13A-13C on track 1. In marker installation process #110, workers install templates on the platform floor 5a and the lower side 5c of platform 5, and workers apply paint to the templates with a brush or spray to install ground equipment-side markers 14A and 14B on platform 5.

[0080] Installation image capture process #120 is the process of photographing the positional relationship between the track-side marker 13A and the ground equipment-side marker 14A at the time of installation from the platform 5 side. In installation image capture process #120, as shown in Figure 8, a worker photographs the track-side marker 13A and the ground equipment-side marker 14A from the platform floor 5a so that they are aligned in an almost straight line within the shooting area of ​​the shooting device 28. In installation image capture process #120, the installation image data D after shooting is 14 The image data D captured at the time of installation is transmitted from the imaging device 28 to the position measuring device 15 via the communication network 11, and stored in the data storage unit 24 of the position measuring device 15. 14 This will be recorded.

[0081] Moving image capture process #130 is a process of capturing images while moving along the railway track 1. In moving image capture process #130, as shown in Figure 1, an image of the area in front of the vehicle 6 traveling along the railway track 1 is captured by the camera 10 mounted on the vehicle 6. In moving image capture process #130, as shown in Figures 1 and 2, the railway track 1 and ground facilities such as the platform 5 constructed along the railway line within the shooting area of ​​the camera 10 are captured by the camera 10. In moving image capture process #130, the moving image data D after capture is 12 The image data D is transmitted from the imaging device 10 to the position measuring device 15 via the communication network 11, and stored in the data storage unit 24 of the position measuring device 15. 12 This will be recorded.

[0082] The distance measurement process #140 is a process for measuring the distance traveled by vehicle 6. In the distance measurement process #140, the distance traveled by vehicle 6 from the time it started moving from the starting point to the ending point is calculated based on the moving image captured by the camera 10. In the distance measurement process #140, the distance data D related to the distance traveled by vehicle 6 is calculated. 19 Moving image data D 12 This is recorded in the data storage unit 24 in correspondence with the data.

[0083] Image extraction step #150 is the process of extracting marker images of the trackside markers 13A-13C and the ground equipment side markers 14A, 14B from the moving image. In image extraction step #150, images of the trackside markers 13A-13C and the ground equipment side markers 14A, 14B are extracted from the moving image, and the extracted marker image data D 13 Movement-captured image data D 12 This is recorded in the data storage unit 24 in correspondence with the data.

[0084] Reference line estimation process #160 involves straight lines L1 to L3, L passing through track-side markers 13A to 13C and ground equipment-side markers 14A and 14B. 21 ,L 22 ,L 41 ,L 42 This is the process of estimating using the reference line. In reference line estimation process #160, marker image data D 13 By analyzing the lines L1~L3,L shown in Figures 4 and 8, 21 ,L 22 ,L 41 ,L 42 The equation is calculated. In the reference line estimation process #160, as shown in Figures 4 to 8, a straight line L1 connecting the trackside markers 13A is determined, and the equation of the straight line L1 that is perpendicular to the rails 2R and 2L and passes through the top surface 2d of the rails 2R and 2L is calculated. At this time, if the trackside markers 13A shown in Figures 4, 5 and 8 cannot be identified, but the trackside markers 13B and 13C can be identified, the straight line L passing through trackside marker 13B or trackside marker 13C is calculated. 11 ,L 12 The equation of the straight line L1 passing through the trackside marker 13A is calculated.

[0085] In the reference line estimation process #160, as shown in Figures 4 to 7, the straight line L2 connecting the ground equipment side markers 14A is determined, and the equation of the straight line L2 passing through the platform floor (horizontal plane) 5a of platform 5 is calculated. Marker image data D 13 Corresponding travel distance data D 19 The reference line estimation unit 18 refers to the image data D captured at the time of installation, which corresponds to the distance traveled. 14The reference line estimation unit 18 searches for the positional relationship between the track-side marker 13A and the ground equipment-side marker 14A at the time of installation, and the image data D taken at the time of installation. 14 The reference line estimation unit 18 refers to this. As shown in Figure 8(A), the straight line L passes through one edge 14a of the ground equipment side marker 14A. 21 As shown in Figure 8(B), a straight line L passes through the other edge 14b of the ground equipment side marker 14A. 22 Of these, the line closest to line L1 is estimated to be line L2.

[0086] In the baseline estimation process #160, as shown in Figure 4, the straight line L3 connecting the ground equipment side markers 14B is determined, and the equation for the straight line L3 passing through the lower side (vertical plane) 5c of platform 5 is calculated. In the baseline estimation process #160, as shown in Figures 4 and 5, the straight line L passing inside the left and right rails 2R and 2L 41 ,L 42 The following is determined: Any two reference points P inside the left and right rails 2R and 2L. 41 ,P 42 The baseline estimation unit 18 extracts the reference point P 41 ,P 42 A straight line L passing through 41 ,L 42 The straight line L is determined. 41 ,L 42 The equation is determined. In the baseline estimation process #160, the lines L1 to L3, L shown in Figures 4 to 8 are determined. 21 ,L 22 ,L 41 ,L 42 Reference line data D 15 Movement-captured image data D 12 This is recorded in the data storage unit 24 in correspondence with the data.

[0087] Reference point estimation process #170 involves the lines L1~L3, L 41 ,L 42 The intersection points P1, P2, P 51 ,P 52 and center point P M This is the process of estimating using the reference point. In reference point estimation process #170, the lines L1~L3, L 41 ,L 42Based on the equation, these lines L1 to L3, L shown in Figures 4 to 8 21 ,L 22 ,L 41 ,L 42 The intersection points P1, P2, P 51 ,P 52 The coordinates and center point P M The coordinates are calculated. In reference point estimation step #170, as shown in Figures 4, 6, and 7, the intersection point P1 where the extension of line L2 and the extension of line L3 intersect is determined, and the coordinates of intersection point P1 are calculated. In reference point estimation step #170, the intersection point P2 where the extension of line L1 and the extension of line L3 intersect is determined, and the coordinates of intersection point P2 are calculated. In reference point estimation step #170, as shown in Figures 4 and 5, line L1 and line L 41 ,L 42 The intersection point P where the two lines intersect. 51 ,P 52 Determine the intersection point P as shown in Figures 4 to 7. 51 ,P 52 The coordinates are calculated. In the reference point estimation process #170, the intersection point P 51 and intersection point P 52 Center point P between M Determine the center point P M The coordinates are calculated. In the reference point estimation process #170, the intersection points P1, P2, P 51 ,P 52 The coordinates and center point P M Reference point data D 16 Movement-captured image data D 12 This is recorded in the data storage unit 24 in correspondence with the data.

[0088] The conversion magnification calculation step #180 is a step in which a conversion magnification α is calculated to convert the pixel values ​​of a certain part of the marker image to the actual dimensions, based on the pixel values ​​of parts of the marker image where the actual dimensions are known. In the conversion magnification calculation step #180, the conversion magnification α is calculated as the ratio of the pixel values ​​of the track gauge in the marker image to the actual dimensions of the track gauge. In the conversion magnification calculation step #180, the conversion magnification data D related to the conversion magnification α is calculated. 17 Movement-captured image data D 12 This is recorded in the data storage unit 24 in correspondence with the data.

[0089] Positional relationship measurement process #190 is a process of measuring the positional relationship between track 1 and platform 5 based on track-side markers 13A to 13C and ground equipment-side markers 14A and 14B. In positional relationship measurement process #190, intersections P1, P2, P shown in Figures 4 to 7 are measured. 51 ,P 52 The coordinates and center point P M Based on the coordinates, the positional relationship between track 1 and platform 5 is measured. In positional relationship measurement step #190, the center point P in the marker image is measured. M The pixel values ​​of the distance W0 and height H0 of Home 5 are measured relative to the reference point. In positional relationship measurement process #190, the center point P shown in Figures 4 to 7 is measured. M The distance from the point to the intersection point P2 is measured as the pixel value of W0, and the center point P is shown in Figures 4, 6, and 7. M Perpendicular line L drawn from to line L2 P1 The length is measured as the pixel value of height H0. In positional relationship measurement step #190, the actual dimensions of the distance W and height H of home 5 are calculated by multiplying the pixel values ​​of the distance W0 and height H0 in the marker image by the conversion magnification α. ​​In positional relationship measurement step #190, positional relationship measurement data D related to the actual dimensions of the distance W and height H of home 5 is calculated. 18 Movement-captured image data D 12 This is recorded in the data storage unit 24 in correspondence with the data.

[0090] Positional relationship correction step #200 is a step to correct the measurement results of the positional relationship between track 1 and platform 5 in positional relationship measurement step #190. In positional relationship correction step #200, the angle φ formed by straight lines L1 and L2 shown in Figure 9 is calculated. In positional relationship correction step #200, the distance L from intersection point P1 to intersection point P2 in the marker image is calculated. P1,P2 The pixel values ​​are calculated, and the distance L P1,P2 The pixel value is multiplied by the conversion factor α to obtain the distance L. P1,P2 The actual dimensions are measured. In positional relationship correction process #200, the distance from the intersection point P2 in the marker image to the center point P M Distance L P2,PM The pixel values ​​are calculated, and the distance L P2,PM The pixel value is multiplied by the conversion factor α to obtain the distance L.P2,PM The actual dimensions are measured. In positional relationship correction process #200, distance L P1,P2 Actual dimensions, distance L P2,PM From the actual dimensions and angle φ, the corrected separation W and height H are measured using equation 1. In positional relationship correction step #200, the corrected separation W and height H are measured using positional relationship measurement data D. 18 Movement-captured image data D 12 The data is then stored in the data storage unit 24 in correspondence with the data.

[0091] Next, the operation of the ground equipment position measuring device according to the first embodiment of this invention will be described. The following explanation will focus on the operation of the control unit 27 shown in Figure 3. In step 100 (hereinafter referred to as S) shown in Figure 11, the control unit 27 reads the position relationship measurement program from the position relationship measurement program storage unit 25. Once the control unit 27 reads the position relationship measurement program, the control unit 27 starts a series of position relationship measurement processes.

[0092] In S110, the control unit 27 commands the distance measurement unit 23 to measure the distance traveled by the vehicle 6. The data storage unit 24 stores the moving image data D. 12 The distance measurement unit 23 processes the image and calculates the distance traveled by the vehicle 6 from its starting point.

[0093] In S120, the control unit 27 instructs the image extraction unit 17 to extract marker images from the moving image. The moving image data D stored in the data storage unit 24 12 From this, the image extraction unit 17 extracts marker images in which the track-side markers 13A to 13C and the ground equipment-side markers 14A and 14B, as shown in Figures 1 and 2, are photographed.

[0094] In S130, straight lines L1~L3, L 21 ,L 22 ,L 41 ,L 42 The control unit 27 commands the baseline estimation unit 18 to estimate the marker image data D extracted in S120. 13 Corresponding travel distance data D19 The reference line estimation unit 18 searches the data storage unit 24 and identifies the travel distance corresponding to the installation positions of the track-side markers 13A~13C and the ground equipment-side markers 14A, 14B in the marker image. Installation-time image data D corresponding to these installation positions. 14 The reference line estimation unit 18 searches the data storage unit 24 for this and identifies the image captured at the time of installation that corresponds to this installation location. The identified image data D captured at the time of installation 14 The reference line estimation unit 18 processes the image and determines a straight line L that is close to the straight line L1, as shown in Figure 8. 21 or straight line L 22 The reference line estimation unit 18 identifies one of the lines as line L2, and generates an equation for line L2. Marker image data D extracted in S120 13 The reference line estimation unit 18 processes the image and generates the straight lines L1 to L3, L shown in Figures 4 to 7. 41 ,L 42 The baseline estimation unit 18 identifies the straight lines L1~L3, L 41 ,L 42 The baseline estimation unit 18 calculates the equation.

[0095] At S140, intersections P1, P2, P 51 ,P 52 and center point P M The control unit 27 commands the reference point estimation unit 19 to estimate the reference line data D stored in the data storage unit 24. 15 The reference point estimation unit 19 analyzes the straight lines L1 to L3, L shown in Figures 4 to 7. 41 ,L 42 The intersection points P1, P2, P 51 ,P 52 and center point P M The reference point estimation unit 19 identifies the intersection points P1, P2, P 51 ,P 52 The coordinates and center point P M The reference point estimation unit 19 calculates the coordinates of the reference point.

[0096] In S150, the control unit 27 commands the conversion magnification calculation unit 20 to calculate the conversion magnification α. ​​The conversion magnification calculation unit 20 calculates the conversion magnification α from the ratio of the pixel values ​​of the track gauge of the track 1 in the marker image to the actual dimensions of the track gauge of the actual track 1.

[0097] In S160, the control unit 27 commands the position relationship measurement unit 21 to measure the distance W and height H. As shown in Figure 2, the position relationship measurement unit 21 measures the position relationship between the track 1 and the platform 5 based on the track-side markers 13A~13C and ground equipment-side markers 14A,14B used to identify locations where the track 1 and platform 5 are at the same depth from the moving image. Reference point data D is stored in the data storage unit 24. 16 The positional relationship measurement unit 21 analyzes the data and multiplies the pixel values ​​of the distance W0 and height H0 in the marker image by a conversion magnification α to calculate the actual dimensions of the distance W and height H of Home 5 shown in Figures 4 to 7.

[0098] In S170, the control unit 27 instructs the position relationship correction unit 22 to determine whether or not correction of the position relationship measurement results is necessary. The reference line data D stored in the data storage unit 24 15 The positional relationship correction unit 22 analyzes the data and calculates the angle φ formed by the lines L1 and L2 shown in Figure 9. If the positional relationship correction unit 22 determines that the angle φ is close to zero (lines L1 and L2 do not intersect and are nearly parallel), the process proceeds to S180. If the positional relationship correction unit 22 determines that the angle φ is greater than zero (lines L1 and L2 intersect), the process proceeds to S170.

[0099] In S180, the control unit 27 instructs the position relationship correction unit 22 to correct the position relationship measurement results. The reference point data D stored in the data storage unit 24 16 The positional relationship correction unit 22 analyzes the distance L shown in Figure 9. P1,P2 ,L P2,PM The positional relationship correction unit 22 multiplies the pixel value by the conversion magnification α to obtain the distance L. P1,P2 ,L P2,PM The positional relationship correction unit 22 calculates the actual dimensions of the distance L. P1,P2 ,LP2,PM Based on the actual dimensions and angle φ, the positional relationship correction unit 22 calculates the corrected separation W and height H using equation 1.

[0100] In S190, the control unit 27 commands the data display unit 26 to display various data. For example, the data display unit 26 displays the actual dimensions of the platform 5's distance W and height H on the screen for each location where track-side markers 13A to 13C and ground equipment-side marker 14A are installed.

[0101] [Table 1]

[0102] Table 1 shows an example of the results obtained by applying the ground equipment position measurement method according to this embodiment to the measurement of the platform's distance and height. Table 1 shows the straight line L passing through the end edge 14b of the ground equipment side marker 14A shown in Figure 8(B). 22 This is the measurement result when the distance W and height H of platform 5 were measured, with the line being a straight line close to straight line L1. A track-side marker 13A was installed on the conventional line track 1 with a gauge of 1067 mm, and ground equipment-side markers 14A and 14B were installed on platform 5. By image processing the forward image taken from a vehicle 6 running on track 1, a conversion magnification α = 2.499 was calculated, which is the ratio of the pixel value of the gauge in the marker image (426.91 pixels) to the actual gauge dimension (1067 mm). The pixel value of the distance W0 (681.9 pixels) and the pixel value of the height H0 (339.3 pixels) in the marker image were calculated, and by multiplying these by the conversion magnification α, the forward image estimated value of 1692 mm, which is the actual dimension of the distance W of platform 5, and the forward image estimated value of 858 mm, which is the actual dimension of the height H of platform 5, were calculated. When measured from the ground using a dedicated device (Kaneko Corporation's FRP building clearance measuring instrument (KS6720)), the ground measurement value for the distance W of platform 5 was 1704 mm and the ground measurement value for the height H was 848 mm. As a result, as shown in Table 1, the forward image estimation values ​​using this embodiment had an error of about 10 mm compared to the ground measurement values ​​measured using the dedicated device, confirming that the distance W and height H of platform 5 can be measured with high accuracy in millimeters.

[0103] The ground equipment position measurement method, position measurement device, position measurement program, and position measurement marker according to the first embodiment of this invention have the following effects. (1) In this first embodiment, the positional relationship between the track 1 and platform 5 is measured based on track-side markers 13A-13C and ground equipment-side markers 14A, 14B, which identify locations where the track 1 and platform 5 are at the same depth from moving images. Therefore, by using the track-side markers 13A-13C and ground equipment-side markers 14A, 14B, the 3D position estimation problem can be reduced to a 2D position estimation problem. As a result, the position of the track 1 in the depth direction in 3D space, which cannot be determined from 2D images, and the corresponding position of platform 5 can be estimated with high accuracy, and the position of platform 5 can be easily identified. For example, the depth direction can be directly and easily determined using a forward image captured monocularly, without indirectly estimating the distance using methods such as estimating camera parameters using stereo vision or deep learning methods such as depth estimation. As a result, the same plane can be identified in the forward image captured in front of the vehicle 6, and the depth can be easily determined from a single image, so the condition of platform 5 can be easily evaluated and diagnosed.

[0104] (2) In this first embodiment, marker images of the track-side markers 13A to 13C and the ground equipment-side markers 14A and 14B are extracted from the moving image, and the positional relationship between the track 1 and the platform 5 is measured based on these marker images. For this reason, marker images of the track-side markers 13A to 13C and the ground equipment-side markers 14A and 14B can be automatically extracted from the image captured by the camera 10 while the camera is moving along the track 1 with the vehicle 6. As a result, by extracting the marker images as analysis lines, the positional relationship between the track 1 and the platform 5 can be measured with high accuracy.

[0105] (3) In this first embodiment, the distance W and height H from the track 1 to the platform 5 are measured. Therefore, the distance W and height H of the platform 5 in three-dimensional space can be measured with high accuracy based on the two-dimensional image obtained from the imaging device 10. As a result, the workload and cost required for measurement work can be significantly reduced compared to when workers measure the distance W and height H on site using specialized equipment.

[0106] (4) In this first embodiment, the straight line L1 passing through the track-side marker 13A is perpendicular to the center point P between the left and right rails 2R and 2L. M Perpendicular line L passing through P1 Furthermore, a perpendicular line L is drawn from intersection point P1, which is the reference point of platform 5, located on the straight line L2 passing through the ground equipment side marker 14A. P2 The length is measured at the center point P. M The distance W from the platform 5 is measured. Therefore, the distance W can be easily and accurately measured from the marker images taken with the track-side markers 13A-13C and the ground equipment-side markers 14A and 14B.

[0107] (5) In this first embodiment, a perpendicular line L is drawn from the intersection point P1, which is the reference point of the platform 5 located on the straight line L2 passing through the ground equipment side marker 14A, to the straight line L1 passing through the track side marker 13A. P1 The length is measured at the center point P between the left and right rails 2R and 2L. M The height H from the platform 5 is measured. Therefore, the height H of platform 5 can be easily and accurately measured from the marker images taken of the track-side markers 13A-13C and the ground equipment-side markers 14A and 14B.

[0108] (6) In this first embodiment, the straight lines L1 to L3, L pass through the track-side markers 13A to 13C and the ground equipment-side marker 14A. 21 ,L 22 ,L 41 ,L 42 The baseline is used for estimation. In this first embodiment, the intersection points P1, P2, P of these baselines are also used. 51 ,P 52 and the center point P between the left and right railsM The reference points are used for estimation. Furthermore, in this first embodiment, the positional relationship between the track 1 and the platform 5 is measured based on these reference points. For example, as shown in Figures 4 to 7 and 9, when a chamfered portion 5d is formed on the platform edge 5b which serves as the reference point when measuring the positional relationship between the rails 2R, 2L and the platform 5, the platform edge 5b may not be identifiable from the marker image alone. In this case, the perpendicular line L from the platform edge 5b shown in Figures 4, 6 and 7 is used. P1 Perpendicular line L dropped to it P2 Since W could not be measured from a distance, the perpendicular L was drawn from the home edge 5b to the straight line L1. P2 It is also not possible to measure the height H from the length. In this first embodiment, a chamfered portion 5d is formed on the platform 5, and even if the platform edge 5b, which serves as a reference when measuring the distance W and height H, cannot be identified from the marker image, the intersection P1 can be estimated from the marker image as a reference point when measuring the distance W and height H. As a result, the positional relationship between the track 1 and the platform 5 can be measured with even greater accuracy.

[0109] (7) In this first embodiment, a straight line L1 passing through the track-side marker 13A of the rail heads 2a of the left and right rails 2R and 2L, a straight line L2 passing through the ground equipment-side marker 14A of the platform floor 5a of platform 5, and a straight line L3 perpendicular to straight line L2 and passing through the ground equipment-side marker 14B of the lower side surface 5c of platform 5 are estimated as reference lines. In addition, in this first embodiment, a straight line L passing inside the rail head 2a of the right rail 2R 41 And the straight line L passes inside the rail head 2a of the left rail 2L. 42 Furthermore, in this first embodiment, the intersection point P1 where line L2 and line L3 intersect, the intersection point P2 where line L1 and line L3 intersect, and line L1 and line L 41 The intersection point P where the two lines intersect. 51 And, straight line L1 and straight line L 42 The intersection point P where the two lines intersect. 52 And, intersection point P 51 and intersection point P 52 Center point P between MThe positional relationship between track 1 and platform 5 is estimated using these points as reference points. Therefore, the positional relationship between track 1 and platform 5 can be easily measured in a two-dimensional planar coordinate system.

[0110] (8) In this first embodiment, a straight line L passes through one edge 14a of the ground equipment side marker 14A. 21 and the straight line L passing through the other edge 14b 42 Of these, the straight line closest to the straight line L1 that passes through the track-side marker 13A is estimated to be the straight line L2 that passes through the ground equipment-side marker 14A. For example, the track-side markers 13A~13C and the ground equipment-side marker 14A are not arranged in a straight line when viewed from above, and the track-side marker 13A and the ground equipment-side marker 14A do not exist in the same depth direction, and they may be installed offset from each other. In this embodiment, the straight line L closest to the straight line L1 is estimated to be the straight line L 21 or straight line L 22 The positional relationship between track 1 and platform 5 is measured using either of the two reference lines. This allows for more accurate measurement of the positional relationship between track 1 and platform 5.

[0111] (9) In this first embodiment, the straight line L2 passing through the ground equipment side marker 14A is estimated based on the installation marker image taken from the ground side, which shows the positional relationship between the track side marker 13A and the ground equipment side marker 14A at the time of installation. For example, the positional relationship between the track side marker 13A and the ground equipment side marker 14A at the time of construction is photographed from the ground and stored in advance as an installation marker image, and the positional relationship between the track 1 and the platform 5 can be measured by referring to the installation marker image. As a result, even if the track side marker 13A and the ground equipment side marker 14A are installed misaligned, the straight line L2 can be determined using the installation marker image, and the accuracy of measuring the positional relationship between the track 1 and the platform 5 can be improved.

[0112] (10) In this first embodiment, the actual dimensions of the distance W and height H from the track 1 to the platform 5 in the marker image are measured based on the pixel values ​​of the portion of the marker image in which the actual dimensions are known. Therefore, the conversion magnification α, which is a pixel / distance conversion coefficient for converting the pixel values ​​of the portion of the marker image in which the actual dimensions are known, can be easily calculated. As a result, the pixel values ​​of the distance W0 and height H0 of the platform 5 in the marker extraction image can be easily converted to the actual dimensions of the distance W and height H to the platform 5 using the conversion magnification α.

[0113] (11) In this first embodiment, the measurement results of the positional relationship between the track 1 and the platform 5 are corrected. For example, when a train 6 passes through a curved section, the outer rail 2L may be superelevated to be higher than the inner rail 2R in order to counteract the effect of the excess centrifugal force acting on the outer rail, or the platform floor of the platform 5 may be sloped. In this case, by correcting the measurement results of the positional relationship between the track 1 and the platform 5, these positional relationships can be measured with even greater precision.

[0114] (12) In this first embodiment, the positional relationship between the track 1 and the platform 5 is corrected based on the angle φ formed by the straight line L1 passing through the track-side marker 13A and the straight line L2 passing through the ground equipment-side marker 14A. For this reason, for example, by processing the marker images to calculate the angle φ formed by the straight lines L1 and L2, and correcting the positional relationship between the track 1 and the platform 5 according to the angle φ, these positional relationships can be measured with even greater precision.

[0115] (Second Embodiment) In the following, parts identical to those shown in Figures 1 to 9 are denoted by the same reference numerals, and detailed explanations are omitted. This second embodiment, as shown in Figures 12 and 13, is an embodiment in which the positional relationship between the track 1 and the platform 5 is measured by utilizing the rail gap Δ of the rail joints 29R and 29L as the track-side marker 13A. The reference line estimation unit 18 shown in Figure 3 analyzes the marker image to capture the rail gap Δ of the left and right rail joints 29R and 29L shown in Figures 12 and 13 as a geometric shape, and identifies a straight line L1 that passes through the centroid of the rail gap Δ of the left and right rail joints 29R and 29L.

[0116] The rail joints 29R and 29L shown in Figures 12 to 14 are constructed by fixing joint plates 29a to both sides of the joint portion of rails 2R and 2L, and connecting the joint portion with the joint plates 29a. Rail joints 29R and 29L are both identical in structure; rail joint 29R is the connection portion of rail 2R, and rail joint 29L is the connection portion of rail 2L. As shown in Figures 12 and 14, rail joints 29R and 29L include a pair of left and right joint plates 29a that sandwich the rail web 2c of rails 2R and 2L, and a fastening member 29b that fastens the pair of left and right joint plates 29a together. The rail joints 29R and 29L shown in Figures 12 and 13 are butt joints (ordinary joints) in which two rails 2R and 2L, whose ends are cut at right angles, are joined together and assembled using a joint plate 29a and fastening members 29b consisting of joint plate bolts and nuts.

[0117] The rail gap Δ shown in Figures 12 and 13 is the gap set at the rail joints 29R and 29L. The rail gap Δ is formed at a predetermined distance between the butt joints of rails 2R and 2L to absorb the expansion and contraction of rails 2R and 2L due to temperature changes in rails 2R and 2L, and to prevent rail 2R and 2L from overhanging at high temperatures.

[0118] The ground equipment position measurement method, position measurement device, position measurement program, and position measurement marker according to the second embodiment of this invention have the following effects in addition to the effects of the first embodiment. In this second embodiment, the rail gap Δ of the rail joints 29R and 29L is the track-side marker 13A. Therefore, by utilizing the rail gap Δ of the existing rail joints 29R and 29L as the track-side marker 13A, the installation of the track-side marker 13A shown in Figures 2, 4, 5, and 8 can be omitted. As a result, there is no need for workers to apply paint to the rails 2R and 2L with a brush or spray to install the track-side marker 13A, and the workload and cost required for the installation of the track-side marker 13A can be further reduced compared to the first embodiment. In addition, by processing the marker images, the rail gap Δ can be extracted more easily, and the positional relationship between the track 1 and the platform 5 can be measured with high precision.

[0119] (Other embodiments) This invention is not limited to the embodiments described above, and various modifications or changes are possible as described below, and these also fall within the scope of this invention. (1) In this embodiment, the case where track 1 is a single track was used as an example for the explanation, but this invention can also be applied to cases where track 1 is a double track or a quadruple track. Also, in this embodiment, ground facilities such as platform 5 were used as an example for the explanation, but this invention can also be applied to ground facilities other than these. For example, this invention can be applied to railway facilities necessary for railway operation such as land, buildings, stations, track structures, bridges, tunnels, and level crossings, as well as ancillary facilities such as sound barriers attached to civil engineering structures, maintenance equipment, structures such as the foundations of overhead line poles or signal poles, and ground coils. Furthermore, in this embodiment, the case where platform 5 is a single platform was used as an example for the explanation, but this invention can also be applied to other types of platforms such as opposing platforms with two single platforms facing each other, and island platforms where both sides of the platform are adjacent to tracks.

[0120] (2) In this embodiment, the case where the vehicle 6 is a two-car train was used as an example for the description, but this invention can also be applied to a one-car train or a train with three or more cars. In this embodiment, the case where the camera 10 is mounted on the front of the vehicle 6 and the camera 10 captures a forward image of the front of the vehicle 6 in the direction of travel as a moving image was used as an example, but this invention can also be applied to a case where the camera 10 is mounted on the rear of the vehicle 6 and the camera 10 captures a rear image of the rear of the vehicle 6 in the direction of travel as a moving image. Furthermore, in this embodiment, the case where the front of the vehicle 6 is captured by a camera 10 mounted on the vehicle 6 was used as an example, but this invention can also be applied to a case where the front is captured by a radio-controlled unmanned aerial vehicle moving along the railway track 1.

[0121] (3) In this embodiment, the case in which the track-side marker 13A is mainly used and the track-side markers 13B and 13C are used auxiliaryly has been described as an example, but this invention can also be applied when at least one of the track-side markers 13A to 13C is used. Also, in this embodiment, the case in which four ground equipment-side markers 14A and 14B are each arranged has been described as an example, but this invention can also be applied when any number of ground equipment-side markers 14A and 14B other than four are arranged. For example, when a waiting space is formed on the lower side surface 5c of platform 5, this invention can be applied even when only one ground equipment-side marker 14B is installed. Furthermore, in this embodiment, the case in which the ground equipment-side markers 14A and 14B are installed by spray painting or tape has been described as an example, but this invention can also be applied when the ground equipment-side markers 14A and 14B are made of resin material or signs.

[0122] (4) In this embodiment, by detecting the edges of the marker image, the straight line L2, L 21 ,L 22 ,L3,L 41 ,L 42Although we explained using the example of estimating L2,L2, L 21 ,L 22 ,L3,L 41 ,L 42 This invention can also be applied when estimating the value of the straight line L1 that passes through the trackside marker 13A. In this embodiment, the straight line L1 that is closer to the straight line L1 that passes through the trackside marker 13A is also applicable. 21 ,L 22 I explained using the case where you select as an example, but each line L 21 ,L 22 This invention can also be applied to cases where the positional relationship between track 1 and platform 5 is measured, and measurement errors are reduced by taking the average of the respective measurement results. Furthermore, although this embodiment describes an example where the conversion magnification α is calculated from the ratio of the pixel value of the track gauge in the marker image to the actual dimensions of the track gauge, this invention can also be applied to cases where the conversion magnification α is calculated from the ratio of the pixel value of the track-side markers 13A~13C or the ground equipment-side markers 14A,14B to the actual values ​​of these markers.

[0123] (5) In this embodiment, the case in which the travel distance of the vehicle 6 is measured by optical flow has been described as an example, but the present invention is not limited to such a method of measuring travel distance. For example, the present invention can also be applied to a case in which the travel distance measuring unit 23 is equipped with an on-board unit installed on the vehicle 6 side for mutually sending and receiving information with a ground beacon of an automatic train stop (ATS) installed at a specific point on the track side 1, a receiver that receives a signal from the on-board unit and outputs absolute position information (absolute position signal) representing the distance from the starting point to the ground beacon, and a calculation unit that detects the absolute position of the vehicle 6 based on the absolute position information output by the receiver and calculates the travel distance of the vehicle 6 by integrating the rotation speed detection signal (distance pulse signal) output by the speed generator of the vehicle 6 until the vehicle 6 reaches the next ground beacon. Furthermore, the present invention can also be applied to a case in which the travel distance measuring unit 23 measures the travel distance of the vehicle 6 in combination with GPS (Global Positioning System) or an autonomous navigation device (gyroscope). Furthermore, although this embodiment has been described using the example of measuring the distance W and height H, this invention can also be applied to cases where positional relationships other than the distance W and height H are measured.

[0124] (6) In this embodiment, the case of measuring the distance W and height H has been described as an example, but this invention can also be applied when measuring either one of these. In this embodiment, the center point P M The explanation used the example of measuring the distance W and height H with the reference point P as the reference point, but the explanation was given using the example of measuring the distance W and height H as the reference point. MThis invention can also be applied when measuring positional relationships using a reference point other than the one specified above. Furthermore, although this embodiment describes the case where the separation W and height H in the marker image are measured by automatic recognition, this invention can also be applied when the separation W and height H in the marker image are measured manually. Moreover, although this second embodiment describes the case where the rail joints 29R and 29L are not fastened directly below by the rail fastening device 4, this invention can also be applied when the rail joints 29R and 29L are fastened directly below by the rail fastening device 4. In this case, the track-side marker 13C can be installed on the bolt head of the fastening bolt of the rail fastening device 4 directly below the rail joints 29R and 29L. [Explanation of Symbols]

[0125] 1 track 2R, 2L rails 2a Rail head 2b Rail bottom 2c Rail section 2d parietal plane 2e Head side 3 Supporting body 4 Rail fastening device 4a Fastening spring 4b Fastening bolts 5. Platform (ground facilities) 5a Home floor (top surface) 5b Home edge 5c Lower side of home platform (side) 5d Chamfered section 6 vehicles 7R,7L wheels 9. Position measurement system 10. Imaging device 11. Communication Networks 12. Markers for position measurement 13A~13C Trackside markers 14A, 14B Ground equipment side markers 14a,14b Edge 15 Position measuring device 17 Image Extraction Unit 18 Base line estimation section 19 Reference point estimation section 20 Conversion multiplier calculation unit 21 Positional relationship measurement unit 22 Positional relationship correction unit 23 Distance measurement unit 25 Position measurement program storage unit 27 Control Unit 28 Imaging device 29R, 29L Rail joint section 29a Joint plate 29b Fastening member D1 Downward Direction D2 Upbound W Detachment (Actual dimensions of the detachment) W0 Departure (Departure pixel value) H Height (actual height) H0 Height (height in pixels) L1~L3.L 21 ,L 22 ,L 41 ,L 42 Straight line (reference line) P1~P3.P 51 ,P 52 Intersection (reference point) P M Center point (reference point) L P1 ~L P3 Perpendicular line φ angle α conversion magnification Δ Rail gap

Claims

1. A method for measuring the position of ground equipment laid along a railway track, based on moving images taken while moving along the railway track, The process includes a positional relationship measurement step, in which the positional relationship between the aforementioned railway track and the aforementioned ground equipment is measured based on the railway track side marker and the ground equipment side marker used to identify locations where the railway track and the aforementioned ground equipment are located at the same position in the depth direction from the moving image, A method for measuring the position of ground equipment characterized by the following.

2. In the method for measuring the position of ground equipment according to claim 1, The process includes an image extraction step of extracting marker images, in which the trackside marker and the ground equipment side marker are photographed, from the moving image. The positional relationship measurement step includes measuring the positional relationship between the railway line and the ground equipment based on the marker image. A method for measuring the position of ground equipment characterized by the following.

3. In the method for measuring the position of ground equipment according to claim 1, The positional relationship measurement step includes a step of measuring the distance and / or height from the railway line to the ground equipment. A method for measuring the position of ground equipment characterized by the following.

4. In the method for measuring the position of ground equipment according to claim 1, The positional relationship measurement step includes measuring the distance from the center point to the ground equipment, which is located on the straight line passing through the ground equipment side marker, by measuring the length of the perpendicular line that is perpendicular to the straight line passing through the track side marker and passes through the center point between the left and right rails of the track, and the perpendicular line that passes through the center point between the left and right rails of the track. A method for measuring the position of ground equipment characterized by the following.

5. In the method for measuring the position of ground equipment according to claim 1, The positional relationship measurement step includes measuring the length of a perpendicular line drawn from a reference point of the ground equipment located on a straight line passing through the marker on the ground equipment side to a straight line passing through the marker on the track side, and using this length as the height from the center point between the left and right rails of the track to the ground equipment. A method for measuring the position of ground equipment characterized by the following.

6. In the method for measuring the position of ground equipment according to claim 1, A reference line estimation step in which a straight line passing through the aforementioned track-side marker and the aforementioned ground equipment-side marker is estimated as a reference line, The process includes a reference point estimation step in which the intersection point where the aforementioned reference lines intersect and the center point between the left and right rails of the aforementioned track are estimated as reference points, The positional relationship measurement step includes a step of measuring the positional relationship between the railway line and the ground equipment based on the reference point. A method for measuring the position of ground equipment characterized by the following.

7. In the method for measuring the position of ground equipment according to claim 6, The aforementioned reference line estimation step includes estimating the straight line passing through the ground equipment side marker, whichever of the straight lines passing through one edge and the other edge of the ground equipment side marker is closer to the straight line passing through the track side marker. A method for measuring the position of ground equipment characterized by the following.

8. In the method for measuring the position of ground equipment according to claim 7, The aforementioned reference line estimation step includes the step of estimating a straight line passing through the ground equipment side marker based on installation images taken from the ground side showing the positional relationship between the track side marker and the ground equipment side marker at the time of installation. A method for measuring the position of ground equipment characterized by the following.

9. In the method for measuring the position of ground equipment according to claim 1, The positional relationship measurement step includes measuring the actual dimensions of the distance and / or height from the railway line to the ground equipment within the marker image based on the pixel values ​​of the portion of the marker image whose actual dimensions are known. A method for measuring the position of ground equipment characterized by the following.

10. In the method for measuring the position of ground equipment according to claim 1, The process includes a position relationship correction step for correcting the measurement results of the position relationship between the railway line and the ground equipment in the position relationship measurement step. A method for measuring the position of ground equipment characterized by the following.

11. In the method for measuring the position of ground equipment according to claim 10, The positional relationship correction step includes a step of correcting the positional relationship between the railway line and the ground equipment based on the angle formed by the straight line passing through the railway line side marker and the straight line passing through the ground equipment side marker. A method for measuring the position of ground equipment characterized by the following.

12. A ground equipment position measuring device that measures the position of ground equipment laid along a railway track based on moving images taken while moving along the railway track, The system includes a positional relationship measuring unit that measures the positional relationship between the aforementioned railway track and the aforementioned ground equipment based on a railway track-side marker and a ground equipment-side marker used to identify locations where the railway track and the aforementioned ground equipment are located at the same depth-direction from the moving image. A ground equipment position measurement device characterized by the following.

13. A ground equipment position measurement program for measuring the position of ground equipment laid along a railway track, based on moving images taken while moving along the railway track, The computer is instructed to perform a positional relationship measurement procedure to measure the positional relationship between the aforementioned railway track and the aforementioned ground equipment, based on the railway track-side marker and the ground equipment-side marker used to identify locations where the depth-direction positions of the aforementioned railway track and the aforementioned ground equipment are the same, from the moving image. A ground equipment position measurement program characterized by the following.

14. A marker for measuring the position of ground equipment laid along a railway track, based on moving images taken while moving along the track, The system includes track-side markers and ground equipment-side markers for identifying locations where the track and ground equipment are at the same depth position from the moving image. A marker for measuring the position of ground equipment, characterized by the following features.

Images