Obstacle avoidance support system and maintenance vehicle

Abstract

To provide an obstacle avoidance support system capable of coping with an embedded obstacle, and the addition and movement of the obstacle.SOLUTION: An obstacle avoidance support system 1 includes a survey image acquisition device 3, an obstacle data management device 4, and an obstacle data display device 5. The survey image acquisition device 3 outputs a survey track image acquired by imaging a track in association with position information. The obstacle data management device 4 displays the survey track image, receives an input operation of obstacle data (a position range of the obstacle, a kind of the obstacle, and information of a work device whose operation is inhibited within the position range, and outputs the survey track image and the obstacle data. The obstacle data display device 5 is mounted on a maintenance vehicle 50 having the work device 2 to display the survey track image and a track image during work side by side in accordance with a position in a rail direction, and displays the position range of the obstacle in the obstacle data while overlapping it on the survey track image and the track image during work.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an obstacle avoidance support system for prohibiting the operation of a specific working device at the position of an obstacle existing on a track, and a maintenance vehicle using such a system.

Background Art

[0002] In railway track maintenance, a maintenance vehicle called a multiple tamping machine is used for linear maintenance work. The multiple tamping machine is a large machine that continuously compacts the track bed ballast (see Non-Patent Document 1). In the work by the multiple tamping machine, various facilities such as switches, level crossings, and rail joints existing on the track become obstacles for a specific working device, and at the positions of these obstacles, control (prohibition control) for prohibiting the operation of the working device is performed to prevent the working device from damaging the facilities.

[0003] Performing such prohibition control relying only on workers is inefficient and there is also a risk of human error.

[0004] Therefore, conventionally, before performing work by a multiple tamping machine, a worker checks for obstacles on site and attaches a barcode by applying paint to the outer surface of the head of the rail corresponding to the position of the obstacle. Then, the barcode is read by a device mounted on the multiple tamping machine, and the prohibition control of the working device is automatically performed. However, the work of attaching a barcode by applying paint requires manual labor, and the feasibility of the work depends on the weather. In addition, the barcode may not be read properly due to the change over time of the paint of the barcode, the influence of rainfall, fallen leaves, weeds, etc. Note that there are also maintenance vehicles that require prohibition control of the working device other than the multiple tamping machine.

[0005] As a way to further automate the prohibition control of work devices in maintenance vehicles, an information processing device for railway maintenance work support has been proposed (see Patent Document 1). This railway maintenance work support information processing device acquires image data of the track, determines areas where work is not permitted through image recognition processing, and automatically prohibits the use of work devices in those areas.

[0006] However, some obstacles, such as cables and troughs for signaling and safety devices, are embedded within the track ballast. Since these embedded obstacles do not appear in the track imaging data (track images), they cannot be detected by the image recognition processing of the railway maintenance support information processing system. Furthermore, if obstacles are added or moved after the image recognition processing has defined an area where work is not possible, the railway maintenance support information processing system will not be able to define an area where work is not possible for those additional obstacles. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2016-133857 [Non-patent literature]

[0008] [Non-Patent Document 1] JIS E1001 "Railway - Track Terminology" [Overview of the Initiative] [Problems that the invention aims to solve]

[0009] The present invention aims to solve the above problems and to provide an obstacle avoidance support system for prohibiting the operation of a specific work device at the location of an obstacle on a track, and a maintenance vehicle utilizing the system, that can handle buried obstacles and the addition or relocation of obstacles. [Means for solving the problem]

[0010] The obstacle avoidance support system of the present invention is a system for prohibiting the operation of a specific work device at the location of an obstacle on a track, comprising: an investigation image acquisition device mounted on a vehicle moving on a track; an obstacle data management device installed on the ground; and an obstacle data display device mounted on a maintenance vehicle having a work device, wherein the investigation image acquisition device comprises: a first imaging unit that images the track and acquires an investigation track image; a first on-board processing unit that processes the data; and a position information acquisition unit that acquires the position information of the vehicle, wherein the first on-board processing unit outputs the investigation track image acquired by the first imaging unit in correspondence with the position information, and the obstacle data management device comprises: a processing unit that processes the data; a display unit; and an input unit that receives input operations, wherein the processing unit receives the investigation track image from the investigation image acquisition device and the investigation track image The display unit displays the above, the input unit receives obstacle data, the obstacle data includes the position range of the obstacle, the type of the obstacle, and information on work equipment whose operation is prohibited within that position range, the obstacle data management device outputs the survey track image and the obstacle data, the obstacle data display device has a second imaging unit that images the track and acquires a work track image, an on-board display unit, and a second on-board processing unit that processes the data, the second on-board processing unit receives the survey track image and the obstacle data from the obstacle data management device, displays the survey track image and the work track image side by side aligned in the rail direction on the on-board display unit, and displays the position range of the obstacle in the obstacle data superimposed on the survey track image and the work track image on the on-board display unit.

[0011] In this obstacle avoidance support system, it is preferable that the obstacle data management device has a storage unit for storing the survey track image and the obstacle data.

[0012] In this obstacle avoidance support system, the maintenance vehicle on which the obstacle data display device is mounted is, for example, a multiple tie tamper.

[0013] In this obstacle avoidance support system, For research purposesThe vehicle equipped with the image acquisition device is, for example, a rail flaw detection vehicle that performs ultrasonic flaw detection on rails.

[0014] Preferably, the maintenance vehicle of the present invention is a maintenance vehicle equipped with an obstacle data display device of the obstacle avoidance support system, and has a control device that controls the operation of the work device, wherein the control device receives information on the position range of the obstacle in the obstacle data and information on the work device whose operation is prohibited within that position range from the obstacle data management device, and controls the work device based on the input information. [Effects of the Invention]

[0015] According to the obstacle avoidance support system of the present invention, obstacle data (location range of the obstacle, type of obstacle, and information on work equipment whose operation is prohibited within that location range) of the obstacle is input from the input unit of the obstacle data management device, so that obstacle data for buried obstacles can also be input. Since the survey track image acquired in advance is displayed on the display unit of the obstacle data management device, input of obstacle data becomes easier. In addition, the survey track image and the work track image are displayed side by side on the onboard display unit mounted on the maintenance vehicle equipped with work equipment, aligned in the direction of the rails, so that the user can be notified of any changes in the obstacles after the survey track image has been acquired. Furthermore, since the location range of the obstacle in the obstacle data is displayed overlaid on the survey track image and the work track image, if there is an obstacle in the work track image that is not in the obstacle data, the user can be notified of it.Therefore, the obstacle avoidance support system and the maintenance vehicle using the system can handle buried obstacles and the addition or relocation of obstacles. [Brief explanation of the drawing]

[0016] [Figure 1] Figure 1 is a block diagram of an obstacle avoidance support system according to one embodiment of the present invention. [Figure 2] Figure 2 is a photograph representing a diagram of the front section of a vehicle equipped with the system's survey image acquisition device. [Figure 3] FIG. 3 is a drawing substitute photograph showing an example of an inspection track image displayed on the obstacle data management device of the system. [Figure 4] FIG. 4 is a diagram showing an example of an input dialog displayed on the obstacle data management device of the system. [Figure 5] FIG. 5 is a diagram showing an example of a display dialog of an obstacle data list displayed on the obstacle data management device of the system. [Figure 6] FIG. 6 is a drawing substitute photograph showing an example of display on the obstacle data display device of the system.

Embodiments for Carrying out the Invention

[0017] An obstacle avoidance support system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5. As shown in FIG. 1, the obstacle avoidance support system 1 is a system for prohibiting the operation of a specific working device 2 at the position of an obstacle existing on the track. This obstacle avoidance support system 1 includes an inspection image acquisition device 3, an obstacle data management device 4, and an obstacle data display device 5. Each device has a different installation location.

[0018] The inspection image acquisition device 3 is mounted on a vehicle 30 that moves on the track. The vehicle 30 that moves on the track is a maintenance vehicle or a railway vehicle. As shown in FIG. 2, in the present embodiment, the vehicle 30 is a rail flaw detector that detects ultrasonic waves in the rail, that is, a type of maintenance vehicle.

[0019] The obstacle data management device 4 is provided on the ground. In the present embodiment, the obstacle data management device 4 is provided in an office.

[0020] The obstruction data display device 5 is mounted on a maintenance vehicle 50 equipped with a work device 2. In this embodiment, the maintenance vehicle 50 is a multiple tie tamper. The work device 2 of the multiple tie tamper includes a clamp (a device for lifting rails), a tamping unit (a device for compacting ballast under sleepers), a compactor (a device for compacting ballast), a sweeper (a device for tidying the track bed), a DGS (a device for stabilizing the track bed with vibration), etc.

[0021] The survey image acquisition device 3 includes a first imaging unit 31, a first on-board processing unit 32, and a position information acquisition unit 33. The first imaging unit 31 images the track and acquires a survey track image. The first on-board processing unit 32 processes the data. The position information acquisition unit 33 acquires the position information of the vehicle 30 (the vehicle itself). In addition to the above configuration, the survey image acquisition device 3 also includes a lighting device 34, etc.

[0022] In this embodiment, the first imaging unit 31 is a line scan camera and is mounted extending forward from the upper part of the front of the vehicle 30, facing the track below (see Figure 2). The first imaging unit 31 scans the track in the direction of the sleepers (left and right directions perpendicular to the rail direction) to capture an image of the track. The width to be captured is ±2.5m to the left and right of the center of the track.

[0023] The first on-board processing unit 32 is a computer (PC) that has a CPU, memory, etc., and functions by executing programs (see Figure 1). In this embodiment, the first on-board processing unit 32 is an on-board rack-mount PC.

[0024] The position information acquisition unit 33 obtains information on the distance traveled from the pulse signal of the rotary encoder, and also obtains information on the absolute position by detecting the ground beacon, and calculates position information from the distance traveled and the absolute position. This position information is expressed in kilometers and has an accuracy of centimeters.

[0025] The lighting device 34 has multiple LEDs arranged in the direction of the railway ties and is installed at the lower part of the front of the train car 30 (see Figure 2). The lighting device 34 ensures an illuminance of approximately 100,000 lux at the imaging position of the first imaging unit 31.

[0026] In addition to the above configuration, the survey image acquisition device 3 includes a monitor for viewing images captured by the first imaging unit 31 on the vehicle, data recording storage (hard disk), power supply, etc. (not shown).

[0027] In the survey image acquisition device 3 configured as described above, the first on-board processing unit 32 outputs the survey track image acquired by the first imaging unit 31 in correspondence with the position information acquired by the position information acquisition unit 33 (see Figure 1). Specifically, the survey track image is corrected so that 1m in the rail direction is displayed as a constant length, and is output to the data recording storage as an image file for each 1m in the rail direction. Each image file is identified by its position.

[0028] In this embodiment, data transfer from the survey image acquisition device 3 to the obstruction data management device 4 is performed via a storage medium. This storage medium is an SSD (Solid State Drive). Alternatively, the data transfer from the survey image acquisition device 3 to the obstruction data management device 4 may be configured to be performed wirelessly.

[0029] The obstruction data management device 4 includes a processing unit 41 for processing data, a display unit 42, an input unit 43 for receiving input operations, and a storage unit 44.

[0030] In this embodiment, the obstruction data management device 4 is a PC (computer). The processing unit 41 is the main body of the PC and includes a CPU and memory, etc. The display unit 42 is the display of the PC. The input unit 43 is the keyboard and mouse of the PC. The storage unit 44 is the hard disk or SSD of the PC.

[0031] The processing unit 41 of the obstruction data management device 4 receives the survey track image from the survey image acquisition device 3 and displays the survey track image on the display unit 42.

[0032] Figure 3 shows an example of a survey track image displayed on the display unit 42. In this example, a bridge is visible in the survey track image. The survey track image is scrolled in the direction of the rails (horizontal direction in Figure 3).

[0033] The input unit 43 receives obstruction data. The obstruction data includes the location range of the obstruction, the type of obstruction, and information about the work device whose operation is prohibited within that location range.

[0034] The user of the obstacle data management device 4 inputs obstacle data by operating the input unit 43 while viewing the display unit 42. An example of an input dialog for inputting obstacle data is shown in Figure 4. The input dialog is displayed on the display unit 42 overlaid on the survey track image. The input dialog has fields for the location range of the obstacle (kilometers, section length), the type of obstacle, and prohibited items. When inputting the location range of the obstacle, the user specifies the range using the mouse on the input unit 43 on the survey track image displayed on the display unit 42. When inputting the type of obstacle, the user selects from the menu in the input dialog with the mouse. When inputting information on work equipment whose operation is prohibited, the user selects radio buttons or checkboxes in the prohibited items field with the mouse. A radio button is an input tool in a GUI (Graphical User Interface) that allows the user to select only one option from multiple choices. A checkbox is an input tool that allows the user to select multiple options, with duplicates permitted.

[0035] The "Prohibition" section has radio buttons for "Prohibit All Operations" and "Prohibit Individual Operations." To prohibit the operation of all work devices 2, click the "Prohibit All Operations" radio button with the mouse. To prohibit the operation of each work device 2 individually, click the "Prohibit Individual Operations" radio button and then click the checkbox for the work device 2 whose operation you want to prohibit. In the example in Figure 4, if you select "Bridge" as the type of obstacle and select the "Prohibit Individual Operations" radio button, the default prohibition checkmark for bridges will automatically appear in the checkbox. Users can select each checkbox to add or remove prohibitions.

[0036] For obstacles such as cables that are not visible in the survey track images, the user inputs the obstacle data based on ledgers or other documents containing the results of the on-site survey. Furthermore, for obstacles that have been added, relocated, or removed after the survey track images were acquired, the user inputs the obstacle data based on the results of subsequent on-site surveys or drawings of the addition, relocation, or removal work.

[0037] The entered obstruction data is displayed in a list on the display unit 42. An example of the obstruction data list display dialog is shown in Figure 5. This display dialog is displayed on the display unit 42 overlaid on the survey track image. The display dialog shows the type of obstruction, the location range, and the length in the rail direction, and also has edit and delete buttons. The user can select an obstruction and press the edit button to modify the obstruction data in the input dialog. Selecting an obstruction and pressing the delete button removes that obstruction from the obstruction data.

[0038] The obstacle data management device 4 stores the survey track images and obstacle data in the storage unit 44. Therefore, once obstacle data is entered into the obstacle data management device 4, subsequent entries only need to be made for obstacles that have changed since then, such as new entries, edits, or deletions, thus streamlining the input of obstacle data.

[0039] The obstacle data management device 4 outputs survey track images and obstacle data. The survey track images are output to the obstacle data display device 5 (see Figure 1). The obstacle data is output to the obstacle data display device 5 and control device 6 mounted on the maintenance vehicle 50.

[0040] The control device 6 receives information from the obstacle data management device 4 regarding the location range of the obstacle in the obstacle data, and information regarding the work equipment whose operation is prohibited within that location range.

[0041] In this embodiment, the obstacle data management device 4 outputs data in a format readable by the obstacle management system of the control device 6, and this output data is input to the obstacle management system (not shown) of the control device 6 via a storage medium. Alternatively, the data transfer from the obstacle data management device 4 to the control device 6 may be configured to be performed wirelessly.

[0042] The control device 6 controls the work device 2 based on the input information regarding the position range of the obstruction and the information regarding the work device 2 whose operation is prohibited within that position range.

[0043] As a result, based on the data output by the obstruction data management device 4, control is automatically performed to prohibit the operation of a specific work device 2 at the location of an obstruction on the track.

[0044] However, if an obstacle is altered after the obstacle data has been input using the obstacle data management device 4, the control device 6 cannot automatically prevent the operation of the work device 2 at the location of the altered obstacle. Therefore, it is necessary for a person to check and avoid unnecessary operation of the work device 2. The obstacle data display device 5 of the obstacle avoidance support system 1 assists in such checks.

[0045] The obstruction data display device 5 includes a second imaging unit 51, an on-board display unit 52, and a second on-board processing unit 53 for processing data. The second imaging unit 51 images the track and acquires a track image during operation. The track image during operation is a real-time image of the track during operation.

[0046] In this embodiment, the second imaging unit 51 is a camera. The on-vehicle display unit 52 is a display. The second on-vehicle processing unit 53 is a computer. The maintenance vehicle 50 on which the obstacle data display device 5 is mounted is a multiple tie tamper and has a location information acquisition device 54. The location information of the maintenance vehicle 50 is input from the location information acquisition device 54 to the obstacle data display device 5. The obstacle data display device 5 may also have a location information acquisition device 54.

[0047] The second on-board processing unit 53 receives the survey track image and obstacle data from the obstacle data management device 4. As shown in Figure 6, the second on-board processing unit 53 displays the survey track image and the work track image side by side on the on-board display unit 52, aligning their positions in the rail direction (longitudinal direction of the track). It also displays the position range of the obstacles in the obstacle data on the on-board display unit 52, overlaid on the survey track image and the work track image.

[0048] In the example in Figure 6, the vertically oriented image in the center is the track image used for the survey, and the vertically oriented image to its right is the track image used during the operation.

[0049] Furthermore, the second on-board processing unit 53 displays the current position of the maintenance vehicle 50 on the survey track image and the work track image. The dotted lines on the survey track image and the work track image near the top of Figure 6 represent the position of the second imaging unit 51. The horizontal solid line immediately below it represents the leading position of the maintenance vehicle 50. As the maintenance vehicle 50 moves, the survey track image and the work track image move upward.

[0050] The location range of the obstruction is indicated by a colored rectangular frame on the survey track image and the work track image. This rectangular frame is normally light blue, turns yellow when the work device 2 (which controls the obstruction) approaches within a certain distance, and turns pink while the obstruction control is active. Note that the light blue, yellow, and pink colors used in the color coding of the obstruction location range are examples only and are not limited to these.

[0051] This allows the user of the obstacle data display device 5 to easily compare pre-entered obstacle data with obstacles included in the work track image. If the obstacle range displayed on the on-board display unit 52 differs from the obstacles included in the work track image, the user can perform an operation to prohibit the operation of the work device 2 for that obstacle.

[0052] Furthermore, the second on-board processing unit 53 displays the control status of the work device 2 on the on-board display unit 52.

[0053] In the example in Figure 6, the work device 2 is displayed as a small rectangle outside the rail on the survey track image, and the name of the work device 2 and the distance to the obstacle are displayed in text in the lower left of the figure. The control status of the work device 2 is indicated by color. A work device 2 that has approached within a certain distance of the obstacle is displayed in yellow. In this example, the clamp is 2.43m away from the obstacle and is displayed in yellow. A work device 2 that is under prohibition control is displayed in pink. In this example, the DGS is under prohibition control.

[0054] This display allows the obstruction data display device 5 to monitor the control status of the work device 2.

[0055] The second on-board processing unit 53 saves the display from the on-board display unit 52 as a video in the storage of the obstruction data display device 5. The saved video is used for troubleshooting, etc.

[0056] As described above, in short, the obstacle avoidance support system 1 comprises an image acquisition device 3 for surveying, an obstacle data management device 4, and an obstacle data display device 5. The image acquisition device 3 captures images of the track and outputs survey track images associated with position information. The obstacle data management device 4 displays the survey track images, receives input operations for obstacle data (location range of the obstacle, type of obstacle, and information on work equipment whose operation is prohibited within that location range), and outputs the survey track images and obstacle data. The obstacle data display device 5 is mounted on a maintenance vehicle 50 equipped with work equipment 2, and displays the survey track images and work track images side by side, aligned in the direction of the rails, and displays the location range of the obstacles in the obstacle data superimposed on the survey track images and work track images.

[0057] As described above, with the obstacle avoidance support system 1 according to this embodiment, obstacle data (location range of the obstacle, type of obstacle, and information on work equipment whose operation is prohibited within that location range) of the obstacle is input from the input unit 43 of the obstacle data management device 4, so that obstacle data for buried obstacles can also be input. Since the survey track image acquired in advance is displayed on the display unit 42 of the obstacle data management device 4, input of obstacle data becomes easier. In addition, the survey track image and the work track image are displayed side by side on the on-board display unit 52 mounted on the maintenance vehicle 50 equipped with the work equipment 2, aligned in the direction of the rails, so that the user can be notified of any changes in the obstacles after the survey track image has been acquired. Furthermore, since the location range of the obstacle in the obstacle data is displayed superimposed on the survey track image and the work track image, if there is an obstacle in the work track image that is not in the obstacle data, the user can be notified of it. Therefore, the obstacle avoidance support system 1 can handle buried obstacles and the addition or relocation of obstacles.

[0058] It should be noted that the present invention is not limited to the configuration of the above embodiments, and various modifications are possible without changing the essence of the invention. For example, the vehicle 30 on which the survey image acquisition device 3 is mounted may be a track inspection vehicle for inspecting the track. Also, the maintenance vehicle on which the obstacle data display device 5 is mounted may be a rail grinding vehicle. [Explanation of Symbols]

[0059] 1. Obstacle Avoidance Support System 2. Working equipment 3. Image acquisition device for surveys 31 First Imaging Unit 32 First On-board Processing Unit 33 Location information acquisition unit 4. Obstacle Data Management Device 41 Processing Unit 42 Display section 43 Input section 44 Memory section 5 Obstacle Data Display Device 51 Second Imaging Section 52 On-board display 53. Second On-board Processing Unit 6 Control device

Claims

1. An obstacle avoidance support system for prohibiting the operation of a specific work device at the location of an obstacle present in the track, An image acquisition device for surveys mounted on a vehicle moving along an orbit, A data management device for obstructions installed on the ground, Equipped with an obstacle data display device mounted on a maintenance vehicle with work equipment, The aforementioned survey image acquisition device includes a first imaging unit that images the track and acquires a survey track image, a first on-board processing unit that processes the data, and a position information acquisition unit that acquires the position information of the vehicle. The first on-board processing unit outputs the survey track image acquired by the first imaging unit in correspondence with the position information. The aforementioned obstruction data management device has a processing unit for processing data, a display unit, and an input unit for receiving input operations. The processing unit receives the survey trajectory image from the survey image acquisition device and displays the survey trajectory image on the display unit. The aforementioned input unit receives obstruction data, The aforementioned obstruction data includes information on the location range of the obstruction, the type of the obstruction, and the work device whose operation is prohibited within that location range. The obstruction data management device outputs the survey track image and the obstruction data, The aforementioned obstruction data display device includes a second imaging unit that captures images of the track and acquires track images during work, an on-board display unit, and a second on-board processing unit that processes the data. The obstacle avoidance support system is characterized in that the second on-board processing unit receives the survey track image and the obstacle data from the obstacle data management device, displays the survey track image and the work track image side by side on the on-board display unit with their positions aligned in the rail direction, and displays the position range of the obstacle in the obstacle data on the on-board display unit, superimposed on the survey track image and the work track image.

2. The obstacle avoidance support system according to claim 1, characterized in that the obstacle data management device has a storage unit for storing the survey track image and the obstacle data.

3. The obstacle avoidance support system according to claim 1, characterized in that the maintenance vehicle on which the obstacle data display device is mounted is a multiple tie tamper.

4. The obstacle avoidance support system according to claim 1, characterized in that the vehicle on which the aforementioned image acquisition device for inspection is mounted is a rail flaw detection vehicle that performs ultrasonic flaw detection of rails.

5. A maintenance vehicle equipped with an obstacle data display device for the obstacle avoidance support system described in claim 1, The device has a control device that controls the operation of the work device, The control device is characterized in that it receives information on the position range of an obstacle in the obstacle data and information on a work device whose operation is prohibited within that position range from the obstacle data management device, and controls the work device based on the input information.

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