JP2005069700A - 3D data acquisition device - Google Patents

Abstract

A three-dimensional data acquisition apparatus more suitable for application to a railway vehicle is provided.
An apparatus for measuring a distance to an object by radiating an object while rotating a laser, receiving reflected light, and having a measurement section 101as forming a rotation section in the laser radiation direction, a railway vehicle. The laser scanner 101a mounted in the vicinity of the upper center of the railway vehicle so as to form a vertical plane with respect to the traveling direction of 1 and the measurement cross section 101bs form a plane upward by a predetermined angle with respect to the measurement cross section 101as of the laser scanner 101a. Thus, the laser scanner 101b mounted near the upper center of the railway vehicle 1 and a storage unit that stores measurement information of the laser scanners 101a and 101b are provided.
[Selection] Figure 3

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a three-dimensional data acquisition apparatus suitable for use in acquiring three-dimensional spatial information of structures along a track while being mounted on a railway vehicle and running the railway vehicle.
[0002]
[Prior art]
As a conventional three-dimensional data acquisition device mounted on a moving body, there is a device capable of acquiring three-dimensional spatial information while driving a vehicle by mounting a laser scanner device or a camera on the vehicle (for example, a patent) Reference 1 and Patent Document 2).
[0003]
In addition, an apparatus for creating a three-dimensional model from three-dimensional spatial information acquired using a laser scanner device mounted on a flying object has been proposed (see, for example, Patent Document 3).
[0004]
[Patent Document 1]
JP 2001-128158 A (3rd page, FIG. 1)
[Patent Document 2]
Japanese Patent Laid-Open No. 2002-31528 (page 4, FIG. 5)
[Patent Document 3]
JP 2002-74323 A (page 4, FIG. 1)
[0005]
[Problems to be solved by the invention]
In the above conventional technique, a rail vehicle is not considered as a moving body. Therefore, there is a problem that a measuring device such as a laser scanner device cannot be mounted on a railway vehicle as it is. That is, in the apparatuses described in Patent Document 1 and Patent Document 2, there is a protruding portion of the measuring device with respect to the lateral direction of the traveling direction of the vehicle. Therefore, there is a problem that a railway vehicle with a small margin in the side direction may not be mounted itself or may be restricted such as a limited measurement range in the measuring device.
[0006]
Further, in the apparatuses described in Patent Document 1 and Patent Document 2, a laser scanner device or the like is provided so as to be suitable for acquiring data in the road surface direction of the automobile in detail. For this reason, when it is intended to be used for a railway vehicle, there is a problem that the capture rate of structures along the railway line may be low, or the accuracy of acquiring data in the lateral direction may be deteriorated.
[0007]
This invention is made | formed in view of such a situation, and it aims at providing the three-dimensional data acquisition apparatus more suitable to apply to a railway vehicle.
[0008]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention described in claim 1 is an apparatus for radiating an object while rotating a laser, receiving reflected light, and measuring the distance to the object, and measuring the distance to the object. A first laser scanner mounted on the upper part of the railway vehicle and a target object while rotating the laser so that the measurement section forming the rotational section forms a vertical plane with respect to the traveling direction of the railway vehicle. Is a device that measures the distance to an object by measuring a surface in which a measurement cross section forming a rotational cross section in the laser radiation direction is inclined at a predetermined angle with respect to the measurement cross section of the first laser scanner. And a second laser scanner mounted on an upper part of the railway vehicle.
[0009]
According to a second aspect of the invention, in the first aspect of the invention, the first and second laser scanners are mounted substantially at the center in the width direction on the upper rear side of the railway vehicle.
[0010]
According to a third aspect of the present invention, in the first or second aspect of the present invention, a position / orientation information measuring unit that measures position and attitude information of the railway vehicle, and measurement information and positions of the first and second laser scanners. The apparatus further includes a three-dimensional data calculation unit that calculates three-dimensional data based on the position and posture information acquired by the posture information measurement unit.
[0011]
According to a fourth aspect of the present invention, in the third aspect of the present invention, the position / orientation information measuring unit that measures position and attitude information of the railway vehicle has a vehicle upper element that acquires position information from a ground element on the track. It is characterized by being.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a three-dimensional model processing system according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a system diagram showing a configuration of a three-dimensional model processing system including an embodiment of the present invention. In FIG. 1 and other drawings, the same components are denoted by the same reference numerals. The system shown in FIG. 1 includes a three-dimensional data acquisition device 10, a three-dimensional model creation device 20, and a three-dimensional model calculation device 30.
[0013]
The three-dimensional data acquisition device 10 is a device that is mounted on a moving body such as a railway vehicle and acquires three-dimensional spatial information while moving the moving body. Three-dimensional coordinate information and image information corresponding to each structure around the moving point of the moving body are continuously acquired. Here, the three-dimensional coordinate information indicates the three-dimensional coordinates of each point when the structure is represented by a plurality of points. In the present application, three-dimensional coordinate data indicating a plurality of points is referred to as three-dimensional point group data.
[0014]
The three-dimensional model creation device 20 is a device that creates a three-dimensional model based on the three-dimensional spatial information acquired by the three-dimensional data acquisition device 10. A polygon model is created by obtaining a connection relationship (connection information) between points in the three-dimensional point cloud data constituting the three-dimensional space information. The 3D model created by the 3D model creation device 20 is output as polygon model data. The three-dimensional model creation device 20 can also use the image information of the structure acquired by the three-dimensional data acquisition device 10 as necessary. For example, when creating a three-dimensional model, it is possible to correct errors in the connection information using image recognition processing, or to perform picture mapping, texture mapping, etc. on the polygon model using the image information. .
[0015]
The three-dimensional model calculation device 30 performs calculation processing for various simulations using the three-dimensional model created by the three-dimensional model creation device 20 or data creation processing for a geographic information system (GIS). And the like.
[0016]
As shown in FIG. 1, the three-dimensional data acquisition apparatus 10 is configured by units 101 to 111 each including one or more apparatuses. In this case, each part 101-111 is mounted in the railway vehicle 1 as shown in FIG. The laser scanner unit 101 includes two laser scanners 101a and 101b mounted on the roof of the railway vehicle 1 in FIG. 2 and a control device (not shown). Each of the laser scanners 101a and 101b emits a laser while rotating 360 degrees at a scan frequency (laser radiation period) of 20 Hz, for example, and reflects the structure such as the utility pole 3, the overhead line 3a, the building 4 and the tunnel 5 as an object. Receive a signal. In other words, each of the laser scanners 101a and 101b is an apparatus that radiates to an object while rotating the laser, receives reflected light, and measures the distance to the object.
[0017]
Data measured by the laser scanner unit 101 includes angle information and distance information to the object. These pieces of information are stored in the storage unit 106 together with time information at the time of measurement as laser scanner data. Data measured by the two laser scanners 101a and 101b are stored as independent data. The storage unit 106 includes a nonvolatile semiconductor storage device, a storage device such as a hard disk.
[0018]
The INS unit 102 is composed of an inertial navigation system (Internal Navigation System). The INS unit 102 measures the acceleration in three directions on a measurement table stabilized by, for example, a gyroscope, and integrates the time to obtain the displacement in the three directions, thereby indicating position information indicating the position change of the rail vehicle 1. And posture information indicating a posture such as a direction and a tilt.
[0019]
The GPS unit 103 is a global positioning system, and includes an antenna 103a mounted on the roof of the railway vehicle 1 and its control device. The GPS unit 103 obtains and outputs position information including latitude, longitude, altitude, and the like by receiving signals transmitted from a plurality of GPS satellites 6a, 6b,... Using the antenna 103a. The GPS unit 103 can be a D-GPS (Differential GPS) that uses correction information obtained using a mobile phone, FM broadcast, or the like.
[0020]
The on-board unit 104 transmits and receives information to and from a plurality of ground units 7 arranged at predetermined positions along the track 2 as shown in FIG. 2 by an ATS system (automatic train stop device system) or the like. It is a device for. It comprises a coil 104a attached to the railway vehicle 1 and a control device, and obtains and outputs travel position information based on signals received from each ground element 7. The position information and attitude information output from the INS unit 102, the GPS unit 103, and the vehicle upper unit 104 are stored in the storage unit 107 together with time information as INS data, GPS data, and ground unit data. In the case where the INS unit 102, the GPS unit 103, and the vehicle upper unit 104 constitute a position / orientation information measurement unit and only one of the GPS unit 103 and the vehicle upper unit 104 is provided. You may not be prepared.
[0021]
The line camera unit 105 is an apparatus that captures an image of a structure using a line camera 105a as shown in FIG. 2 and outputs image data. The line camera 105a is attached in the lateral direction of the railway vehicle 1 and uses three line sensor cameras to display images in directions diagonally forward, right side, and diagonally rearward with respect to the traveling direction indicated by arrows. Shoot in the longitudinal direction with a period of. By continuously arranging the captured images, it is possible to obtain images that are continuous in the traveling direction. The images in the respective directions are used for mutually complementing the images in the directions that could not be captured by an obstacle or the like. In the present embodiment, it is assumed that the same line camera as the line camera 105a is attached to the side surface of the railway vehicle 1 opposite to the surface on which the line camera 105a is attached. An image captured by the line camera unit 105 is stored in the storage unit 108 as image information together with time information.
[0022]
The data synchronization unit 109 includes a computer and peripheral devices, and executes processing using a predetermined program. The data synchronization unit 109 is a synchronization that associates each value of the laser scanner data stored in the storage unit 106 with each value of the INS data, GPS data, and ground data stored in the storage unit 107 based on time information. Process.
[0023]
The three-dimensional coordinate value calculation unit 110 includes a computer and a peripheral device that are the same as or different from the data synchronization unit 109, and executes processing using a predetermined program. The three-dimensional coordinate value calculation unit 110 calculates the three-dimensional coordinate value of each value of the laser scanner data using the synchronization result from the data synchronization unit 109. Each value of the laser scanner data indicates a plurality of points corresponding to each object with information on angles and distances based on the installation position of the laser scanner 101a or 101b. On the other hand, the INS data, the GPS data, and the ground data indicate the moving position and posture of the railway vehicle 1 with respect to the ground. The three-dimensional coordinate value calculation unit 110 uses the INS data, the GPS data, and the ground element data to calculate the angle / distance information of each point indicated by the laser scanner data from the ground, that is, the third order based on the longitude / latitude / altitude. Convert to original coordinate value. Then, the data of each point of each object indicated by the three-dimensional coordinate value is stored in the storage unit 111 as three-dimensional point group data.
[0024]
Note that the three-dimensional coordinate value calculation unit 110 uses each position information of INS data, GPS data, and ground child data under the following conditions. First, regarding the acquisition interval, INS data can always be acquired at predetermined time intervals. GPS data can usually be acquired at predetermined time intervals, but signals from the GPS satellites 6a, 6b,... Cannot be received when passing through the tunnel 5 in FIG. In other words, there is a time zone that cannot be acquired in some cases. And the ground element data can be acquired only at the point where the ground element 7 of FIG. 2 is installed. On the other hand, regarding the accuracy, the ground child data is stable and highly accurate, and the GPS data and the INS data may have a larger error than the ground child data. The INS data also has a characteristic that errors are accumulated.
[0025]
Therefore, in the present embodiment, the position and orientation information indicated by the INS data is used while being corrected with the ground child data and the GPS data. In addition, ground correction data is used with priority over GPS data as a correction reference. That is, when both the ground child data and the GPS data are acquired at the same time or close time zones, the position information indicated by the ground child data is adopted. However, both the ground child data and the GPS data do not necessarily have to exist. In either case, sufficient positional information accuracy may be obtained depending on the application.
[0026]
In the three-dimensional coordinate value calculation unit 110, the outputs of the two laser scanners 101a and 101b are simply used together, or, for example, a portion of data that cannot be acquired by the laser scanner 101a is acquired by the laser scanner 101b. It is possible to complement the acquired data, or to use the average of both data for the same object. In this case, both data are used together as they are.
[0027]
Here, the arrangement of the two laser scanners 101a and 101b in FIG. 2 will be described with reference to FIG. 3A is a side view of the railway vehicle 1, and FIG. 3B is a plan view. The laser scanner 101a is installed in the horizontal direction (in the same direction) with respect to the traveling direction indicated by the arrow near the center of the rear part of the roof of the railway vehicle 1 (near the center in the width direction behind the upper part of the railway vehicle 1). In other words, the laser scanner 101a is arranged so that the measurement cross section (rotational cross section) 101as of the laser is a vertical plane orthogonal to the traveling direction. On the other hand, the laser scanner 101b is tilted obliquely upward from the horizontal direction in the side view (FIG. 3A) at the top of the laser scanner 101a, and in the same direction as the laser scanner 101a in the plan view (FIG. 3B). It is installed in. That is, the laser scanner 101b is arranged so that the measurement cross section 101bs of the laser is a surface inclined in the traveling direction with respect to the measurement cross section 101as of the laser scanner 101a. The inclination angle of the laser scanner 101b is, for example, 45 degrees.
[0028]
According to such an arrangement, the portions where the laser scanners 101 a and 101 b protrude from the vehicle body of the railway vehicle 1 are only in the upper direction and the rear direction of the railway vehicle 1. By the way, in a railway vehicle, there is a restriction on a margin dimension of a protruding portion called a vehicle limit. Vehicle limits are more severe on the side than on top and front and rear edges. For example, when the laser scanner is installed perpendicularly to the side surface or at an angle, it is considered that the portion where the laser scanner protrudes from the side surface increases. However, such installation is often not allowed due to vehicle limitations. In the present embodiment, the above arrangement is adopted in consideration of such a vehicle limit in the railway vehicle 1 so that accurate measurement can be performed with as few laser scanners as possible. The installation positions of the laser scanners 101a and 101b are not necessarily near the center of the rear part of the roof of the railway vehicle 1, and may be shifted in the width direction or the front-rear direction within a range within the vehicle limit.
[0029]
In the above arrangement, the measurement cross section 101as of the laser scanner 101a is a vertical plane orthogonal to the traveling direction. Therefore, the measurement of an object such as a structure along the track 2 is performed by the laser traveling in a direction orthogonal to the track 2. In railroads, structures such as walls and buildings along railway lines are often provided vertically along the track 2. Therefore, by using the measurement cross section 101as perpendicular to the traveling direction, it becomes easy to receive reflected light from more objects. There are also many objects on the upper part of the railway vehicle 1 such as the overhead line 3a and the upper part 5a of the tunnel 5. Reflected light from these upper objects is also easily received. However, in the laser scanner 101a, it is difficult to stably obtain accurate data from a surface perpendicular to the traveling direction such as the end vertical surface 5b of the tunnel 5.
[0030]
On the other hand, the measurement cross section 101bs of the laser scanner 101b is a surface having a predetermined angle from the vertical. Therefore, the laser is irradiated at a predetermined angle even on a surface orthogonal to the traveling direction, such as the end vertical surface 5 b of the tunnel 5. Therefore, it is possible to obtain stable reflected light even on such a surface. Further, the laser scanner 101b can obtain stable reflected light from the upper object. Unlike these laser scanners 101a and 101b, for example, a laser scanner having a measurement cross section that is horizontal in the direction of travel is difficult to stably obtain accurate data by reflecting the laser beam on the upper object.
[0031]
Next, the measurement order and direction of the laser scanner 101a will be described with reference to FIG. FIG. 4 is a front view showing the laser scanner 101a from the direction of the rotation axis (viewed from the back in the direction of travel in FIG. 2). In the present embodiment, the laser scanner 101a is of a type that measures one cross-sectional shape by one rotation of the optical system portion. Measurement is performed at an angle of 0.5 degrees in rotation angle. However, in this case, 60 degrees out of the entire 360 degrees is used for adjustment in the device, and measurement data cannot be obtained. For example, in an example in which the measurement impossible direction is set directly below and measurement is performed from the railcar 1, a defect occurs in the road surface shape data directly below the train travels. In the present embodiment, 601 points of data are measured at intervals of 0.5 degrees.
[0032]
Next, a change in the measurement direction of the laser scanner 101a will be described with reference to FIG. The laser scanner 101a rotates to measure a two-dimensional cross section. Therefore, when traveling while measuring the measurement cross section 101as perpendicular to the traveling direction, the measurement direction changes spirally as shown in FIG. In FIG. 5, the measurement cross section of the same rotation is defined as the first to third measurement cross sections.
[0033]
As shown in FIG. 5, the density of the measurement points is different in the traveling direction (direction of the interval A) and the measurement cross-sectional direction (direction of the interval B). In the laser scanner 101a having a constant scan frequency, the point group interval A in the traveling direction depends on the traveling speed of the vehicle. The higher the vehicle speed, the coarser the interval, and the slower, the closer the interval. The number of measurement points per unit time in the traveling direction depends on the scan frequency. In the case of 20 Hz in the present embodiment, 20 points are measured in one second in the traveling direction. For example, when the speed is 80 km / h, the distance between the point clouds in the traveling direction is about 1.1 m, and when the speed is 20 km / h, the distance is 0.28 m.
[0034]
On the other hand, the point group interval B in the measurement cross-section direction of the laser scanner varies depending on the distance to the object. Here, the point group interval B is an interval between reflection points on the reflection surface of the object. The measurement angle interval of the laser scanner 101a of this embodiment is 0.5 degrees in the measurement cross-sectional direction. The distance between the measurement points increases as the distance to the object to be measured increases, and the distance between the measurement points becomes closer as the object is closer. For example, facilities around the track within 10 m from the laser scanner 101a have a distance of approximately 10 cm or less, and buildings and slopes around the track 20 m to 50 m from the laser scanner 101a have a point cloud at intervals of several tens of cm. To be acquired.
[0035]
FIG. 6 shows an example of three-dimensional point cloud data when the entrance / exit part of the tunnel 5 as shown in FIG. 2 is measured. Since the distance from the laser scanner 101a to the object is shortened, it is expressed by a shape in which dots are arranged closely in the measurement cross-sectional direction. As a result, the three-dimensional representation of the tunnel with point clouds makes it easier to grasp the shape.
[0036]
Next, the configuration of the three-dimensional model creation apparatus 20 will be described with reference to FIG. 1 again. The three-dimensional model creation apparatus 20 includes a polygon model creation unit 201 and a storage unit 202 for storing polygon data. The polygon model creation unit 201 is composed of a computer and peripheral devices, and executes processing using a predetermined program. The polygon model creation unit 201 creates a polygon model based on the three-dimensional point cloud data as shown in FIG. 6 stored in the storage unit 111. The polygon model created by the polygon model creation unit 201 is stored in the storage unit 202 as polygon model data.
[0037]
Here, a polygon model creation procedure by the polygon model creation unit 201 will be described with reference to FIGS. As a method of creating a polygon from a point cloud, there is a method of creating a triangle by connecting adjacent points. Such a method can also be realized by general-purpose modeling software. However, the point cloud data used by the polygon model creation unit 201 is data measured by actually running the railway vehicle 1. Such data may contain an error component. When such data is processed by general-purpose software, unevenness that does not actually exist may occur depending on the accuracy of obtaining the reflection point of the laser.
[0038]
Therefore, in the present embodiment, by introducing the concept of the traveling direction, which is not found in general-purpose modeling software, it is possible to create a polygon model that is not affected by error components as much as possible. Note that general-purpose modeling software generally creates polygons based on the direction (east longitude and latitude).
[0039]
The polygon model creation unit 201 creates a polygon along the traveling direction in order to prevent the occurrence of unevenness. It is considered that the data of the object often has a certain relationship such as continuity with respect to the traveling direction and the rotation direction of the laser scanner. That is, the difference in data (distance to the object) between measurement points adjacent in the traveling direction and the rotation direction is expected to be relatively small. Therefore, when creating a polygon, a candidate for the vertex coordinates of the polygon is selected in consideration of the traveling direction and the rotation direction (that is, the data acquisition cycle). Furthermore, a certain restriction is placed on the data interval between vertices. As a result, it is possible to avoid as much as possible the problem of creating incorrect polygons by connecting wrong points.
[0040]
FIG. 7 is a schematic diagram showing an interval between measurement points in the nth measurement cross section and the (n + 1) th measurement cross section among the measurement cross sections shown in FIG. 5 (where n is a natural number). In the laser scanner 101a, reflected signals are measured at the same interval from the reflecting surfaces at the same distance. This relationship is considered to be deepest at a total of four measurement points, two adjacent points in the traveling direction or the rotation direction of the laser scanner. In the example of FIG. 7, the first and second points of the n-th measurement section and the first and second points of the (n + 1) -th measurement section are considered to be the four points that are most closely related. For example, a triangular polygon is formed by pairing such points for each period and combining them with surrounding points. However, since the points are not always the same when the distance between the points is long, the determination condition is, for example, La = 0.5 m in the laser scanner rotation direction (longitudinal direction), and Lb = in the train traveling direction, for example. We decided to add a restriction that the connection was made only under conditions of 1.8 m or less.
[0041]
In addition, about the data of a total of 4 points | pieces, 2 points | pieces adjacent in a rotation direction, and 2 points | pieces corresponding to a advancing direction, the data of 4 points | pieces do not always exist. For example, when the reflected light cannot be received, a measurement point having no measurement data is generated. In order to form a triangular polygon, data of at least 3 points out of 4 points are required. There are four cases shown in FIG. 8 in which there are less than three measurement points among the four points. FIG. 8 shows a combination of four measurement points as shown in FIG. 7, where the horizontal direction is the traveling direction and the vertical direction is the rotational direction. Here, a black circle indicates a case where data exists and a white circle does not exist. Cases 1 and 2 have two points, case 3 has one point, and case 4 has zero point data.
[0042]
On the other hand, if all four points of the four points exist, two polygons can be created. In addition, when three points of data exist, one polygon can be created. However, when three points of data exist, the directions of the triangles of the generated polygons are different. FIG. 9 shows five cases where there are three or more points of data. FIG. 9 shows a combination of four measurement points as shown in FIG. 7, with the horizontal direction as the traveling direction and the vertical direction as the rotational direction, as in FIG. A black circle indicates that data exists, and a white circle does not exist. Case 1 is a case where four points of data exist and two triangles are generated. Cases 2 to 5 are cases where three points of data exist and one triangle is generated.
[0043]
On the other hand, the structures along the track 2 include, for example, overhead lines, trees, utility poles, and the like. For example, in the case of an electric pole, as shown in FIG. 10, the feature may be detected by comparing data in the traveling direction and the rotation direction. In this embodiment, as an example, in the case of a utility pole, when data continuously exists in the rotation direction and there is no data in adjacent measurement sections in the traveling direction, it is assumed that it is a utility pole. The corresponding measurement points are excluded from the polygon creation target. For the data determined to be a utility pole, the diameter of the utility pole cannot be measured by a laser scanner, so a polygon is virtually generated in consideration of a certain radius.
[0044]
FIG. 11 shows a flowchart of polygon generation processing in consideration of the above traveling direction in the polygon model creation unit 201. The polygon model creation unit 201 in FIG. 1 first reads 3D point cloud data from the storage unit 11 (step S11). Here, the point that the laser could not receive is added to the three-dimensional point cloud data as “point data with no data” (corresponding to the white circle in FIG. 8) (step S12). Next, point data satisfying the determination condition of the utility pole is extracted from the three-dimensional point cloud data (step S13). And the attribute of applicable point data is set to a utility pole (step S14).
[0045]
Next, point data of a total of four points are extracted from the three-dimensional point group data, that is, two consecutive points accompanying rotation and two corresponding points rotated once (step S14). And it is confirmed whether the attribute of each point is a utility pole (step S15). If it is not a utility pole, it is confirmed whether or not there are three or more point data (step S16). If three or more points of data exist, it is checked whether or not the point-to-point distance condition is satisfied in the traveling direction and the rotation direction (step S17). When satisfied, connection data for connecting the points is created (step S18). These are continued until all the point cloud data are processed (step S19). On the other hand, when the attribute is a utility pole (“yes” in step S15), when there is no data (“no” in step S16), or when the point distance condition is not satisfied (“no” in step S17), Connection data is not created.
[0046]
FIG. 12 shows an example of a polygon created in consideration of the traveling direction and the like. FIG. 12 shows an example in which triangular polygons are created in the portions related to the three measurement sections 101as1 to 101as3 in the three-dimensional point cloud data shown in FIG. For example, polygons such as polygons 202a to 202c are created in association with the measurement cross sections 101as1 to 101as3.
[0047]
The polygon model creation unit 201 creates a polygon in consideration of the traveling direction and the like, and then creates polygon model data representing a three-dimensional model from the plurality of created polygon data. At that time, for a region where no polygon is created, a new polygon can be created by interpolation processing or the like based on the polygon created in consideration of the traveling direction or the like. Further, by using the image data stored in the storage unit 108 in FIG. 1, it is possible to correct an error in the connection information or to perform picture mapping, texture mapping, and the like.
[0048]
13 and 14 show examples of creating polygon model data. FIG. 13 and FIG. 14 are diagrams showing a case where a polygon model inside the tunnel is created from the same three-dimensional point cloud data. FIG. 13 shows a case where a polygon created in consideration of the traveling direction or the like is used as a reference, and FIG. 14 uses a polygon created without considering the traveling direction or the like. In FIG. 13, the wall surfaces 51a and 52a and the ceiling 53a extend linearly with respect to the traveling direction, whereas in FIG. 14, many irregularities that do not actually exist on the wall surfaces 51b, 52b and the ceiling 53b appear. Further, in FIG. 13, the shape of the retraction resistance 54a and the like is also clearly expressed.
[0049]
Next, the three-dimensional model calculation device 30 in FIG. 1 will be described. In the present embodiment, it is assumed that the three-dimensional model calculation device 30 is configured by the radio wave propagation simulation unit 301. The radio wave propagation simulation unit 301 performs radio wave propagation simulation using the polygon model data stored in the storage unit 202. The radio wave propagation simulation unit 301 employs a conventional ray tracing method relating to radio as a reception level simulation method (theoretical calculation method of received electric field strength). In this method, the electric field strength is calculated by geometrically calculating the propagation path of the radio wave reaching the receiving point. FIG. 15 shows an image thereof, and FIG. 16 shows an example of a reception level calculation result and an actual measurement value (experimental result). As shown in FIG. 15, the reception points 41a, 41b,... Are moved inside the tunnel 5 in the polygon model, and the reception levels are calculated at the reception points 41a, 41b,. As shown in FIG. 16, the commonality was confirmed in the tendency of the data range T1 in the tunnel 5 of the measured value D1 and the calculated value D2 in the same range, and the reception level could be obtained with high accuracy.
[0050]
As described above, in the present embodiment, the radio wave propagation simulation unit 301 applies the polygon model data created by the three-dimensional model creation device 20 to the propagation simulation of the wireless channel design, thereby shielding or reflecting the structure. Rigorous propagation simulation considering As a result, it is possible to confirm the influence of the change or expansion of the base station by simulation, so that improvement in design quality and simplification of measurement can be expected.
[0051]
Note that the embodiment of the present invention is not limited to the above-described one, and for example, it is possible to appropriately change, for example, to integrate the respective parts or to disperse and arrange the respective parts via a communication line or the like. In addition, the program executed by the computer in the above embodiment can be distributed via a computer-readable recording medium or a communication line.
[0052]
【The invention's effect】
According to the present invention, an apparatus for radiating an object while rotating a laser, receiving reflected light, and measuring a distance to the object, the measurement section forming a rotational section in the laser radiation direction being a railway vehicle A distance from the first laser scanner mounted on the upper part of the railway vehicle so as to form a vertical plane with respect to the traveling direction of the vehicle and the object that is radiated to the object while rotating the laser and receives the reflected light In which the measurement cross section forming the rotational cross section in the laser radiation direction forms a plane inclined at a predetermined angle substantially in the traveling direction with respect to the measurement cross section of the first laser scanner. Since the second laser scanner mounted on the vehicle is provided, it is possible to deal with the overhead line, the upper part of the tunnel, a plane perpendicular to the traveling direction, and the like, and satisfy the limitation of the vehicle limit on the railway vehicle. Therefore, a three-dimensional data acquisition device that is more suitable for application to a railway vehicle can be easily obtained.
[Brief description of the drawings]
FIG. 1 is a system diagram showing a configuration of a three-dimensional model processing system according to an embodiment of the present invention.
2 is a schematic diagram showing the three-dimensional data acquisition apparatus of FIG. 1 and its surrounding structures.
3A and 3B are a side view and a plan view showing the arrangement of the laser scanner of FIG.
4 is a front view showing a measurement direction of the laser scanner of FIG. 2. FIG.
5 is a schematic diagram showing a change in a measurement cross section of the laser scanner in FIG. 2;
6 is a perspective view for explaining an example of three-dimensional point cloud data stored in the storage unit of FIG. 1;
7 is a schematic diagram for explaining measurement data by the laser scanner of FIG. 4; FIG.
8 is an explanatory diagram for explaining a state of measurement data at four points in FIG.
FIG. 9 is an explanatory diagram for explaining another state of the measurement data of the four points in FIG.
10 is a schematic diagram for explaining a specific condition example of measurement data by the laser scanner of FIG. 4;
FIG. 11 is a flowchart illustrating an example of processing in the polygon model creation unit in FIG. 1;
12 is a perspective view showing an example of polygon creation in the polygon model creation unit in FIG. 1; FIG.
13 is a perspective view showing an example of creation of polygon model data in the polygon model creation unit of FIG. 1. FIG.
FIG. 14 is a perspective view showing an example of creating polygon model data according to a conventional example.
15 is a perspective view for explaining a simulation example by the radio wave propagation simulation unit of FIG. 1. FIG.
16 is a distance characteristic diagram of a reception level for explaining a simulation result by the radio wave propagation simulation unit of FIG. 1;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10 ... Three-dimensional data acquisition apparatus, 20 ... Three-dimensional model creation apparatus, 30 ... Three-dimensional model calculating apparatus, 101 ... Laser scanner part, 101a, 101b ... Laser scanner, 102 ... INS part, 103 ... GPS part, 104 ... Car Upper part, 105 ... Line camera part, 106 ... Storage part for laser scanner data, 107 ... Storage part for INS / GPS / ground child data, 108 ... Storage part for image data, 109 ... Data synchronization part, 110 ... Tertiary Original coordinate value calculation unit 111 ... Three-dimensional point group data storage unit 201 ... Polygon model creation unit 202 ... Polygon model data storage unit 301 ... Radio wave propagation simulation unit 7 ... Ground unit

Claims (4)

A device that irradiates an object while rotating the laser, receives the reflected light, and measures the distance to the object. A first laser scanner mounted on the upper part of the railway vehicle so as to form a vertical plane;
An apparatus for irradiating an object while rotating a laser, receiving reflected light, and measuring a distance to the object, wherein a measurement section forming a rotational section in the laser emission direction is a measurement section of the first laser scanner And a second laser scanner mounted on the upper part of the railway vehicle so as to form a surface inclined at a predetermined angle in a substantially traveling direction with respect to the three-dimensional data acquisition apparatus. The three-dimensional data acquisition apparatus according to claim 1, wherein the first and second laser scanners are mounted at substantially the center in the width direction on the upper rear side of the railway vehicle. A position and orientation information measurement unit for measuring position and orientation information of the railway vehicle;
The apparatus further comprises a three-dimensional data calculation unit that calculates three-dimensional data based on the measurement information of the first and second laser scanners and the position and orientation information acquired by the position and orientation information measurement unit. The three-dimensional data acquisition apparatus according to claim 1 or 2. 4. The three-dimensional data according to claim 3, wherein the position and orientation information measuring unit that measures position and orientation information of the railway vehicle has a vehicle upper element that acquires position information from a ground element on the track. Acquisition device.

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