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НОВЫЕ РАЗРАБОТКИ В ОБЛАСТИ СБОРА ДАННЫХ НА ЖЕЛЕЗНОДОРОЖНОМ ТРАНСПОРТЕ С ПРИМЕНЕНИЕМ МОБИЛЬНОЙ ЛАЗЕРНОЙ СКАНИРУЮЩЕЙ СИСТЕМЫ RIEGL VMX-450 И ПОСТОБРАБОТКА ДАННЫХ ПРОГРАММОЙ SIRAILSCAN КОМПАНИИ TECHNET-RAIL
Иво Милев
technet-rail 2010 GmbH, Берлинский университе прикладных наук им. Бойта, Германия, Goethestr. 42,10625 Berlin, доктор наук, генеральный директор, тел: +49 (0)30 5484 0785, факс: +49 (0)30 5482 6798, моб: +49(0)1772276273, e-mail: [email protected]
Николас Штудницка
RIEGL Laser Measurement Systems GmbH, Austria, RiedenburgstraBe 48, 3580 Horn, магистр наук в области коммуникации и СВЧ техники, менеджер по коммерческому развитию и международным продажам, тел. +43 2982 4211, факс: +43 2982 4210, e-mail:
nstudnicka@riegl .co.at
В последние годы отмечается активное расширение областей применения мобильного лазерного сканирования с наземных средств передвижения и передвижения по воде, например, съемка автомобильных и железных дорог, улиц, городских районов, прибрежных зон
и портов.
В ответ на растущий интерес к технологии мобильного лазерного сканирования и его применения для инженерных целей (измерения железнодорожных путей, анализа деформаций) фирма Technet-rail 2010 GmbH и компания RIEGL LMS GmbH в рамках сотрудничества совместно выполняли по всему миру измерения железнодорожных путей с апостериорной обработкой данных и управлением. Целью таких работ являлось доказательство того, что технология лазерного сканирования и обеспечиваемая ею точность подходят для мониторинга железных дорог. Проведенные в прошлом году измерения с помощью лазерной системой сканирования RIEGL VMX-450 Scanning System [RIEGL2012], подтвердили, что система может не только точно измерять главный железнодорожный путь, но и линии электропередач
и линии соседней железной дороги. Поперечное расположение двух полностью интегрированных сканера обеспечивает обнаружение объектов инфраструктуры, стоящих параллельно или перпендикулярно направлению движения.
Программные пакеты, разработанные фирмой Technet-rail, обеспечивают основные инструментальные средства для анализа облаков точек и обеспечивают высокую точность перехода от исходных данных измерений в 3D облако точек в требуемой системе координат, и в частности в исходные системы координат, к которым привязана железная дорога. Использование таких функций, как испытания на столкновение с определенным профилем зазора, соосные измерения до выбираемых объектов позволяют выполнять точную обработку и анализ данных.
Ключевые слова: мобильное лазерное сканирование, постобработка данных и управление данными.
NEW DEVELOPMENTS IN RAILWAY DATA COLLECTION WITH THE MOBILE LASER SCANNING SYSTEM RIEGL VMX-450 AND SUBSEQUENT POST-PROCESSING WITH TECHNET-RAIL SOFTWARE SIRAILSCAN
Ivo Milev
technet-rail 2010 GmbH, Beuth University of Applied Science Berlin, Germany, Goethestr. 42,10625 Berlin, Dr., Managing Director, tel: +49 (0)30 5484 0785, fax: +49 (0)30 5482 6798, Mobile: +49(0)1772276273, e-mail: [email protected] Nikolaus Studnicka
RIEGL Laser Measurement Systems GmbH, RiedenburgstraBe 48, 3580 Horn, Austria, Master degree on communications and radio-frequency engineering, Business Development Manager, International Sales, tel. +43 2982 4211, fax +43 2982 4210, e-mail: [email protected]
In the recent years the development of Mobile Laser Scanning (MLS) with terrestrial and water-based vehicles in various engineering fields such as measurements of highways, streets, railways, cities areas, coastal areas and ports make a rapid progress.
As a response of the rising interest to the MLS technology and its applications for engineering purposes (such as railway line measurements, deformation analysis, etc.) worldwide railway measurement with a-posteriori data adjustment and management have been performed under the cooperation between Technet-rail 2010 GmbH and RIEGL LMS GmbH. The goal was to prove the usage and the accuracy of the Laser Scanning Technology for railway line as-built monitoring. The measurements carried out last year with RIEGL VMX-450 Scanning System [RIEGL2012] confirmed the technical possibility of the system to measure accurately not only the main track, but also the overhead wires and the neighbour railway lines. The cross arrangement of the two fully integrated scanners provides detection of infrastructure objects standing parallel or perpendicular to the travel direction.
The software packages developed by Technet-rail provide the basic tools for the point clouds analysis and ensure high accuracy transition from the raw measurement data to 3D point clouds into desired coordinate system especially in chainage based railway reference systems. The usage of functions such as «Collision test» with a defined clearance profile and axis-based measurements to selected objects of interest enables the accurate data adjustment and analysis.
Key words: mobile laser scanning, data post-processing and management.
1 THE SYSTEM
One of the main advantages of the Mobile Laser Scanning System RIEGL VMX®-450 is the compact design and the portability. This enables its quick set-up on different vehicles and constructions (trains, railway cars, automobiles, boats, etc.). The hardware of the VMX- 450 consists of two RIEGL VQ-450 Laser scanners, a camera system, a portable control unit box, and a GNSS/INS-unit which comprises the electronics for real-time kinematic (RTK) measurements and three sensors: the INS, a GNSS receiver including antenna, and a wheel sensor (distance measurement indicator, DMI). Furthermore a modular camera system VMX-450-CS6 is also part of the hardware. The RIEGL VQ-450 laser scanners and the GNSS/INS-unit are rigidly attached to a stable mounting platform which can be mounted on a vehicle. A single cable connects the measuring head to the control unit box. It is housed in a compact case and contains the power supply, an embedded computer running the RiACQUIRE software package for data acquisition and removable hard drives. During acquisition, both laser scanners are operated synchronously, thus taking 3D measurements at the double measurement rate of a single scanner. The VMX-450-CS6 camera system complements the acquisition of laser scanning data with the recording of high-resolution colour images. Up to six individually selectable, fully calibrated digital colour cameras with electronic shutters can be integrated. Each of these industrial cameras is encased in a robust aluminium housing allowing reliable
operation under adverse conditions. Image triggering can be parametrized individually for each camera either time-based or distance-based. When the picture is captured, the camera sends a strobe signal which is precisely time-stamped by the electronics of the camera system. The accurately time-stamped images can be used to colour the scan data, but are also the basis for photogrammetric processing.
An additional PC embedded in the control unit is responsible for acquiring image data and storing it on three more hard disks. Although the camera system is designed for use with the cameras offered by RIEGL, also models from other manufacturers, for example digital single-lens reflex (D-SLR) cameras and infrared cameras or spherical camera solutions, can be integrated. The control unit and the MLS system are represented on the following photographs [RIEGL].
Pic. 1.1. RIEGL VMX-450 System (left) and Control Unit box (right)
(www.riegl.com)
2 WORLDWIDE PROJECTS ACCOMPLISHED WITH RIEGL VMX®-450 SYSTEM
All the following projects were accomplished with the RIEGL VMX®-450 Mobile Laser Scanning System using various vehicle constructions, at cruising speed, subject to different weather conditions and project-specific restrictions. After data acquisition the MLS trajectory was processed and the MLS point cloud was determined with the RIEGL software RiPROCESS. The data post processing was based on common adjustment of the measurements registered from the two scanners, the integrated IMU/GNSS unit and the DMI.
Japan
The project in Nagoja Japan was performed with the scanning system flexible mounted on two ways rail car.
Pic. 2.1. RIEGL VMX-450 in Nagoja Japan
France
This project characterizes by measurements performed during the night.
Pic. 2.2. RIEGL VMX-450 in France
Poland
The railway measurement was carried out under bad, snowy weather conditions.
Pic. 2.3. RIEGL VMX-450 in Poland
3 POST PROCESSING OF THE MEASUREMENTS AND DATA MANAGEMENT WITH SiRailScan - THE POINT CLOUD ANALYSING SOFTWARE FOR THE RAIL-INDUSTRY
As-Built-Tracks from Point Clouds
SiRailScan enables the detection of rails from point clouds. Special tools are developed for rail geometry detection from static and kinematic measurements. Finally the axis will be calculated with the help of least square adjustment. The resulting 3D-axis without any constrain represents the as-built situation of the track. The parameterization can be done with A-Track R. The measurements of the wire geometry related to the track alignment are also possible to be adjusted with a specific for this purpose developed software functions.
Pic. 3.1. Detected and vectorized rails
Pic. 3.2. Calculated axis from the estimated rails geometry Measuring Rail-Coordinates
Useful tool during rail based analysis of point clouds is the measurement of rail coordinates. Additionally the as-built-super-elevation and chainage are available for any point of the point cloud.
index Y X Z Height Distance
0 -3.01453 21953.49121 0.81445 0.77789 3.04162
1 -1.74541 21953.43926 0.81702 0.78666 1.77248
2 -1.63309 21953.43730 0.81559 0.78578 1.66015
3 -1.60865 21953.43730 0.73879 0.75910 1.63558
4 -1.61499 21953.43926 0.67907 0.64935 1.64138
5 -1.65042 21953.43926 0.63303 0.60313 1.67659
6 -1.65266 21953.43926 0.60539 0.57543 1.67369
7 -1.66058 21953.43926 0.51258 0.48263 1.68616
S -1.67164 21953.43926 0.33664 0.35664 1.69660
9 -1.61702 21953.43926 0.38070 0.35097 1.64196
10 -1.54521 21953.43926 0.37335 0.34447 1.57011
11 -1.53137 21953.43926 0.34569 0.31633 1.55614
12 -1.53337 21953.48926 0.26632 0.23700 1.55775
13 -1.53794 21953.43926 0.08509 0.05575 1.56143
Pic. 3.3. Definition of rail coordinates system X = chainage; Y = lef/right; Z =
perpendicular distance to top of rails
Clearance Analysis
One of the main goals of determining the as-built situation is the clearance analysis. SiRailScan enables the performance of collision tests with any wagon profile. The source can be a DXF-file or just a simple ASCII-file. The test runs with standard 2D wagon profiles and with 3D wagon models. For a further analysis the resulted collision points can be saved in the main point cloud or extracted as a new one. For easy interpretation there is also possibility of colouring the collision points by distance of intrusion.
Pic. 3.3. Collision test with 2D-wagon profile
Pic. 3.4. Single-colour-marked collision points
Pic. 3.5. Colour-coded collision points based on intrusion distance Monitoring of railway infrastructure objects
The clearance tests are used for monitoring and determination of the characteristics of railway infrastructure objects. The analysis are based on the as-build rail geometry, defined clearance profile and extracted into the chainage based railway reference system.
Pic.3.6. Measurements in rail coordinate system set of automatized sections (left)
Pic 3.7. Monitoring of railway infrastructure objects
Documentation of Clearance Analysis
- As ASCII export with rail coordinates and correspondent for the object of interest super-elevation, radius, station, track number
fc003 7 7224 123 12217201115020060 86S
2 2403 7 72 0161120123- -D Multisensor
3 3003 7 72-155/2»-12494 0.1 ). 0/0*0. 0.0.0/ '2*0,-
4 4003 7 72 1 1 767 4 776115020060 865D " \#
5 4003 7 72 2 1 759 4 695115020060 865D
6 4003 7 72 3 1 791 4 673115020060 865D
7 4003 7 72 4 1 810 4 60SU5020060 865D
9 4003 7 72 5 1 726 4 394115020060 865D
9 4003 7 72 6 1 729 4 297115020060 865D * j
10 4003 7 72 7 1 729 4 231115020060 865D
11 4003 7 72 8 1 725 4 191115020060 865D
12 4003 7 72 9 1 774 4 154115020060 865D I I
13 4003 7 72 10 1 823 4 115115020060 866D L. 1
14 4003 7 72 11 1 843 4 103115020060 866D ■ I i \ \
4003 7 72 12 1 864 4 091115020060 866D 1 m »lr^
4003 7 72 13 1 900 4 068115020060 866D M \
17 4003 7 72 14 1 917 4 055115020060 866D \
18 4003 7 72 IS 1 935 4 044115020060 866D
19 4003 7 72 16 1 951 4 032115020060 866D
20 4003 7 72 17 2 029 3 977115020060 866D
4003 7 72 18 2 176 3 970115020060 866D
22 4003 7 72 19 2 199 » 877115020060 866D
4003 7 72 20 2 198 3 853115020060 866D
Pic. 3.8. Ascii export with rail coordinates and related point cloud screen shot (right)
- As DGN plot and DXF export with specific or user defined profile
$Uvar[T72ty
Pic.3.9. 2D-DGN-plot (left) and DXF-export with template (right)
and used wagon profile As-built-documentation at crossings
Point clouds can be the basis for any type of stocktaking. Especially for railroad crossings SiRailScan enables direct data flow to other developed for this purpose railroad crossing documentation software BU-Master. The objects marked in SiRailScan will be automatically placed in the final railroad crossing map. The scaling, optimal positioning and adjustment of signs runs automatically.
Pic 3.10. Point cloud of scanned railroad crossing with vectorized and coloured objects
Pic. 3.11. Automatically standardized and actualized map of rail-road crossing
(with BU-Master)
Pic. 3.12. Client server application. (www.technet-rail. de/)
4 INTERNATIONAL RAILWAY CORRIDORS
The development and maintenance of the international railway corridors is an important and strategic target for sustainable development.
http ://www. eurasia-railway. org
CONCLUSION
The RIEGL VMX-450 Mobile Laser Scanning system provides fast, high accurate and complete scanning of the railways and all the related objects. Data acquisition and processing are done in a continuous way which minimizes the error factors. The software data processing ensures high quality, reliability and accuracy of the adjusted measurements. The end products are base for performing of real time collision tests, clearance analysis, measurements to neighbour rails, as well as for analysis of the overhead wires geometry related to the axis alignment. The results from the last year’s measurements proved the fully integration of Mobile Laser Scanning technology with the a-posteriori software data processing as a unprecedented method for determination and monitoring of railway lines and related infrastructures objects.
REFERENCES
RIEGL (2012): Datenblatt RIEGL VMX-450, RIEGL Laser Measurement Systems GmbH, www.riegl.com
technet-rail 2010 GmbH: http://www.technet-rail.de
© I. Milev, N. Studnicka, 2013
