JP2002329297A - System for detecting danger - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent an accident from occurring by detecting position information of a walker carrying no special transmitter in a danger detection system for preventing a traffic accident in which a walker who is about to cross a road or a walker on a platform is hit by a traveling vehicle. SOLUTION: This danger detection system is provided with a light transmitting and receiving means 1 for emitting highly directive light to a prescribed measuring area to scan the prescribed measuring area and detecting position information of a retroreflection band in the measuring range and an object passing through the retroreflection band from the condition of reflected light of scanning light, an information detecting mean (2 and 3) for comparing a distance signal by directions from the light transmitter-receiver 1 with a signal in a stationary state and detecting information of the object passing through the retroreflection band, and a danger determining means (4, 5 and 6) for determining danger that an accident occurs on the basis of a detection signal. Thus, it is possible to detect position information of a walker carrying no special transmitter and to prevent an accident from occurring.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a danger detection system for detecting a danger of an accident in which a pedestrian crossing a roadway or a pedestrian on a platform comes into contact with a running vehicle or the like. The present invention relates to a danger detection system that detects positional information of a pedestrian passing through a predetermined measurement area and detects a danger of an accident of the pedestrian even if the pedestrian does not have a special transmitter.

[0002]

2. Description of the Related Art It is said that pedestrians trying to cross a lane at a place other than an intersection or a pedestrian crossing often collide with a running vehicle. Therefore, a danger detection system for detecting the pedestrian and preventing a traffic accident has been proposed in the past. In such a conventional danger detection system for detecting a pedestrian crossing, a technique for detecting in advance the danger of a pedestrian encountering a traffic accident and warning the pedestrian or a vehicle driver of the danger is known. JP-A-2000-357285, JP-A-7-3069
No. 95 is described.

[0003] Japanese Patent Application Laid-Open No. 2000-357285 discloses a road management control station which requires a predetermined area along a road such as an intersection or a pedestrian crossing to be monitored, a data carrier carried by a pedestrian. The road management control station and the data carrier are provided with transmission / reception means for transmitting and receiving data by electromagnetic induction coupling, respectively, and a radio wave is transmitted from the road management control station toward the monitoring required area, When the data carrier is present in the monitoring required area, driving power is generated in the data carrier by electromagnetic induction coupling, and predetermined identification data is transmitted from the data carrier to the road management control station. The road management control station activates a predetermined notification means and issues an alarm to a pedestrian carrying the data carrier. Was Tsu.

[0004] Japanese Patent Application Laid-Open No. 7-306995 discloses a recognition function in which communication is carried out between a pedestrian's portable device and a device mounted on a vehicle, and at least one of the devices recognizes the presence of a partner. A transmitter for transmitting a signal with a different ID code is provided in the portable device of each pedestrian, and a receiver for receiving the signal with the ID code is provided in a device mounted on the vehicle. And a determination device for determining at least one physical item from the received signal.

[0005]

However, in such a conventional danger detection system, a pedestrian has a special transmitter and receives a signal transmitted from the transmitter in a vehicle or a road. Because the pedestrian was found by receiving it with the device, if the pedestrian did not carry the transmitter, or the transmitter or the receiving device was faulty, the signal from the transmitter was However, there is a problem that the presence of a pedestrian cannot be detected when the pedestrian cannot be received. Therefore, the danger of a traffic accident may not be warned.

Accordingly, the present invention addresses such a problem and detects the position information of a pedestrian passing through a predetermined measurement area even if the pedestrian does not have a special transmitter. It is an object of the present invention to provide a danger detection system capable of detecting a danger of a pedestrian accident.

[0007]

In order to achieve the above object, a danger detection system according to the present invention irradiates a predetermined measurement area with a highly directional light beam and scans the same. A light transmitting / receiving means for detecting position information of a retroreflective band in the measurement area and an object passing through the retroreflective band from a state, and comparing a detection signal from the light transmitting / receiving means with a signal in a steady state to perform the retroreflection. An information detecting means for detecting information of an object passing through the band, and a risk determining means for determining a risk of an accident based on a detection signal from the information detecting means.

[0008] With such a configuration, scanning is performed by irradiating a predetermined measurement area with a highly directional light beam from the light transmitting / receiving means, and the position of the retroreflective band in the measurement area is determined based on the state of reflected light of the scanning light. Information and an object passing through the retroreflective band are detected by the light transmitting / receiving means, and a detection signal from the light transmitting / receiving means is compared with a signal in a steady state to obtain information on the object passing through the retroreflective band. And the danger determining means determines the danger of an accident based on the detection signal from the information detecting means.

The light transmitting and receiving means includes a scanning light generating means for irradiating a highly directional light beam emitted from a light source to a movable mirror to generate scanning light, and a scanning light by adjusting an operation of the movable mirror. Scanning light control means for controlling the scanning path, reflected light receiving means for receiving reflected light of the scanning light, and retroreflective band detecting means for detecting positional information of the retroreflective band from a change in the amount of reflected light. And object detection means for detecting an object passing through the retroreflective band based on the reflected light of the scanning light for scanning the upper surface of the retroreflective band. Thus, the scanning light is generated by irradiating the movable mirror with a highly directional light beam from the light source, and the operation of the movable mirror is adjusted to control the scanning path of the scanning light, and the reflected light of the scanning light is received. Then, the position information of the retroreflective band is detected from the change in the amount of the reflected light, and an object passing through the retroreflective band is detected based on the reflected light of the scanning light that scans the upper surface of the retroreflective band.

Here, the scanning light generating means uses a resonance type mirror driven by using an electromagnetic force as a movable mirror irradiated with a highly directional light beam. Thereby, the reflection angle of the laser light emitted from the light source due to the resonance of the resonance type mirror changes in a short time.

Further, the scanning light control means adjusts the operation of the movable mirror based on the position information of the retroreflective band detected by the retroreflective band detecting means. Thus, the scanning light from the light transmitting and receiving means is always scanned along the retroreflection band.

The danger determining means includes a road-vehicle communication device for communicating information with a running vehicle. As a result, the information on the traveling vehicle is received, and the risk of a traffic accident occurring is determined based on the information.

Further, at the subsequent stage of the danger determining means,
Warning means is provided for notifying a pedestrian and a vehicle driver of a danger avoidance warning based on the determination result from the risk determination means. Thereby, when it is determined that there is a risk that the pedestrian trying to cross the road may be in contact with the traveling vehicle, a warning of danger avoidance is notified to the pedestrian and the driver of the vehicle.

Then, at the subsequent stage of the danger determining means,
The vehicle includes a warning unit that warns a pedestrian to avoid danger based on the determination result from the danger determination unit, and a train emergency stop system system that stops the train urgently.
Thus, danger avoidance is urged by the warning means so that the pedestrian on the platform does not fall on the rail, and the train is stopped urgently when the pedestrian falls on the rail.

[0015]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a schematic explanatory view showing a first embodiment of a danger detection system according to the present invention. This danger detection system S detects a danger that a pedestrian A trying to cross a road will come into contact with a running vehicle B to prevent a traffic accident, and is installed along the road, for example. .. Are attached to the necks of the streetlights C, C,. As shown in FIG. 2, the danger detection system S includes a light transmitter / receiver 1, a steady state comparison unit 2, a position / shape detection unit 3, a road-to-vehicle communication device 4, a danger determination unit 5, And a person warning device 6.

As shown in FIG. 3, the transmitter / receiver 1 irradiates a retroreflective band R in a predetermined area with a highly directional light beam, for example, a laser beam, and scans it. From the state of L ', the position information of the retroreflective zone R and the retroreflective zone R
, An oscillator 10, a laser diode 11, a movable mirror 12, a movable mirror controller 13, a light receiving element 14, a reception amplifier 15, a determination unit 16, a storage unit 17, , A time / phase comparator 18, a movable mirror phase detector 19, and an integrator 20.

The oscillator 10 generates a reference pulse signal having a fixed period, and includes, for example, a crystal oscillator. The laser diode 11 is
This is a general light source that generates laser light having a wavelength in the infrared wavelength range, and is controlled to be turned on and off by a reference pulse signal from the oscillator 10. The movable mirror 12 reflects the laser light from the laser diode 11 to generate the scanning light L. The movable mirror 12 has a built-in mirror unit, and can change the inclination of the mirror unit in a short time. The scanning light L can be scanned in an arbitrary direction. A collimation lens 21 for collimating the laser light is provided in front of the emission port of the laser diode 11.
A filter F1 for blocking the reflected light L 'of the generated scanning light L is provided in front of.

Here, the movable mirror 12 is, for example,
A resonance type movable mirror driven by using an electromagnetic force is preferable. Specifically, as previously proposed by the applicant,
It is preferable to use a semiconductor galvanomirror manufactured by using micromachining technology (Japanese Patent Laid-Open No. 7-175005).
And Japanese Patent Application Laid-Open No. 7-218857. This semiconductor galvanomirror generates an electromagnetic force by flowing an alternating current, and can swing a built-in mirror unit, and controls a deflection angle of the mirror unit by changing a frequency of the alternating current. You can do it. Thereby, the scanning light L from the movable mirror 12 is
Are scanned in any direction.

The oscillator 10, the laser diode 11, and the movable mirror 12 constitute a scanning light generator. Thereby, the laser light emitted from the laser diode 11 as the light source is irradiated on the movable mirror 12 to generate the scanning light L. The scanning direction of the scanning light L is controlled by controlling the operation of the movable mirror 12. be able to.

The movable mirror controller 13 controls the operation of the mirror unit incorporated in the movable mirror 12 to control the scanning light L to scan a predetermined scanning path. A driving circuit (not shown) for driving is provided. The driving circuit includes a scanning frequency clock signal based on a reference pulse signal from the oscillator 10;
An optical scanning instruction signal based on the position information of the retroreflective band R from the determination unit 16 described later is input, and a drive signal for driving the mirror unit is generated based on these signals. Thereby, the operation of the mirror unit built in the movable mirror 12 can be automatically controlled based on the position information of the retroreflection band R from the determination unit 16 described later. Further, according to the setting of the administrator of the present system, it is possible to control the scanning light to scan on an arbitrary path. The movable mirror controller 13 forms a scanning light control unit.

The light receiving element 14 receives the reflected light L 'of the scanning light L generated from the scanning light generating means (10, 11, 12) and receives a received signal corresponding to the amount of the reflected light L'. And is made up of a photoelectric element such as a photodiode, for example. An infrared filter F2 is provided on the light receiving path of the reflected light L ', and the infrared filter F2 effectively blocks disturbance light so that only the reflected light L' can pass. An array lens 22 having a plurality of lenses arranged is provided between the infrared filter F2 and the light receiving surface of the light receiving element 14. Thus, the reflected light L 'reaches the array lens 22 via the infrared filter F2, and is condensed on the light receiving surface of the light receiving element 14 by the array lens 22.

The receiving amplifier 15 amplifies the received signal generated by the light receiving element 14 to a required level, and determines whether the received signal is generated by the scanning light L. A waveform signal indicating the waveform of the received reflected light L 'is generated. That is, the reception amplifier 15 receives the reference pulse signal from the oscillator 10 and the reception signal from the light receiving element 14, and when these signals are synchronized, the reception signal is reflected by the reflected light L 'of the scanning light L. It is determined that the received signal has been generated, and the received signal is amplified to generate a waveform signal indicating a received light waveform. The waveform signal is output to a determination unit 16 and a time / phase comparator 18 described below. The light receiving element 1
4, the receiving amplifier 15, and the array lens 22 constitute reflected light receiving means.

The determination section 16 receives the waveform signal generated by the reception amplifier 15 and determines the state of the measurement area where the scanning light L is scanned based on the amount of reflected light L '. The position information of the retroreflective zone R is detected based on the change in the amount of the reflected light L '. That is, when the amplitude of the waveform signal input to the determination unit 16 is larger than a specified value, the amount of the reflected light L ′ is large, and the scanning light L scans the upper surface of the retroreflective band R. Is determined. When the amplitude of the input waveform signal is smaller than the specified value, the amount of the reflected light L 'is small, and it is determined that the scanning light L scans out of the retroreflective band R.

Therefore, the operation of the movable mirror 12 is adjusted by the setting of the administrator of this system, and the scanning light L
As shown in FIG. 4, control is performed so that the scanning path is drawn with a width wider than the width of the retroreflection band R. Then, the determination unit 16
The amplitude of the waveform signal input to (see FIG. 3) is large inside the boundary lines ra and rb on both sides of the retroreflective band R, and small outside the boundaries. Therefore, the boundary line ra
And rb can be detected as the position of the retroreflective zone R. The detected position information of the retroreflective band R is stored in the storage unit 17 (see FIG. 3) as a signal in a steady state, and is output to the movable mirror controller 13 as an optical scanning signal.

As a result, the movable mirror controller 13
Controls the operation of the movable mirror 12 based on the position information of the retroreflection band R, and controls the scanning light L to be a plurality of parallel scanning lines for scanning the upper surface of the retroreflection band R. can do. For example, as shown in FIG. 5, a first scanning light L1 for scanning the upper surface of the retroreflective band R is generated, and then a second scanning light L2 parallel to the first scanning light L1 is generated. Hereinafter, similarly, the third and fourth scanning lights L3 and L4 are generated. Then, the first scanning light L1 is generated again, and the operation of the movable mirror 12 can be controlled so that the same operation is repeated. Note that the determination unit 16 and the storage unit 17 constitute a retroreflective band detection unit.

As shown in FIG. 3, the time / phase comparator 18 generates a series of distance information of a path on which the scanning light L is scanned based on the reflection state of the reflected light L '. By inputting the reference pulse signal from the oscillator 10 and the waveform signal from the receiving amplifier 15 and comparing them, the time difference and the phase difference between the scanning light L and the reflected light L ′ can be calculated. Has become. Therefore, when an object exists on the retroreflective zone R, a time difference and a phase difference corresponding to the size of the object are calculated. Then, a time difference and a phase difference between the scanning light L and the reflected light L ′ are generated as a series of distance information of a path on which the scanning light L is scanned, and output to the integrator 20 described later.

The movable mirror phase detector 19 is
It detects the phase of the movable mirror 12, receives the drive signal generated by the movable mirror controller 13, removes the delay of the operation of the movable mirror 12, and detects the phase of the movable mirror 12 in real time. It has become. Thereby, the phase information of the movable mirror 12 corresponding to the series of distance information generated by the time / phase comparator 18 in real time is generated, and the phase information is output to the integrator 20 described later.

Further, the integrator 20 is an apparatus for integrating the distance information from the time / phase comparator 18 and the phase information of the movable mirror 12 from the movable mirror phase detector 19. This makes it possible to generate a signal of distance information for each azimuth on the path scanned by the scanning light L (hereinafter, referred to as “distance signal for each azimuth”). The time / phase comparator 18 and the movable mirror phase detector 19
And the integrator 20 constitute an object detecting means.

The steady state comparing section 2 shown in FIG. 2 stores the distance signal for each direction from the light transmitter / receiver 1 in the storage section 17 (FIG.
), Compared to the steady state signal stored in
These differences are generated as difference signals and output to the position and shape detection unit 3 described later.

The position / shape detector 3 calculates the position and shape of an object existing on the retroreflective band R (see FIG. 3) based on the difference signal. , It is possible to detect whether the object is a pedestrian or not and to detect the traveling direction of the object. These pieces of information are output to the road-vehicle communication device 4 and the danger determination unit 5 described below. Note that the steady state comparing section 2 and the position and shape detecting section 3 constitute information detecting means.

The road-to-vehicle communication device 4 is a device for exchanging information with the vehicle B, and the traveling vehicle B (see FIG. 1).
, And information such as the danger information determined by the danger determination unit 5 described later can be transmitted to the vehicle B. The vehicle information received by the road-to-vehicle communication device 4 from the vehicle B is output to the danger determination unit 5 described below.

The danger determination unit 5 determines whether there is a danger of a traffic accident occurring when a pedestrian A (see FIG. 1) trying to cross the roadway contacts the vehicle B. The risk that the pedestrian A will come into contact with the vehicle B based on the position information and the traveling direction information of the pedestrian A from the detection unit 3 and the position information and speed information of the vehicle B from the road-to-vehicle communication device 5 Sex is determined. For example, in the information detecting means (2, 3), the pedestrian A
Even if it is detected that the vehicle B is trying to cross the road, if the vehicle B is not approaching, it is determined that the risk of a traffic accident occurring is low. The road-to-vehicle communication device 4 and the danger determination unit 5 constitute danger determination means.

The pedestrian warning device 6 notifies the pedestrian A and the driver of the vehicle B of a danger avoidance warning based on the determination result from the danger determining means (4, 5). It is provided after the determination unit 5. The pedestrian warning device 6 constitutes a warning unit.

When it is determined by the danger determining means (4, 5) that there is a danger of a traffic accident, the pedestrian A is notified of the danger of the traffic accident via the pedestrian warning device 6. Is notified, and the driver of the vehicle B is notified of a danger avoidance warning via the road-to-vehicle communication device 4. The pedestrian warning device 6 may be any means as long as it makes the pedestrian A recognize that the vehicle B is approaching. For example, the streetlights C, C,... Shown in FIG. 1 may be turned on brightly, or the mobile phone carried by the pedestrian A may be vibrated. As a result, the pedestrian A can recognize that the vehicle B is approaching, and the danger of a traffic accident occurring can be avoided.

Next, the operation of the thus configured danger detection system will be described with reference to FIG. First, in order to detect the position information of the retroreflective zone R, the administrator of the system sets the movable mirror controller 13 so that
The scanning path of the scanning light L is controlled. At this time, the scanning path of the scanning light L is controlled so as to draw the scanning path within an area having a width wider than the width of the retroreflection band R as shown in FIG.

First, by setting the movable mirror controller 13,
The value of the feed pitch of the scanning light L that scans along the retroreflection band R is set (step S1 in FIG. 6), and at the same time, the minimum value of the swing width of the scanning light L that scans across the retroreflection band R is set. Set (step S2). Then, scanning by the scanning light L is started (step S3).

At this time, the determination section 16 shown in FIG. 3 constantly determines the amplitude of the waveform signal (step S4). For example, when the scanning light L scans an area other than the retroreflective band R shown in FIG. 4, the amplitude of the waveform signal is smaller than a specified value because the amount of the reflected light L 'is small (step S1). "NO" side of S4). When the scanning light L scans as it is and passes over the boundary line ra of the retroreflective band R, the light amount of the reflected light L ′ of the scanning light L increases. (Step S
4 "YES" side). The angle of the movable mirror 12 (see FIG. 3) when the boundary line ra of the retroreflection band R is detected is stored in the storage unit 17 (step S5).

When the scanning light L scans the upper surface of the retroreflective band R, the amplitude of the waveform signal remains large because the amount of the reflected light L 'is large (step S6).
“NO” side). Then, when the scanning light L passes on the boundary line rb of the retroreflective band R, the light quantity of the reflected light L 'decreases, and the amplitude of the waveform signal decreases again ("YES" side in step S6). The boundary line ra of this retroreflective zone R
The angle of the movable mirror 12 at the time when is detected is stored in the storage unit 17 (step S7). When the scanning light L reaches the value of the swing width of the scanning light L set in step S2, the scanning direction of the scanning light L1 is reversed (step S8), and the reverse scanning is performed. At this time, the angle of the movable mirror 12 when the boundary lines rb and ra of the retroreflection band R are detected is stored in the storage unit 17.

As described above, the operation of scanning the scanning light L across the retroreflection band R right and left is repeatedly performed (“NO” side in step S 9), so that the boundary line ra and the boundary of the retroreflection band R are determined. Line rb is detected. This operation is repeated until the movable mirror 12 can scan along the retroreflection band R up to the maximum angle ("YES" side in step S9).

As a result, the position information of the retroreflective zone R can be detected, and the operation of the movable mirror 12 can be adjusted based on the detected position information of the retroreflective zone R. Further, even if the installation position of the danger detection system slightly shifts due to vibration due to an earthquake or strong wind, and the scanning axis of the scanning light L fluctuates, the position information of the retroreflective zone R can always be detected.

Next, by controlling the operation of the movable mirror 12 on the basis of the detected position information of the retroreflective band R, the scanning light L is converted into a plurality of scanning lines parallel to the upper surface of the retroreflective band R. The scanning operation will be described with reference to FIG. First, the angle of the movable mirror 12 shown in FIG. 3 is set (step S11), and control is performed so that the first scanning light L1 scans the scanning path on the upper surface of the retroreflective band R shown in FIG. 5 (step S12). . At this time, it is determined whether or not the reflected light L2 from the retroreflective zone R is larger than a specified value (step S13). When an object is present on the upper surface of the retroreflective zone R, the amount of the reflected light L2 becomes smaller than a specified value, and the process proceeds to step S13 on the “NO” side. The angle of the movable mirror 12 at this time is stored in the storage unit 17 (see FIG. 3) (Step S14).

If no object is present on the upper surface of the retroreflective zone R, the amount of the reflected light L2 becomes larger than the specified value, and the step S13 proceeds to the "YES" side. This operation is performed up to the maximum angle at which the movable mirror 12 can scan along the retroreflection band R (“NO” in step S15).
side).

When the maximum angle at which the movable mirror 12 can scan is reached, the step S15 proceeds to the "YES" side, and the angle at which the second scanning light L2 that scans in parallel with the first scanning light L1 is generated. Is set to the angle of the movable mirror 12 (step S16). The same operation as the above-described first scanning light L1 is performed on the second scanning light L2. Then, similarly, the movable mirror 12 is set at an angle at which the third and fourth scanning lights L3 and L4 are generated, and the same operation is repeated ("NO" side in step S17).

Here, as shown in FIG. 5, it is assumed that, for example, the pedestrian A moves in the direction D1 crossing the retroreflective zone R from left to right. At this time, since the pedestrian A first blocks the first scanning light L1, it is detected that the light amount of the reflected light L 'by the scanning light L1 becomes smaller than a specified value. Then
The light sequentially crosses the second scanning light L2 to the fourth scanning light L4, and it is detected that the light amount of the reflected light L 'becomes smaller than the specified value. Thereby, it can be detected that the pedestrian A has progressed from left to right.
Conversely, when the pedestrian A moves in the direction D2 crossing from right to left, the pedestrian A sequentially blocks from the fourth scanning light L4 to the first scanning light L1. Therefore, as shown in FIG. 1, when it is detected that the pedestrian A tries to cross the road, and the danger of the pedestrian A coming into contact with the vehicle B is detected, the pedestrian warning shown in FIG. The device 6 operates to prevent a traffic accident.

FIG. 8 is a schematic explanatory view showing a second embodiment of the danger detection system according to the present invention. This danger detection system is a pedestrian A walking on a railway platform.
Is installed on the first retro-reflective zone R1 installed along the edge of the platform, for example, to prevent an accident of being hit by the train by detecting that the vehicle has fallen on the track. Further, for example, a second retroreflective band R2 is provided along the center line of the track. And this danger detection system, as shown in FIG.
, A steady state comparison unit 2, a danger determination unit 5, a pedestrian warning device 6, and a train emergency stop system 7.

The danger detection system according to the second embodiment performs substantially the same operation as the first embodiment, but compares the information of the object passing through the first retroreflection zone R1 with the steady state. The danger determination unit 5 can detect an object existing on the second retroreflective band R2 while detecting the object by the unit 2. Thus, as shown in FIG. 8, the pedestrian A can warn the pedestrian A who is going to cross the edge of the platform, and when it is detected that the pedestrian A The train emergency stop system 7 can be operated so that the pedestrian A does not run over the train. Therefore, it is necessary to prevent a traffic accident in which a pedestrian A is hit by a train before installing a fall detection mat for detecting that a pedestrian A or the like has fallen over the whole line. Can be. Although not shown in the figure, a road-to-vehicle communication device 4 for communicating information with a running train is provided at a preceding stage of the danger determination unit 5 to receive information from the train,
Danger information or the like may be transmitted to the train.

[0047]

The present invention has been configured as described above.
According to the first aspect of the present invention, scanning is performed by irradiating the predetermined measurement area with a highly directional light beam from the light transmitting / receiving means, and the state of the reflected light of the scanning light is applied to the retroreflection band in the measurement area. Position information and an object passing through the retroreflective band are detected by the light transmitting / receiving means, and a detection signal from the light transmitting / receiving means is compared with a signal in a steady state to detect information on the object passing through the retroreflective band. The danger of the occurrence of an accident can be determined by the danger determination means based on the detection signal detected by the means and the detection signal from the information detection means. Therefore, even if the pedestrian does not have a special transmitter, the position information of the pedestrian passing through the predetermined measurement area can be detected, and the danger of an accident by the pedestrian can be detected. Accidents can be prevented beforehand.

According to the second aspect of the present invention, the light transmitting / receiving means irradiates the movable mirror with a highly directional light emitted from the light source to generate scanning light from the scanning light generating means. The scanning path of the scanning light is controlled by the scanning light control means by adjusting the operation of the movable mirror, the reflected light of the scanning light is received by the reflected light receiving means, and the position of the retroreflective band is determined from the change in the amount of the reflected light. The information can be detected by the retroreflective band detecting means, and an object passing through the retroreflective band can be detected by the object detecting means based on the reflected light of the scanning light scanning the upper surface of the retroreflective band. Therefore, even if the pedestrian does not have a special transmitter, information on the pedestrian can be detected by the light transmitting / receiving means.

According to the third aspect of the present invention, the scanning light generating means uses a resonance type mirror driven by using an electromagnetic force as a movable mirror to which a highly directional light beam is applied. Accordingly, the reflection angle of the laser light emitted from the light source due to the resonance of the resonance type mirror can be changed. Therefore, scanning by the scanning light can be performed in a short time.

According to a fourth aspect of the present invention, the scanning light control means adjusts the operation of the movable mirror based on the position information of the retroreflective band detected by the retroreflective band detecting means. Accordingly, it is possible to control the scanning light from the light transmitting / receiving unit to always scan along the retroreflection band. Therefore, information such as the position and the traveling direction of the pedestrian passing through the retroreflective zone can be accurately detected. Further, even if the installation position of the danger detection system is slightly shifted due to vibration or the like, and the scanning axis of the scanning light fluctuates, it is possible to always control to scan a desired scanning path.

According to the fifth aspect of the present invention, since the danger determining means includes the road-to-vehicle communication device for communicating information with the traveling vehicle, the information of the traveling vehicle is provided. Thus, the danger of a traffic accident can be determined based on the received information. Therefore, the possibility of a traffic accident occurring can be detected.

According to the sixth aspect of the present invention, a warning of danger avoidance is given to the pedestrian and the driver of the vehicle on the subsequent stage of the danger determining means based on the determination result from the danger determining means. By providing the warning means for notifying, when it is determined that there is a risk that the pedestrian trying to cross the roadway may come into contact with the traveling vehicle, the pedestrian and the driver of the vehicle can be prevented from danger. Alerts can be notified.
Therefore, occurrence of a traffic accident can be prevented.

Further, at the subsequent stage of the danger determining means, a warning means for giving a warning to pedestrians to avoid danger based on the determination result from the danger determining means, and a train emergency stop for urgently stopping the train By providing a system, it is possible to promote danger avoidance by a warning means so that a pedestrian on the platform does not fall on the rail, and urgently stop the train when the pedestrian falls on the rail. Can be. Therefore, a train accident can be prevented beforehand.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory view showing a first embodiment of a danger detection system according to the present invention.

FIG. 2 is a block diagram showing a configuration of a danger detection system according to the first embodiment.

FIG. 3 is a block diagram showing an internal configuration of a light transmitter / receiver constituting the danger detection system.

FIG. 4 is an explanatory diagram showing a scanning path when scanning light from the light transmitting and receiving device detects position information of a retroreflective band.

FIG. 5 is an explanatory diagram showing an operation of scanning the upper surface of the retroreflective band with the scanning light from the light transmitter / receiver and detecting the moving direction of the pedestrian.

FIG. 6 is a flowchart illustrating an operation in which the danger detection system detects position information of a retroreflective band.

FIG. 7 is a flowchart illustrating an operation in which the danger detection system controls a scanning path of scanning light based on positional information of a retroreflective band.

FIG. 8 is a schematic explanatory view showing a second embodiment of the danger detection system according to the present invention.

FIG. 9 is a block diagram illustrating a configuration of a danger detection system according to the second embodiment.

[Explanation of symbols]

 S: Danger detection system L: Scanning light L ': Reflected light R: Retroreflective band 1: Transmitter / receiver 2 ... Steady state comparison unit 3: Position / shape detection unit 4: Danger determination unit 5: Road-to-vehicle communication device 6: Walking Warning device 7 ... Emergency stop system 10 ... Oscillator 11 ... Laser diode 12 ... Movable mirror 13 ... Movable mirror controller 14 ... Light receiving element 15 ... Receiving amplifier 16 ... Determining unit 17 ... Storage unit 18 ... Time / phase comparator 19 ... Movable mirror phase detector 20 ... Integrator 21 ... Collimation lens 22 ... Array lens

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) G01B 11/00 G01B 11/00 B G08B 21/02 G08B 21/02 G08G 1/01 G08G 1/01 F 1/04 1 / 04 C 1/09 1/09 DF term (reference) 2F065 AA06 CC11 FF13 FF32 GG06 LL13 LL16 LL21 LL62 MM16 QQ14 QQ23 QQ25 SS09 5C086 AA22 AA54 BA22 BA30 CA12 CB16 DA08 EA11 EA17 EA36 EA42 FA01 DD01 DD11 DD22 FF01 FF07 GG03 5H180 AA01 AA21 AA27 BB04 CC03 CC07 EE02 EE15 FF13 LL01 LL06 LL09 LL14

Claims (7)

[Claims] 1. A predetermined measurement area is irradiated with a highly directional light beam for scanning, and from the state of the reflected light of the scanning light, the position information of the retroreflection band in the measurement area and passing through the retroreflection band. Transmitting and receiving means for detecting an object to be detected; information detecting means for comparing the detection signal from the light transmitting and receiving means with a signal in a steady state to detect information on the object passing through the retroreflective band; And a danger determining means for determining a danger of an accident occurring based on the detection signal. 2. A scanning light generating means for irradiating a movable mirror with a highly directional light beam emitted from a light source to generate scanning light, and a scanning light by adjusting an operation of the movable mirror. Scanning light control means for controlling the scanning path, reflected light receiving means for receiving reflected light of the scanning light, and retroreflective band detecting means for detecting positional information of the retroreflective band from a change in the amount of reflected light. 2. The danger detection device according to claim 1, further comprising: object detection means for detecting an object passing through the retroreflective band based on reflected light of the scanning light scanning the upper surface of the retroreflective band. system. 3. A scanning mirror according to claim 2, wherein said scanning light generating means uses a resonance mirror driven by utilizing an electromagnetic force as a movable mirror to which a highly directional light beam is irradiated. Danger detection system. 4. The danger detection device according to claim 2, wherein said scanning light control means adjusts the operation of the movable mirror based on the position information of the retroreflection band detected by said retroreflection band detection means. system. 5. The danger detection system according to claim 1, wherein said danger determination means includes a road-to-vehicle communication device for communicating information with a traveling vehicle. 6. A danger subsequent to the danger determining means is provided with a warning means for notifying a pedestrian and a driver of the vehicle of a danger avoidance warning based on the determination result from the danger determining means. The danger detection system according to claim 1, wherein 7. A warning means for warning a pedestrian to avoid danger based on a result of the determination from the danger determining means, and a train emergency stop for urgently stopping the train, at a stage subsequent to the danger determining means. The danger detection system according to claim 1, further comprising a system.