JP2004136754A - Regular positional stop support device of train - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a regular positional stop support device of a train capable of reducing burden on a driver in positioning operation to stop the train at a regular position. <P>SOLUTION: This regular positional stop support device of the train is constituted to detect that the train stops at the regular position by using picture images of a camera set on the ground side to pick up images of the ground and a part of the train. Additionally, this support device is furnished with an alarm means to show the picture images by the camera to the driver with a signal to show abnormality when detecting that the train is out of a specified stopping position by a regular positional stop detection means. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an improvement in a train fixed position stop support device.
[0002]
[Prior art]
Patent Literature 1 discloses that a train provided with a safety fence and a home door on a platform detects stoppage of a train at a fixed position by image processing of an ITV camera and controls opening and closing of the train door, for example. Is disclosed.
[0003]
[Patent Document 1]
JP-A-2001-10485 (page 5, left column, lines 25-27, FIG. 5 (2) and others)
[0004]
[Problems to be solved by the invention]
Patent Literature 1 discloses control at the time of stopping such as opening and closing of a train door and a platform door after the train stops at a fixed position, but does not disclose a measure for stopping the train at a fixed position. A train with an automatic train operating device (ATO) will almost certainly stop in a predetermined home position range facing the home door. However, in a train without ATO, the driver must manually stop the train at a predetermined fixed position range facing the home door. Regardless of the presence or absence of the ATO, when the vehicle deviates from a predetermined fixed position and stops, the driver needs to manually move the train backward or forward to perform positioning.
[0005]
An object of the present invention is to provide a train fixed-position stop support device capable of reducing a driver's burden during alignment driving for stopping a train at a fixed position.
[0006]
Another object of the present invention is to provide a train fixed-position stop support device that can support a fixed-position stop of a train using existing equipment, and in particular, does not change equipment on the train side. That is.
[0007]
[Means for Solving the Problems]
A feature of the present invention is to use a camera which is installed on the ground side and captures images of the ground and a part of the train, image input means for capturing an image of the camera, and an image captured by the image input means. In the train fixed position stop support device provided with means for detecting that the train has stopped at a fixed position, when the fixed position stop detection means detects that the train has deviated from a predetermined stop position, an abnormality is detected. A notifying means for notifying the image of the camera and the driver of the train together with the signal shown is provided.
[0008]
This assists the driver by allowing the driver at the time of positioning operation for stopping the train to the home position to recognize that the vehicle is out of the home position and the state of the position shift in the image, and to perform the operation. We can reduce burden
Another feature of the present invention is that a safety fence provided on the track side of the platform, a door provided at a predetermined position of the safety fence, and a part of the train and the ground installed on the ground side are provided. A camera that captures the gap between the safety fence and the train door, an image input unit that captures the image of the camera, and the stop position of the train stops within the fixed position stop range using the image captured by the image input unit A signal indicating an abnormality when the fixed position stop detecting device detects that the train is out of a predetermined stop position by a fixed position stop detecting device for a train including a fixed position stop detecting device for detecting whether the train has stopped. In addition, a notifying means for notifying the train driver of an image from the camera to the train driver, and an obstacle (remaining object) detection for detecting the presence or absence of an object between the train and the safety fence using the image captured by the image input means. Means, is that the obstacle detecting means and a warning means for issuing an alarm in response to detecting the obstacle.
[0009]
As a result, only the camera and image processing device installed only on the ground side on the platform side are required, and the people or objects remaining in the gap between the platform door and the train door with simple equipment without changing the equipment on the train side (Obstacles) can be detected and alarmed to enhance safety and assist the driver when stopping at a fixed position.
[0010]
Further, another feature of the present invention is that a plurality of cameras which are installed on the ground side along the traveling direction of the train and which capture images of the ground and a part of the train, and an image input which captures images of these cameras. Means, a plurality of fixed position stop detecting means for detecting whether or not the stop position of the train has stopped within a fixed position stop range using the respective images captured by the image input means; and a plurality of fixed position stop detecting means. It comprises means for judging the stop position of the train based on the output of the stop detecting means, and notifying means for notifying the driver of the train of the judgment result of the judging means.
[0011]
In this way, when a train is stopped by installing cameras in a plurality of detection target ranges, the stop positions are respectively detected based on the image processing of each camera, and the outputs of the plurality of fixed position stop detection means are integrated. And make a final decision. Therefore, the fixed position stop support device can be provided with simple equipment without changing the equipment on the train side only with the camera and the image processing device installed only on the ground side.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
[0013]
FIG. 1 is an overall system configuration diagram showing a train fixed-position stop support device according to an embodiment of the present invention. In FIG. 1, a group of a plurality of stop position targets, for example, a four-car stop target marker 21 and an eight-car stop target marker 22 are provided at the end of the platform 1. A group of a plurality of door stop position marks 3, for example, a door stop position mark 32 of the first vehicle door and a door stop position mark 31 of the second vehicle door from the top are provided at positions other than the end of the platform 1. On the ceiling of the platform 1, a group of cameras 4, for example, a camera 41 for imaging near the door stop position marks 31 and 32 and a camera 42 for imaging near the stop target sign 22 are installed. The group of cameras 4 is a monitoring area for stopping at a fixed position (imaging visual field range), for example, the camera 42 is arranged so that the stop position target 22 and the top of the train are in the imaging visual field range. The marks 31 and 32 and the door part of the train are arranged so as to be in the imaging visual field range. The camera 4 group includes an arithmetic processing unit (MPU) 43, an image processing unit 44, and a transmission / reception control unit 45 in an integrated configuration.
[0014]
The MPU 43 inputs a camera image to the image processing device 44 and controls a procedure of image processing. When an image is input, the MPU 43 causes the image processing device 44 to perform image processing, and determines whether or not the stop position of the train has stopped within the fixed position range.
[0015]
The integrated camera 42, which is capturing an image of the monitoring area of the stop target position, via the transmission / reception control device 45, has another image capturing the monitoring area (imaging visual field range) of the door stop position mark 3 group. The detection result of the camera 41 is also received. The MPU 43 performs a final judgment by comprehensively judging these results and the results of the camera 42 itself, and transmits the results via a transmission / reception control device 45 to a display device of a train cab and / or a station control device (notification). Means) 6 displays the result.
[0016]
A display device 6 is provided in a crew room of the train 5 or a control device of a station. The display device 6 displays whether the train 5 is stopped in a fixed position, so that the crew can check whether the train is stopped in a fixed position while in the driver's seat, and the station staff can check whether the train is in the station room. it can.
[0017]
When the crew confirms whether or not the train stops at a fixed position, for example, if the train 5 is overrun, the train crew moves backward. Further, when the station staff confirms whether or not the train 5 stops at the fixed position, for example, when the train 5 is overrun, it notifies the crew of the train 5 of an instruction to retreat the train 5.
[0018]
If the stop position is normal now, there is no problem in getting on and off the passenger. Therefore, when the stop position is normal, there is no need to notify the crew or station staff. Only when a stop position abnormality that hinders the operation of the train 5 is detected, the notification is made to the crew or the station staff to reduce the burden on the crew.
[0019]
FIG. 2 is a functional block diagram of one embodiment of the image processing device 44. In FIG. 2, the MPU 43 instructs the image input unit 441 to capture an image of a monitoring area imaged by the camera 4, for example, the vicinity of the sign 22 in FIG. This image is used as an input image.
[0020]
The device failure check unit 442 performs a device failure check such as turning off the power of the camera 4 using the input image. The video failure check unit 443 uses the input image to cover or shift the camera 4. Check for video defects, such as whether or not it has occurred. The check results of the two defect check means 442 and 443 are transmitted to the MPU 43.
[0021]
When any one of a video defect and a device defect occurs, the MPU 43 performs control to invalidate the detection processing of the fixed position stop detection unit 444 and the registration of the marker position of the marker position registration unit 445. In addition, this is displayed and notified on the display device 6 visually observed by the crew or the station staff as an image defect or a device defect.
[0022]
On the other hand, if neither a video defect nor a device defect has occurred, first, the stop position target 2 group or the group of stop position targets illustrated by the time the marker position registration unit 445 performs the position detection process by the fixed position stop detection unit 444. The positions of the door stop position marks 3 are calculated in advance and stored. Thereafter, the fixed position stop detecting means 444 determines whether or not the stop position of the train 5 has stopped within the fixed position range. The image processing integrated camera 42 capturing an image in the vicinity of the stop position target 22 receives the position detection result of the camera 41 capturing an image in the vicinity of the door stop position marks 31 and 32. Then, these results are comprehensively determined, and finally the stop position result is determined, and the result is displayed from the MPU 43 via the transmission / reception control device 45 on the display device 6 which can be viewed by crews and station staff. Notify.
[0023]
FIG. 3 is a processing flowchart of the marker position registration unit 445. The sign position registering unit 445 has completed the processing before the fixed position stop detecting unit 444 performs the position detecting process.
[0024]
First, in step 301, it is determined whether the monitoring area (imaging visual field range) of the camera is a stop position target or a door stop position mark. If the monitoring area (imaging visual field range) is the stop position target, in step 302, the stop position target registered in advance by the marker position registration unit 445 is used as a template pattern, and the input image of the camera 42 is searched for this pattern. In step 303, it is determined whether a pattern exists. If the stop position target pattern exists, step 304 calculates the center position of the stop position target, and registers the camera ID indicating which camera and the coordinates of the stop position target.
[0025]
If the monitoring area (imaging visual field range) is the door stop position mark in step 301, the door stop position mark registered in advance by the sign position registering unit 445 is used as a template pattern in step 305, and this is used for the input image of the camera 41. Search for patterns. In step 306, it is determined whether a pattern exists. If there is a door stop position mark pattern, step 307 calculates the center position of the door stop position mark and registers the camera ID and the coordinates of the door stop position mark.
[0026]
In FIG. 3, the stop position target registered in advance by the marker position registration unit 445 is used as a template pattern, and a method of searching for a pattern in the input image of the camera 42 has been described. Alternatively, a stop position zone may be set in advance. In this method, it is not necessary to set a template pattern in advance, so that a memory for storing the template pattern and a search process for the template pattern can be omitted, so that the memory can be reduced and the processing speed can be improved.
[0027]
FIG. 4 is an example of the arrangement of cameras for imaging a monitoring area (imaging visual field range). Since the head 51 of the train 5 stops at the point of the stop target sign 22, the camera 42 imaging the vicinity of the stop target sign 22 makes the center of the head 51 of the train 5 and the center of the stop target sign 22 be a straight line A in the horizontal direction. Install as follows. For this purpose, for example, the camera 42 is installed right beside. Or, install it directly above.
[0028]
In the train 5, since the center of the door 52 stops at the center of the door stop position mark 32, the camera 41 that images the vicinity of the door stop position mark 32 uses the center of the door 52 of the train 5 and the door stop position mark 32. Are arranged so that the center of the horizontal line is a straight line B in the horizontal direction. For this purpose, for example, the camera 41 is installed right beside. Or, install it directly above. Here, if it is within the permissible range of the stop position of the train, the installation may be performed just beside or shifted (for example, obliquely) from directly above.
[0029]
FIG. 5 is a flowchart of the home position stop detection and display support processing according to an embodiment of the present invention. First, in step 501, an image is input. In step 502, the difference between each pixel of the previous image and the current image input in step 501 is checked. If the difference is equal to or larger than the threshold value in step 502, the process proceeds to step 503. If the difference is less than the threshold, the process returns to step 501. In step 503, the stop position is calculated using the difference image in step 502. In step 504, the stop position calculated in step 503 is compared with the stop position of the stop target marker 22 stored in advance to check. If the stop position is within the range, step 505 determines that it is normal. If the stop position is out of the range, step 506 determines that there is an abnormality. In step 507, the contents according to the determination result are stored and displayed on the display device 6 which is viewed by the crew or the station attendant via the transmission / reception control device 45 from the MPU 43 and notified.
[0030]
In this example, the procedure for detecting the stop position with only the camera 42 that captures the image of the vicinity of the stop target sign 22 is described, and there is an effect that the apparatus can be realized very inexpensively and easily with only one camera.
[0031]
FIG. 6 is a flowchart of the home position stop detection and display support processing according to another embodiment of the present invention. First, in step 601, an image is input. In step 602, a difference between each pixel of the previous image and the current image input in step 601 is checked. If the difference is equal to or larger than the threshold, it is checked in step 603 whether or not the camera 42 is installed at the position of the stop target sign 22. If the difference is less than the threshold, the process returns to step 601. In the case of the camera 42 installed at the position of the stop target marker 22 in Step 603, Step 604 calculates the stop position using the difference image of Step 602. In the case of the camera 41 or the like installed at a position other than the position of the stop target marker 22 in step 603, the process returns to step 601. In step 604, a stop position is calculated for each of the cameras installed at the stop position target and the cameras installed at the door stop position mark using the difference image of step 602. In step 605, the stop position calculated in step 604 for each camera is compared with the position of the stop target marker 22 stored in advance to calculate the stop position. In step 606, the final determination by majority is performed from the calculated position for each camera. A step 607 checks the final judgment result of the step 606. In the determination of step 607, if the stop position is within the predetermined range, step 608 determines that it is normal, and if the stop position is outside the predetermined range, step 609 determines that it is abnormal. In step 610, the contents according to the determination result are stored and displayed on the display device 6 which is viewed by the crew or the station staff via the transmission / reception control device 45 and notified.
[0032]
In this embodiment, a procedure for detecting a stop position by comprehensive judgment with a camera 42 for imaging near a stop target sign 22 and a camera 41 for imaging near a plurality of door stop position marks 31 and 32 is described. Becomes a plurality. For this reason, even if an erroneous detection occurs in one camera, if there are many other cameras that have been detected normally, the final decision is made by majority decision, etc. There is an effect that detection can be realized.
[0033]
FIG. 7 is a processing flowchart of the video defect check unit 443. First, the image defect check unit 443 sets the image captured at the time of starting the camera 4 in step 701 as a master image. In step 702, the master image captured in step 701 is divided into blocks (for example, vertical × horizontal = 8 × 6), and variance values and edge images for each block are created and stored. In step 703, the captured input image is divided into blocks in the same manner as the master image, and variance values and edge images for each block are created and stored. In step 704, the variance value is checked for each block of the input image processed in step 703, and if most of the blocks are smaller than the threshold value, the process proceeds to step 706, where the camera 4 is masked and the like. It is determined that a defect has occurred. If it is determined in step 704 that most of the blocks are equal to or larger than the threshold, the process proceeds to step 705. In step 705, the edge images for each block are compared between the same blocks of the master image and the input image. If the number of blocks having different edges is less than a predetermined number, it is determined in step 707 that no image defect has occurred. In step 708, the acquired input image is updated as a master image. If it is determined in step 705 that the number of blocks having different edges is equal to or more than a predetermined number, it is determined in step 709 that a video defect has occurred.
[0034]
In this way, the quality of the input image is determined, and in the case of a failure, the processing of the position detection means is prevented. Can be prevented.
[0035]
FIG. 8 is a processing flowchart of the device failure check unit 442. The device defect check unit 442 divides the input image captured in step 801 into blocks (for example, vertical × horizontal = 8 × 6) and calculates a variance value and an average luminance for each block. The flow shifts from step 801 to step 802 to check the variance value of each block of the input image in step 801. If most of the blocks are equal to or larger than the threshold value, it is determined in step 805 that no device failure has occurred, and the processing ends. If it is determined in step 802 that most of the blocks are smaller than the threshold, the average luminance of each block of the input image is checked in step 803. If it is determined in step 803 that most of the blocks are equal to or larger than the threshold, it is determined in step 805 that no device failure has occurred, and the process ends. If it is determined in the average luminance check in step 803 that most of the blocks are smaller than the threshold, it is determined in step 804 that a device failure has occurred, and the process ends.
[0036]
FIG. 9 is a detailed flowchart of the stop position calculation processing in step 503 in FIG. 5 and step 604 in FIG. In step 901, a difference (inter-frame difference) for each pixel between the previous image and the current image is performed. It is checked whether or not there is a change equal to or more than a predetermined value (threshold value) in the difference in step 901. If there is a change, the process proceeds to step 903. In step 903, the Y projection distribution and / or the X projection distribution of the difference image are calculated, and a change portion having a threshold value or more is extracted. In step 904, the camera ID is checked. If the camera ID is set at the stop position target, in step 905, the starting point coordinates of the changing part are calculated. A step 906 checks whether or not the difference between the coordinates of the step 905 and the coordinates of the stop position target registered in advance is within the range. If it is within the range in step 906, it is determined in step 907 that the operation is normally stopped. If it is out of the range in step 906, it is determined in step 908 that the stop is abnormal. If the camera ID is set at the door stop position mark in step 904, the center coordinates of the changing part are calculated in step 909. A step 910 checks whether or not the difference between the coordinates of the step 909 and the coordinates of the door stop position mark registered in advance is within the range. If it is within the range in step 910, it is determined in step 911 that the operation is normally stopped. If it is out of the range in step 910, it is determined that the operation is abnormally stopped in step 912.
FIG. 10 is a detailed diagram showing the detection of the stop position at the train head by the calculation step 905 in FIG. When the head of the train 5 stops at the position of the stop target sign 21, the camera 42 using the position of the stop target sign 21 as a monitoring area, as shown in FIG. The top 51 is set so as to be in a straight line A. Accordingly, the projection distribution 101 changes greatly at Y = Y1 near the head 51 of the train 5 with respect to the Y-axis in the traveling direction of the train. Therefore, the change start portion coordinates X1 and Y1 that are equal to or larger than the threshold value X = X1 are calculated as the coordinates of the position of the head 51 of the train 5.
[0037]
FIG. 11 is a detailed diagram showing detection of a stop position at the train door in step 909 in FIG. When the door 52 of the train 5 stops at the door stop position mark 31, the camera 41 using the door stop position mark as a monitoring area, as shown in FIG. Are installed in a straight line. Therefore, the Y projection distribution 102 changes greatly near the opening Y = Y2 of the door 52 of the train 5. This means that when the door 52 is open from the closed state, the doors are left-right symmetric if the door is double-opened. Therefore, the center (Y2, X2) of the changing portion coordinates equal to or larger than the threshold X2 is calculated as the position coordinates of the door 52 of the train 5. . If the door is a double door depending on the type of the train 5, the change start coordinates may be calculated as the position coordinates of the door 52. In any case, the type of the door (double opening, single opening) may be registered in advance.
[0038]
12 and 13 are a plan view of a station platform and a processing flowchart for explaining details of the stop position determination based on a large number of cameras in step 606 in FIG. In the sign indicating the stop position of the train 5, stop target signs 21, 22, 23 as door stop position marks at the head of the train and door stop position marks 31, 32, 33, 34 as stop sign positions of train doors are already provided. ing. For example, the stop target sign 21 is for 4-car train, 22 is for 8-car train, and 23 is for 12-car train. When the train 5 is a four-car train, the train 5 stops at the position of the stop target sign 21. Then, the doors of the train 5 are located at the door stop position marks 34, 33, 32, 31 from the side closer to the head. In step 131 of FIG. 13, the image from the camera at each position is processed, and the number determined to be within the stop range of the position registered in advance is counted. That is, the determination result based on the camera 421 of the monitoring range of the stop target sign 21, the determination result based on the camera 412 of the monitoring range of the door stop position marks 33 and 34, and the camera 411 of the monitoring range of the door stop position marks 31 and 32. This is a determination result based on. In step 132, the ratio of the number within the stop range to the total number of determinations is calculated. In step 133, it is checked whether or not the rate at which the stop position is determined to be normal is equal to or greater than a predetermined threshold value (for example, 60%). If it is determined in step 133 that the value is equal to or larger than the threshold value, in step 134, it is finally determined that the stop position is normal. If the determination in step 133 is less than the threshold, in step 135, the stop position is finally determined to be abnormal.
[0039]
The final decision may be made by majority decision. In the case of majority decision, if the number of results where the stop position is normal is larger than the number of abnormalities, the stop position is finally determined to be normal. In this manner, a final determination unit based on a plurality of detection results is configured.
[0040]
When it is determined that the stop position is normal, there is no need to report the determination result.
[0041]
On the other hand, if the stop position of the train is abnormal, the display device 6 notifies the driver promptly. Based on this, the driver performs an operation of stopping the train 5 again at a normal position.
[0042]
FIG. 14 is an overall system configuration diagram of a train fixed position stop support device according to another embodiment of the present invention. 14 differs from the embodiment of FIG. 1 in that a crew support device 46 is provided.
[0043]
FIG. 15 is a specific configuration example of the crew support device 46 in FIG. As shown in the figure, the stop position data added from the image processing device 44 via the MPU 43 is stored in the stop position data storage unit 461. The display screen generation means 462 generates a display screen (measurement screen) in which the crew as shown in FIG. 16 can be visually confirmed at a glance from the data in the stop position data storage section 461 and can take countermeasures. It is stored in the stop position data storage unit 461. The MPU 43 transmits and displays the countermeasure screen stored in the stop position data storage unit 461 to the crew terminal via the transmission / reception control device 45.
[0044]
FIG. 16 is an example of a display screen of the determination result display device 6. When the stop position is abnormal, the crew member is in the driver's seat and, for example, blinks on the alarm display unit 61 where the abnormality is obvious to make the crew member pay attention. Further, the abnormality countermeasure display section 62 displays the abnormality of the stop position and its countermeasure. In addition, the image display unit 63 displays a real-time image of the site captured by the camera 42 installed near the head of the train 5. Further, the train stop abnormality information display section 64 also displays the time at which the abnormality was detected, the shifted distance and location, and the like. Therefore, the crew looks at the countermeasure display section 62, moves the train forward or backward, and can easily and quickly perform the positioning operation to the normal position.
[0045]
FIG. 17 is an overall system configuration diagram of a train fixed position stop assist device according to another embodiment of the present invention. In the embodiment shown in FIGS. 1 and 14, the camera 4, the image processing device 44, the MPU 43, and the transmission / reception control device 45 are integrated. In FIG. 17, only the camera 4 is mounted on the site, and on the other hand, image processing is performed by a PC (personal computer) 7 installed in a machine room or the like, and fixed position stop detection is performed. That is, the image processing device 44, the MPU 43, and the transmission / reception control device 45 are configured by the functions of the personal computer 7.
[0046]
FIG. 18 is a view showing an installation configuration of a camera according to another embodiment of the present invention. In this example, a safety fence 8 is installed along a track side end of the platform 1 and a door 81 is provided at a predetermined position thereof. Here, the image processing integrated camera 4 is attached to the safety fence 8, and the area between the safety fence 8 and the train 5 is set as an imaging field of view. That is, a part of the train 5, the door 81 of the safety fence 8, the stop target sign 21, and the like are imaged. Therefore, it is possible to detect the remaining of the user between the safety fence 8 and the train 5 and the remaining obstacle such as a bag. For example, an input image captured by the camera 4 is taken in after the passenger gets on and off, and an obstacle is detected based on a change image from a reference image captured without any obstacle.
[0047]
FIG. 19 is a diagram illustrating an example of the timings of the stationary position stop detection of the train and the residual detection processing. The train 5 arrives at the station, enters the platform 1, starts the stop (a), and ends the stop (b). When the train 5 stops, the obstacle detection function 9 first inputs a reference image for comparison / judgment (c), and the fixed position stop support function 10 performs the fixed position stop check and driver support (d) described above. And stop the train at the normal stop position. By the operation of the crew, the door 52 of the train 5 starts to open (e), the door 81 of the safety fence 8 also starts to open (f), the door 52 of the train 5 fully opens (g), and the home door also fully opens (h). And passengers get on and off. When the passengers get on and off, the door 81 of the safety fence 8 starts to close (i), closes soon (j), and the train door 52 also starts closing (k) and closes (l). The obstacle detection function 9 compares and determines the reference image input in (c) with the current input image, and checks (m) for the presence or absence of a stranded person or a residual object (obstacle). That is, it constitutes obstacle detection means. In the presence / absence check (m), when it is determined that there is no obstacle, and when it is finally determined that there is no obstacle in the confirmation determination of the crew, the train 5 is started by the driver's departure operation (n). When it is determined that there is no obstacle, the display device 6 and other alarm means notify the danger and continue to warn until there is no obstacle.
[0048]
FIG. 20 is an explanatory diagram showing a detection processing procedure of the fixed position stop detection means 444 according to another embodiment of the present invention. In this example, the fixed position stop detection function and the obstacle detection function are executed using the image of the common camera. Step 201 checks whether or not the train stop start (a) signal shown in FIG. 19 is fetched. When a signal is captured in step 201, a reference image for the obstacle detection function 9 is input in step 202. In step 203, an image for the fixed position stop detection function 5 is input, and in step 204, fixed position stop detection processing of the train is performed. In step 205, the result of the detection processing in step 204 is checked and determined. If it has stopped at the fixed position, the process proceeds to step 208, and if it has not stopped at the fixed position, the process proceeds to step 206. In step 206, train information that does not stop at a fixed position, time, data such as images, and the like are stored, and the operator is also notified. Step 207 indicates that the operator manually moves the train to a fixed position while watching the image data and the like notified on the monitor based on the notification by the present apparatus. When the train stops at the home position, in step 208, a signal for starting the operation of opening the safety fence door (h) is acquired, and then the step acquires a signal for starting the operation of closing the movable fence (i). In step 209, an image for the obstacle detection function 9 is input. Therefore, in step 2010, the obstacle detection function 9 based on comparison / determination of the reference image in step 202 and the input image in step 209 operates.
[0049]
Accordingly, the processing in the train fixed-position stop detection function 10 and the processing in the obstacle detection function 9 can be performed using only the image obtained by the camera 4 in FIG. 18, and the apparatus can be simplified.
[0050]
In step 201, the start of the train stop (a) is taken in, and the process proceeds to the steps after 202. However, the determination of the start of the train stop may be executed by the image processing integrated camera 4 itself. it can. That is, the pattern of the preset train head position area changes due to the entry of the train and thereafter does not change when the train stops, so that the stop of the train may be determined based on this.
[0051]
FIG. 21 is a diagram showing an embodiment in which a position detection mark is newly attached to a train. In FIG. 20, the mark 53 for position detection may be affixed to the side of the head of the train 5 without using the stop target sign. The position detection mark 53 is a mark in which no other similar object exists within the monitoring visual field range. Of course, a stripe pattern may be used as the position detection mark 53, and an arbitrary pattern may be used as long as there is no other similar substance. By using the position detection mark 53, the accuracy of positioning detection can be improved.
[0052]
FIG. 22 is a diagram showing an embodiment in which a position detection mark is newly attached to equipment on the platform side. FIG. 22 is a diagram illustrating a case where a striped pattern 11 is attached to a platform side in FIG. 21. The striped pattern 11 may be attached to a platform near the top stop of the train 5 and the stop position of the train may be calculated based on the state of the striped pattern 11 due to the disappearance of the pattern. When the camera 4 is installed, it is necessary to set the position where the striped pattern 11 is within the field of view (for example, a platform opposite the striped pattern 11).
[0053]
According to the above embodiment, since the normal / abnormal of the stop position of the train is determined only by the camera and the image processing device installed only on the ground side, it is very inexpensive without changing the equipment on the train side. In addition, it is possible to determine the stop at a fixed position with simple equipment.
[0054]
Further, when a plurality of position detecting means are provided, the final result is determined by, for example, a majority decision by integrating the plurality of detection results, so that a highly accurate fixed position stop determination can be performed with simple equipment.
[0055]
Further, the detection result of the fixed position stop detecting means is displayed on the crew room of the train 5 or the control device of the station, so that the crew can check whether the fixed position stop of the train is good or not while being in the driver's seat. The clerk can check while in the station office.
[0056]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the fixed position stop assistance apparatus of a train which can reduce the driver's burden at the time of the alignment driving | operation which stops a train at a fixed position can be provided.
[0057]
Further, according to the present invention, it is possible to support a fixed position stop of a train using existing equipment, and it is possible to easily provide a train fixed position stop support device without changing equipment on the train side.
[Brief description of the drawings]
FIG. 1 is an overall system configuration diagram of a train fixed position stop support device according to an embodiment of the present invention.
FIG. 2 is a functional block diagram of an embodiment of an image processing apparatus 44.
FIG. 3 is a flowchart illustrating a sign position registering unit according to an embodiment of the present invention.
FIG. 4 is an example of a camera arrangement according to an embodiment of the present invention.
FIG. 5 is a flowchart of a home position stop detection and display support process according to an embodiment of the present invention.
FIG. 6 is a flowchart of a home position stop detection and display support process according to another embodiment of the present invention.
FIG. 7 is a processing flowchart of a video defect checking unit according to an embodiment of the present invention.
FIG. 8 is a processing flowchart of a device defect check unit according to an embodiment of the present invention.
FIG. 9 is a detailed flowchart of a stop position calculation process in FIGS. 5 and 6;
FIG. 10 is a detailed diagram showing detection of a stop position at a train head according to an embodiment of the present invention.
FIG. 11 is a detailed diagram showing detection of a stop position at a train door according to one embodiment of the present invention.
FIG. 12 is a plan view of a station platform showing a monitoring range of a plurality of cameras according to an embodiment of the present invention.
FIG. 13 is a flowchart of a stop position determination process using a plurality of cameras according to an embodiment of the present invention.
FIG. 14 is an overall system configuration diagram of a train fixed position stop support device according to another embodiment of the present invention.
FIG. 15 is a diagram illustrating a specific configuration example of the crew support device in FIG. 14;
FIG. 16 is a diagram showing an example of a display screen of the determination result display device 6 according to an embodiment of the present invention.
FIG. 17 is an overall system configuration diagram of a fixed position stop assist device according to still another embodiment of the present invention.
FIG. 18 is an installation configuration diagram of a camera according to another embodiment of the present invention.
FIG. 19 is a timing example of a fixed position stop detection of a train and a remaining detection process according to the present invention.
FIG. 20 is a detection flowchart of a fixed position stop detection unit according to another embodiment of the present invention.
FIG. 21 is a view showing an embodiment in which a position detection mark according to the present invention is attached to a train.
FIG. 22 is a configuration diagram in which a striped pattern is attached to a home side according to an embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Platform, 2, 21-23 ... Stop target sign, 3, 31-34 ... Door stop position mark, 4, 41, 42 ... Camera, 5 ... Train, 51 ... Train head, 52 ... Train door, 6 ... Display device.

Claims (6)

A camera that is installed on the ground side and captures images of the ground and a part of the train, an image input unit that captures an image of the camera, and that the train stops at a fixed position using the image captured by the image input unit. In a train stop position support device provided with a stop position detecting means for detecting a train, when the stop position detecting means detects that the train has deviated from a predetermined stop position, the camera together with a signal indicating an abnormality and the camera And a notifying means for notifying an image of the train to a driver of the train. 2. The image forming apparatus according to claim 1, further comprising: means for judging the quality of the captured image, and image defect checking means for notifying the fixed position stop detecting means and notifying the image defect to the notifying means when the image is judged to be defective. A train fixed-position stop support device comprising: 2. A device failure check according to claim 1, wherein said means for judging the quality of the device based on said fetched image, and a process of said fixed position stop detection means for notifying a device defect to said notifying device when said defect is judged. And a means for assisting a train to stop at a fixed position. A safety fence provided on the track side of the platform, a door provided at a predetermined position of the safety fence, and a camera which is provided on the ground side and captures a gap between the safety fence including the ground and a part of the train and a train door. Image input means for capturing an image of the camera, and fixed position stop detection means for detecting whether or not the stop position of the train has stopped within a fixed position stop range using the image captured by the image input means. In the train fixed position stop support device provided, when the fixed position stop detecting means detects that the train is out of the predetermined stop position, the image by the camera together with a signal indicating abnormality to the train driver. The notifying means for notifying, the obstacle detecting means for detecting the presence or absence of an object between the train and the safety fence using the image captured by the image input means, and the obstacle detecting means are provided. Fixed-position stop support device of the train, characterized in that a warning means for issuing an alarm in response to detecting an object. A safety fence provided on the track side of the platform, a door provided at a predetermined position of the safety fence, and a camera which is provided on the ground side and captures a gap between the safety fence including the ground and a part of the train and a train door. Image input means for capturing an image of the camera, and fixed position stop detection means for detecting whether or not the stop position of the train has stopped within a fixed position stop range using the image captured by the image input means. In the train fixed position stop assist device provided, a plurality of cameras installed on the ground side along the traveling direction of the train and imaging the ground and a part of the train, and image input means for capturing images of these cameras, A plurality of fixed position stop detection means for detecting whether or not the train stop position has stopped within a fixed position stop range using the respective images captured by the image input means; A fixed position stop of the train, comprising: means for determining the stop position of the train by integrating the outputs of the stop detection means; and notification means for notifying the determination result of the determination means to the driver of the train. Support equipment. 6. The train stop support system according to claim 5, wherein said determination means makes a determination based on majority logic.

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