JP2005349997A - Device for detecting foreign matter at passenger door in railway vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a foreign matter detection device at a passenger door in a railway vehicle capable of detecting whether or not a small foreign matter is stuck by the door which cannot be responded by a door-closing sensor. <P>SOLUTION: A door prior-to-opening image photographed by a camera provided on an upper part of a meeting part of the passenger doors of the railway vehicle is obtained as a reference image and an image after getting on/off of the passenger is obtained as a determination image (step S1, S3). When the obtained reference image and the determination image are compared, vertical components of both images are emphasized respectively (step S2, S4). Then, difference of the reference image and the determination image having the emphasized vertical component is determined and the foreign matter stuck by the passenger doorway door is detected based on the difference (step S5-S10). <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a foreign object detection device for a passenger door in a railway vehicle that detects a foreign object being caught in an entrance door where passengers of the railway vehicle get on and off.

In general, in an entrance door (hereinafter referred to as “door”) on which passengers of a railway vehicle (hereinafter referred to as “vehicle”) get on and off, a door closing detection device including a limit switch is attached to the door mechanism, The door closed state is detected by the mechanical position of the door. When the door closed state is detected, the detection result is notified to the crew by lighting the lamp on the side of the vehicle and the lamp in the vehicle crew room. Further, the presence or absence of foreign matter caught in the door and the safety around the door are visually confirmed by the vehicle crew and the station staff on the platform, thereby determining whether there is any obstacle to vehicle travel.
JP2003-252201

  However, since such a door closing detection device detects the door closing state by a mechanical position, a human body or a relatively large object can be automatically detected, but a foreign object sandwiched between doors. If it is small or thin, it is determined that the door is closed. In response to the determination result, the vehicle is ready to travel. In preparation for such a case, the surroundings of the door are confirmed by the vehicle crew or the station staff on the platform, but there is a situation in which it is determined that the vehicle is “safe” without sufficient confirmation. In particular, if the station platform is curved and the prospects are poor, or the night view or under dim conditions such as an underground station platform, the overlook is bad, and there is a risk of missing a foreign object caught in the door. There is also.

  In particular, if the foreign object sandwiched between the doors is something like a shoulder bag, the bag is in the vehicle, the bag strap part is sandwiched between the doors, and the owner of the bag is on the platform. The case is very dangerous, and if the vehicle starts without being noticed by the crew, an accident may occur.

  In view of the above circumstances, the present invention installs a camera on the outside upper part of the meeting portion of the entrance door, and performs image processing on the image captured by the camera, so that the foreign matter sandwiched between the doors during the door closing operation and the foreign matter around the door It is an object of the present invention to provide a foreign object detection device for a passenger door in a railway vehicle that can automatically detect the vehicle.

  In order to achieve the above object, the invention of claim 1 acquires an image before opening of a door imaged by a camera provided at an upper part of a meeting part of a passenger door of a railway vehicle as a reference image, When comparing the acquired reference image and the determination image with the image acquisition unit that acquires the subsequent image as the determination image, the vertical component enhancement processing unit that emphasizes the vertical component of both images, and the vertical component are emphasized Further, the present invention is characterized in that a foreign object detection means is provided for obtaining a difference between the reference image and the determination image and detecting a foreign object sandwiched between the passenger doors based on the difference.

  According to a second aspect of the present invention, in the foreign object detection device for a passenger door in a railway vehicle according to the first aspect of the present invention, the foreign object detection means is configured to process a door meeting portion and a home portion in the vicinity thereof. It includes a mask processing means for masking the image processing area.

  Furthermore, in claim 3, in the foreign object detection device for a passenger door in a railway vehicle according to claim 1 or 2, the foreign object detection means is configured to make a determination when comparing the image before opening the door and the image after getting on and off. In the area located at the upper part of the door, the sensitivity is lowered, and in the area located at the lower part of the door, the weighting process is performed according to the height to increase the sensitivity.

  According to the first aspect of the present invention, by installing a camera on the upper part outside the meeting portion of the doorway, and processing the image captured by the camera, even if a small foreign object that cannot be dealt with by the door-closing sensor is caught in the door, the accuracy is improved. Well, this can be automatically detected.

  According to the second aspect of the present invention, when the door image is compared, the presence of the foreign matter is present in the meeting portion of the door and the home portion in the vicinity thereof on the image, and the door meeting portion and the vicinity thereof are utilized. By setting only the home portion as a processing target, it is possible to execute appropriate image processing according to the image, and it is possible to perform highly accurate determination.

  According to the third aspect of the present invention, in the image in which the foreign object is sandwiched between the doors, the image at the top of the door is large and the image at the bottom of the door occupies a small area. In the comparison process, the sensitivity is reduced in the area located in the upper part of the door and the sensitivity is increased in the area located in the lower part of the door, so that accurate image processing can be performed.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

<System configuration>
In FIG. 1, a door monitoring camera 1 is provided on the vehicle 10, preferably on the outer upper part of the meeting part of all passenger doors 11. As shown in detail in FIG. 2, the door monitoring camera 1 is attached to the center of the door upper casing 14 at the top of the door 11 together with the existing left and right door closing sensors 2. Therefore, when an image is acquired by the door monitoring camera 1 when the vehicle 10 is stopped at the platform 15, for example, an image shown in FIG. 3 is obtained.

  In the image shown in FIG. 3, reference numeral 11 ′ is a video portion of the door 11, 12 ′ is a video portion of the elastic body 12 made of a rubber band or the like at the meeting portion of the door 11, and 15 ′ is a video portion of the door home 15. Note that reference numeral 13 in FIG. 2 denotes the floor of the vehicle 10.

  The door monitoring camera 1 acquires an image before door opening as a reference image, and acquires an image after getting on and off as a determination image. The image of the door monitoring camera 1 is sent to the image processor 3.

  The image processor 3 is constituted by a computer and constitutes a foreign object detection device for a passenger door in a railway vehicle according to the present invention. The image processor 3 can automatically detect a small foreign object sandwiched between doors and a foreign object around the door when the door is closed by image processing by software. When the captured image before door opening is acquired as a reference image and the image acquisition means for acquiring the image after getting on and off as a determination image is compared with the acquired reference image and the determination image, both images A vertical component enhancement processing means for emphasizing each vertical component of the image, and a difference between the reference image and the determination image in which the vertical component is enhanced, and a foreign object sandwiched between the passenger doors 11 is detected based on the difference. And foreign matter detection means for generating a foreign matter detection signal. The generated foreign object detection signal is sent to the crew monitor 4 provided at the driver's seat or the driver's seat. The crew monitor 4 displays an image from the door monitoring camera 1 in which a foreign object is detected, together with an instruction to select the door monitoring camera 1 or the like.

  Next, an image acquisition process and an image processing sequence according to the present invention will be described with reference to the flowchart of FIG. 4 and FIGS. 5 to 12.

<Image acquisition processing>
The image processor 3 receives a door open / close signal and a notification from a 5K relay (not shown) that is notified when the vehicle speed becomes 5 km / h or less. When acquiring an image, upon receiving a 5K detection command that is notified when the vehicle becomes 5 km / h or less, acquisition of a reference image from the door monitoring camera 1 is started. The latest reference image is recorded continuously. When the conductor opens the door open / close switch, the door 11 opens and a door open signal is output, so the image immediately before that is used as the reference image.

  After the passenger gets on and off, when the conductor closes the door opening / closing switch, the door closes and a door close signal is output. Therefore, the image at this time is acquired as a determination image and a determination process is performed.

<Image processing for foreign object detection>
The image processor 3 compares the pre-door opening image acquired as the reference image with the post-entry image acquired as the determination image, and foreign objects that do not appear in the pre-door opening image appear in the post-entry image. In this case, a foreign object detection signal relating to the door of the door monitoring camera 1 that has acquired the image is generated. The algorithm will be described in detail below according to the flowchart of FIG.

  First, an image before door opening as shown in FIG. 5 is captured as a reference image (step S1). A process for emphasizing the edge of the image by emphasizing the vertical edge component is performed on the reference image, and an enhanced reference image is generated (step S2). This process is for enhancing the vertical component of the image by utilizing the tendency that the foreign matter sandwiched between the doors 11 appears as an object in the vertical direction with respect to the side surface of the vehicle body.

  Now, as shown in FIG. 6, it is assumed that a post-boarding image in which the foreign object 16 is sandwiched between the doors 11 is captured as a determination image (step S3). Similarly, a process for emphasizing the vertical edge component to make the edge of the image stand out is executed for this determination image, and an enhancement determination image is generated (step S4).

  Next, the difference between the two images in which the vertical edges are emphasized is obtained, and an image from which the foreign matter 16 ′ is extracted as shown in FIG. 7 is acquired. As shown in FIG. 6, since the foreign object 16 is present in the vertical direction (the direction away from the train) on the image, the processing shown in 17 in FIG. 8 is performed by performing processing to emphasize the vertical edge of the reference and determination images. Such a thin foreign object or a thinly reflected foreign object can be emphasized as a foreign object image 18 as shown in FIG. At the same time, extra information in the lateral direction such as the edge of the home and the edge of the train can be removed.

  Further, a foreign object at a high position such as the foreign object 19 in FIG. 10 appears large, and a low object such as the foreign object 20 in FIG. 11 appears small, so that the foreign object at a high position is more easily detected. It is difficult to detect foreign objects at low positions. For this reason, in the binarization processing in step S6, when binarizing an image with a threshold value, the high threshold value is strict and the low threshold value is sweetened so that it is at a high position. The sensitivity of the object is low, and the sensitivity of the object at a low position is increased.

  Further, when a foreign object is caught in the door 11, as shown in FIG. 12, the caught foreign object image always exists in the door rubber part or the home part near the center, and the possibility of being in other places is low. For this reason, in the mask process in step S7, only the image of the foreign object exists can be processed by leaving only the image of the door rubber part and the home part near the center and excluding the other parts. Can be achieved, and deterioration in detection performance due to external factors such as rain can be prevented.

  Then, in the processing after step S8, a connected series having a size of a region larger than a set value is extracted as a foreign object. Also in this case, the setting value is strict for those at a high position, and the sensitivity at those at a low position is low, and the sensitivity at a low position can be high by making the setting value low. When the foreign matter is extracted, it is supplied to the crew monitor 4 as a foreign matter detection signal. Thereby, the crew member can confirm the image in which the foreign object was pinched | interposed with a monitor.

Explanatory drawing which shows one Embodiment of the foreign material detection apparatus of the passenger door in the rail vehicle which concerns on this invention. Explanatory drawing which shows the attachment state of the camera for door monitoring in the embodiment. Explanatory drawing which shows an example of the acquired image by the camera for door monitoring. The flowchart which shows the procedure of the foreign material determination process of one Embodiment of the foreign material detection apparatus of the passenger door in the rail vehicle which concerns on this invention. Explanatory drawing which shows the image before door opening as a reference | standard image. Explanatory drawing which shows the image after boarding / alighting as a determination image. Explanatory drawing which shows the difference image of a reference | standard image and a determination image. Explanatory drawing which shows an example of the image after boarding / alighting where the fine foreign material was pinched | interposed. FIG. 9 is an explanatory diagram illustrating an example of an image in which a thin foreign object as illustrated in FIG. 8 is emphasized. Explanatory drawing which shows an example of the image in which the foreign material was pinched in the high position. Explanatory drawing which shows an example of the image where the foreign material was pinched | interposed in the low position. Explanatory drawing which shows that a foreign material exists in a door rubber part or the home part near the center.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Door monitoring camera 2 Door closing sensor 3 Image processor 4 Crew monitor 10 Vehicle 11 Passenger door 11 'Image part 12 of passenger door 11 Elastic body 12' Video part 13 of elastic body 12 Vehicle floor 14 Door upper casing 15 Home 15 'Video portion 16, 16', 17, 18, 19 of home 15 Foreign matter (foreign matter image)

Claims (3)

Image acquisition means for acquiring an image before opening of a door imaged by a camera provided at a meeting unit upper part of a passenger door of a railway vehicle as a reference image, and acquiring an image after getting on and off of a passenger as a determination image;
Vertical component enhancement processing means for emphasizing the vertical components of both images when comparing the acquired reference image and the determination image;
Foreign matter detection means for obtaining a difference between the reference image and the determination image in which the vertical component is emphasized, and detecting a foreign matter sandwiched between passenger doors based on the difference,
A foreign object detection device for a passenger door in a railway vehicle. In the foreign object detection device of the passenger door in the railway vehicle according to claim 1,
The foreign matter detection means includes a mask processing means for masking another image processing area in order to treat the meeting part of the door and the home part in the vicinity thereof as a processing target.
A foreign object detection device for a passenger door in a railway vehicle. In the foreign object detection device of the passenger door in the railway vehicle according to claim 1 or 2,
The foreign object detecting means is configured to reduce the sensitivity in the area located at the upper part of the door and increase the sensitivity in the area located at the lower part of the door in the determination when comparing the image before opening the door and the image after getting on and off. Perform weighting processing with
A foreign object detection device for a passenger door in a railway vehicle.

Images