JP2013001263A - Crossing obstacle detecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a crossing obstacle detecting device that further reduces the effects of unnecessary reflected waves (clutter) due to, for example, water drops when it rains or fogs or snows when it snows, thereby effectively preventing a decrease in accuracy of detecting an obstacle and an erroneous obstacle detection.SOLUTION: A crossing obstacle detecting device 1 detects the presence of an obstacle within a monitor area S set in a railway crossing 10. The crossing obstacle detecting device 1 includes first and second transmitting and receiving devices 2 and 3 which send radio waves in a predetermined area including the monitor area S and receives the reflected waves of the radio waves, and a control device 4 connected to the first and second transmitting and receiving devices 2 and 3. The control device 4 has a determination unit for determining the presence of the obstacle, and the determination unit determines the presence of the obstacle on the basis of signals where signal components that are generated based on the reflected waves and caused by reflecting objects uniformly existing in an atmosphere within the predetermined area are all removed as noise components.

Description

  The present invention relates to a level crossing obstacle detection device that detects an obstacle left in a level crossing using radio waves such as millimeter waves.

  2. Description of the Related Art Conventionally, there are known crossing obstacle detection devices that detect obstacles such as people, wheelchairs, bicycles, and automobiles left in a railroad crossing using radio waves such as millimeter waves. This type of crossing obstacle detection device transmits a radio wave to a monitoring target area (hereinafter simply referred to as a “monitoring area”), receives a reflected wave from the obstacle of the transmitted radio wave, and detects the obstacle. Regardless of the size of the object, it is possible to detect the presence or absence of an obstacle in the railroad crossing.

JP 2001-325690 A

By the way, the level crossing obstacle detection device as described above has a decrease in obstacle detection accuracy due to a reflected wave from rain (water droplets), that is, an unnecessary reflected wave (hereinafter referred to as “clutter”), during raining. There is a risk of false detection. For this reason, for example, by performing an averaging process on the signal level of the received reflected wave, it is possible to reduce the influence of clutter, that is, clutter noise, thereby suppressing deterioration in obstacle detection accuracy and false detection. It is done.
However, in the above averaging process, since the clutter noise itself cannot be removed, the SN ratio can be improved to some extent, but the improvement effect is not sufficient, and further improvement is required.
The present invention has been made paying attention to such a situation, and further reduces clutter noise due to water droplets at the time of rainfall or fog generation or snow at the time of snowfall, thereby lowering the accuracy of detecting obstacles. An object of the present invention is to provide a railroad crossing obstacle detection device that can effectively suppress occurrence of false detection.

  A level crossing obstacle detection device according to one aspect of the present invention is a level crossing obstacle detection device that detects the presence or absence of an obstacle in a monitoring area set on a level crossing road, and transmits radio waves in a predetermined area including the monitoring area. A transmitter / receiver that transmits and receives a reflected wave of the transmitted radio wave, and a signal that is generated based on the reflected wave and that is caused by a reflector that exists uniformly in the atmosphere in the predetermined region A determination processing unit that determines the presence or absence of an obstacle based on the signal from which the component is removed as a noise component.

  According to the level crossing obstacle detection device, when there are uniform reflections such as water droplets (rain, fog), snow, and dust in the atmosphere in the predetermined area including the monitoring area within the radio wave transmission range. Determines the presence or absence of an obstacle based on the signal from which the signal component due to the reflection object is removed as a noise component, so that the influence of unnecessary reflected waves by the reflection object is reduced and the detection accuracy of the obstacle is improved. Generation | occurrence | production of a fall and a misdetection can be suppressed effectively.

It is a figure showing the whole level crossing obstacle detection device by one embodiment of the present invention. It is a figure shown in the schematic structure of the transmitter / receiver in the said level crossing obstacle detection apparatus. It is a block diagram which shows schematic structure of the control apparatus of the said level crossing obstacle detection apparatus. It is a figure which shows an example of the signal level data (frequency (distance)-signal level data) for every frequency obtained by the frequency analysis of the beat signal performed by the beat signal processing part of the said control apparatus. It is a block diagram which shows the structure of the noise component removal part of the said control apparatus. It is a figure which shows the outline | summary of the removal process of the noise component by the said noise component removal part.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 shows the overall structure of a crossing obstacle detection device according to an embodiment of the present invention. This level crossing obstacle detection apparatus 1 detects the presence or absence of an obstacle in a level crossing road 10 where tracks 51 and 52 on which trains T1 and T2 travel and a road 53 (shown by a broken line) intersect. As shown in FIG. 1, the first transmitter / receiver 2 and the second transmitter / receiver 3 disposed in the vicinity of the railroad crossing 10 and the control device 4 connected to the first transmitter / receiver 2 and the second transmitter / receiver 3 are included.

  In the present embodiment, the crossing obstacle detection apparatus 1 uses a rectangular area indicated by hatching in FIG. 1 as a monitoring area S for detecting the presence or absence of an obstacle. For example, the monitoring area S may be an area sandwiched by a pair of breaker fences (not shown) installed on the level crossing 10 in the level crossing 10.

  As shown in FIG. 1, the first transmitter / receiver 2 and the second transmitter / receiver 3 are arranged so as to be diagonally located across the railroad crossing 10 in plan view. Specifically, the first transmitter / receiver 2 is in the vicinity of one entrance / exit of the railroad crossing 10 and on one side in the direction orthogonal to the railroad crossing 10 (in other words, at the upper left corner of the monitoring area S). The second transmitter / receiver 3 is arranged near the other entrance / exit of the railroad crossing 10 and on the other side in the direction orthogonal to the railroad crossing 10 (in other words, the lower right corner of the monitoring area S). On the outside).

FIG. 2 shows a schematic configuration of the first transceiver 2.
As shown in FIG. 2, the first transceiver 2 includes first to third transceiver units 2 a to 2 c. The first transmission / reception unit 2a includes a transmission unit 21a, a transmission antenna 22a, a reception unit 23a, a reception antenna 24a, and a beat signal generation unit 25a. In the first transmission / reception unit 2a, the transmission unit 21a transmits a radio wave (detection beam) having a frequency swept to the fan-shaped region S1a indicated by a one-dot chain line in FIG. 1 via the transmission antenna 22a, and the reception unit 23a. Receives the reflected wave via the receiving antenna 24a. Then, the beat signal generation unit 25a generates a beat signal having a frequency corresponding to the frequency difference between the transmission wave and the reflected wave based on the transmission wave and the reflected wave. This beat signal corresponds to an obstacle determination signal.

  Similarly, the second transmission / reception unit 2b includes a transmission unit 21b, a transmission antenna 22b, a reception unit 23b, a reception antenna 24b, and a beat signal generation unit 25b. The fan-shaped unit indicated by the one-dot chain line in FIG. A radio wave (detection beam) having a swept frequency is transmitted to the region S1b and a reflected signal is received to generate a beat signal. The third transmission / reception unit 2c includes a transmission unit 21c, a transmission antenna 22c, a reception unit 23c, a reception antenna 24c, and a beat signal generation unit 25c, and is a fan-shaped region indicated by a one-dot chain line in FIG. A radio wave (detection beam) having a swept frequency is transmitted to S1c, and a reflected signal is received to generate a beat signal.

  The second transceiver 3 has the same configuration as the first transceiver 2. Although the detailed description here is omitted, the second transmitter / receiver 3 also has first to third transmitter / receiver units, and each of the fan-shaped regions S2a to S2c indicated by the one-dot chain line in FIG. And a reflected wave of the transmitted radio wave is received, and a beat signal having a frequency corresponding to the frequency difference between the transmitted wave and the reflected wave is generated for each of the regions S2a to S2c.

Here, as shown in FIG. 1, the radio wave transmission areas S1a to S1c and S2a to S2c include areas other than the monitoring area S and are continuous so as not to generate a blank area. Radio waves (detection beams) are transmitted throughout S.
The first transmitter / receiver 2 and the second transmitter / receiver 3 repeatedly transmit radio waves to the areas S1a to S1c and the areas S2a to S2c periodically (that is, every predetermined detection period) to generate beat signals. And output to the control device 4. In addition, although the radio wave transmitted from each transmission / reception unit is not particularly limited, in this embodiment, millimeter waves having a frequency band of 30 to 300 GHz (wavelength of 10 to 1 nm) are used.

  The control device 4 controls the operation of each transmission / reception unit of the first transmission / reception device 2 and the second transmission / reception device 3, more specifically, the first transmission / reception unit 2 and the second transmission / reception unit 3, and is generated by each transmission / reception unit. The input beat signal is input, and the presence or absence of an obstacle in the monitoring area S is determined based on the input beat signal. When the control device 4 determines that there is an obstacle in the monitoring area S, for example, a warning light (not shown) is operated to indicate that there is an obstacle, such as a train driver or the nearest station staff. To inform.

  By the way, when it is raining, snowing, or when fog is generated, obstacles such as water drops (rain, fog) and snow are almost uniformly in the atmosphere in the radio wave transmission area (S1a to S1c, S2a to S2c). There is a (relatively small) reflector that should not be. In such a situation, the beat signal generated by each transmission / reception unit includes a signal component caused by the reflection object that does not become the obstacle. For this reason, if the presence or absence of an obstacle is simply determined based on the beat signal, it may be determined that there is an obstacle even though there is actually no obstacle in the monitoring area S. Such erroneous detection causes unnecessary train stoppage and the like, so it is desirable to eliminate it as much as possible.

  Therefore, the control device 4 according to the present embodiment includes a reflector that does not become an obstacle such as water droplets (rain, fog), snow, or sand dust in the atmosphere in the radio wave transmission area (S1a to S1c, S2a to S2c). If there is a possibility of erroneous detection due to a reflected wave from a reflector that does not become an obstacle, the signal component caused by the reflector that does not become an obstacle is changed from the beat signal to the noise component. The presence / absence of an obstacle is determined based on the signal obtained by removing as described above. In addition to the water droplets (rain, fog), snow, or sand dust, hail, hail, hail, and the like correspond to the relatively small reflector that does not become an obstacle. Details will be described below.

FIG. 3 is a block diagram illustrating a configuration of the control device 4.
As shown in FIG. 3, the control device 4 includes a beat signal processing unit 41 that analyzes and processes a beat signal, an atmosphere detection unit 42 that detects an atmosphere state in a transmission region of radio waves (detection beams), and beat signals. A noise component removing unit 43 that removes noise components and a determination processing unit 44 that determines the presence or absence of an obstacle are included.

  The beat signal processing unit 41 receives beat signals output from the transmission / reception units of the first transmitter / receiver 2 and the second transmitter / receiver 3, performs frequency analysis of the input beat signals, and performs signal level data for each frequency. Ask for. Thereby, the number of signal level data corresponding to the frequency resolution of the beat signal processing unit 41 is acquired. Here, the frequency included in the beat signal corresponds to the distance from the first transmitter / receiver 2 or the second transmitter / receiver 3 to the object reflecting the transmission radio wave, and the signal level data is reflected from the object. Indicates the signal level of the wave.

  FIG. 4 shows an example of signal level data (frequency (distance) −signal level) for each frequency obtained by frequency analysis of the beat signal. The beat signal processing unit 41 obtains signal level data for each frequency as shown in FIG. 4 for each of the regions S1a to S1c and S2a to S2c. When there is an object (obstacle) in the monitoring area S, signal level data larger than the first threshold TH1 for obstacle detection set in advance in the frequency range corresponding to the monitoring area S Exists.

The atmosphere detection unit 42 detects the atmosphere state in the radio wave (detection beam) transmission area based on the signal level data for each frequency obtained by the beat signal processing unit 41. For example, in the signal level data for each frequency, a ratio of signal level data larger than the second threshold TH2 (see FIG. 4) for atmosphere detection preset as a value smaller than the first threshold TH1 is predetermined. When the value is exceeded, it is detected that there is a uniform reflection object that does not become an obstacle in the atmosphere in the radio wave transmission region, and the reflection object may cause an erroneous detection. Here, the predetermined value can be an arbitrary value of, for example, 50 to 90% (preferably 70 to 80%), and the second threshold value TH2 is, for example, at the time of rain, snow or fog It is set based on the signal level when there is no obstacle.
It should be noted that it is only necessary to be able to detect an atmospheric state that may cause erroneous detection as described above. A rain gauge, a snow gauge, a fog sensor, or the like is used instead of the atmosphere detection unit 42, and these outputs are equal to or higher than a predetermined value. In this case, it may be detected that the atmosphere state is likely to cause erroneous detection.

  The noise component removal unit 43 is the signal level data of each frequency (each distance) obtained by the beat signal processing unit 41 when the atmosphere detection unit 42 detects that the atmosphere state may cause erroneous detection. Thus, the signal component caused by the reflector that does not become an obstacle is removed as a noise component. Specifically, the noise component removal unit 43 removes the spectrum of the noise component in the frequency domain by a method according to the “spectrum subtraction method” used for the audio signal processing (noise removal processing).

FIG. 5 is a block diagram illustrating a configuration of the noise component removal unit 43.
As shown in FIG. 5, the noise component removal unit 43 includes a discrete Fourier transform unit 431, a spectrum subtraction unit 432, and an inverse discrete Fourier transform unit 433.

For each frequency corresponding to the monitoring region S, the discrete Fourier transform unit 431 converts N signal level data in the time domain (that is, N detection cycles) into a frequency domain spectrum Ps (W) by discrete Fourier transform. To do.
Also, the discrete Fourier transform unit 431 converts N signal level data into a frequency domain spectrum by discrete Fourier transform for a specific frequency corresponding to a region other than the monitoring region S in the radio wave transmission region, The noise component spectrum Pn (W) is used. The spectrum Pn (W) of the noise component is obtained in this way, in the radio wave transmission area, the area other than the monitoring area S is usually an area where no person or object enters, and water drops (rain, fog) This is because it is suitable for acquiring only the spectrum of the signal component (that is, noise component) caused by the reflector that does not become the obstacle, such as snow and dust. The specific frequency does not have to be one. For each of a plurality of frequencies corresponding to a region other than the monitoring region S in the radio wave transmission region, N signal level data are converted into a frequency region by discrete Fourier transform. The spectrum Pn (W) of the noise component may be set based on these.

The spectrum subtraction unit 432 subtracts the spectrum Pn (W) of the noise component from the spectrum Ps (W) of the signal level data of each frequency, which is the processing result of the discrete Fourier transform unit 431. Specifically, the spectrum Pn (W) of the noise component is removed from the spectrum Ps (W) of the signal level data of each frequency including the noise component based on the following equation.
D (W) = Ps (W) −αPn (W)
However, when D (W) ≦ βPn (W), D (W) = βPn (W)
Here, α and β are coefficients.
Then, the inverse discrete Fourier transform unit 433 converts the spectrum D (W) obtained by the spectrum subtraction unit 432 into time-domain signal level data by inverse discrete Fourier transform.

FIG. 6 is a diagram showing an outline of noise component removal processing by the noise component removal unit 43.
FIG. 6A shows the time variation (time level signal level data) of the signal level of the specific frequency f1 (see FIG. 4) corresponding to the monitoring area S. FIG. The signal level shown in FIG. 6A includes not only a signal level of a reflected wave from an object that becomes an obstacle but also a signal component caused by a reflector that does not become an obstacle as described above as a noise component. It is.

  FIG. 6B shows the time variation of the signal level of the specific frequency f2 (see FIG. 4) corresponding to the area other than the monitoring area S. The signal level shown in FIG. 6B is a signal level of a reflected wave from a reflector that does not become an obstacle. The reflected wave from the reflector that does not become an obstacle has a signal characteristic that varies depending on the distance (location), but its frequency characteristic is almost common throughout the transmission range of the radio wave. .

  Therefore, the noise component removal unit 43 sets the spectrum Pn (W) of the noise component in the monitoring region S based on the signal level data of the frequency corresponding to the specific region other than the monitoring region S (FIG. 6B) ( And the spectrum Pn (W) of the noise component is subtracted from the spectrum Ps (W) of the signal level data (FIG. 6A) including the noise component of each frequency corresponding to the monitoring region S. Then, by performing inverse discrete Fourier transform on the obtained spectrum D (W), the signal level data from which the noise component is removed as shown in FIG. 6C is restored.

  When the noise component removal unit 43 performs such noise component removal processing on the signal level data of each frequency corresponding to the monitoring region S, as shown by the broken line in FIG. It is possible to obtain level data, that is, signal level data in which a signal component due to a reflector that does not become an obstacle is removed as a noise component.

  Returning to FIG. 3, the determination processing unit 44 performs signal level data (shown by a solid line in FIG. 4) or noise for each frequency obtained by the beat signal processing unit 41 according to the detection result of the atmospheric state by the atmospheric detection 42. The presence or absence of an obstacle in the monitoring region S is determined based on the signal level data for each frequency after the noise component is removed by the component removing unit 42 (shown by a broken line in FIG. 4). Specifically, when there is signal level data exceeding the first threshold TH1 in the frequency range corresponding to the monitoring area S, it is determined that there is an obstacle in the monitoring area S.

  As described above, the railroad crossing obstacle detection device 1 according to the present embodiment is in an atmosphere within the transmission range of radio waves from the first transmitter / receiver 2 and the second transmitter / receiver 3 such as when it is raining, snowing, or when fog is generated. In the case where relatively small reflectors that reflect radio waves do not become obstacles uniformly, signals generated based on the reflected waves received by the first transceiver 2 and the second transceiver 3 And the presence or absence of an obstruction is determined based on the said signal from which the signal component resulting from the said comparatively small reflector was excluded as a noise component. Thereby, the influence (clutter noise) of the unnecessary reflected wave by the said comparatively small reflector can be reduced, and the fall of detection accuracy and a false detection can be suppressed effectively.

Here, the noise component can be set based on a signal corresponding to an area other than the monitoring area S within the radio wave transmission range. Since no person or object usually enters the area, the signal corresponding to the area is considered to be based on the reflected wave from the relatively small reflector, and also the obstacle of the relatively small reflector. This is because the influence on the object detection is considered to be substantially the same over the entire radio wave transmission range including the monitoring region S. For example, a table in which a change amount of a specific signal level corresponding to a region other than the monitoring region S is associated with the noise component is provided, and a table reference value based on the change amount of the specific signal level is used as the noise component. Can be set.
In the above embodiment, the first transmitter / receiver 2 and the second transmitter / receiver 3 transmit radio waves in a predetermined region including these without distinguishing between the monitoring region S and other regions, You may comprise so that the monitoring area | region S and the area | region other than that may distinguish and transmit an electromagnetic wave.

  In addition, a table reference value based on the relatively small reflector can be set as the noise component. In this case, for example, a table in which the type of the relatively small reflector and the noise component are associated is provided, and a signal indicating the type of the relatively small reflector is input to the control device 4 from the outside. The noise component can be set with reference to the table based on an input signal from the outside. Furthermore, the relatively small reflector type may be specified based on the amount of change in a specific signal level corresponding to an area other than the monitoring area S and the relatively small reflector type.

  More specifically, in the present embodiment, the signal component due to the relatively small reflector is excluded as a noise component from beat signals generated by the transmission / reception units of the first transceiver 2 and the second transceiver 3. The presence / absence of an obstacle is determined based on the obtained signal. The beat signal has a frequency corresponding to the frequency difference between the transmitted wave and the reflected wave, and the frequency included in the beat signal is the position of the object (the first transmitter / receiver 2 or the first transmitter) that reflects the transmitted radio wave. 2 distance from the transceiver 3). Therefore, it is convenient because it is possible to easily determine whether or not an object (obstacle) exists in the monitoring area S by performing frequency analysis of the beat signal. In the present embodiment, the noise component is removed after generating the beat signal based on the transmission wave and the reflected wave, but the noise component is first removed from the reflected wave, and then the beat signal or An alternative obstacle determination signal may be generated.

  Further, the removal of the noise component from the beat signal in the present embodiment is performed after the frequency analysis of the beat signal is performed. That is, frequency analysis is performed on the beat signal to obtain signal level data for each frequency (that is, for each distance), and the noise component is removed from the signal level data for each frequency corresponding to the monitoring region S. As a result, the noise component can be removed within a necessary and sufficient range. However, the present invention is not limited to this, and the noise component may be removed from the signal level data of all frequencies obtained by the frequency analysis of the beat signal, or the first threshold value for obstacle detection. The noise component may be removed only from signal level data larger than TH1.

If the noise component removal from the beat signal is further described, the noise component removal processing in this embodiment is performed by removing the spectrum of the noise component in the frequency domain from the signal level data of each frequency. Done.
That is, signal level data (including the noise component) of each frequency corresponding to the monitoring region S is converted into a spectrum Ps (W) by discrete Fourier transform, and then the spectrum Pn (w) of the noise component or The signal level data from which the noise component has been removed is restored by subtracting a product obtained by multiplying a predetermined coefficient and performing inverse discrete Fourier transform on the resulting spectrum D (W). Thereby, it is possible to effectively remove only the noise component included in each signal level data without causing a decrease in the original signal level for each signal level data.

Here, in the present embodiment, a spectrum obtained by performing discrete Fourier transform on signal level data corresponding to a region other than the monitoring region S is used as the noise component spectrum Pn (W). As described above, in areas other than the monitoring area S, there is usually no object that reflects radio waves because no person or object enters, and the frequency characteristics of the reflected waves by the relatively small reflectors are within the radio wave transmission range. It is because it is thought that it is almost common throughout. Thereby, since the spectrum Pn (W) of the noise component according to the atmosphere state at that time can be used, the noise component can be effectively removed.
However, the present invention is not limited to this, and if there is no person or object even in the monitoring area S, the signal level data of the frequency corresponding to the monitoring area S is subjected to discrete Fourier transform and the noise described above. It can be used as the component spectrum Pn (W). In addition, a table in which the signal level of one or a plurality of frequencies corresponding to a specific area other than the monitoring area S and the spectrum Pn (W) of the noise component are associated with each other is prepared in advance. The spectrum Pn (W) of the noise component may be set by referring to the table based on the signal level data of one or a plurality of frequencies corresponding to the specific region.

  Further, in the present embodiment, the noise component removal process as described above is performed only when there is a possibility of erroneous detection due to the presence of the relatively small reflector in the atmosphere. Yes. Specifically, in the signal level data for each frequency (each distance) obtained by frequency analysis of the beat signal, the ratio of the signal level data larger than the second threshold value TH2 for atmosphere detection exceeds a predetermined value. The noise component removal process is performed, and if the noise component is equal to or less than the predetermined value, the noise component removal process is not performed. This prevents the noise component removal process from being performed more than necessary. When the noise component removal process is not performed, the presence / absence of an obstacle is determined based on the signal level data for each frequency obtained by the beat signal processing unit 41.

  As mentioned above, although embodiment of this invention and its modification were demonstrated, this invention is not limited to this, Of course, a further deformation | transformation and change are possible based on the technical idea of this invention. is there.

  DESCRIPTION OF SYMBOLS 1 ... Railroad crossing obstacle detection apparatus, 2 ... 1st transmitter / receiver, 3 ... 2nd transmitter / receiver, 4 ... Control apparatus, 10 ... Railroad crossing, 41 ... Beat signal processing part, 42 ... Atmosphere detection part, 43 ... Noise component removal , 44 ... Determination processing unit, 431 ... Discrete Fourier transform unit, 432 ... Spectral subtraction unit, 433 ... Inverse discrete Fourier transform unit, S ... Monitoring region

Claims (10)

A level crossing obstacle detection device that detects the presence or absence of an obstacle in a monitoring area set on a level crossing,
A transmission / reception unit for transmitting a radio wave in a predetermined area including the monitoring area and receiving a reflected wave of the transmitted radio wave;
Presence / absence of an obstacle based on the signal generated based on the reflected wave and having the signal component caused by the reflector uniformly present in the atmosphere in the predetermined area removed as a noise component A determination processing unit for determining
A crossing obstacle detection device comprising:   The crossing obstacle detection device according to claim 1, wherein the noise component is set based on a signal corresponding to an area other than the monitoring area in the predetermined area.   The level crossing obstacle detection device according to claim 1 or 2, wherein the noise component is a table reference value based on a reflection object uniformly present in an atmosphere in the predetermined region. The transmitting / receiving unit generates and outputs a beat signal having a frequency corresponding to a frequency difference between a transmission wave and a reflected wave thereof,
The said determination process part determines the presence or absence of an obstruction based on the signal obtained by removing the signal component resulting from the said reflector as a noise component from the said beat signal. The crossing obstacle detection device described in 1. A beat signal processing unit that performs frequency analysis of the beat signal to obtain signal level data for each frequency;
A noise component removing unit that removes the noise component from the signal level data of each frequency corresponding to the monitoring region;
Further comprising
The crossing obstacle detection device according to claim 4, wherein the determination processing unit determines the presence or absence of an obstacle based on each signal level data after the noise component is removed.   The crossing obstacle detection device according to claim 4 or 5, wherein the noise component removing unit removes a spectrum of the noise component in a frequency domain from the signal level data of each frequency. The noise component removing unit
A discrete Fourier transform unit that transforms the signal level data of each frequency into a frequency domain spectrum by discrete Fourier transform;
A spectrum subtraction unit for subtracting the spectrum of the noise component from the spectrum of the signal level data of each frequency;
An inverse discrete Fourier transform unit for transforming the spectrum obtained by the spectrum subtraction unit into signal level data in the time domain by inverse discrete Fourier transform;
The crossing obstacle detection device according to claim 5 or 6, comprising:   The spectrum of the noise component is obtained by converting signal level data of at least one frequency corresponding to a specific region other than the monitoring region into a spectrum of a frequency region by a discrete Fourier transform. The crossing obstacle detection device described in 1.   The level crossing obstacle detection device according to claim 6 or 7, wherein the spectrum of the noise component is a table reference value based on signal level data of at least one frequency corresponding to a specific region other than the monitoring region.   In the signal level data for each frequency obtained by the beat signal processing unit, the determination processing unit, when the ratio of the signal level data exceeding a preset threshold is equal to or less than a predetermined value, The crossing obstacle detection device according to any one of claims 4 to 9, wherein the presence / absence of the obstacle is determined based on the signal level data for each frequency without performing a removal process.

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