JP2016141213A - Platform door control device and platform door control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a platform door control device and a platform door control method capable of indirectly linking with a vehicle door and quickly opening/closing the door part of a platform door device.SOLUTION: A platform door control device 1 includes a train detection part 2 for detecting the front surface of a train, a door detection part 3 for detecting the vehicle door of the train stopped at a platform, a train state determination part 5 for determining whether the train is in a stopped state within a predetermined stop range on the basis of the detection result of the train detection part 2, a door state determination part 6 for determining whether the vehicle door is in a closed operation state on the basis of the detection result of the door detection part 3, and a platform door opening/closing control part 7 for opening the door part of a platform door device 21 when the train state determination part 5 detects that the train is in the stopped state within the predetermined stop range, and closing the door part of the platform door device 21 when the door state determination part 6 detects that the vehicle door is in the closed operation state on the basis of the detection result of the door detection part 3.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a home door control device and a home door control method for controlling opening and closing of a home door device installed on a platform.

  When stopping the train on the platform, the fixed position stop device (TASC) is used to stop the train in a predetermined range (also called a fixed position) and to match the position of the vehicle door and the door portion of the platform door device. It is often done. Since TASC is included as part of the function of an automatic train operation device (ATO), it is considered to introduce ATO on a route basis when installing a platform door device. In addition, a transmitter / receiver (for example, a vehicle upper and a ground child) is provided on each of the vehicle side and the ground side, and the opening / closing of the vehicle door and the opening / closing of the door portion of the platform door device are linked based on the transmission / reception signal. However, when installing a home door device on an existing route, installing TASC or ATO, or installing a transmitter / receiver for linking with the vehicle door will require more work and time for the construction, and will increase the cost. Connected.

  The following Patent Document 1 discloses an invention relating to a home door global control device, and discloses a technique capable of performing the opening / closing operation of the door portion of the home door device in correspondence with the vehicle door without modifying the vehicle. ing.

Japanese Unexamined Patent Publication No. 2001-10485 (Japanese Patent No. 3258893)

  In Patent Document 1, an ITV camera captures an open / close state of a vehicle door, and detects an open / close state or an open / close operation by image processing. However, it is difficult to obtain a stable result because the image picked up by the camera is easily influenced by external light. Further, the image processing requires an advanced arithmetic processing device.

  Furthermore, as described in Patent Document 1, when the opening operation of the door portion of the platform door device is started after the start of the opening operation of the vehicle door is detected, it takes from the stop of the train until it can get on and off. Long time. Therefore, it is necessary to increase the moving speed of the door portion of the home door device to shorten the time required for opening the door portion, but there is a physical limit.

  This invention is made | formed in view of such a situation, Comprising: A vehicle door can be indirectly linked without modifying a vehicle, and the door part of a platform door apparatus is opened and closed quickly. It is an object of the present invention to provide a platform door control apparatus and platform door control method that can be used.

In order to solve the above problems, the platform door control device and platform door control method of the present invention employ the following means.
That is, the platform door control device according to the present invention includes a train detection unit that detects a front or rear surface of a train, a door detection unit that detects a vehicle door provided on the train stopped on the platform, and the train detection unit. A first determination unit that determines whether the train is in a stopped state within a predetermined stop range based on a detection result, and the vehicle door is in a closing operation based on a detection result of the door detection unit or A second door for determining whether or not the vehicle is in a closed state; and a platform door installed on the platform when the first determination unit determines that the train is stopped in a predetermined stop range. When the door provided in the apparatus is opened, and the second determination unit determines that the vehicle door is in the closing operation or in the closed state based on the detection result of the door detection unit, Of the platform door device The Kitobira unit comprises a switching control section for closing operation.

  According to this configuration, when the front or rear surface of the train is detected and it is determined that the train has stopped in a predetermined stop range, the door portion of the platform door device opens, so that after the train stops, The door can be opened. For example, compared with the case where the opening operation of the door portion of the platform door device is started after the opening operation of the vehicle door is detected, the start timing of the opening operation of the door portion of the platform door device can be advanced. In addition, during the operation of closing the vehicle door from the open state, or when it is determined that the vehicle door is in the closed state, the door portion of the home door device is closed, and thus the linkage with the vehicle door is performed. Can do. Furthermore, it is not necessary to transmit and receive signals between the vehicle side and the platform (ground) side, and the door portion of the home door device can be opened and closed by indirectly cooperating with the vehicle door with a relatively simple system.

  In the above invention, the train detection unit includes a first distance measurement unit that irradiates a laser beam toward the front surface or the rear surface of the train while scanning, and measures a distance from the train. The first determination unit determines whether or not the train is stopped in the predetermined stop range based on the distance to the train measured by the first distance measuring unit.

  In the above invention, the train detection unit includes an imaging unit that captures an image of a front surface or a rear surface of the train, and the first determination unit is configured based on a result captured by the imaging unit. It is determined whether or not the vehicle is stopped within a predetermined stop range.

  In the above invention, the train detection unit includes a reception unit that receives a signal from an IC tag provided in the train, and the first determination unit is based on a result received by the reception unit. , It is determined whether or not the train is stopped in the predetermined stop range.

  In the above invention, the train detection unit is arranged along a traveling direction of the train, and each of the train detection units irradiates a laser beam toward a side surface of the train and measures a distance from the train. The first determination unit is configured to stop the train in the predetermined stop range based on the distance to the train measured by the second distance measurement unit. Determine whether it is in a state.

  According to these configurations, from the outside of the train, it is determined whether the train is in a stopped state within a predetermined stop range based on the distance to the train or the result of imaging the train. Determine the stop status of the train. Therefore, the stop state of the train can be determined without receiving a signal indicating that the train has stopped from the train side. In other words, it is not necessary to transmit and receive signals between the train side and the platform side, the linkage with the vehicle door can be indirectly performed with a relatively simple system, and the opening operation of the door portion of the platform door device can be started. .

  In the said invention, when the said door part of the said platform door apparatus is in an open state, the said 1st judgment part judges that the said train has started moving based on the detection result of the said train detection part. When it does, the said opening / closing control part closes the said door part of the said platform door apparatus.

  In the above invention, the door detection unit irradiates the vehicle door and the vehicle door pocket storing the vehicle door while scanning laser light, and the distance between the vehicle door and the vehicle door pocket. A third distance measuring unit for measuring a distance; and the second determining unit is configured to measure the distance between the vehicle door and the vehicle door measured by the third distance measuring unit. Based on the distance, the train is represented by a two-dimensional coordinate axis, and based on the shape represented on the coordinate axis, it is determined whether the vehicle door is in a closing operation or in a closed state.

  In the above invention, the door detection unit includes an imaging unit that images the vehicle door and a vehicle door pocket storing the vehicle door, and the second determination unit is based on a result captured by the imaging unit. Then, it is determined whether the vehicle door is in a closing operation or in a closed state.

  In the above invention, the door detection unit includes a reception unit that receives a signal from an IC tag provided in the vehicle door, and the second determination unit is based on a result received by the reception unit. Then, it is determined whether the vehicle door is in a closing operation or in a closed state.

  In the said invention, the said door detection part is arrange | positioned along the advancing direction of the said train, each irradiates a laser beam toward the side surface of the said train, and the vehicle door pocket which stores the said vehicle door and the said vehicle door A plurality of fourth distance measuring units for measuring a distance between the second door, and the second determining unit between the vehicle door and the vehicle door pocket respectively measured by the fourth distance measuring unit. Based on the distance, it is determined whether the vehicle door is in a closing operation or in a closed state.

  According to these configurations, it is possible to detect the operation of starting the closing from the open state of the train door or the state in which the door has been closed without receiving a signal related to the closing operation of the train door from the train side. . Therefore, it is not necessary to transmit and receive signals between the train side and the platform side, and the linkage with the vehicle door can be indirectly performed with a relatively simple system, and the door closing operation of the platform door device can be started.

  In the above invention, the second determination unit sequentially stores the width of the vehicle door detected by the door detection unit, and the vehicle door is being closed or closed based on the stored width of the vehicle door. Determine whether it is in a state.

  According to this configuration, since the width of the vehicle door that changes during the opening and closing operation of the vehicle door is sequentially stored, the width of the detected vehicle door changes in the narrowing direction or the width does not change. It is possible to detect that the vehicle door is being closed or in a closed state.

  In the said invention, when the said 1st judgment part judges that the said train is in a stop state in the said predetermined stop range, based on the detection result of the said train detection part, the said train is the back of one formation. It is further determined whether or not the front surfaces of the other knitting are opposed to each other and connected by the coupler.

  According to this configuration, when both the rear surface of one train and the front surface of another train are detected by the train detection unit, the rear surface of one train and the front surface of the other train are opposed to each other by the coupler. It can be determined that they are connected. If only the back of one train is detected, it can be determined that only one train is stopped. If only the front of another train is detected, only the other train is stopped. It can be judged. The train detection unit may detect a hood provided between the vehicles. In this case, at the detection position, it can be determined that the plurality of formations correspond to the hood portion of one formation, not the portion connected by the coupler.

  In the above invention, the opening / closing control unit confirms that the opening operation or closing operation of the door unit is completed, and causes the display unit to display that the door unit is in an open state or a closed state.

  According to this configuration, when it is confirmed that the opening or closing operation of the door is completed in the opening / closing control unit, the display unit displays the door portion of the home door device in the open state or in response to a command from the opening / closing control unit. Displays that it is in the closed state. A display part is installed in the position which a driver and a conductor can visually recognize, for example. Thereby, after confirming that the door part is in the open state, the driver or the conductor can open the vehicle door. The driver can start the train after confirming that the door is in the closed state.

  In the platform door control method according to the present invention, the train detection unit detects the front or rear surface of the train, the door detection unit detects the vehicle door provided on the train stopped on the platform, A determination unit configured to determine whether the train is stopped in a predetermined stop range based on a detection result of the train detection unit; and a second determination unit configured to A step of determining whether or not the vehicle door is in a closing operation or in a closed state based on a detection result; and an opening / closing control unit in the first determination unit, wherein the train is stopped in a predetermined stop range. The door portion provided in the platform door device installed on the platform is opened, and in the second determination portion, based on the detection result of the door detection portion, vehicle There when it is determined to be in the closing operation or closed state, comprising the step of the door unit is closed operation of the home door device.

  According to the present invention, it is possible to indirectly cooperate with the vehicle door without modifying the vehicle, and to quickly open and close the door portion of the home door device.

It is a top view which shows the platform door apparatus installed in the platform. It is a block diagram which shows the platform door control apparatus which concerns on one Embodiment of this invention. It is a flowchart which shows transfer to the open state of the platform door apparatus which concerns on one Embodiment of this invention. It is a chart which shows transfer to a closed state of a platform door device concerning one embodiment of the present invention. It is the schematic which shows a train, and the graph which shows the detection result of the range corresponded to a vehicle door when the vehicle door of a train is in a closed state. It is the schematic which shows a train, and the graph which shows the detection result of the range corresponded to a vehicle door when the vehicle door of a train is in a half-open state. It is the schematic which shows a train, and the graph which shows the detection result of the range corresponded to a vehicle door when the vehicle door of a train is in an open state.

Below, platform door control device 1 concerning one embodiment of the present invention is explained with reference to drawings.
The home door control device 1 controls the opening / closing operation of the door portion 22 of the home door device 21 installed on the platform 20. As shown in FIG. 1, the home door device 21 is installed along the edge of the platform 20, and includes a door portion 22, a door portion 22 that can store the door portion 22, and the door portion 22 enters and exits. The door pocket 23 accommodates a drive unit 24 including a motor for driving the door unit 22 and an individual control panel 25 for controlling the drive unit 24 (see FIG. 2).

  As shown in FIG. 2, the platform door control device 1 according to the present embodiment includes a train detection unit 2, a door detection unit 3, and a control unit 4.

  The train detection unit 2 has, for example, a distance measurement sensor (first distance measurement unit). When detecting the front surface of the vehicle, the train detection unit 2 is located on the platform 20 ahead of the position where the train 30 stops as shown in FIG. Installed. The train detection unit 2 scans and irradiates the front surface of the train 30 with laser light, and receives the laser light reflected on the front surface of the train 30. As a result, the train detection unit 2 detects the distance from the front surface of the train 30 that is in the stop operation or in the stop state on the platform 20. The train detection unit 2 transmits the detection result to the control unit 4.

  The door detection unit 3 includes, for example, a distance measurement sensor (third distance measurement unit), and scans and irradiates the vehicle door 31 of the train 30 and the door pocket 32 of the train 30 with a laser beam. And the laser beam reflected by the door pocket 32 of the train 30 is received. As a result, the door detection unit 3 detects the distance from the vehicle door 31 in the open state, the opening / closing operation, or the closed state, and the distance from the door pocket 32. The door detection unit 3 transmits the detection result to the control unit 4.

  The control unit 4 is a computer that executes a program, for example. As shown in FIG. 2, the control unit 4 includes a train state determination unit 5, a door state determination unit 6, a platform door opening / closing control unit 7, and a display control unit 8.

  The train state determination unit 5 determines whether the train 30 is in a stopped state within a predetermined stop range based on the distance from the train 30 measured by the train detection unit 2 and received from the train detection unit 2. Here, the predetermined stop range is a so-called fixed position and is a range determined in advance so that the train 30 stops. The fixed position is usually in the range of about 1 m front and rear (for example, front and rear 750 mm) from the reference position.

  The door state determination unit 6 represents the train 30 with a two-dimensional coordinate axis based on the distance between the vehicle door 31 and the door pocket 32 measured by the door detection unit 3 and received from the door detection unit 3. Based on the shape represented on the coordinate axis, it is determined whether the vehicle door 31 of the train 30, that is, whether the vehicle door 31 is in an open state, an opening / closing operation, or a closed state.

  In order to determine whether the vehicle door 31 is in an open state, an opening / closing operation, or a closed state, the door state determination unit 6 sequentially stores the width of the vehicle door 31 detected by the door detection unit 3. The determination is made based on the stored width of the vehicle door 31. Since the width of the vehicle door 31 that changes during the opening / closing operation of the vehicle door 31 is sequentially stored, the detected width of the vehicle door 31 changes in a widening direction, a narrowing direction, or does not change. The state of the vehicle door 31 can be detected.

  When it is determined that the train 30 is in a stopped state within a predetermined stop range, the platform door opening / closing control unit 7 opens the door unit 22 of the platform door device 21. Further, when it is detected that the vehicle door 31 of the train 30 is in the closing operation, the platform door opening / closing controller 7 causes the door 22 of the platform door device 21 to be closed. When it is detected that the vehicle door 31 of the train 30 is not in the closing operation but is in the closed state, the home door opening / closing control unit 7 may cause the door 22 to close.

Moreover, when the door part 22 of the platform door device 21 is in the open state, when the train state determination unit 5 determines that the train 30 has started moving based on the detection result of the train detection unit 2, The home door opening / closing control unit 7 may cause the door 22 of the home door device 21 to close. Accordingly, even when the door portion 22 is not closed without being detected that the vehicle door 31 is in the closing operation or in the closed state, the door portion 22 of the platform door device 21 can be closed.
Then, the home door opening / closing control unit 7 transmits an open command or a close command for the door unit 22 to the individual control panel 25 housed in the door pocket unit 23 of the home door device 21. Further, the platform door opening / closing control unit 7 receives an opening completion signal or a closing completion signal from the individual control panel 25.

  Based on the opening completion signal or the closing completion signal received by the platform door opening / closing control unit 7, the display control unit 8 transmits a signal for displaying that the platform door device 21 is in the opened state or the closed state to the display unit 40. . The indicator 40 displays that the platform door device 21 is in an open state or a closed state. One or a plurality of the display devices 40 are installed at a position where the driver and the conductor can see.

Next, the operation of the platform door control device 1 will be described. In addition, below, about the case where the door part 22 of the train 30 and the door part 22 of the platform door apparatus 21 cooperate by the platform door control apparatus 1 instead of opening and closing the door part 22 of the platform door apparatus 21 manually. explain.
First, with reference to FIG. 3, the operation | movement which makes the door part 22 of the platform door apparatus 21 open from a closed state is demonstrated.
The train detector 2, for example, a distance measuring sensor irradiates the front surface of the incoming train 30 with laser light. When the train 30 enters the measurable range of the distance measuring sensor, the distance from the distance measuring sensor to the front surface of the train 30 is measured (step S11).
The result measured by the train detection unit 2 is sent to the control unit 4, where the position and speed of the train 30 until the train 30 stops, or the train 30 when the train 30 stops. The position is calculated (step S12). And based on a calculation result, it is judged whether the train 30 exists in a predetermined stop range (step S13). When it is determined that the train 30 is within the predetermined stop range, it is determined whether the train 30 is in a stop state based on the calculation result (step S14). For example, when the amount of change in the position of the train 30 until the train 30 stops or the speed of the train 30 based on the amount of change in the position of the train 30 is calculated, and the amount of change in the position of the train 30 does not change within a predetermined time, Alternatively, when the state where the speed of the train 30 is 0 continues for a predetermined time, it is determined that the train 30 is in a stopped state. In addition, this invention is not limited to the example mentioned above, The determination of step S14 may be performed before the determination of step S13, and when it is determined that the train 30 is in a stop state, the train 30 is stopped at a predetermined stop. It may be determined whether it is within the range.

  When it is determined that the train 30 is in a stopped state within a predetermined stop range, the platform door opening / closing control unit 7 opens the door unit 22 of the platform door device 21 (step S15). Thereby, the door part 22 of the platform door apparatus 21 starts opening operation from a closed state. On the other hand, when the train 30 is not in the predetermined stop range or when the train 30 is not in the stop state, the door portion 22 is maintained in the closed state.

  Thus, according to the present embodiment, when the front surface of the train 30 is detected and it is determined that the train 30 has stopped on the platform 20 in the predetermined stop range, the door portion 22 of the platform door device 21 opens. Therefore, after the train 30 stops, the door 22 can be quickly opened. For example, compared with the case where the opening operation of the door portion 22 of the platform door device 21 is started after the opening operation of the vehicle door 31 of the train 30 is detected, the opening timing of the opening operation of the door portion 22 of the platform door device 21 is set. It is expedited. Therefore, the time from when the train 30 is stopped until it is possible to get on and off can be shortened, and the influence of the opening operation of the door portion 22 on the operation time of the train 30 can be reduced. As a result, it is not necessary to increase the moving speed of the door portion 22 of the home door device 21, and changes such as reducing the weight of the door portion 22 and increasing the capacity of the motor of the drive portion 24 become unnecessary.

  In the individual control panel 25 of the home door device 21, it is determined whether or not the opening operation of the door portion 22 has been completed (step S16). When it is confirmed that the door part 22 of the home door device 21 is opened, the display unit 40 displays that the door part 22 is in an open state (step S17). Thereby, the conductor can confirm that the platform door device 21 is in the open state, and can open the vehicle door 31 of the train 30 (step S18). Thereafter, passengers get on and off the train 30. According to the timing of the opening operation of the present embodiment, the door portion 22 of the platform door device 21 does not buffer the passengers getting off from the train 30, so that safety is also improved.

Next, with reference to FIG. 4, the operation | movement which makes the door part 22 of the platform door apparatus 21 a closed state from an open state is demonstrated.
A portion corresponding to the vehicle door 31 and the door pocket 32 of the train 30 is measured by the door detection unit 3, for example, a distance measuring sensor, and the distance from the distance measuring sensor to the vehicle door 31 and the door pocket 32 of the train 30 is measured (step) S21).

  The result measured by the door detection unit 3 is sent to the control unit 4, and the position of the vehicle door 31 of the train 30 and the vehicle door 31 or door pocket 32 while the train 30 is stopped by the control unit 4. Is calculated (step S22). The shape of the vehicle door 31 or the door pocket 32 can be represented on a two-dimensional coordinate axis. And based on the shape of the vehicle door 31 or the door pocket 32 represented on the two-dimensional coordinate axis, the closing operation of the vehicle door 31 of the train 30 is determined (step S23). It should be noted that the width of the vehicle door 31 detected by the door detection unit 3 is sequentially stored together with the shape of the vehicle door 31 or instead of the shape of the vehicle door 31, and based on the stored width of the vehicle door 31. The closing operation of the vehicle door 31 of the train 30 may be determined. Further, at this time, when measurement is performed on the plurality of vehicle doors 31 and it is determined that all of the plurality of vehicle doors 31 are in the closing operation, it may be determined that the vehicle doors 31 are collectively in the closing operation. When it is determined that more than a predetermined ratio (for example, a majority) of the plurality of vehicle doors 31 is in the closing operation, it may be determined that the vehicle doors 31 are collectively in the closing operation.

  When it is determined that the vehicle door 31 of the train 30 is in the closing operation or is closed from the open state, the home door opening / closing control unit 7 closes the door 22 of the platform door device 21 (step S24). . Thereby, the door part 22 of the platform door apparatus 21 starts closing operation from an open state. In addition, the closing operation of the door portion 22 of the home door device 21 is started while the vehicle door 31 is closing, or the closing of the door portion 22 of the home door device 21 is completed when the closing operation of the vehicle door 31 is completed. Whether to start the operation is selected according to the operation method of the train 30, the operation method of the platform door device 21, or the like.

  As described above, according to the present embodiment, when it is detected that the vehicle door 31 of the train 30 is closed, the door 22 of the platform door device 21 is closed. It can be carried out.

  On the other hand, although not shown in FIG. 4, the train detection unit 2 detects the distance to the train 30 and determines that the train 30 is moving based on the result calculated by the control unit 4. When it is done, the platform door opening / closing control unit 7 closes the door unit 22 of the platform door device 21. Thereby, even when the door portion 22 is not closed without being detected that the vehicle door 31 is in the closing operation or in the closed state, the door portion 22 of the platform door device 21 can be closed, Safety can be improved.

  In the individual control panel 25 of the home door device 21, it is determined whether or not the opening operation of the door portion 22 has been completed (step S25). And it is judged by the obstacle sensor provided in the platform door apparatus 21 whether there is any person's remains and an obstacle between the train 30 and the door part 22 of the platform door apparatus 21 (step S26). When it is confirmed that the door portion 22 of the home door device 21 is closed and it is determined that there are no human remains or obstacles, the door portion 22 of the home door device 21 is in a closed state on the display 40. That is, departure permission is displayed (step S27). Thereby, the driver can confirm that the platform door device 21 is in the closed state, and can start the train 30 (step S28).

<Train stop position detection>
The reference position of the predetermined stop range of the train 30 is determined at a certain point on the platform 20. A range of approximately 1 m (for example, 750 mm front and rear) with respect to the reference position is determined as a predetermined stop range. Here, the front-rear direction is a direction parallel to the traveling direction of the train 30. It is determined whether or not the train 30 has stopped within this predetermined stop range. And when it is judged that it stopped in the fixed position range, it is judged that the train 30 stopped normally, and the platform door opening / closing control part 7 opens the door part 22 of the platform door apparatus 21. FIG. On the other hand, when the train 30 stops outside the predetermined stop range, or when the train 30 is in a stop operation outside the predetermined stop range, it is not determined that the train 30 has stopped normally. The closed state is maintained without opening the door 22.

  The train detection unit 2 is arranged so that the laser beam scans across the front surface of the train 30. Thereby, after the laser beam is irradiated, the position of the front surface of the train 30 is measured by receiving the light reflected from the front surface of the train 30.

  The range in which the train detection unit 2 can measure the train 30 is, for example, a range of about 2 m before and after the predetermined stop range (4 m in total). Further, the laser light of the train detection unit 2 is irradiated below the cab window of the train 30. As a result, the distance to the front surface of the train 30 can be measured relatively stably without being affected by the glass or irregularities on the front surface of the train 30.

  In addition, it is desirable to determine the reference irradiation height of the laser light in consideration of changes in the vehicle height due to changes in the operating state and weight of the train 30. For example, even if the vehicle height changes by ± 50 mm, the irradiation reference height is set at a position that is not easily affected by the glass or uneven portions on the front surface of the train 30.

  In the above embodiment, the stop state of the train 30 is determined by detecting the front surface of the train 30. However, the present invention is not limited to this example. For example, the train detection unit 2 may detect the rear surface of the vehicle. In this case, the train detection unit 2 is installed on the platform 20 behind the position where the train 30 stops. In this case, the train detection unit 2 irradiates the rear surface of the train 30 to be stopped with laser light. When the train 30 enters the measurable range of the train detection unit 2, the distance from the train detection unit 2 to the rear surface of the train 30 is measured.

<Train door detection>
The door detector 3 is installed in a predetermined stop range of the train 30 described above in consideration of a place where the vehicle door 31 is predicted to be located when the train 30 stops.

  The door detection unit 3 is arranged so that the laser beam scans across the vehicle door 31 and the door pocket 32 of the train 30. At this time, the laser light irradiates not only the vehicle door 31 but also the door pocket 32 in which the vehicle door 31 is accommodated. Thus, as shown in FIG. 5, when the vehicle door 31 is in a closed state by receiving light reflected from the vehicle door 31 or the door pocket 32 of the train 30, the boundary portion between the door pocket 32 and the vehicle door 31. Depth can also be detected. Therefore, the position and width of the vehicle door 31 when the vehicle is stopped can be determined.

  When the vehicle door 31 of the train 30 starts to open and enters an open state, as shown in FIGS. 6 and 7, the depth of the range corresponding to the vehicle door 31 changes and is represented on a two-dimensional coordinate axis. The shape of the range corresponding to the vehicle door 31 changes. Thereby, it can be determined whether the vehicle door 31 of the train 30 is in a closed state, in an opening / closing operation, or in an open state.

  In consideration of the influence of the window glass of the vehicle door 31 of the train 30 and the change in the inclination of the train 30 when getting on and off, the laser beam of the door detection unit 3 is lower than the window glass, for example, as shown in FIG. Irradiated. The door detection unit 3 is installed by being suspended from the roof of the platform 20 in consideration of the standing position of passengers on the platform 20 and the like.

  In addition, in embodiment mentioned above, the case where a ranging sensor is used is demonstrated as an example of the train detection part 2 which detects the stop position of the train 30, and the door detection part 3 which detects the opening / closing state of the vehicle door 31 of the train 30. However, the present invention is not limited to this example. For example, as the train detection unit 2 or the door detection unit 3, the stop position of the train 30 or the open / close state of the vehicle door 31 of the train 30 using an imaging device such as a camera, an IC tag, or a plurality of distance sensors. May be detected.

  When the train detection unit 2 includes an imaging device (imaging unit), the imaging device images the front or rear surface of the train 30. Then, the train state determination unit 5 determines whether or not the train 30 is in a stopped state within a predetermined stop range, based on the result of imaging by the imaging device (comparison of imaging results with different imaging times). In addition, an IC tag is installed on the surface of the train 30, and the train detection unit 2 receives a signal from the IC tag, so that the train state determination unit 5 is in a stopped state in a predetermined stop range. It may be determined whether or not. Further, a plurality of distance sensors (second distance measuring units) are arranged along the platform 20, that is, along the traveling direction of the train 30, and each distance sensor emits laser light toward the side of the train 30. Then, the distance to the train 30 may be measured. In this case, the train state determination unit 5 determines whether or not the train 30 is in a stopped state within a predetermined stop range based on the distance from the train 30 measured by the distance sensor. The closer the distance between the distance sensors is, and the more the number of distance sensors is arranged, the better the detection accuracy.

  When the door detection unit 3 includes an imaging device (imaging unit), the imaging device images the vehicle door 31 and the door pocket 32 of the train 30. Then, the door state determination unit 6 determines whether or not the vehicle door 31 is in the closing operation or in the closed state, based on the result of imaging by the imaging device (comparison of imaging results with different imaging times). In addition, an IC tag is installed on the surface of the vehicle door 31 of the train 30, and the door detection unit 6 receives a signal from the IC tag, so that the door state determination unit 6 is in the process of closing the vehicle door 31 or It may be determined whether or not it is in a closed state. Further, a plurality of distance sensors (fourth distance measuring units) are arranged along the platform 20, that is, along the traveling direction of the train 30, and each distance sensor emits laser light toward the side surface of the train 30. The distance between the vehicle door 31 and the door pocket 32 may be measured. In this case, the door state determination unit 6 determines whether the vehicle door 31 is in the closing operation or in the closed state, based on the distance from the train 30 that is measured by the distance sensor. Also in this case, the detection accuracy improves as the distance between the distance sensors is made closer, and as the number of distance sensors is increased.

<Train formation determination>
In a route in which the train 30 is operated by connecting a plurality of trains, the train detection unit 2 may be provided not only in front of or behind the platform 20 but also in a position corresponding to a connection part of the plurality of trains. For example, when both the train 30 in which the 11-car train and the 4-car train are connected and the train 30 in the 15-car train are stopped, the train detection unit 2 is installed at the connection part of the 11-car train and the 4-car train.

  Thereby, when the train state determination unit 5 determines that the train 30 is in a stopped state within a predetermined stop range, the train 30 is detected at the detection position of the train detection unit 2 based on the detection result of the train detection unit 2. Further, it is further determined whether or not the rear surface of one knitting (for example, 11-car knitting) and the front surface of another knitting (for example, 4-car knitting) face each other and are connected by the coupler.

  For example, when both the rear surface of one train and the front surface of another train are detected by the train detector 2, the rear surface of one train and the front surface of the other train face each other and are connected by a coupler. It can be judged that it is in the state. Further, when only the rear surface of one train 30 is detected, it can be determined that only one train is stopped in front of the platform 20, and only the front surface of another train is detected. It can be determined that only the other formations are stopped behind the platform 20. Furthermore, the train detection unit 2 may detect a hood provided between the vehicles. In this case, at the detection position, it can be determined that the plurality of formations correspond to the hood portion of one formation, not the portion connected by the coupler. That is, in the above example, it can be determined that the 15-car train 30 is stopped at the platform 20. Based on these determination results, the door portion 22 at an appropriate position of the platform door device 21 can be opened, and cooperation between the platform door device 21 and the train 30 can be achieved.

DESCRIPTION OF SYMBOLS 1 Home door control apparatus 2 Train detection part 3 Door detection part 4 Control part 5 Train state judgment part (1st judgment part)
6 Door state determination unit (second determination unit)
7 Home door opening / closing control part (opening / closing control part)
8 Display control unit 20 Platform 21 Home door device 22 Door unit 23 Door bag unit 24 Drive unit 25 Individual control panel 30 Train 31 Vehicle door 32 Door bag (vehicle door bag)
40 Display (display unit)

Claims (14)

A train detector for detecting the front or rear of the train;
A door detector for detecting a vehicle door provided on the train stopped on the platform;
A first determination unit that determines whether the train is in a stopped state within a predetermined stop range based on a detection result of the train detection unit;
A second determination unit configured to determine whether the vehicle door is in a closing operation or in a closed state based on a detection result of the door detection unit;
When the first determination unit determines that the train is in a stopped state within a predetermined stop range, the first determination unit opens a door provided in a platform door device installed on the platform, and the second When the determination unit determines that the vehicle door is in a closing operation or in a closed state based on a detection result of the door detection unit, an opening / closing control unit for closing the door unit of the platform door device;
A home door control device comprising: The train detection unit has a first distance measurement unit that irradiates a laser beam while scanning the front or rear surface of the train and measures a distance between the train and the train.
The first determination unit determines whether the train is stopped in the predetermined stop range based on the distance to the train measured by the first distance measurement unit. The platform door control device according to claim 1. The train detection unit has an imaging unit for imaging the front or rear surface of the train,
2. The home door control device according to claim 1, wherein the first determination unit determines whether or not the train is stopped in the predetermined stop range based on a result captured by the imaging unit. . The train detection unit has a reception unit that receives a signal from an IC tag provided in the train,
2. The home door control device according to claim 1, wherein the first determination unit determines whether or not the train is stopped in the predetermined stop range based on a result received by the reception unit. . The train detection unit is arranged along a traveling direction of the train, and each of the train detection units irradiates a laser beam toward a side surface of the train, and measures a distance from the train. Have
The first determination unit determines whether the train is in a stopped state in the predetermined stop range based on the distance between the train and the distance measured by the second distance measurement unit. The home door control device according to claim 1.   When the door portion of the platform door device is in an open state, when the first determination unit determines that the train has started moving based on the detection result of the train detection unit, The home door control device according to any one of claims 1 to 5, wherein the opening / closing control unit closes the door portion of the home door device. The door detection unit irradiates the vehicle door and the vehicle door pocket storing the vehicle door while irradiating laser light, and measures the distance between the vehicle door and the vehicle door pocket. Having a third ranging section;
The second determination unit represents the train with a two-dimensional coordinate axis based on the distance between the vehicle door and the distance between the vehicle door measured by the third distance measurement unit. The home door control device according to any one of claims 1 to 6, wherein it is determined whether or not the vehicle door is in a closing operation or in a closed state based on a shape represented on the coordinate axes. The door detection unit includes an imaging unit that images the vehicle door and a vehicle door pocket storing the vehicle door,
The second determination unit according to any one of claims 1 to 6, wherein the second determination unit determines whether the vehicle door is in a closing operation or in a closed state based on a result captured by the imaging unit. The home door control device described. The door detection unit has a reception unit that receives a signal from an IC tag provided on the vehicle door,
The said 2nd judgment part judges whether the said vehicle door is in a closing operation or a closed state based on the result received in the said receiving part. The home door control device described. The door detection unit is arranged along the traveling direction of the train, each irradiates a laser beam toward the side of the train, and determines the distance between the vehicle door and the vehicle door pocket storing the vehicle door. A plurality of fourth distance measuring sections to be measured;
Whether the vehicle door is in a closing operation or in a closed state based on the distance between the vehicle door and the vehicle door pocket respectively measured by the fourth distance measuring unit. The platform door control device according to claim 1, which determines whether or not.   The second determination unit sequentially stores the width of the vehicle door detected by the door detection unit, and whether the vehicle door is in a closing operation or in a closed state based on the stored width of the vehicle door. The platform door control device according to any one of claims 7 to 10, which determines whether or not.   When the first determination unit determines that the train is in a stopped state in the predetermined stop range, based on the detection result of the train detection unit, the train has a rear surface of one train and another train The home door control device according to any one of claims 1 to 11, further determining whether or not the front surfaces of the two are opposed to each other and connected by a coupler.   The said opening / closing control part confirms that the opening operation | movement or closing operation | movement of the said door part was completed, and displays that the said door part is in an open state or a closed state with respect to a display part. The platform door control device according to item 1. A step in which the train detection unit detects the front or rear surface of the train; and
A door detecting unit detecting a vehicle door provided on the train stopped on the platform; and
A step of determining whether or not the train is stopped in a predetermined stop range based on a detection result of the train detection unit;
A step of determining whether or not the vehicle door is in a closing operation or in a closed state based on a detection result of the door detection unit;
When the first determination unit determines that the train is in a stopped state within a predetermined stop range, the opening / closing control unit opens the door unit provided in the platform door device installed on the platform. And when the said 2nd judgment part judges that the said vehicle door is closing operation or in a closed state based on the detection result of the said door detection part, the said door part of the said platform door apparatus is closed. A step to operate;
A home door control method comprising:

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