JP2018039288A - Turnout approach propriety determination apparatus and turnout approach propriety determination method - Google Patents
Turnout approach propriety determination apparatus and turnout approach propriety determination method Download PDFInfo
- Publication number
- JP2018039288A JP2018039288A JP2016172824A JP2016172824A JP2018039288A JP 2018039288 A JP2018039288 A JP 2018039288A JP 2016172824 A JP2016172824 A JP 2016172824A JP 2016172824 A JP2016172824 A JP 2016172824A JP 2018039288 A JP2018039288 A JP 2018039288A
- Authority
- JP
- Japan
- Prior art keywords
- branching device
- image
- line
- branching
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
Description
本発明は、画像処理により電気鉄道の設備である分岐器への進入の可否を判定する分岐器進入可否判定装置及び分岐器進入可否判定方法に関する。 The present invention relates to a branching device entry availability determination device and a branching device entry availability determination method that determine whether an entry to a branching device, which is an electric railway facility, can be performed by image processing.
鉄道は長大で膨大な設備を有する大規模輸送システムである。鉄道設備は複数の線路を有しており、複数の線路間を通行するために分岐器が設置されている。分岐器は一つの軌道を複数に分ける軌道構造の装置である。鉄道車両を他の線路に移動させる際には、分岐器のポイント部分の開閉を切り替える必要がある。分岐器の開閉方向が鉄道車両の進行方向と異なると重大事故に繋がる危険性があり、分岐器の開閉方向の自動認識が望まれている。 The railway is a large-scale transport system with a long and huge facility. The railroad equipment has a plurality of tracks, and a branching device is installed to pass between the plurality of tracks. A branching device is a track structure device that divides a track into a plurality of tracks. When moving a railway vehicle to another track, it is necessary to switch the opening and closing of the point portion of the turnout. When the switching direction of the branching device is different from the traveling direction of the railway vehicle, there is a risk of leading to a serious accident, and automatic recognition of the switching direction of the branching device is desired.
下記特許文献１には、台車に走行距離センサを設け、走行距離センサから発生するパルスにより走行距離をカウントし、走行距離が分岐器の測定位置情報と一致した時点で台車の走行を停止し、レーザ式変位センサを用いて分岐器の測定を行う分岐器検査装置が開示されている。 In the following Patent Document 1, a travel distance sensor is provided in the cart, the travel distance is counted by a pulse generated from the travel distance sensor, and the travel of the cart is stopped when the travel distance matches the measurement position information of the branching device. A branching device inspection apparatus for measuring a branching device using a laser displacement sensor is disclosed.
また、下記特許文献２及び下記特許文献３には、保守用車両に搭載したアンテナからマイクロ波を送信し、このアンテナが地上子の直上を通過すると、マイクロ波を受信した地上子が内蔵のＲＦ−ＩＤタグに書き込まれている分岐器の情報及び通過位置情報をアンテナに向けて送信する一方、検知部により検出した分岐器の作動モーターの動作杆の動きに基づいて保守用車両に搭載された車内制御ボックスにより分岐器の開通方向情報を判断し、通過位置情報と開通方向情報が一致する場合に開通ボタンを点灯させ、通過位置情報と開通方向情報が不一致である場合に非開通ボタンを点灯させ且つ保守用車両に自動制動をかけるようにした保守用車自動停止装置が開示されている。 Further, in Patent Document 2 and Patent Document 3 below, when a microwave is transmitted from an antenna mounted on a maintenance vehicle and the antenna passes directly above the ground element, the ground element that has received the microwave has a built-in RF. -The information of the branching device and the passing position information written in the ID tag are transmitted to the antenna, and mounted on the maintenance vehicle based on the movement of the operating motor of the branching device detected by the detection unit. The opening direction information of the branching device is judged by the in-vehicle control box, and the opening button is turned on when the passing position information matches the opening direction information, and the non-opening button is turned on when the passing position information and the opening direction information do not match. A maintenance vehicle automatic stop device is disclosed that automatically brakes the maintenance vehicle.
また、下記特許文献４及び下記特許文献５には、ＧＰＳ衛星からのＧＰＳ信号を受信して取得した自己の座標情報により、分岐器内等の速度制限箇所に入るまたは出ることを判断することができるようにした軌道上移動体制御装置が開示されている。 Further, in Patent Document 4 and Patent Document 5 below, it is possible to determine whether the vehicle enters or exits a speed limit portion such as in a branching device, based on its own coordinate information acquired by receiving a GPS signal from a GPS satellite. An on-orbit moving body control apparatus that can be used is disclosed.
また、下記特許文献６には、分岐器から離間した位置に二つの地上センサを配置するとともに、保守用車に地上センサと交信を行うアンテナを配置して、保守用車が分岐器に接近して地上センサとの交信範囲に入り、地上センサからデータを取得すると、カメラにより分岐器のズームアップ映像を捕えると同時に分岐器に接近したことを音声により通知し、さらに画像処理によりカメラが撮影した画像から分岐器の開通状態を検出して非開通状態であると判定された場合はモニターに表示し非常ブレーキ信号を出力するようにした分岐器誤進入防止装置が開示されている。 Further, in Patent Document 6 below, two ground sensors are arranged at positions separated from the branching device, and an antenna that communicates with the ground sensor is arranged in the maintenance vehicle so that the maintenance vehicle approaches the branching device. When the camera enters the range of communication with the ground sensor and acquires data from the ground sensor, it captures the zoom-up image of the branching device with the camera, and at the same time notifies it by voice that it has approached the branching device. An apparatus for preventing accidental entry of a branching device is disclosed in which when an open state of a branching device is detected from an image and it is determined that the branching device is not open, an emergency brake signal is output on a monitor.
しかしながら、特許文献１の分岐器検査装置は、予め分岐器の位置をデータ部に入力するフェイズが必要であることに加え、分岐器の自動検出を行うものでもなかった。 However, the branching device inspection apparatus disclosed in Patent Document 1 requires a phase in which the position of the branching device is input to the data portion in advance, and does not automatically detect the branching device.
また、特許文献２及び特許文献３の保守用車自動停止装置は、ＲＦ−ＩＤの通過位置情報から進入可否を判定するため、画像による進入可否の確認ができないという問題や、分岐器の後端位置に地上制御ボックスを取り付ける必要があるため、設置作業が煩雑になるうえにコストが掛かるという問題があった。 In addition, since the automatic vehicle stop device for maintenance in Patent Document 2 and Patent Document 3 determines whether or not to enter based on the RF-ID passage position information, the problem of being unable to confirm whether or not the vehicle is allowed to enter, Since it is necessary to attach the ground control box to the position, there is a problem that the installation work becomes complicated and costs increase.
また、特許文献４及び特許文献５の軌道上移動体制御装置は、速度制限箇所内において移動体が制限速度を無視して走行しようとするとき移動体を停止させ、運転手に警報を発したり移動体を停止させたりするものであり、分岐器への進入可否を判定するものではなかった。そして、カメラを備えないため、画像による進入可否の確認を行うことができないという問題があった。 In addition, the on-orbit mobile body control devices of Patent Document 4 and Patent Document 5 stop the mobile body when the mobile body tries to run while ignoring the speed limit within the speed limit portion, and issue an alarm to the driver. The moving body is stopped, and it is not determined whether or not it is possible to enter the branching device. And since it did not equip with a camera, there was a problem that it was not possible to confirm whether it was possible to enter by an image.
また、特許文献６の分岐器誤進入防止装置は、分岐器の有無を地上センサとの交信により判断しており、分岐器の数に対応した数の地上センサが必要になることから、設置作業が煩雑になるうえにコストが掛かるという問題があった。 In addition, the branching device erroneous entry prevention device of Patent Document 6 determines the presence or absence of a branching device by communicating with a ground sensor, and requires a number of ground sensors corresponding to the number of branching devices. However, there is a problem that it is complicated and expensive.
このようなことから本発明は、簡素な構成で分岐器の位置を特定するとともに、分岐器への進入の可否を判定することを可能とした分岐器進入可否判定装置及び分岐器進入可否判定方法を提供することを目的とする。 For this reason, the present invention specifies a branching device entry availability determination device and a branching device entry availability determination method capable of specifying the position of a branching device with a simple configuration and determining whether or not to enter the branching device. The purpose is to provide.
上記の課題を解決するための第１の発明に係る分岐器進入可否判定装置は、
車両の屋根上に設置され車両前方の線路を撮影する撮影手段と、前記撮影手段によって撮影した画像に基づいて分岐器への進入の可否を判定する画像処理手段とを備える分岐器進入可否判定装置であって、
前記画像処理手段が、
前記撮影手段によって撮影された画像を入力する画像入力部と、
前記画像入力部によって入力した画像から前記線路を検出する線路検出部と、
前記線路検出部により検出した前記線路の画像上の位置を利用して当該画像から前記分岐器を検出する分岐器検出部と、
前記線路検出部により検出した前記線路の画像上の位置及び前記分岐器検出部により検出した前記分岐器の画像上の位置から前記分岐器の開通状態を認識し、前記分岐器への進入の可否を判定する分岐器開閉認識部と
を備えることを特徴とする。
The branching device entrance availability determination device according to the first invention for solving the above-described problem is
A branching device entrance determination device comprising imaging means for photographing a track in front of the vehicle installed on the roof of the vehicle, and image processing means for judging whether or not to enter the branching device based on an image photographed by the photographing means. Because
The image processing means
An image input unit for inputting an image photographed by the photographing means;
A line detection unit for detecting the line from an image input by the image input unit;
A branch detector detector that detects the branch device from the image using a position on the image of the line detected by the line detector;
Recognizing the opening state of the branching device from the position on the image of the line detected by the line detection unit and the position on the image of the branching device detected by the branching device detection unit, whether to enter the branching device And a branching device opening / closing recognizing unit for judging
また、上記の課題を解決するための第２の発明に係る分岐器進入可否判定装置は、
前記画像入力部によって入力した画像及び前記分岐器開閉認識部による判定結果を表示する表示手段を備える
ことを特徴とする。
Moreover, the branching device approach propriety judging device concerning the 2nd invention for solving the above-mentioned subject is,
The image processing apparatus includes display means for displaying an image input by the image input unit and a determination result by the branching device opening / closing recognition unit.
また、上記の課題を解決するための第３の発明に係る分岐器進入可否判定装置は、
前記分岐器開閉認識部において前記分岐器への進入が不可であると判定された場合に警報を出力する警報手段を備える
ことを特徴とする。
Moreover, the branching device entrance determination device according to the third invention for solving the above-described problem is
The branching unit opening / closing recognition unit includes a warning unit that outputs a warning when it is determined that entry into the branching unit is impossible.
また、上記の課題を解決するための第４の発明に係る分岐器進入可否判定装置は、
前記線路検出部が、前記車両から一定距離離れた位置に対応する画像上の領域について、線路と軌間内との輝度差を特徴量として線路候補点を検出し、当該線路候補点間の中心座標を求め、当該中心座標の横軸方向の位置に応じて前記中心座標と前記線路の位置とを予め関連付けた線路モデルを決定し、当該線路モデルごとに設定された特徴量評価点を基準として前記特徴量の尤度を算出し、当該尤度が最も高い位置を線路検出点として検出する
ことを特徴とする。
Moreover, the branching device entrance availability determination device according to the fourth invention for solving the above-mentioned problem is as follows.
The track detection unit detects a track candidate point using a luminance difference between the track and the gauge as a feature amount for an area on the image corresponding to a position away from the vehicle by a certain distance, and a center coordinate between the track candidate points. Determining a line model in which the center coordinate and the position of the line are associated in advance according to the position of the center coordinate in the horizontal axis direction, and using the feature value evaluation point set for each line model as a reference The likelihood of a feature amount is calculated, and a position having the highest likelihood is detected as a line detection point.
また、上記の課題を解決するための第５の発明に係る分岐器進入可否判定装置は、
前記分岐器検出部が、画像上の軌間内に存在し前記線路検出部で検出した線路の輝度に対し所定範囲内の輝度を有する線状の部分を分岐器の一部として検出する
ことを特徴とする。
Moreover, the branching device entrance availability determination device according to the fifth invention for solving the above-described problem is
The branching unit detecting unit detects a linear portion having a luminance within a predetermined range with respect to the luminance of the line detected within the gauge on the image and detected by the line detecting unit as a part of the branching unit. And
また、上記の課題を解決するための第６の発明に係る分岐器進入可否判定装置は、
前記分岐器開閉認識部が、前記線路検出部により検出された画像上の線路と、前記分岐器検出部により検出された前記線状の部分との輝度値の連続性の有無により前記分岐器の開通状態を認識する
ことを特徴とする。
Moreover, the branching device entrance determination device according to the sixth invention for solving the above-described problem is
The branching switch open / close recognition unit determines whether the branching unit has a luminance value continuity between the line on the image detected by the line detection unit and the linear part detected by the branching unit detection unit. It is characterized by recognizing an open state.
また、上記の課題を解決するための第７の発明に係る分岐器進入可否判定方法は、
車両の屋根上に設置され車両前方の線路を撮影する撮影手段によって撮影した画像に基づいて分岐器への進入の可否を判定する分岐器進入可否判定方法であって、
前記撮影手段によって撮影された画像を入力する画像入力工程と、
前記画像入力工程で入力した画像から前記線路を検出する線路検出工程と、
前記線路検出工程で検出した前記線路の画像上の位置を利用して当該画像から前記分岐器を検出する分岐器検出工程と、
前記線路検出工程で検出した前記線路の画像上の位置及び前記分岐器検出工程で検出した前記分岐器の画像上の位置から前記分岐器の開通状態を認識し、前記分岐器への進入の可否を判定する分岐器開閉認識工程と
を有することを特徴とする。
Moreover, the branching device approach propriety judging method concerning the 7th invention for solving the above-mentioned subject is,
A branching device entry determination method for determining whether or not to enter a branching device based on an image taken by a photographing unit that is installed on the roof of the vehicle and photographs a track ahead of the vehicle,
An image input step of inputting an image photographed by the photographing means;
A line detection step of detecting the line from the image input in the image input step;
A branching device detection step of detecting the branching device from the image using a position on the image of the line detected in the line detection step;
Recognize the opening state of the branching device from the position on the image of the line detected in the line detection step and the position on the image of the branching device detected in the branching device detection step, and whether to enter the branching device And a branching device opening / closing recognition step for determining whether or not.
また、上記の課題を解決するための第８の発明に係る分岐器進入可否判定方法は、
前記撮影手段によって撮影された画像及び前記分岐器開閉認識工程において判定した結果を表示手段に表示する
ことを特徴とする。
Moreover, the branching device approach propriety judging method concerning the 8th invention for solving the above-mentioned subject is,
An image photographed by the photographing means and a result determined in the branching device opening / closing recognition step are displayed on a display means.
また、上記の課題を解決するための第９の発明に係る分岐器進入可否判定方法は、
前記分岐器開閉認識工程において前記分岐器への進入が不可であると判定された場合に警報を出力する
ことを特徴とする。
Moreover, the branching device approach propriety judging method concerning the 9th invention for solving the above-mentioned subject is,
An alarm is output when it is determined in the branch switch opening / closing recognition step that entry into the branch switch is impossible.
また、上記の課題を解決するための第１０の発明に係る分岐器進入可否判定方法は、
前記線路検出工程が、前記車両から一定距離離れた位置に対応する画像上の領域について、線路と軌間内との輝度差を特徴量として線路候補点を検出し、当該線路候補点間の中心座標を求め、当該中心座標の横軸方向の位置に応じて前記中心座標と前記線路の位置とを予め関連付けた線路モデルを決定し、当該線路モデルごとに設定された特徴量評価点を基準として前記特徴量の尤度を算出し、当該尤度が最も高い位置を線路検出点として検出する
ことを特徴とする。
Moreover, the branching device approach possibility determination method according to the tenth invention for solving the above problem is as follows:
The track detection step detects a track candidate point using a luminance difference between the track and the gauge as a feature amount for a region on the image corresponding to a position away from the vehicle by a certain distance, and a center coordinate between the track candidate points. Determining a line model in which the center coordinate and the position of the line are associated in advance according to the position of the center coordinate in the horizontal axis direction, and using the feature value evaluation point set for each line model as a reference The likelihood of a feature amount is calculated, and a position having the highest likelihood is detected as a line detection point.
また、上記の課題を解決するための第１１の発明に係る分岐器進入可否判定方法は、
前記分岐器開閉認識工程が、前記線路検出部により検出された画像上の線路と、前記分岐器検出部により検出された前記線状の部分との輝度値の連続性の有無により前記分岐器の開通状態を認識する
ことを特徴とする。
Moreover, the branching device approach propriety judging method concerning the 11th invention for solving the above-mentioned subject is,
The branching switch open / close recognition step is performed by determining whether or not there is continuity of luminance values between the line on the image detected by the line detection unit and the linear part detected by the branching unit detection unit. It is characterized by recognizing an open state.
また、上記の課題を解決するための第１２の発明に係る分岐器進入可否判定方法は、
前記分岐器開閉認識工程が、前記線路検出部により検出された画像上の線路と、前記分岐器検出部により検出された前記線状の部分との輝度値の連続性の有無により前記分岐器の開通状態を認識する
ことを特徴とする。
Moreover, the branching device approach propriety judging method concerning the 12th invention for solving the above-mentioned subject is,
The branching switch open / close recognition step is performed by determining whether or not there is continuity of luminance values between the line on the image detected by the line detection unit and the linear part detected by the branching unit detection unit. It is characterized by recognizing an open state.
本発明に係る分岐器進入可否判定装置及び分岐器進入可否判定方法によれば、簡素な構成で分岐器の位置を特定するとともに、分岐器への進入の可否を判定することができる。 According to the branching device entry availability determination apparatus and the branching device entry availability determination method according to the present invention, it is possible to determine the position of the branching device with a simple configuration and to determine whether or not the branching device can be entered.
以下、図１から図１０を用いて本発明に係る分岐器進入可否判定装置及び分岐器進入可否判定方法の一実施形態について説明する。 Hereinafter, an embodiment of a branching device entry availability determination device and a branching device entry availability determination method according to the present invention will be described with reference to FIGS. 1 to 10.
図１に示すように、本実施形態に係る分岐器進入可否判定装置は、電気鉄道車両（以下、単に「車両」と称する）１の屋根上に設置された撮影手段としてのエリアカメラ２及び照明装置３と、車両１の内部に設置されたパーソナルコンピュータ４とを備えて構成されている。 As shown in FIG. 1, the branching device entry determination device according to the present embodiment includes an area camera 2 as an imaging unit and illumination installed on the roof of an electric railway vehicle (hereinafter simply referred to as “vehicle”) 1. The apparatus 3 includes a personal computer 4 installed inside the vehicle 1.
エリアカメラ２は車両１の屋根上前方に設置され、車両１の走行中に走行進路側（車両１の前方）の線路５を撮影する。また、このエリアカメラ２は、車両１の走行速度等の条件に応じてレンズを選択される。エリアカメラ２によって撮影された画像は、例えば図２に示すような画像になる。
照明装置３は、エリアカメラ２によって撮影される範囲にある線路５に対し照明を行う。
The area camera 2 is installed in front of the roof of the vehicle 1 and photographs the track 5 on the traveling path side (in front of the vehicle 1) while the vehicle 1 is traveling. In the area camera 2, a lens is selected according to conditions such as the traveling speed of the vehicle 1. An image photographed by the area camera 2 is, for example, an image as shown in FIG.
The illuminating device 3 illuminates the track 5 in the range photographed by the area camera 2.
パーソナルコンピュータ４は、図３に示すように、画像処理手段としての画像処理部４１と、表示手段としてのモニター４２と、警報手段としてのスピーカー４３とを備えている。 As shown in FIG. 3, the personal computer 4 includes an image processing unit 41 as an image processing unit, a monitor 42 as a display unit, and a speaker 43 as an alarm unit.
画像処理部４１は、エリアカメラ２によって撮影した画像を解析して図４に示すような分岐器５０の開通状態を認識し、車両１の分岐器５０への進入の可否を判定する部分であり、設備データ部４１ａと、画像入力部４１ｂと、線路検出部４１ｃと、分岐器検出部４１ｄと、分岐器開閉認識部４１ｅと、記憶部４１ｆとを備えている。 The image processing unit 41 is a part that analyzes the image captured by the area camera 2 to recognize the open state of the branching device 50 as shown in FIG. 4 and determines whether the vehicle 1 can enter the branching device 50. , An equipment data unit 41a, an image input unit 41b, a line detection unit 41c, a branching device detection unit 41d, a branching device opening / closing recognition unit 41e, and a storage unit 41f.
ここで、分岐器５０は図４に示すように線路５を複数に分岐させるための機構であり、ポイント部分５１と、リード部分５２と、クロッシング部分５３とを有している。ポイント部分５１は車両１を走行進路側へ誘導するためのトングレール５０ａが設置されている部分である。リード部分５２はトングレール５０ａとクロッシング部分５３とを結ぶリードレール５０ｂが設置された部分である。クロッシング部分５３は線路５が交差している部分である。 Here, as shown in FIG. 4, the branching device 50 is a mechanism for branching the line 5 into a plurality of parts, and includes a point portion 51, a lead portion 52, and a crossing portion 53. The point portion 51 is a portion where a tongrail 50a for guiding the vehicle 1 to the traveling route side is installed. The lead portion 52 is a portion where a lead rail 50b that connects the tongrel 50a and the crossing portion 53 is provided. The crossing portion 53 is a portion where the lines 5 intersect.
設備データ部４１ａは、少なくともエリアカメラ２の設置高さ［ｍｍ］（以下、カメラ高さ）及びエリアカメラ２の設置角度［ｄｅｇ］（以下、カメラ設置角度）のデータと、後述する基準の輝度分布と、線路モデルとを予め入力しておく部分である。
画像入力部４１ｂは、エリアカメラ２によって撮影した画像データを入力する部分である。この画像データは線路検出部４１ｃへ送られるとともに記憶部４１ｆに保管される。
The equipment data section 41a includes at least data of the installation height [mm] of the area camera 2 (hereinafter referred to as camera height) and the installation angle [deg] of the area camera 2 (hereinafter referred to as camera installation angle), and a reference luminance described later. This is a part for inputting the distribution and the line model in advance.
The image input unit 41 b is a part for inputting image data taken by the area camera 2. This image data is sent to the track detection unit 41c and stored in the storage unit 41f.
線路検出部４１ｃは、設備データ部４１ａから取得したカメラ高さ［ｍｍ］、カメラ設置角度［ｄｅｇ］、基準の輝度分布及び線路モデルと、画像入力部４１ｂから入力された画像データとに基づいて、図５に示すような線路検出点ＰL（ｘL［ｐｉｘ］，ｙL［ｐｉｘ］），ＰR（ｘR［ｐｉｘ］，ｙR［ｐｉｘ］）を検出する。 The line detection unit 41c is based on the camera height [mm], the camera installation angle [deg], the reference luminance distribution and the line model acquired from the equipment data unit 41a, and the image data input from the image input unit 41b. 5, line detection points P L (x L [pix], y L [pix]), P R (x R [pix], y R [pix]) as shown in FIG. 5 are detected.
具体的に説明すると、画像上において線路５と軌間内とでは輝度値が異なる（図６参照）。そのため、まず、線路５と軌間内との輝度差を特徴量として、車両１から一定距離離れた局所的な領域に対応する画像上の領域Ａから、図６に示すような輝度分布を基準として線路５の候補（以下、線路候補点という）を検出し、左右の線路候補点間の中心座標Ｃ（ｘC［ｐｉｘ］，ｙC［ｐｉｘ］）を求める（図８参照）。なお、図７は図２に示す画像の領域Ａにおける線路５の存在確率である。 More specifically, the luminance value is different between the track 5 and the gauge in the image (see FIG. 6). Therefore, first, the luminance difference between the track 5 and the inside of the gauge is used as a feature value, and the luminance distribution as shown in FIG. 6 is used as a reference from the region A on the image corresponding to the local region separated from the vehicle 1 by a certain distance. A candidate for the line 5 (hereinafter referred to as a line candidate point) is detected, and center coordinates C (x C [pix], y C [pix]) between the left and right line candidate points are obtained (see FIG. 8). FIG. 7 shows the existence probability of the line 5 in the area A of the image shown in FIG.
ここで、領域Ａにおける線路中心座標Ｃと線路５の形状との間には強い相関がある。
例えば、図８（ａ）に示すように、線路５の形状が進行方向に対して右へカーブした形状である場合、上記領域Ａにおいて、線路中心座標Ｃは通常、画像の左右方向（進行方向に対して左右の方向。以下、横軸方向と称する）右側に位置する。
また、図８（ｃ）に示すように、線路５の形状が車両進行方向前方へ向かって直線状に延びた形状である場合、上記領域Ａにおいて、線路中心座標Ｃは通常、横軸方向中心に位置する。
また、図８（ｅ）に示すように、線路５の形状が進行方向に対して左側へカーブした形状である場合、上記領域Ａにおいて、線路中心座標Ｃは通常、横軸方向左側に位置する。
Here, there is a strong correlation between the line center coordinates C in the region A and the shape of the line 5.
For example, as shown in FIG. 8A, when the shape of the line 5 is curved to the right with respect to the traveling direction, in the region A, the line center coordinates C are usually in the horizontal direction (traveling direction) of the image. Left and right direction (hereinafter referred to as the horizontal axis direction).
Further, as shown in FIG. 8C, when the shape of the track 5 is a shape extending linearly forward in the vehicle traveling direction, in the region A, the track center coordinate C is usually the center in the horizontal axis direction. Located in.
Further, as shown in FIG. 8E, when the shape of the line 5 is a shape curved leftward with respect to the traveling direction, in the region A, the line center coordinate C is usually located on the left side in the horizontal axis direction. .
そこで、領域Ａ及び当該領域Ａの進路方向前後に相互に所定距離離間した複数の領域（以下、総称して線路検出領域という）における線路５の横軸方向の位置と線路中心座標Ｃの位置との関係を予め統計的に求め、線路中心座標Ｃと線路５の形状（特徴量評価点Ｆ）とを関連付けたモデル式（線路モデル）を作成しておく。 Therefore, the position of the line 5 in the horizontal axis direction and the position of the line center coordinate C in the area A and a plurality of areas separated from each other by a predetermined distance before and after the direction of the course of the area A (hereinafter collectively referred to as a line detection area) Is previously statistically calculated, and a model formula (line model) in which the line center coordinates C are associated with the shape of the line 5 (feature evaluation point F) is created.
そして、線路候補点から線路中心座標Ｃの位置を求めたら、この線路中心座標Ｃの位置に対応する線路モデルを決定する。例えば図８（ａ）に示す線路中心座標Ｃに対しては図８（ｂ）に示す線路モデル、図８（ｃ）に示す線路中心座標Ｃに対しては図８（ｄ）に示す線路モデル、図８（ｅ）に示す線路中心座標Ｃに対しては図８（ｆ）に示す線路モデルが決定される。 When the position of the track center coordinate C is obtained from the track candidate point, the track model corresponding to the position of the track center coordinate C is determined. For example, the line model shown in FIG. 8B is used for the line center coordinates C shown in FIG. 8A, and the line model shown in FIG. 8D is used for the line center coordinates C shown in FIG. The line model shown in FIG. 8F is determined for the line center coordinates C shown in FIG.
線路モデルを決定したら、この線路モデルごとに設定された図８（ｂ），（ｄ），（ｆ）に示すような特徴量評価点Ｆを中心として、線路検出領域における特徴量（線路５と軌間内との輝度差）の尤度を算出する。そして、線路検出領域に対してそれぞれラスタスキャンを行い、上述した特徴量の尤度が最も高い位置を検出し、この位置を線路検出点ＰL，ＰRとする。線路検出点ＰL，ＰRは、線路位置データ［ｐｉｘ］として分岐器検出部４１ｄへ送られる。 When the line model is determined, the characteristic amount in the line detection region (with the line 5 and the line 5 is centered on the characteristic amount evaluation point F as shown in FIGS. 8B, 8D, and 8F set for each line model. The likelihood of luminance difference between the gauges is calculated. Then, raster scanning is performed on each of the line detection areas to detect the position having the highest likelihood of the above-described feature amount, and these positions are set as line detection points P L and P R. The line detection points P L and P R are sent to the branching device detector 41d as line position data [pix].
分岐器検出部４１ｄは、線路検出部４１ｃから入力された線路位置データ及び画像データに基づいて分岐器５０の位置（ｘ［ｐｉｘ］，ｙ［ｐｉｘ］）を検出する。図９（ａ）〜（ｄ）に示すように、分岐器５０（トングレール５０ａ及びリードレール５０ｂ）は線路検出部４１ｃにより検出した線路５の軌間内に必ず存在する。そのため線路検出部４１ｃにより検出した線路５の軌間内において、当該線路５と類似した輝度値を有する線状の部分を抽出しこれを分岐器５０として検出する。 The branching unit detection unit 41d detects the position (x [pix], y [pix]) of the branching unit 50 based on the line position data and the image data input from the line detection unit 41c. As shown in FIGS. 9A to 9D, the branching device 50 (tongrail 50a and lead rail 50b) always exists in the gauge of the line 5 detected by the line detection unit 41c. Therefore, a linear portion having a luminance value similar to that of the line 5 is extracted within the gauge of the line 5 detected by the line detection unit 41 c and is detected as the branching device 50.
例えば、図９（ａ）〜（ｄ）に示す例では、破線で囲んで示す検出範囲（軌間内であって、且つ領域Ａを挟んで車両進行方向前後に所定距離の範囲に設定した領域）に対して線路検出部４１ｃにおいて検出した線路５と類似する輝度値の線状の部分（図９（ａ）〜（ｄ）中、ハッチングで示す部分）が存在する箇所を分岐器５０の位置として検出する。検出した分岐器５０の位置は、分岐器位置データ［ｐｉｘ］として線路位置データとともに分岐器開閉認識部４１ｅへ送られる。なお、線路５と類似する輝度値とは、線路５の輝度値に対し予め設定する所定範囲内にある輝度値とする。 For example, in the example shown in FIGS. 9A to 9D, a detection range surrounded by a broken line (a region within the gauge and set within a predetermined distance range before and after the vehicle traveling direction across the region A). On the other hand, the position of the branching device 50 is a place where a linear portion having a luminance value similar to that of the line 5 detected by the line detection unit 41c (a portion indicated by hatching in FIGS. 9A to 9D) exists. To detect. The detected position of the branching device 50 is sent to the branching device opening / closing recognition unit 41e together with the line position data as branching device position data [pix]. Note that the luminance value similar to the line 5 is a luminance value within a predetermined range set in advance with respect to the luminance value of the line 5.
分岐器開閉認識部４１ｅは、分岐器検出部４１ｄから入力された分岐器位置データ、線路位置データ及び画像データに基づいて、トングレール５０ａと線路５との連続性を輝度値により求めて分岐器５０の開通状態の認識を行い、分岐器５０が開通状態であれば進入可能と判定して判定結果をモニター４２に出力し、分岐器５０が非開通状態であれば進入不可と判定して判定結果をモニター４２及びスピーカー４３に出力する。
例えば、図９（ａ）〜（ｄ）に示す例では、トングレール５０ａと線路５とが連続性を有さず、分岐器５０が開通状態となっているため、進入可能と判定される。
The branching switch open / close recognition unit 41e obtains the continuity between the Tongleil 50a and the line 5 based on the luminance value based on the branching unit position data, the line position data, and the image data input from the branching unit detection unit 41d. 50 is recognized. If the branching device 50 is in the open state, it is determined that the vehicle can enter, and the determination result is output to the monitor 42. If the branching device 50 is in the non-opening state, it is determined that the entry is impossible. The result is output to the monitor 42 and the speaker 43.
For example, in the example shown in FIGS. 9A to 9D, the tongrel 50a and the line 5 do not have continuity, and the branching unit 50 is in the open state, so that it is determined that entry is possible.
モニター４２は、エリアカメラ２によって撮影した画像と、分岐器開閉認識部４１ｅから入力された進入可否の判定結果を画面に表示する。
スピーカー４３は、分岐器開閉認識部４１ｅから入力された進入不可の判定結果に基づいて警報（警戒音）を出力する。
The monitor 42 displays on the screen the image photographed by the area camera 2 and the determination result on whether or not to enter, which is input from the branching device opening / closing recognition unit 41e.
The speaker 43 outputs an alarm (warning sound) based on the determination result of the impossibility of entry input from the branching device opening / closing recognition unit 41e.
以下、図１０を用いて本実施形態における分岐器進入可否判定処理の流れを簡単に説明する。 Hereinafter, the flow of the branching device entry possibility determination process in the present embodiment will be briefly described with reference to FIG.
図１０に示すように、本実施形態においては設備データ部４１ａによりカメラ高さデータ及びカメラ設置角度と、基準の輝度分布と、線路モデルとを予め入力しておく（ステップＳ１）。 As shown in FIG. 10, in the present embodiment, camera height data and camera installation angle, reference luminance distribution, and line model are input in advance by the equipment data unit 41a (step S1).
続いて、画像入力部４１ｂによりエリアカメラ２によって撮影した画像データを入力する（ステップＳ２）。そして、線路検出部４１ｃにおいて、カメラ高さデータ及びカメラ設置角度、基準の輝度分布、線路モデル及び画像データに基づいて線路検出点ＰL，ＰRの位置（ｘL，ｙL），（ｘR，ｙR）を求める（ステップＳ３）。 Subsequently, image data captured by the area camera 2 is input by the image input unit 41b (step S2). Then, the line detection unit 41c, the camera height data and the camera installation angle, the reference luminance distribution of the line detection points based on the line model and the image data P L, P position of R (x L, y L) , (x R, obtaining the y R) (step S3).
その後、分岐器検出部４１ｄにおいて、画像データ及び線路検出点ＰL，ＰRの位置（ｘL，ｙL），（ｘR，ｙR）に基づいて、分岐器５０を検出する（ステップＳ４）。ステップＳ４で分岐器５０が検出されれば（ＹＥＳ）、後述するステップＳ５に移行する。ステップＳ４で分岐器５０が検出されなければ（ＮＯ）、ステップＳ２に戻る。 Thereafter, the splitter detection unit 41d, the image data and the line detection point P L, the position of P R (x L, y L ), based on the (x R, y R), for detecting a branching device 50 (step S4 ). If the branching device 50 is detected in step S4 (YES), the process proceeds to step S5 described later. If the branching device 50 is not detected in step S4 (NO), the process returns to step S2.
ステップＳ５では、分岐器開閉認識部４１ｅにおいて、分岐器５０の開通状態の認識を行い、分岐器５０への進入の可否を判定する。ステップＳ５で分岐器５０への進入が不可であれば（ＮＯ）、モニター４２において分岐器５０への進入不可を表示する（ステップＳ６）とともに、スピーカー４３において警戒音を出力する（ステップＳ７）。ステップＳ５で分岐器５０への進入が可であれば（ＹＥＳ）、前述したステップＳ６に移行する。
以上の処理をエリアカメラ２による撮影が終了するまで行う（ステップＳ８）。
In step S5, the branching device opening / closing recognition unit 41e recognizes the open state of the branching device 50 and determines whether or not the branching device 50 can be entered. If it is not possible to enter the branching device 50 in step S5 (NO), the monitor 42 displays that the entry into the branching device 50 is impossible (step S6), and outputs a warning sound in the speaker 43 (step S7). If it is possible to enter the branching device 50 in step S5 (YES), the process proceeds to step S6 described above.
The above processing is performed until shooting by the area camera 2 is completed (step S8).
この本実施形態に係る分岐器進入可否判定装置及び分岐器進入可否判定方法によれば、エリアカメラ２によって撮影した画像のみから、分岐器５０の位置を特定し、分岐器５０への進入の可否を判定することが可能となるため、センサや制御装置が不要となり、簡素かつ構成で低コストに分岐器５０への進入の可否を判定することが可能になるという利点を有する。 According to the branching device entry availability determination device and the branching device entry availability determination method according to the present embodiment, the position of the branching device 50 is specified only from the image captured by the area camera 2 and the availability of the entry into the branching device 50 is determined. Therefore, there is no need for a sensor or a control device, and there is an advantage that it is possible to determine whether or not it is possible to enter the branching device 50 at a low cost with a simple configuration.
さらに、線路５及び分岐器５０の画像を連続して撮影するため、分岐器５０への進入不可の警戒音が出力された際には分岐器５０の開通状態を画像で確認することができるという利点を有する。 Furthermore, since the images of the track 5 and the branching device 50 are continuously taken, it is possible to confirm the opening state of the branching device 50 with an image when a warning sound that cannot enter the branching device 50 is output. Have advantages.
また、必要に応じてエリアカメラ２のレンズを換えることにより、車両１から遠方にある分岐器５０を検出することも可能であるため、従来に比較して車両１の速度や停止距離の制限が少なくなるという利点も有する。
なお、本発明は上述した実施形態に限定されるものではなく、本発明の趣旨を逸脱しない範囲で種々の変更が可能であることは言うまでもない。
In addition, since it is possible to detect the branching device 50 far from the vehicle 1 by changing the lens of the area camera 2 as necessary, the speed of the vehicle 1 and the stop distance are limited as compared with the conventional case. It also has the advantage of being reduced.
Note that the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the spirit of the present invention.
本発明は、分岐器進入可否判定装置及び分岐器進入可否判定方法に利用することができる。 INDUSTRIAL APPLICABILITY The present invention can be used for a branching device entry availability determination device and a branching device entry availability determination method.
１ 車両
２ エリアカメラ
３ 照明装置
４ パーソナルコンピュータ
５ 線路
４１ 画像処理部
４１ａ 設備データ部
４１ｂ 画像入力部
４１ｃ 線路検出部
４１ｄ 分岐器検出部
４１ｅ 分岐器開閉認識部
４１ｆ 記憶部
４２ モニター
４３ スピーカー
５０ 分岐器
５０ａ トングレール
５０ｂ リードレール
５１ ポイント部分
５２ リード部分
５３ クロッシング部分
ＰR，ＰL 線路検出点
Ａ 車両から一定距離離れた局所的な領域に対応する画像上の領域
Ｃ 線路中心座標
Ｆ 特徴量評価点
DESCRIPTION OF SYMBOLS 1 Vehicle 2 Area camera 3 Illumination device 4 Personal computer 5 Line 41 Image processing part 41a Equipment data part 41b Image input part 41c Line detection part 41d Branch detector detection part 41e Branch switch opening / closing recognition part 41f Storage part 42 Monitor 43 Speaker 50 Branch device 50a tongue rail 50b lead rail 51 point portions 52 lead portion 53 crossing portion P R, P L line detection points a region C line center coordinates F feature amount evaluation point on the image corresponding to the local area a predetermined distance from the vehicle
Claims (12)
前記画像処理手段が、
前記撮影手段によって撮影された画像を入力する画像入力部と、
前記画像入力部によって入力した画像から前記線路を検出する線路検出部と、
前記線路検出部により検出した前記線路の画像上の位置を利用して当該画像から前記分岐器を検出する分岐器検出部と、
前記線路検出部により検出した前記線路の画像上の位置及び前記分岐器検出部により検出した前記分岐器の画像上の位置から前記分岐器の開通状態を認識し、前記分岐器への進入の可否を判定する分岐器開閉認識部と
を備えることを特徴とする分岐器進入可否判定装置。 A branching device entrance determination device comprising imaging means for photographing a track in front of the vehicle installed on the roof of the vehicle, and image processing means for judging whether or not to enter the branching device based on an image photographed by the photographing means. Because
The image processing means
An image input unit for inputting an image photographed by the photographing means;
A line detection unit for detecting the line from an image input by the image input unit;
A branch detector detector that detects the branch device from the image using a position on the image of the line detected by the line detector;
Recognizing the opening state of the branching device from the position on the image of the line detected by the line detection unit and the position on the image of the branching device detected by the branching device detection unit, whether to enter the branching device And a branching device opening / closing recognizing unit for judging whether or not the branching device is open / closed.
ことを特徴とする請求項１記載の分岐器進入可否判定装置。 2. The branching device entry availability determination device according to claim 1, further comprising display means for displaying an image input by the image input unit and a determination result by the branching device opening / closing recognition unit.
ことを特徴とする請求項１または請求項２記載の分岐器進入可否判定装置。 3. The branching device entry permission / inhibition determination according to claim 1, further comprising warning means for outputting an alarm when it is determined in the branching device opening / closing recognition unit that entry into the branching device is impossible. apparatus.
ことを特徴とする請求項１から請求項３のいずれか１項に記載の分岐器進入可否判定装置。 The track detection unit detects a track candidate point using a luminance difference between the track and the gauge as a feature amount for an area on the image corresponding to a position away from the vehicle by a certain distance, and a center coordinate between the track candidate points. Determining a line model in which the center coordinate and the position of the line are associated in advance according to the position of the center coordinate in the horizontal axis direction, and using the feature value evaluation point set for each line model as a reference 4. The branching device entry feasibility determination device according to claim 1, wherein the likelihood of the feature amount is calculated, and a position having the highest likelihood is detected as a line detection point. 5.
ことを特徴とする請求項１から請求項４のいずれか１項に記載の分岐器進入可否判定装置。 The branching unit detecting unit detects a linear portion having a luminance within a predetermined range with respect to the luminance of the line detected within the gauge on the image and detected by the line detecting unit as a part of the branching unit. The branching device entry possibility determination device according to any one of claims 1 to 4.
ことを特徴とする請求項１から請求項５のいずれか１項に記載の分岐器進入可否判定装置。 The branching switch open / close recognition unit determines whether the branching unit has a luminance value continuity between the line on the image detected by the line detection unit and the linear part detected by the branching unit detection unit. 6. The branching device entry permission / rejection determination device according to claim 1, wherein an opening state is recognized.
前記撮影手段によって撮影された画像を入力する画像入力工程と、
前記画像入力工程で入力した画像から前記線路を検出する線路検出工程と、
前記線路検出工程で検出した前記線路の画像上の位置を利用して当該画像から前記分岐器を検出する分岐器検出工程と、
前記線路検出工程で検出した前記線路の画像上の位置及び前記分岐器検出工程で検出した前記分岐器の画像上の位置から前記分岐器の開通状態を認識し、前記分岐器への進入の可否を判定する分岐器開閉認識工程と
を有することを特徴とする分岐器進入可否判定方法。 A branching device entry determination method for determining whether or not to enter a branching device based on an image taken by a photographing unit that is installed on the roof of the vehicle and photographs a track ahead of the vehicle,
An image input step of inputting an image photographed by the photographing means;
A line detection step of detecting the line from the image input in the image input step;
A branching device detection step of detecting the branching device from the image using a position on the image of the line detected in the line detection step;
Recognize the opening state of the branching device from the position on the image of the line detected in the line detection step and the position on the image of the branching device detected in the branching device detection step, and whether to enter the branching device And a branching device open / close recognition step for judging whether or not a branching device is allowed to enter.
ことを特徴とする請求項７記載の分岐器進入可否判定方法。 8. The branching device entry determination method according to claim 7, wherein an image photographed by the photographing unit and a result determined in the branching unit opening / closing recognition step are displayed on a display unit.
ことを特徴とする請求項７または請求項８記載の分岐器進入可否判定方法。 9. The branching device entry determination method according to claim 7, wherein an alarm is output when it is determined that entry into the branching device is impossible in the branching device opening / closing recognition step.
ことを特徴とする請求項７から請求項９のいずれか１項に記載の分岐器進入可否判定方法。 The track detection step detects a track candidate point using a luminance difference between the track and the gauge as a feature amount for a region on the image corresponding to a position away from the vehicle by a certain distance, and a center coordinate between the track candidate points. Determining a line model in which the center coordinate and the position of the line are associated in advance according to the position of the center coordinate in the horizontal axis direction, and using the feature value evaluation point set for each line model as a reference The branching unit approachability determination method according to any one of claims 7 to 9, wherein likelihood of a feature amount is calculated, and a position having the highest likelihood is detected as a line detection point.
ことを特徴とする請求項７から請求項１０のいずれか１項に記載の分岐器進入可否判定方法。 The branching switch open / close recognition step is performed by determining whether or not there is continuity of luminance values between the line on the image detected by the line detection unit and the linear part detected by the branching unit detection unit. 11. The branching device entry feasibility determination method according to claim 7, wherein the open state is recognized. 11.
ことを特徴とする請求項７から請求項１１のいずれか１項に記載の分岐器進入可否判定方法。 The branching switch open / close recognition step is performed by determining whether or not there is continuity of luminance values between the line on the image detected by the line detection unit and the linear part detected by the branching unit detection unit. The branching device entry possibility determination method according to any one of claims 7 to 11, wherein an open state is recognized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016172824A JP6855712B2 (en) | 2016-09-05 | 2016-09-05 | Turnout entry possibility judgment device and turnout entry possibility judgment method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016172824A JP6855712B2 (en) | 2016-09-05 | 2016-09-05 | Turnout entry possibility judgment device and turnout entry possibility judgment method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2018039288A true JP2018039288A (en) | 2018-03-15 |
| JP6855712B2 JP6855712B2 (en) | 2021-04-07 |
Family
ID=61624750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2016172824A Active JP6855712B2 (en) | 2016-09-05 | 2016-09-05 | Turnout entry possibility judgment device and turnout entry possibility judgment method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP6855712B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020179798A (en) * | 2019-04-26 | 2020-11-05 | 株式会社明電舎 | Turnout detection device and turnout detection method |
| CN112004732A (en) * | 2018-04-20 | 2020-11-27 | 株式会社东芝 | Railway track recognition device |
| CN113942549A (en) * | 2021-09-28 | 2022-01-18 | 交控科技股份有限公司 | Communication train operation control method and system |
| WO2022018918A1 (en) * | 2020-07-20 | 2022-01-27 | 株式会社 東芝 | Railway line information acquisition device and railway line information acquisition method |
| CN114132360A (en) * | 2021-11-08 | 2022-03-04 | 卡斯柯信号有限公司 | Anti-pinch method, equipment and storage medium for discriminating switch state based on image |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000030055A (en) * | 1998-07-09 | 2000-01-28 | Fuji Heavy Ind Ltd | Point recognizing device on track |
| JP2002008019A (en) * | 2000-06-21 | 2002-01-11 | Fuji Heavy Ind Ltd | Railway track recognition device and rolling stock using railway track recognition device |
| JP2016091506A (en) * | 2014-11-11 | 2016-05-23 | 株式会社明電舎 | Rail detection device |
-
2016
- 2016-09-05 JP JP2016172824A patent/JP6855712B2/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000030055A (en) * | 1998-07-09 | 2000-01-28 | Fuji Heavy Ind Ltd | Point recognizing device on track |
| JP2002008019A (en) * | 2000-06-21 | 2002-01-11 | Fuji Heavy Ind Ltd | Railway track recognition device and rolling stock using railway track recognition device |
| JP2016091506A (en) * | 2014-11-11 | 2016-05-23 | 株式会社明電舎 | Rail detection device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112004732A (en) * | 2018-04-20 | 2020-11-27 | 株式会社东芝 | Railway track recognition device |
| CN112004732B (en) * | 2018-04-20 | 2022-06-21 | 株式会社东芝 | Railway track recognition device |
| JP2020179798A (en) * | 2019-04-26 | 2020-11-05 | 株式会社明電舎 | Turnout detection device and turnout detection method |
| WO2022018918A1 (en) * | 2020-07-20 | 2022-01-27 | 株式会社 東芝 | Railway line information acquisition device and railway line information acquisition method |
| JP7455690B2 (en) | 2020-07-20 | 2024-03-26 | 株式会社東芝 | Railway track information acquisition device and railway track information acquisition method |
| CN113942549A (en) * | 2021-09-28 | 2022-01-18 | 交控科技股份有限公司 | Communication train operation control method and system |
| CN114132360A (en) * | 2021-11-08 | 2022-03-04 | 卡斯柯信号有限公司 | Anti-pinch method, equipment and storage medium for discriminating switch state based on image |
| CN114132360B (en) * | 2021-11-08 | 2023-09-08 | 卡斯柯信号有限公司 | Method, equipment and storage medium for preventing turnout from being squeezed based on image discrimination of turnout state |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6855712B2 (en) | 2021-04-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6855712B2 (en) | Turnout entry possibility judgment device and turnout entry possibility judgment method | |
| US9569902B2 (en) | Passenger counter | |
| CN104723991B (en) | Parking assistance system and parking assistance method for vehicle | |
| JP6127659B2 (en) | Driving support device and driving support method | |
| EP3705371A1 (en) | Obstacle detecting device | |
| JP2009067260A (en) | Train operation assistance apparatus | |
| JP3666332B2 (en) | Pedestrian detection device | |
| JP2015087969A (en) | Column traveling device and traffic accident prevention device | |
| JP3902531B2 (en) | Train fixed position stop support device | |
| JP2012238147A (en) | Drive support device | |
| JP4685494B2 (en) | Trolley wire position measuring device | |
| JP2010211301A (en) | Device and system for prediction/notification of accident, and on-vehicle device | |
| CN108027237A (en) | Periphery recognition device | |
| JP4762830B2 (en) | Perimeter monitoring system | |
| JP6431271B2 (en) | Vehicle detection and vehicle number recognition device | |
| JP4400258B2 (en) | Height limit excess detection device | |
| JP2019221115A (en) | Travel state presentation device | |
| JP2011103058A (en) | Erroneous recognition prevention device | |
| JP4899899B2 (en) | Obstacle recognition apparatus and method | |
| JP2002008019A (en) | Railway track recognition device and rolling stock using railway track recognition device | |
| CN112272946A (en) | Vehicle control device | |
| JP2020179798A (en) | Turnout detection device and turnout detection method | |
| KR20150069061A (en) | System for guiding driver information of train using rfid and method therefor | |
| JP6811497B1 (en) | Self-driving car | |
| KR101651776B1 (en) | Enforcement system to using visualization modeling of section driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20190524 |
|
| RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20190605 |
|
| RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20190529 |
|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20190820 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20200710 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200721 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200923 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20210216 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210301 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 6855712 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |