JP2019011035A - Platform door control system - Google Patents

Abstract

To provide a platform door control system capable of automatically controlling a platform door interlockingly with an operation state of a railway vehicle without using radio communication.SOLUTION: A platform door control device 40 detects an operation state of a vehicle door 12 by opening/closing processing of a control part 41 on the basis of an imaging result of a QR code 50 photographed by a camera 30 and controls a platform door 20 on the basis of the operation state of the vehicle door 12 detected in the above-mentioned manner.SELECTED DRAWING: Figure 55

Description

  The present invention relates to a home door control system that controls a home door installed in a platform.

  In recent years, an increasing number of stations have installed home doors that are opened and closed in conjunction with opening and closing of the vehicle doors of railway vehicles, from the viewpoint of preventing accidents from dropping from the platform of the station. As a technique for automatically controlling such a home door in a closed state in conjunction with a closed state of a vehicle door, for example, a home fence opening / closing system disclosed in Patent Document 1 below is known. This home fence opening and closing system is a vehicle door operating device and an on-board radio installed in a train, and a ground installed in a platform for the purpose of reliably transmitting information on door opening and closing operations using one system of wireless communication. It is comprised so that a radio | wireless machine and a home fence control apparatus may be provided. And after associating the train and the home by establishing communication between the on-vehicle radio in the low output mode and the terrestrial radio in the low output mode, the vehicle door operation device and the home fence control device are in the high output mode. The door opening and closing operations of the vehicle door and the home door are linked and controlled by communication between the on-board radio and the ground radio in the high output mode.

JP 2014-218184 A

  By the way, in the configuration in which on-board wireless devices and the like are installed in a railway vehicle (train) as disclosed in Patent Document 1, a wireless device or the like having an equivalent wireless communication function is provided for all rail vehicles that use the platform. In order to install it, it will be necessary to construct and modify the railway vehicle in accordance with the installation of the platform door. In particular, when railway vehicles of multiple railway companies enter the same platform, not only construction / modifications etc. are required to install default radios etc. on all railway vehicles, but some railway vehicles Depending on the specifications, it may be difficult to install the predetermined radio device or the like on the railway vehicle.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to automatically control the home door in conjunction with the operation state of the railway vehicle without using wireless communication. It is to provide a home door control system to get.

In order to achieve the above object, the invention described in claim 1 of the scope of claims
A platform door control system for controlling a platform door placed on a platform of a station,
At least an identification display provided on a part that can be imaged from the outside of the railway vehicle,
Imaging means for imaging the identification display;
Detecting means for detecting an operation state of the railcar based on an imaging result of the identification display by the imaging means;
Control means for controlling the platform door based on the operating state of the railway vehicle detected by the detection means;
It is characterized by providing.

  In the first aspect of the invention, the operation state of the railway vehicle is detected by the detection unit based on the imaging result of the identification display by the imaging unit, and the home door is controlled by the control unit based on the detected operation state of the railway vehicle. The Since the position of the identification display that is imaged changes as the operating state of the railway vehicle changes, such as opening and closing of the vehicle door and stopping and departure of the railway vehicle, the operating state of the railway vehicle is determined based on the imaging result of the identification display. The home door can be automatically controlled in conjunction with the detected operating state of the railway vehicle without using wireless communication.

  In the invention of claim 2, the identification display is provided on at least a part of the plurality of vehicle doors of the railway vehicle, and the operation state of the railway vehicle includes the opening operation, the opening state, the closing operation, and the closing state of the vehicle door. The operation state of the vehicle door including at least one of the following is included. As a result, the position of the identification display imaged by the opening and closing of the vehicle door also changes, so the operation state of the vehicle door can be detected based on the imaging result of the identification display, and it can be detected without using wireless communication. The home door can be automatically controlled in conjunction with the operation state of the vehicle door.

  According to a third aspect of the present invention, the identification display is arranged so that it is picked up by the image pickup means when the vehicle door is in a closed state, and at least a part is not picked up by the image pickup means when the vehicle door is in an open state. Therefore, the operation state including the closed state and the open state of the vehicle door can be easily detected based on the imaging result of the identification display.

  In the invention of claim 4, the imaging means is such that the identification display when the vehicle door is in the closed state is located within the imaging visual field, and at least a part of the identification display when the vehicle door is in the open state is outside the imaging visual field. Since it installs so that it may be located, based on the imaging result of an identification display, the operation state including the closed state and open state of a vehicle door can be detected easily.

  In the invention of claim 5, the detection means detects the operation state of the vehicle door in consideration of the moving direction of the identification display detected based on the difference between the plurality of captured images picked up by the image pickup means. Thereby, the opening operation before the vehicle door is opened or the closing operation before the vehicle door is closed can be quickly detected, and the processing time relating to the detection of the operation state of the vehicle door can be shortened.

  In the invention of claim 6, the identification display is an optically readable information code. Since the information code is easily generated from the captured image for the purpose, it is less likely to be mistaken and the recognition accuracy of the identification display can be improved. In particular, by recording information on the movement direction of the information code in the opening operation of the vehicle door and the movement direction of the information code in the closing operation in the information code, the opening operation of the vehicle door according to the reading of the information code. It is possible to accurately detect the closing operation.

  In the invention of claim 7, the detection means stops imaging the identification display that has been imaged so as to move continuously by the imaging means, and the identification display captured last time is closer to the center than the edge of the captured image. When the image is captured, the open state of the vehicle door is detected. If the identification display passes through the imaging field of view of the imaging means because the railway vehicle is moving, the identification display captured at the end should be captured at the edge instead of the center side of the captured image, When the railway vehicle is moving, it is possible to suppress erroneous detection that the vehicle door is open.

  In the invention of claim 8, the detection means closes the vehicle door when the identification display that has not been continuously captured until the previous time is imaged so as to move closer to the center than the edge of the captured image. Detect motion. If the identification display passes through the imaging field of view of the imaging means because the railway vehicle is moving, the identification display that has not been continuously captured until the previous time moves from the edge instead of the center side of the captured image. Thus, when the railway vehicle is moving, it can be prevented that the vehicle door is erroneously detected as a closing operation of the vehicle door.

  In the invention of claim 9, the detecting means detects the re-opening / closing operation of the vehicle door when the moving direction of the identification display continuously picked up changes in the reverse direction. In order to prevent pinching at the vehicle door, etc., images are taken when the vehicle door is opened and closed during the closing operation or when the vehicle door is opened and closed again such as when the vehicle door is closed during the opening operation. Since the movement direction of the identification display is changed in the reverse direction, the re-opening / closing operation of the vehicle door can be detected by detecting the movement of the identification display in the reverse direction.

  In the invention of claim 10, the identification display is an information code having a plurality of specific patterns and predetermined information recorded in an optically readable manner so as not to be imaged when the vehicle door is open. Be placed. And a detection means detects the operation state of a vehicle door in consideration of the change of the detection number of the specific pattern detected based on the difference of the some captured image imaged continuously by the imaging means. Thus, when the vehicle door is opened, for example, the number of detections of the specific pattern that is imaged so that the specific pattern on the moving direction side at the time of the opening operation is not first imaged and then the remaining specific pattern is not imaged. Therefore, the operation state of the vehicle door can be detected in consideration of such a change in the number of detected specific patterns.

  In the invention of claim 11, the detecting means detects that the vehicle door is not in the open state when detecting at least one of the plurality of specific patterns. Thereby, even when a part of the information code of the vehicle door in the closed state is hidden by the passenger's luggage or the like, it is detected that the vehicle door is not in the open state by capturing and detecting at least one of the specific patterns. Therefore, it can suppress misdetecting that it is an open state of a vehicle door.

  In the twelfth aspect of the invention, the detecting means detects the operation state of the vehicle door in consideration of the movement amount of the identification display detected based on the difference between the plurality of picked-up images continuously picked up by the image pickup means. Since the movement amount of the identification display during the normal opening and closing operation of the vehicle door is substantially constant, the operation state of the vehicle door can be detected in consideration of the movement amount of the identification display.

  In the invention of claim 13, the detection means is based on the movement amount of the identification display detected based on the difference between the plurality of picked-up images continuously taken by the image pickup means based on the movement distance during the opening / closing operation of the vehicle door. When the predetermined movement amount threshold value is exceeded, the movement of the railway vehicle is detected. When the opening / closing operation of the vehicle door is performed, the movement amount of the identification display is less than the predetermined movement amount threshold value. When the movement amount of the identification display is greater than or equal to the predetermined movement amount threshold value, It can be detected that the movement of the railway vehicle is not an opening / closing operation.

  According to the fourteenth aspect of the invention, there is provided correction means for correcting a predetermined movement amount threshold in consideration of the movement amount of the identification display when the movement of the vehicle door is detected by the detection means. Thereby, even when a plurality of types of vehicle doors are to be imaged, the amount of movement of the identification display at that time is learned each time movement of the vehicle door is detected, and the predetermined movement amount threshold value is corrected and optimized. Therefore, the detection accuracy regarding the detection of the operation state of the vehicle door can be improved.

  According to the fifteenth aspect of the present invention, the identification display is an information code in which a predetermined movement amount threshold is recorded so as to be optically readable. Therefore, it is suitable for the vehicle door by reading the information code captured as the identification display. In addition, the predetermined movement amount threshold value can be easily obtained.

  According to a sixteenth aspect of the present invention, the detection means detects the identification without the movement amount of the identification display detected based on the difference between the plurality of captured images continuously taken by the imaging means reaching the predetermined movement amount threshold. When the display is no longer imaged and the previously displayed identification display is captured at the edge of the captured image, the stop of the railway vehicle outside the target stop position range is detected. In a state where an identification display of a vehicle door of a railway vehicle that has deviated from the target stop position range is captured, depending on the moving direction of the vehicle door, the identification display may be immediately outside the imaging field of view after being moved, and may not be captured. For this reason, when the movement of the identification display does not reach the predetermined movement amount threshold and the identification display is finally captured at the edge of the captured image, the vehicle stops outside the target stop position range of the railway vehicle. Can be detected.

  In the invention of claim 17, the detection means considers the change in the position of the identification display detected based on the difference between the plurality of captured images continuously taken by the imaging means as a parameter, and determines the operation state of the railway vehicle. Detect. Since the position of the identification display detected in accordance with the operation state of the railway vehicle changes, the operation state of the railway vehicle can be detected by considering the change in the position of the identification display as a parameter.

  In the invention of claim 18, the detecting means detects that the operation state of the railway vehicle is changing when the time change of the position of the identification display is not less than the first threshold value. As a result, in a state where the time change in the position of the identification display is less than the first threshold, for example, in a state where the rail vehicle is simply shaking, it may be erroneously detected that the rail vehicle is operating. Therefore, the detection accuracy regarding the detection of the operation state of the railway vehicle can be increased.

  In the invention of claim 19, when the state that the identification display is regarded as not moving is maintained for a predetermined time or more based on the time change of the position of the identification display, Detects the stopping state of the railway vehicle. Thereby, it can detect reliably that the identification display is not moving, and the detection accuracy regarding the detection of the closed state of the vehicle door or the stop state of the railway vehicle can be enhanced.

  In the twentieth aspect of the invention, the detection means opens the vehicle door when the movement amount of the identification display becomes equal to or greater than the second threshold from the state in which the closed state of the vehicle door is detected based on the time change of the position of the identification display. Detect motion. Thereby, when the movement amount of the identification display is less than the second threshold value, for example, when the railway vehicle is simply shaken, it is not erroneously detected that the vehicle door is opening. Therefore, the detection accuracy regarding the detection of the opening operation of the vehicle door can be increased.

  In a twenty-first aspect of the present invention, the detecting means opens the vehicle door when the time from when the closed vehicle door starts to move until the amount of movement of the identification display becomes equal to or greater than the second threshold is less than a predetermined time. Detect motion. As a result, when the time until the movement amount of the identification display exceeds the second threshold exceeds a predetermined time, for example, the identification display is imaged as if it is moving at a speed that is clearly slower than the opening / closing speed of the vehicle door. In this case, since it is not erroneously detected that the vehicle door is opening, the detection accuracy relating to detection of the opening operation of the vehicle door can be further increased.

  In a twenty-second aspect of the invention, the detection means maintains a state in which the identification display is no longer imaged by the imaging means from a state in which the opening operation of the vehicle door is detected based on a time change of the position of the identification display. When the vehicle door is open, the open state of the vehicle door is detected. As a result, the vehicle door opening state is not erroneously detected as a vehicle door opening state because the identification display of the opening vehicle door is hidden by passengers and is no longer imaged. Detection accuracy can be increased.

  According to a twenty-third aspect of the present invention, the detection means detects the open state of the vehicle door based on the time change of the position of the identification display when the movement amount of the identification display during the opening operation of the vehicle door is equal to or greater than the third threshold. Detect. Since the movement amount of the identification display at the time of the normal opening operation of the vehicle door is determined, by setting the third threshold according to the movement amount of the identification display at the time of the normal opening operation of the vehicle door, When the movement amount of the identification display is less than the third threshold value, it is not erroneously detected that the vehicle door is open, so that the detection accuracy relating to detection of the open state of the vehicle door can be improved.

  According to a twenty-fourth aspect of the present invention, the detection means is configured to set the movement amount of the identification display during the opening operation of the vehicle door to be larger than the third threshold based on the time change of the position of the identification display. The open state of the vehicle door is detected in the following cases. Thereby, not only when the movement amount of the identification display is less than the third threshold value, but also when the movement amount of the identification display is clearly different from the open state of the vehicle door exceeding the fourth threshold value. Since it is not erroneously detected as an open state, the detection accuracy relating to the detection of the open state of the vehicle door can be further increased.

  In the invention of claim 25, the detection means, based on the time change of the position of the identification display, when the movement of the identification display becomes greater than or equal to the fifth threshold after the identification display starts to be imaged after detection of the open state of the vehicle door. Detecting the closing operation of the vehicle door. Thereby, when the movement amount of the identification display is less than the fifth threshold value, for example, when the railway vehicle is simply shaken, it is not erroneously detected that the vehicle door is closing. Therefore, the detection accuracy regarding the detection of the closing operation of the vehicle door can be increased.

  According to a twenty-sixth aspect of the present invention, the detection means is configured such that the time from when the identification display starts to be imaged after detection of the open state of the vehicle door to when the amount of movement of the identification display becomes the fifth threshold or more is a predetermined time or less. Detecting the closing operation of the vehicle door. As a result, even if the identification display is taken as if it is moving at a speed that is clearly slower than the opening / closing speed of the vehicle door, it is not erroneously detected that the vehicle door is closing. Further, it is possible to further improve the detection accuracy regarding the detection of the closing operation of the vehicle door.

  In the invention of claim 27, the detection means, based on the time change of the position of the identification display, when the position when the identification display stops after detecting the closing operation of the vehicle door coincides with the previous stop position of the identification display. When considered, the closed state of the vehicle door is detected. As a result, even if an image is captured so that the identification display stops, it is not erroneously detected that the vehicle door is in a closed state immediately, so that the detection accuracy relating to the detection of the closed state of the vehicle door can be improved.

  According to the invention of claim 28, the detecting means determines the position of the identification display imaged last when the identification display is no longer imaged after detection of the closing operation of the vehicle door based on the time change of the position of the identification display. When it is considered that the position of the identification display imaged last when the identification display is no longer imaged after the detection of the opening operation of the vehicle door last time is detected, the open state of the vehicle door is detected. Thereby, even when the vehicle door that is closing is opened and closed again, the open state of the vehicle door can be reliably detected.

  According to the invention of claim 29, the detection means is based on the time change of the position of the identification display, and the identification display that moves to the entry side when the vehicle door is opened is the entry of the imaging field of the imaging means when the railway vehicle stops. When located at the side edge, the operating state of the railway vehicle is not detected. Thereby, since the operation state of the railway vehicle is not detected based on the identification display that is outside the imaging field of view in the middle of the opening operation of the vehicle door, it is possible to suppress erroneous detection regarding the operation state of the railway vehicle. it can.

  In the invention of claim 30, the detection means is based on the time change of the position of the identification display, and the identification display that moves to the exit side when the vehicle door is opened is the exit of the imaging field of the imaging means when the railway vehicle is stopped. When located at the side edge, the operating state of the railway vehicle is not detected. Thereby, since the operation state of the railway vehicle is not detected based on the identification display that is outside the imaging field of view in the middle of the opening operation of the vehicle door, it is possible to suppress erroneous detection regarding the operation state of the railway vehicle. it can.

  In the invention of claim 31, the identification display is an information code in which information relating to the opening / closing direction of the vehicle door provided with the identification display is recorded so as to be optically readable. Thus, by optically reading the information code provided as the identification display, the opening / closing operation of the vehicle door can be easily detected from the moving direction of the identification display.

  In the invention of claim 32, the identification display is recorded so that information for changing the threshold value compared with the parameter for each railway operator or each vehicle type when detecting the operation state of the railway vehicle is optically readable. Information code. Thus, when the threshold value is changed each time based on information obtained by optically reading an information code provided as an identification display, the opening / closing timing of the vehicle door is different for each railway operator or each vehicle type However, it is possible to easily set a threshold suitable for detecting the operation state of the railway vehicle provided with the identification display.

  In the invention of claim 33, the detection means obtains an imaging result in which identification display is continuously recognized by a part of the plurality of imaging means at the same time for a certain period of time, and the identification display remains for a certain period of time. When an imaging result that is not recognized continuously is obtained, the imaging result of the remaining imaging means is not used for detection of the operation state of the railway vehicle. Even if one of the plurality of identification displays is unrecognizable and deteriorated, the result of the imaging means that images the identification display is not used for detection of the operating state of the railway vehicle. Therefore, it is possible to suppress a decrease in detection accuracy due to degradation of identification display or the like. In addition, for example, when the imaging means are arranged on the assumption that three vehicle doors are provided in one vehicle, even when detecting the operation state of a railway vehicle in which two vehicle doors are provided in one vehicle. As a result, the result of the imaging means for which the identification display capable of imaging cannot exist in the imaging visual field is not used for detection of the operation state of the railway vehicle, and the decrease in detection accuracy can be suppressed.

  According to a thirty-fourth aspect of the present invention, there is provided second detection means for detecting the operation state of the railway vehicle with a configuration different from the detection based on the imaging result of the identification display by the imaging means. Thereby, the detection precision regarding the detection of the operation state of a railroad vehicle can be improved by considering both the detection result by this 2nd detection means and the detection result by the detection means mentioned above.

  In a thirty-fifth aspect of the present invention, among a plurality of double-open vehicle doors provided with an identification display, some of the vehicle doors are provided with an identification display only on one of the doors. The vehicle door of the part is provided with an identification display only on the other door. As a result, when the railway vehicle is moving, all the identification displays move in the same direction, and when the vehicle door is opened and closed, some of the identification displays are different from the movement direction of the partial identification display. Therefore, it is possible to easily detect the movement of the railway vehicle or the opening / closing operation of the vehicle door in accordance with the movement direction of each identification display.

  In the invention of claim 36, since the identification display is provided so as to straddle both the one door and the other door in the closed state, the identification display cannot be recognized unless the vehicle door is in the closed state. It is possible to reliably suppress erroneous detection that the vehicle door is in the closed state.

  In the invention of claim 37, since the identification display is provided so as to straddle both the part that surrounds the vehicle door and does not move with the vehicle door and the vehicle door in the closed state, the identification display is performed unless the vehicle door is in the closed state. Since the display cannot be recognized, erroneous detection that the open vehicle door is in the closed state can be reliably suppressed.

  In a thirty-eighth aspect of the present invention, a plurality of identification displays are provided for one vehicle door, and the detection means detects the operation state of the vehicle door based on the imaging results of the plurality of identification display imaging means. Thereby, even when a part of the identification display is hidden by the passenger's luggage or the like and is not imaged, the remaining identification display is imaged, so that the operation state of the vehicle door can be detected more reliably.

  As in the invention of claim 39, with respect to a vehicle door configured as a double door type having one door and the other door, a part of the plurality of identification indications is provided on the one door and the other part May be provided on the other door.

  In the invention of claim 40, the identification display is a two-dimensional code in which position detection patterns that can be used for specifying the code area are provided at three corners of the rectangular code area, and for one vehicle door The two-dimensional code provided on one door and the two-dimensional code provided on the other door are arranged so that the two position detection patterns approach each other. As a result, at the start of the closing operation of the vehicle door, the two door detection operations are detected by detecting and detecting the two position detection patterns before the entire two-dimensional code is imaged. By confirming the closing operation according to the success or failure of the decoding of the code, the closing operation of the vehicle door can be quickly and accurately compared with the case of detecting the closing operation according to the success or failure of the decoding of the two-dimensional code. Can be detected.

  In the invention of claim 41, the identification display is a two-dimensional code, and for one vehicle door, the two-dimensional code provided on one door and the two-dimensional code provided on the other door are mirror-inverted. The same information is recorded according to the relationship. Thus, for example, a two-dimensional code that is not mirror-inverted is provided on one door, and a two-dimensional code configured by mirror-inverting this two-dimensional code is provided on the other door, so that mirror inversion processing is performed at the time of decoding. It can be determined that the two-dimensional code that is not required is a two-dimensional code provided in one door, and the two-dimensional code that requires mirror inversion processing is a two-dimensional code provided in the other door. For this reason, it is not necessary to record information indicating whether the two-dimensional code is provided on one door or the other door, and the amount of information to be recorded on the two-dimensional code is reduced. can do. That is, it is possible to determine whether the two-dimensional code is provided in one of the doors or the other door without changing the information recorded in the two-dimensional code.

  In the invention of claim 42, the detecting means detects the operation state of the railway vehicle in consideration of the respective moving directions of the plurality of identification displays detected based on the difference between the plurality of captured images picked up by the image pickup means. . Since the movement direction of each of the plurality of identification displays changes depending on the opening / closing operation of the vehicle door or the movement / stop of the railway vehicle, the operation state of the railway vehicle is changed according to the movement direction of each identification display thus changing. Can be detected.

  In the invention of claim 43, the detecting means detects that the railway vehicle is moving when all of the plurality of identification displays imaged by the imaging means are moving in the same direction. When the vehicle door opens and closes, the identification indication provided on one door and the identification indication provided on the other door are in the opposite direction. Since the two move in the same direction, it can be detected that the railway vehicle is moving without being erroneously detected as an opening / closing operation of the vehicle door.

  In the invention of claim 44, the detecting means performs the closing operation of the vehicle door when the moving direction of some of the plurality of identification displays imaged by the imaging means is close to the moving direction of the other part. Detect. At the time of the closing operation of the vehicle door, a part of the moving directions provided on one door of the plurality of identification displays and the other part of the moving direction provided on the other door are close to each other. By detecting the movement of each identification display in the direction, the closing operation of the vehicle door can be detected.

  In the invention of claim 45, the detecting means opens the vehicle door when the moving direction of a part of the plurality of identification displays imaged by the imaging means is away from the moving direction of the other part. Detect. During the opening operation of the vehicle door, a part of moving directions provided on one door among a plurality of identification displays and a part of other moving directions provided on the other door are away from each other. By detecting the movement of each identification display in the direction, the opening operation of the vehicle door can be detected.

  In the invention of claim 46, the detecting means is the operation state of the vehicle door based on the moving direction of the identification display located closest to the center of the captured image among the plurality of identification displays imaged by the imaging means when the railway vehicle stops. Is detected. As a result, even when the vehicle door is opened and closed, the identification display serving as the detection reference is unlikely to be separated from the center of the imaging field of view, so the imaging field of view necessary for imaging the identification display serving as the detection reference by the imaging unit is narrowed be able to.

  As in the invention of claim 47, the plurality of identification indications may include other identification indications provided at a portion surrounding the vehicle door and not moving with the vehicle door.

  In the invention of claim 48, the detection means is in a state where the railway vehicle is stopped and the vehicle door is in a state where the identification display excluding other identification displays among the plurality of identification displays imaged by the imaging means is moving. Detects opening / closing operation. When the railway vehicle is moving, all the identification displays including other identification displays move, and when the vehicle door is in the open / close operation, the other identification displays do not move. It can be easily distinguished from the opening / closing operation of the vehicle door, and when the identification display excluding other identification displays is moving, it is detected that the railway vehicle is stopped and the vehicle door is being opened / closed. be able to.

  According to the invention of claim 49, the detection means detects the closed state of the railway vehicle and the closed state of the vehicle door when all of the plurality of identification displays imaged by the imaging means have not moved for a predetermined time. If all the vehicle doors on which the railway vehicle is stopped are closed, not all of the identification displays have moved for a predetermined time, so if all of these identification displays have not moved for a predetermined time, the railway vehicle It is possible to detect the closed state of the vehicle door.

  According to the invention of claim 50, the detecting means detects the operation state of the vehicle door in consideration of a change in the relative position of the plurality of identification displays detected by the relative position detecting means. Thus, for example, when the relative positions of the plurality of identification indications detected by the relative position detecting means are not in a predetermined positional relationship corresponding to the closed state of the vehicle door, the vehicle door completely sandwiches the object. Since it can be assumed that the vehicle door is not closed, it can be detected not only that the vehicle door is closed, but also that the vehicle door is not completely closed.

  In the invention of claim 51, the identification display is an information code in which information relating to the place to be opened in the platform door is recorded in an optically readable manner, and the control means obtains information obtained by reading the information code. To control the home door. As a result, even when the position of the vehicle door of the railway vehicle using the platform door differs depending on the type of the railway vehicle, etc., information on the location where the platform door should be opened is recorded in the information code according to the type of the rail vehicle. By doing so, the control means can control the place where the platform door should be opened based on the information obtained by reading the information code for each type or the like.

  In the invention of claim 52, the identification display is provided on each of the plurality of vehicle doors of the railway vehicle, and the control means corresponds to the corresponding home based on the respective operation states of the plurality of vehicle doors detected by the detection means. The door opening and closing points are individually controlled. By individually controlling the opening / closing positions of the home door in this way, it is possible to perform finer control of the home door, such as reopening / closing only a part of the home door, and the convenience can be enhanced.

  In the invention of claim 53, the control means controls all the open / close positions of the platform door to the same operation state based on the operation state of the railway vehicle detected by the detection means. Thus, if the operation state of some of the vehicle doors can be detected by the detection means, the home door can be collectively controlled based on the detection result even if the operation state of the remaining vehicle doors cannot be detected. Redundancy (robustness) can be improved with respect to detection.

  According to the invention of claim 54, the detection means obtains the operation states of the plurality of vehicle doors from the imaging results of the identification display by the imaging means, respectively, and uses the majority vote to thereby unify the operation of the vehicle door for all the vehicle doors. Detect state. Thereby, even when performing collective control of the home door using the detected operation state of some vehicle doors, the reliability of the detection result can be improved. In particular, by obtaining an odd number of detection results from the imaging result of the identification display by the imaging means and using the majority vote, the reliability of the detection result obtained by the majority vote can be further improved.

  According to the invention of claim 55, the imaging means is provided one by one toward the plurality of vehicle doors provided with the identification display, and the imaging visual field shift direction with respect to some of the vehicle doors and the imaging visual field shift with respect to the remaining vehicle doors. The direction is different from the direction of travel of the railway vehicle. As a result, even if the railway vehicle stops with a deviation from the target stop position, the imaging field is identified as one of the imaging means directed to the some vehicle doors and the imaging means directed to the remaining vehicle doors. Since it becomes easy to enter the display, it is not necessary to direct a plurality of imaging means to one vehicle door, so that the configuration of the imaging means can be simplified.

  In the invention of claim 56, a plurality of imaging means are provided toward one vehicle door provided with an identification display. As a result, it is difficult to install one image pickup means at a position where it is easy to pick up an image with respect to the identification display for an installation such as a pillar or a wall provided on the platform, or a deviation of the stop position of the railway vehicle is increased. Even in an environment or the like, by using a plurality of imaging means, it is possible to easily secure an imaging field of view necessary for identification display imaging, and to improve the ease of installation of each imaging means.

  In the invention of claim 57, since the plurality of imaging means are respectively arranged so that a part of the imaging field of view overlaps, the imaging field of view for imaging the identification display is compared with the case of using one imaging means. Can be widened.

  According to the invention of claim 58, the plurality of image pickup means are respectively arranged so that the imaging fields of view overlap each other at least in a range where the identification display may be imaged. Thereby, even if the identification display of the vehicle door in the closed state is not imaged by one of the plurality of imaging means, it is imaged by another imaging means, so that the redundancy ( (Robustness) can be ensured.

  In the invention of claim 59, when the same identification display is imaged by the two imaging means when the railway vehicle stops, the detection means detects the vehicle door based on the captured image in which the moving direction of the identification display is the center side. Detect the operating state. The captured image in which the moving direction of the captured identification display is the center side continues the identification display until the vehicle door is closed, compared to the captured image in which the moving direction of the captured identification display is the edge side. Therefore, since it is easy to capture an image, the operation state of the vehicle door can be reliably detected even when one of the two captured images is used.

  In the invention of claim 60, the detecting means detects the operation state of the vehicle door based on a combined image obtained by combining a plurality of picked-up images simultaneously picked up by a plurality of image pick-up means with reference to a region where the imaging field of view overlaps. Thereby, the imaging visual field for imaging an identification display can be made wider compared with the case where one imaging means is used.

  In the invention of claim 61, when the same identification display is simultaneously imaged by a plurality of imaging means, the detection means is a combined image obtained by combining a plurality of captured images captured by the plurality of imaging means based on the identification display. Based on this, the operation state of the vehicle door is detected. Thereby, the reference | standard at the time of producing | generating a combined image becomes clear, and a combined image can be produced | generated accurately.

  In the invention of claim 62, the identification display is an information code having a plurality of specific patterns and predetermined information recorded in an optically readable manner, and the detection means is the same information code respectively by the plurality of imaging means. Is detected, the operation state of the vehicle door is detected based on a combined image obtained by combining a plurality of captured images captured by a plurality of imaging units with the specific pattern as a reference. Thus, a specific pattern that can be easily recognized from the captured image in constructing the information code can be used as a reference when generating the combined image, and the combined image can be generated with higher accuracy.

  In the invention of claim 63, a plurality of detection means are provided so as to be arranged for each vehicle door provided with an identification display, and the control means determines the home door based on the respective detection results by the plurality of detection means. Control. Thereby, since a detection result is collected for every vehicle door, the operation state can be easily grasped | ascertained for every vehicle door.

  According to the invention of claim 64, any one of the plurality of imaging means provided for one vehicle door can change the operation state of the vehicle door from the captured image captured by itself and the captured image acquired from the remaining imaging means. It is comprised so that it may function as a detection means to enable detection. Thereby, one imaging means having a function as a detection means can be configured as a master machine, and the other imaging means can be configured as a slave machine, and the control means can acquire detection results from the master machine. The communication configuration between the control means and the control means can be simplified.

  According to the invention of claim 65, three image pickup means are provided along the moving direction of the railway vehicle toward one vehicle door on which the identification display is provided, and among the three image pickup means, the image pickup means is provided in the center in the moving direction of the railway vehicle. The imaging means provided is configured to function as a detection means that can detect the operation state of the vehicle door from the captured image captured by itself and the captured image acquired from the remaining imaging means. Thus, for example, when information is shared between a master machine and a slave machine, if two slave machines are arranged on the traveling direction side of the master machine, the master machine communicates with each of the two slave machines. However, if the master machine is arranged in the center of the three, the master machine can acquire information to be shared only by communicating with the slave machine on the traveling direction side. Thereby, the amount of communication between the master machine and the slave machine can be reduced.

  In the invention of claim 66, the plurality of imaging means provided for one vehicle door shares the information acquired when recognizing the identification display with other imaging means. As information acquired when recognizing the identification display, for example, information on brightness suitable for recognition can be adopted. In this configuration, since the brightness of the range captured by each imaging unit with respect to one vehicle door is not substantially changed, the recognition rate of other imaging units can be increased. Further, as information acquired when recognizing the identification display, for example, a range or timing in which the identification display is reflected can be adopted. In this configuration, since the positional relationship of each imaging unit with respect to one vehicle door is known, based on the imaging result of one imaging unit located on the entry side, the range in which the identification display is reflected in the other imaging unit and Timing can be estimated.

  In the invention of claim 67, the identification display is an information code having an error correction function and recording predetermined information, and when the degree of correction for error correction when reading the information code exceeds a predetermined value, Informing means for informing the deterioration is provided. Thereby, since the person who received the notification by the notification means can easily grasp the deterioration of the information code as the identification display, it is easy to eliminate the deterioration of the information code, and the reading guarantee can be realized.

  In the invention of claim 68, the operation state of the railway vehicle includes the stop state of the railway vehicle and the operation state of the vehicle door in the railway vehicle, and the imaging means stops the railway vehicle by the detection means in the stop detection mode. When detected, the vehicle shifts from the stop detection mode to the door open / close detection mode. Thereby, the transition from the stop detection mode in the imaging means to the door opening / closing detection mode can be automatically performed. In particular, in the stop detection mode, it is not necessary to perform imaging that increases detection accuracy until the identification display immediately before stopping enters the imaging field of view. For example, by increasing the imaging interval, the processing load related to imaging processing is reduced. And power consumption can be reduced.

  In the invention of claim 69, when the stop of the railway vehicle is detected in the stop detection mode, the detection means shifts from the stop detection mode to the door opening / closing detection mode. Thereby, the transition from the stop detection mode in the detection means to the door opening / closing detection mode can be automatically performed. In particular, in the stop detection mode, it is not necessary to perform highly accurate detection until the identification display immediately before stopping enters the imaging field of view. For example, by increasing the detection interval, the processing load related to detection processing can be reduced and power consumption can be reduced. Can be reduced.

  In the invention of claim 70, since the detection means detects the stop position of the railway vehicle in accordance with the position of the identification display occupied in the captured image when the stop of the railway vehicle is detected, the stop of the railway vehicle with a simple configuration. The position can be detected.

  In the invention of claim 71, the detection means stops the vehicle within the target stop position range of the railway vehicle when the identification display is imaged within the predetermined range of the captured image when the stop of the railway vehicle is detected. Detect. Thereby, it can be easily determined with a simple configuration whether or not the railway vehicle is stopped within the target stop position range.

  In the invention of claim 72, when the detecting means detects that the railway vehicle stops within the target stop position range, the imaging means shifts from the stop detection mode to the door opening / closing detection mode. Thus, by shifting to the door opening / closing detection mode in response to detection of a stop within the target stop position range of the railway vehicle, it is possible to automatically shift to the door opening / closing detection mode at an appropriate timing.

  In the invention of claim 73, when the stopping means is detected within the target stop position range of the railway vehicle by the detecting means, the control means controls the platform door to be in the open state. As a result, the platform door is not opened before the railway vehicle stops or when it stops outside the target stop position range, so that the platform door can be opened safely and quickly. .

  In the invention of claim 74, the detection means is a railway vehicle when the moving speed of the identification display imaged by the imaging means is equal to or higher than a predetermined speed threshold set according to the moving speed of the railway vehicle immediately before stopping. Detect the passage of. Thereby, for example, when the railway vehicle overruns, the moving speed of the identification display is equal to or higher than the predetermined speed threshold, so that the overrun is detected before the overrun railway vehicle stops. Can do.

  In the invention of claim 75, a plurality of identification indications are provided, and some of them are provided in a part that can be imaged from the traveling direction of the railway vehicle, and the detecting means images from the traveling direction when the stop of the railway vehicle is detected. The stop position of the railway vehicle is detected according to the imaging size of the identification display provided in the possible part. The imaging size of the identification display provided at the part that can be imaged from the advancing direction is small when the vehicle stops before the target stop position, and increases when the vehicle passes the target stop position. The position can be detected.

  As in the invention of claim 76, when the identification display that has not been continuously captured until the previous time is captured at the entrance side edge portion of the captured image, the detection means detects the opening / closing operation of the vehicle door and the erroneous detection. Without entering, it is possible to detect the entry of the railway vehicle.

  As in the invention of claim 77, the detection means does not move for a predetermined time after the identification display that has not been continuously imaged until the previous time has moved after being captured at the entry side edge portion of the captured image. In addition, the stop state of the railway vehicle can be detected without erroneously detecting the closed state after the closing operation of the vehicle door.

  As in the invention of claim 78, the detection means moves after the identification display, which has not been continuously captured until the previous time, is captured at the entrance side edge of the captured image and is captured at the exit side edge. In the case where the image is not picked up after that, the passage (overrun) of the railway vehicle can be detected without erroneously detecting the departure of the railway vehicle after the stop.

  As in the invention of claim 79, when the detection means has not moved for a predetermined time after the identification display that has not been continuously imaged until the previous time has moved since being captured at the exit side edge of the captured image. In addition, it is possible to detect the stop state of the railway vehicle after the railway vehicle has moved to the opposite side in the traveling direction and returned after the overrun.

  As in the invention of claim 80, the detection means detects the identification display that has not been continuously captured until the previous time at the exit side edge of the captured image, and the amount of movement is the moving distance of the vehicle door. When the image is not captured without exceeding the predetermined movement amount threshold set on the basis of this, it is possible to detect the stop of the railway vehicle outside the target stop position range.

  In the invention of claim 81, the operation state of the railway vehicle includes the departure of the railway vehicle, and when the detection means detects the departure of the railway vehicle, the imaging means shifts to the stop detection mode. Thereby, the transition to the stop detection mode in the imaging means can be automatically performed.

  According to the invention of claim 82, when the departure of the railway vehicle is detected, the detection means shifts to the stop detection mode. Thereby, the transition to the stop detection mode in a detection means can be performed automatically.

  As in the invention of claim 83, the detection means detects the open state of the vehicle door based on the imaging result of the identification display by the imaging means, and then the identification display moves after detecting the closed state of the vehicle door. The departure of the railway vehicle can be detected.

  As in the invention of claim 84, the detecting means detects the departure of the railway vehicle when the identification display used for detecting the closed state of the vehicle door is not captured after being captured at the exit side edge. Can do.

  In the invention of claim 85, the identification display is a two-dimensional code in which position detection patterns that can be used for specifying the code area are provided at three corners of the rectangular code area. Two of the position detection patterns are arranged to be downward. A data recording area in which data to be read is recorded is arranged on the corner side where no position detection pattern is provided in the code area, and the two position detection patterns are arranged below, so that the data recording area Is arranged to be on the upper side. By arranging the data recording area to be above in this way, even if the lower part of the code area constituting the two-dimensional code is hidden by the passenger's luggage etc., the data recording area becomes difficult to be hidden, Compared with the case where two of the three position detection patterns are arranged on the upper side, the success rate of reading data recorded in the two-dimensional code can be increased.

It is explanatory drawing which shows the outline | summary of the platform door control system which concerns on 1st Embodiment. It is a schematic perspective view explaining the positional relationship of a vehicle door and a platform door. It is a schematic front view explaining the positional relationship of a vehicle door and a platform door. It is a block diagram which illustrates the electric composition of a home door control device. It is a flowchart which shows the flow of the opening / closing process performed by the control part of the platform door control apparatus in 1st Embodiment. It is explanatory drawing which shows the relationship between the opening-and-closing state of a vehicle door, and the position of an identification display, FIG. 6 (A) shows the position of the identification display when a vehicle door is an open state, FIG. FIG. 6C shows the position of the identification display when the vehicle door is in the closed state. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the modification of 1st Embodiment. It is a flowchart which shows the flow of the opening / closing process performed by the control part of a platform door control apparatus in 2nd Embodiment. It is a schematic sectional drawing which shows the principal part of the platform door control system which concerns on 3rd Embodiment. It is a schematic sectional drawing which shows the principal part of the platform door control system which concerns on the modification of 3rd Embodiment, FIG. 10 (A) shows the cross section of the window in a 1st modification, FIG. The cross section of the window in 2 modifications is shown. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 4th Embodiment, FIG. 11 (A) shows the state of the identification display when a vehicle door is a closed state, FIG.11 (B) The state of the identification display in the middle of opening and closing of the vehicle door is shown. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the modification of 4th Embodiment, FIG. 12 (A) shows the state of the identification display when a vehicle door is a closed state, FIG. ) Shows the state of identification display when the vehicle door is in the middle of opening and closing. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 5th Embodiment, FIG. 13 (A) shows the state of each identification display when a vehicle door is a closed state, FIG.13 (B) is FIG. The state of each identification display in the middle of opening and closing of the vehicle door is shown. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the modification of 5th Embodiment, FIG. 14 (A) shows the state of each identification display when a vehicle door is a closed state, FIG. B) shows the state of each identification display during the opening and closing of the vehicle door. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 6th Embodiment, FIG.15 (A) shows the state of the identification display when a vehicle door is a closed state, FIG.15 (B) The state of the identification display in the middle of opening and closing of the vehicle door is shown. It is a flowchart which shows the flow of the opening / closing process performed by the control part of a platform door control apparatus in 6th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the modification of 6th Embodiment, FIG. 17 (A) shows the state of the identification display when a vehicle door is a closed state, FIG. ) Shows the state of identification display when the vehicle door is in the middle of opening and closing. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 7th Embodiment, FIG. 18 (A) shows the state by which the identification display was covered with the coating | coated part, FIG.18 (B) shows a coating | coated part. Indicates the removed state. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the modification of 7th Embodiment, FIG. 19 (A) shows the state of the coating | coated part in a 1st modification, FIG.19 (B) The state of the coating | coated part in 2 modifications is shown. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 8th Embodiment, FIG. 20 (A) shows the state of the identification display when a vehicle door is a closed state, FIG.20 (B) The state of the identification display immediately after the opening operation of the vehicle door is started is shown. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 9th Embodiment, FIG. 21 (A) shows the state of the identification display when a rail vehicle is moving, FIG.21 (B) The state of the identification display when the vehicle door of the stopped railway vehicle is in the closed state is shown. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 9th Embodiment, FIG. 22 (A) shows the state of the identification display when the vehicle door is opening operation, FIG.22 (B) is FIG. The state of the identification display when the vehicle door is closing is shown. It is a flowchart which shows the flow of the opening / closing process performed by the control part of a platform door control apparatus in 9th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the modification of 9th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 10th Embodiment, FIG. 25 (A) shows the state of the identification display when a rail vehicle is moving, FIG.25 (B) The state of the identification display when the vehicle door of the stopped railway vehicle is in the closed state is shown. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 10th Embodiment, FIG. 26 (A) shows the state of the identification display when the vehicle door is opening operation, FIG.26 (B) is FIG. The state of the identification display when the vehicle door is closing is shown. It is a flowchart which shows the flow of the opening-and-closing process performed by the control part of a platform door control apparatus in 10th Embodiment. It is explanatory drawing which illustrates the state which the pillar of a home obstructs installation of a camera. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 12th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 1st modification of 12th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 2nd modification of 12th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 3rd modification of 12th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 4th modification of 12th Embodiment, and FIG. 33 (A) shows the case where the operation state of a vehicle door is detected based on the captured image of the camera 30a. FIG. 33B shows a case where the operation state of the vehicle door is detected based on the captured image of the camera 30b. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 5th modification of 12th Embodiment, FIG. 34 (A) shows the picked-up image of the camera 30a, FIG.34 (B) shows the camera 30b. FIG. 34C illustrates a combined image obtained by combining the captured image of FIG. 34A and the captured image of FIG. 34B. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 6th modification of 12th Embodiment, FIG. 35 (A) shows the picked-up image of the camera 30a, FIG.35 (B) shows the camera 30b. FIG. 35C shows a combined image obtained by combining the captured image of FIG. 35A and the captured image of FIG. 35B. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 7th modification of 12th Embodiment, FIG. 36 (A) shows the picked-up image of the camera 30a, FIG.36 (B) shows the camera 30b. FIG. 36C shows a combined image obtained by combining the captured image of FIG. 36A and the captured image of FIG. 36B with reference to the position detection pattern arranged in the vertical direction. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 7th modification of 12th Embodiment, FIG. 37 (A) shows the picked-up image of the camera 30a, FIG. 37 (B) shows the camera 30b. FIG. 37C illustrates a combined image obtained by combining the captured image of FIG. 37A and the captured image of FIG. 37B with reference to the position detection pattern arranged in the horizontal direction. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 13th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 1st modification of 13th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 2nd modification of 13th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 14th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 1st modification of 14th Embodiment. It is explanatory drawing which shows the state in which the camera is pointed with respect to each vehicle door in 1st Embodiment. It is explanatory drawing explaining the state by which the QR code stuck on the vehicle door is imaged with the camera installed in the ceiling, even when a tall passenger gets in in 1st Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the modification of 15th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 17th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 18th Embodiment, FIG. 47 (A) shows the captured image in a closed state, and FIG. 47 (B) shows the captured image at the time of opening operation. FIG. 47C shows a captured image in the open state. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 18th Embodiment, FIG. 48 (A) shows the captured image in an open state, and FIG. 48 (B) shows the captured image at the time of closing operation. . It is explanatory drawing which shows the principal part of the platform door control system which concerns on 19th Embodiment, FIG. 49 (A) shows the captured image by which all the position detection patterns were imaged, FIG.49 (B) is one part. FIG. 49C illustrates a captured image in which the position detection pattern is captured, and FIG. 49C illustrates a captured image in which all the position detection patterns are not captured. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the modification of 19th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the modification of 20th Embodiment, FIG. 51 (A) shows the picked-up image in a closed state, FIG.51 (B) shows QR code approaching. A captured image captured at the side edge portion is shown, and FIG. 51C illustrates a captured image in which the QR code is not captured. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 21st Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 22nd Embodiment. It is explanatory drawing explaining the state which changed the opening / closing location by opening / closing of the movable door of a home door. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 24th Embodiment. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the 1st modification of 25th Embodiment. It is a principal part of the platform door control system which concerns on the modification of 26th Embodiment, Comprising: It is explanatory drawing which shows each captured image when a rail vehicle approachs from the approach direction side. It is a principal part of the platform door control system which concerns on the modification of 26th Embodiment, Comprising: It is explanatory drawing which shows each captured image when the rail vehicle which approached from the approach direction side stops. It is a principal part of the platform door control system concerning the modification of 26th Embodiment, Comprising: It is explanatory drawing which shows each captured image when a rail vehicle overruns. It is a principal part of the platform door control system concerning the modification of 26th Embodiment, Comprising: It is explanatory drawing which shows each captured image when a rail vehicle returns after an overrun and stops. It is a principal part of the home door control system which concerns on the modification of 26th Embodiment, Comprising: It is explanatory drawing which shows each captured image when a vehicle door opens at the time of a stop outside a target stop position range. It is a principal part of the platform door control system which concerns on the modification of 27th Embodiment, Comprising: It is explanatory drawing which shows each captured image at the time of a railway vehicle departing. It is explanatory drawing which shows the modification of an identification display. It is explanatory drawing which shows the modification of a vehicle door. It is explanatory drawing explaining the closed state of a platform door when a forwarding vehicle stops and deviates from the target stop position range. FIG. 66A is an explanatory diagram for explaining the display switching of the identification display, and FIG. 66A shows the display state of the identification display, and FIG. 66B shows the non-display state of the identification display. It is explanatory drawing explaining the state which narrows a detection range from the whole captured image, and performs an opening / closing process after a stop detection. It is explanatory drawing explaining the time change of the position of QR Code in a captured image in 28th Embodiment. It is a part of flowchart which shows the flow of the operation state detection process performed by the control part of a platform door control apparatus in 28th Embodiment. It is a part of flowchart which shows the flow of the operation state detection process performed by the control part of a platform door control apparatus in 28th Embodiment. It is explanatory drawing explaining the time change of the position of QR Code in the captured image when a vehicle door reopens and closes. It is explanatory drawing explaining the time change of the position of QR Code in the captured image at the time of a rail vehicle passing. It is explanatory drawing explaining the time change of the position of QR Code which is located in the entrance side edge part of an imaging visual field at the time of a stop, moves to the entrance side at the time of opening operation | movement, and is no longer imaged. It is explanatory drawing explaining the time change of the position of QR Code which is located in the exit side edge part of an imaging visual field at the time of a stop, moves to the exit side at the time of opening operation, and is no longer imaged. It is explanatory drawing which shows the principal part of the platform door control system which concerns on 29th Embodiment. FIG. 76A is an explanatory diagram illustrating an imaging state when two position detection patterns are arranged on the lower side, and FIG. 76B shows that the two position detection patterns are on the upper side. It is explanatory drawing which illustrates an imaging state when arrange | positioning to. It is explanatory drawing which shows the principal part of the platform door control system which concerns on the modification of 29th Embodiment. It is explanatory drawing which illustrates the state which provided the QR code in one door and the other door so that two position detection patterns may mutually approach. It is explanatory drawing which illustrates the state which provided the QR code so that it might be in a mirror inversion state in one door and the other door.

[First Embodiment]
Hereinafter, a first embodiment of a platform door control system according to the present invention will be described with reference to the drawings.
A platform door control system 1 shown in FIGS. 1 and 2 is a system for controlling a platform door 20 arranged in a platform 2 of a station, and displays an identification display provided on a part that can be imaged from the outside of the railway vehicle 10. A plurality of cameras 30 to be imaged, and a platform door control device 40 (see FIG. 4) that controls the platform door 20 by detecting the operation state of the railway vehicle 10 based on the imaging result of each camera 30.

  In the present embodiment, a QR code (registered trademark) 50 is adopted as an identification display provided on a part that can be imaged from the outside of the railway vehicle 10, and the QR code 50 is a vehicle door 12 provided at the entrance 11. It is affixed to. That is, the QR code 50 is provided for each entrance 11 (vehicle door 12). For this reason, in this embodiment, the QR code 50 is information such as a vehicle number and a door number (hereinafter referred to as boarding / alighting) for specifying the railway vehicle 10 and the entrance / exit 11 (vehicle door 12) on which the QR code 50 is provided. (Also referred to as mouth specifying information) is recorded so as to be optically readable.

  The vehicle door 12 is a double-open slide door having one door 13 and the other door 14, and the one door 13 and the other door 14 are made of transparent glass at the upper center of the door body serving as a frame. Each is configured to hold a window. As shown in FIG. 3, the QR code 50 is affixed from the outside of the vehicle to a position in the upper part of the glass window 13 a of one door 13 and close to the other door 14. For this reason, when the vehicle door 12 is in an open state, the QR code 50 is in a state in which it cannot be imaged from the outside by being covered and concealed by the vehicle body portion 11a in which the one door 13 is accommodated. The QR code 50 is affixed to the upper part of the glass window 13a in order to prevent the passenger from getting in the way when the vehicle door 12 is in a closed state and not being captured by the camera 30.

  As shown in FIG. 3, the position of the QR code 50 when the railway vehicle 10 is stopped at the target stop position and the vehicle door 12 is in the closed state is also referred to as a stop reference position. Moreover, in this embodiment, the rail vehicle 10 shall be provided with the stop apparatus etc. for stopping to a target stop position automatically.

  The home door 20 is disposed so as to form a protective wall along the extending direction (hereinafter also referred to as opening / closing direction) of the edge 2 a of the platform 2, and a plurality of doors 20 correspond to each entrance 11 of the railway vehicle 10. The movable door 21 and the door drive part 22 are comprised. Each door drive unit 22 has a function of switching the home door 20 to an open state or a closed state by moving the movable door 21 along the opening / closing direction in accordance with an opening instruction or a closing instruction from the home door control device 40. It has and is arranged corresponding to each entrance 11 at a target stop position. That is, each door driving unit 22 opens at least a part of the movable door 21 and exposes the entrance 11 to each entrance 11 at the target stop position according to the input of the opening instruction. I do. In addition, each door drive unit 22 has a narrow gap with respect to the movable door 21 moved by the other door drive unit 22 facing in the opening / closing direction as shown in FIG. By moving the movable door 21 to a position facing or contacting with each other (hereinafter also referred to as a traffic blocking position), a closing operation for blocking traffic to the entrance 11 is performed.

  Each camera 30 functions as an imaging unit including a light receiving sensor (for example, a C-MOS area sensor, a CCD area sensor, etc.), and the vehicle door 12 is closed for each entrance 11 at the target stop position. The QR code 50 is provided on the ceiling 2b of the home 2 so that the QR code 50 can be read. The camera 30 is connected to the home door control device 40 via a predetermined network such as a LAN, and receives an imaging instruction from the home door control device 40 and transmits the captured image to the home door control device 40. It is configured.

  In particular, as shown in FIG. 3, the camera 30 has an imaging field of view 31 from the QR code 50 at the stop reference position to the edge of the vehicle body portion 11a located in the opening direction of one door 13 (right direction in FIG. 3). It is installed so that it may be included in the range. This is for quickly capturing and recognizing the QR code 50 of the vehicle door 12 that has started to close. On the assumption that the QR code 50 when the vehicle door 12 is in the open state is located outside the imaging field of view 31. The imaging field of view 31 is widened in a possible range along the opening / closing direction. Thereby, in the camera 30, the QR code 50 when the vehicle door 12 is in the closed state is positioned in the imaging field of view 31, and the QR code 50 when the vehicle door 12 is in the open state is positioned outside the imaging field of view 31. Installed.

  The home door control device 40 controls each door driving unit 22 based on the detection result of the operation state of the railway vehicle 10 based on the captured image received from each camera 30, more specifically, the operation state of the vehicle door 12. The device functions as control means for controlling the open / closed state of the platform door 20 by transmitting an opening instruction or a closing instruction. The home door control device 40 may be installed near the home door 20 or may be installed so as to be incorporated in the home door 20. As shown in FIG. 4, the home door control device 40 includes a control unit 41 composed of a CPU, a storage unit 42 composed of ROM, RAM, nonvolatile memory, and the like, various operation buttons and operation keys (not shown). An operation unit 43 and a communication unit 44 are provided.

  After detecting the closed state of the vehicle door 12 by executing an opening / closing process described later, the control unit 41 automatically controls the home door 20 to be closed in conjunction with the closed state of the vehicle door 12. To work. A predetermined program or the like for executing the opening / closing process is stored in the storage unit 42 in advance so as to be executable by the control unit 41. The operation unit 43 is configured to give an operation signal to the control unit 41, and the control unit 41 receives the operation signal and performs an operation according to the content of the operation signal. In particular, an opening operation button (not shown) that is operated when starting the opening / closing process in the operation unit 43 is located at a position where the conductor of the railway vehicle 10 is easy to operate, for example, near the conductor's compartment at the target stop position. It arrange | positions at the upper surface etc. of the home door 20 located. The communication unit 44 is configured as a known communication interface that performs wired communication or wireless communication via a predetermined network such as a LAN. The communication unit 44 cooperates with the control unit 41 so that each camera 30, each door drive unit 22, etc. Functions to communicate with external devices.

Next, in the present embodiment, the opening / closing process performed by the control unit 41 of the platform door control device 40 when the platform door 20 is opened / closed will be described with reference to the flowchart shown in FIG.
Before the railcar 10 enters the platform 2, the platform door 20 is in a closed state because each door drive unit 22 performs the closing operation. Thereafter, when the railcar 10 entering the platform 2 stops at the target stop position and the vehicle door 12 is opened, the opening operation button of the operation unit 43 is operated by the conductor or the like. As a result, the opening / closing process is started by the control unit 41, the opening instruction transmission process shown in step S <b> 101 of FIG. 5 is performed, and the opening instruction is transmitted to each door driving unit 22.

  Each door drive part 22 will perform the said opening operation | movement which accommodates at least one part of the movable door 21, if the said opening instruction | indication is received from the home door control apparatus 40, respectively. Thereby, it will be in the state in which the boarding / alighting in the rail vehicle 10 is possible via the entrance 11 in which the vehicle door 12 was in the open state. At this time, as shown in FIG. 6A, the QR code 50 is covered with the vehicle body 11a in which the one door 13 is accommodated, and thus cannot be imaged from the outside.

  After a predetermined time (time when it is assumed that the vehicle door 12 is in the open state) has passed since the opening instruction was transmitted as described above, the imaging process shown in step S103 is performed, and each camera 30 performs Each captured image is acquired. Next, the decoding process shown in step S105 is performed, and a known decoding process for decoding an information code including the QR code 50 from each captured image is performed for each captured image. Subsequently, in the determination process shown in step S <b> 107, it is determined whether or not the identification display is recognized (captured) in each captured image acquired from each camera 30.

  In the present embodiment, the determination as to whether or not the identification display is recognized by the control unit 41 functioning as a recognition unit is made based on whether or not the entry / exit specification information can be read by the decoding process. When the QR code 50 is captured, the entry / exit information corresponding to all the entrances / exits 11 (vehicle doors 12) is read by decoding each QR code 50. For this reason, since the QR code 50 is not covered and imaged because the vehicle door 12 is in the open state, the QR code 50 cannot be decoded. The process from step S103 is repeated.

  When passengers get on and off via the entrance 11, one door 13 and the other door 14 move in the closing direction to close each vehicle door 12 in accordance with a predetermined operation by the conductor. start. With this movement, as shown in FIG. 6B, when each QR code 50 moves into the imaging field of view 31 of the camera 30, the QR code 50 is imaged by each camera 30 (S103). As a result, decoding of each captured QR code 50 is successful, and the entry / exit specific information corresponding to all the entrances / exits 11 is read (S105), and the vehicle door 12 is closed when the identification display is recognized. An operation or a closed state is detected, and it is determined Yes in step S107. When an information code different from the QR code 50 is imaged and decoded, information different from the entrance / exit information is read, so that the identification display is not recognized (No in S107), and the processing from step S103 is performed. Is repeated. Further, as the operation state of the vehicle door 12, the control unit 41 and the home door control device 40 that detect the closing operation, the closed state, and the like of the vehicle door 12 may correspond to an example of “detecting means”.

  Subsequently, a closing instruction transmission process shown in step S109 is performed, the closing instruction is transmitted to each door driving unit 22, and the opening / closing process ends.

  Each door drive part 22 will perform the said close operation | movement which moves the movable door 21 to a close direction, respectively, if the said close instruction | indication is received from the home door control apparatus 40. As a result, as shown in FIG. 3, each movable door 21 moves in the closing direction to the above-described passage blocking position, whereby the passage to each entrance 11 is blocked. At this time, each vehicle door 12 is in a closed state as shown in FIG.

  As described above, in the home door control system 1 according to the present embodiment, the QR code 50 provided as an identification display on the vehicle door 12 of the railway vehicle 10 is captured by the camera 30 when the vehicle door 12 is in the closed state. It arrange | positions so that it may be recognized by the decoding process of the control part 41 from an image. Then, the home door control device 40 detects the operation state of the vehicle door 12 based on the imaging result of the QR code 50 by the camera 30 by the opening / closing process by the control unit 41, and the vehicle door 12 detected in this way. The platform door 20 is controlled based on the operation state.

  As a result, when the QR code 50 as the identification display is recognized by successful decoding of the QR code 50 from the captured image, the vehicle door 12 is detected to be closed, and in this case By controlling the home door 20 in the closed state by the home door control device 40, the home door 20 is automatically closed in conjunction with the closed state of the vehicle door 12 of the railway vehicle 10 without using wireless communication. Can be controlled.

  Further, the camera 30 is arranged such that the QR code 50 when the vehicle door 12 is in the closed state is positioned in the imaging field of view 31, and the QR code 50 when the vehicle door 12 is in the open state is positioned outside the imaging field of view 31. Installed. Accordingly, since the QR code 50 is not imaged (recognized) when the vehicle door 12 is in the open state, it is possible to suppress erroneous detection that the open vehicle door 12 is in the closed state.

  In particular, in the present embodiment, the imaging field of view 31 is widened as much as possible on the assumption that the QR code 50 when the vehicle door 12 is in the open state is located outside the imaging field of view 31, so the vehicle door that has started to close 12 QR codes 50 can be recognized quickly (see FIG. 6B), and the delay of the timing at which the home door 20 begins to close relative to the timing at which the vehicle door 12 begins to close can be reduced. For this reason, the platform stop time of the railway vehicle 10 extended by providing the platform door 20 can be shortened.

  Further, since the QR code 50 is provided at a position concealed by the vehicle body 11a so as not to be imaged by the camera 30 when the vehicle door 12 is in the open state, the QR code 50 is provided when the vehicle door 12 is in the open state. Is not picked up and recognized, it is possible to reliably suppress erroneous detection that the opened vehicle door 12 is in the closed state. The QR code 50 is not limited to being provided at a position where all the vehicle doors 12 are concealed when the vehicle door 12 is in an open state, and it is assumed that the QR code 50 cannot be decoded using the error correction function. It may be provided at a position where at least a part is concealed by the vehicle body part 11a.

  In the present embodiment, the identification display is generated as QR code 50 in which entrance / exit information is recorded as predetermined information so as to be optically readable. As with other types of information codes, QR codes are easily generated from captured images for that purpose, and thus are less likely to be misidentified, and the recognition accuracy of identification display can be improved.

  In particular, in the determination process shown in step S <b> 107, the identification display is recognized when the entry / exit information is read from the QR code 50 captured by each camera 30. In this way, by confirming and recognizing the information recorded in the QR code 50, it is further difficult to be misidentified, and the recognition accuracy of the identification display can be further improved. In the determination process shown in step S107, it is determined whether or not the read information is entrance / exit specifying information in order to further reduce the delay of the timing at which the home door 20 starts to close with respect to the timing at which the vehicle door 12 starts to close. Instead, the identification display may be recognized by reading some information in the captured image in the imaging visual field 31 by a known decoding process.

  Further, since the QR code 50 is provided on the glass window 13a of the vehicle door 12, the QR code 50 can be easily displayed larger than the case where the QR code 50 is provided on the door main body 13b (see FIG. 3). Display recognition accuracy can be improved.

  As a modification of the present embodiment, the railway vehicle 10 may not include a stop device for automatically stopping at the target stop position. In this case, there is a high possibility that the stop position of the railway vehicle 10 is shifted by a predetermined distance from the target stop position. For this reason, as shown in FIG. 7, the imaging field of view 31 is wide along the opening / closing direction by an estimated stopping position deviation L2 with respect to the opening / closing direction length L1 of the imaging field required when the stopping position deviation does not occur. The camera 30 is installed so that it becomes. That is, the camera 30 takes into account the deviation of the stop position of the railcar 10 when the QR code 50 when the vehicle door 12 is in the closed state is positioned within the imaging field of view 31 and the vehicle door 12 is in the open state. The QR code 50 is placed outside the imaging field of view 31.

  As a result, even if the stop position of the railway vehicle 10 is deviated, the QR code 50 of the closed vehicle door 12 is surely positioned within the imaging field of view 31, so that the closed vehicle door 12 is erroneously opened. It can suppress that it is detected. Even if the stop position of the railway vehicle 10 is deviated, the QR code 50 is not recognized when the vehicle door 12 is in the open state, so it is ensured that the open vehicle door 12 is erroneously detected as being in the closed state. Can be suppressed. The opening / closing direction length L1 is set to, for example, 650 mm so as to be equal to the door width Ld of the one door 13, and in this case, the stop position deviation L2 is set to 700 mm, for example.

[Second Embodiment]
Next, a platform door control system according to a second embodiment of the present invention will be described with reference to FIG.
In the second embodiment, the detected operation state of the vehicle door further includes an opening operation and an open state of the vehicle door, and the home door 20 is automatically operated in conjunction with the open / close state of the vehicle door 12 of the railway vehicle 10. The point which opens and closes mainly differs from the said 1st Embodiment. For this reason, substantially the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  In this embodiment, by detecting the open state of the vehicle door 12 using the identification display provided on the vehicle door 12, the home door 20 is automatically opened without manual operation of the open operation button by the conductor or the like. Control to the state.

Hereinafter, in the present embodiment, an opening / closing process performed by the control unit 41 of the platform door control device 40 when the platform door 20 is opened / closed will be described with reference to a flowchart shown in FIG.
The opening / closing process is started by the control unit 41 before the railcar 10 entering the home 2 stops at the target stop position. First, the railcar 10 stops in the determination process shown in step S201 of FIG. It is determined whether or not. This determination process is a process for determining whether or not the railway vehicle 10 is stopped by comparison with a captured image captured by the camera 30 last time, and No in step S201 until the railway vehicle 10 stops. This determination is repeated. In the determination process of step S201, for example, it may be determined whether or not the railway vehicle 10 is stopped based on the QR code 50 (identification display) provided on the vehicle door 12, or the vehicle door 12 may be stopped. You may determine whether the rail vehicle 10 has stopped on the basis of itself.

  When the railcar 10 that has entered the home 2 stops at the target stop position and it is determined Yes in step S201, the image pickup process shown in step S203 is performed, and the images picked up by the cameras 30 are respectively displayed. To be acquired. Next, the decoding process shown in step S205 is performed, and a known decoding process for decoding an information code including the QR code 50 from each captured image is performed for each captured image. Subsequently, in the determination process shown in step S207, it is determined whether or not the identification display is recognized (captured) in each captured image acquired from each camera 30.

  Immediately after the railway vehicle 10 stops at the target stop position and each vehicle door 12 is in the closed state, the QR code 50 is located in the imaging field of view 31 (see FIG. 6C). The QR code 50 is imaged by the camera 30 and the entrance / exit specific information is read. For this reason, when the identification display is recognized, the closed state of the vehicle door 12 is detected, it is determined Yes in step S207, and the processing from step S203 is repeated.

  Even when the vehicle door 12 starts to open and the one door 13 moves in the opening direction during the repetitive processing, while the QR code 50 is located in the imaging field of view 31 (see FIG. 6B), the step S207 is performed. In step S203, the process from step S203 is repeated. When the vehicle door 12 is opened and the QR code 50 is covered with the vehicle body 11a and positioned outside the imaging field of view 31 (see FIG. 6A), the decoding fails and the identification display is not recognized. The open state or opening operation of the door 12 is detected, and it is determined No in step S207. In this case, an opening instruction transmission process shown in step S209 is performed, and the opening instruction is transmitted to each door drive unit 22. In addition, as the operation state of the vehicle door 12, the control unit 41 and the home door control device 40 that detect the open state, the open operation, and the like of the vehicle door 12 may correspond to an example of “detection unit”.

  Each door drive part 22 will perform the said opening operation | movement which accommodates at least one part of the movable door 21, if the said opening instruction | indication is received from the home door control apparatus 40, respectively. Thereby, it will be in the state in which the boarding / alighting in the rail vehicle 10 is possible via the entrance 11 in which the vehicle door 12 was in the open state.

  Similar to the first embodiment, after a predetermined time has elapsed since the opening instruction was transmitted, the imaging process shown in step S211 is performed, and the images captured by the cameras 30 are acquired. Next, the decoding process shown in step S213 is performed, and a known decoding process for decoding an information code including the QR code 50 from each captured image is performed for each captured image. Subsequently, in the determination process shown in step S215, it is determined whether or not the identification display is recognized (captured) in each captured image acquired from each camera 30.

  When the QR code 50 is not covered and imaged because the vehicle door 12 is in the open state, the QR code as the QR code 50 cannot be decoded, so that it is determined No in step S215. The process from step S211 is repeated.

  As the passengers get on and off through the entrance 11 and the doors 13 start to move in the closing direction, each QR code 50 reaches the imaging field 31 of the camera 30 as shown in FIG. The image is moved and imaged (S211). As a result, decoding of each captured QR code 50 is successful, and the entry / exit specific information corresponding to all the entrances / exits 11 is read (S213), and the vehicle door 12 is closed when the identification display is recognized. An operation or a closed state is detected, and it is determined Yes in step S215. Then, a closing instruction transmission process shown in step S217 is performed, and the closing instruction is transmitted to each door driving unit 22, and the main opening / closing process ends.

  As described above, in the home door control system 1 according to the present embodiment, the QR code 50 provided as an identification display on the vehicle door 12 of the railway vehicle 10 is captured by the camera 30 when the vehicle door 12 is in the closed state. It arrange | positions so that it may be recognized from the image by the decoding process of the control part 41, and when it is not recognized from the picked-up image by the camera 30, when the vehicle door 12 is an open state. Thereby, similarly to the first embodiment, the home door 20 can be automatically controlled to be closed in conjunction with the closed state of the vehicle door 12 of the railway vehicle 10 without using wireless communication. Further, when the QR code 50 is not recognized from the picked-up image even though the railcar 10 exists in the platform 2, it is detected that the vehicle door 12 is in the open state, and in this case, the home door control is performed. By controlling the home door 20 to the open state by the device 40, the home door 20 is automatically controlled to the open state in conjunction with the open state of the vehicle door 12 of the railway vehicle 10 without using wireless communication. Can do. That is, the home door 20 can be automatically opened and closed in conjunction with the open / closed state of the vehicle door 12 of the railway vehicle 10 without using wireless communication.

  As a modified example of the present embodiment, in step S207, each QR code 50 failed from the state in which decoding was successful, so that the processing in step S209 and subsequent steps was not performed, and decoding was successful. When it is recognized that the movement of each QR code 50 is moving, the processing after step S209 may be performed. That is, when it is recognized that the QR code 50 is moving after the stopped QR code 50 (identification display) is recognized, the opening operation of the vehicle door 12 is detected, and the home door 20 is moved to the home. The door control device 40 controls the opening state.

  As a result, the opening operation of the vehicle door 12 is detected and the home door 20 is controlled to be opened before the QR code 50 (identification display) moves and is not imaged (recognized) when the vehicle door 12 is opened. Therefore, the delay of the timing at which the home door 20 starts to open with respect to the timing at which the vehicle door 12 starts to open can be reduced. For this reason, the platform stop time of the railway vehicle 10 extended by providing the platform door 20 can be shortened.

[Third Embodiment]
Next, a platform door control system according to a third embodiment of the present invention will be described with reference to FIG.
In the third embodiment, as shown in FIG. 9, the QR code 50 provided as an identification display on the railway vehicle 10 is on the back side with respect to the advertisement 15 for in-vehicle that is attached to the inside of the glass window 13a. Thus, the point affixed on the vehicle outer side of the said glass window 13a mainly differs from the said 1st Embodiment. As a result, even if the QR code 50 (identification display) is displayed in a large size, the QR code 50 does not interfere with the advertisement 15 and does not block the scenery through the glass window 13a. Can be realized.

  As a first modification of the present embodiment, as shown in FIG. 10A, the QR code 50 provided as an identification display on the railway vehicle 10 is attached to the glass window 13a of the vehicle door 12 from the inside of the vehicle. Also good. For this reason, compared with the case where QR code 50 is affixed from the vehicle outer side, the adhesion, peeling, and damage of dirt on QR code 50 can be suppressed, and the recognition accuracy of QR code 50 as an identification display is further improved. Can do.

  Moreover, as a 2nd modification of this embodiment, as shown to FIG. 10 (B), the glass window 13a (14a) of the vehicle door 12 is comprised as double glass which has the outer side glass 16a and the inner side glass 16b, The QR code 50 provided as an identification display on the railway vehicle 10 may be affixed between the two glasses 16a and 16b of the glass window 13a. As a result, it is possible to reliably suppress dirt from being attached to or peeled off from the QR code 50, damage, and the like, and to further improve the recognition accuracy of the QR code 50 as an identification display.

  It should be noted that the characteristic configuration of this embodiment and its modification, such as the arrangement of the QR code 50 (identification display) as described above, on the glass window 13a (14a) of the vehicle door 12 is the same as that of the other embodiments. Can also be applied.

[Fourth Embodiment]
Next, a platform door control system according to a fourth embodiment of the present invention will be described with reference to FIG.
In the fourth embodiment, the QR code 51 provided as an identification display on the railway vehicle 10 is mainly configured so as to straddle both the one door 13 and the other door 14 in the closed state. Different from form. For this reason, substantially the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  In the present embodiment, as shown in FIG. 11A, the right side 51 a of the QR code 51 is provided at the upper edge of the door body 13 b of one door 13 on the other door 14 side, and the left side of the QR code 51. The part 51 b is provided at the upper edge of the door body 14 b of the other door 14 on the one door 13 side. For this reason, if the vehicle door 12 is not in the closed state, the QR code 51 is not imaged so that it can be decoded. As shown in FIG. 11B, the QR code 51 is not in the state in which the vehicle door 12 is not completely closed. Since it is divided into the right side 51a and the left side 51b and is not decoded, the above-described opening / closing process does not perform the processes after step S109.

  Thus, since the QR code 51 provided as the identification display cannot be recognized unless the vehicle door 12 is in the closed state, the erroneous detection that the opened vehicle door 12 is in the closed state is reliably suppressed. Can do.

  As a modification of the present embodiment, the identification display may be provided so as to surround the vehicle door 12 and straddle both the peripheral portion that does not move with the vehicle door 12 and the closed vehicle door 12. Specifically, for example, the QR code 52 illustrated in FIG. 12A can be provided on the railway vehicle 10 as an identification display, and the QR code 52 includes a lower side 52a of the QR code 52 on one door 13. The upper portion 52b of the QR code 52 is provided on the vehicle body portion 11b that constitutes the upper edge of the entrance 11.

  Even in this case, if the vehicle door 12 is not in the closed state, the QR code 52 is not captured so as to be decodable, and as illustrated in FIG. 12B, in the state where the vehicle door 12 is not completely closed, Since the QR code 52 is divided into the lower part 52a and the upper part 52b and is not decoded, the above-described opening / closing process does not perform the processes after step S109. Thus, since the QR code 52 provided as the identification display cannot be recognized unless the vehicle door 12 is in the closed state, it is possible to reliably prevent erroneous detection that the opened vehicle door 12 is in the closed state. it can.

  In the present embodiment and its modified examples, the above-described identification display is provided so as to straddle two objects (one door 13 and the other door 14, one door 13 and the vehicle body part 11 b) that move relative to each other. The characteristic configuration can be applied to other embodiments.

[Fifth Embodiment]
Next, a platform door control system according to a fifth embodiment of the present invention will be described with reference to FIG.
The fifth embodiment is mainly different from the first embodiment in that a plurality of identification displays are provided on the railway vehicle 10 and the operation state of the vehicle door 12 is detected based on the imaging results of the plurality of identification displays. . For this reason, substantially the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  In the present embodiment, as illustrated in FIG. 13A, as a plurality of identification displays, in addition to the QR code 50, a QR code 53 is an upper part of the glass window 14a of the other door 14, and Affixed to the door 13 from the outside of the vehicle. Then, as shown in FIG. 13A, the camera 30 has a narrow field of view in the opening and closing direction on the assumption that the imaging field of view 31 includes the QR code 50 and the QR code 53 at the stop reference position. is set up.

  In the determination process in step S107 in the opening / closing process, when all of the QR code 50 and the QR code 53 are decoded and recognized, it is determined as Yes, and the processes after step S109 are performed.

  For this reason, if the vehicle door 12 is not in the closed state, both the QR code 50 and the QR code 53 are not imaged so that they can be decoded simultaneously, and the vehicle door 12 is completely closed as illustrated in FIG. 13B. In the absence state, the QR code 50 and the QR code 53 are located outside the imaging visual field 31 and are not decoded, so that the processing after step S109 is not performed.

  That is, even if only some of the plurality of identification displays are recognized, the home door 20 is not controlled to be closed unless all the identification displays are recognized. Even if a display resembling (for example, only a display resembling QR code 50) is recognized, it can be reliably prevented that the open vehicle door 12 is erroneously detected as being closed. .

  As a first modification of the present embodiment, the plurality of identification displays may include other identification displays that are provided in a peripheral region that surrounds the vehicle door 12 and does not move with the vehicle door 12. Specifically, for example, the QR code 54 illustrated in FIG. 14A can be provided on the railway vehicle 10 as an identification display, and this QR code 54 is an upper edge portion of the door main body 13b of one door 13. Therefore, it is provided in the vehicle body part 11 b that is directly above the QR code 50. In this case, as shown in FIG. 14A, the camera 30 has a narrow range in the opening and closing direction on the assumption that the imaging field of view 31 includes the QR code 50 and the QR code 54 at the stop reference position. It is installed to become.

  Even in this case, if the vehicle door 12 is not in the closed state, both the QR code 50 and the QR code 54 are not captured so that they can be decoded at the same time. When the QR code 50 is not closed, the QR code 50 is located outside the imaging field of view 31 and is not decoded, so that the processing from step S109 onward is not performed. Thereby, it can suppress reliably that the vehicle door 12 of an open state is erroneously detected that it is a closed state.

  In addition to the QR code 50, the plurality of identification displays are not limited to the QR code 53 or the QR code 54, and may include both the QR code 53 and the QR code 54. QR code (identification display) may be included.

  As a second modification of the present embodiment, in a configuration that employs a plurality of information codes as a plurality of identification displays, each information code may be generated so that predetermined information to be recorded is related to each other. For example, in the example illustrated in FIG. 13, the QR code 50 and the QR code 53 may be generated so that the same information is recorded, or may be generated so that serial number information is recorded.

  As a result, even if information can be read from a predetermined number of information codes determined in advance, it is not recognized as an identification display if they are not related to each other. Recognition accuracy can be improved.

  Note that the characteristic configuration of this embodiment and its modification, such as controlling the home door 20 to the closed state when all of the plurality of identification indications described above are recognized, can be applied to other embodiments and the like. Can do.

[Sixth Embodiment]
Next, a platform door control system according to a sixth embodiment of the present invention will be described with reference to FIGS. 15 and 16.
The sixth embodiment is mainly different from the fifth embodiment in that the home door 20 is controlled to be closed when the relative positions of the recognized plurality of identification displays are in a predetermined positional relationship. For this reason, substantially the same components as those in the fifth embodiment are denoted by the same reference numerals and description thereof is omitted.

  In this embodiment, in order to accurately determine whether or not the vehicle door 12 is in the closed state, at least two identification displays (QR code 50 and QR code 53) that relatively move when the vehicle door 12 is opened and closed are prepared. Yes. And the relative distance in the opening / closing direction of the two identification displays when the vehicle door 12 is closed is measured in advance as the specified distance Xo as shown in FIG. 42.

  Then, in the opening / closing process performed by the control unit 41 of the platform door control device 40, after recognizing each identification display from the captured image, the relative position of each identification display is detected based on the captured image, and the detected relative When the position is in a predetermined positional relationship, it is detected that the vehicle door 12 is closed. Specifically, when the difference between the relative distance Xa in the opening / closing direction between the QR code 50 and the QR code 53 detected from the captured image and the specified distance Xo stored in the storage unit 42 is equal to or less than a predetermined threshold value Xth. In addition, it is detected that the vehicle door 12 is closed. This is because if the vehicle door 12 is not completely closed, images are taken in a state where the identification displays are separated from the specified distance Xo, and thus the detected relative position does not satisfy the predetermined positional relationship. In the present embodiment, the predetermined threshold value Xth is set according to a relative distance at which the vehicle door 12 can be considered to be in the closed state, and can be set to a value close to approximately 0 (zero), for example. In addition, the control unit 41 that detects the relative positions of a plurality of identification displays imaged from an image captured by the camera 30 may correspond to an example of “detection means”.

Hereinafter, in the present embodiment, an opening / closing process performed by the control unit 41 of the platform door control device 40 when the platform door 20 is opened / closed will be described with reference to a flowchart shown in FIG.
When the opening / closing process is started in the control unit 41 by operating the opening operation button of the operation unit 43 by the conductor or the like, the opening instruction is transmitted to each door driving unit 22 (S101 in FIG. 16). Each vehicle door 12 is in an open state. Then, as in the first embodiment, after a predetermined time has elapsed since the opening instruction was transmitted, the imaging process shown in step S103 is performed, and images captured by the cameras 30 are acquired. Next, the decoding process shown in step S105 is performed, and a known decoding process for decoding an information code including the QR code 50 from each captured image is performed for each captured image. Subsequently, in the determination process shown in step S <b> 107, it is determined whether or not the identification display is recognized (captured) in each captured image acquired from each camera 30.

  When the vehicle door 12 is in the open state and the QR codes 50 and 53 are covered with the vehicle body 11a and are not imaged, the QR codes 50 and 53 cannot be decoded. The process from step S103 is repeated.

  When the passengers get on and off through the entrance 11 and the one door 13 starts to move in the closing direction, the QR codes 50 and 53 move to the imaging field of view 31 of the camera 30 and are imaged (S103). ). As a result, decoding of the captured QR codes 50 and 53 is successful, and the entry / exit information corresponding to all the entrances / exits 11 is read (S105), and the identification display is recognized in step S107. It is determined as Yes.

  Subsequently, in the determination process shown in step S108, it is determined whether or not the relative positions of the plurality of recognized identification displays are in a predetermined positional relationship. Specifically, as described above, the difference between the relative distance Xa between the QR code 50 and the QR code 53 detected from the captured image and the specified distance Xo stored in the storage unit 42 is equal to or less than a predetermined threshold value Xth. It is determined based on whether or not.

  Here, as illustrated in FIG. 15A, since each vehicle door 12 is in the closed state, the relative distance Xa between the QR code 50 and the QR code 53 and the specified distance stored in the storage unit 42. When Xo is equal for each vehicle door 12, the difference between the relative distance Xa and the specified distance Xo is equal to or less than a predetermined threshold value Xth, so that the recognized relative positions of the plurality of identification displays are predetermined. The closed state of the vehicle door 12 is detected as being in a positional relationship, and Yes is determined in step S108. In this case, the closing instruction transmission process shown in step S109 is performed, the closing instruction is transmitted to each door driving unit 22, and the opening / closing process ends.

  On the other hand, as illustrated in FIG. 15B, since at least one of the vehicle doors 12 is not completely closed, the relative distance Xa between the QR code 50 and the QR code 53 and the rules stored in the storage unit 42 are stored. If the difference from the distance Xo becomes larger than the predetermined threshold value Xth, it is determined as No in step S108 because the relative positions of the plurality of recognized identification displays are not the predetermined positional relationship. In this case, in all the vehicle doors 12, the difference between the relative distance Xa and the specified distance Xo is equal to or smaller than a predetermined threshold value Xth, and the recognized relative positions of the plurality of identification displays are determined to be in a predetermined positional relationship. Until then, the processing from step S103 is repeated.

  If the determination of No in step S108 continues for longer than the expected time, even if the vehicle door 12 is in a state where it is not completely closed with an object sandwiched in between, it is notified to the outside. Good. In particular, since the relative distance Xa is detected for each vehicle door 12, it is possible to grasp which of the vehicle doors 12 is not completely closed. For this reason, the vehicle door 12 that is not completely closed may be notified in an identifiable manner by, for example, the light emission of the light emitting portion provided in the movable door 21 and the door driving portion 22 facing each other. You may alert | report by transmitting the information which identify | isolates outside.

  As described above, in the home door control system 1 according to the present embodiment, all of the plurality of identification displays are recognized (Yes in S107), and the detected relative positions of the plurality of identification displays are the default positional relationship. (Yes in S108), the closed state of the vehicle door 12 is detected, and the home door 20 is controlled to be closed by the home door control device 40. As a result, when the relative positions of the detected plurality of identification indications are not in the predetermined positional relationship, it is possible to assume a state in which the vehicle door 12 is not completely closed with an object sandwiched therebetween, so the vehicle door 12 is closed. Not only can it be detected that the vehicle is in a state, but it can also be detected that the vehicle door 12 is not completely closed.

  As a first modification of the present embodiment, the plurality of identification displays may include other identification displays that are provided in a peripheral region that surrounds the vehicle door 12 and does not move with the vehicle door 12. Specifically, for example, the QR code 54 illustrated in FIG. 17A can be provided on the railway vehicle 10 as an identification display. The QR code 54 is an upper edge portion of the door main body 13b of one door 13. Therefore, it is provided in the vehicle body part 11 b that is directly above the QR code 50. In particular, as shown in FIG. 17A, the QR code 54 is disposed such that the specified distance from the QR code 50 in the opening / closing direction when the vehicle door 12 is closed is 0 (zero).

  In the opening / closing process, the relative distance Xb in the opening / closing direction of the QR code 50 and the QR code 54 is detected from the captured image in which the QR code 50 and the QR code 54 are recognized, and the detected relative distance Xb is If it is equal to or less than the predetermined threshold value Xth, it is determined that the relative positions of the recognized plurality of identification displays are in a predetermined positional relationship (Yes in S108), and the closed state of the vehicle door 12 is detected, and the above steps S109 and after Is processed. On the other hand, as illustrated in FIG. 17B, when at least one of the vehicle doors 12 is not completely closed, the relative distance Xb between the QR code 50 and the QR code 54 becomes larger than a predetermined threshold value Xth. If the recognized relative positions of the plurality of identification displays are not the predetermined positional relationship, it is determined No in step S108, and the processing from step S103 is performed.

  Even in this case, when the relative positions of the detected plurality of identification displays are not in the predetermined positional relationship, it is possible to assume a state in which the vehicle door 12 is not completely closed with an object interposed therebetween. In addition to simply detecting that 12 is closed, it is also possible to detect that the vehicle door 12 is not fully closed. In particular, since the QR code 54 is provided at a portion that does not move together with the vehicle door 12, the detection accuracy of the relative distance Xb can be improved as compared with the case where the QR code 54 moves relative to each other.

  In addition to the QR code 50, the plurality of identification displays that are simultaneously imaged when the vehicle door 12 is closed are not limited to the QR code 53 or the QR code 54, but the QR code 53 and the QR code 54 Both may be included, and another QR code (identification display) may be further included. That is, when the relative positional relationship is a predetermined positional relationship for three or more identification displays, the closed state of the vehicle door 12 may be detected and the home door 20 may be controlled to be closed.

  In addition, when the relative positions of a plurality of recognized identification displays are in a predetermined positional relationship, the closed state of the vehicle door 12 is detected and the home door 20 is controlled to be closed. The characteristic configuration can be applied to other embodiments.

[Seventh Embodiment]
Next, a platform door control system according to a seventh embodiment of the present invention will be described with reference to FIG.
The seventh embodiment is mainly different from the first embodiment in that the identification display is provided so that it is difficult to recognize. For this reason, substantially the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  In this embodiment, the identification display is provided so as to exhibit a predetermined reflection characteristic when irradiated with light of a predetermined wavelength band different from visible light, and at least a part of the identification display is light of the predetermined wavelength band. Is covered with a covering portion that prevents visible light from being transmitted. Specifically, the QR code 50 provided as an identification display is configured by applying a commonly used ordinary paint or the like, and the covering unit 60 is irradiated with light of the predetermined wavelength band. It is configured by applying paint or the like that transmits reflected light from the QR code 50 and prevents transmission of visible light. In the present embodiment, for example, light in the infrared wavelength band (infrared light) is assumed as the light in the predetermined wavelength band, and the covering unit 60 is configured by applying, for example, an infrared transmitting paint. The In particular, the covering portion 60 is disposed so as to cover the entire QR code 50 as shown in FIG. In FIG. 18A, the covering portion 60 is hatched for convenience.

  The camera 30 includes an illumination light source (not shown) that can irradiate infrared light, which is light in the predetermined wavelength band, to a range including the imaging field of view 31. By capturing an image of the imaging field of view 31 while irradiating light, the QR code 50 in a state where the covering portion 60 is removed can be imaged as illustrated in FIG. 18B.

  Since the QR code 50 that is entirely covered with the covering portion 60 is irradiated with infrared light, it can be imaged with the covering portion 60 removed, so an illumination light source that can irradiate infrared light is used. By preparing the camera 30 provided, it is possible to capture the QR code 50 in a recognizable manner. On the other hand, if there is no illumination light source as described above, the QR code 50 cannot be recognized because the QR code 50 cannot be completely imaged because of being blocked by the covering unit 60. For this reason, it is difficult for a third party to accurately recognize the QR code 50 itself provided as an identification display, and it is possible to suppress an illegal act such as forging an identification display similar to the QR code 50.

  Note that the covering unit 60 does not cover all of the QR code 50 provided as an identification display, and specifies a portion where the QR code 50 is not readable even when the error correction function is used, such as a position detection pattern. It may be arranged so as to cover a portion different from the pattern. Even if it does in this way, since the QR code 50 cannot be imaged completely, the QR code 50 cannot be recognized, and the cheating can be suppressed.

  As a first modification of the present embodiment, a covering portion 61 as illustrated in FIG. 19A may be employed. In the first modification of the present embodiment, the QR code 50 provided as an identification display is provided on the door main body 13b of one door 13, and the covering portion 61 covers all of the QR code 50, and the QR code 50 is It is provided so that it may become the same color with respect to the color of the surrounding door main body 13b provided. This makes it difficult to visually recognize not only the QR code 50 (identification display) but also the covering portion 60, so that the above-mentioned fraud can be further suppressed.

  As a second modification of the present embodiment, a covering portion 62 as illustrated in FIG. 19B may be employed. The covering portion 62 is configured as an arbitrary figure whose shape, pattern, and color are changed, and is disposed so as to cover all of the QR code 50 provided as an identification display. In this way, even if the covering portion 62 is formed of an arbitrary figure, the covering portion 62 transmits the reflected light from the QR code 50 corresponding to the irradiation of the light of the predetermined wavelength band, so that the cheating is suppressed. In addition, the design of the covering portion 62 can be improved.

  It should be noted that the characteristic configuration of this embodiment and its modified examples in which the identification display is made difficult to recognize by using the covering portions 60 to 62 can be applied to other embodiments and the like.

[Eighth Embodiment]
Next, a platform door control system according to an eighth embodiment of the present invention will be described with reference to FIG.
In the eighth embodiment, the QR code 50 provided as an identification display on the railway vehicle 10 is concealed so that it is not captured by the camera 30 until the closed vehicle door 12 is opened from immediately after the opening operation is started. The point provided in is mainly different from the first embodiment.

  Specifically, as shown in FIG. 20 (A), the QR code 50 is affixed to the upper corner of the door body 13b of one door 13 in the vicinity of the edge of the vehicle body 11a.

  For this reason, even when the camera 30 is arranged so that the imaging field of view 31 includes the vehicle door 12 and its periphery, the closing operation is completed when the vehicle door 12 starts to open as shown in FIG. Until then, the QR code 50 is not recognized by the camera 30. Thereby, it is possible to easily grasp from the start of the opening operation of the vehicle door 12 to the completion of the closing operation.

  It is to be noted that the identification display of the QR code 50 or the like is provided at a position where the closed vehicle door 12 is hidden so as not to be imaged by the camera 30 from immediately after the opening operation is started until it is opened. The configuration can also be applied to other embodiments and the like.

[Ninth Embodiment]
Next, a platform door control system according to a ninth embodiment of the present invention will be described with reference to FIGS.
In the ninth embodiment, by using a plurality of identification displays provided on the vehicle door 12, each moving direction of the plurality of identification displays detected based on the difference between the plurality of captured images captured is taken into consideration. Thus, the operation state of the railway vehicle 10 is detected, and the platform door 20 is automatically opened and closed in conjunction with the open / close state of the vehicle door 12, which is mainly different from the second embodiment. For this reason, substantially the same components as those in the second embodiment are denoted by the same reference numerals and description thereof is omitted.

  In this embodiment, as shown in FIGS. 21 and 22, in addition to the QR code 50, the QR code 53 is located at the upper part of the glass window 14 a of the other door 14 and close to the one door 13. Is attached from the outside of the vehicle. And the camera 30 is installed so that the imaging visual field 31 may become the range (henceforth a vehicle door peripheral range) which can image the vehicle door 12 and its periphery in a target stop position.

Hereinafter, in the present embodiment, the opening / closing process performed by the control unit 41 of the platform door control device 40 when the platform door 20 is opened / closed will be described with reference to the flowchart shown in FIG.
Before and after the railcar 10 entering the home 2 stops at the target stop position, the control unit 41 starts the opening / closing process. First, the imaging of the vehicle door peripheral area is performed in the imaging process of step S301 in FIG. After the start, whether or not each information code functioning as an identification display has moved in the same direction by the difference (comparison) with the captured image captured by the camera 30 in the determination process shown in step S303. Determined. Here, when the railway vehicle 10 is not in the home 2, it is determined No in Step S303, and the processing from Step S301 is repeated. In addition, the control part 41 which performs step S303 and step S307, S311, S317, S321 mentioned later functions as a movement determination means.

  Then, when the railcar 10 that has entered the home 2 decelerates to a position before the target stop position, the QR code 50 and the QR code 50 and QR that are moving in the same direction due to the difference from the captured image captured by the camera 30 last time. When the code 53 is imaged (see arrows F1a and F1b in FIG. 21A), it is detected that the railway vehicle 10 is moving, and Yes is determined in step S303. Subsequently, it is determined whether or not each information code is stopped in the determination process shown in step S307 in a state where the vehicle door peripheral area is imaged in the imaging process in step S305. Here, since the QR code 50 and the QR code 53 that are moving until the railway vehicle 10 stops are imaged, it is determined No in step S307, and the processing from step S305 is repeated.

  When the railway vehicle 10 stops at the target stop position and the QR code 50 and the QR code 53 have not moved for a predetermined time (see FIG. 21B), the vehicle door 12 is closed and the railway A stop of the vehicle 10 is detected, and it is determined Yes in step S307. In the present embodiment, a common value is preset for each vehicle door 12 for the predetermined time.

  Subsequently, it is determined whether or not the QR code 50 and the QR code 53 are moving away in the determination process shown in step S311 in a state where the vehicle door peripheral area is imaged in the imaging process in step S309. Is done. Here, when the vehicle door 12 has not started the opening operation, the QR code 50 and the QR code 53 are in a stopped state. Therefore, it is determined No in step S311, and the processing from step S309 is performed. Repeated.

  When each vehicle door 12 of the railway vehicle 10 stopped at the target stop position starts to open, the QR code 50 and the QR code 53 move away from each other (arrows F2a and F2b in FIG. 22A). Reference), the opening operation of the vehicle door 12 is detected, and it is determined Yes in step S311. Subsequently, an opening instruction transmission process shown in step S <b> 313 is performed, and the opening instruction is transmitted to each door driving unit 22.

  Subsequently, it is determined whether the QR code 50 and the QR code 53 are moving in the approaching direction in the determination process shown in step S317 in a state where the vehicle door peripheral range is imaged in the imaging process in step S315. Is done. Here, when the vehicle door 12 is in an open operation or in an open state (stopped) and the vehicle door 12 has not started a close operation, the QR code 50 and the QR code 53 have not moved in the approaching direction. Therefore, it is determined No in step S317, and the processing from step S315 is repeated.

  When each vehicle door 12 starts the closing operation, the QR code 50 and the QR code 53 move in the approaching direction (see arrows F3a and F3b in FIG. 22B), so that the closing operation of the vehicle door 12 is performed. It is detected and it determines with Yes in step S317. Subsequently, it is determined whether or not each information code is stopped in the determination process shown in step S321 in a state where the vehicle door peripheral range is imaged in the imaging process in step S319. Here, when the vehicle door 12 is in the closing operation and the vehicle door 12 is not in the closed state (stopped), it is determined No in Step S321, and the processing from Step S319 is repeated.

  If the QR code 50 and the QR code 53 have not moved for a predetermined time due to the vehicle door 12 being closed (see FIG. 21B), the closed state of the vehicle door 12 is detected, and the step In S321, it is determined Yes. Subsequently, a closing instruction transmission process shown in step S323 is performed, and the closing instruction is transmitted to each door driving unit 22, and the main opening / closing process ends.

  As described above, in the home door control system 1 according to the present embodiment, the QR code 50 and the QR code 53 that function as a plurality of identification displays move based on the difference between the plurality of captured images captured by the camera 30. It is determined whether or not. Then, in addition to the recognition result for recognizing the identification display by decoding the captured image obtained by capturing the QR code 50 and the QR code 53, the operation state of the vehicle door 12 based on the determination result regarding the movement of the QR code 50 and the QR code 53 The operation state of the railway vehicle 10 is detected, and the platform door 20 is controlled by the control unit 41. As a result, it is possible to control the home door 20 based on whether or not the vehicle door 12 is being opened and closed based on whether or not the identification display is moving. Therefore, the opening and closing timing of the home door 20 and the vehicle door 12 can be controlled. It is possible to easily adjust the difference from the opening / closing timing.

  Further, when it is determined that all of the QR code 50 and the QR code 53 captured as the identification display by the camera 30 are moving in the same direction (Yes in S303), it is detected that the railway vehicle 10 is moving. Then, the platform door 20 is controlled as a waiting state for the opening instruction. When the vehicle door 12 is opened and closed, the movement direction of the QR code 50 provided on one door 13 and the QR code 53 provided on the other door 14 is opposite, and the railway vehicle 10 moves. Since all the QR codes 50 and 53 move in the same direction, it is possible to detect that the railway vehicle 10 is moving without being erroneously detected as an opening / closing operation of the vehicle door 12. That is, since all the identification displays move in the same direction when the railway vehicle 10 is moving, the railway vehicle 10 is moving according to the determination that all the identification displays are moving in the same direction. Therefore, even if the vehicle door 12 moves as the railway vehicle 10 moves, it is possible to suppress the misperception that the vehicle door 12 is opening and closing.

  Furthermore, when it is determined that the moving direction of the QR code 50 provided on one door 13 is close to the moving direction of the QR code 53 provided on the other door 14 (Yes in S317), the vehicle door 12 Is detected and the home door 20 is controlled to be closed. When the vehicle door 12 is closed, the movement direction of the QR code 50 provided on the one door 13 and the movement direction of the QR code 53 provided on the other door 14 are close to each other. By detecting the movement of each QR code, the closing operation of the vehicle door 12 can be detected. That is, when one door 13 and the other door 14 are moving in the approaching direction, it can be determined that the vehicle door 12 is closing, and in this case, the home door 20 is controlled to be closed. Therefore, the delay of the timing at which the home door 20 starts to close with respect to the timing at which the vehicle door 12 starts to close can be reduced.

  Furthermore, when it is determined that the moving direction of the QR code 50 provided on one door 13 and the moving direction of the QR code 53 provided on the other door 14 are away from each other (Yes in S311), the vehicle door 12 Is detected and the home door 20 is controlled to be in the open state. When the vehicle door 12 is opened, the movement direction of the QR code 50 provided on one door 13 and the movement direction of the QR code 53 provided on the other door 14 are away from each other. By detecting the movement of each QR code, the opening operation of the vehicle door 12 can be detected. That is, when one door 13 and the other door 14 are moving away from each other, it can be determined that the vehicle door 12 is opened, and in this case, the home door 20 is controlled to be opened. Thus, the delay of the timing at which the home door 20 starts to open relative to the timing at which the vehicle door 12 starts to open can be reduced.

  In particular, when it is determined that all of the QR code 50 and the QR code 53 captured as a plurality of identification displays by the camera 30 have not moved for a predetermined time (Yes in S307, Yes in S321), the vehicle door 12 is stopped. Is detected and the home door 20 is controlled as a waiting state for the opening instruction or the closing instruction. Accordingly, since it is possible to easily grasp whether or not the vehicle door 12 is stopped (moved), the vehicle door 12 is closed (closed) or opened when the vehicle door 12 is closed or opened. It is possible to suppress erroneous detection of completion (open state).

  Furthermore, immediately after detecting the closing operation of the vehicle door 12 (Yes in S317), when it is determined that all of the QR code 50 and the QR code 53 have not moved for a predetermined time (Yes in S321), the vehicle door 12 Is detected and the home door 20 is controlled to be closed. As a result, even if the vehicle door 12 is opened again because a passenger's baggage or the like is caught in the vehicle door 12, the home door 20 is not controlled to be closed. 20 closing operations can be suppressed.

  Further, immediately after detecting the movement of the railway vehicle 10 (Yes in S303), when it is determined that all of the QR code 50 and the QR code 53 functioning as a plurality of identification displays have not moved for a predetermined time (in S307). Yes), it is detected that the vehicle door 12 is in the closed state immediately before the vehicle door 12 is in the open state and the railway vehicle 10 is in the stopped state, and the home door 20 is controlled. If it is determined that all of the plurality of identification displays have not moved for a predetermined time immediately after detection of the movement of the railway vehicle 10, it can be determined that the railway vehicle 10 is in a stopped state immediately before the vehicle door 12 is opened. Therefore, the home door 20 can be controlled to open smoothly.

  Note that the QR code 50 and the QR code 53 that function as identification displays may be generated so that information including at least the information related to the predetermined time is recorded in an optically readable manner. Thus, even when the opening / closing timing of the vehicle door 12 is different for each railcar 10 or for each vehicle door 12 provided with an identification display, the predetermined time for opening / closing the vehicle door 12 provided with the identification display is set to the predetermined time. It can be easily set as time.

  Further, by using a plurality of identification displays provided on the vehicle door 12, the characteristic configuration of the present embodiment such as automatically opening and closing the home door 20 in conjunction with the open / closed state of the vehicle door 12 of the railway vehicle 10 is provided. Can be applied to other embodiments.

  In addition, it is not restricted to detecting the operation state of the vehicle door 12 based on each moving direction of the several identification display imaged at the time of the rail vehicle 10 stop, One moving direction among the several imaged identification displays imaged The operating state of the vehicle door 12 may be detected based on the above. For example, as shown in the captured image P illustrated in FIG. 24, when two QR codes 50 and 53 are captured when the railcar 10 is stopped, the QR code 50 that is positioned most centrally in the captured image is displayed. The operation state of the vehicle door 12 is detected based on the moving direction. Thereby, even when the vehicle door 12 is opened and closed, the identification display as a detection reference is difficult to be separated from the center of the imaging field of view, so that the imaging field of view necessary for imaging the identification display as the detection reference by the camera 30 is narrowed. can do.

[Tenth embodiment]
Next, a platform door control system according to a tenth embodiment of the present invention will be described with reference to FIGS.
The tenth embodiment is mainly different from the ninth embodiment in that the plurality of identification displays include other identification displays that surround the vehicle door 12 and are provided in a peripheral region that does not move with the vehicle door 12. . For this reason, the same reference numerals are given to substantially the same components as those in the ninth embodiment, and the description thereof will be omitted.

  In this embodiment, as shown in FIGS. 25 and 26, in addition to the QR code 50, the QR code 54 is used as another identification display provided in a portion that does not move with the vehicle door 12. The vehicle body 11b is provided. For this reason, when the vehicle door 12 is opened and closed, only the QR code 50 moves, and the QR code 54 does not move.

  In the present embodiment, since the QR code 50 is provided on one door 13, the QR code 50 moves in the traveling direction of the railway vehicle 10 when the vehicle door 12 is closed, and the railway vehicle 10 when the vehicle door 12 is opened. Move in the opposite direction to the direction of travel. Information about the opening / closing direction of the vehicle door 12 and the moving direction of the QR code 50 provided on the vehicle door 12 is stored in advance in the storage unit 42 that functions as a storage unit. For this reason, by detecting the moving direction of the QR code 50, it is possible to grasp whether the vehicle door 12 is in the opening operation or the closing operation.

Hereinafter, in the present embodiment, an opening / closing process performed by the control unit 41 of the platform door control device 40 when the platform door 20 is opened / closed will be described with reference to a flowchart shown in FIG.
As in the ninth embodiment, the opening / closing process is started by the control unit 41 before the railcar 10 entering the home 2 stops at the target stop position. First, the imaging process in step S301 in FIG. After the imaging of the vehicle door peripheral range is started, it is determined whether or not each information code is moving in the same direction in the determination process shown in step S303. Then, when the rail car 10 entering the home 2 decelerates and reaches the target stop position before the QR code 50 and the QR code 54 moving in the same direction are imaged (in FIG. 25A). (See arrows F4a and F4b), it is detected that the railway vehicle 10 is moving, and it is determined Yes in step S303. Subsequently, whether or not each information code is stopped is determined in the determination process shown in step S307 in a state where the vehicle door peripheral area is imaged in the imaging process in step S305, and the railway vehicle 10 is stopped at the target stop. When the QR code 50 and the QR code 54 have not moved for a predetermined time by stopping at the position (see FIG. 25B), the vehicle door 12 is closed and the stop of the railway vehicle 10 is detected. In step S307, “Yes” is determined.

  Subsequently, in the state in which the vehicle door peripheral area is imaged in the imaging process of step S309, the QR code 50 is opened in the determination process shown in step S311a except for the QR code 54 (with respect to the traveling direction of the railway vehicle 10). Whether or not it is moving in the opposite direction). Here, when the vehicle door 12 has not started the opening operation, the QR code 50 is in a stopped state, so it is determined No in step S311a, and the processing from step S309 is repeated.

  When each vehicle door 12 of the railway vehicle 10 stopped at the target stop position starts an opening operation, the QR code 54 remains stopped and the QR code 50 is in the reverse direction (opening direction) with respect to the traveling direction of the railway vehicle 10. (See arrow F5 in FIG. 26A), the opening operation of the vehicle door 12 is detected, and it is determined Yes in step S311a. Subsequently, an opening instruction transmission process shown in step S <b> 313 is performed, and the opening instruction is transmitted to each door driving unit 22.

  Subsequently, the QR code 50 is closed (the traveling direction of the railway vehicle 10) except for the QR code 54 in the determination process shown in step S317a in a state where the vehicle door peripheral area is imaged in the imaging process in step S315. It is determined whether or not it is moving. Here, when the vehicle door 12 is open or in an open state (stopped) and the vehicle door 12 has not started the closing operation, the QR code 50 has not moved in the traveling direction of the railway vehicle 10. Therefore, it is determined No in step S317a, and the processing from step S315 is repeated.

  When each vehicle door 12 starts closing, the QR code 54 remains stopped and the QR code 50 moves in the traveling direction (closing direction) of the railway vehicle 10 (see arrow F6 in FIG. 26B). ) The closing operation of the vehicle door 12 is detected, and it is determined Yes in step S317a. Subsequently, whether or not each information code is stopped is determined in the determination process shown in step S321 in a state where the vehicle door peripheral area is imaged in the imaging process in step S319, and the vehicle door 12 is closed. Thus, when the QR code 50 has not moved for a predetermined time (see FIG. 25B), the closed state of the vehicle door 12 is detected, and it is determined Yes in step S321. Subsequently, a closing instruction transmission process shown in step S323 is performed, and the closing instruction is transmitted to each door driving unit 22, and the main opening / closing process ends.

  As described above, in the home door control system 1 according to the present embodiment, the QR code 50 and the QR code 54 that function as a plurality of identification displays move based on the difference between the plurality of captured images captured by the camera 30. It is determined whether or not. Based on the determination result regarding the movement of the QR code 50 and the QR code 54 in addition to the recognition result for recognizing the identification display by decoding the captured image obtained by capturing the QR code 50 and the QR code 54, The operation state of the railway vehicle 10 is detected, and the platform door 20 is controlled by the control unit 41. Even if it does in this way, similarly to the said 9th Embodiment, after grasping | ascertaining whether the vehicle door 12 is opening and closing based on whether the identification display is moving, the home door 20 can be controlled. Therefore, the difference between the opening / closing timing of the home door 20 and the opening / closing timing of the vehicle door 12 can be easily adjusted.

  Further, when it is determined that all of the QR code 50 and the QR code 54 imaged as the identification display by the camera 30 are moving (Yes in S303), it is detected that the railway vehicle 10 is moving and the home door is detected. 20 is controlled as a waiting state for the opening instruction. For this reason, similarly to the ninth embodiment, it is possible to suppress erroneous detection that the vehicle door 12 is opened and closed even when the vehicle door 12 moves as the railway vehicle 10 moves.

  In particular, when it is determined that the QR code 50 excluding the QR code 54 (other identification display) among a plurality of identification displays imaged by the camera 30 is moving, the vehicle door 12 is being closed or opened. The home door 20 is controlled when it is detected as being inside. When the QR code 50 is moving except for the QR code 54 among the plurality of identification indications, it can be determined that the vehicle door 12 is closing or opening, so the vehicle door 12 is closing or opening. It is possible to suppress erroneous detection that the vehicle door 12 is closed (closed state) or opened (completed).

  The QR code 50 may record information on the opening / closing direction of the vehicle door 12 and the moving direction of the QR code 50 provided on the vehicle door 12 described above. That is, the identification display may be configured as an information code in which at least information regarding the moving direction of the identification display when the vehicle door 12 is opened and closed is recorded in an optically readable manner. Thereby, the vehicle door 12 provided with the moving information code is closed without storing the information in the storage unit 42 in advance by decoding and acquiring the information related to the moving direction from the imaged information code. It is possible to easily detect which state is the state or the open operation state.

  In addition, the characteristic configuration of the present embodiment, such as providing another identification display on a portion that does not move with the vehicle door 12, can also be applied to other embodiments.

[Eleventh embodiment]
Next, a platform door control system according to an eleventh embodiment of the present invention is described below.
In the eleventh embodiment, the camera 30 is set to a shutter speed at which the identification display cannot be recognized from the captured image during the opening / closing operation of the vehicle door 12 except when the vehicle door 12 is stopped including when the vehicle door 12 is open and closed. This is mainly different from the first embodiment.

  Specifically, the shutter speed of the camera 30 is set to such an extent that the QR code 50 imaged in step S103 is blurred during the opening / closing operation of the vehicle door 12 and cannot be decoded by the decoding process in step S105. For this reason, at the time of the closing operation of the vehicle door 12, since the identification display is not recognized from the captured image, it is determined No in step S107, and the closing instruction is not transmitted.

  Thus, since the QR code 50 imaged as the identification display during the opening / closing operation of the vehicle door 12 is blurred and is not recognized, the vehicle door 12 is opened / closed based on whether or not the identification display is imaged recognizable. Whether or not the vehicle door 12 is operating can be easily detected, and the home door 20 can be controlled after detecting whether or not the vehicle door 12 is opening and closing.

  The QR code 50 may record information related to the shutter speed, such as information for calculating the shutter speed and the shutter speed. That is, the identification display may be configured as an information code in which information including at least information on the shutter speed is recorded so as to be optically readable. Thereby, even if the opening / closing speed of the vehicle door 12 is different for each railcar 10 or for each vehicle door 12 provided with the information code, the information on the shutter speed is decoded and obtained from the captured information code. The unrecognizable shutter speed during the opening / closing operation of the vehicle door 12 can be set by the camera 30 for each information code.

  In addition, the characteristic configuration of the present embodiment, such as the shutter speed of the camera 30 being set so that the identification display cannot be recognized from the captured image during the opening / closing operation of the vehicle door 12, is excluding the case where the moving direction of the identification display is determined. It can also be applied to other embodiments.

[Twelfth embodiment]
Next, a platform door control system according to a twelfth embodiment of the present invention is described below.
The twelfth embodiment is mainly different from the first embodiment in that a plurality of imaging means are provided toward one vehicle door on which an identification display is provided. For this reason, substantially the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  The home 2 is provided with installation objects such as pillars and walls. Depending on the installation location of the installation object, the camera 30 is installed at a position where the QR code 50 affixed to the vehicle door 12 is easily imaged. It may be difficult. For example, as illustrated in FIG. 28, if the column 3 is installed at a position where it is easy to capture an image with respect to the QR code 50, the column 3 may obstruct the installation of the camera 30. Also, in an environment where the deviation of the stop position of the railway vehicle 10 with respect to the target stop position becomes large, when one railroad vehicle 10 stops greatly deviating from the target stop position with one camera 30, a QR that should be originally captured is taken. The code 50 may not be imaged.

  Therefore, in the present embodiment, a plurality of imaging means are provided toward one vehicle door on which an identification display is provided. Specifically, as shown in FIG. 29, cameras 30 a and 30 b are provided as two imaging means toward one vehicle door 12. That is, a pair of cameras 30 a and 30 b are directed to each vehicle door 12. The camera 30a and the camera 30b are arranged so that a part of each imaging visual field 31a, 31b overlaps, and configured to transmit each captured image to the home door control device 40.

  More specifically, the camera 30a has the QR code 50 (see the lower part X3 in FIG. 29) and the target when the shift in the direction opposite to the traveling direction is the largest with respect to the target stop position (for example, the shift is 700 mm). Both the QR code 50 at the stop position (see the middle X2 in FIG. 29) are installed so as to be included in the imaging visual field 31a. Further, the camera 30b has a QR code 50 (see the upper stage X1 in FIG. 29) when the shift in the traveling direction is the largest with respect to the target stop position (for example, the shift is 700 mm) and the QR code 50 at the target stop position. Both are included in the imaging visual field 31b.

  In the opening / closing process executed by the control unit 41, the camera 30a and the camera 30b are respectively imaged for each vehicle door 12 (S103), and each captured image is decoded (S105). Then, in each vehicle door 12, when the identification display is recognized by reading the entrance / exit specific information by at least one of the decoding processing for the captured image by the camera 30 a and the camera 30 b (Yes in S <b> 107), each door drive The closing instruction is transmitted to the unit 22 (S109).

  As described above, in the home door control system 1 according to the present embodiment, a plurality of imaging units are provided toward one vehicle door 12 provided with the QR code 50 (identification display). Thereby, it is difficult to install one image pickup means at a position where it is easy to pick up an image with respect to the identification display for an installation such as a pillar 3 or a wall provided in the home 2, and a deviation of the stop position of the railway vehicle 10 is large. Even in such an environment, by using a plurality of imaging means, it is possible to easily secure the imaging field of view (31a, 31b) required for identification display imaging, and to improve the ease of installation of each imaging means. Can do.

  In particular, since the plurality of imaging means (30a, 30b) are arranged so that a part of the imaging visual fields (31a, 31b) overlap each other, an imaging visual field for imaging the identification display is assigned to one imaging means. Compared with the case of using, it can be made wider.

  In addition, the camera 30a and the camera 30b are not limited to be arranged so that the overlapping range of the imaging visual field 31a and the imaging visual field 31b is large as illustrated in FIG. It may be installed as follows. For example, as a first modification of the present embodiment, in order to further widen the imaging field of view by a plurality of imaging units, as illustrated in FIG. 30, the overlapping range of the imaging field of view 31a and the imaging field of view 31b is the target stop position. You may arrange | position so that the QR code 50 may become the minimum range which can be imaged. In addition, depending on the installation environment in the home 2, the camera 30a and the camera 30b directed to at least a part of each vehicle door 12 may be arranged so that the imaging visual field 31a and the imaging visual field 31b do not overlap.

  In addition, two imaging units are not limited to being provided toward one vehicle door 12 on which an identification display such as a QR code 50 is provided, and three or more imaging units may be provided. Specifically, for example, as a second modification of the present embodiment, as illustrated in FIG. 31, cameras 30 a to 30 c that function as three imaging units toward one vehicle door 12 are defined as an imaging field of view 31 a. You may provide so that the imaging visual field 31b may overlap and the imaging visual field 31b and the imaging visual field 31c may overlap. Further, the number of image pickup means may be different for each vehicle door 12.

  In addition, the plurality of imaging units may be respectively arranged so that at least some of the optical axes are not parallel to each other. Specifically, as a third modification of the present embodiment, as illustrated in FIG. 32, the camera 30a and the camera 30a and the camera 30a are projected so that the optical axis 32a of the camera 30a projected onto the horizontal plane and the optical axis 32b of the camera 30b intersect. 30b can be arranged. This improves the ease of installation of the camera 30a and the camera 30b (each imaging means) compared to the case where each imaging means is arranged so that the respective optical axes are parallel to widen the imaging field of view. Can do.

  Further, as a fourth modification of the present embodiment, in the opening / closing process executed by the control unit 41, the QR code 50 or the like is identified for an image captured by one of the camera 30a and the camera 30b for one vehicle door 12. Processing for recognizing the display and detecting the operation state of the vehicle door 12 may be performed. In this case, either one of the camera 30a and the camera 30b may be selected based on a preset condition or the like, or any one of the camera 30a and the camera 30b is selected every time depending on the imaging environment or the like. Also good. Thereby, since it is not necessary to always consider all the imaging results by a several imaging means, the recognition determination of identification display, ie, the detection regarding the operation state of the vehicle door 12, can be simplified.

  For example, when the same identification display is imaged by the camera 30a and the camera 30b when the railway vehicle 10 stops, the operation state of the vehicle door 12 is detected based on a captured image in which the moving direction of the identification display is the center side. Can do. When the image is picked up as shown in FIG. 33A, since the QR code 50 is provided on the one door 13, the moving direction of the QR code 50 is the center side in the image picked up by the camera 30a, and the camera 30b. Since the movement direction of the QR code 50 is the edge side in the captured image by, the operation state of the vehicle door 12 is detected based on the captured image of the camera 30a. When the image is picked up as shown in FIG. 33B, the QR code 53 is provided on the other door 14, and therefore the moving direction of the QR code 53 is the edge side in the image picked up by the camera 30a. Since the movement direction of the QR code 53 is the center side in the captured image by 30b, the operation state of the vehicle door 12 is detected based on the captured image of the camera 30b. In this way, the captured image in which the moving direction from the stop of the captured identification display is on the center side is more than the captured image in which the moving direction from the stop of the captured identification display is on the edge side, Since it becomes easy to capture the identification display until the vehicle door 12 is closed, it is possible to reliably detect the operating state of the vehicle door 12 even when one of the two captured images is used.

  Further, as a fifth modification of the present embodiment, the operation state of the vehicle door 12 is detected based on a combined image obtained by combining a plurality of captured images simultaneously captured by a plurality of imaging units with an area where the imaging fields of view overlap. May be. Specifically, for example, a captured image Pa captured by the camera 30a as illustrated in FIG. 34A and a captured image Pa captured by the camera 30b as illustrated in FIG. As shown in 34 (C), a combined image Pj is generated by combining regions Pc where the imaging fields of view overlap with each other, and the operating state of the vehicle door 12 is detected based on the combined image. Thereby, the imaging visual field for imaging an identification display can be made wider compared with the case where one imaging means is used.

  Further, as a sixth modification of the present embodiment, when the same identification display is simultaneously captured by a plurality of imaging units, a combination of a plurality of captured images captured by the plurality of imaging units with reference to the identification display The operating state of the vehicle door 12 may be detected based on the image. Specifically, for example, a captured image Pa in which the QR code 50 is captured by the camera 30a as illustrated in FIG. 35A and a QR code 50 is captured by the camera 30b as illustrated in FIG. 35B. As shown in FIG. 35C, the captured image Pb is combined with the QR code 50 as a criterion to generate a combined image Pj. In this case, for example, the coordinates of the reference point (for example, the upper left corner) of the QR code 50 in the captured image Pa are (100, 200), and the coordinates of the same reference point of the QR code 50 in the captured image Pb are (1000, 180). In this case, the captured image Pa and the captured image Pb are combined using the offset correction value (900, -20) to generate a combined image Pj, and the operation of the vehicle door 12 is performed based on the combined image Pj. Detect state. Thereby, the reference | standard at the time of producing | generating a combined image becomes clear, and a combined image can be produced | generated accurately.

  Further, as a seventh modification of the present embodiment, when the identification display is an information code having a plurality of specific patterns and recording predetermined information so as to be optically readable, at least a part of the positions of the specific patterns May be combined with a criterion to generate a combined image. Specifically, for example, the specific pattern is a QR code position detection pattern (finder pattern), and the position of each position detection pattern can be combined with a reference to generate a combined image. In this case, even when a part of the position detection pattern is not captured in one captured image, a combined image can be generated using the captured position detection pattern.

  For example, all the position detection patterns FP1 to FP3 are captured by the camera 30a as in the captured image Pa illustrated in FIG. 36A, and each detection is performed as in the captured image Pb illustrated in FIG. When only the position detection patterns FP1 and FP2 arranged in the direction perpendicular to the captured image as a part of the pattern are imaged by the camera 30b, the position detection patterns FP1 and FP2 are used as a reference in FIG. 36C. As illustrated, the combined image Pj is generated.

  Further, all the position detection patterns FP1 to FP3 are captured by the camera 30a as in the captured image Pa illustrated in FIG. 37A, and each detection is performed as in the captured image Pb illustrated in FIG. When only the position detection patterns FP1 and FP3 arranged in the horizontal direction with respect to the captured image as a part of the pattern are picked up by the camera 30b, the position detection patterns FP1 and FP3 are used as a reference in FIG. As illustrated, the combined image Pj is generated. In FIG. 36 and FIG. 37, the vehicle door 12 and the like are not shown for convenience, and the outer shape of the QR code and its position detection pattern is shown, and the illustration of each cell is omitted.

  In this way, at least a part of a specific pattern (position detection pattern) that can be easily recognized from the captured image in constructing the information code can be used as a reference when generating the combined image, and the combined image is generated with higher accuracy. be able to.

  It should be noted that the characteristic configuration of this embodiment and its modifications, such as a plurality of imaging means provided toward one vehicle door provided with an identification display, can also be applied to other embodiments and the like. For example, in the opening / closing process executed by the control unit 41 in the second embodiment, the ninth embodiment, and the like described above, an image pickup unit that first picks up an image so that an identification display can be recognized among a plurality of image pickup units after the railcar 10 stops. You may perform the process for recognizing an identification display using.

[Thirteenth embodiment]
Next, a platform door control system according to a thirteenth embodiment of the present invention is described below.
The thirteenth embodiment is mainly different from the twelfth embodiment in that the plurality of imaging means are arranged so that the imaging fields of view overlap each other at least in the range where the identification display may be imaged.

  Specifically, as shown in FIG. 38, the camera 30a is shifted not only in the QR code 50 at the target stop position (see the middle stage X2 in FIG. 38) but also in the direction opposite to the traveling direction with respect to the target stop position. QR code 50 (see the lower part X3 in FIG. 38) when is the largest and QR code 50 (see the upper part X1 in FIG. 38) when the shift in the traveling direction is the largest with respect to the target stop position It is installed so as to be included in the imaging visual field 31a. Similarly, the camera 30b travels not only with respect to the QR code 50 at the target stop position but also with respect to the QR code 50 and the target stop position when the shift in the direction opposite to the travel direction is the largest with respect to the target stop position. Both the QR code 50 and the QR code 50 when the displacement in the direction becomes the largest are included in the imaging field of view 31b.

  Thus, since the cameras 30a and 30b are arranged so that the imaging visual fields 31a and 31b overlap each other in a range where the QR code 50 may be imaged, for example, the QR code 50 of the closed vehicle door 12 is, for example, Is captured by the camera 30b even if it is not captured by the camera 30a, the QR code 50 is recognized. Thereby, redundancy (robustness) can be ensured regarding the imaging of the identification display (QR code 50) with respect to the vehicle door 12.

  In a configuration in which a plurality of imaging units are arranged so that imaging fields of view overlap each other in a range where the identification display may be captured, some imaging cycles and at least some other imaging units of each imaging unit The imaging cycle can be shifted by a half cycle of the illumination cycle of the illumination light applied to the identification display. Specifically, as a first modification of the present embodiment, as illustrated in FIG. 39, the imaging cycle of the camera 30a and the imaging of the camera 30b with respect to the illumination cycle T of the illumination light Ls irradiated on the identification display. The period is shifted by T / 2 corresponding to a half period of the illumination period T of the illumination light Ls.

  Thereby, even when the brightness of the illumination light Ls irradiated on the identification display changes periodically, the identification display imaged by the camera 30a (some imaging means) and the camera 30b (other part imaging). Since both the identification display imaged in (means) are not imaged in a dark state at the same time, the influence of flicker can be avoided.

  In addition, the imaging period of each camera 30a, 30b may be set in advance based on information related to the illumination period T of the illumination light Ls acquired when the home door control system 1 is installed. In addition, each camera 30a, 30b may be configured such that its imaging cycle can be changed in accordance with an instruction from the home door control device 40. In this case, information on the illumination cycle T of the illumination light Ls It may be acquired in advance when the door control system 1 is installed and stored in the storage unit 42 or the like, or may be acquired in response to information input from the outside after installation or the like.

  In addition, the plurality of imaging units may be respectively arranged so that at least some of the optical axes are not parallel to each other. Specifically, as a second modification of the present embodiment, as illustrated in FIG. 40, the camera 30a and the camera 30a and the camera 30a are projected so that the optical axis 32a of the camera 30a projected onto the horizontal plane and the optical axis 32b of the camera 30b intersect. 30b can be arranged. This improves the ease of installation of the camera 30a and the camera 30b (each imaging means) compared to the case where each imaging means is arranged so that the respective optical axes are parallel to widen the imaging field of view. Can do. In particular, for example, even if the camera 30a (some imaging means) is affected by sunlight, spotlights, specular reflection, etc. at a certain timing, the camera 30b (other imaging means) Since it becomes difficult to receive the influence, the redundancy (robustness) can be improved regarding the imaging of the identification display for one vehicle door 12.

  Note that the characteristic configuration of the present embodiment and its modified examples, such as a plurality of imaging means arranged so that the imaging fields of view overlap each other at least in the range where the identification display can be imaged, is another embodiment. The present invention can also be applied.

[Fourteenth embodiment]
Next, a platform door control system according to a fourteenth embodiment of the present invention is described below.
The fourteenth embodiment is mainly different from the twelfth embodiment in that the identification display detection results are collected for each vehicle door.

  Specifically, as shown in FIG. 41, aggregation is performed for acquiring a captured image from the camera 30a and a captured image from the camera 30b and performing processing for recognizing the QR code 50 using a known decoding process or the like. A device 70 is provided for each vehicle door 12, and the recognition result of the QR code 50 by each aggregation device 70 is transmitted to the home door control device 40. That is, each aggregation device 70 recognizes the identification display (50) provided on the corresponding vehicle door 12 by using a plurality of image pickup means (30a, 30b), and thereby the vehicle door in the closed state of the vehicle door 12 or the like. It functions as a detection means for detecting the 12 operating states, and transmits the detection result to the home door control device 40.

  In the opening / closing process performed by the control unit 41 of the home door control device 40, the processes of steps S103 and S105 described above are omitted, and the vehicle door 12 is closed (closed) by recognizing the identification display from all the aggregation devices 70. When the detection result of “operation” is received, “Yes” is determined in step S107, and the closing instruction is transmitted to each door driving unit 22 (S109).

  In this way, a plurality of aggregation devices 70 functioning as detection means are provided for each vehicle door 12, and the home door control device 40 is based on the respective detection results of the aggregation devices 70. 20 is controlled. Thereby, since a detection result is collected for every vehicle door 12, a closed state etc. can be grasped | ascertained easily for every vehicle door 12. FIG.

  Instead of the aggregation device 70 described above, one of a plurality of imaging units may have the function of the aggregation device 70 as a master machine, and the other imaging means may be configured as a slave machine. In other words, any one of the plurality of imaging units is configured to function as a detection unit that can recognize and detect an identification display from a captured image captured by itself and a captured image acquired from the remaining imaging units. For example, as illustrated in FIG. 42, the camera 30a can have the function of the aggregation device 70 as a master device, and the camera 30b can be configured as a slave device.

  Thus, by configuring the camera 30a having a function as a detection unit as a master machine and the camera 30b as a slave machine, the home door control device 40 can acquire detection results from the camera 30a as a master machine, respectively. The communication configuration between each camera 30a, 30b and the platform door control device 40 can be simplified.

  It should be noted that the characteristic configuration of the present embodiment and its modification, such as collecting the detection results of the identification display for each vehicle door, can be applied to other embodiments and the like. For example, in the opening / closing process executed by the control unit 41 in the above-described second embodiment or the like, the detection results such as the opening state and opening operation of the vehicle door 12 and the operation state of the railcar 10 are displayed for each vehicle door 12 to which the camera is directed. And can be transmitted to the home door control device 40.

[Fifteenth embodiment]
Next, a platform door control system according to a fifteenth embodiment of the present invention is described below.
The fifteenth embodiment is mainly different from the first embodiment in that a process for recognizing an identification display is performed on a part of a plurality of acquired captured images. For this reason, substantially the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

  In the first embodiment, as described above, the identification display such as the QR code 50 is provided on all the vehicle doors 12 of the railway vehicle 10, and the identification display in the closed state is imaged toward each vehicle door 12. Each camera 30 is provided as possible (see FIG. 43). Each camera 30 is arranged so that the QR code 50 and the like are recognizable (decodable) even when a tall passenger gets in or when the passenger gets in with a tall baggage or the like. Specifically, as illustrated in FIG. 44, a QR code 50 is affixed to a height of H1 (for example, 1350 mm) from the floor surface of the platform 2, and a position at a distance Z (for example, 400 mm) from the vehicle door 12 is provided. The camera 30 is installed on the ceiling 2b of the home 2 so that the optical axis of the camera 30 is θ (for example, 60 °) with respect to the horizontal plane even when a passenger of high height (for example, H2 = 2000 mm) stands. Thus, the QR code 50 or the like is captured by the camera 30 so as to be recognizable.

  And in the opening / closing process performed in the control part 41 of the platform door control apparatus 40, the process for recognizing identification display, such as QR code 50, is made about all the vehicle doors 12. FIG. More specifically, it is detected that each vehicle door 12 is in a closed state by changing from an imaging state in which an identification display such as a QR code 50 is not recognized in all captured images to an imaging state in which the identification display is recognized. As a result, the platform door 20 is controlled in consideration of the closed state of each of the plurality of vehicle doors 12, so that the platform door 20 can be automatically controlled in accordance with the actual situation.

  On the other hand, in this embodiment, the camera 30 is each provided so that the identification display in a closed state can be imaged toward a part of each vehicle door 12. For example, when there are four vehicle doors 12 per vehicle, the camera 30 is directed to one of the four vehicle doors 12. In the opening / closing process performed by the control unit 41, by changing from an imaging state in which the identification display such as the QR code 50 is not recognized in a part of all the captured images to an imaging state in which the identification display is recognized, It is detected that each vehicle door 12 is closed.

  Thereby, all the open / close locations of the home door 20 can be automatically controlled to the same operation state according to the detection result of a part of the plurality of vehicle doors 12 such as the closed state, and the closed state of all the vehicle doors 12 can be changed. Since it is not grasped, redundancy (robustness) can be ensured for the automatic control of the platform door 20. For example, even when an identification display such as a QR code 50 is not captured for one of the closed vehicle doors 12 due to a passenger's baggage or the like, an identification display such as a QR code 50 is captured for another closed vehicle door 12. Thus, the home door 20 can be automatically controlled to be closed by being recognized.

  The cameras 30 may be provided so as to be able to capture the identification display in the closed state toward all the vehicle doors 12, and even in this case, the QR code 50 or the like is identified in a part of all the captured images. By changing from the imaging state in which the display is not recognized to the imaging state in which the identification display is recognized, it is possible to detect that each vehicle door 12 is in the closed state. In addition, each door drive unit 22 is a person between the railway vehicle 10 and the platform door 20 according to a detection result detected by a sensor or the like provided on the railcar side surface of the corresponding vehicle door 12. The movable doors 21 may be individually moved so as to be different from the closing instruction from the home door control device 40 or the like.

  It should be noted that the number of vehicle doors 12 on which the identification display is provided is three or more, and the cameras 30 are arranged toward the vehicle doors 12 on which the identification display is provided. The operation states of the vehicle doors 12 unified with respect to all the vehicle doors 12 may be detected by obtaining the respective operation states and using the majority vote. For example, an identification display is provided for each of the three vehicle doors 12, the closed state of the vehicle door 12 is detected from the imaging results of the two cameras 30, and the opening of the vehicle door 12 is detected from the imaging results of the remaining one camera 30. When the state is detected, a majority decision is used to detect that each vehicle door 12 is in the closed state. Thereby, even when performing collective control of the home door 20 using the detected operation state of some of the vehicle doors 12, the reliability of the detection result can be improved. In particular, by obtaining an odd number of detection results from the identification display imaging results of each camera 30 and using the majority vote, the reliability of the detection result obtained by the majority vote can be further improved.

  As described above, in the configuration in which all the open / close positions of the home door 20 are controlled to the same operation state according to the detection result of the operation state of some of the vehicle doors 12, as illustrated in FIG. The imaging visual field shift direction with respect to some of the vehicle doors 12 and the imaging visual field shift direction with respect to the remaining vehicle doors 12 may be arranged differently with respect to the traveling direction of the railway vehicle 10. Thereby, even if the railcar 10 deviates from the target stop position, either the camera 30 directed toward the part of the vehicle doors 12 or the camera 30 directed toward the remaining vehicle doors 12 is captured. Since the identification display can easily enter the field of view, it is not necessary to direct the plurality of cameras 30 to one vehicle door 12, so that the configuration of the imaging means can be simplified.

  It should be noted that the characteristic configuration of this embodiment and the modified example such as performing processing for detecting the operation state of the vehicle door 12 from the recognition result of the identification display for a part of the plurality of acquired captured images, The present invention can also be applied to the embodiment. For example, in the opening / closing process executed by the control unit 41 in the second embodiment, the imaging state in which the identification display is not recognized from the imaging state in which the identification display such as the QR code 50 is recognized in a part of all the captured images. It may be detected that each vehicle door 12 is in the open state. Even if it does in this way, since the open state etc. of all the vehicle doors 12 are not grasped | ascertained, redundancy (robustness) can be ensured regarding the automatic control of the platform door 20. FIG. In the opening / closing process executed by the control unit 41 in the ninth embodiment, when the movement of the identification display such as the QR code 50 is recognized in a part of all the captured images, the determination according to the movement is performed. May be performed. Even if it does in this way, since the movement state etc. of all the vehicle doors 12 are not grasped | ascertained, redundancy (robustness) can be ensured regarding the automatic control of the platform door 20. FIG.

[Sixteenth Embodiment]
Next, a platform door control system according to a sixteenth embodiment of the present invention is described below.
In the sixteenth embodiment, the identification display is provided on each of the plurality of vehicle doors 12 of the railway vehicle 10, and the home door control device 40 is based on the respective operation states of the detected plurality of vehicle doors 12. The open / close locations of the corresponding platform doors 20 are individually controlled. For this reason, for example, the home door control device 40 controls the door driving unit 22 corresponding to the vehicle door 12 detected to be in the closed state, closes the movable door 21, and sets the vehicle door 12 detected to be in the open state. The corresponding door drive unit 22 is controlled to open the movable door 21.

  By individually controlling the opening / closing positions of the home door 20 in this way, it is possible to perform finer control of the home door 20 such as re-opening / closing only a part of the home door 20, and improving its convenience. it can. It should be noted that the characteristic configuration of the present embodiment, such as individually controlling the opening / closing positions of the platform door 20, can be applied to other embodiments.

[Seventeenth embodiment]
Next, a platform door control system according to a seventeenth embodiment of the present invention is described below.
The seventeenth embodiment is mainly different from the twelfth embodiment in that imaging means are respectively provided toward a part of a plurality of vehicle doors provided with an identification display.

  In the present embodiment, as in the twelfth embodiment, all the vehicle doors 12 of the railway vehicle 10 are provided with identification indications such as QR codes 50, etc. On the other hand, unlike the twelfth embodiment, each vehicle door 12 is provided. Cameras 30a and 30b are respectively provided toward a part of them. In particular, in the present embodiment, the vehicle door 12 to which the cameras 30a and 30b are directed differs depending on the station.

  Specifically, for example, as shown in FIG. 46, when a plurality of vehicle doors in a three-car train 10 are set to 12a to 12l in order from the top side, at the station A, the vehicle doors 12d, 12h, and 12k Cameras 30a and 30b are respectively provided. In the station B, cameras 30a and 30b are provided toward the vehicle doors 12b, 12g, and 12j, respectively, and in the station C, cameras 30a and 30b are provided toward the vehicle doors 12c, 12f, and 12k, respectively. In FIG. 46, for the sake of convenience, the identification display such as the QR code 50 is omitted.

  In the opening / closing process performed by the control unit 41, each of the images captured by the cameras 30a and 30b changes from an imaging state in which the identification display such as the QR code 50 is not recognized to an imaging state in which the identification display is recognized. It is detected that the vehicle door 12 is closed. For example, at the station A, each vehicle door 12 is changed by changing from an imaging state in which the identification display such as the QR code 50 is not recognized in the captured images at the vehicle doors 12d, 12h, and 12k to an imaging state in which the identification display is recognized. Detected as being closed. In the station B, each vehicle door 12 is changed by changing from an imaging state in which the identification display such as the QR code 50 is not recognized in the captured images at the vehicle doors 12b, 12g, and 12j to an imaging state in which the identification display is recognized. Detected as being closed. In the station C, each vehicle door 12 is changed from an imaging state in which the identification display such as the QR code 50 is not recognized in the captured images at the vehicle doors 12c, 12f, and 12k to an imaging state in which the identification display is recognized. Detected as being closed.

  As described above, the imaging means such as the cameras 30a and 30b are respectively provided toward a part of the plurality of vehicle doors 12 provided with the identification display such as the QR code 50, as illustrated in FIG. Thus, even if the vehicle door 12 to be imaged is different because the installation location of the imaging means is restricted due to the pillar 3, the wall 4, etc. for each platform 2 of the station where the railway vehicle 10 stops, Automatic control of the door 20 can be performed.

  In particular, since the identification display such as the QR code 50 is provided on all the vehicle doors 12 of the railway vehicle 10, even if the vehicle door 12 to be imaged is different for each platform 2 where the railway vehicle 10 stops. Since any image pickup means is imaged so that the identification display can be recognized if the vehicle door 12 is in the closed state, the home door 20 can be automatically controlled without being affected by restrictions on the installation place of the image pickup means. .

  Note that the characteristic configuration of the present embodiment, such as the provision of imaging means toward at least a part of the plurality of vehicle doors provided with the identification display, can also be applied to other embodiments. For example, the imaging means directed toward a part of the plurality of vehicle doors 12 provided with the identification display is not limited to the two cameras 30a and 30b, and may be one camera 30 or three or more. Cameras 30a to 30c may be used. Further, the number of image pickup means may be different for each vehicle door 12.

  In the opening / closing process executed by the control unit 41 in the second embodiment, in the example of the station A, the imaging state in which the identification display such as the QR code 50 is recognized in the captured images at the vehicle doors 12d, 12h, and 12k. It may be detected that each vehicle door 12 is in an open state by changing to an imaging state in which the identification display is not recognized. In the opening / closing process executed by the control unit 41 in the ninth embodiment, in the example of the station A, the movement of the identification display such as the QR code 50 is recognized in the captured images at the vehicle doors 12d, 12h, and 12k. In some cases, detection according to the movement may be performed.

  In addition, in the opening / closing process executed by the control unit 41, as in the fifteenth embodiment, in order to ensure redundancy (robustness) with respect to automatic control of the home door 20, one of a plurality of acquired captured images is obtained. You may perform the process for recognizing an identification display about a part. For example, in the example of the station A, even when the identification display is not recognized in the captured image at the vehicle door 12d, the identification display is recognized from the imaging state in which the identification display is not recognized in the captured images at the vehicle doors 12h and 12k. You may detect that each vehicle door 12 is a closed state by changing to a state.

[Eighteenth embodiment]
Next, a platform door control system according to an eighteenth embodiment of the present invention is described below.
The eighteenth embodiment is mainly different from the first embodiment in that the operation state of the vehicle door is detected in consideration of the moving direction of the identification display detected based on the difference between the plurality of captured images. .

  In the present embodiment, it is determined whether or not the identification display is moving from the difference between a plurality of captured images in which the identification display is continuously picked up. When the identification display is moving, according to the moving direction of the identification display. The operating state of the vehicle door 12 is detected. Thereby, the opening operation before the vehicle door 12 is opened or the closing operation before the vehicle door 12 is closed can be quickly detected, and the processing time relating to the detection of the operation state of the vehicle door 12 can be shortened.

  Specifically, for example, the QR code 50 that has been captured so as to continuously move from the captured image P shown in FIG. 47A to the captured image P shown in FIG. 47B is shown in FIG. When the QR code 50 previously captured as illustrated in FIG. 47B is captured closer to the center than the edge of the captured image P as illustrated in FIG. Detects the open state after the opening operation.

  If the QR code 50 passes through the imaging field of view 31 of the camera 30 because the railcar 10 is moving, the QR code 50 that was captured last is captured at the edge of the captured image, not at the center. Therefore, when the railway vehicle 10 is moving, it can be prevented that the vehicle door 12 is erroneously detected as an opening operation.

  In addition, for example, as illustrated in FIG. 48A, the QR code 50 that has not been continuously captured until the previous time is closer to the center than the edge of the captured image as illustrated in FIG. 48B. When the image is taken to move, the closing operation of the vehicle door 12 is detected.

  If the QR code 50 passes through the imaging field of view 31 of the camera 30 because the railway vehicle 10 is moving, the QR code 50 that has not been continuously captured until the previous time is not the center side of the captured image. Therefore, when the railway vehicle 10 is moving, it is possible to suppress erroneous detection that the vehicle door 12 is closed.

  For example, when the moving direction of the identification display continuously imaged changes in the reverse direction, the reopening / closing operation of the vehicle door 12 is detected. In order to prevent the vehicle door 12 from being caught or the like, when the vehicle door 12 is opened / closed during the closing operation, or when the vehicle door 12 is closed / opened during the opening / closing operation, Since the moving direction of the identification display being picked up changes in the reverse direction, the re-opening / closing operation of the vehicle door 12 can be detected by detecting the movement of the identification display in the reverse direction.

  In particular, information on the movement direction of the QR code 50 when the vehicle door 12 is opened and closed, such as the movement direction of the QR code 50 in the opening operation of the vehicle door 12 and the movement direction of the QR code 50 in the closing operation. Can be recorded in an optically readable manner. Thereby, since the information regarding the moving direction of the QR code 50 can be acquired by reading the QR code 50 imaged as the identification display, the opening operation and the closing operation of the vehicle door 12 can be accurately detected.

  It should be noted that the characteristic configuration of this embodiment and its modification, such as detecting the operating state of the vehicle door 12 in consideration of the moving direction of the identification display, can be applied to other embodiments and the like.

[Nineteenth Embodiment]
Next, a platform door control system according to a nineteenth embodiment of the present invention is described below.
The nineteenth embodiment is mainly different from the first embodiment in that the operation state of the vehicle door is detected in consideration of a specific pattern of identification display.

  In the present embodiment, the detection number of each position detection pattern FP1 to FP3 of the QR code 50 is obtained based on the difference between a plurality of captured images when the QR code 50 is continuously captured by the camera 30, and the change in the detection number In consideration of the above, the operation state of the vehicle door 12 is detected.

  Specifically, for example, when the vehicle door 12 is opened, as illustrated in FIG. 49A, when all the position detection patterns FP1 to FP3 are captured and the number of detections is 3, As illustrated in FIG. 49B, the position detection patterns FP1 and FP2 are imaged, the number of detection becomes 2, and the number of detection decreases, thereby detecting the opening operation of the vehicle door 12. Thereafter, as illustrated in FIG. 49C, when the number of position detection patterns detected becomes zero, an open state after the opening operation of the vehicle door 12 is detected.

  Further, for example, when the vehicle door 12 is closed, as illustrated in FIG. 49C, when all the position detection patterns are not captured and the number of detections is 0, FIG. 49B As illustrated, the position detection patterns FP1 and FP2 are imaged, the number of detections becomes 2, and the number of detections increases, so that the closing operation of the vehicle door 12 is detected.

  As described above, the number of detections of the position detection pattern (specific pattern) changes according to the opening / closing operation of the vehicle door 12, so that the operation state of the vehicle door 12 can be considered by considering such a change in the detection number of the position detection pattern. Can be detected.

  Even when the information code cannot be read from the captured image, it is possible to detect that the vehicle door 12 is not in the open state when detecting at least one of the plurality of specific patterns. Thus, as illustrated in FIG. 50, even when the QR code 50 cannot be read because a part of the QR code 50 of the vehicle door 12 in the closed state is hidden by the passenger's luggage Ba together with the position detection pattern FP2, Since the position detection patterns FP1 and FP3 are captured and detected to detect that the vehicle door 12 is not in the open state, erroneous detection that the vehicle door 12 is in the open state can be suppressed.

  In addition, the operation state of the vehicle door 12 may be detected by considering the moving direction and the moving amount of each specific pattern without decoding the information code, not limited to the change in the number of detected specific patterns. . Here, the specific pattern of the information code is not limited to the QR code position detection pattern. For example, a central concentric circle shape in the maxi code, a start character and a stop character in the bar code, an alignment pattern in the data matrix code, or the like is used. can do.

  Note that the characteristic configuration of this embodiment and its modification, such as detecting the operation state of the vehicle door in consideration of the specific pattern, can also be applied to other embodiments and the like.

[20th embodiment]
Next, a platform door control system according to a twentieth embodiment of the present invention is described below.
The twentieth embodiment is mainly different from the first embodiment in that the operation state of the vehicle door is detected in consideration of the movement amount of the identification display.

  In the present embodiment, the operation state of the vehicle door 12 is detected in consideration of the amount of movement of the identification display detected based on the difference between a plurality of captured images that are continuously captured. Since the movement amount of the identification display during the normal opening / closing operation of the vehicle door 12 is substantially constant, the operation state of the vehicle door 12 can be detected in consideration of the movement amount of the identification display.

  Specifically, for example, the QR code 50 imaged when the vehicle door 12 is closed moves slightly according to the opening operation of the vehicle door 12 and is slightly shorter than the moving distance until it is covered and concealed by the vehicle body 11a. A predetermined movement amount threshold value is set according to the number of pixels so as to increase, and is stored in advance in the storage unit 42. For this reason, when the movement amount of the QR code 50 detected based on the difference between the captured images is equal to or greater than the predetermined movement amount threshold value, it is not the opening / closing operation of the vehicle door 12 but the movement of the railway vehicle 10. Can be detected.

  In addition, for example, the QR code 50 is not imaged without the movement amount of the QR code 50 detected based on the difference between a plurality of successively captured images reaching the predetermined movement amount threshold, and the previous imaging is performed. When the QR code 50 is captured at the edge of the captured image, the stop of the railcar 10 outside the target stop position range is detected. In this case, since the vehicle is unexpectedly stopped, the operation state of the vehicle door 12 may not be detected.

  Specifically, since the vehicle stops before the target stop position range, as illustrated in FIG. 51A, the QR code 50 of the vehicle door 12 in the closed state is the entry side edge (in FIG. 51). When the image is taken slightly closer to the center side than the right edge), when the vehicle door 12 is opened, the QR code 50 moves in the approaching edge direction (right direction in FIG. 51). Then, after the QR code 50 is imaged at the entrance side edge as illustrated in FIG. 51B, the movement amount is set to the predetermined movement amount threshold as illustrated in FIG. 51C. The image is not captured without reaching.

  In a state where the identification display of the vehicle door 12 of the railway vehicle 10 that has stopped from the target stop position range is imaged, depending on the moving direction of the vehicle door 12, the identification display may be immediately outside the imaging field of view after being moved and may not be captured. is there. For this reason, when the movement of the identification display does not reach the predetermined movement amount threshold and the identification display is finally imaged at the edge of the captured image, the movement outside the target stop position range of the railway vehicle 10 It can be detected as a stop. Moreover, an unnecessary detection process can be suppressed by not detecting the operation state of the vehicle door 12 in this case.

  Note that the predetermined movement amount threshold that has been learned and corrected may be stored in the storage unit 42 without being measured in advance and stored in the storage unit 42. That is, the movement amount of the identification display when the movement of the vehicle door 12 is detected is sequentially recorded, and the predetermined movement amount threshold value stored in the storage unit 42 is corrected based on the movement amount thus recorded. As a result, even when a plurality of types of vehicle doors 12 are to be imaged, every time the movement of the vehicle door 12 is detected, the movement amount of the identification display at that time is learned, and the predetermined movement amount threshold value is corrected. Since it can be optimized to have a range according to the installation environment, the detection accuracy regarding the detection of the operation state of the vehicle door 12 can be increased. The predetermined movement amount threshold stored in the storage unit 42 is corrected based on the movement amount of the identification display when the movement of the vehicle door 12 is detected by the correction process performed by the control unit 41. The control unit 41 may correspond to an example of “correction means”.

  The QR code 50 may be generated such that the predetermined movement amount threshold value is recorded so as to be optically readable. Thereby, the predetermined movement amount threshold value suitable for the vehicle door 12 can be easily obtained by reading the QR code 50 imaged as the identification display.

  Note that the characteristic configuration of the present embodiment and its modification, such as detecting the operation state of the vehicle door in consideration of the movement amount of the identification display, etc., can also be applied to other embodiments.

[Twenty-first embodiment]
Next, a platform door control system according to the twenty-first embodiment of the present invention is described below.
The twenty-first embodiment is mainly different from the first embodiment in that an identification display is provided on one of the one door and the other door.

  In the present embodiment, as illustrated in FIG. 52, among a plurality of vehicle doors 12 provided with a QR code as an identification display, some vehicle doors 12 are provided with a QR code 50 only on one door 13, A part of the vehicle doors 12 different from the part of the vehicle doors is provided with a QR code 53 only on the other door 14.

  Thereby, when the railcar 10 is moving, all the QR codes 50 and 53 move in the same direction, and when the vehicle door 12 is opened and closed, the movement direction of the QR code 50 and the QR code 53 are moved. Therefore, the movement of the railway vehicle 10 or the opening / closing operation of the vehicle door 12 can be easily detected according to the respective movement directions of the QR code 50 and the QR code 53. For example, the QR code 50 is provided on one door 13 on the side of the fifth car of the vehicle door 12 of the fourth car, and the QR code 53 is provided on the other door 14 on the side of the fourth car of the vehicle door 12 of the fifth car. When the vehicle door 12 is opened, the movement direction of the QR code 50 and the movement direction of the QR code 53 become closer to each other. When the vehicle door 12 is closed, the movement direction of the QR code 50 and the movement of the QR code 53 are moved. The direction is away from the direction.

  Note that the characteristic configuration of this embodiment, such as one of the one door 13 and the other door 14 being provided with an identification display, can be applied to other embodiments.

[Twenty-second embodiment]
Next, a platform door control system according to the twenty-second embodiment of the present invention is described below.
The twenty-second embodiment is mainly different from the first embodiment in that information about a place to be opened in the platform door is recorded in an information code that functions as an identification display.

  In the present embodiment, it is assumed that various railway vehicles 10 having different numbers of vehicles for formation, positions of doors, and the like stop at the platform 2, and the opening / closing positions of the platform doors 20 are changed according to the stopped railway vehicle 10. Therefore, information on the place to be opened in the home door 20 (hereinafter also referred to as open position information) is recorded in the QR code 50 so as to be optically readable.

  In the present embodiment, as the open state position information, for example, information corresponding to the items illustrated in FIG. 53 (company name, route name, car number, door number, number of vehicles, number of doors, seamount) is recorded in the QR code 50. Has been. Specifically, the QR code 50 includes, as the company name and route name, a number obtained by coding each assumed company name, a number obtained by coding each assumed route name, a car number, and a door number. And the number which specifies the number of vehicles is recorded. For this reason, when the QR code 50 is read and the open state position information illustrated in FIG. 53 is acquired, not only the name of the company or the route that operates the railway vehicle 10 on which the QR code 50 is provided can be acquired. It can be seen that the railway vehicle 10 has an eight-car train, and the QR code 50 provided on the second vehicle door 12 is read in the fifth vehicle having the three vehicle doors 12. The seamount information is information indicating that the side surface on which the QR code 50 is provided indicates the sea side (1) or the mountain side (2), in order to grasp which side surface the QR code 50 is provided on the left or right side in the traveling direction. Information.

  And if the control part 41 acquires open state position information for every QR code 50 read by execution of the said opening / closing process, respectively, the door drive part 22 corresponding to the opening / closing location based on each open state position information acquired in this way will be explained. Control. In particular, as shown in FIG. 54, if the home door 20 is configured to be able to change the opening / closing position by opening / closing the movable door 21 according to the movement of the door driving unit 22, etc., it corresponds to each acquired open state position information. It is possible to control the opening and closing of the movable door 21 by changing the opening and closing location.

  Thus, even when the position of each vehicle door 12 of the railway vehicle 10 that uses the platform door 20 differs depending on the type of the railway vehicle 10 and the like, the place that should be opened in the platform door 20 according to the type or the like Is recorded in an information code such as a QR code 50 functioning as an identification display, so that the home door control device 40 is a place to be opened in the home door 20 based on the information obtained by reading the information code. Can be controlled separately for each type.

  Note that the open state position information is not limited to the information for each item as shown in FIG. 53, but may be information for specifying the place itself to be opened in the platform door 20, and thus functions as an identification display. The characteristic configuration of the present embodiment, such as the information regarding the place where the platform door 20 should be opened in the information code, is recorded, can be applied to other embodiments.

[Twenty-third embodiment]
Next, a platform door control system according to a twenty-third embodiment of the present invention is described below.
The twenty-third embodiment is mainly different from the first embodiment in that deterioration of an information code read using error correction of the information code is detected.

  An information code having an error correction function, such as a QR code 50, is recorded by restoring so that even if some of the plurality of cells constituting the information code are dirty or damaged, the cells are corrected. Information can be read. That is, as the number of cells to be corrected increases and the degree of correction increases, the display state of the decoded information code is degraded.

  For this reason, in the present embodiment, the control unit 41 detects the deterioration of the information code when the correction degree of error correction when reading the information code exceeds a predetermined value, and notifies the home door control device 40 or the like as a notification means. The deterioration is notified according to the display of the display unit provided, the lighting of the light emitting unit, or the like. Further, the degree of deterioration can be notified according to the degree of correction (number of cells to be corrected, etc.).

  As a result, the notification as described above can be used as a notification of information code replacement time, and the person who has received such notification can easily grasp the deterioration of the information code as the identification display, thus eliminating the deterioration of the information code. Therefore, reliable reading guarantee can be realized.

  The identification display in the present embodiment is not limited to a QR code, but can be realized as long as it is an information code having an error correction function. Thus, degradation of identification display (read information code) using error correction is performed. The characteristic configuration of the present embodiment, such as detecting, can also be applied to other embodiments.

[Twenty-fourth embodiment]
Next, a platform door control system according to a twenty-fourth embodiment of the present invention is described below.
The twenty-fourth embodiment is mainly different from the first embodiment in that the operation state of the railway vehicle is detected using the identification display.

  In the present embodiment, as shown in FIG. 55, the QR code 54 provided in a portion that does not move with the vehicle door 12 such as the vehicle body portion 11b is used as an identification display instead of the QR code 50 provided in the vehicle door 12, and the control unit The operation state of the railway vehicle 10 is detected by the detection process performed at 41.

  Specifically, in the detection process, the stop of the railway vehicle 10 is detected when the QR code 54 imaged so as to move by each camera 30 has not moved for a predetermined time after stopping. When the stop of the railway vehicle 10 is detected, the stop position of the railway vehicle 10 is detected according to the position of the QR code 54 in the captured image. At that time, when the QR code 54 is captured within a predetermined range corresponding to the target stop position range in the captured image, the stop of the railcar 10 within the target stop position range is detected. Thereby, it is possible to easily determine not only the stop position of the railway vehicle 10 but also whether the railway vehicle 10 is stopped within the target stop position range with a simple configuration.

  Note that the operating state of the railway vehicle 10 may be detected by using an identification display such as a QR code 50 provided on a part that can be imaged from the outside of the railway vehicle 10, such as the vehicle body 11a and the vehicle door 12. The characteristic configuration of this embodiment, such as detecting the operation state of the railway vehicle using the identification display, can also be applied to other embodiments.

[25th Embodiment]
Next, a platform door control system according to a twenty-fifth embodiment of the present invention is described below.
The twenty-fifth embodiment is mainly different from the twenty-fourth embodiment in that a plurality of detection modes are prepared for detecting the operation state of the railway vehicle.

  In the present embodiment, when the stop of the railway vehicle 10 within the target stop position range is detected using the imaging result of the QR code 50 provided on the vehicle door 12, the operation of the vehicle door 12 is performed using the QR code 50. Detect state. For this reason, in this embodiment, in the opening / closing process performed by the control unit 41 of the platform door control device 40, not only the operation state of the vehicle door 12 but also the operation state of the railway vehicle is detected.

  In addition, when detecting the stop of the railway vehicle 10, it is not necessary to perform imaging so as to increase the detection accuracy until the QR code 50 immediately before the railway vehicle 10 stops enters the imaging field of view. It is possible to reduce the processing load and power consumption by extending the imaging interval and the detection interval compared to the case of detecting the state. For this reason, in this embodiment, the stop detection mode for detecting the stop of the railway vehicle 10 and the door open / close detection mode for detecting the operation state of the vehicle door 12 are prepared, and the camera 30 in the stop detection mode is used. By making the imaging interval longer than the door opening / closing detection mode and correspondingly detecting the operation state of the vehicle door 12 by making the detection interval by the control unit 41 in the stop detection mode longer than the door opening / closing detection mode, It is possible to reduce the processing load of the entire system and reduce power consumption.

  When the stop in the target stop position range of the railway vehicle 10 is detected in the stop detection mode as described above, the camera 30 and the home door control device 40 shift from the stop detection mode to the door open / close detection mode. To do. In this way, the transition from the stop detection mode to the door open / close detection mode is automatically performed at an appropriate timing by shifting from the stop detection mode to the door open / close detection mode in response to the detection of the stop within the target stop position range of the railcar 10. It can be carried out.

  In the opening / closing process performed by the control unit 41 of the platform door control device 40, when the QR code 50 is imaged and the stop of the railway vehicle 10 within the target stop position range is detected, the QR code 50 You may control the platform door 20 to an open state, without detecting the opening operation of the vehicle door 12 based on a movement. Even if it does in this way, since the platform door 20 will not be in an open state before the railcar 10 stops or when it stops outside the target stop position range, the platform door 20 can be opened safely and quickly. Can be in a state.

  Further, in the opening / closing process performed by the control unit 41 of the platform door control device 40, when the moving speed of the QR code 50 imaged by the camera 30 is equal to or higher than a predetermined speed threshold, the railway vehicle 10 is overrun (passed). May be detected. When the railway vehicle 10 stops within the target stop position range, the movement speed of the QR code 50 until immediately before the stop is detected is equal to the movement speed of the railway vehicle 10 immediately before the stop. Therefore, by setting the predetermined speed threshold according to the moving speed of the railway vehicle 10 immediately before stopping, the moving speed of the QR code 50 is set to the predetermined speed threshold when the railway vehicle 10 overruns. Thus, the overrun can be detected before the overrun railway vehicle 10 stops.

  Moreover, in the opening / closing process performed by the control unit 41 of the platform door control device 40, as shown in FIG. An image may be captured by a camera (not shown) provided near the edge 2a of the home 2, and the stop position of the railway vehicle 10 may be detected according to the image size of the identification display. Like the QR code 55 provided on the front surface 11c, the imaging size of the identification display provided in the part that can be imaged from the traveling direction is small when the vehicle stops before the target stop position, and becomes large when the target stop position is passed. The stop position of the railway vehicle 10 can be detected according to the imaging size of the identification display. In particular, since the identification display provided on the traveling direction side is imaged, there is no need to consider the positional deviation of the stop position as compared with the case where the identification display provided on the side surface is imaged by the camera 30 or the like, and the railway vehicle 10 is surely obtained. Can be detected.

  Whether the vehicle is stopped within the stop position or the target stop position range of the railway vehicle 10 based on the distance to the railway vehicle 10 measured using a laser radar device or the like (not shown) disposed in the home 2 You may detect whether or not.

  It should be noted that the characteristic configurations of the present embodiment and the modified examples can be applied to other embodiments and the like.

[Twenty-sixth embodiment]
Next, a platform door control system according to a twenty-sixth embodiment of the present invention is described below.
The twenty-sixth embodiment is mainly different from the twenty-fifth embodiment in that the operation state of the railway vehicle is detected in consideration of the position of the identification display in the captured image.

  In the present embodiment, as shown in FIG. 57 (A), in the captured image P captured by the camera 30, the entry side edge Pi corresponding to the edge on the side where the railcar 10 enters the imaging field of view 31 and The exit side edge Po corresponding to the edge on the side from which the railway vehicle 10 exits from the imaging field of view is set in advance. In the opening / closing process performed by the control unit 41 of the platform door control device 40, the relationship between the position of the identification display in the captured image P and the entry side edge Pi and the exit side edge Po, the moving direction of the identification display, and the like are considered. Then, the operating state of the railway vehicle 10 is detected.

  Specifically, the QR code 50 is imaged as the identification display as illustrated in FIG. 57C in a state where the identification display is not continuously captured until the imaging state illustrated in FIG. 57B. When the QR code 50 is captured at the approach side edge Pi in the captured image P, the approach of the railway vehicle 10 is detected. In this way, when the QR code 50 that has not been continuously captured until the previous time is captured at the entry side edge Pi in the captured image P, the railway door 12 is not erroneously detected as an opening / closing operation of the vehicle door 12. The approach of the vehicle 10 can be detected. That is, when the QR code 50 enters the imaging field of view 31 of the camera 30 from the entry direction outside the image, the entry of the railway vehicle 10 is detected.

  Then, as illustrated in FIG. 58 (A), the QR code 50 that has not been continuously captured until the previous time is captured at the entry side edge Pi in the captured image P as illustrated in FIG. 58 (B). After being moved, for example, when it is imaged that the vehicle has not moved for a predetermined time at the position illustrated in FIG. 58C, without erroneously detecting the closed state after the closing operation of the vehicle door 12, The stop state of the railway vehicle 10 can be detected. That is, when the QR code 50 enters the imaging field of view 31 of the camera 30 from the entry direction outside the image and stops for a predetermined time, the stop of the railcar 10 is detected.

  Further, as illustrated in FIG. 59A, the QR code 50 that has not been continuously captured until the previous time moves after being captured at the entry side edge Pi in the captured image P, as illustrated in FIG. 59B. In the case where no image is captured as illustrated in FIG. 59C after being imaged at the exit side edge Po as illustrated in FIG. Ten passes (overrun) can be detected. That is, when the QR code 50 enters the imaging field of view 31 of the camera 30 from the intrusion direction outside the image and exits in the exit direction outside the image without detecting the stop, the passage of the rail vehicle 10 (overrun) ) Is detected.

  In addition, as illustrated in FIG. 60A, the QR code 50 that has not been continuously captured until the previous time is captured at the exit side edge Po in the captured image P as illustrated in FIG. 60B. For example, when it is imaged that the vehicle has not moved for a predetermined time at the position illustrated in FIG. 60C after moving, the railcar 10 has moved back to the opposite side after the overrun. Later, the stop state of the railway vehicle 10 can be detected. That is, when the QR code 50 enters the imaging field of view 31 of the camera 30 from the exit direction outside the image and stops for a predetermined time, the stop of the railway vehicle 10 after the overrun is detected is detected.

  Further, the QR code 50 imaged when the vehicle door 12 is closed is moved in accordance with the opening operation of the vehicle door 12 and is predetermined to be slightly smaller than the moving distance until it is covered and concealed by the vehicle body 11a. The following detection can be performed by setting the movement amount threshold value in accordance with the number of pixels and storing it in the storage unit 42 in advance. For example, a QR code 50 that has not been continuously captured until the previous time as illustrated in FIG. 61A is captured at the exit side edge Po in the captured image P as illustrated in FIG. Then, as illustrated in FIG. 61 (C), when the movement amount is not captured without exceeding the predetermined movement amount threshold value, the stop of the railcar 10 outside the target stop position range is detected. Can do. In other words, when the QR code 50 enters the imaging field of view 31 of the camera 30 from the exit direction outside the image and cannot be read without moving beyond the predetermined movement amount threshold, when stopping outside the target stop position range, It is detected that the QR code 50 of the opened vehicle door 12 is covered and concealed by the vehicle body 11a.

[Twenty-seventh embodiment]
Next, a platform door control system according to a twenty-seventh embodiment of the present invention is described below.
The twenty-seventh embodiment is mainly different from the twenty-fifth embodiment in that the departure of a railway vehicle is detected using an identification display.

  In the present embodiment, the departure of the railway vehicle 10 is assumed as the detected operation state of the railway vehicle 10. When the departure of the railway vehicle 10 is detected in the door opening / closing detection mode, the camera 30 and the home door control device are used. 40 shifts to the stop detection mode from the door open / close detection mode. In this way, by shifting from the door opening / closing detection mode to the stop detection mode in response to detection of departure of the railway vehicle 10, the shift to the stop detection mode can be automatically performed at an appropriate timing.

  In particular, in this embodiment, after detecting the open state (opening operation) of the vehicle door 12 based on the imaging result of the QR code 50 or the like by the camera 30, the closed state (closing operation) of the vehicle door 12 is detected. When the QR code 50 or the like has moved a certain amount or more, the departure of the railway vehicle 10 is detected.

  More specifically, for example, the closed state after the closing operation of the vehicle door 12 is detected in the state shown in FIG. 62 (A), and the QR used for detecting this closed state as shown in FIG. 62 (B). After the cord 50 moves and is imaged at the exit side edge Po, when the image is not captured as shown in FIG. 62 (C), the departure of the railway vehicle 10 can be detected.

[Twenty-eighth embodiment]
Next, a platform door control system according to a twenty-eighth embodiment of the present invention is described below.
The twenty-eighth embodiment is mainly different from the first embodiment in that the operation state of the railway vehicle is detected in consideration of the change in the position of the identification display as a parameter.

  In the present embodiment, the platform door control device 40 changes the position of the identification display detected based on the difference between a plurality of captured images that are continuously captured by the operation state detection process performed by the control unit 41. The operation state of the railway vehicle 10 and the vehicle door 12 is detected in consideration of the parameters.

  For example, FIG. 68 shows a QR code 50 (QR code 50 affixed to one door 13) that moves in the opposite direction to the traveling direction of the railway vehicle 10 when the vehicle door 12 is opened in the captured image. An example of a change in time of the position of the QR code 50 (hereinafter also referred to as a code position Y) from immediately before the railway vehicle 10 stops until after departure is shown, and the vertical axis corresponds to the traveling direction of the railway vehicle 10. “1” indicates the position on the entry side (entrance side edge), and “0” indicates the position on the exit side (exit side edge). As can be seen from FIG. 68, when the QR code 50 that has entered the imaging field of view 31 of the camera 30 immediately before the railcar 10 stops, moves to the stop position, so that the code position Y changes from 1 to Ya. . If the QR code 50 is covered and concealed by the vehicle body portion 11a when the code position Y changes so as to increase to Yb during the opening operation of the vehicle door 12, the code position Y cannot be measured (FIG. 68). See hatched area). When the vehicle door 12 starts the closing operation, the code position Y changes so as to decrease from Yb to Ya, and thereafter, when the railcar 10 departs, the code position Y changes so as to decrease from Ya to 0. . In the captured image, when measuring the time change of the position of the QR code (QR code affixed to the other door 14) that moves in the traveling direction of the railway vehicle 10 when the vehicle door 12 is opened, the vehicle If the QR code 50 is covered and concealed by the vehicle body portion 11a when the code position Y is changed so as to be further reduced than Ya during the opening operation of the door 12, the code position Y cannot be measured. When the vehicle door 12 starts the closing operation, the cord position Y changes so as to increase to Ya. In addition, when the railway vehicle 10 turns back at its home 2, when the railway vehicle 10 departs, the cord position Y changes so as to increase from Ya to 1.

  That is, since the code position Y of the QR code 50 detected as the identification display changes according to the operation state of the railway vehicle 10 or the vehicle door 12, the railway vehicle 10 or the The operating state of the vehicle door 12 can be detected. Thereby, the platform door control apparatus 40 can control the opening / closing state of the platform door 20 based on the operation state of the railway vehicle 10 or the vehicle door 12 detected by the operation state detection process.

  Hereinafter, in the present embodiment, in order to detect the operation state of the railway vehicle 10 or the vehicle door 12 in consideration of the change in the code position Y of the QR code 50 as a parameter, the control unit 41 of the platform door control device 40 performs the detection. The operation state detection process will be described in detail with reference to the flowcharts shown in FIGS. In the operation state detection process, the operation state may be detected by taking into account the change in the code position Y of all the QR codes 50 respectively captured by the cameras 30, or a part of the QR codes. The operation state may be detected by considering the change of each code position Y for 50. In the following description, out of the QR codes 50 captured by the respective cameras 30, the QR code 50 (applied to one door 13) moves in the direction opposite to the traveling direction of the railcar 10 when the vehicle door 12 is opened. The processing for one of the QR codes 50) will be described in detail as an example. In addition, the QR code 50 includes information (operator code and vehicle type code) for specifying the railway operator and the vehicle type of the railway vehicle 10 to which the QR code 50 is attached, such as the above-described entrance / exit information, and the QR code 50. It is assumed that information related to the opening / closing direction of the provided vehicle door 12 is recorded.

  When the operation state detection process is started by the control unit 41, an imaging process shown in step S401 in FIG. 69 is performed, and an image captured by the camera 30 is acquired. Next, a decoding process shown in step S403 is performed, and a known decoding process for decoding an information code including the QR code 50 from the captured image is performed. Subsequently, in the determination process shown in step S405, it is determined whether or not the QR code 50 is recognized (captured) as an identification display in the captured image acquired from the camera 30, and until the railcar 10 is immediately before stopping. The determination of No is repeated on the assumption that the QR code 50 cannot be imaged in a decodable manner.

  When the QR code 50 affixed to one door 13 of the railcar 10 immediately before stopping is imaged and decoded successfully, the QR code 50 is recognized as an identification display (Yes in S405). Subsequently, in the code position measurement process shown in step S407, the above-described code position Y is measured based on the captured image. The code position Y can be measured on the basis of a specific position of the QR code 50 in the captured image, for example, a specific position obtained from the center position of the QR code 50 or three position detection patterns.

  Next, the code movement amount measurement process shown in step S409 is performed, and the code movement amount ΔY is measured as the time change of the code position Y based on the difference from the previously measured code position Y. Subsequently, in the determination process shown in step S411, it is determined whether or not the code movement amount ΔY is greater than or equal to the first threshold value ΔY1. Here, the first threshold value ΔY1, for example, is set to a value that is slightly larger than the amount of movement of the QR code 50 when the stopped railway vehicle 10 is shaken. If the vehicle is decelerating without stopping, it is determined Yes in step S411, and the processing from step S407 is repeated, assuming that the railway vehicle 10 has not stopped.

  Then, when the code movement amount ΔY becomes less than the first threshold value ΔY1 due to the deceleration of the railway vehicle 10 to a substantially stopped state (No in S411: see t1 in FIG. 68), the code movement amount is determined in the determination process shown in step S413. It is determined whether or not the state where ΔY is less than the first threshold value ΔY1 is maintained for a predetermined time Ta or more. Here, if the code movement amount ΔY is immediately after being less than the first threshold value ΔY1, it is determined No in step S413, and the processing from step S407 is repeated.

  When the state where the code movement amount ΔY is less than the first threshold value ΔY1, that is, the state where the QR code 50 is regarded as not moving is maintained for a predetermined time Ta or longer (see t2 in FIG. 68), the process proceeds to step S413. Yes, and the stop state of the railway vehicle 10 and the closed state of the vehicle door 12 are detected (S415). Further, the cord position Y in the stopped state is set as the closed state position Ya.

  Subsequently, when the code position Y is measured from the captured image continuously captured (S417), the absolute value of the difference between the current code position Y and the closed state position Ya is determined in the determination process shown in step S419. It is determined whether or not the code movement amount ΔYa is equal to or larger than the second threshold value ΔY2. Here, the second threshold value ΔY2 is set to a value corresponding to the movement amount of the QR code 50 when the vehicle door 12 starts to open from the closed state, and the code movement amount ΔYa is less than the second threshold value ΔY2. If there is, it is determined No in step S419, and the process from step S415 is repeated assuming that the vehicle door 12 has not started to open. In addition to the determination result in step S419, whether or not the open operation state is detected is detected based on the information on the opening / closing direction and the change direction of the code position Y included in the decoding result in step S403. May be.

  Then, when the vehicle door 12 starts to open (see t3 in FIG. 68) and the code movement amount ΔYa becomes equal to or larger than the second threshold value ΔY2 (see t4 in FIG. 68), Yes is determined in step S419, and step S421 is performed. Whether the time (t4-t3) from when the closed vehicle door 12 begins to move until the cord movement amount ΔYa becomes equal to or greater than the second threshold value ΔY2 in the determination process shown in FIG. Determined. Here, the predetermined time Tb is set according to the time until the cord movement amount ΔYa becomes equal to or larger than the second threshold value ΔY2 when the normal opening operation of the vehicle door 12 is started, and the vehicle door 12 is opened from the closed state. When the operation is started, it is determined Yes in step S421, and the opening operation of the vehicle door 12 is detected (S423).

  Subsequently, after the code position Y is measured from the captured image continuously captured (S425), it is determined whether or not the state where the QR code 50 is captured is maintained in the determination process shown in step S427. Is done. Here, if the state in which the QR code 50 that has not moved and is opened until the QR code 50 is covered with the vehicle body portion 11a is being imaged is determined to be Yes in step S427, the above The process from step S423 is repeated.

  When the QR code 50 that is opening is covered with the vehicle body 11a and is no longer imaged (see t5 in FIG. 68), it is determined No in step S427, and in the determination process shown in step S429, the QR code 50 is displayed. It is determined whether or not the state where the code 50 is not imaged is maintained for a predetermined time Tc or longer. Here, if the state in which the QR code 50 is not imaged is not maintained for a predetermined time Tc or longer, the QR code 50 may be temporarily hidden by the passenger's luggage or the like. Determination is made, and the processing from step S423 is repeated.

  If the state where the QR code 50 is not imaged is maintained for a predetermined time Tc or longer (see t6 in FIG. 68), it is determined Yes in step S429, and the code when the QR code 50 is imaged last The position Y is set as the concealment start position Yb. Next, in the determination process shown in step S431, it is determined whether or not the code movement amount ΔYab, which is the absolute value of the difference between the concealment start position Yb and the closed state position Ya, is greater than or equal to the third threshold value ΔY3. Here, the third threshold value ΔY3 is set to a value smaller than the movement amount of the QR code 50 that can be imaged during the normal opening operation, and when the QR code 50 is imaged during the opening operation, The code movement amount ΔYab is equal to or greater than the third threshold value ΔY3, and it is determined Yes in step S431.

  Subsequently, in the determination process shown in step S433, it is determined whether or not the code movement amount ΔYab is equal to or smaller than the fourth threshold value ΔY4. Here, the fourth threshold value ΔY4 is set to a value slightly larger than the maximum movement amount of the QR code 50 that can be imaged during the opening operation and larger than the third threshold value ΔY3. If an image is being captured, the code movement amount ΔYab is equal to or smaller than the fourth threshold value ΔY4, it is determined Yes in step S433, and the open state of the vehicle door 12 is detected (S435 in FIG. 70).

  Subsequently, in the determination process shown in step S437, it is determined whether or not the state where the QR code 50 is not captured is maintained. Here, if the vehicle door 12 is not closed and the state where the QR code 50 is covered by the vehicle body portion 11a is maintained, it is determined Yes in step S437, and the processing from step S435 described above is performed. Repeated.

  When the QR code 50 is imaged by starting the closing operation of the vehicle door 12 (see t7 in FIG. 68), it is determined No in step S437, and the code position Y is measured from the captured image ( S439). Subsequently, in the determination process shown in step S441, it is determined whether or not the code movement amount ΔYb, which is the absolute value of the difference between the current code position Y and the concealment start position Yb, is greater than or equal to the fifth threshold value ΔY5. If the code movement amount ΔYb is less than the fifth threshold value ΔY5, it is determined No in step S441, and the process from step S439 is repeated assuming that the vehicle door 12 has not started to close. In addition to the determination result in step S441 described above, whether or not a closed operation state is detected based on the information on the opening / closing direction and the change direction of the code position Y included in the decoding result in step S403. May be.

  When the QR code 50 further moves in the closing direction according to the closing operation of the vehicle door 12 and the code movement amount ΔYb becomes equal to or larger than the fifth threshold value ΔY5 (see t8 in FIG. 68), “Yes” is determined in step S441. In the determination processing shown in step S443, the time from when the QR code 50 starts to be imaged after detection of the open state of the vehicle door 12 until the code movement amount ΔYb becomes equal to or greater than the fifth threshold value ΔY5 (t8-t7). Is determined to be equal to or shorter than a predetermined time Td. Here, the predetermined time Td is set according to the time until the code movement amount ΔYb becomes equal to or larger than the fifth threshold value ΔY5 during the normal closing operation of the vehicle door 12, and the vehicle door 12 is closing. In this case, it is determined Yes in step S443, and the closing operation of the vehicle door 12 is detected (S445).

  If the state where the QR code 50 is imaged is maintained (Yes in S447), the code position Y is measured (S449), and the code movement amount ΔY is measured (S451). Then, in the determination process shown in step S453, it is determined whether or not the QR code 50 is stopped at the closed position Ya, and when the vehicle door 12 is closing and the QR code 50 is not stopped. It determines with No and the process from said step S445 is repeated.

  When the code movement amount ΔY becomes less than the first threshold value ΔY1 and the current code position Y substantially coincides with the closed state position Ya, it is determined that the QR code 50 is stopped at the closed state position Ya (S453). Yes: see t9 in FIG. 68), in the determination process shown in step S455, it is determined whether or not the state where the code movement amount ΔY is less than the first threshold value ΔY1 is maintained for a predetermined time Te or more. Here, if the code movement amount ΔY is immediately after being less than the first threshold value ΔY1, it is determined No in step S455, and the processing from step S445 is repeated.

  When the state where the code movement amount ΔY is less than the first threshold value ΔY1, that is, the state where the QR code 50 is regarded as not moving at the closed state position Ya is maintained for a predetermined time Te or longer (t10 in FIG. 68). Reference), it is determined Yes in step S455, and the closed state of the vehicle door 12 is detected (S457).

  Thereafter, when the code movement amount ΔYa exceeds the above-described fourth threshold value ΔY4, it is determined Yes in the determination process of step S459, and the QR code 50 is moved more than at the time of the opening operation. Is detected (S461).

  The change in the code position Y of the other QR code 50 imaged by the other camera 30 at the same time is similarly taken into consideration, so that the operation state of the vehicle door 12 and the operation state of the railway vehicle 10 are respectively considered. Is detected. The control unit 41 specifies the operation state of the vehicle door 12 and the operation state of the railway vehicle 10 based on the majority of the detection results, and controls the open / close state of the home door 20 based on the result.

  On the other hand, when the time from when the closed vehicle door 12 starts to move until the cord movement amount ΔYa becomes equal to or greater than the second threshold value ΔY2 exceeds the predetermined time Tb (No in S421), the error processing shown in step S463 is performed. . In addition, when the QR code 50 in the open operation is not captured and the state in which the QR code 50 is not captured is maintained for a predetermined time Tc or longer, is the code movement amount ΔYab less than the third threshold value ΔY3 (No in S431)? When the code movement amount ΔYab exceeds the fourth threshold value ΔY4 (No in S433), the error processing shown in step S463 is performed. When the time until the code movement amount ΔYb of the QR code 50 moving in the closing direction according to the closing operation of the vehicle door 12 exceeds the fifth threshold value ΔY5 exceeds the predetermined time Td (No in S443), Error processing shown in step S463 is performed. In the error processing in step S463, the code position Y of the captured QR code 50 is not used for detection of the operation state of the railway vehicle 10 or the operation state of the vehicle door 12 based on the majority decision, and is an error. In this case, the operation state of the vehicle door 12 in error is estimated by considering the change in the code position Y of another QR code 50 imaged by another camera 30 at the same time as a parameter. .

  Further, at the same time, an imaging result is obtained in which the QR code 50 is continuously recognized for a certain period of time so that the operation state of the railcar 10 or the vehicle door 12 can be detected by a part of the plurality of cameras 30. When the camera 30 obtains an imaging result in which the QR code 50 is not continuously recognized for a certain period of time so that the operation state of the railcar 10 or the vehicle door 12 can be detected, the remaining imaging result by the camera 30 is based on the majority vote. It is not used for detecting the operation state of the railcar 10 or the vehicle door 12.

  In addition, as shown in FIG. 71, when the vehicle door 12 in the closed operation state starts to open again for reopening and closing (see t11 in FIG. 71), the vehicle door 12 is closed and the QR code 50 is imaged. If not (see t12 in FIG. 71), it is determined No in step S447. In this case, the open state of the vehicle door 12 is detected (S435), and the processing after step S437 is performed. In the determination process in step S447, when the code position Y of the QR code 50 captured last when the image is not captured after detection of the closing operation state is considered to coincide with the concealment start position Yb, No. It may be determined and the process after said step S435 may be performed.

  In addition, as shown in FIG. 72, the railway vehicle 10 is moving while decelerating, and the QR code 50 is imaged so as to simply move from the entrance side edge toward the exit side edge. Assuming that the QR code 50 is not imaged during the repeated determination with Yes in step S411, the operation state detection process may be terminated.

  In addition, as shown in FIG. 73, when the QR code 50 that moves to the entry side when the vehicle door 12 is opened is located near the entry side edge of the imaging field when the railway vehicle 10 stops, Since the QR code 50 is not imaged because it is out of the field of view during the opening operation, the operation state detection process is terminated without detecting the operation state of the railway vehicle 10 or the vehicle door 12 with respect to the QR code 50. May be. Specifically, for example, after the stop state of the railway vehicle 10 and the closed state of the vehicle door 12 are detected in step S415, 1-Ya is less than the fourth threshold value ΔY4 in consideration of the closed state position Ya. If there is, the operation state detection process is terminated without detecting the operation state of the railway vehicle 10 or the vehicle door 12 with respect to the QR code 50. As a result, the operation state of the railway vehicle 10 and the vehicle door 12 is not detected based on the QR code 50 that is out of the field of view during the opening operation of the vehicle door 12. It is possible to suppress erroneous detection regarding the 12 operating states.

  In addition, as shown in FIG. 74, when the QR code 50 that moves to the exit side when the vehicle door 12 is opened is positioned near the exit side edge of the imaging field when the railway vehicle 10 stops, Since the QR code 50 is not imaged because it is out of the field of view during the opening operation, the operation state detection process is terminated without detecting the operation state of the railway vehicle 10 or the vehicle door 12 with respect to the QR code 50. May be. Specifically, for example, after the stop state of the railway vehicle 10 and the closed state of the vehicle door 12 are detected in step S415, the closed state position Ya is taken into consideration and if Ya is less than the fourth threshold value ΔY4. Then, the operation state detection process is terminated without detecting the operation state of the railway vehicle 10 or the vehicle door 12 with respect to the QR code 50. Even if it does in this way, since the operation state of the railway vehicle 10 or the vehicle door 12 is not detected based on the QR code 50 that goes out of the imaging field of view during the opening operation of the vehicle door 12, the railway vehicle 10 And erroneous detection of the operation state of the vehicle door 12 can be suppressed.

  As described above, in the home door control system 1 according to the present embodiment, in the operation state detection process performed by the control unit 41, based on the difference between a plurality of captured images continuously captured by each camera 30. The operating state of the railway vehicle 10 or the vehicle door 12 is detected in consideration of the change in the code position Y of the detected QR code 50 as a parameter. Since the code position Y of the QR code 50 detected according to the operation state of the railway vehicle 10 and the vehicle door 12 changes, the change in the code position Y of the QR code 50 is considered as a parameter to consider the railway vehicle 10 and the vehicle. The operating state of the door 12 can be detected.

  In the operation state detection process, when the code movement amount ΔY indicating the time change of the code position Y of the QR code 50 is equal to or larger than the first threshold value ΔY1, the operation state of the railcar 10 or the vehicle door 12 is changed. Is detected. As a result, in a state where the code movement amount ΔY is less than the first threshold value ΔY1, for example, in a state where the railcar 10 is simply shaking, it is erroneously detected that the railcar 10 or the vehicle door 12 is operating. Therefore, the detection accuracy regarding the detection of the operation state of the railway vehicle 10 and the vehicle door 12 can be improved.

  In the operation state detection process, based on the code movement amount ΔY indicating the time change of the code position Y of the QR code 50, a state in which the QR code 50 is regarded as not moving is maintained for a predetermined time Ta or more. In the case (Yes in S413), the closed state of the vehicle door 12 or the stopped state of the railway vehicle 10 is detected. Thereby, it can detect reliably that QR Code 50 is not moving, and it can raise detection accuracy about detection of the closed state of vehicle door 12, or the stop state of railcar 10.

  In the operation state detection process, based on the time change of the code position Y of the QR code 50, the code movement amount ΔYa (the vehicle door 12), which is the absolute value of the difference between the current code position Y and the closed state position Ya. When the movement amount of the QR code 50 from the state in which the closed state is detected is equal to or greater than the second threshold value ΔY2, the opening operation of the vehicle door 12 is detected. As a result, when the cord movement amount ΔYa is less than the second threshold value ΔY2, for example, when the railcar 10 is simply swaying, it is erroneously detected that the vehicle door 12 is opening. Therefore, the detection accuracy relating to the detection of the opening operation of the vehicle door 12 can be increased.

  In the operation state detection process, when the time until the code movement amount ΔYa becomes equal to or greater than the second threshold value ΔY2 is equal to or shorter than the predetermined time Tb (Yes in S421), the opening operation of the vehicle door 12 is detected. Thereby, when the time until the code movement amount ΔYa becomes equal to or greater than the second threshold value ΔY2 exceeds the predetermined time Tb, for example, the QR code 50 seems to move at a speed that is clearly slower than the opening / closing speed of the vehicle door. When the image is taken (No in S421), it is not erroneously detected that the vehicle door 12 is opening, so that the detection accuracy regarding the detection of the opening operation of the vehicle door 12 can be further increased.

  In the operation state detection process, the state in which the QR code 50 is no longer imaged from the state in which the opening operation of the vehicle door 12 is detected based on the time change of the code position Y of the QR code 50 is maintained for a predetermined time Tc or longer. When it is, the open state of the vehicle door 12 is detected. As a result, since the QR code 50 of the vehicle door 12 that is opening is hidden by a passenger or the like and is no longer imaged, it is not immediately detected that the vehicle door 12 is open. The detection accuracy related to the state detection can be increased.

  In the operation state detection process, the code movement amount ΔYab (opening of the vehicle door 12), which is the absolute value of the difference between the concealment start position Yb and the closed state position Ya, is based on the time change of the code position Y of the QR code 50. When the movement amount of the QR code 50 during operation is equal to or greater than the third threshold value ΔY3, the open state of the vehicle door 12 is detected. Since the amount of movement of the QR code 50 when the vehicle door 12 is normally opened is determined, the third threshold ΔY3 is set according to the amount of movement of the QR code 50 when the vehicle door 12 is normally opened. By setting, when the code movement amount ΔYab is less than the third threshold value ΔY3, the open state of the vehicle door 12 is not erroneously detected (No in S431), so the open state of the vehicle door 12 is detected. The detection accuracy with respect to can be increased.

  In the operation state detection process, when the code movement amount ΔYab is less than or equal to the fourth threshold value ΔY4 set to be larger than the third threshold value ΔY3 based on the time change of the code position Y of the QR code 50. The open state of the vehicle door 12 is detected. Thus, not only when the code movement amount ΔYab is less than the third threshold value ΔY3, but also when the code movement amount ΔYab exceeds the fourth threshold value ΔY4 and clearly differs from the open state of the vehicle door 12. 12 is not erroneously detected as an open state (No in S433), the detection accuracy regarding the detection of the open state of the vehicle door 12 can be further increased.

  In the operation state detection process, the code movement amount ΔYb (the vehicle door 12), which is the absolute value of the difference between the current code position Y and the concealment start position Yb, based on the time change of the code position Y of the QR code 50. If the movement amount of the QR code 50 after the QR code 50 starts to be imaged after the detection of the open state is equal to or greater than the fifth threshold value ΔY5, the closing operation of the vehicle door 12 is detected. As a result, when the cord movement amount ΔYb is less than the fifth threshold value ΔY5, for example, when the railcar 10 is simply swaying, it is erroneously detected that the vehicle door 12 is closing. Therefore, the detection accuracy relating to the detection of the closing operation of the vehicle door 12 can be increased.

  In the operation state detection process, when the time until the code movement amount ΔYb becomes equal to or larger than the fifth threshold value ΔY5 is equal to or shorter than the predetermined time Td (Yes in S443), the closing operation of the vehicle door 12 is detected. As a result, even when the QR code 50 is imaged so that it moves at a speed that is clearly slower than the opening / closing speed of the vehicle door 12, it is erroneously detected that the vehicle door 12 is closing. (No in S443), the detection accuracy relating to the detection of the closing operation of the vehicle door 12 can be further increased.

  In the operation state detection process, based on the time change of the code position Y of the QR code 50, the code position Y when the QR code 50 stops after detecting the closing operation of the vehicle door 12 is the previous QR code 50. When the vehicle door 12 is considered to coincide with the closed position Ya, which is the stop position, the closed state of the vehicle door 12 is detected. Thereby, even if the QR code 50 is captured so as to stop, it is not erroneously detected that the vehicle door 12 is in a closed state immediately, so that the detection accuracy relating to the detection of the closed state of the vehicle door 12 is increased. Can do.

  Further, in the operation state detection process, based on the time change of the code position Y of the QR code 50, the QR code imaged last when the QR code 50 is no longer imaged after the closing operation of the vehicle door 12 is detected. The code position Y of 50 is considered to coincide with the concealment start position Yb that is the code position Y of the QR code 50 imaged last when the QR code 50 is no longer imaged after the previous detection of the opening operation of the vehicle door 12. In this case, the open state of the vehicle door 12 is detected. As a result, even when the vehicle door 12 that is closing is opened and closed again, the open state of the vehicle door 12 can be reliably detected.

  The QR code 50 is an information code in which information related to the opening / closing direction of the vehicle door 12 provided with the QR code 50 is recorded so as to be optically readable. Accordingly, by optically reading the QR code 50 provided as an identification display, the opening / closing operation of the vehicle door 12 can be easily detected from the moving direction of the QR code 50.

  Further, in the operation state detection process, an imaging result in which the QR code 50 is continuously recognized by a part of the plurality of cameras 30 at the same time is obtained for a certain period of time, and the QR code 50 is maintained for a certain period of time in the remaining part. When an imaging result that is not recognized continuously is obtained, the imaging results of the remaining cameras 30 are not used for detecting the operating state of the railcar 10 or the vehicle door 12 based on the majority vote. Even if one of the plurality of QR codes 50 is deteriorated in an unrecognizable manner, the result of the camera 30 that captures the QR code 50 is used to detect the operation state of the railway vehicle 10 or the vehicle door 12. Therefore, it is possible to suppress a decrease in detection accuracy due to deterioration of the QR code 50 or the like. In addition, for example, when the cameras 30 are arranged on the assumption that three vehicle doors 12 are provided in one vehicle, the operation state of the railway vehicle 10 in which two vehicle doors 12 are provided in one vehicle is detected. Even in this case, the result of the camera 30 in which the imageable QR code 50 cannot be present in the imaging field of view is not used for detection of the operation state of the railcar 10 or the vehicle door 12, and the detection accuracy is reduced. Can be suppressed.

  As a first modification of the present embodiment, the QR code 50 records information (operator code and vehicle type code) specifying the railway operator and vehicle type of the railway vehicle 10, and therefore at least a part of this information. , Threshold values (ΔY1 to ΔY5, etc.) to be compared with parameters when detecting the operation state of the railway vehicle 10 or the vehicle door 12 may be changed for each railway company or each vehicle type. In other words, the identification display is an information code in which information for changing the threshold value compared with the parameter when detecting the operation state of the railway vehicle 10 for each railway operator or each vehicle type is optically readable. It may be configured. As a result, the opening / closing timing of the vehicle door 12 is changed for each railway operator or each vehicle type by changing the threshold value each time based on the information obtained by optically reading the QR code 50 provided as the identification display. Even if they are different, it is possible to easily set a threshold value suitable for detecting the operation state of the railway vehicle 10 or the vehicle door 12 provided with the QR code 50.

  As a second modification of the present embodiment, second detection means for detecting the operation state of the railway vehicle 10 with a configuration different from the detection based on the imaging result of the identification display such as the QR code 50 by each camera 30, for example, the home 2 A laser radar device or the like arranged in Thus, by considering both the detection result by the second detection means and the detection result based on the imaging result of the identification display such as the QR code 50 described above, for example, the railway vehicle 10 opens the vehicle door 12. Even when the identification display is not imaged for a long time because the vehicle is stopped for a long time, the stop of the railway vehicle 10 can be confirmed, and the detection accuracy relating to the detection of the operation state of the railway vehicle 10 can be improved.

  Note that the characteristic configuration of this embodiment and its modification, such as detecting the operating state of the railway vehicle 10 and the vehicle door 12 in consideration of the change in the position of the identification display as a parameter, is also applied to other embodiments and the like. can do.

[Twenty-ninth embodiment]
Next, a platform door control system according to a twenty-ninth embodiment of the present invention is described below.
The twenty-ninth embodiment is mainly different from the first embodiment in that a two-dimensional code arranged so that two of the three position detection patterns are positioned downward is used as an identification display.

  Like a QR code, a two-dimensional code in which position detection patterns that can be used to specify the code area are provided at three corners of a rectangular code area, a data recording area in which data to be read is recorded is mainly a code The region is arranged on the corner side where no position detection pattern is provided. For this reason, if the two-dimensional code is used as an identification display so that two of the three position detection patterns are attached to the vehicle door 12 or the vehicle body 11a, the data recording area is included in the code area. It will be located below. Then, as can be seen from the captured image P obtained by capturing the QR code 90 illustrated in FIG. 76B, error correction is performed when the lower part of the code area 91 is captured while being hidden by the passenger's luggage Ba or the like. If the data recording area 93 is hidden beyond the possible range, the code area 91 can be identified using the two position detection patterns 92a and 92b that are imaged out of the three position detection patterns 92a to 92c. However, since the data recording area 93 is not imaged so as to be decodable, decoding of data to be read fails.

  Therefore, in the present embodiment, a two-dimensional code employed as an identification display is pasted on the vehicle door 12 or the vehicle body 11a so that two of the three position detection patterns are located below. Specifically, like a QR code 80 illustrated in FIG. 75, a rectangular code area 81 has two position detection patterns 82a and 82c on the lower side, the remaining position detection pattern 82b is on the upper left, and a data recording area 83. Is attached to the glass window 13a of one door 13 so that it is mainly on the upper right side (corner side where no position detection pattern is provided).

  By arranging the data recording area 83 so as to be on the upper side as described above, the lower part of the code area 81 is hidden by the passenger's baggage Ba or the like as can be seen from the captured image P illustrated in FIG. Even when imaged in the captured state, the data recording area 83 is difficult to be hidden beyond the error correctable range, and the code area 81 is specified by using the captured position detection pattern 82b or the like. The data to be read can be decoded. That is, compared with the case where two of the three position detection patterns are arranged on the upper side, the success rate of reading data recorded in the two-dimensional code can be increased.

  Note that the two-dimensional code adopted as the identification display is not limited to being pasted so that the data recording area 83 is mainly on the upper right side, and the data recording area 83 is not like the QR code 80a illustrated in FIG. You may affix so that it may become the upper left side mainly. Further, in order to make the code area 81 difficult to be hidden by the passenger's luggage or the like, it is preferable that the two-dimensional code is affixed at a position that is as high as possible in a range that can be affixed to the vehicle door 12 or the vehicle body part 11a.

  Note that the characteristic configuration of the present embodiment and its modification, in which a two-dimensional code arranged so that two of the three position detection patterns are located below, is used as an identification display, is also applied to other embodiments, etc. can do.

In addition, this invention is not limited to said each embodiment and modification, For example, you may actualize as follows. In addition, at least a part of the characteristic configuration in each embodiment and modification can be applied to other embodiments and the like as necessary.
(1) The identification indication provided on the vehicle door 12 or the like is not limited to a QR code, but other types such as a one-dimensional code such as a bar code, a two-dimensional code such as a data matrix code, and a maxi code. It may be an information code. Further, the identification display provided on the vehicle door 12 may be a figure having a predetermined shape, pattern, or color, as shown in the display 56 illustrated in FIG. 63A, for example, or FIG. A number display may be used like the display 57 illustrated in FIG. Note that the display 56 illustrated in FIG. 63A is displayed as one of the QR code position detection patterns. Further, the display 57 illustrated in FIG. 63B is displayed so as to be a vehicle number and a door number for specifying the railcar 10 and the entrance 11 (vehicle door 12), for example.

  In particular, an information code provided as an identification display on the vehicle door 12 or the like is generated so that predetermined information is encrypted based on a predetermined encryption method so that a third party who does not have a predetermined decryption key cannot read the information code. May be. For this reason, since a third party cannot read the information recorded in the information code, it is possible to suppress an illegal act such as forging the identification display (information code). Here, as the information code encrypted based on the predetermined encryption method, for example, a partially private code configured to have a public area and a private area can be adopted. The public area is an area in which information that does not require a decryption key is recorded, and the non-public area is an area in which information that is decrypted using a decryption key is recorded.

(2) The vehicle door 12 is not limited to being configured as a double-opening slide door having one door 13 and the other door 14, but is a single-opening type having one door 13 as illustrated in FIG. 64. It may be configured as a sliding door. In this case, the identification display such as the QR code 50 can be provided at a place as in the above embodiments. Further, the home door 20 is not limited to be configured such that a pair of movable doors 21 are disposed with respect to one entrance / exit 11, and one movable door 21 is disposed with respect to one entrance / exit 11. You may be comprised so that.

(3) The camera 30 (30a to 30c) is not limited to being provided on the ceiling 2b of the platform 2, but a position where an identification display provided on the vehicle door 12 can be imaged, for example, the upper portion of the platform door 20 or the railcar 10. It may be provided on the side surface. In this case, since the passenger does not enter between the identification display such as the QR code 50 and the camera 30 (30a to 30c), the identification display can be provided at the lower part of the vehicle door 12, for example. Moreover, the camera 30 (30a-30c) may be comprised so that a captured image may be transmitted to the home door control apparatus 40 using wireless communication.

(4) In the case where the platform door 20 is controlled to be in the open state by the stop detection within the target stop position range in the 25th embodiment or the like, when the forwarding vehicle on which the passenger does not get on and off stops at the home 2, the outer surface of the forwarding vehicle When the identification display such as the QR code 50 is provided in the home door control device 40, the train vehicle 10 stopped at the home 2 is forwarded by acquiring operation information (diamond information) from the outside. When it is determined that the opening / closing process is not performed, the opening / closing process can be prevented. On the other hand, as illustrated in FIG. 65, even if the forward vehicle deviates from the target stop position range when passengers get on and off, the identification display such as the QR code 50 is not imaged, so that the home door control device It is possible to prevent the opening / closing process by 40 from being performed. Further, a display portion 58 that can switch between the display state and the non-display state of the identification display such as the QR code 50 is a part that can be imaged from the outside of the railway vehicle 10, for example, one of the vehicle doors 12 as illustrated in FIG. When it is provided at the door 13 and becomes a vehicle for operation, the display unit 58 is set in the display state of the QR code 50 as illustrated in FIG. 66A, and when it is a forwarding vehicle, it is illustrated in FIG. 66B. Thus, the QR code 50 may be in a non-display state. Thereby, even if the railway vehicle 10 in which the QR code 50 is not displayed in order to become a forwarding vehicle enters the home 2, the identification display such as the QR code 50 is not captured, so that the platform door control device 40 It is possible not to perform the opening / closing process.

(5) Each time the railway vehicle 10 stops, the opening / closing process may be performed in a state where the detection range is narrowed to a part of the captured image with the position of the identification display imaged when the railway vehicle 10 is stopped as a reference. . For example, before the stop of the railway vehicle 10 is detected, a process for detecting the QR code 50 is performed for the entire imaging range of the camera 30, and the railway vehicle 10 is stopped in the captured image P as shown in FIG. When it is detected, the detection range 33 is set according to the position of the QR code 50 and the moving direction at the time of opening and closing, and the QR code 50 is set for the detection range 33 as shown in FIGS. Process to detect. By performing the opening / closing process on the detection range 33 thus narrowed, the processing speed can be improved.

(6) In each of the above embodiments, the moving direction (entry direction) of the railway vehicle 10 when stopping at the platform 2 is the same as the moving direction (exit direction) of the railway vehicle 10 when leaving the platform 2. Explains. On the other hand, in the platform 2 that becomes the terminal station and the start station and the platform 2 that is turned back, the approach direction and the exit direction described above are opposite to each other. In this case, at the time of departure detection in the opening / closing process performed by the control unit 41, the “entrance side” and the “exit side” in the stop detection can be switched to perform the detection process.

(7) A platform in which each vehicle door 12 on the opposite side that opens and closes after each vehicle door 12 on the getting off side opens and closes, that is, the platform door 20 that is arranged on the getting off side and the platform door 20 are arranged on the boarding side. In a platform where the platform doors 20 face each other via the railway vehicle 10, each platform door 20 may be controlled by a common platform door control device 40. And each identification display provided on one side (sea side) of the vehicle body and recording information etc. arranged on the one side surface, and other provided on the other side (mountain side) of the vehicle body, etc. Control of the home door 20 on one side surface according to the operating state of each vehicle door 12 on one side surface by using each identification display in which information or the like arranged on the other side surface is recorded The control of the platform door 20 on the other side surface according to the operation state of each vehicle door 12 on the other side surface side may be performed individually.

(8) Each imaging unit also has a function of performing processing for recognizing an information code such as the QR code 50 using a known decoding process as described above, and transmits the recognition result to the home door control device 40. It may be configured to. In this configuration, when a plurality of imaging means are provided for one vehicle door 12, the information acquired when the information code is recognized can be shared by each imaging means.

  For example, as shown in FIG. 31 described above, when the three cameras 30a to 30c are arranged along the moving direction of the railway vehicle 10, the camera 30a located on the entry side of the railway vehicle 10 first sets the QR code 50. It will be recognized by imaging. For this reason, when the information code 50 is recognized, the information acquired by the camera 30a can be transmitted to the camera 30b and the camera 30c and shared.

  Here, as information acquired by the camera 30a when recognizing the information code 50, for example, brightness suitable for successful decoding of the QR code 50 (for example, conditions for increasing the contrast difference and exposure state) Etc.) can be adopted. In this case, since the brightness of the range captured by the three cameras 30a to 30c is not substantially changed, the decoding success rate of the camera 30b and the camera 30c can be increased. In addition, as information acquired by the camera 30a when recognizing the information code 50, for example, a range and timing in which the information code 50 appears can be adopted. Since the positional relationship between the cameras 30a to 30c is known, the range and timing at which the information code 50 is reflected on the camera 30b and the range and timing at which the information code 50 is reflected on the camera 30c are determined based on the imaging result of the camera 30a located on the entry side. This is because it can be estimated. In this case, the camera 30b and the camera 30c can know the range and timing at which the information code 50 is captured, so that the processing load necessary to find the information code 50 from the captured image can be reduced.

(9) As illustrated in FIG. 31 described above, when three imaging units are arranged along the moving direction of the railway vehicle 10 and each of the imaging units has a function of performing a known decoding process or the like as described above. The imaging means (camera 30b in the example of FIG. 31) located in the center can be configured as a master machine, and the other imaging means (cameras 30a and 30c in the example of FIG. 31) can be configured as slave machines.

  When sharing information as described above, if two slave machines are arranged on the traveling direction side of the master machine, the master machine needs to communicate with each of the two slave machines. When the master machine is arranged in the center, the master machine can acquire information to be shared only by communicating with the slave machine on the traveling direction side. Thereby, the amount of communication between the master machine and the slave machine can be reduced.

(10) When QR codes 50 and 53 are provided as two-dimensional codes each having three position detection patterns as identification indications on one door 13 and the other door 14, as shown in FIG. The QR code 53 may be arranged such that two of the three position detection patterns provided at the three corners approach each other.

  In this configuration, when the closing operation of the vehicle door 12 is started, the two position detection patterns are imaged earlier than the other areas constituting the QR code, and when the vehicle door 12 is opened, the two position detection patterns are displayed with the QR code. An image is taken for a longer time than the other areas to be configured. For this reason, at the start of the closing operation of the vehicle door 12, the closing operation of the vehicle door 12 is detected by detecting and detecting two position detection patterns before the entire two-dimensional code is imaged. By confirming the closing operation according to the success or failure of the decoding of the two-dimensional code, the closing operation of the vehicle door 12 can be performed more quickly than when detecting the closing operation according to the success or failure of the decoding of the two-dimensional code. And it can be detected accurately.

(11) When two-dimensional codes such as QR codes are provided on one door 13 and the other door 14, respectively, the two-dimensional code provided on one door 13 and the two-dimensional code provided on the other door 14 The same information may be recorded in a mirror inverted relationship. For example, as illustrated in FIG. 79, in the state where two position detection patterns are close to each other, one QR code 50 provided on one door 13 is mirror-inverted, and the other QR code 50a is The door 14 is provided.

  Thus, when decoding a two-dimensional code, a two-dimensional code that does not require mirror inversion processing is a two-dimensional code provided on one door 13, and a two-dimensional code that requires mirror inversion processing is provided on the other door 14. It can be determined that it is a two-dimensional code. For this reason, since it is not necessary to record in the said two-dimensional code the information which shows whether the two-dimensional code is provided in the one door 13 or the other door 14, the amount of information which should be recorded in a two-dimensional code Can be reduced. That is, it is possible to determine which one of the doors 13 and the other door 14 is the two-dimensional code provided without changing the information recorded in the two-dimensional code.

DESCRIPTION OF SYMBOLS 1 ... Home door control system 2 ... Home 10 ... Railway vehicle 12, 12a-12l ... Vehicle door 13 ... One door 14 ... The other door 13a, 14a ... Glass window 20 ... Home door 21 ... Movable door 22 ... Door drive part 30, 30a-30c ... Camera (imaging means)
31 ... Imaging field of view 40 ... Home door control device (control means)
41 ... Control unit (detection means, relative position detection means)
42. Storage section (storage means)
50-54 ... QR code (identification display)
70 ... Aggregation device (detection means)

Claims (85)

A platform door control system for controlling a platform door placed on a platform of a station,
At least an identification display provided on a part that can be imaged from the outside of the railway vehicle,
Imaging means for imaging the identification display;
Detecting means for detecting an operation state of the railcar based on an imaging result of the identification display by the imaging means;
Control means for controlling the platform door based on the operating state of the railway vehicle detected by the detection means;
A home door control system comprising: The identification display is provided on at least a part of the plurality of vehicle doors of the railway vehicle,
The operation state of the railway vehicle includes an operation state of the vehicle door including at least one of an opening operation, an opening state, a closing operation, and a closing state of the vehicle door. Home door control system.   The identification display is arranged so that the image is picked up by the image pickup means when the vehicle door is in a closed state, and at least a part is not picked up by the image pickup means when the vehicle door is in an open state. The home door control system according to claim 2, wherein   In the imaging means, the identification display when the vehicle door is in the closed state is positioned within the imaging field, and at least a part of the identification display when the vehicle door is in the open state is positioned outside the imaging field. The home door control system according to claim 2 or 3, wherein the home door control system is installed as described above.   The said detection means detects the operation state of the said vehicle door in consideration of the moving direction of the said identification display detected based on the difference of the some captured image imaged by the said imaging means. The platform door control system as described in any one of 2-4.   The home door control system according to claim 5, wherein the identification display is an optically readable information code.   The detection unit stops capturing the identification display that has been captured so as to continuously move by the imaging unit, and the identification display captured last time is captured in the center side of the edge of the captured image. The home door control system according to claim 5 or 6, wherein an open state of the vehicle door is detected when the vehicle door is open.   The detection means detects the closing operation of the vehicle door when the identification display that has not been continuously captured until the previous time is captured so as to move closer to the center than the edge of the captured image. The platform door control system according to any one of claims 5 to 7, wherein   The said detection means detects the re-opening / closing operation | movement of the said vehicle door, when the moving direction of the said identification display imaged continuously changes to a reverse direction. The home door control system according to one item. The identification display is an information code having a plurality of specific patterns and predetermined information recorded in an optically readable manner, and is arranged so as not to be imaged when the vehicle door is in an open state.
The detection means detects an operation state of the vehicle door in consideration of a change in the number of detections of the specific pattern detected based on a difference between a plurality of captured images continuously captured by the imaging means. The platform door control system according to any one of claims 2 to 9, wherein   The home door control system according to claim 10, wherein the detection unit detects that the vehicle door is not in an open state when detecting at least one of the plurality of specific patterns.   The detection means detects an operation state of the vehicle door in consideration of a movement amount of the identification display detected based on a difference between a plurality of captured images continuously captured by the imaging means. The platform door control system according to any one of claims 2 to 11.   The detection means sets the movement amount of the identification display detected based on the difference between a plurality of captured images continuously taken by the imaging means based on the movement distance during the opening / closing operation of the vehicle door. The platform door control system according to claim 12, wherein the movement of the railway vehicle is detected when a predetermined movement amount threshold value is exceeded.   14. The home according to claim 13, further comprising a correction unit that corrects the predetermined movement amount threshold in consideration of the movement amount of the identification display when the movement of the vehicle door is detected by the detection unit. Door control system.   14. The home door control system according to claim 13, wherein the identification display is an information code in which the predetermined movement amount threshold is recorded so as to be optically readable.   The detection means captures the identification display without the movement amount of the identification display detected based on the difference between a plurality of captured images continuously captured by the imaging means reaching the predetermined movement amount threshold. The stopping of the railway vehicle outside the target stop position range is detected when the identification display captured last time is captured at the edge of the captured image. The home door control system according to any one of the above.   The detection means detects an operation state of the railway vehicle in consideration of a change in the position of the identification display detected as a parameter based on a difference between a plurality of captured images continuously captured by the imaging means. The platform door control system according to any one of claims 2 to 11.   18. The home door control according to claim 17, wherein when the time change of the position of the identification display is equal to or greater than a first threshold, the detection unit detects that the operation state of the railway vehicle has changed. system.   When the state that the identification display is regarded as not moving is maintained for a predetermined time or more based on the time change of the position of the identification display, the detection means is configured to close the vehicle door or the railcar. The platform door control system according to claim 17 or 18, wherein a stop state is detected.   The detection means performs an opening operation of the vehicle door when a movement amount of the identification display becomes a second threshold or more from a state in which the closed state of the vehicle door is detected based on a time change of the position of the identification display. It detects, The platform door control system as described in any one of Claims 17-19 characterized by the above-mentioned.   The detection means detects the opening operation of the vehicle door when the time from when the closed vehicle door starts to move until the amount of movement of the identification display becomes equal to or greater than the second threshold is less than a predetermined time. The platform door control system according to claim 20, wherein   When the detection means maintains a state in which the identification display is no longer imaged by the imaging means from a state in which the opening operation of the vehicle door is detected based on a change in the position of the identification display over time. The platform door control system according to any one of claims 17 to 21, wherein an open state of the vehicle door is detected.   The detection means detects an open state of the vehicle door based on a time change of the position of the identification display when the movement amount of the identification display during the opening operation of the vehicle door is equal to or greater than a third threshold. The platform door control system according to any one of claims 17 to 22.   The detection means is based on a time change of the position of the identification display, and is a fourth threshold value or less that is set so that the amount of movement of the identification display during the opening operation of the vehicle door is larger than the third threshold value. The platform door control system according to claim 23, wherein an open state of the vehicle door is detected.   When the movement amount of the identification display becomes greater than or equal to a fifth threshold after the identification display starts to be imaged after detection of the open state of the vehicle door based on the time change of the position of the identification display, The home door control system according to any one of claims 17 to 24, wherein the door closing operation is detected.   When the time from when the identification display starts to be imaged after detection of the open state of the vehicle door to when the amount of movement of the identification display becomes equal to or greater than the fifth threshold is less than or equal to a predetermined time, the detection means 26. The home door control system according to claim 25, wherein the door closing operation is detected.   When the detection means is based on the time change of the position of the identification display, the position when the identification display is stopped after the detection of the closing operation of the vehicle door is considered to coincide with the previous stop position of the identification display. The platform door control system according to any one of claims 17 to 26, further comprising detecting a closed state of the vehicle door.   The detection means is based on the time change of the position of the identification display, and the position of the identification display imaged last when the identification display is not imaged after detection of the closing operation of the vehicle door is The open state of the vehicle door is detected when it is considered that the position of the identification display captured last when the identification display is not captured after detection of the opening operation of the vehicle door is detected. The platform door control system according to any one of claims 17 to 27.   The detection means is based on a time change of the position of the identification display, and the identification display that moves to the entry side when the vehicle door is opened is the entry side of the imaging field of view of the imaging means when the railway vehicle stops. 29. The home door control system according to any one of claims 17 to 28, wherein an operation state of the railway vehicle is not detected when located at an edge.   The detection means moves to the exit side when the vehicle door is opened based on a time change of the position of the identification display, and the exit side of the imaging field of the imaging means moves when the railway vehicle stops. 30. The home door control system according to any one of claims 17 to 29, wherein an operation state of the railway vehicle is not detected when located at an edge.   31. The information display according to claim 17, wherein the identification display is an information code in which information on the opening / closing direction of the vehicle door provided with the identification display is recorded so as to be optically readable. Home door control system.   The identification display is an information code in which information for changing a threshold to be compared with the parameter when detecting the operation state of the railway vehicle for each railway operator or each vehicle type is optically readable. The platform door control system according to any one of claims 17 to 31, wherein the platform door control system is provided. The imaging means is provided one by one toward the plurality of vehicle doors on which the identification display is provided,
The detection means obtains an imaging result in which the identification display is recognized continuously for a certain period of time in a part of the plurality of imaging means at the same time, and the identification display is continued for a certain period of time in the remaining part 33. The imaging result obtained by the imaging unit in the remaining portion is not used for detection of an operation state of the railcar when an unrecognized imaging result is obtained. Home door control system.   34. The apparatus according to any one of claims 17 to 33, further comprising second detection means for detecting an operation state of the railway vehicle with a configuration different from detection based on an imaging result of the identification display by the imaging means. Home door control system. The vehicle door is configured as a double door type having one door and the other door,
Among the plurality of vehicle doors provided with the identification display, some vehicle doors are provided with the identification display only on the one door, and some vehicle doors different from the some vehicle doors are provided. The home door control system according to any one of claims 2 to 34, wherein the identification display is provided only on the other door. The vehicle door is configured as a double door type having one door and the other door,
The home door control system according to any one of claims 2 to 34, wherein the identification display is provided so as to straddle both the one door and the other door in a closed state.   35. The home door control according to claim 2, wherein the identification display is provided so as to straddle both the part that surrounds the vehicle door and does not move with the vehicle door and the closed vehicle door. system. A plurality of the identification indications are provided for one vehicle door,
The said detection means detects the operation state of the said vehicle door based on the imaging result by the said imaging means of these identification display, The home door control as described in any one of Claims 2-37 characterized by the above-mentioned. system. The vehicle door is configured as a double door type having one door and the other door,
For one vehicle door, a part of the plurality of identification displays is provided on the one door, and another part of the plurality of identification displays is provided on the other door. The platform door control system according to claim 38. The identification display is a two-dimensional code in which position detection patterns that can be used to specify the code area are provided at three corners of a rectangular code area,
The two-dimensional code provided on the one door and the two-dimensional code provided on the other door with respect to one vehicle door are arranged so that the two position detection patterns are close to each other. 40. The home door control system according to claim 39. The identification display is a two-dimensional code,
For one vehicle door, the two-dimensional code provided on the one door and the two-dimensional code provided on the other door are configured so that the same information is recorded in a mirror-inverted relationship. 41. The home door control system according to claim 39 or 40.   The detection means detects an operation state of the railcar in consideration of each moving direction of the plurality of identification displays detected based on a difference between a plurality of captured images taken by the imaging means. The platform door control system according to any one of claims 39 to 41.   The detection means detects that the railway vehicle is moving when all of the plurality of identification displays imaged by the imaging means are moving in the same direction. Home door control system as described in.   The detection means detects a closing operation of the vehicle door when a direction of movement of some of the plurality of identification images captured by the imaging means is close to another movement direction. 44. The platform door control system according to claim 42 or 43.   The detection unit detects an opening operation of the vehicle door when a part of the moving direction and a part of the moving direction of the plurality of identification images captured by the imaging unit are away from each other. The platform door control system according to any one of claims 42 to 44, wherein:   The detecting means detects an operation state of the vehicle door based on a moving direction of the identification display located closest to the center of the captured image among the plurality of identification displays imaged by the imaging means when the railway vehicle is stopped. 40. The platform door control system according to claim 39.   47. The home according to any one of claims 38 to 46, wherein the plurality of identification indications include other identification indications provided at a portion surrounding the vehicle door and not moving with the vehicle door. Door control system.   The detection means is a state in which the railway vehicle is stopped and the vehicle door is opened and closed when an identification display excluding the other identification displays is moving among the plurality of identification displays imaged by the imaging means. 48. The home door control system according to claim 47, wherein it is detected that the mobile door is operating.   The detection means detects a closed state of the railway vehicle and a closed state of the vehicle door when all of the plurality of identification displays imaged by the imaging means have not moved for a predetermined time. The home door control system according to any one of claims 38 to 48. A relative position detecting means for detecting a relative position of the plurality of identification displays imaged from an image captured by the imaging means;
The said detection means detects the operation state of the said vehicle door in consideration of the change of the relative position of the said some identification display detected by the said relative position detection means. The home door control system according to one item. The identification display is an information code in which information regarding a place to be opened in the platform door is recorded so as to be optically readable.
51. The platform door control system according to any one of claims 2 to 50, wherein the control unit controls the platform door based on information obtained by reading the information code. The identification display is provided on each of a plurality of vehicle doors of the railway vehicle,
52. The control unit according to claim 2, wherein the control unit individually controls the opening / closing positions of the corresponding home door based on the operation states of the plurality of vehicle doors detected by the detection unit. The home door control system according to any one of the above.   The said control means controls all the opening-and-closing locations of the said platform door to the same operation state based on the operation state of the said rail vehicle detected by the said detection means. The home door control system according to one item.   The detecting means obtains the operating states of the plurality of vehicle doors from the imaging results of the identification display by the imaging means, and uses a majority vote to obtain a unified operating state of the vehicle doors for all the vehicle doors. The platform door control system according to claim 53, wherein the platform door control system is detected.   The imaging means is provided one by one toward the plurality of vehicle doors on which the identification display is provided, and the imaging visual field shift direction with respect to some vehicle doors and the imaging visual field shift direction with respect to the remaining vehicle doors are 55. The platform door control system according to claim 53 or 54, wherein the platform door control system is arranged differently with respect to a traveling direction of the railway vehicle.   56. The home door control system according to any one of claims 2 to 55, wherein a plurality of the imaging means are provided toward one vehicle door on which the identification display is provided.   57. The home door control system according to claim 56, wherein the plurality of imaging units are arranged such that parts of the imaging field of view overlap each other.   58. The home door control system according to claim 57, wherein the plurality of imaging units are arranged such that imaging fields of view overlap each other at least in a range where the identification display may be imaged.   The detection means, when the same identification display is imaged by the two imaging means when the railway vehicle stops, based on a captured image in which the moving direction of the identification display is the central side, the operation state of the vehicle door The platform door control system according to any one of claims 56 to 58, wherein the platform door control system is detected.   The detection means detects an operation state of the vehicle door based on a combined image obtained by combining a plurality of captured images simultaneously captured by the plurality of imaging means with reference to a region where imaging fields of view overlap. Item 59. The home door control system according to Item 57 or 58.   The detection unit is based on a combined image obtained by combining a plurality of captured images captured by the plurality of imaging units based on the identification display when the same identification display is simultaneously captured by the plurality of imaging units. 59. The home door control system according to claim 57 or 58, wherein an operating state of the vehicle door is detected. The identification display is an information code having a plurality of specific patterns and predetermined information recorded in an optically readable manner,
The detection unit is configured based on a combined image obtained by combining a plurality of captured images captured by the plurality of imaging units with the specific pattern as a reference when the same information code is captured by the plurality of imaging units. 62. The home door control system according to claim 61, wherein an operation state of the vehicle door is detected. A plurality of the detection means are provided so as to be arranged for each vehicle door on which the identification display is provided,
The platform control system according to any one of claims 56 to 62, wherein the control unit controls the platform door based on detection results of the plurality of detection units.   Any one of the plurality of imaging units provided for one vehicle door can detect the operation state of the vehicle door from a captured image captured by itself and a captured image acquired from the remaining imaging units. The platform door control system according to any one of claims 56 to 63, wherein the platform door control system is configured to function as the detection unit. Three imaging means are provided along the moving direction of the railway vehicle toward one vehicle door on which the identification display is provided,
Among the three imaging means, the imaging means provided in the center in the moving direction of the railway vehicle can detect the operation state of the vehicle door from the captured image captured by itself and the captured images acquired from the remaining imaging means. The platform door control system according to claim 64, wherein the platform door control system is configured to function as the detection means.   66. The plurality of imaging means provided for one vehicle door share information acquired when recognizing the identification display with other imaging means. The home door control system according to item. The identification display is an information code having an error correction function and in which predetermined information is recorded,
67. The home according to any one of claims 1 to 66, further comprising a notifying unit for notifying deterioration of the information code when a correction degree to which an error correction is made when the information code is read exceeds a predetermined value. Door control system. The operating state of the railway vehicle includes the stopping state of the railway vehicle and the operating state of the vehicle door in the railway vehicle,
A plurality of modes including a stop detection mode for detecting the stop of the railway vehicle and a door opening / closing detection mode for detecting an operation state of the vehicle door are prepared,
68. The image pickup means shifts from the stop detection mode to the door opening / closing detection mode when the stop of the railway vehicle is detected by the detection means in the stop detection mode. The home door control system according to claim 1.   69. The home door control system according to claim 68, wherein the detection means shifts from the stop detection mode to the door open / close detection mode when the stop of the railway vehicle is detected in the stop detection mode.   70. The detection unit according to claim 68, wherein the detection unit detects a stop position of the railway vehicle according to a position of the identification display occupied in the captured image when the stop of the railway vehicle is detected. Home door control system.   The detection means detects a stop in the target stop position range of the rail car when the identification display is picked up within a predetermined range of the captured image when the stop of the rail car is detected. The platform door control system according to claim 70, wherein   72. The image pickup means shifts from the stop detection mode to the door open / close detection mode when the detection means detects that the railway vehicle stops within the target stop position range. Home door control system as described.   The said control means controls the said home door to an open state, when the stop in the said target stop position range of the said railway vehicle is detected by the said detection means, The said door is controlled to the open state of Claim 71 or 72 characterized by the above-mentioned. Home door control system.   The detection means passes the railway vehicle when the moving speed of the identification display imaged by the imaging means is equal to or higher than a predetermined speed threshold set in accordance with the moving speed of the railway vehicle immediately before stopping. The platform door control system according to any one of claims 56 to 73, wherein: A plurality of the identification indications are provided, and a part of the identification indications is provided in a part that can be imaged from the traveling direction of the railway vehicle.
The detection means detects a stop position of the rail car according to an imaging size of the identification display provided at a part that can be imaged from the traveling direction when the stop of the rail car is detected. The platform door control system according to any one of claims 56 to 74. In accordance with the traveling direction of the railway vehicle, an entry side edge where the railway vehicle enters the imaging field and an exit side edge where the railway vehicle exits the imaging field in the captured image by the imaging unit are set in advance.
The said detection means detects the approach of the said rail vehicle, when the said identification display which was not continuously imaged until the last time is imaged in the said approach side edge part among captured images. Item 76. The platform door control system according to any one of Items 56 to 75.   The detection means, when the identification display that has not been continuously imaged until the previous time has not moved for a predetermined time after being moved after being captured at the entry side edge portion of the captured image, The platform door control system according to claim 76, wherein a stop state is detected.   The detection means moves after the identification display, which has not been continuously captured until the previous time, is captured at the entry-side edge of the captured image, and is not captured after being captured at the exit-side edge. 78. The platform door control system according to claim 76 or 77, wherein a passage of the railway vehicle is detected.   The detection means, when the identification display that has not been continuously imaged until the previous time has not been moved for a predetermined time after being moved after being imaged at the exit side edge of the captured image, The platform door control system according to any one of claims 76 to 78, wherein a stop state is detected.   The detection means sets the amount of movement based on the moving distance of the vehicle door after the identification display that has not been continuously captured until the previous time is captured at the exit side edge of the captured image. The platform door according to any one of claims 76 to 79, wherein when the image is not captured without exceeding a predetermined movement amount threshold value, a stop of the railway vehicle outside a target stop position range is detected. Control system. The operation state of the railway vehicle includes departure of the railway vehicle,
The home door control system according to any one of claims 66 to 80, wherein the imaging unit shifts to the stop detection mode when the detection unit detects the departure of the railway vehicle.   82. The platform door control system according to claim 81, wherein when the departure of the railway vehicle is detected, the detection means shifts to the stop detection mode.   When the detection display is moving after detecting the closed state of the vehicle door after detecting the open state of the vehicle door based on the imaging result of the identification display by the imaging unit, 83. The platform door control system according to claim 81 or 82, wherein departure of the railway vehicle is detected. In accordance with the traveling direction of the railway vehicle, an entry side edge where the railway vehicle enters the imaging field and an exit side edge where the railway vehicle exits the imaging field in the captured image by the imaging unit are set in advance.
The detection means detects the departure of the railway vehicle when the identification display used for detecting the closed state of the vehicle door is not captured after being captured at the exit side edge. 84. A home door control system according to claim 83. The identification display is a two-dimensional code in which position detection patterns that can be used to specify the code area are provided at three corners of a rectangular code area,
The home door control system according to any one of claims 1 to 84, wherein the two-dimensional code is arranged such that two of the three position detection patterns are located below.

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