JP2019077201A - Platform fence system of movable door pocket type - Google Patents

Abstract

To provide an unprecedented and completely new technique which realizes a platform fence system of movable door pocket type.SOLUTION: In a platform fence system of a movable door pocket type 100 whose door pocket 71 is constructed to be movable, a general control device 50 makes noy only a platform fence door 73 shelter but also s door pocket part 71 move simultaneously, based on prescribed vehicle door position information indicating the position of each vehicle door 11 of a train T which stops at a station and carries out door opening function to form an aperture for passenger getting on and off at the position of each vehicle door 11. Accordingly, a fixed concept that the door pocket part must be transferred in order to change a platform fence door of a platform fence system of movable door pocket type into an aperture, is upset and a completely new technique can be realized.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a door-sliding movable fence system in which a door pocket is configured to be movable.

  As a problem of the home fence, there is a problem that the position of the vehicle door differs depending on the train. For example, the difference in the number of trains (four-car train, six-car train, etc.), the difference in vehicle length (one car with a length of 18 m, 20 m, etc.), the number of car doors (three doors or four) The difference between the doors, etc.) Furthermore, even if the number of vehicle doors is the same, the position of the vehicle door differs depending on the vehicle type, or the combination of formation formation (4 cars of 3 doors of 18 meters long + 20 meters long) There are various cases, such as a two-door formation of a four-door vehicle.

  As a solution to this problem, a method is considered that uses a door-bag-moving home fence system in which the door pocket is configured to be movable. Specifically, information on the train to arrive next is received in advance, and by moving the door pocket by the arrival of the train, the door opening position is adjusted to the position of the train car door (for example, See Patent Document 1).

JP 2012-116449 A

  However, in the prior art method like patent document 1, it is necessary to move a door pocket part to a suitable position by the time a train arrives at a station. Therefore, it was necessary to take measures to eliminate the possibility that the moving door unit would come in contact with the passenger on the platform, as the door unit would move despite the fact that the train was not present at the station.

  Therefore, a technology different from the prior art as in Patent Document 1 is also desired. Therefore, it is an object to be solved by the present invention to provide an entirely new technology which has never been available as a technology of the door-bag movable home fence system.

A first invention for solving the above-mentioned problems is
A door bag moving type home fence system in which a door bag portion is configured to be movable,
Based on the given vehicle door position information indicating the position of each vehicle door of the train stopped at the station, the retraction drive of the home fence door and the movement of the door pocket are carried out in parallel, and the passenger is moved to the position of each vehicle door An operation control unit that executes an opening operation control that forms an opening for getting on and off,
It is a sliding door type home fence system equipped with

  In the past, there was a fixed concept that the door pocket had to be moved in order to make the home fence door of the door pocket movable home fence system an opening. According to the first invention, it is possible to realize an entirely new technology that reverses this fixed concept. That is, an opening can be provided at the position of the vehicle door by simultaneously carrying out the retraction drive of the home fence door and the movement of the door pocket based on the position of each vehicle door stopped at the station. The door pocket will also function as a door, so to speak. More specifically, instead of moving the door pocket portion so as to align the home fence door with the position of the vehicle door to be opened, the retraction operation of the home fence door and the door pocket portion so as to form an opening at the position of the vehicle door Will be implemented in parallel. Therefore, there is no need for the door pocket to move before the train arrives.

The second invention is
The operation control unit executes a closing operation control for closing the opening by simultaneously executing the advancing drive of the home fence door and the movement of the door pocket portion.
It is a door-bag movement type | mold home fence system of 1st invention.

  According to the second aspect of the present invention, the opening provided at the position of the vehicle door can be closed by simultaneously carrying out the advancing drive of the home fence door and the movement of the door pocket portion.

The third invention is
The operation control unit selects, based on the vehicle door position information, a home fence door to be retracted in the opening operation control and a door pocket portion to be moved.
It is a door-bag movable-type home fence system of the 1st or 2nd invention.

  According to the third invention, it is possible to select the home fence door to be retracted and the door case to be moved, which are required to form the opening, based on the vehicle door position information.

The fourth invention is
In the train, an identification unit capable of identification by image analysis is provided at a predetermined designated position on either or both of the vehicle door and the side wall of the vehicle in the vicinity of the vehicle door,
A photographing unit installed so as to include a reference marker provided at the station and the identification unit of the train stopped at the station in a photographing range;
Equipped with
The operation control unit includes a positional relationship between the installation position of the reference marker and the installation position of the imaging unit, the imaging position of the reference marker included in the imaging image by the imaging unit, and the imaging position of the identification unit. And a door position calculation unit that calculates the position of the vehicle door and generates the vehicle door position information.
It is a door bag movable type | mold home fence system of the invention in any one of the 1st-3rd.

  According to the fourth aspect of the invention, when the train stops at the station, the imaging unit is installed so that the identification unit provided for each vehicle door in the train and the reference marker provided at the station are included in the imaging range can do. All that is required is the one to be installed at the station, and on the train side only the identification part needs to be provided. For example, since it is not necessary to obtain in advance information on a train arriving next, communication facilities between adjacent stations become unnecessary. On the other hand, in order to detect the position of the vehicle door, the stop position of the train at the station does not necessarily have to be a highly accurate position. For example, even if the train arriving at the station stops slightly beyond the predetermined stop target position, the position of the vehicle door can be detected as long as the identification unit is included in the imaging range of the imaging unit. . Then, the position of the vehicle door is calculated using the positional relationship between the installation position of the reference marker and the installation position of the imaging unit, the imaging position of the reference marker included in the captured image by the imaging unit, and the imaging position of the identification unit, Vehicle door position information can be generated.

The fifth invention is
When the position calculation of the vehicle door by the door position calculation unit is completed, the operation control unit externally outputs a signal indicating that the preparation for forming the opening is completed.
It is a door-bag movable-type home fence system of the 4th invention.

  According to the fifth invention, it is possible to realize a signal to the conductor that pre-preparation for forming the opening has been completed, and the conductor confirms the signal and performs the opening operation of the vehicle door and the home fence door. become able to.

The sixth invention is
The identification unit is a reflection unit made of a retroreflective material,
A light emitting unit provided integrally with the image capturing unit or provided at a position near the image capturing unit, and emitting light in the image capturing direction of the image capturing unit;
It is a door-bag movable-type home fence system of the 4th or 5th invention provided with this.

  According to the sixth aspect of the present invention, the reflecting unit made of the retroreflective material is provided on the train as an identifying unit, and the light projecting unit projects light in the imaging direction of the imaging unit. The determination of the imaging position of the (reflecting portion) can be reliably and simplified. Moreover, the identification portion provided in the train is not an electronic component or the like, and is expected to be relatively inexpensive, made of a retroreflective material, and to be able to expect weather resistance and durability. In addition, since the imaging unit only needs to be installed so as to include the reference marker and the identification unit of the train in a stopped state at the station in the imaging range, the time and effort for installing the imaging unit can be reduced.

The seventh invention is
The identification unit is provided on both the vehicle door and a vehicle side wall near the vehicle door.
The operation control unit
A vehicle door opening detection unit that detects the opening of the vehicle door based on a change in the imaging position of the identification unit provided on both the vehicle door and the vehicle body side wall in the image captured by the imaging unit Have
Executing the opening operation control according to the detection by the vehicle door opening detection unit;
It is a door-bag movable-type home fence system according to any of the fourth to sixth inventions.

  According to the seventh invention, by providing the identification part on both the vehicle door and the vehicle body side wall near the vehicle door, it is possible to detect the door opening of the vehicle door from the change of the photographing position thereof.

A figure showing an example of whole composition of a door bag movement type home fence system. The figure explaining imaging | photography of an identification part and a reference | standard marker. FIG. 10 is another view illustrating imaging of an identification unit and a reference marker. A figure explaining door position calculation processing. A schematic view of a photographed image. A figure explaining opening operation control. The other figure explaining opening operation control. FIG. 2 is a block diagram showing an example of the functional configuration of a processing device. FIG. 2 is a block diagram showing an example of the functional configuration of a general control device. The figure which shows the example of a data structure of a vehicle door position list. The flowchart which shows the flow of processing of a processing apparatus. The flowchart which shows the flow of processing of general control device. A figure explaining vehicle door opening detection processing. The figure which shows the data structural example of a train organization table.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. The present invention is not limited by the embodiments described below, and the mode to which the present invention can be applied is not limited to the following embodiments. Further, in the description of the drawings, the same portions are denoted by the same reference numerals.

[Example of overall configuration]
FIG. 1 is a view showing an example of the overall configuration of a door-sliding movable home fence system 100 according to the present embodiment. FIG. 1 also shows the train T in a stopped state at a predetermined position of the station defined as the stop target position, and the leading railway car 1 is shown by a pair of vehicle doors 11, It is illustrated as a four-door car having four sets of eleven.

  Further, FIG. 2 is a perspective view of the vicinity of the vehicle door 11 of the stopped railway vehicle 1 as viewed from the platform side, and FIG. 3 is a traveling direction side of the railway vehicle 1 in FIG. It is the schematic of the end surface seen from. In each of FIGS. 2 and 3, the home fence door 73 (see FIG. 1 and the like) is omitted for the home fence 7 installed at the home, and only the door pocket 71 is shown.

  As shown in FIG. 1, the door pocket movable type home fence system 100 of the present embodiment is arranged at N track units 10 installed at a station, and at the edge of the track side of the station home track A home fence 7 for partitioning from the side, and an integrated control unit 50 for controlling the operation of the home fence 7 via the drive control unit 8 by using vehicle door position information which is the detection result of each unit device 10 The N unit devices 10 and the general control device 50 constitute a vehicle door position detection device 60.

  The unit device 10 includes an imaging device 20 as an imaging unit and a processing device 30. The imaging device 20 is for imaging the identification unit (reflection unit) 13 provided in the railway vehicle 1 and the reference marker MK provided in the station. Then, the processing device 30 performs image processing on the photographed image of the photographing device 20 to determine the photographing position of the identification unit 13 and the reference marker MK, and the position on the home of the vehicle door 11 (door position) Perform vehicle door position detection processing to detect The detection result here is output to the general control device 50 as vehicle door position information.

  Here, the identification unit 13, which is one imaging target of the imaging device 20, is disposed with the side wall portions in the vicinity (in the vicinity of the upper portion in the present embodiment) of all the vehicle doors 11 included in the rail vehicle 1 as designated positions. Ru. The identification unit 13 is made of, for example, a retroreflective material that reflects incident light in the incident direction, and is disposed by attaching a sheet-like retroreflective material with an adhesive or the like. It is only this identification unit 13 that needs to be provided in the rail vehicle 1 for detecting the vehicle door position in the present embodiment, and installation of electronic parts etc. is unnecessary, so it is expected that it is inexpensive, weather resistant and durable. it can.

  More specifically, the identification unit 13 has a laterally long shape (strip shape) having substantially the same length as the door width d1, and the longitudinal direction of the vehicle body side wall near the top of the vehicle door 11 is the vehicle Along the width direction of the door 11, the both ends are arrange | positioned so that the door width d1 may be aligned up and down. The door width d1 refers to the entire width of the double doors of the vehicle door 11 in the fully closed state, and can also be referred to as an opening width formed on the side surface of the vehicle when the door is opened. That is, the identification unit 13 indicates the door width of the vehicle door 11 by the length, and indicates the both end positions of the vehicle door 11 in the width direction by the respective positions of the both ends. In the vehicle door position detection process performed by the processing device 30, the position on the home (X coordinate position; see FIG. 4) corresponding to each position of both ends of the identification unit 13 is determined as the door position, and the distance between the two is a door Calculated as the width d1. The position of the vehicle door 11 to be detected may be the position of the left and right center of the vehicle door 11 at the position coordinates on the home, or may be the positions of the left and right ends of the vehicle door 11 at the position coordinates on the home . The width in the vertical direction (height direction) of the identification unit 13 is not particularly limited, but can be 10 mm or more and 100 mm or less (for example, about 50 mm).

  In addition, the reference marker MK, which is another imaging target of the imaging device 20, is also made of the retroreflective material. In the present embodiment, the reference marker MK is prepared as a display plate 91 on which the reference marker MK is displayed by sticking a sheet-like retroreflective material on the surface. In FIG. 2, the shape of the reference marker MK is a cross shape, but may be another shape such as a circular shape or a polygonal shape, for example, and is not particularly limited.

  The number N of unit devices 10 enables one or more of the unit devices 10 to photograph the identification portions 13 of all the vehicle doors of all the trains that may arrive at the station (more specifically, the home track). It is the number to do. For example, it is determined based on the maximum number of train formation vehicles of trains that arrive at the station, the maximum number of vehicle doors provided in the formation vehicles of those trains (maximum number of vehicle doors on one side of the vehicle body), the stop target position of each train, etc. . And each photographing device 20 of these N unit devices 10 is installed in the upper part of the home with the photographing range (the photographing direction) facing the upper part of the vehicle body of the stopped railway vehicle 1. More specifically, the imaging device 20 is installed so as to face the door position of each vehicle door of the arriving train.

  On the other hand, in the present embodiment, the same number N as the number N of unit devices 10 is installed in one-to-one correspondence with the imaging devices 20 in the present embodiment. Specifically, the N display plates 91 are fixedly installed at a position where the display surface of the reference marker MK is directed to the imaging device 20 at a position within the imaging range of the corresponding imaging device 20 above the home. The mode of installation may be, for example, a mode in which the display plate 91 is suspended from a ceiling portion as shown in FIG. 3 or a mode in which the display plate 91 is attached to a post of a home. The installation position of the display plate 91 may basically be a position that falls within the imaging range of the imaging device 20, but may be installed as high as possible so as not to be affected by the passenger. In addition, the display plate 91 is always installed at a position where the image is taken by the image pickup device 20 even when the train is stopped so that the display plate 91 is not hidden from the stopped train as seen from the image pickup device 20.

  As described above, the number N of unit devices 10 is determined, and those photographing devices 20 are paired with the display plate 91 to be installed above the home even if any train arrives at the station The apparatus 20 can capture the entire upper width of all the vehicle doors 11 and the vehicle body side wall (that is, the entire image of the identification unit 13) in the vicinity thereof, and obtain a photographed image including one reference marker MK Hereinafter, the condition is referred to as “captured image condition”. However, the number of display plates 91 may be smaller than N as long as the captured image condition is satisfied, and one reference marker MK may correspond to a plurality of imaging devices 20. Since it is sufficient that the imaging device 20 of each unit device 10 can capture at least one reference marker MK, for example, by installing one reference marker MK in the overlapping imaging range of the adjacent imaging devices 20, the number is smaller than N. The reference marker MK may be set. The relationship between the imaging device 20 and the corresponding reference marker (a reference marker that the imaging device 20 makes an imaging target; hereinafter, also appropriately referred to as a “corresponding reference marker”) MK is set in advance.

  Further, in the present embodiment, various existing types of railway vehicles are assumed as train formation vehicles capable of arriving at a station. This is because the door position of the train stopped at the station differs depending on the length of the vehicle, the number of vehicle doors, the type of vehicle, the combination of formation formation, and the like. On the other hand, there is also the problem of the stop position of the train. That is, if there is a gap between the stop target position and the actual stop position of the train, the door position does not match the assumed position. Therefore, in the present embodiment, a wide-angle lens (for example, 90 degrees or the like) having a wide angle of view is used as the imaging device 20 so as to be able to capture a wider range.

  Then, the imaging device 20 captures near-infrared light and generates a reflection intensity image of an object within the imaging range as a captured image, and measures the distance to the object to generate a distance image of the imaging range. It is configured to have a TOF (Time of Flight) camera that can be used, and further incorporates a light projecting unit 21 that emits light in the photographing direction. As shown in FIG. 3, the light emitting unit 21 emits near infrared light in the imaging direction of the imaging device 20. In the present embodiment, the light projecting unit 21 emits wavelength light near 940 nm. The light projecting unit 21 is not limited to the configuration incorporated in the imaging device 20, and may be separate.

  As shown in FIG. 2 and FIG. 3, the imaging device 20 can emit near infrared light to a wide range A1 of the upper part of the vehicle body including the identification unit 13 and the reference marker MK. Then, the identification unit 13 and the reference marker MK reflect the projected light from the light projection unit 21 in the direction of the light projection unit 21, and the photographing device 20 photographs the reflected light (near infrared light) B11 and B13. At the same time, it is possible to generate and output a distance image representing the distance to the identification unit 13 and the reference marker MK. Therefore, even when any type of railway vehicle 1 is stopped, the installation of the imaging device 20 can be easily realized so as to satisfy the above-mentioned captured image condition, and the installation position of the imaging device 20 can be set. And the work of finely adjusting the installation angle is unnecessary. In particular, by forming the identification unit 13 and the reference marker MK with a retroreflective material, the reflected lights B11 and B13 from them are returned to the imaging device 20, so that the identification unit 13 and the reference marker MK in the photographed image are photographed. Being able to reliably and simplify the determination of the position is also advantageous in the case of a photographed image with a wide angle of view. In addition, the identification unit 13 is disposed on the side wall of the vehicle door 11 near the upper portion, and the display plate 91 is installed at a high position above the home to photograph it. It makes it hard to accept and can suppress misclassification.

  In addition, since the wavelength around 940 nm is a wavelength range in which the ratio is low among the near infrared light contained in sunlight, the influence is suppressed even in the presence of sunlight during the daytime, and the identification unit 13 and the reference marker You can shoot MK clearly. On the other hand, since imaging is performed by emitting near-infrared light from the light projecting unit 21, even when the surroundings are dark, such as at night or in bad weather, clear imaging of the identification unit 13 and the reference marker MK can be performed. Therefore, the corresponding reference marker MK and the identification unit 13 within the imaging range can be reliably imaged without being affected by the installation environment of the imaging device 20. In addition, since the floodlight is near infrared light which is not visible light, even if the floodlight enters the view of the passenger, it hardly or hardly causes the passenger to feel glare.

  Returning to FIG. 1, the home fence 7 includes a door case 71 that can move in a predetermined movable range along the longitudinal direction of the home, and a home fence door 73 that moves forward and backward from the door case 71. The home fence 7 of the present embodiment has a configuration in which the door pocket portion 71 supports one home fence door 73 freely on one side (left side in FIG. 1) in opening and closing drive (retraction drive and advance drive), At the time of retraction driving, the home fence door 73 moves to the right and is retracted and accommodated in the door pocket 71. On the other hand, at the time of advance driving, the home fence door 73 moves to the left and advances from the door pocket portion 71. Then, under the control of the general control device 50, the drive control unit 8 drives the drive unit (not shown) of the home fence door 73 to drive the home fence door 73 to retract / advance, and also drive the door pocket unit 71. A door (not shown) is driven to move the door pocket 71. In addition, although the whole shape of the door pocket part 71 may be a bag-like shape which accommodates the home fence door 73 when the door is closed, the home fence door 73 is located behind the door pocket part 71 as seen from the passenger on the home. It may be in the shape of a screen. The point is that it has only to be an application shape that exhibits the function as a door bag as viewed from the passenger on the home.

  When the train stops at the station, the general control device 50 controls the drive control unit 8 based on the vehicle door position information input from the N unit devices 10 (specifically, their processing devices 30). The retraction operation of the home fence door 73 and the movement of the door pocket portion 71 are simultaneously performed in parallel to perform the opening operation control for forming an opening for passenger entry and exit at the vehicle door position. In addition, after the door opening operation control, the general control device 50 controls the drive control unit 8 to carry out the advancing drive of the home fence door 73 and the movement of the door pocket portion 71 simultaneously in parallel when the passenger gets on and off. Perform closing control to close the unit. In the present embodiment, the steady state of the home fence 7 (for example, the steady state shown in FIG. 6A and FIG. 7A) is determined in advance. And door opening operation control is performed on the basis of the steady state of the home fence 7 concerned, and door closing operation control is performed by returning home fence 7 to a steady state. One of the features of the present embodiment is that the door opening operation control and the door closing operation control not only open and close the home fence door 73, but also move the door pocket 71 in parallel to provide an entrance for getting on and off or close it. It is to be. Therefore, in the present embodiment, the driving of the home fence door 73 will be described using terms of retraction (retraction to the door pocket 71) and advancement (progress from the door pocket 71) rather than opening and closing.

[principle]
1. Vehicle Door Position Detection Processing In the present embodiment, the imaging device 20 continuously captures an imaging range at a predetermined frame rate (for example, 20 fps), and outputs a captured image and a distance image to the processing device 30 as needed. On the other hand, in the processing device 30, the corresponding reference marker MK in the photographed image and the photographing position of the identification unit 13 are detected in frame units (reflector detection processing), and the stop of the train T is detected (stop detection processing). Then, at the time of stop detection, referring to the positional relationship between the installation position of the corresponding reference marker MK and the installation position of the imaging device 20, the imaging position of the corresponding reference marker MK in the captured image and the imaging of the identification unit 13 in the captured image A door position calculation process is performed to calculate the door position using the position. At the same time, the door width is also calculated. Thereafter, vehicle door position information in which the calculated door position is set in association with the door width is generated and output to the overall control device 50. If the identification unit 13 does not appear in the captured image, the vehicle door position information may not be output, or vehicle door position information indicating that there is no corresponding vehicle door may be generated and output. It is also good.

(1) Reflector Detection Process As described above, the identification unit 13 reflects the incident light in the incident direction. The imaging device 20 captures near-infrared light at a predetermined frame rate while emitting near-infrared light from the light emitting unit 21 in the shooting direction. Since the corresponding reference marker MK is always present in the imaging range, the imaging position of the corresponding reference marker MK in the captured image appears as a pixel range with high luminance (pixel range where the reflection intensity of near infrared light is large). . On the other hand, when the identification unit 13 is included in the imaging range as the train T arrives at the station, the imaging position appears as a pixel range with high reflection intensity in the captured image. At that time, since the reference marker MK (display plate 91) is installed in front of the train T when viewed from the photographing device 20, it is photographed without being blocked by the stopped train T. In addition, since the reference marker MK is installed at a position where the reference marker MK appears above the train T when viewed from the imaging device 20, the identification unit 13 is not blocked by the reference marker MK and is not photographed.

  Therefore, in the reflector detection process, for example, the process of binarizing the captured image using a predetermined threshold value set in advance and repeating the process of extracting a high reflection intensity location is repeated for each frame. Then, before the train T arrives at the station, first, the imaging position of the corresponding reference marker MK is detected. Specifically, the corresponding reference marker collating process is performed based on the extracted high reflection strength portion to identify the photographing position of the corresponding reference marker MK, the self-diagnosis processing is performed for the identified photographing position, and then the photographing position is referred to Determined as a marker position.

  In the corresponding reference marker matching process, the corresponding reference marker MK is identified. As described above, in the present embodiment, the N photographing devices 20 are disposed above the home, and wide-angle lenses are used to widen the individual photographing ranges. Therefore, a plurality of reference markers MK may be included in the imaging range of the imaging device 20. For example, in the example of FIG. 4 described later, two reference markers MK are included. Therefore, in the corresponding reference marker matching process, the distance (measurement distance) measured for the extracted high-intensity reflection intensity location is read out from the distance image and compared with the distance between the installation positions of the imaging device 20 and the corresponding reference marker MK. Then, the imaging position of the corresponding reference marker MK is identified. In the following processing, the high reflection intensity locations (corresponding reference markers MK of another imaging device 20) other than the identified corresponding reference markers MK are ignored and not referred to.

  On the other hand, in the self-diagnosis process, it is determined whether or not there is an abnormality including a failure such as a failure of the imaging device 20 or a lens contamination. The processing here determines the pixel value of the imaging position of the corresponding reference marker MK (the value of the luminance, the number of pixels above the predetermined luminance, etc.) identified by the corresponding reference marker collation processing of the previous stage when the train one before This is performed by comparing with the pixel value of the corresponding reference marker position. Alternatively, the corresponding reference marker MK may be photographed in advance in a normal state, and information on the pixel value of the photographing position may be acquired and set, and the information may be compared with this. For example, when there is a difference between the pixel values of both of them or more, it is judged as abnormal. If it is determined that there is no abnormality as a result of the self-diagnosis processing, the imaging position of the identified corresponding reference marker MK is set as the corresponding reference marker position, and is referred to in the subsequent processing described below.

  After the imaging position of the corresponding reference marker MK is detected, thereafter, the high-intensity range different from the corresponding reference marker MK is searched in each frame, and the imaging position of the identification unit 13 is detected. Since the identification unit 13 is disposed on the side wall of the vehicle near the top of the vehicle door, it is possible to set in advance a range in the vertical direction in which the identification unit 13 can appear in the photographed image. Therefore, the identification unit 13 may be searched by using a band-like region of the captured image including the set range in the vertical direction instead of the entire captured image as the extraction area.

  At that time, it is determined whether or not there is a train to be detected by the own device within a predetermined distance range (for example, 3 m, etc.) set in advance. The target of detection of the unit device 10 is a train stopped at the home where the imaging device 20 is installed. However, in the station provided with a plurality of homes, when there is no train in the installation home of the photographing device 20 and the train is stopped at another home in the back, the identification provided in the other train A situation may occur in which the unit 13 is included in the imaging range of the imaging device 20. If this is regarded as the identification unit 13 provided in the train to be detected and the subsequent processing is performed, the door position will be detected despite the absence of the train in the installation home, which is a problem.

  Therefore, for example, a predetermined distance range including the distance from the photographing device 20 to the train in a stopped state at the station is set in advance. Then, when a high reflection intensity location other than the corresponding reference marker MK is extracted, if the measurement distance is within the distance range, there is a train to be detected by the own device (that is, the extracted high reflection It is determined that the strength point is the imaging position of the identification unit 13 disposed in the train to be detected. If it is determined that there is no train to be detected that is out of the distance range and there is no train to be detected, the processing in the latter stage described below is not performed.

  According to this reflector detection processing, the photographing position of the corresponding reference marker MK or the identification unit 13 can be detected simply by extracting the high reflection intensity location in the photographed image, and the altitude at which the amount of calculation such as form recognition is large It is possible to detect them quickly and reliably because it does not require various image processing. In addition, there is also a secondary effect that the shape of the identification unit 13 can be freely selected.

(2) Stop Detection Process In the stop detection process, the stop of the train T is detected by detecting that the position change of the imaging position of the identification unit 13 in the captured image satisfies the predetermined immobility equivalent condition. Since the identification unit 13 is disposed on the side wall of the vehicle body, while the train T is moving, the photographing position in the photographed image is also moved, and when the train T is stopped, it is similarly stopped.

  For example, for the shooting position of the identification unit 13 in the captured image, the train speed is calculated from the movement amount of the identification unit position between the current frame and the immediately preceding frame and the frame rate (for example, 20 fps). Then, using "the train speed has become equal to or less than a predetermined speed (for example, 3 km / h or less)" as the immobility equivalent condition, it is detected that the train T has stopped when the immobility equivalent condition is satisfied.

(3) Door Position Calculation Process In the door position calculation process, the door position indicated by the identification unit 13 is calculated based on the photographed image and the distance image obtained at the time of detecting the stop of the train. FIG. 4 is a schematic plan view showing the train T in a stopped state at the home 9. The black circle in FIG. 4 shows the installation position of the imaging device 20, and the x mark shows the installation position of the reference marker MK. . Further, FIG. 5 is a schematic view of a photographed image photographed when the photographing device 20 at the installation position P211 shown in FIG. 4 detects that the train T is stopped.

  In this embodiment, the left and right direction is X axis direction toward the drawing along the home longitudinal direction, the vertical direction is Y axis direction toward the drawing along the home short direction, and the height direction orthogonal to these directions is Z axis The door position is determined as the X position (the distance along the home longitudinal direction from the base position) of the XYZ coordinate system having the origin O as a predetermined base position defined on one end side of the home 9.

Here, attention is paid to the door position calculation process in the processing device 30 that processes the photographed image and the distance image of the photographing device 20 at the installation position P211. As a premise, the corresponding reference marker MK of the imaging device 20 is the reference marker MK of the installation position P213. The shooting range A1 of the shooting device 20 includes the vehicle door 11A of the stopped train T. Therefore, in the present door position detection process, the X positions X ₁ and X ₂ of both ends P 31 and P 33 of the identifier 13 A are calculated as the door positions.

Specifically, the installation position P211 of the imaging device 20 and the installation position P213 of the corresponding reference marker MK are known, and the distance d21 between the installation positions P211 and P213 is also known. Further, the corresponding reference marker position (the position coordinate of the reference marker MK on the left side in the photographed image of FIG. 5) in the photographed image has been detected by the reflector detection processing. On the other hand, the photographing position of the identification unit 13 in the photographed image is also detected by the reflector detection processing, and the measurement distances of both end positions in the photographed image (that is, the lengths of d231 and d233 shown in FIG. 4) are also obtained. ing. Furthermore, the angles θ21 and θ23 formed by the direction of the installation position P213 of the corresponding reference marker MK viewed from the installation position P211 of the imaging device 20 and the directions of both end portions P31 and P33 of the identification unit 13 And the horizontal distance between them (for example, the number of dots) L31 and L33 in the photographed image based on the reference. Therefore, the positions of both end portions P31 and P33 of the identification unit 13 on the home 9 can be specified using a trigonometric function from the determined angles θ21 and θ23 and the lengths of d231 and d233 obtained as measurement distances, and The X positions X ₁ and X ₂ are obtained. As a result, the range X _{1 to} X ₂ of the X position where the vehicle door 11A is located on the home 9 can be calculated as the door position, and the door width can also be calculated by the difference. In addition, the calculation procedure demonstrated here is an example, and can also be calculated by another calculation procedure. The door position and the door width are geometrically determined based on the installation position P211 of the imaging device 20 and the installation position P213 of the corresponding reference marker MK, and the corresponding reference marker position in the photographed image and the photographing position of the identification unit 13 It can be calculated.

2. Opening Operation Control FIG. 6 is a diagram for explaining the opening operation control. In FIG. 6, along with the state in which the train Ta whose four-door car whose vehicle length is L4 is the train 1a has stopped at the station, the state of the home fence 7 immediately after the train Ta has stopped at the station in the upper stage (a) The lower part (b) shows the state of the home fence 7 after the door opening operation control.

  Vehicle door position information is input to the general control device 50 from each unit device 10. Therefore, in the opening operation control, first, all door positions of the train Ta that arrived based on them are collected, and the X coordinate range including each door position is an opening forming range 931 (931-1, 931-2, · · · Determined.

  Subsequently, for each of the determined opening forming ranges 931, the home fence door 73 to be evacuated for forming the opening in the opening forming range 931 and the door case 71 to be moved are selected, and the object control data is calculated. Generate For example, focusing on the vehicle door 11B, (1) fully open the home fence door 73B, (2) move the door pocket 71B rightwardly toward FIG. 6 by a predetermined amount, and (3) move the door pocket 71B. By retracting the home fence door 73C in parallel, an opening can be formed in the opening forming area 931-2. In this case, control data in which the retraction amount from the corresponding door pocket portion 71 of the home fence door 73B and the home fence door 73C to be retracted and the movement amount and movement direction of the door pocket 71A to be moved are set. Are generated as target control data relating to the vehicle door 11B.

  Then, the general control device 50 generates target control data for all the vehicle doors 11 in the same manner, and outputs them to the drive control unit 8. In response to this, the drive control unit 8 retracts and drives the home fence door 73 set as the evacuation target according to the evacuation amount according to the input target control data for each vehicle door 11 and is set as the movement target. The door case 71 is moved in the moving direction according to the movement amount. As a result, the retraction drive of the home fence door 73 and the movement of the door pocket portion 71 are performed simultaneously and in parallel, and as shown in FIG. Ru. In the subsequent closing operation control, the opening is closed by the home fence 7 moving in the reverse direction to the opening operation control and returning to the steady state (the state of FIG. 6A).

  FIG. 7 is a view for explaining the door opening operation control when the train Tb whose three-door car whose vehicle length is L5 is the train 1b is stopped at the station. As shown in FIG. 7, even when the train Tb of the formation vehicle 1b having a different length or number of vehicle doors than that shown in FIG. 6 stops at the station, the door opening operation is performed according to the procedure described with reference to FIG. By performing control, the opening for passenger getting on and off can be formed in the opening formation range 933 (93-1, 93-2, ...) including the respective door positions.

[Function configuration]
1. Processing Device FIG. 8 is a block diagram showing an example of a functional configuration of the processing device 30. As shown in FIG. As shown in FIG. 8, the processing device 30 is a kind of computer including an operation unit 31, a display unit 33, a communication unit 35, a control unit 37 and a storage unit 39, and is configured as a CPU board or the like. It is possible.

  The operation unit 31 includes a push switch, a dial, and the like, and the display unit 33 includes an LED, a small liquid crystal display device, and the like. The operation unit 31 and the display unit 33 are mainly used by workers at the time of maintenance.

  The communication unit 35 is a wired or wireless communication device realized by, for example, a wireless communication module, a router, a modem, a TA, a jack of a wired communication cable, a control circuit, etc. Communicate with each other). The photographed image input from the photographing device 20 for each frame from the photographing unit 20 through the communication unit 35 is stored in the storage unit 39 as photographed image data 394 and the distance image input together with the photographed image as the distance image data 395.

  The control unit 37 is realized by, for example, a processor such as a central processing unit (CPU) or a digital signal processor (DSP), an electronic component such as an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA). Control input and output of data between Then, various operations are performed based on predetermined programs and data, data input through the communication unit 35, and the like to control the operation of the processing device 30. The control unit 37 includes a reflector detection unit 371, a stop detection unit 373 and a door position calculation unit 375. These functional units may be processing blocks implemented as software by executing a program, or may be circuit blocks implemented by hardware circuits such as an ASIC or an FPGA. In the present embodiment, the control unit 37 is described as a processing block implemented as software by executing the vehicle door position detection program 391.

  The reflector detection unit 371 detects, for each frame, the imaging position of the corresponding reference marker MK in the captured image input from the imaging device 20 and the imaging position of the identification unit 13 disposed in the train to be detected. At this time, the corresponding reference marker matching process described above and the self-diagnosis process are performed.

  The stop detection unit 373 tracks the shooting position of the identification unit 13 in the shot image between frames, and detects that the train stops by detecting that the change in position satisfies a predetermined immobility equivalent condition.

  When the stop detection unit 373 detects that the train has stopped, the door position calculation unit 375 performs the door position calculation process described with reference to FIG. The door position (X position) and door width of the vehicle door indicated by 13 are calculated.

  The storage unit 39 is realized by a storage medium such as an IC memory, a hard disk, an optical disk, or the like. In the storage unit 39, a program for operating the processing device 30 to realize various functions of the processing device 30, data used during the execution of the program, and the like are stored in advance, or each time processing is performed. It is temporarily stored. For example, the storage unit 39 includes a vehicle door position detection program 391, an imaging device installation information 392, corresponding reference marker installation information 393, captured image data 394, distance image data 395, and corresponding reference marker position data 396. , Identification object detection result data 397 are stored.

  The vehicle door position detection program 391 is a program for causing the control unit 37 to function as the reflector detection unit 371, the stop detection unit 373, and the door position calculation unit 375.

  The photographing apparatus installation information 392 stores the installation position (coordinate position of the XYZ coordinate system) on the home of the photographing apparatus 20 of the own apparatus. The corresponding reference marker setting information 393 is the distance between the setting position (coordinate position of the XYZ coordinate system) of the corresponding reference marker MK of the imaging device 20 of the own device and the installation position from the imaging device 20 to the corresponding reference marker MK. And store.

  The corresponding reference marker position data 396 stores the corresponding reference marker position in the captured image determined by the reflector detection unit 371 and the measurement distance of the corresponding reference marker position obtained as a distance image.

  The identification object detection result data 397 stores the imaging positions of the identification unit 13 detected for each frame by the reflector detection unit 371 in time series. Therefore, in the identification object detection result data 397, for a frame in which the shooting position of the identification unit 13 is included in the shot image, position coordinates in the shot image are set.

2. General Control Device FIG. 9 is a block diagram showing an example of a functional configuration of the general control device 50. As shown in FIG. As shown in FIG. 9, the general control device 50 is a kind of computer including an operation unit 51, a display unit 53, a communication unit 55, a control unit 57, and a storage unit 59, and is used as a CPU board or the like. It is possible to configure. The operation unit 51 and the display unit 53 are prepared for maintenance or the like, as in the processing device 30.

  The communication unit 55 is a wired or wireless communication device realized by, for example, a wireless communication module, a router, a modem, a TA, a jack of a wired communication cable, a control circuit, etc. 8) communicate with each other.

  The control unit 57 is realized by, for example, a processor such as a CPU or DSP, or an electronic component such as an ASIC or an FPGA, and performs data input / output control with each part of the apparatus. Then, various operations are performed based on predetermined programs and data, data received from the outside via the communication unit 55, and the like, and the operation of the general control device 50 is controlled. The control unit 57 includes a vehicle door position acquisition unit 571, an opening formation range determination unit 572, a control target selection unit 573, an advance preparation completion notification control unit 574, an opening operation control unit 575, and a closing operation control unit. And 576. Then, the position of each vehicle door 11 of the train stopped at the station by the opening formation range determination unit 572, the control object selection unit 573, the advance preparation completion notification control unit 574, the opening operation control unit 575, and the closing operation control unit 576 On the basis of given vehicle door position information indicating the opening of forming an opening for passenger entry / exit at the position of each vehicle door 11 by simultaneously performing the retraction drive of the home fence door 73 and the movement of the door pocket portion 71 simultaneously. It corresponds to an operation control unit that executes door operation control. These functional units may be processing blocks implemented as software by executing a program, or may be circuit blocks implemented by hardware circuits such as an ASIC or an FPGA. In the present embodiment, the control unit 57 is described as a processing block realized as software by executing the home fence control program 591.

  The vehicle door position acquisition unit 571 registers the vehicle door position information input from the processing device 30 in the vehicle door position list 595, and collects the door positions of all the vehicle doors of the train that has stopped at the station. FIG. 10 is a view showing an example of the data configuration of the vehicle door position list 595. As shown in FIG. As shown in FIG. 10, the vehicle door position list 595 is a data table in which the device ID of the processing device 30, the door position, the door width, and the opening formation range are set in association with each other. The door position and the door width of the vehicle door position information input from the corresponding processing device 30 are set as the door position and the door width. If there is an overlapping door position among the vehicle door position information input from the separate processing device 30, one of them is adopted and registered in the vehicle door position list 595. This is because the same identification unit 13 can be simultaneously included in the imaging range of the imaging device 20 where the installation position is adjacent. By the processing here, the door positions of all the vehicle doors of the train stopped at the station are set in the vehicle door position list 595.

  Since the vehicle door position list 595 is reset at an appropriate timing such as after the train arriving at home departs from the station, the identification unit 13 does not exist in the imaging range and the door position is not detected. If there is the processing device 30 (which did not output the vehicle door position information), the record is blank (unregistered). Therefore, the rough stop position and the existing range (X coordinate range) of the train stopped at the station can be specified from the registered contents of the vehicle door position list 595.

  The opening formation range determination unit 572 refers to the vehicle door position list 595 to determine, for each vehicle door, an X coordinate range including the door position as an opening formation range. At this time, the determined opening formation range is additionally registered in the vehicle door position list 595.

  The control target selection unit 573 selects, for each vehicle door, a home rail door 73 for retraction requiring a retraction operation to form an opening in the opening formation range and a door case 71 for movement required for movement. . Then, the target control data 597 related to the vehicle door is generated by calculating the amount of retraction of the selected home fence door 73 to be retracted and the amount of movement and movement direction of the door case 71 to be moved.

  The preliminary preparation completion notification control unit 574 determines that “the calculation of the door position has been completed” as the external output condition, and the preliminary preparation for forming the opening is completed when the external output condition is satisfied. Perform control to externally output the signal of. In the present embodiment, when the control target selection unit 573 generates the target control data 597 for all the vehicle doors, it is determined that the external output condition is satisfied. Also, external output control is performed, for example, by providing a dedicated lamp above the home and lighting it. The conductor performs opening operation of the vehicle door on the signal of lighting of the said lamp, and opens the vehicle door. The completion may be displayed and controlled on the operation panel provided on the home fence 7. The aspect of the external output control is not particularly limited.

  The opening operation control unit 575 outputs the generated target control data 597 relating to all the vehicle doors to the drive control unit 8 to move the home fence door 73 to be retracted by the drive control unit 8 and the door pocket unit 71 to be moved. Control the door opening operation control. In the present embodiment, when the conductor performs the opening operation of the home fence door 73, the operation signal (home fence door opening operation signal) is transmitted to the general control device 50. When receiving the home fence door opening operation signal, the opening operation control unit 575 executes the opening operation control. Note that the door opening operation control may be executed in conjunction with the stop detection of the vehicle or the like.

  The closing operation control unit 576 executes the closing operation control to move the door pocket 71 to be moved in the opposite direction to the opening operation control while advancing the movement of the home fence door to be retracted by the opening operation control. , Close the opening to return the home fence 7 to a steady state. When the conductor performs the closing operation of the home fence door 73, the operation signal (home fence door closing operation signal) is transmitted to the general control device 50. When receiving the home fence door closing operation signal, the closing operation control unit 576 executes the closing operation control. The closing operation control may be executed in conjunction with the detection of the traveling of the vehicle.

  The storage unit 59 is realized by a storage medium such as an IC memory, a hard disk, an optical disk, or the like. In the storage unit 59, a program for operating the general control device 50 to realize various functions of the general control device 50, data used during the execution of the program, and the like are stored in advance or processed. Is temporarily stored each time. In the present embodiment, the storage unit 59 stores a home fence control program 591, home fence steady state information 593, a vehicle door position list 595, and target control data 597 for each vehicle door.

  The home fence control program 591 controls the control unit 57 as the vehicle door position acquisition unit 571, the opening formation range determination unit 572, the control target selection unit 573, the advance preparation completion notification control unit 574, the opening operation control unit 575, and the closing operation control A program for functioning as the unit 576.

  The home fence steady state information 593 defines the steady state of the home fence 7. In the home fence steady state information 593, the position (X coordinate) of each door pocket portion 71 on the home in the steady state, and the open / closed state of each home fence door 73 in the steady state are set. The open / close state can be defined as, for example, a retracting amount based on the fully closed state or an advancing amount based on the fully open state.

[Flow of processing]
First, while one train arrives at the station, more specifically, the processing device 30 between the previous train leaving the station and the next train (the train to be detected) leaves the station. The flow of processing will be described with reference to FIG. The processing described here can be realized by the control unit 37 reading out the vehicle door position detection program 391 from the storage unit 39 and executing it in the processing device 30.

  First, the control unit 37 activates the photographing device 20, and starts to input light, a photographed image, and a distance image (step S1).

  When the input of the photographed image and the distance image is started, the reflector detection unit 371 first starts the processing of extracting the high reflection intensity location from the photographed image for each frame as the reflector detection processing (step S5). When the extraction here is performed (step S7: YES), the corresponding reference marker collating process is performed to identify the photographing position of the corresponding reference marker MK (step S9), and the self-diagnosis processing is performed for the identified photographing position. (Step S11). If there is an abnormality as a result of the self-diagnosis processing here (step S13: NO), a warning output or the like is performed.

  On the other hand, if there is no abnormality (step S13: YES), the process of extracting the high reflection intensity portion is resumed (step S15). Then, if a high reflection intensity location other than the corresponding reference marker MK is extracted (step S17: YES), the measurement distance corresponding to the image location is read from the distance image, and it is determined whether it is within a predetermined distance range. It determines (step S19). If it is in the said distance range (step S19: YES), it will be judged as the imaging | photography position of the identification part 13 provided in the train of detection object, and it will transfer to step S21. On the other hand, if it is out of the distance range (step S19: NO), it is judged that it is not the photographing position of the identification unit 13 provided in the train to be detected, and the process returns to step S17.

  Then, in step S21, the stop detection unit 373 repeatedly performs the stop detection process for each frame, and the train stops when the change in position of the imaging position of the identification unit 13 in the captured image satisfies a predetermined immobility equivalent condition. Detect that. Thereafter, if the stop of the train is detected in step S21 (step S23: YES), the door position calculation unit 375 performs door position calculation processing, and the X position of both ends of the identification unit 13 is the door position of the vehicle door It calculates as (step S25). Then, the calculated distance between the X positions is used as the door width, and is output to the general control device 50 as the vehicle door position information together with the door position (step S27).

  Next, the flow of processing performed by the general control device 50 will be described with reference to FIG. The processing described here can be realized by the control unit 57 reading out the home fence control program 591 from the storage unit 59 and executing it in the general control device 50.

  In the opening operation control, first, the vehicle door position acquisition unit 571 waits for the input of the vehicle door position information from the processing device 30. Then, the input vehicle door position information is registered in the vehicle door position list 595, and the door positions of all the vehicle doors of the train stopped at the station are acquired (step S31).

  Subsequently, the opening formation range determination unit 572 refers to the vehicle door position list 595 to determine, for each vehicle door, an opening formation range corresponding to the door position (step S33). Then, the control target selection unit 573 selects, for each vehicle door, the home fence door 73 to be retracted and the door case 71 to be moved for forming an opening in the opening formation range, and performs target control for each vehicle door Data 597 is generated (step S35).

  Then, when the control target selection unit 573 generates target control data for all the vehicle doors, the preliminary preparation completion notification control unit 574 determines that the external output condition is satisfied, and performs external output control to the effect that preliminary preparation is completed. Perform (step S37). For example, an external output for outputting a lighting signal to a dedicated lamp is performed to light the lamp.

  After that, the conductor performs the home fence opening operation and receives the home fence door opening operation signal (step S39: YES), and the opening operation control unit 575 executes the opening operation control ((step S39) Step S41).

  When the conductor performs the home fence closing operation and receives the home fence door closing operation signal (step S43: YES), the closing operation control unit 576 executes the closing operation control (step S45).

  As described above, according to the door pocket moving type home fence system 100 of the present embodiment, the identification unit 13 provided on the vehicle body side wall near the top of the vehicle door can be photographed together with the reference marker MK. Then, using the positional relationship between the installation position of the reference marker MK and the installation position of the imaging device 20, the imaging position of the reference marker MK in the captured image, and the imaging position of the identification unit 13 in the captured image, the vehicle door The position of the door (position of the vehicle door on the home) can be calculated. According to this, when calculating the door position, information on trains that needed to be received in advance is not necessary in the conventional technical method, such as the combination of the train length and the number of car doors of trains stopped at the station, car types and formation organization. become. Also, the door position can be detected by calculating the door position and the door width of the vehicle door indicated by the identification unit 13 provided in the train actually stopped at the station from the photographed image and the distance image of the photographing device 20 . Therefore, the stop position of the train does not have to coincide with the predetermined stop target position with high accuracy, and there is no problem even if the stop position of the train and the stop target position are deviated.

  On the other hand, based on the detected door position of each vehicle door, the retraction of the home fence door 73 and the movement of the door pocket portion 71 are performed simultaneously in parallel to form an opening for passenger entry and exit at the door position of each vehicle door. Can. Specifically, the opening formation range is determined according to the door position of each vehicle door, and the home fence door 73 can be retreated while moving the door pocket portion 71 so as to form the opening in the determined opening formation range. it can. Therefore, as in the conventional door-bag moving home fence system, the step of moving the door-bag when the train is not present at the station is unnecessary, and the door-bag portion 71 that moves when the train is not present is at home There is no need to assume contact with passengers. Furthermore, this process is performed on the premise that the train which arrived at the station then stops at the stop target position, and when there is a shift between the actual stop position of the train and the stop target position, In response, a further step of moving the home fence was needed. On the other hand, in the door bag moving type home fence system 100 of the present embodiment, the opening can be formed at the door position of the vehicle door detected in the stopped state, so the process is also unnecessary. According to this, the time from the arrival of the train at the station to the opening of the home fence 7 can be shortened. Moreover, the configuration for detecting the stop position of the train is also unnecessary.

  In addition, the form which can apply this invention is not limited to above-described embodiment, Addition, omission, and change of a component can be given suitably.

[Modification 1]
For example, in the above embodiment, the band-shaped identification unit 13 is disposed on the side wall of the vehicle body near the upper portion of the vehicle door, but the identification unit may indicate the door position (or door position and door width) The shape is not limited. For example, the identification part of the predetermined shape which respectively points out the both-ends position of the width direction of a vehicle door may be arrange | positioned. Alternatively, the identification unit may be disposed not on the side wall of the vehicle but on the vehicle door.

[Modification 2]
Further, the identification portion may be disposed on both the vehicle body side wall portion in the vicinity of the vehicle door (for example, in the vicinity of the upper portion of the vehicle door) and the vehicle door. And, in this case, based on the detection result of the imaging position of the identification unit, the door open detection of the vehicle door may be further performed.

  FIG. 13 is a diagram for explaining the vehicle door opening detection process together with the arrangement example of the identification unit in the present modification. In the present modification, in the train Tc, a first identification unit 131 and a second identification unit 133 are disposed in units of vehicle doors 11. The first identification unit 131 corresponds to the identification unit 13 of the above embodiment, and indicates the door position and the door width. In the above embodiment, the identification unit 13 is illustrated as a square band of corners (see FIG. 2 and the like), but may have rounded corners as shown in FIG. Further, in the above embodiment, although the length in the left-right direction of the identification unit 13 is the length covering the entire width of the opening width of the vehicle door 11 (see FIG. 2 etc.), the length in the left-right direction is The length may correspond to (for example, be proportional to) the opening width of the vehicle door 11. On the other hand, the second identification unit 133 has a circular shape, and is disposed one by one near the upper corner of each double-opening door that abuts in the closed state. The shape of the identification portion is difficult to be peeled off by using a non-cornered shape such as a circular shape or an elliptical shape or a rounded shape (R-chamfered shape) like the first identification portion 131 and the second identification portion 133. Can reduce the frequency of requiring maintenance such as re-sticking.

  Then, in the present modification, the control unit 57 of the general control device 50 functions as a vehicle door opening detection unit based on the change in the imaging positions of the first identification unit 131 and the second identification unit 133 in the photographed image. A door opening detection process and a vehicle door closing detection process are performed. The open / close detection of the vehicle door by these processes is performed by the processing device 30 as a process subsequent to the door position calculation process described in the above embodiment.

1. Vehicle Door Opening Detection Processing The positional relationship between the first identification unit 131 and the second identification unit 133 maintains the positional relationship at the time of door closing shown in FIG. 13A until the train Tc stops. Then, the positional relationship changes as the vehicle door 11 starts the opening operation (arrows A61 and A63). This is because, as shown in FIG. 13 (b), the two second identification units 133 move in the direction away from each other. Therefore, in the vehicle door opening detection process, it is detected that the positional relationship between the imaging positions of the first identification unit 131 and the second identification unit 133 has changed from a relationship that satisfied the positional relationship at the time of closing to a not satisfied relationship. Then, it is detected that the opening operation of the vehicle door 11 has been started.

  Specifically, since the position of the first identification unit 131 is fixed, the start of the door opening operation is detected from the movement amount of the second identification unit 133. That is, for example, when the shooting positions of the two second identification units 133 in the captured image are tracked, and one of the moving amounts d61 and d63 from the detection of the stop of the train Tc reaches a predetermined amount set in advance. In addition, it is detected that the opening and closing operation of the vehicle door 11 is started. It may be detected when both of the movement amounts d61 and d63 reach a predetermined amount.

  In addition, not only when detecting the start of the opening operation from the movement amount of the second identification unit 133, but monitoring the distances d71 and d73 between the two second identification units 133, when separated by a predetermined distance or more predetermined The start of the opening operation may be detected.

  Then, when the start of the opening operation of the vehicle door 11 is detected, the processing device 30 outputs a vehicle door opening detection signal to the general control device 50. The general control device 50 receives the vehicle door opening detection signal and executes the opening operation control. Therefore, according to the present modification, the general control device 50 opens the home fence door 73 interlockingly with the start of the opening operation of the vehicle door 11 without requiring communication with the on-board device of the stopped train. The part can be formed. That is, when the opening operation of the vehicle door 11 is started, it is possible to form an opening in the home fence door 73 correspondingly.

2. Vehicle door closing detection processing When the vehicle door 11 completes the opening operation, the vehicle door 11 is accommodated in a door bag provided on the vehicle body, but the imaging range of the imaging device 20 is the upper part of the vehicle door 11 within the right and left range Since the full width is included, when the opening operation of the vehicle door 11 is completed, the image location of the second identification unit 133 is not included in the captured image. Then, the closing operation of the vehicle door 11 is started, and as soon as the vehicle door 11 starts advancing from the door pocket, the state changes to a state in which the image portion of the second identification unit 133 is included. Note that the image portion of the first identification unit 131 remains in the state of being included in the captured image.

  Therefore, in the vehicle door closing detection process, it is detected that the closing operation of the vehicle door 11 has been started by detecting a change to the included state. When the start of the closing operation of the vehicle door 11 is detected, the processing device 30 outputs a vehicle door closing detection signal to the general control device 50. The general control device 50 receives the vehicle door closing detection signal and executes the closing operation control. Therefore, according to the present modification, the general control device 50 is formed on the home fence door 73 in conjunction with the start of the closing operation of the vehicle door 11 without requiring communication with the on-board device of the stopped train. The opening can be closed. That is, when the closing operation of the vehicle door 11 is started, the opening of the home fence door 73 can be closed correspondingly.

[Modification 3]
Further, since the unit device 10 captures near infrared light reflected by the identification unit 13 and detects the door position of the vehicle door 11, the color of the identification unit 13 can be freely selected. For example, the identification part 13 can be made inconspicuous in appearance by using a color similar to the vehicle body color (ground color or paint color) of each train where the identification part 13 is disposed. Conversely, it is also possible to make the identification unit 13 stand out by selecting a color different from the body color or a flashy color. The color of the reference marker MK displayed by the display plate 91 is the same.

  Furthermore, the identification unit and the reference marker do not necessarily have to be a reflection unit made of a retroreflective material, as long as they can be identified by image analysis of a captured image. For example, a paint of a predetermined color may be applied to a side wall of a vehicle, a display plate or the like, or a seal may be attached.

[Modification 4]
Further, in the above embodiment, the unit device 10 performs the vehicle door position detection process. On the other hand, the control unit 57 of the general control device 50 functions as a door position calculation unit, including the positional relationship between the installation position of the reference marker MK and the installation position of the imaging device 20 and the reference marker MK included in the captured image by the imaging device 20. The position of the vehicle door 11 may be calculated using the shooting position of and the shooting position of the identification unit 13. That is, the control unit 57 may receive the photographed image from each unit device 10 and execute the vehicle door position detection process for each unit device 10. In that case, assuming that each processing device 30 outputs the photographed image to the general control device 50 as needed, the general control device 50 performs the processing of steps S5 to S25 in FIG. 11 for each processing device 30. Just do it. In that case, the general control device 50 is provided with each functional unit of the processing device 30 shown in FIG. 8 and various data.

[Other modifications]
Further, in the above embodiment, the description has been made on the assumption that the train is stopped with the target stop position as a guide, but basically, the imaging device 20 and the reference marker MK are installed on the home so as to satisfy the photographed image condition. If so, the door positions of all the vehicle doors can be detected regardless of the stop position of the train. Therefore, even if the train stops at a position largely deviated from the stop target position, it is possible to reliably detect the door position and provide the opening in the home fence 7.

  Further, the stop target position itself may be determined as a standard as in the above embodiment, and the stop target position may be changed depending on the train. According to this, for example, in a home where trains from different destinations arrive, different boarding positions (that is, door positions) are set for each destination, and space for aligning passengers who board each train for each destination is separately set on the home. It will be possible to assign freely. In other words, if trains with the same number of trains and vehicles with the same number of vehicles are set separately for each destination, changing the stop target position of the train for each destination based on the boarding position (door position) An alignment space can be provided. In the case where the stop target position is the same, it is necessary to provide an alignment space separately from the arrival order of the trains, and when the train departs, it is necessary to force the aligned passengers to move. Even in that case, accuracy is not required for the stop position of the train. The same can be done when the boarding position is changed between the preceding train and the next train.

  Further, in the above embodiment, since the vehicle door position list 595 in which the door positions and the door widths of all the vehicle doors of the train stopped at the station are registered is obtained, it is possible to specify train information using this is there. In that case, the general control device 50 prepares in advance a train formation table in which formation information of all the trains arriving at the station is defined in a list, and stores the table in the storage unit 59. FIG. 14 is a view showing an example of the data configuration of a train formation table. As shown in FIG. 14, in the train organization table, in association with the organization type number, the number of vehicle doors of the vehicle door, the position in the organization vehicle, the door width, and the length of the organization vehicle Long) etc. is set. If the combination of the door position and the door width of all the vehicle doors set in the vehicle door position list 595 is sequentially collated with each record with reference to this train organization table, the corresponding organization type number can be specified. it can.

  In addition, the photographing device 20 may be configured using a camera capable of outputting a color image, and the color image may be recorded so that it can be appropriately referred to during maintenance.

  DESCRIPTION OF SYMBOLS 100 door bag movement type | mold home fence system, 60 vehicle door position detection apparatus, 10 unit apparatus, 20 imaging | photography apparatus, 30 processing apparatus, 31 operation part, 33 display part, 35 communication part, 37 control part, 371 reflector detection part, 373 Stop detection unit, 375 door position calculation unit, 39 storage unit, 391 vehicle door position detection program, 392 imaging device installation information, 393 correspondence reference marker installation information, 394 captured image data, 395 distance image data, 396 correspondence reference marker position data , 397 identification object detection result data, 50 integrated control unit, 51 operation unit, 53 display unit, 55 communication unit, 57 control unit, 571 vehicle door position acquisition unit, 572 opening formation range determination unit, 573 control target selection unit, 574 Advance preparation completion notification control unit, 575 opening operation control unit, 576 closing operation control unit, 59 Storage unit, 591 home fence control program, 593 home fence steady state information, 595 vehicle door position list, 597 target control data for each vehicle door, 7 home fence, 71 door bag unit, 73 home fence door, 8 drive control unit, 11 Vehicle door, 13 identification unit (reflection unit), MK reference marker

Claims (7)

A door bag moving type home fence system in which a door bag portion is configured to be movable,
Based on the given vehicle door position information indicating the position of each vehicle door of the train stopped at the station, the retraction drive of the home fence door and the movement of the door pocket are carried out in parallel, and the passenger is positioned at each vehicle door An operation control unit that executes an opening operation control that forms an opening for getting on and off,
Door bag type mobile fence system equipped with. The operation control unit executes a closing operation control for closing the opening by simultaneously executing the advancing drive of the home fence door and the movement of the door pocket portion.
The door-bag moving type home fence system according to claim 1. The operation control unit selects, based on the vehicle door position information, a home fence door to be retracted in the opening operation control and a door pocket portion to be moved.
The door-bag movable-type home fence system according to claim 1 or 2. In the train, an identification unit capable of identification by image analysis is provided at a predetermined designated position on either or both of the vehicle door and the side wall of the vehicle in the vicinity of the vehicle door,
A photographing unit installed so as to include a reference marker provided at the station and the identification unit of the train stopped at the station in a photographing range;
Equipped with
The operation control unit includes a positional relationship between the installation position of the reference marker and the installation position of the imaging unit, the imaging position of the reference marker included in the imaging image by the imaging unit, and the imaging position of the identification unit. And a door position calculation unit that calculates the position of the vehicle door and generates the vehicle door position information.
The door-bag movable-type home fence system according to any one of claims 1 to 3. When the position calculation of the vehicle door by the door position calculation unit is completed, the operation control unit externally outputs a signal indicating that the preparation for forming the opening is completed.
The door bag moving type | mold home fence system of Claim 4. The identification unit is a reflection unit made of a retroreflective material,
A light emitting unit provided integrally with the image capturing unit or provided at a position near the image capturing unit, and emitting light in the image capturing direction of the image capturing unit;
The door-bag movable-type home fence system according to claim 4 or 5, comprising: The identification unit is provided on both the vehicle door and a vehicle side wall near the vehicle door.
The operation control unit
A vehicle door opening detection unit that detects the opening of the vehicle door based on a change in the imaging position of the identification unit provided on both the vehicle door and the vehicle body side wall in the image captured by the imaging unit Have
Executing the opening operation control according to the detection by the vehicle door opening detection unit;
The door-bag movable-type home fence system according to any one of claims 4 to 6.

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