JP2019164137A - Position detector of railway vehicle - Google Patents

Abstract

To provide a position detector capable of stably detecting a position of a railway vehicle travelling on a track regardless of the type of the railway vehicle.SOLUTION: In a position detector 10 for detecting a position of a railway vehicle 60 travelling on a track 50, a scan type laser radar 20 includes: a projection unit for projecting a laser beam so that a scan surface used when the laser beam is projected for scanning passes a connection unit 61 of the railway vehicle 60 continuously; a receiving unit for receiving reflected light obtained when the laser beam projected by the projection unit is reflected; and a position detection unit for detecting the position of the railway vehicle 60 on the basis of the reflected light received by the receiving unit.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position detection device that detects the position of a railway vehicle traveling on a track.

  Conventionally, when a railway vehicle is stopped at a platform of a station, a driver aligns the railway vehicle with a mark of a stop position provided on a track.

  However, since the railway vehicle is stopped at the home by relying on the driving skill of the driver, the stopped railway vehicle may deviate from the stop position. In particular, when a home door is provided on the platform, it is necessary to stop the railway vehicle by accurately aligning the door of the railway vehicle with the door body of the home door. Therefore, it is desirable to detect the position of the railway vehicle, but since there are various types of railway vehicles, it is difficult to stably detect the position regardless of the type of railway vehicle.

  The present invention has been made to solve the above-described problems, and provides a position detection device capable of stably detecting the position of a railway vehicle traveling on a track regardless of the type of the railway vehicle. Main purpose.

The first means for solving the above problems is as follows.
A position detection device for detecting the position of a railway vehicle traveling on a track,
A light projecting unit that projects the laser light so that a scanning surface when projecting and scanning the laser light continuously passes through the connecting portion of the railway vehicle;
A light receiving unit that receives reflected light of the laser beam projected by the light projecting unit and reflected by an object;
Based on the reflected light received by the light receiving unit, a position detection unit for detecting the position of the rail vehicle,
Is provided.

  According to the above configuration, the position of the railway vehicle traveling on the track is detected by the position detection device. Here, the light projecting unit projects the laser beam so that the scanning surface when the laser beam is projected and scanned continuously passes through the connecting unit of the railway vehicle. There are various types of railway vehicles, but the configuration of the lower part of the vehicle including the connecting portion is often common. Furthermore, since the connecting portion is located at the end of the railway vehicle, the possibility that the laser beam is blocked by other parts of the railway vehicle is low. For this reason, the light projecting unit can stably project the laser light to the connecting unit regardless of the type of the railway vehicle.

  The light receiving unit receives reflected light in which the laser light projected by the light projecting unit is reflected by the object. At this time, the light receiving unit can stably receive the laser light reflected by the connecting unit. The position detection unit detects the position of the railway vehicle based on the reflected light received by the light receiving unit. Therefore, the position detection unit can stably detect the position of the railway vehicle traveling on the track regardless of the type of railway vehicle. If the position of the railway vehicle can be detected stably, the detection result can be transmitted to the driver in real time, or the detection result can be reflected in the stop control of the railway vehicle.

  Specifically, as in the second means, the light projecting unit employs a configuration in which the laser beam scans within a predetermined angle from the vertical so that the laser beam passes through the connecting unit from the front of the railway vehicle. can do. For example, if the light projecting unit scans vertically from the front of the railway vehicle so that the laser light passes through the connecting part, the scanning surface of the laser light continues through the connecting part, and the distance to the connecting part continues. Can be detected.

  In the third means, the light projecting unit projects and scans the laser light sequentially from the bottom to the top, and the position detection unit performs the laser based on the reflected light received by the light receiving unit. The distance from the light projecting unit to the railcar is detected for each light projecting direction, the detected distance is a predetermined distance, and the first distance that is the distance in the first light projecting direction, When the second distance, which is the distance in the second light projecting direction next to the first light projecting direction, is increased for the first time, the railway is based on the first light projecting direction or the second light projecting direction. Detects the degree of vehicle weight.

  According to the above configuration, the laser beam is sequentially projected from the lower side to the upper side and scanned by the light projecting unit. Based on the reflected light received by the light receiving unit, the position detection unit detects the distance from the light projecting unit to the railway vehicle for each light projecting direction of the laser light. Here, the connecting portion is located at the end of the railway vehicle. For this reason, when the distance from the light projecting unit to the railway vehicle is a predetermined distance, the distance to the rail vehicle for each light projecting direction when the laser light is sequentially projected from the lower side to the upper side is determined by the laser beam connecting unit. Until the laser beam is projected on the connecting portion.

  In this regard, the position detection unit has a predetermined distance from the light projecting unit to the railway vehicle, and the first distance in the first light projecting direction is greater than the first distance that is the distance in the first light projecting direction. When the second distance, which is the distance in the two light projecting directions, is increased for the first time, the magnitude of the weight of the railway vehicle is detected based on the first light projecting direction or the second light projecting direction. For example, when the number of passengers is large and the weight of the railway vehicle is large, the position of the connecting portion is lowered, so the first light projecting direction and the second light projecting direction become the light projecting direction at an early stage in scanning. Therefore, the magnitude of the weight of the railway vehicle can be detected based on the first light projecting direction or the second light projecting direction.

  Further, the light projecting unit sequentially projects and scans the laser light from the bottom to the top, so that the first light projecting direction and the first projection direction are compared with the case where the laser light is sequentially projected and scanned from the top to the bottom. 2 The light projection direction can be detected at an early stage. If the magnitude of the weight of the railway vehicle can be detected, the detection result can be transmitted to the driver, or the detection result can be reflected in the stop control of the railway vehicle.

  The fourth means includes a display unit that displays the position detected by the position detection unit so that the position can be seen from the railway vehicle.

  According to the above configuration, the position of the railway vehicle detected by the position detection unit is displayed by the display unit so as to be visible from the railway vehicle. For this reason, the driver of the railway vehicle can appropriately stop the railway vehicle while looking at the position of the railway vehicle displayed on the display unit. As the position of the railway vehicle, a distance of the railway vehicle to the stop position, a distance of the railway vehicle to a reference position different from the stop position, or the like can be adopted.

  In the fifth means, the display unit displays the magnitude of the weight detected by the position detection unit so as to be seen from the railway vehicle.

  When stopping the railway vehicle at the platform of the station, the driver operates the brake of the railway vehicle to stop the railway vehicle at the stop position. At this time, the driver does not consider the change in the weight of the railway vehicle due to the number of passengers. For example, when the weight of the railway vehicle is large, such as a commuting time zone, the railway vehicle may exceed the stop position. .

  In this respect, according to the above configuration, the display unit displays the magnitude of the weight of the railway vehicle detected by the position detection unit so as to be visible from the railway vehicle. For this reason, the driver of the railway vehicle can appropriately stop the railway vehicle by looking at the magnitude of the weight of the railway vehicle displayed on the display unit. When displaying the magnitude of the weight, for example, the weight of the railway vehicle can be displayed in three stages of large, medium and small, and in two stages of normal and heavy. The display mode can be displayed in different colors such as yellow, blue, and red, or can be displayed in characters.

  When a platform door is provided on the platform of the station, it is necessary to stop the railway vehicle by precisely aligning the door of the railway vehicle with the door body of the platform door.

  In this regard, in the sixth means, the position detection device is provided in a platform provided with a platform door. Therefore, in a platform provided with a platform door, the position detection unit can stably detect the position of the railway vehicle traveling on the track regardless of the type of railway vehicle.

  In the seventh means, the position detection unit detects a distance from the light projecting unit to the object for each light projecting direction of the laser light based on the reflected light received by the light receiving unit, The railway vehicle is constituted by a plurality of points specified by the light projecting direction and the distance, and the position of the railway vehicle is detected based on some of all the points constituting the railway vehicle.

  According to the above configuration, the position detection unit detects the distance from the light projecting unit to the object for each light projecting direction of the laser light based on the reflected light received by the light receiving unit. And a rail vehicle is comprised by the several point specified by a light projection direction and distance. Here, if the position of the railway vehicle is detected using all points constituting the railway vehicle, the load of processing for detecting the position increases, and the position detection may be delayed. In this respect, the position of the railway vehicle is detected based on a part of all the points constituting the railway vehicle. Therefore, it is possible to prevent the position detection from being delayed.

  Specifically, as in the eighth means, the position detecting unit forms a polygon by some points among all the points constituting the railway vehicle, and the polygonal shape is formed from the light projecting unit. A configuration in which the position of the railway vehicle is detected based on the distance to the center of gravity can be employed. According to such a configuration, since the position of the railway vehicle is detected based on the distance from the light projecting unit to the polygonal center of gravity, the position of the railway vehicle can be detected stably. Furthermore, since the position of the railway vehicle is detected using a part of all the points constituting the railway vehicle, it is possible to suppress the detection of the position from being delayed.

  Further, specifically, as in the ninth means, the position detecting unit is based on the distance to the point having the shortest distance from the light projecting unit among all the points constituting the railway vehicle. A configuration in which the position of the railway vehicle is detected can be employed. According to such a configuration, the position can be quickly detected while stably detecting the position of the railway vehicle.

  In the tenth means, a blocking member that blocks a part of the laser light projected by the light projecting unit so that the laser light projected by the light projecting unit does not hit the window of the railway vehicle. Is provided.

  When the laser light projected by the light projecting unit hits the window of the railway vehicle, if the intensity of the laser light is weak, the laser light does not pass through the window glass (including resin), and if the intensity of the laser light is high Laser light passes through the window glass. Specifically, when the distance from the light projecting portion to the railcar window is long, the intensity of the laser light is weak, and when the distance from the light projecting portion to the railcar window is short, the intensity of the laser light is strong. . For this reason, the position of the railway vehicle detected based on the reflected light may vary depending on the distance from the light projecting unit to the window of the railway vehicle.

  In this regard, according to the above configuration, a part of the laser light projected by the light projecting unit is blocked by the blocking member so that the laser light projected by the light projecting unit does not hit the window of the railway vehicle. . Therefore, it can suppress that the position of the railway vehicle detected based on reflected light varies depending on the distance from the light projecting unit to the window of the railway vehicle. Furthermore, since it is only necessary to attach a blocking member so as to block part of the laser light projected by the light projecting unit, it is not necessary to change the configuration of the light projecting unit and the light receiving unit.

  In an eleventh means, the light projecting unit projects and scans the laser light within a range where the laser light does not hit the window of the railway vehicle. Even with such a configuration, it is possible to prevent the position of the railway vehicle detected based on the reflected light from varying depending on the distance from the light projecting unit to the window of the railway vehicle.

The schematic diagram which shows the platform of a station. The block diagram of a scanning laser radar system. The schematic diagram which shows the scanning aspect of a laser beam. The schematic diagram which shows the aspect which detects a connection part angle in case there are few passengers. The schematic diagram which shows the aspect which detects a connection part angle in case there are many passengers. The schematic diagram which shows the light projection aspect of a laser beam in case the distance from a light projection part to a train is long. The schematic diagram which shows the light projection aspect of a laser beam in case the distance from a light projection part to a train is short. The schematic diagram which shows a radar and a mask. The schematic diagram which shows the light projection aspect of the laser beam by the radar which attached the mask.

  Hereinafter, an embodiment will be described with reference to the drawings. This embodiment is embodied as a scanning laser radar system that detects the position of a train that is about to stop at a platform of a station.

  As shown in FIG. 1, the track 50 includes two rails 51 and the like.

  The train 60 (railway vehicle) travels on the rail 51. The train 60 includes a connecting portion 61 that connects the vehicles to each other. There are various types of vehicles depending on limited express trains, express trains, regular trains, and the like. However, the configuration of the lower part of the vehicle including the connecting portion 61 is often common.

  A platform door 80 is installed in the platform 70 of the station. The home door 80 includes a plurality of door pockets 81, a plurality of door bodies 82, and the like. Each door body 82 is housed inside each door pocket 81, whereby the home door 80 is opened.

  The scanning laser radar system 10 (rail vehicle position detection device) includes a scanning laser radar 20, a display 30, and the like. The radar system 10 is provided in a platform 70 that includes a platform door 80.

  The radar 20 is a wide-angle ranging radar that vertically scans a detection range of approximately 190 ° in front with a laser beam. As the laser light, for example, infrared light, visible light, ultraviolet light, or the like can be used.

  The display device 30 (display unit) is configured by a liquid crystal display or the like, and displays an image based on a signal from the radar 20. The display 30 is installed on the platform 70 at a position where an image can be seen from the driver D of the train 60.

  As shown in FIG. 2, the radar 20 includes a light projecting unit 21, a light receiving unit 22, a position detecting unit 23, and the like. The position detection unit 23 is configured by a microcomputer having a CPU, a ROM, a RAM, a storage device, an input / output interface, and the like.

  The light projecting unit 21 projects laser light at intervals of, for example, 0.25 ° (predetermined angle θ) with the light projecting unit 21 as the center. That is, the light projecting unit 21 projects the laser light by changing the light projecting direction of the laser light by a predetermined angle θ in the scanning direction.

  The light receiving unit 22 receives the reflected light obtained by reflecting the laser light projected by the light projecting unit 21 from the object, and detects the amount of the reflected light received. The light receiving unit 22 detects the amount of reflected light received each time the laser light is projected by the light projecting unit 21.

  The position detection unit 23 projects the light projecting unit 21 (radar 20) for each light projecting direction based on the time from when the light projecting unit 21 projects the laser light until the light receiving unit 22 receives the reflected light. The distance from the object to the object is calculated (detected). At this time, when the amount of reflected light received by the light receiving unit 22 is larger than the threshold, the distance from the light projecting unit 21 to the object is calculated. On the other hand, when the amount of reflected light received by the light receiving unit 22 is smaller than the threshold value, the distance from the light projecting unit 21 to the object is not calculated. That is, the position detection unit 23 detects the position of the train 60 based on the reflected light received by the light receiving unit 22.

  As shown in FIG. 3, a connecting portion 61 of a train 60 (each vehicle) is attached to a vehicle body 62 of each vehicle. The connecting portion 61 is attached to the front end and the rear end of the vehicle body 62, and is located at the end of each vehicle. The vehicle body 62 is supported by the wheels 64 via the suspension 63. The suspension 63 expands and contracts according to the weight of the vehicle and contracts as the number of passengers increases. As the suspension 63 expands and contracts, the vehicle body 62 and the connecting portion 61 move up and down.

  The radar 20 is attached to a predetermined height (for example, a position higher than the train 60) on the wall, pillar, and beam of the station. The light projecting unit 21 scans vertically from the front of the train 60 so that the laser light passes through the connecting unit 61. The light projecting unit 21 projects and scans laser light sequentially from the bottom to the top. That is, the scanning surface when the light projecting unit 21 projects and scans with laser light is a vertical surface passing through the center of the train 60. For this reason, even if the train 60 travels on the rail 51, the scanning surface of the laser light continues to pass through the connecting portion 61 of the train 60. In addition, the scanning surface of a laser beam should just pass the connection part 61 of the train 60, and does not necessarily need to pass the center of the train 60. FIG. The light projecting unit 21 may scan from the front of the train 60 within a predetermined angle from the vertical so that the scanning surface of the laser light continuously passes through the connecting unit 61.

  Based on the distance from the light projecting unit 21 to the object calculated for each light projecting direction, the position detecting unit 23 is a stationary object such as a floor surface F, a ceiling C, and a beam B, and a moving object M (train 60). To distinguish. The position detection unit 23 groups the stationary object and the moving object M as a collection of a plurality of points whose distances are detected. The position detection unit 23 detects the distance d1 from the light projecting unit 21 to the moving object M. As the distance d1 from the light projecting unit 21 to the moving object M, the distance from the light projecting unit 21 to the center of gravity of a plurality of points constituting the moving object M may be used. You may use the distance to the shortest point among several points to comprise.

  As shown in FIG. 1, the position detection unit 23 moves from the stop OK position to the moving object M (train 60) based on the distance d2 from the radar 20 to the stop OK position (stop position) of the train 60 and the distance d1. The distance d3 (the position of the railway vehicle) is calculated (detected). That is, the position detection unit 23 configures the train 60 with a plurality of points specified by the light projecting direction and the detected distance, and stops OK based on some points among all the points that configure the train 60. A distance d3 (position of the railway vehicle) from the position to the train 60 is calculated (detected). And the position detection part 23 transmits a signal to the indicator 30, and displays the distance d3 by the indicator 30. FIG. Accordingly, the driver D can perform the brake operation of the train 60 while confirming the distance d3 from the stop OK position to the train 60.

  When stopping the train 60 at the station platform 70, the driver D operates the brake of the train 60 to stop the train 60 at the stop position. At this time, the driver D often does not consider the change in the weight of the train 60 due to the number of passengers. For example, when the weight of the train 60 is large, such as a commuting time zone, the train 60 may exceed the stop position. is there.

  For example, as illustrated in FIG. 4, the position detection unit 23 has distances d (θ1) from the light projecting unit 21 to each point constituting the moving object M at angles θ1 to θ5 from the reference line S (reference direction). ˜d (θ5) is detected. The figure shows a case where the number of passengers in the train 60 is small.

  Here, the connecting portion 61 is located at the extreme end of the train 60. For this reason, when the distance d1 from the light projecting unit 21 to the moving object M (train 60) is a predetermined distance dr (for example, 30 m), the laser light is sequentially projected from the bottom to the top in each light projecting direction. The distance to the moving object M (distances d (θ1) to d (θ5)) decreases until the laser light is projected onto the connecting portion 61 (angles θ1 to θ3), and the laser light is connected to the connecting portion. When the light is no longer projected to 61 (angle θ4), it increases.

  The position detection unit 23 is configured such that the distance d1 to the moving object M is the predetermined distance dr, and the angle θ3 is greater than the distance d (θ3) that is the distance (first distance) at the angle θ3 (first light projection direction). When the distance d (θ4), which is the distance (second distance) at the next angle θ4 (second light projection direction) for the first time, is increased for the first time, the angle θ3 is the connecting portion angle θr that represents the height of the connecting portion 61. And

  FIG. 5 shows a case where the number of passengers in the train 60 is large. In this case, when the distance d1 from the light projecting unit 21 to the moving object M is the predetermined distance dr, the distance (distance) to the moving object M in each light projecting direction when the laser light is sequentially projected from below to above. d (θ1) to d (θ5)) decrease until the laser light is projected onto the connecting portion 61 (angles θ1 to θ2), and when the laser light is not projected onto the connecting portion 61 ( Angle θ3) increases. For this reason, the position detection part 23 makes angle (theta) 2 the connection part angle (theta) r. As described above, the connecting portion angle θr changes according to the weight of the train 60. Therefore, the position detection unit 23 detects the magnitude of the weight of the train 60 based on the connecting portion angle θr (first light projecting direction).

  And the position detection part 23 transmits a signal to the indicator 30, and displays the magnitude of the weight of the train 60 by the indicator 30. For example, the position detection unit 23 displays yellow when the weight of the train 60 is small (when the number of passengers is small), and displays blue when the weight of the train 60 is normal (when the number of passengers is normal), When the weight of the train 60 is large (when the number of passengers is large), red is displayed. Accordingly, the driver D can confirm the color indicating the magnitude of the weight of the train 60 and adjust the operation start time of the brake of the train 60, the operation amount, the operation duration time, and the like.

  The embodiment described in detail above has the following advantages.

  -The light projection part 21 projects a laser beam so that the scanning surface at the time of projecting and scanning a laser beam may pass through the connection part 61 of the train 60 continuously. Although there are various types of trains 60, the configuration of the lower part of the vehicle including the connecting portion 61 is often common. Furthermore, since the connection part 61 is located at the end of the train 60, the possibility that the laser beam is blocked by other parts of the train 60 is low. For this reason, the light projecting unit 21 can stably project the laser light to the connecting unit 61 regardless of the type of the train 60.

  The light receiving unit 22 receives reflected light obtained by reflecting the laser light projected by the light projecting unit 21 with an object. At this time, the light receiving unit 22 can stably receive the laser light reflected by the connecting unit 61. The position detector 23 detects the position of the train 60 based on the reflected light received by the light receiver 22. Therefore, the position detection unit 23 can stably detect the position of the train 60 traveling on the track 50 regardless of the type of the train 60.

  The light projecting unit 21 scans vertically from the front of the train 60 so that the laser light passes through the connecting unit 61. For this reason, the scanning surface of a laser beam can continue through the connection part 61, and the distance to the connection part 61 can be detected continuously.

  In FIG. 4, the position detection unit 23 has a first distance d1 from the light projecting unit 21 to the train 60 that is a predetermined distance dr and a distance d (θ3) in the first light projecting direction (angle θ3). When the second distance, which is the distance d (θ4) in the second projection direction (angle θ4) next to the first projection direction, is longer than the distance for the first time, based on the first projection direction, The magnitude of the weight of the train 60 is detected. When the number of passengers is large and the weight of the train 60 is large, the position of the connecting portion 61 is lowered, so the first light projecting direction is the light projecting direction at an early stage in scanning. Therefore, the magnitude of the weight of the train 60 can be detected based on the first light projection direction.

  Since the light projecting unit 21 sequentially projects and scans the laser light from the bottom to the top, the first light projecting direction is early compared to the case where the laser light is sequentially projected and scanned from the top to the bottom. Can be detected.

  The display 30 displays the position of the train 60 detected by the position detection unit 23 so that it can be seen from the driver D of the train 60. For this reason, the operator D of the train 60 can stop the train 60 appropriately while looking at the position of the train 60 displayed on the display 30.

  The display 30 displays the magnitude of the weight of the train 60 detected by the position detector 23 so that it can be seen from the driver D of the train 60. For this reason, the operator D of the train 60 can appropriately stop the train 60 by looking at the magnitude of the weight of the train 60 displayed on the display 30.

  When the platform door 70 is provided with the platform door 80, it is necessary to stop the train 60 by accurately aligning the door of the train 60 with the door body 82 of the platform door 80. In this respect, the scanning laser radar system 10 is provided in the home 70 including the home door 80. Therefore, the position detection unit 23 can stably detect the position of the train 60 traveling on the track 50 regardless of the type of the train 60.

  The position detection unit 23 detects the distance from the light projecting unit 21 to the moving object M for each light projecting direction of the laser light based on the reflected light received by the light receiving unit 22. And the train 60 is comprised by the some point specified by a light projection direction and distance. Here, if the position of the train 60 is detected using all the points constituting the train 60, the load of processing for detecting the position increases, and the position detection may be delayed. At this point, the position of the train 60 is detected based on some of all the points constituting the train 60. Therefore, it is possible to prevent the position detection from being delayed.

  -The position detection part 23 can detect the position of the train 60 based on the distance to the point with the shortest distance from the light projection part 21 among all the points which comprise the train 60. FIG. According to such a configuration, the position can be quickly detected while the position of the train 60 is stably detected.

  In addition, the said embodiment can also be changed and implemented as follows. About the same part as the said embodiment, description is abbreviate | omitted by attaching | subjecting the same code | symbol.

  The position detection unit 23 is configured such that the distance d1 to the moving object M is the predetermined distance dr, and the angle d is greater than the distance d (θ3) that is the distance (first distance) at the angle θ3 (first light projection direction). When the distance d (θ4), which is the distance (second distance) at the angle θ4 (second light projection direction) next to θ3, is increased for the first time, the angle θ4 is the connecting portion angle representing the height of the connecting portion 61. It can also be set to θr. That is, the position detection unit 23 can also detect the magnitude of the weight of the train 60 based on the connecting portion angle θr (second light projecting direction).

  The light projecting unit 21 may perform scanning by sequentially projecting laser light from the top to the bottom. In that case, the position detection unit 23 is configured such that the distance d1 to the moving object M is the predetermined distance dr and the distance d (θ3) which is the distance (first distance) at the angle θ3 (first light projection direction) is When the distance to the plurality of points constituting the moving object M is the shortest, the angle θ3 can be set to the connecting portion angle θr that represents the height of the connecting portion 61.

  -The indicator 30 may display characters or the like in addition to displaying the magnitude of the weight of the train 60 in color.

  The position detection unit 23 determines the degree of the weight of the train 60 in two stages: when the weight of the train 60 is small (when the number of passengers is small) and when the weight of the train 60 is large (when the number of passengers is large). It may be divided into In addition, the magnitude of the weight of the train 60 is divided into two stages: when the weight of the train 60 is large (when the number of passengers is large) and when the weight of the train 60 is normal (when the number of passengers is normal). Also good.

  The position detection unit 23 can also omit the process of detecting the magnitude of the weight of the train 60. In that case, the position detection unit 23 may display only the position of the train 60 on the display 30.

  The position detection unit 23 can also detect the distance d1 from the light projecting unit 21 to the moving object M as the position of the train 60. And the position detection part 23 can also transmit the signal to the indicator 30 and can display the distance d1 by the indicator 30.

  The scanning laser radar system 10 may be provided on the platform 70 that does not include the platform door 80. Further, in the track 50, the scanning laser radar system 10 can be provided in addition to the platform of the station. Even in that case, the distance of the train 60 to the reference position different from the stop position on the track 50 (the position of the railway vehicle) is displayed on the display 30 so that the driver D can see the distance while viewing the distance. Can be stopped or run properly.

  The position detection unit 23 may transmit the detected magnitude of the weight of the train 60 to the train 60. In that case, the train 60 can also execute brake control and traveling control based on the magnitude of the received weight of the train 60.

  The position detection unit 23 may transmit the detected position of the train 60 to the train 60. In that case, the train 60 can also execute brake control and traveling control based on the received position of the train 60.

  The scanning laser radar system 10 can also be applied to a train (railcar) traveling on one rail (track), that is, a so-called monorail.

  As shown in FIG. 6, the position detection unit 23 forms a polygon Cm with some of all the points constituting the moving object M (train 60), and the polygon Cm is formed from the light projecting unit 21. The position of the train 60 may be detected based on the distance to the center of gravity b. Specifically, a line segment passing through many points among a plurality of points constituting the moving object M is created, and a polygon Cm is formed so that the end point of the line segment is a vertex. If the polygon is an even-numbered polygon such as a quadrangle or a hexagon, the intersection of at least two diagonal lines is defined as the center of gravity b. When the polygon is an odd-numbered rectangle such as a triangle or a pentagon, the intersection of at least two straight lines drawn from the vertex to the center of the opposite side is defined as the center of gravity b. According to such a configuration, since the position of the train 60 is detected based on the distance from the light projecting unit 21 to the center of gravity b of the polygon Cm, the position of the train 60 can be detected stably. Furthermore, since the position of the train 60 is detected using a part of all the points constituting the train 60, it is possible to prevent the position detection from being delayed.

  When the laser light projected by the light projecting unit 21 hits the window of the train 60, when the intensity of the laser light is weak, the laser light does not pass through the window glass 66 (see FIG. 6), and the intensity of the laser light is high. In this case, the laser beam passes through the window glass 66 (see FIG. 7). Specifically, as shown in FIG. 6, when the distance from the light projecting unit 21 to the window glass 66 (window) of the train 60 is long, the intensity of the laser light is weakened. On the other hand, as shown in FIG. 7, when the radar 20 (light projecting unit 21) is installed near the stop OK position and the distance from the light projecting unit 21 to the window glass 66 of the train 60 is short, the intensity of the laser beam. Becomes stronger. For this reason, there is a possibility that the distance from the light projecting unit 21 to the center of gravity b and the position of the train 60 may vary depending on the distance from the light projecting unit 21 to the window glass 66 of the train 60. For example, in the case of FIG. 7, when the train 60 is far from the light projecting unit 21, the laser light does not pass through the window glass 66, and when the train 60 approaches the light projecting unit 21, the laser light passes through the window glass 66. The window glass 66 is not limited to glass but may be made of resin.

  Therefore, as shown in FIGS. 8 and 9, the radar system 10 (railcar position detector) prevents the laser light projected by the light projecting unit 21 from hitting the window glass 66 (window) of the train 60. The masks 25 and 26 are provided to block part of the laser light projected by the light projecting unit 21. The masks 25 and 26 (blocking members) are attached to the outside of the radar 20 so that a predetermined gap w in the vertical direction is formed between them. According to such a configuration, a part of the laser light projected by the light projecting unit 21 is caused by the masks 25 and 26 so that the laser light projected by the light projecting unit 21 does not hit the window glass 66 of the train 60. Blocked. Therefore, it is possible to prevent the distance from the light projecting unit 21 to the center of gravity b, and hence the position of the train 60, from varying depending on the distance from the light projecting unit 21 to the window glass 66 of the train 60. Furthermore, since it is only necessary to attach the masks 25 and 26 to the radar 20 so as to block part of the laser light projected by the light projecting unit 21, it is necessary to change the configuration of the light projecting unit 21 and the light receiving unit 22. Absent.

  -The light projection part 21 can also project and scan a laser beam in the range in which a laser beam does not hit the window glass 66 of the train 60. Even with such a configuration, the position of the train 60 detected based on the reflected light can be prevented from varying depending on the distance from the light projecting unit 21 to the window glass 66 of the train 60.

  When the position detection unit 23 detects the position of the train 60 based on some of all the points constituting the train 60, the position detection unit 23 has the shortest distance from the light projecting unit 21 and the polygon Cm. Points other than the center of gravity b can also be used. For example, the position detection unit 23 can also detect the position of the train 60 based on points obtained by thinning out a predetermined ratio among all points constituting the train 60.

  DESCRIPTION OF SYMBOLS 10 ... Scanning type laser radar system (railway vehicle position detection apparatus), 20 ... Scanning type laser radar, 21 ... Light projection part, 22 ... Light receiving part, 23 ... Position detection part, 25 ... Mask (blocking member), 26 ... Mask (blocking member), 30 ... Indicator (display unit), 50 ... Track, 51 ... Rail, 60 ... Train (railway vehicle), 61 ... Connecting part, 65 ... Window glass (window), 70 ... Home, 80 ... Home door.

Claims (11)

A position detection device for detecting the position of a railway vehicle traveling on a track,
A light projecting unit that projects the laser light so that a scanning surface when projecting and scanning the laser light continuously passes through the connecting portion of the railway vehicle;
A light receiving unit that receives reflected light of the laser beam projected by the light projecting unit and reflected by an object;
Based on the reflected light received by the light receiving unit, a position detection unit for detecting the position of the rail vehicle,
A position detection apparatus for a railway vehicle.   2. The position detection apparatus for a railway vehicle according to claim 1, wherein the light projecting unit scans from the front of the railway vehicle within a predetermined angle from the vertical so that the laser light passes through the connecting portion. The light projecting unit sequentially projects the laser light from below to above, and scans it.
The position detecting unit detects a distance from the light projecting unit to the railcar for each light projecting direction of the laser light based on the reflected light received by the light receiving unit, and the detected distance is predetermined. This is the first time that the second distance, which is the distance in the second light projection direction next to the first light projection direction, is longer than the first distance, which is the distance and the distance in the first light projection direction. The position detection device for a railway vehicle according to claim 2, wherein the magnitude of the weight of the railway vehicle is detected based on the first light projecting direction or the second light projecting direction.   The position detection apparatus of the rail vehicle of any one of Claims 1-3 provided with the display part which displays the said position detected by the said position detection part so that it can be seen from the said rail vehicle.   The railway vehicle position detection device according to claim 3, further comprising a display unit configured to display the magnitude of the weight detected by the position detection unit so as to be visible from the railway vehicle.   The said position detection apparatus is a position detection apparatus of the rail vehicle of any one of Claims 1-5 provided in the platform provided with a platform door.   The position detection unit detects a distance from the light projecting unit to the object for each light projecting direction of the laser light based on the reflected light received by the light receiving unit, and the light projecting direction and the distance The railway vehicle is configured by a plurality of points specified in (1) above, and the position of the railway vehicle is detected based on some of all the points constituting the railway vehicle. The position detection apparatus for a railway vehicle according to claim 1.   The position detection unit forms a polygon with some of all the points constituting the rail vehicle, and the position of the rail vehicle is based on the distance from the light projecting unit to the center of gravity of the polygon. The position detection device for a railway vehicle according to claim 7, wherein   The said position detection part detects the position of the said railway vehicle based on the distance to the point with the shortest distance from the said light projection part among all the points which comprise the said railway vehicle. Railway vehicle position detection device.   2. A blocking member that blocks a part of the laser light projected by the light projecting unit so that the laser light projected by the light projecting unit does not hit the window of the railway vehicle. The position detection apparatus for a railway vehicle according to any one of?   The position detection device for a railway vehicle according to any one of claims 1 to 9, wherein the light projecting unit projects and scans the laser light within a range in which the laser light does not hit a window of the railway vehicle. .

Images