JP2021050995A - Train car detector - Google Patents

Abstract

To provide a vehicle detector for detecting train cars running on a track, with which the accuracy of calculating the distance to the train cars is prevented from being reduced by an incident angle of a laser beam.SOLUTION: Provided is a train car detector (20) for detecting cars (60a) of a train (60) running on a track (50), said detector comprising: a light projection unit for projecting a laser beam in a plurality of projection directions toward the passing position of train cars; a light receiving unit for receiving each reflected light of each laser beam having been projected by the light projection unit and reflected by an object and outputting an electric signal that corresponds to the received intensity of each reflected light; and a replacement unit for replacing the calculated value of distance to the train cars in each light projection direction with the previously acquired true value of distance to the train cars in each light projection direction, on condition that the elapsed time from when a laser beam is projected by the light projection unit to when the intensity of the electric signal outputted by the light receiving unit exceeds a threshold falls within a prescribed range having been set in accordance with each light projection direction.SELECTED DRAWING: Figure 1

Description

The present invention relates to a device for detecting a vehicle of a train traveling on a track.

Conventionally, distance measuring sensors are arranged at positions corresponding to the front end and the rear end of each vehicle of a train stopped at a platform, and the vehicle is based on the position of the front end and the rear end of the vehicle detected by the distance measuring sensor. There is an apparatus for calculating the length (see Patent Document 1).

Japanese Patent No. 6081549

By the way, in the device of Patent Document 1, distance measuring sensors are required at positions corresponding to the front end and the rear end of each vehicle. On the other hand, it is conceivable to reduce the number of distance measuring sensors by widening the range in which one distance measuring sensor emits laser light, that is, the detection range of one distance measuring sensor. However, in that case, depending on the angle of incidence of the laser beam on the vehicle, the ratio of the reflected light returning to the incident direction becomes small, and the accuracy of calculating the distance to the vehicle based on the reflected light may decrease.

The present invention has been made to solve such a problem, and a main object thereof is to calculate a distance to a vehicle by an incident angle of a laser beam in a vehicle detection device for detecting a vehicle of a train traveling on a track. The purpose is to suppress a decrease in accuracy.

The first means for solving the above problems is
It is a vehicle detection device that detects the vehicle of a train traveling on a track.
A light projecting unit that projects laser light in a plurality of light projecting directions toward the passing position of the vehicle.
A light receiving unit in which each laser beam projected by the light projecting unit receives each reflected light reflected by an object and outputs an electric signal corresponding to the intensity of each reflected light received.
The elapsed time from when the laser beam is projected by the light projecting unit until the intensity of the electric signal output by the light receiving unit exceeds the threshold value is within a predetermined range set according to each light projecting direction. A replacement unit that replaces the calculated value of the distance to the vehicle in each of the light projection directions with the true value of the distance to the vehicle in each of the light projection directions acquired in advance, on condition that the light enters.
To be equipped.

According to the above configuration, the vehicle detection device detects the vehicle of the train traveling on the track. The light projecting unit projects laser light in a plurality of light projecting directions toward the passing position of the vehicle. The light receiving unit receives each reflected light reflected by the object from each laser beam projected by the light emitting unit, and outputs an electric signal corresponding to the intensity of each reflected light received.

Here, the smaller the angle formed by the surface of the vehicle and the laser beam, that is, the larger the angle of incidence of the laser beam on the vehicle (the angle formed by the incident direction and the normal of the boundary surface), the more the reflected light returns to the incident direction. The ratio of Therefore, the larger the angle of incidence of the laser beam on the vehicle, the smaller the magnitude of the electric signal according to the intensity of the reflected light. In that case, the accuracy of calculating the distance to the vehicle based on the electric signal may decrease.

On the other hand, the positional relationship between the vehicle detection device and the track and the shape and dimensions of the vehicle are predetermined. Therefore, when the train is on the track, the true value of the distance from the vehicle detection device to the vehicle in each light projection direction is predetermined. Therefore, when the measured value of the distance to the vehicle in each light projection direction is within a predetermined distance from the true value, it can be estimated that the correct distance to the vehicle is the true value.

In this respect, in the replacement unit, the elapsed time from when the laser beam is projected by the light emitting unit to when the intensity of the electric signal output by the light receiving unit exceeds the threshold value is set according to each projection direction. The calculated value of the distance to the vehicle in each light projection direction is replaced with the true value of the distance to the vehicle in each light projection direction acquired in advance, provided that the light falls within the predetermined range. The elapsed time from when the laser beam is projected by the light emitting unit to when the intensity of the electric signal output by the light receiving unit exceeds the threshold value corresponds to the distance from the vehicle detection device to the vehicle. Therefore, the correct distance to the vehicle is calculated by replacing the measured value of the distance to the vehicle with a true value on condition that the elapsed time falls within a predetermined range set according to each light projection direction. can do. Therefore, it is possible to prevent the accuracy of calculating the distance to the vehicle from being lowered due to the incident angle of the laser beam.

The larger the angle of incidence of the laser beam on the vehicle, the more the electrical signal is attenuated according to the intensity of the reflected light. In that case, the elapsed time until the intensity of the electric signal output by the light receiving unit exceeds the threshold value is longer than the elapsed time when there is no attenuation of the electric signal.

In this respect, in the second means, the predetermined range set according to each projection direction is from the elapsed time corresponding to the true value of the distance to the vehicle in each projection direction to a predetermined time later. It is set. Therefore, when the measured value of the distance to the vehicle in each light projection direction is not within a predetermined distance from the true value, it is possible to prevent the measured value of the distance to the vehicle from being erroneously replaced with the true value.

If the measured distance to the vehicle in each light projection direction is not within a predetermined distance from the true value, it is highly possible that the distance to an object other than the vehicle has been measured. In addition, if the intensity of the electric signal output by the light receiving unit does not exceed the threshold value after the laser light is projected by the light emitting unit, there is a possibility that the vehicle does not exist in the projection direction of the laser light. high.

In this respect, in the third means, in the replacement unit, the elapsed time from when the laser beam is projected by the light emitting unit to when the intensity of the electric signal output by the light receiving unit exceeds the threshold value is reached. If the predetermined range set according to each light projection direction is not reached, the calculated value of the distance to the vehicle in each light projection direction is set to none. Therefore, it is possible to prevent the distance to the vehicle from being erroneously calculated when the distance to an object other than the vehicle is calculated by the vehicle detection device or when the vehicle does not exist in the projection direction of the laser beam. it can.

The fourth means is a vehicle detection device that detects a vehicle of a train traveling on a track.
A light projecting unit that projects laser light in a plurality of light projecting directions toward the passing position of the vehicle.
A light receiving unit in which each laser beam projected by the light projecting unit receives each reflected light reflected by an object and outputs an electric signal corresponding to the intensity of each reflected light received.
Each of the above, provided that the distance to the vehicle in each projection direction calculated based on the electric signal output by the light receiving unit falls within a predetermined range set according to each projection direction. A replacement unit that replaces the calculated value of the distance to the vehicle in the light projection direction with the true value of the distance to the vehicle in each of the light projection directions acquired in advance.
To be equipped.

According to the above configuration, the light is received instead of the elapsed time from when the laser beam is projected by the light projecting unit in the first means until the intensity of the electric signal output by the light receiving unit exceeds the threshold value. The distance to the vehicle in each light projection direction calculated based on the electric signal output by the unit is used. Then, the distance to the vehicle in each of the light projection directions is calculated on condition that the calculated distance to the vehicle in each of the light projection directions falls within a predetermined range set according to each of the light projection directions. The value is replaced with the true value of the distance to the vehicle in each of the light projection directions acquired in advance. Therefore, the action and effect according to the first means can be obtained.

In the fifth means, the predetermined range set according to each of the light projection directions is set from the true value of the distance to the vehicle in each of the light projection directions to a predetermined distance ahead. Therefore, the action and effect according to the second means can be obtained.

In the sixth means, the replacement unit has the predetermined distance to the vehicle in each projection direction calculated based on the electric signal output by the light receiving unit, which is set according to each projection direction. If it does not fall within the range, the calculated value of the distance to the vehicle in each of the light projection directions is assumed to be none. Therefore, it is possible to exert the action and effect according to the third means.

The larger the angle of incidence of the laser beam on the vehicle, the smaller the magnitude of the electric signal according to the intensity of the reflected light, and the longer the elapsed time until the intensity of the electric signal exceeds the threshold value.

In this regard, in the seventh means, the predetermined range set according to each of the projection directions is set wider as the angle of incidence of the laser beam on the vehicle in each of the projection directions is larger. Therefore, it is possible to accurately estimate that the measured value of the distance to the vehicle in each light projection direction is within a predetermined distance from the true value.

In the eighth means, a true value setting unit that sets the true value of the distance to the vehicle in each light projection direction based on the positional relationship between the vehicle detection device and the track and the shape and dimension of the vehicle. To be equipped. According to such a configuration, the user can save the trouble of actually measuring the true value of the distance to the vehicle in each light projection direction using a measure or the like, and the true value of the distance to the vehicle can be set accurately. Can be done.

At the platform of the station, it is necessary to determine whether or not the train traveling on the track has stopped at a predetermined stop position.

In this regard, in the ninth means, the calculated value of the distance to the vehicle in each of the light projection directions after the replacement by the replacement portion is the state in which the head of the train is stopped at a predetermined stop position. It is provided with a determination unit for determining that the head of the train has stopped at the stop position when the state that can be regarded as equal to the true value of the distance to the vehicle in the light direction continues for more than a predetermined time.

According to the above configuration, when the head of the train stops at a predetermined stop position, the calculated value of the distance to the vehicle in each projection direction after the replacement by the replacement portion is such that the head of the train stops at the predetermined stop position. Since it becomes equal to (substantially equal to) the true value of the distance to the vehicle in each light projection direction in the state, it can be determined that the train has stopped at the stop position. Further, since the vehicle detection device can suppress the accuracy of calculating the distance to the vehicle from being lowered due to the incident angle of the laser beam, it is possible to accurately determine that the train has stopped at the stop position.

In the tenth means, the vehicle detection device is installed on the platform of the station, the platform door device having each door portion is installed on the platform, and the head of the train is the head of the train by the determination unit. A door control unit for opening each door unit by the platform door device is provided on condition that it is determined that the vehicle has stopped at the stop position.

According to the above configuration, the door control unit causes each door unit to be opened by the platform door device on condition that the determination unit determines that the head of the train has stopped at the stop position. Therefore, when the vehicle detection device determines that the head of the train has stopped at the stop position, each door portion of the platform door device is opened. Further, if it is not determined by the vehicle detection device that the head of the train has stopped at the stop position, each door portion of the platform door device is not opened. Therefore, each door portion of the platform door device can be automatically opened and closed, and the burden on the station staff of the platform can be reduced.

At the platform of a station, it is necessary to detect that a train traveling on the track has entered the platform beyond a predetermined entry position. Then, when the head of the train crosses the entry position, it is desirable to detect that the train has crossed the entry position (train entry).

In this respect, in the eleventh means, the calculated value of the distance to the vehicle in each of the light projection directions after the replacement by the replacement portion does not include a distance shorter than the incoming line distance corresponding to the predetermined incoming line position. It is provided with an incoming line detection unit that detects that the train has crossed the incoming line position when the state changes to include.

According to the above configuration, when the head of the train exceeds a predetermined incoming line position, the distance to the vehicle in the light projection direction corresponding to the head of the train becomes shorter than the incoming line distance, so that the head of the train exceeds the incoming line position. At that time, it is possible to detect that the train has crossed the entry position. Further, since the vehicle detection device can suppress the accuracy of calculating the distance to the vehicle from being lowered due to the incident angle of the laser beam, it is possible to accurately determine the arrival line of the train.

At the platform of a station, it is necessary to detect that a train traveling on a track has left the platform beyond a predetermined departure position. Then, when the tail of the train crosses the departure position, it is desirable to detect that the train has crossed the departure position (train departure).

In this respect, in the twelfth means, the calculated value of the distance to the vehicle in each of the light projection directions after the replacement by the replacement portion includes a distance shorter than the departure distance corresponding to the predetermined departure position. The train is provided with an exit detection unit that detects that the train has crossed the departure position when the train does not include the train.

According to the above configuration, when the tail of the train exceeds a predetermined departure position, the distance to the vehicle in the light projection direction corresponding to the tail of the train becomes longer than the departure distance, so that the tail of the train departs. When the position is crossed, it can be detected that the train has crossed the departure position. Further, since the vehicle detection device can suppress the accuracy of calculating the distance to the vehicle from being lowered due to the incident angle of the laser beam, it is possible to accurately determine the departure line of the train.

Schematic diagram showing a platform, track, train, and vehicle detector. The schematic diagram which shows the light projection mode of a laser beam. The graph which shows each electric signal and the detection threshold value in each light projection direction. Block diagram of the vehicle detection device. The flowchart which shows the procedure of slot setting and train stop determination. A graph showing the true value of the distance and the detection threshold value in each projection direction. A graph showing the true value of the distance and the slot in each projection direction. The graph which shows the mode of replacing the measured value of a distance with a true value. The schematic diagram which shows the mode of incoming line detection. The schematic diagram which shows the mode of the departure line detection.

Hereinafter, one embodiment will be described with reference to the drawings. This embodiment is embodied as a vehicle detection device that detects a train vehicle at a platform of a station.

As shown in FIG. 1, the train 60 includes a plurality of vehicles 60a and 60b and travels on the track 50. The track 50 includes two rails 51 and the like. The train 60 (object) runs on two rails 51.

A platform 71 is provided on the right side of the track 50 with the traveling direction of the train 60 indicated by the arrow as the front. The direction opposite to the traveling direction is the rear.

The platform 71 is provided with a platform door device 30 along the edge of the platform 71. The platform door device 30 includes a main body portion 31 and a door portion 32. The main body 31 can store the door 32, and the door 32 goes in and out. The position of the door portion 32 corresponds to the position of the doors 61 and 62 of the vehicles 60a and 60b stopped at the home 71. That is, each door portion 32 is provided at a position facing the doors 61 and 62 of the vehicles 60a and 60b in a state where the head 65 of the train 60 is stopped at a predetermined stop position Ls. A drive unit (not shown) that drives the door unit 32 is housed in the main body unit 31. The stop position Ls may be a straight line having a predetermined width, that is, a predetermined range.

A vehicle detection device 20 is attached to the main body 31 of the platform door device 30. The vehicle detection device 20 is attached to the main body 31 so that the direction perpendicular to the traveling direction of the train 60 is the front. The vehicle detection device 20 is attached to a position facing the center of the vehicle 60a in the traveling direction of the train 60 in a state where the head 65 of the train 60 is stopped at a predetermined stop position Ls. The vehicle detection device 20 may be installed in the home 71.

FIG. 2 is a schematic view showing a mode of projecting laser light by the vehicle detection device 20.

The vehicle detection device 20 projects laser light in a plurality of light projection directions (for example, angles θ1 to θ5) toward the passing position of the train 60, and each of the projected laser light is reflected by an object. To receive light. The angles θ1 to θ5 are angles formed by the side surface (surface) of the vehicle 60a and the laser beam, and are, for example, θ1 = 90 °, θ2 = 30 °, θ3 = 20 °, θ4 = 10 °, and θ5 = 5 °. .. Then, the vehicle detection device 20 calculates the distances D1 to D5 to the vehicle 60a in each light projection direction based on the electric signal S output according to the intensity of each reflected light received. The number of light projection directions can be arbitrarily changed according to the length of the vehicle 60a and the like.

Here, the smaller the angle formed by the side surface of the vehicle 60a and the laser beam, that is, the larger the incident angle θi (the angle formed by the incident direction and the normal of the side surface) of the laser beam on the vehicle 60a, the more the angle returns to the incident direction. The ratio of reflected light becomes small. That is, the larger the angle of incidence θi of the laser beam on the vehicle 60a, the easier it is for the laser beam to be specularly reflected on the side surface of the vehicle 60a. Therefore, the larger the incident angle θi of the laser beam to the vehicle 60a, the smaller the magnitude of the electric signal S to be output according to the intensity of the reflected light.

FIG. 3 is a graph showing each electric signal S1 to S5 and a detection threshold value Vt in each light projection direction (angles θ1 to θ5). The graph of the broken line represents the electric signal S when there is no attenuation due to the increase in the incident angle θi.

At the angle θ1, the incident angle θi = 0 °, so that the electric signal S1 is not attenuated. The voltage of the electric signal S1 exceeds the detection threshold value Vt at the elapsed time t1 after the laser beam is projected. The vehicle detection device 20 calculates the distance Dmn from the vehicle detection device 20 to the object in proportion to the elapsed time t from when the laser beam is projected until the voltage of the electric signal Sn exceeds the detection threshold value Vt. Therefore, the elapsed time t until the voltage of the electric signal Sn exceeds the detection threshold value Vt corresponds to the distance Dmn from the vehicle detection device 20 to the object.

The smaller the angle θn (the larger the incident angle θi), the more the electric signal Sn is attenuated. Therefore, for example, at the angle θ4, the voltage of the electric signal Sr4 when there is no attenuation exceeds the detection threshold value Vt at the elapsed time tr4. On the other hand, at the elapsed time t4, the voltage of the electric signal S4 exceeds the detection threshold value Vt. That is, the elapsed time t4 is longer than the elapsed time tr4 by the time Δt. Therefore, at the angle θ4, the distance Dmn from the vehicle detection device 20 to the object is calculated to be longer than the true value corresponding to the elapsed time tr4. As a result, the accuracy of calculating the distance Dmn to the vehicle 60a based on the electric signal Sn is lowered.

FIG. 4 is a block diagram of the vehicle detection device 20. The vehicle detection device 20 includes a laser diode 21, a photodiode 22, a mirror rotation motor 23, a control CPU 24, an amplifier 26, a comparison unit 27, a replacement unit 28, and the like.

The laser diode 21 emits laser light by passing a current through the semiconductor to oscillate the laser. The laser light emitted by the laser diode 21 is reflected by a mirror (not shown). By rotating the mirror by the mirror rotation motor 23, the laser beam is projected in a plurality of projection directions. The mirror rotation motor 23 is controlled by a rotation command from the control CPU 24, and outputs a rotation angle (and thus an angle θn) to the control CPU 24. The light projecting unit is composed of the laser diode 21, the mirror, and the mirror rotation motor 23.

The light projecting unit can scan the front detection range of approximately 190 ° with a laser beam along a predetermined surface, for example, at a cycle of 33 ms (predetermined cycle). In this embodiment, the predetermined surface is a horizontal plane. For the laser light, for example, infrared light, visible light, ultraviolet light, or the like can be used. The light projecting unit can project pulsed laser light at intervals of, for example, 0.25 ° (predetermined angle) around a predetermined point of the mirror. In the present embodiment, the laser beam is projected in a plurality of light projection directions (for example, the above angles θ1 to θ5 and −θ2 to −θ5) toward the passing position of the vehicle 60a.

The photodiode 22 (light receiving unit) receives the reflected light reflected by the object and outputs an electric signal S (voltage signal) according to the intensity of the received reflected light. The photodiode 22 is, for example, an avalanche photodiode. The photodiode 22 outputs an electric signal Sn corresponding to the intensity of the received reflected light each time the laser beam is projected by the light projecting unit.

The amplifier 26 (correction unit) amplifies (corrects) each electric signal Sn by a predetermined gain Gn and outputs the signal Sn. The signal obtained by amplifying each electric signal Sn by the gain Gn is each electric signal Srn (corrected electric signal). For example, the gain Gn is the same constant value regardless of the projection direction, that is, the same constant value in a plurality of projection directions.

The comparison unit 27 compares each electric signal Srn with the detection threshold value Vt, and outputs an elapsed time nt from when the laser beam is projected until the voltage of the electric signal Srn exceeds the detection threshold value Vt. The replacement unit 28 converts the elapsed time tn into the distance Dmn from the vehicle detection device 20 to the object. Further, the replacement unit 28 changes the distance Dmn (measured value of the distance) to the distance Dn (true value of the distance) on condition that the elapsed time nt is within the predetermined range (the electric signal Srn is in the predetermined state). Replace. Specifically, the replacement unit 28 converts the elapsed time tun into the distance Dmn so that the distance Dmn is proportional to the elapsed time tun. The procedure for the replacement unit 28 to replace the distance Dmn with the distance Dn will be described later. The replacement unit 28 outputs the distance Dmn to the control CPU 24.

The control CPU 24 sets the distance Dn (true value of the distance) to the vehicle 60a in each light projection direction (angle θn) based on the positional relationship between the vehicle detection device 20 and the track 50 and the shape and dimensions of the vehicle 60a. The function of the true value setting unit 24a is realized. The true value setting unit 24a outputs the distance Dn to the replacement unit 28. In the control CPU 24, the distance Dmn to the vehicle 60a in each light projection direction replaced by the replacement unit 28 is up to the vehicle 60a in each light projection direction in a state where the head 65 of the train 60 is stopped at a predetermined stop position Ls. When the state that can be regarded as equal to the true value of the distance continues for more than a predetermined time, the function of the determination unit 24b that determines that the head 65 of the train 60 has stopped at the stop position Ls is realized. The control CPU 24 realizes the function of the door control unit 24c that causes the platform door device 30 to open each door unit 32 on condition that the determination unit 24b determines that the head 65 of the train 60 has stopped at the stop position Ls. .. Details of these functions will be described later.

FIG. 5 is a flowchart showing a procedure for setting the slot SLn and determining the stop of the train 60. This series of processing is executed by the vehicle detection device 20.

First, the subscript n of the angle θn representing the light projection direction is set to n = 1 (S11). When n = 1, θn becomes θ1, and when n = k, θn becomes θk.

Subsequently, the true value (distance Dn) of the distance at the angle θn is set (S12). Specifically, as shown in FIG. 2, the positional relationship between the vehicle detection device 20 and the track 50 and the shape and dimensions of the vehicle 60a are predetermined. Therefore, when the train 60 exists on the rail 51 (track 50), the true value (distance Dn) of the distance from the vehicle detection device 20 to the vehicle 60a in each light projection direction (angles θ1 to θ5) is determined in advance. There is. Therefore, drawing data (data) showing the positional relationship between the vehicle detection device 20 and the track 50 and the shape and dimensions of the vehicle 60a is input. Based on the input drawing data, the distance Dn to the vehicle 60a at the angle θn is calculated. Then, as shown in FIG. 6, the calculated distance Dn is set in the coordinate axes representing the relationship between the elapsed time t, the distance, and the signal voltage.

Subsequently, n is incremented by 1 (S13), and it is determined whether or not n exceeds the final number (S14). In this determination, if it is determined that n does not exceed the final number (S14: NO), the process of S12 is executed again. On the other hand, when it is determined that n exceeds the final number (S14: YES), the process proceeds to S15.

In the process of S15, n = 1. Subsequently, the slot SLn having an angle θn is set (S16). The larger the incident angle θi of the laser beam on the vehicle 60a, the smaller the ratio of the reflected light returning to the incident direction, and the smaller the magnitude of the electric signal Sn (electric signal Srn) according to the intensity of the reflected light. Can be calculated by a predetermined formula. Therefore, the slot SLn (for example, SL4) of FIG. 7 is set so as to include the elapsed time tn (for example, the elapsed time t4) of FIG. 3 based on a predetermined calculation formula. The slot SLn (predetermined range) is set from the elapsed time trn (for example, the elapsed time tr4) corresponding to the true value (distance Dn) of the distance to the vehicle 60a at the angle θn to after a predetermined time. The slot SLn is set wider as the incident angle θi of the laser beam on the vehicle 60a at the angle θn is larger. The slot SLn may be set in anticipation of an error in calculating the elapsed time tn.

Subsequently, n is incremented by 1 (S17), and it is determined whether or not n exceeds the final number (S18). In this determination, if it is determined that n does not exceed the final number (S18: NO), the process of S16 is executed again. On the other hand, when it is determined that n exceeds the final number (S18: YES), the process proceeds to S19.

In the process of S19, n = 1. Subsequently, in a state where the vehicle 60a is detected by the vehicle detection device 20, the laser beam is projected at the angle θn, and the distance Dmn to the vehicle 60a at the angle θn is calculated based on the received reflected light (S20). Specifically, the light projecting unit projects a laser beam at an angle θn, and the photodiode 22 receives the reflected light and outputs an electric signal Sn. The amplifier 26 amplifies the electric signal Sn by the gain Gn and outputs the electric signal Srn. The comparison unit 27 outputs the elapsed time tun from when the laser beam is projected until the voltage of the electric signal Srn exceeds the detection threshold value Vt. The replacement unit 28 converts the elapsed time tn into a distance Dmn from the vehicle detection device 20 to the vehicle 60a.

Subsequently, it is determined whether or not the elapsed time tn is within the slot SLn (enters the slot SLn) (S21). In a state where each laser beam projected by the light projecting unit irradiates the vehicle 60a, each elapsed time nt enters each slot SLn as shown in FIG. On the other hand, in a state where each laser beam projected by the light projecting unit is not irradiated to the vehicle 60a, each elapsed time nt does not enter each slot SLn.

In the determination of S21, when it is determined that the elapsed time tn is within the slot SLn (S21: YES), the distance Dmn (measured value of the distance) is replaced with the distance Dn (true value of the distance) as shown in FIG. (S22). On the other hand, when it is determined that the elapsed time tn is not within the slot SLn (S21: NO), the distance Dmn is set to none (not calculated) (S23).

Subsequently, n is incremented by 1 (S24), and it is determined whether or not n exceeds the final number (S25). In this determination, if it is determined that n does not exceed the final number (S25: NO), the process of S20 is executed again. On the other hand, when it is determined that n exceeds the final number (S25: YES), the process proceeds to S26.

In the process of S26, the calculated distance Dmn to the vehicle 60a at each angle θn is equal to the distance Dn to the vehicle 60a at each angle θn when the head 65 of the train 60 is stopped at a predetermined stop position Ls. When the deemed state (appropriate stop state) continues for more than a predetermined time, it is determined that the head 65 of the train 60 has stopped at the stop position Ls. Then, on condition that it is determined that the head 65 of the train 60 has stopped at the stop position Ls, each door portion 32 is opened by the platform door device 30. On the other hand, if the proper stop state is not set, or if the proper stop state does not continue for more than a predetermined time, it is determined that the head 65 of the train 60 has not stopped at the stop position Ls. Then, each door portion 32 is not opened by the platform door device 30.

Subsequently, it is determined whether or not to end the stop determination (S27). For example, the stop determination is continued during the commercial operation time of the train 60, and the stop determination is terminated when the commercial operation time ends. In this determination, if it is determined that the stop determination is not completed (S27: NO), the process of S19 is executed again. On the other hand, in this determination, when it is determined that the stop determination is terminated (S27: YES), this series of processes is terminated (END).

The processes of S11 to S14 correspond to the processes of the true value setting unit 24a, the processes of S19 to S25 correspond to the processes of the replacement unit, and the processes of S19 to S26 correspond to the processes of the determination unit 24b. , S26 corresponds to the processing as the door control unit 24c.

The present embodiment described in detail above has the following advantages.

The replacement unit 28 has an elapsed time tun from when the laser beam is projected by the light projecting unit until the intensity of the electric signal Sn output by the photodiode 22 exceeds the detection threshold value Vt, depending on each light projecting direction. The calculated value of the distance to the vehicle 60a in each light projection direction is the true value (distance Dn) of the distance to the vehicle 60a in each light projection direction acquired in advance, provided that the slot SLn is entered. Replace with. The elapsed time tn from when the laser beam is projected by the light projecting unit until the intensity of the electric signal Sn output by the photodiode 22 exceeds the detection threshold value Vt corresponds to the distance from the vehicle detection device 20 to the vehicle 60a. are doing. Therefore, the actual value (distance Dmn) of the distance to the vehicle 60a is replaced with a true value on the condition that the elapsed time tn enters the slot SLn set according to each light projection direction. The correct distance up to 60a can be calculated. Therefore, it is possible to prevent the accuracy of calculating the distance Dmn to the vehicle 60a from being lowered due to the incident angle θi of the laser beam.

The slot SLn set according to each light projection direction is set from the elapsed time trn corresponding to the true value of the distance to the vehicle 60a in each light projection direction to a predetermined time later. Therefore, when the measured value of the distance to the vehicle 60a in each light projection direction is not within a predetermined distance from the true value, it is possible to prevent the measured value of the distance to the vehicle 60a from being erroneously replaced with the true value. ..

The slot SLn set according to each projection direction is set wider as the incident angle θi of the laser beam on the vehicle 60a in each projection direction is larger. Therefore, it is possible to accurately estimate that the measured value of the distance to the vehicle 60a in each light projection direction is within a predetermined distance from the true value.

The replacement unit 28 has an elapsed time tun from when the laser beam is projected by the light projecting unit until the intensity of the electric signal Sn output by the photodiode 22 exceeds the detection threshold value Vt, depending on each light projecting direction. If the slot SLn set in the above is not entered, the calculated value of the distance Dmn to the vehicle 60a in each light projection direction is set to none. Therefore, when the vehicle detection device 20 calculates the distance to an object other than the vehicle 60a, or when the vehicle 60a does not exist in the projection direction of the laser beam, the distance Dmn to the vehicle 60a is erroneously calculated. Can be suppressed.

The control CPU 24 (true value setting unit 24a) sets the true value of the distance to the vehicle 60a in each light projection direction based on the positional relationship between the vehicle detection device 20 and the track 50 and the shape and dimensions of the vehicle 60a. .. According to such a configuration, the user can save the trouble of actually measuring the true value of the distance to the vehicle 60a in each light projection direction using a measure or the like, and the true value of the distance to the vehicle 60a can be set accurately. can do.

The control CPU 24 (determination unit 24b) has a distance Dmn to the vehicle 60a in each light projection direction after replacement by the replacement unit 28, and each light projection in a state where the head 65 of the train 60 is stopped at a predetermined stop position Ls. When the state that can be regarded as equal to the true value of the distance to the vehicle 60a in the direction continues for more than a predetermined time, it is determined that the leading 65 of the train 60 has stopped at the stop position Ls. According to the above configuration, when the head 65 of the train 60 stops at the stop position Ls, the distance Dmn to the vehicle 60a in each light projection direction after the replacement by the replacement unit 28 is set so that the head 65 of the train 60 is at the stop position Ls. Since it is equal to the true value of the distance to the vehicle 60a in each light projection direction in the stopped state, it can be determined that the train 60 has stopped at the stop position Ls. Further, the vehicle detection device 20 can prevent the accuracy of calculating the distance Dmn to the vehicle 60a from being lowered due to the incident angle θi of the laser beam, so that the train 60 has stopped at the stop position Ls accurately. Can be determined.

The control CPU 24 (door control unit 24c) causes the platform door device 30 to open each door unit 32 on condition that the head 65 of the train 60 is determined to have stopped at the stop position Ls. Therefore, when the vehicle detection device 20 determines that the head 65 of the train 60 has stopped at the stop position Ls, each door portion 32 of the platform door device 30 is opened. Further, if it is not determined by the vehicle detection device 20 that the head 65 of the train 60 has stopped at the stop position Ls, each door portion 32 of the platform door device 30 is not opened. Therefore, each door portion 32 of the platform door device 30 can be automatically opened and closed, and the burden on the station staff of the platform 71 can be reduced.

It should be noted that the above embodiment can be modified and implemented as follows. The same parts as those in the above embodiment are designated by the same reference numerals, and the description thereof will be omitted.

-As shown in FIG. 9, at the platform 71 of the station, it is necessary to detect that the train 60 traveling on the track 50 has entered the platform 71 beyond the predetermined entry position Li. Then, when the head 65 of the train 60 exceeds the entry position Li, it is desirable to detect that the train 60 has exceeded the entry position Li (the entry of the train 60).

In this respect, the vehicle detection device 20 is installed at the end of the platform 71 in the direction opposite to the traveling direction of the train 60. The control CPU 24 (incoming line detection unit 24d) is in a state in which the distance Dmn to the vehicle 60a in each light projection direction after replacement by the replacement unit 28 does not include a distance Dmn shorter than the incoming line distance Di corresponding to the predetermined incoming line position Li. When the state changes to include from, it is detected that the train 60 has crossed the entry position Li. The incoming line distance Di is the true value of the distance to the vehicle 60a at the incoming line position Li.

According to the above configuration, when the leading 65 of the train 60 exceeds the incoming line position Li, the distance Dmn to the vehicle 60a in the light projection direction corresponding to the leading 65 of the train 60 becomes shorter than the incoming distance Di, so that the train 60 It is possible to detect that the train 60 has crossed the incoming line position Li when the leading 65 of the train crosses the incoming line position Li. Further, the vehicle detection device 20 can prevent the accuracy of calculating the distance Dmn to the vehicle 60a from being lowered due to the incident angle θi of the laser beam, so that the incoming line of the train 60 can be accurately determined.

-As shown in FIG. 10, at the platform 71 of the station, it is necessary to detect that the train 60 traveling on the track 50 has passed the predetermined departure position Lo and has left the platform 71. Then, when the tail 66 of the train 60 crosses the departure position Lo, it is desirable to detect that the train 60 has crossed the departure position Lo (the departure of the train 60).

In this respect, the vehicle detection device 20 is installed at the end of the platform 71 in the traveling direction of the train 60. The control CPU 24 (outgoing line detecting unit 24e) sets the distance Dmn to the vehicle 60e in each light projection direction after replacement by the replacing unit 28 is shorter than the line-out distance Do corresponding to the predetermined line-out position Lo. When the state changes from the included state to the excluded state, it is detected that the train 60 has crossed the departure position Lo. The departure distance Do is the true value of the distance to the vehicle 60a at the departure position Lo.

According to the above configuration, when the tail 66 of the train 60 exceeds the departure position Lo, the distance Dmn to the vehicle 60e in the light projection direction corresponding to the tail 66 of the train 60 becomes longer than the departure distance Do. When the tail 66 of the train 60 crosses the departure position Lo, it can be detected that the train 60 has crossed the departure position Lo. Further, the vehicle detection device 20 can prevent the accuracy of calculating the distance Dmn to the vehicle 60e from being lowered due to the incident angle θi of the laser beam, so that the departure line of the train 60 can be accurately determined. ..

-In each projection direction (angle θn), the elapsed time tun from when the laser beam is projected until the voltage of the electric signal Srn exceeds the detection threshold value Vt is actually measured, and an error is added to the measured elapsed time nt. Each slot SLn (predetermined range) can also be set. It is desirable that each slot SLn has the minimum necessary range in order to prevent erroneous detection of an object other than the vehicle 60a.

In the replacement unit 28, the distance to the vehicle 60a in each projection direction calculated based on the electric signal Sn output by the photodiode 22 (light receiving unit) is set according to each projection direction. The calculated value (distance Dmn) of the distance to the vehicle 60a in each projection direction is the true value (distance Dn) of the distance to the vehicle 60a in each projection direction acquired in advance, on condition that the vehicle enters the predetermined range). ) May be replaced. Even with such a configuration, it is possible to obtain an action and effect according to the above-described embodiment and its modified example.

In that case, the slot SLn corresponding to each light projection direction may be set from the true value of the distance to the vehicle 60a in each light projection direction to a predetermined distance ahead. Further, in the replacement unit 28, the distance Dmn to the vehicle 60a in each projection direction calculated based on the electric signal Sn output by the photodiode 22 does not enter the slot SLn set according to each projection direction. In this case, the calculated value of the distance to the vehicle 60a in each light projection direction may be set to none.

-The true value (distance Dn) of the distance to the vehicle 60a in each light projection direction (each angle θn) can be actually measured by the user using a measure or the like.

-When a plurality of types of trains 60 enter the platform 71, the true value of the distance to the vehicle 60a in each light projection direction may be set according to the types of trains 60.

20 ... Vehicle detection device, 21 ... Laser diode, 22 ... Photodiode (light receiving unit), 24 ... Control CPU, 24a ... True value setting unit, 24b ... Judgment unit, 24c ... Door control unit, 24d ... Incoming line detection unit, 24e ... Departure detection unit, 27 ... Comparison unit, 28 ... Replacement unit, 30 ... Platform door device, 32 ... Door unit, 50 ... Track, 60 ... Train, 60a ... Vehicle, 60b ... Vehicle, 60e ... Vehicle, 71 ... Home ..

Claims (12)

It is a vehicle detection device that detects the vehicle of a train traveling on a track.
A light projecting unit that projects laser light in a plurality of light projecting directions toward the passing position of the vehicle.
A light receiving unit in which each laser beam projected by the light projecting unit receives each reflected light reflected by an object and outputs an electric signal corresponding to the intensity of each reflected light received.
The elapsed time from when the laser beam is projected by the light projecting unit until the intensity of the electric signal output by the light receiving unit exceeds the threshold value is within a predetermined range set according to each light projecting direction. A replacement unit that replaces the calculated value of the distance to the vehicle in each of the light projection directions with the true value of the distance to the vehicle in each of the light projection directions acquired in advance, on condition that the light enters.
Vehicle detection device equipped with. The predetermined range set according to each light projection direction is set from the elapsed time corresponding to the true value of the distance to the vehicle in each light projection direction to a predetermined time later, claim 1. The vehicle detection device described. In the replacement unit, the elapsed time from when the laser beam is projected by the light emitting unit until the intensity of the electric signal output by the light receiving unit exceeds the threshold value is set according to each projection direction. The vehicle detection device according to claim 1 or 2, wherein the calculated value of the distance to the vehicle in each of the light projection directions is set when the predetermined range is not reached. It is a vehicle detection device that detects the vehicle of a train traveling on a track.
A light projecting unit that projects laser light in a plurality of light projecting directions toward the passing position of the vehicle.
A light receiving unit in which each laser beam projected by the light projecting unit receives each reflected light reflected by an object and outputs an electric signal corresponding to the intensity of each reflected light received.
Each of the above, provided that the distance to the vehicle in each projection direction calculated based on the electric signal output by the light receiving unit falls within a predetermined range set according to each projection direction. A replacement unit that replaces the calculated value of the distance to the vehicle in the light projection direction with the true value of the distance to the vehicle in each of the light projection directions acquired in advance.
Vehicle detection device equipped with. The vehicle detection device according to claim 4, wherein the predetermined range set according to each light projection direction is set from the true value of the distance to the vehicle in each light projection direction to a predetermined distance ahead. When the distance to the vehicle in each light projection direction calculated based on the electric signal output by the light receiving unit does not fall within the predetermined range set according to each light projection direction. The vehicle detection device according to claim 4 or 5, wherein the calculated value of the distance to the vehicle in each of the light projection directions is eliminated. Any one of claims 1 to 6, wherein the predetermined range set according to each projection direction is set wider as the angle of incidence of the laser beam on the vehicle in each projection direction is larger. The vehicle detection device described in the section. 1. A claim 1 comprising a true value setting unit that sets the true value of the distance to the vehicle in each light projection direction based on the positional relationship between the vehicle detection device and the track and the shape and dimensions of the vehicle. 8. The vehicle detection device according to any one of 7. The calculated value of the distance to the vehicle in each of the light projection directions after the replacement by the replacement portion is the distance to the vehicle in each of the light projection directions when the head of the train is stopped at a predetermined stop position. The invention according to any one of claims 1 to 8, further comprising a determination unit for determining that the head of the train has stopped at the stop position when the state that can be regarded as equal to the true value continues for more than a predetermined time. Vehicle detection device. The vehicle detection device is installed on the platform of the station.
A platform door device having each door portion is installed in the platform.
The vehicle detection according to claim 9, further comprising a door control unit for opening each door unit by the platform door device, provided that the determination unit determines that the head of the train has stopped at the stop position. apparatus. When the calculated value of the distance to the vehicle in each of the light projection directions after the replacement by the replacement portion changes from a state that does not include a distance shorter than the incoming line distance corresponding to a predetermined incoming line position to a state that includes the distance, the train. The vehicle detection device according to any one of claims 1 to 10, further comprising an incoming line detection unit that detects that the light has crossed the incoming line position. When the calculated value of the distance to the vehicle in each of the light projection directions after the replacement by the replacement portion changes from a state including a distance shorter than the departure distance corresponding to the predetermined departure position to a state not including the distance. The vehicle detection device according to any one of claims 1 to 11, further comprising an exit detection unit that detects that the train has crossed the departure position.

Images