JP4738374B2 - Railroad crossing obstacle detection device - Google Patents

Description

  The present invention relates to an obstacle detection device that detects, for example, an automobile or a pedestrian on a railroad crossing on a track on which a train travels, and particularly relates to improvement in detection accuracy.

  Railroad crossing warning devices for railroad safety devices start a railroad crossing warning when a train traveling on a track approaches the railroad crossing, block traffic on the railroad crossing, and drive cars and pedestrians that pass the train safely and through the railroad crossing. In order to ensure the safety of the road, after the train crosses the railroad crossing, the road block is immediately released to ensure smooth road traffic.

  In order to prevent the safe operation of the train on this railroad crossing, for example, a railroad crossing obstacle detection device using a laser sensor, an infrared sensor, an optical sensor using a visible camera, an ultrasonic sensor, a loop coil sensor, or the like is used. ing. Railroad crossing obstacle detection devices using these sensors are easily affected by weather such as rain, snow, fog, and wind, and illuminance. On the other hand, as shown in Patent Document 1 and Patent Document 2, a crossing obstacle detection device using a short millimeter sensor having a wavelength of several millimeters among microwaves is not easily affected by weather, illuminance, and the like, and is simple. It is possible to reliably detect an obstacle in a level crossing with the configuration.

  The level crossing obstacle detection device disclosed in Patent Document 1 includes a radar using laser light and millimeter waves, and radiates laser light and millimeter waves from a rotationally driven distance sensor to a fan-shaped range of the level crossing. The direction information of the object and the distance information of the object corresponding to the direction information are detected based on the reflected signal, and the distance information of the object for each direction information stored in advance and the distance of the object corresponding to the detected direction information By comparing with the information, it is determined whether or not the detected object is an obstacle.

  As shown in FIG. 5, the level crossing obstacle detection apparatus disclosed in Patent Document 2 includes, for example, three surface detection sensors 5a to 5c with a level crossing 8 interposed therebetween, and each surface detection sensor 5a to 5c. The crossing road 8 is irradiated with a fan-shaped millimeter wave beam 10 and the reflected wave is received, and the presence or absence of an obstacle is determined from the distance to the reflection position and the fluctuation of the reflection intensity.

  When this crossing road is irradiated with a fan-shaped millimeter-wave beam 10 and an obstacle is detected from the received signal, there is an intensity difference of, for example, about 100 times between the reflection level from a person and the reflection level from an automobile. Therefore, in the vicinity of the barrier bar 11 of the level crossing barrier 9 which is the end of the detection area of the surface detection type sensor 5a, there is a range (gray zone) where a vehicle can be detected but cannot be detected, and a person enters this gray zone. Even if it is not possible to issue an alarm.

In order to solve this problem, as shown in FIG. 6, the crossing obstacle detection device disclosed in Patent Document 3 has a fan-shaped radar in the vicinity of the barrier rod 11 including the barrier rod 11 from the radar sensor 20 for the barrier rod vicinity. When the beam 21 is irradiated and the reflected beam from the reference reflector 22 provided on the side opposite to the radar sensor 20 near the barrier fence across the railroad crossing is blocked by the obstacle 23 near the barrier fence 11, the obstacle It is detected how far the obstacle 23 has entered the railroad crossing from the distance to 23 and the amount of change in the reception level from the reference reflector 22.
JP 2003-11824 A JP 2005-233615 A Japanese Patent No. 3854558

  As shown in Patent Document 3, when the fan-shaped radar beam 21 is irradiated in the vicinity of the blocking rod 11, the radar beam 21 is also irradiated to the blocking rod 11 itself and an area outside the blocking rod 11, and the blocking rod 11 is lowered. In this case, it is difficult to stably detect an obstacle in the vicinity of the blocking rod 11 due to fluctuations in the reception level from the reference reflector 22 due to the influence of wind or the like, and the blocking rod 11 swinging left and right.

  In addition, depending on the state of an obstacle between the barrier fence vicinity radar sensor 20 and the reference reflector 22, the reflection level from the reference reflector 22 may be higher than that in the case where no obstacle exists due to the diffraction phenomenon. Therefore, it is difficult to reliably detect the entrance of an obstacle.

  Further, since the main body of the railroad crossing barrier is installed between the barrier rod vicinity radar sensor 20 and the barrier rod 11, it is difficult to install the barrier rod vicinity radar sensor 20.

  An object of the present invention is to provide a crossing obstacle detection device that improves such disadvantages and can reliably detect a person who has entered the vicinity of a barrier of a crossing barrier.

The crossing obstacle detection device according to the present invention irradiates a fan-shaped millimeter-wave beam to the railroad crossing and receives the reflected beam, and the presence / absence of an obstacle in the railroad crossing by a reception signal from the surface detection sensor. In a crossing obstacle detection device having a processing device for judging, a vehicle in the vicinity of a barrier fence of a crossing barrier at the end of the detection area of the surface detection type sensor can be detected, but a person cannot detect (hereinafter, gray) A line detection sensor that irradiates a pencil-shaped millimeter-wave beam with a narrow beam width inward of the railroad crossing from the barrier fence, and is provided across the railroad crossing to face the line detection sensor. and a reflector that beamwidth irradiated by the detection sensor is reflected a thin pencil-shaped millimeter wave beam, said processing apparatus, pencil millimeter wave bi beamwidth narrow irradiated from the line sensor And judging as to whether or not there is a person in blocking桿内side near the crossing road by the presence or absence of change in the distance from the presence or absence of a change in the reflection intensity reflector from the reflector of the beam.

The line detection sensor is arranged so that the size of the gray zone remaining by the pencil-shaped millimeter-wave beam with a narrow beam width applied to the gray zone is smaller than the size of a person.

  This invention detects the presence or absence of a person by irradiating a gray zone in the vicinity of the barge, which is the end of the detection area of the surface detection sensor, with a line-detecting sensor and irradiating a pencil-shaped thin millimeter wave beam. It is possible to reliably detect a person near the inside of the barrier without being affected by left and right shaking, and eliminate the blind spot in the human detection area. In addition, it is possible to prevent false detection of a barrier or a person or vehicle outside the barrier as an obstacle, and the stability of obstacle detection can be improved.

  FIG. 1 is a layout view of a crossing obstacle detection device according to the present invention. As shown in the figure, it has a sensor unit 2, a reflector 3, and a processing device 4 of a crossing obstacle detection device 1. The sensor unit 2 has three sets of surface detection sensors 5 a to 5 c and a line detection sensor 6, and can detect pedestrians and vehicles in the vicinity of the level crossing barrier 9 provided on the level crossing 8 of the track 7. It is installed at a height. The reflector 3 is arranged outside the track 7 at a position facing the line detection sensor 6 across the railroad crossing 8. The surface detection sensors 5 a to 5 c are arranged at a constant angle with respect to the horizontal direction, irradiate a fan-shaped millimeter wave beam 10 having a large angle in the horizontal direction, and reflect a reflected beam from an obstacle in the railroad crossing 8. Receive. The three sets of surface detection sensors 5 a to 5 c irradiate the entire inside of the railroad crossing 8 with the millimeter wave beam 10. The line detection sensor 6 irradiates the reflector 3 with a pencil-shaped millimeter-wave beam 12 having a narrow beam width inside the railroad crossing 8 than the barrier bar 11 of the railroad crossing barrier 9, and from the reflector 3 and the obstacle. A reflected beam is received.

  As illustrated in the block diagram of FIG. 2, the processing device 4 includes a signal processing unit 13, a reflection intensity measurement unit 14, a distance calculation unit 15, a determination processing unit 16, and an alarm output unit 17. The signal processing unit 13 removes unnecessary signals from the signals input from the surface detection sensors 5 a to 5 c and the line detection sensor 6 and outputs a target reception signal. The reflection intensity measurement unit 14 receives the reception signals of the surface detection sensors 5a to 5c from the signal processing unit 13, measures the reflection intensity from the obstacle in the railroad crossing 8, and inputs the reception signal of the line detection sensor 6. Then, the reflection intensity from the reflector 3 is measured. The distance calculation unit 15 inputs the reception signals of the surface detection sensors 5a to 5c from the signal processing unit 13, measures the distance to the obstacle in the railroad crossing 8, and inputs the reception signal of the line detection sensor 6 to the reflector. Measure the distance up to 3. The determination processing unit 16 detects the presence or absence of an obstacle in the railroad crossing 8 based on the reflection intensity input from the reflection intensity measurement unit 14 and the distance input from the distance calculation unit 15. The alarm output unit 17 outputs an obstacle detection signal when the determination processing unit 16 detects an obstacle.

  When the fan-shaped millimeter-wave beam 10 is irradiated by the surface detection sensors 5a to 5c of the crossing obstacle detection apparatus 1 and an obstacle is detected from the received signal, the reflection level from the person and the reflection level from the automobile For example, there is an intensity difference of about 100 times. For this reason, as shown in FIG. 3, the determination processing unit 16 uses a reference threshold Th1 for detecting a person from the reference reflection intensity P as a reference threshold for detecting an automobile. It is set higher than Th2. For this reason, as shown in FIG. 1, in the vicinity of the barrier bar 11 that is the end of the detection area of the surface detection type sensor 5a that irradiates the fan-shaped millimeter wave beam 10 near the barrier bar 11 of the crossing barrier 9. A range 18 (hereinafter referred to as a gray zone) where a vehicle can be detected but a person cannot detect is generated. Therefore, the line detection sensor 6 is arranged so that the pencil-shaped millimeter wave beam 12 to be irradiated penetrates the gray zone 18, and the beam width is such that the size of the remaining gray zone is smaller than the size of the person.

  A process for detecting a person near the blocking bar 11 by the millimeter wave beam 12 irradiated from the line detection sensor 6 of the level crossing obstacle detection apparatus 1 will be described with reference to the flowchart of FIG.

When the train approaches the railroad crossing 8, the surface detection sensors 5 a to 5 c of the sensor unit 2 irradiate the railroad crossing 8 with a fan-shaped millimeter wave beam 10 and process it depending on the presence or absence of a reflected signal from a predetermined maximum detection distance. The apparatus 4 enters an obstacle detection process in the railroad crossing 8. When this obstacle detection process is started, the line detection sensor 6 irradiates the reflector 3 with a pencil-shaped millimeter wave beam 12, receives the reflected beam, and receives the received signal to the signal processing unit 13 of the processing device 4. Output sequentially (step S1). The signal processing unit 13 removes unnecessary signals from the signals sequentially input from the line detection sensor 6 and outputs a target reception signal to the reflection intensity measurement unit 14 and the distance calculation unit 15. The reflection intensity measurement unit 14 measures the reflection intensity from the reflector 3 based on the received reception signal from the line detection sensor 6, and outputs the measured reflection intensity to the determination processing unit 16 (step S2). Further, the distance calculation unit 15 also calculates the distance to the reflector 3 based on the received signal from the line detection sensor 6 and outputs it to the determination processing unit 16 (step S3). The determination processing unit 16 determines whether the reflection intensity and distance from the reflector 3 of the pencil-shaped millimeter-wave beam 12 sequentially input has changed (step S4), and the pencil-shaped millimeter-wave beam irradiated on the reflector 3 is determined. When 12 is blocked by a person and the reflection intensity and distance from the reflector 3 change, an obstacle detection signal indicating that there is a person near the inner side of the blocking rod 11 is output to the alarm output unit 17 (step S5). .

  In this way, by irradiating the gray zone 18 that can detect the automobile in the vicinity of the blocking rod 11 that is the end of the detection area of the surface detection type sensor 5a but cannot detect a person with the pencil-shaped thin millimeter wave beam 12, the blocking rod Therefore, it is possible to reliably detect a person near the inner side of the blocking rod 11 without being affected by the left and right shakes of the left and right sides, and to eliminate the blind spot in the human detection area. In addition, it is possible to prevent erroneous detection of the barrier rod 11 or a person or vehicle outside the barrier as an obstacle, and the stability of obstacle detection can be improved.

It is a layout view of a crossing obstacle detection device of the present invention. It is a block diagram which shows the structure of a level crossing obstacle detection apparatus. It is a schematic diagram which shows the threshold value and detection area when an obstacle is detected with a fan-shaped millimeter-wave beam. It is a flowchart which shows the process of detecting a person with a pencil-shaped millimeter wave beam. It is an arrangement plan of a conventional level crossing obstacle detection device. It is a layout of another conventional crossing obstacle detection device.

Explanation of symbols

1; Railroad crossing obstacle detection device, 2; Sensor unit, 3; Reflector, 4; Processing device,
5; surface detection sensor, 2; line detection sensor, 7; track, 8; railroad crossing, 9; railroad crossing breaker,
10: Fan-shaped millimeter-wave beam, 11: Barrier, 12: Pencil-shaped millimeter-wave beam,
13; Signal processing unit, 14; Reflection intensity measurement unit, 15; Distance calculation unit, 16; Determination processing unit,
17; Alarm output unit, 18; Gray zone.

Claims (2)

A railroad crossing obstacle having a surface detection sensor for irradiating a sectoral millimeter-wave beam to the railroad crossing and receiving the reflected beam, and a processing device for determining the presence or absence of an obstacle in the railroad crossing by a reception signal from the surface detection sensor In the detection device,
A vehicle near the barrier fence of the level crossing barrier at the end of the detection area of the surface detection type sensor can be detected, but in a range that cannot be detected by humans (hereinafter referred to as gray zone), inside the railroad crossing from the barrier fence A line detection sensor that emits a pencil-shaped millimeter-wave beam with a narrow beam width ;
Reflecting a pencil-shaped millimeter wave beam that is provided across the railroad crossing facing the line detection sensor and has a narrow beam width irradiated by the line detection sensor,
The processing device includes a pencil-shaped millimeter-wave beam with a narrow beam width irradiated from the line detection sensor , and whether or not there is a change in the reflection intensity from the reflector and a change in the distance from the reflector. A crossing obstacle detection device characterized by determining whether or not there is a person in the vicinity. 2. The railroad crossing according to claim 1, wherein the line detection sensor is arranged so that a size of a gray zone remaining by a pencil-shaped millimeter-wave beam with a narrow beam width irradiated on the gray zone is smaller than a human size. Obstacle detection device.

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