JP5030983B2 - Train stop detection system and train moving speed and position detection system - Google Patents

Description

  The present invention relates to a train stop position detection system for detecting a train stop position with respect to a platform.

  In recent years, railroad stations are provided with a fence with an automatic door on the platform, and it is becoming a design that prevents entry into the railway line when the train is moving or absent. The door on the station side automatically opens and closes together with the door on the train side only when the train stops, ensuring the safety of passengers.

  When opening the door, it is a necessary condition that the train stops at the specified position. For this reason, while detecting that the train has reached the specified position by the ground element installed on the track in the station premises, the speed of the train is detected using the rotation sensor installed on the wheel of the train. By determining that it has become 0, it informs the door opening and closing device and automatically opens together with the door on the home side.

  In the conventional system, even if it is necessary to shift the train stop position due to the construction error of the platform door, in order to be able to determine whether the train is stopped within the predetermined range without moving the ground unit, The travel distance of the train from the ground element installation position is obtained based on the rotation amount of the wheel, and it is determined whether or not the travel distance is within a predetermined range (see, for example, Patent Document 1).

  The determination of the speed 0 in the conventional example is considered that the train stops after waiting for a predetermined time (for example, about 10 seconds) after detecting that the rotation sensor has become less than a certain speed because the accuracy of the rotation sensor is low. A method for communicating to a door opening and closing device is disclosed. Another conventional system discloses a method of detecting a traffic light and calculating a distance to the traffic light (see, for example, Patent Document 2).

JP-A-11-348770 JP 2008-70332 A

  In conventional systems, wheel slipping occurs when the train moves, so the longer the train travel distance from the ground unit installation position, the worse the stop position detection accuracy, and the train stop position moves in the direction of train travel. The amount is limited. In addition, since the calculation of the travel distance of the train cannot be started unless the train (vehicle upper member) passes over the ground child, the amount of movement of the train stop position in the anti-train traveling direction is also limited.

  In addition, since it is impossible to detect a train speed below a predetermined speed in order to determine whether or not to stop the train, a waiting time of several seconds is necessary due to safety problems. However, this causes a time lag after the train actually stops. Such a time lag leads to a decrease in driving density during rush hours, and is a factor that gives the passengers a feeling of being repelled.

  The present invention is intended to solve such problems, and it is an object of the present invention to provide a train stop system that can more flexibly cope with a shift in the train stop position and that can reduce the time lag of the stop determination of the train. It is.

Train stop detection system according to the present invention,
A train stop detection system that detects that a train has stopped on a platform of a station and notifies the train door opening / closing control unit of the train, and is mounted on the train and periodically images images of the external environment of the train. An imaging unit that outputs as a signal, a moving speed detection unit that analyzes the image signal and detects the moving speed of the train, a detection object that is preset at a station where the train stops, and a detection that holds the coordinate value of the detection object An object information holding unit, a train position detecting unit that analyzes the image signal, detects the position of the train based on the coordinate value of the detected object, and the size of the detected object in the image captured by the imaging unit, and the moving speed A train stop determination unit that determines that the train has stopped at a specified position using the detection result of the detection unit and the detection result of the train position detection unit and notifies the door opening / closing control unit
Alternatively, the train is mounted on a railway train, and the train travels with an imaging unit that images the external environment of the train and periodically outputs it as an image signal, and that analyzes the image signal and detects the train traveling speed. A detection object set in advance in the range of the railway line to be detected, a detection object information holding unit that holds the coordinate value of the detection object, an image signal is analyzed, and the coordinate value of the detection object A train position detector that detects the position of the train based on the size of the detected object in the vehicle, and the moving speed detector sets one or more analysis regions in the image signal, and the moving speed detector Extracts a feature point for each analysis region and compares the feature point position in the image signal with the feature point position in the previous image signal to obtain the movement change rate of the feature point position. From the rate of change of two or more of the movements, And judging whether in state.

  According to the train stop detection system according to the present invention, since the train position detection unit detects the train position from the captured image, the train stop position can be calculated with higher accuracy in a wider range than the conventional system, and more flexibly. It can cope with the deviation of the train stop position.

  Moreover, since the moving speed detection unit detects the train speed from the captured image, it is possible to instantaneously determine the stop of the train by sufficiently shortening the imaging period. By using both determination results, it is possible to accurately determine the stop position over a wide range, and to minimize the time lag from when the train actually stops until the door is opened.

FIG. 1 is a diagram for explaining a first embodiment according to the present invention. FIG. 2 is a diagram for explaining detected object information. FIG. 3 is a diagram illustrating an example of a camera image obtained by photographing a detected object. FIG. 4 is a diagram illustrating an example of an image used for template matching. FIG. 5 is a diagram showing a camera image used for moving speed detection. FIG. 6 is a diagram showing a processing flow of the moving speed detection unit. FIG. 7 is a diagram showing the correlation of the positional relationship between the ground unit and the detected object. FIG. 8 is a diagram for explaining a second embodiment according to the present invention. FIG. 9 is a sequence diagram when the imaging unit arrangement correction is performed. FIG. 10 is a diagram for explaining detected object information.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 shows an example of a train stop detection system according to the present invention. A train stop detection system 100 according to the present invention includes at least an imaging unit 101, a train position detection unit 102, a detected object information holding unit 103, a moving speed detection unit 104, and a train stop determination unit 105. 120 is a door opening / closing control unit, which opens the door by notification of train stop information from the train stop detection system. Although not shown in the figure, the opening and closing of the door also depends on the state of the station platform. 111 shows the stop position of the train in the station.

  The train stop detection system 100 is mounted on the train 110, detects that the train 110 traveling on the track 112 has stopped at the stop position 111, and controls the door closing control unit 120 that controls the opening and closing of the door of the train 110. It is a notification.

  Hereinafter, the configuration of the train stop detection system 100 will be described in detail. Reference numeral 101 in FIG. 1 denotes an imaging unit. The imaging unit 101 is mounted on a train and has a function of periodically imaging the external environment of the train and outputting an image signal. For example, an image processing camera sold as an industrial product can be used. If a plurality of imaging units are used as necessary, the detection object can be selected flexibly, and it is possible to cope with environmental conditions such as the sun. A general camera can capture an image of about 30 fields per second, and can sufficiently cope with detection of a train speed in a station premises.

  Reference numeral 102 in FIG. 1 denotes a train position detection unit. The train position detection unit 102 performs image analysis on the image captured by the imaging unit, detects a detection object that is a detection target defined in the detection object information holding unit 103, which will be described later, by image recognition, and calculates backward from the size. Thus, the camera photographing position, that is, the train position is detected.

  For example, “Recognition Technology for People and Cars 2008” introduces an image recognition technology that automatically recognizes road signs from images taken by a camera. By using such image template matching, it is possible to recognize a characteristic object from a photographed image. Alternatively, as described above, Patent Document 2 discloses a method of detecting a traffic light and calculating a distance to the traffic light.

  Reference numeral 103 in FIG. 1 denotes a detected object information holding unit. The detected object information holding unit 103 holds detected object data 200 including template data for use in image processing of the train position detection 102. In addition, the detected object information holding unit 103 has relative position coordinate data of the detected object viewed from the stop target of the vehicle for each station in association with the template data.

  Further, the detection object may not be installed at a position where the vehicle actually stops, and may be held together with an offset distance to the actual vehicle stop position. Since template data is sufficient, it is possible to extract a characteristic object for each station and respond flexibly.

  Further, the position coordinate data may be held as offset information from a conventional ground element. FIG. 2 shows an example of the detected object data table 200 held in the detected object information holding unit. Reference numeral 200 denotes a table for managing detected object data, and each row represents data related to one detected object. Reference numeral 201 denotes a station name field indicating which station information is provided.

  Reference numeral 202 denotes a template field, which is template image information. Reference numeral 203 denotes absolute coordinates serving as a base point of position coordinates where the detection object exists. Usually, it matches the coordinate value data obtained from the ground element via the vehicle element. Reference numerals 204 to 206 denote x, y, and z coordinate values, respectively, and offset values from the base point coordinates 203. For each station, the number of detected objects is not limited to one, and a plurality of data may be held. By doing so, information can be made redundant and safety can be improved.

  The row indicated by 210 represents detected object information at station A, the template image A2, the coordinate base point is the ground element A1, and the detected object is located at a relative coordinate (1, -5, 1) from the ground element A1. It is present in Although described here in terms of relative coordinates, it may be described in absolute coordinates. This is a problem only for the offset calculation in the calculation process, but it is generally convenient in terms of calculation accuracy not to handle a large numerical value directly.

  FIG. 3 shows an example 300 of a camera image taken by the camera. The camera images the front of the train, and the track 310 is imaged. At the same time, the detection objects A1 and A2 arranged around the track are photographed. Reference numeral 311 denotes the ground element A1, which conveys the actual stop position of the vehicle to the vehicle by communication with the vehicle element.

  Reference numeral 301 denotes a detection object A1, which is a structure such as a sign installed around the track. Any object that can be recognized by taking a picture with a camera, such as a stop target sign used by a train operator for visual confirmation, a signboard at a station, etc. Is available. Similarly, 302 indicates the detection object A2.

  FIG. 4 is a diagram illustrating an example of a template image of the detected object A1. Reference numeral 401 denotes a template A1, which is two-dimensional image information. The size information (height H and width W) of the detected object in the real space is associated with the image information, and the angle of view and installation of the camera are recognized by recognizing the range matching the template A1 from the camera image by template matching. By holding the angle and the installation position in the train in advance, the distance to the detected object can be obtained by calculating backward from the size occupied in the camera image.

  By performing such a calculation on the detection object A2 or A3 to increase the number of samples, it is possible to improve the distance estimation accuracy. The detected object information holding unit has a positional relationship with respect to each detected object from a specific ground element, and the detected object 301-1 is the ground element with respect to the traveling direction of the train 110 as shown in FIG. 702-1, the detection objects 301-1 and 301-2 exist between the ground elements 702-1 and 702-2, and the detection object exists farther than the ground element 702-2. Is known in advance.

  On the other hand, the vehicle upper element 701 communicates with each ground element and acquires the identification information of the ground element. Therefore, the train position detection unit 102 can narrow down the detection object candidates by acquiring the identification information of the passed vehicle upper from the vehicle upper.

  Reference numeral 104 in FIG. 1 denotes a moving speed detection unit. The moving speed detection unit 104 detects the moving speed of the train by analyzing an image captured by the camera. This function can also be applied by dividing the train position detected by the train position detection unit 102 by the obtained image period and detecting the moving speed, but the detected object is within the range obtained by the camera image. Therefore, there is a possibility that it is not possible to flexibly cope with the shift of the stop position. In 104, the moving speed is detected not only for a specific object but also for any stop object existing around the vehicle.

  FIG. 5 is an example of a camera image that can be used when detecting the moving speed even when there is no detected object. Reference numeral 500 denotes a camera image at a certain moment. This is an example in which the trajectory 301 is reflected in the image as in the camera image 300. Reference numerals 501 to 505 denote ranges of partial areas set on the camera image. In the figure, five partial areas are shown, but one or more partial areas are set at appropriate positions depending on the target station and the installation position of the camera.

  FIG. 6 shows a processing flow in the moving speed detection unit 104. Step S601 indicates that the processing in step S610 and subsequent steps is repeatedly executed every fixed period Δt seconds at which a camera image is obtained. Step S610 indicates a step of acquiring a camera image from the imaging unit 101. A camera image is a set of pixel data that holds shading or color information, and is two-dimensional image information. As shown in FIG. 5, each two-dimensional pixel can be uniquely specified by the x-coordinate value and the y-coordinate value of the camera image coordinate system.

  In step S612, as shown in FIG. 5, images of the partial areas 501 to 505 set on the camera image are extracted, and the processes of steps S620 to S630 are performed. Step S620 is a step of performing image processing analysis for extracting feature points in the partial region. Here, the feature point represents an arbitrary object stationary with respect to the trajectory in the partial region. The feature points that can be detected vary depending on the detection method. For example, when edge analysis processing is used as a detection method, an edge portion on an image, that is, a portion having a large luminance change is extracted.

  If the part with the highest luminance change is selected, there is a high possibility that a point with the same luminance change will be selected in the camera image of the next cycle, so the detection position on the image obtained with the current camera image Is compared with the detection position of the camera image of the next cycle, and the distance moved during one cycle is obtained. However, even if this processing is simply repeated, the following processing is performed because accuracy degradation occurs due to detection errors and camera image errors.

  In step S622, the detection accuracy is determined. When the edge analysis process is performed on the feature point obtained in step S620, it is determined whether or not the absolute amount of the luminance change exceeds a predetermined value, and is adopted as an effective value if the absolute value exceeds the predetermined value. However, if it is less than or equal to a predetermined value, it is a process of discarding it as an invalid value.

  In step S624, step S630 is also processed for valid data for the past N frames as valid values. Step S630 is a process of calculating an average value of valid data and outputting this value as a detection speed in the partial area. Step S614 indicates a process of further averaging the detection speed values for all the defined partial areas and outputting the averaged detection speed values as the entire detection speed.

  By detecting the moving speed of the train by the process as described above, it is possible to detect the moving speed of the train even when the detected object is not captured in the camera image. The N frames only need to be about 10 frames, and the moving speed can be detected with a delay of 1/3 second or less.

  Reference numeral 105 in FIG. 1 denotes a train stop determination unit. The train stop determination unit 105 uses the information obtained from the train position detection unit 102 and the movement speed detection unit 104 to determine whether the train has stopped at a specified position. That is, it is possible to always grasp the train position by using the travel speed information obtained from the travel speed detection unit 104 for the train position information obtained at a certain time from the train position detection unit 102 at all times. is there. In accordance with this information, when it is detected that the train reaches the stop position of the station and the moving speed becomes zero, the door opening / closing control unit 120 is notified of the completion of the stop of the train.

  By adopting the configuration as described above, it is possible to calculate the stop position of the train more accurately in a wider range than in the conventional system, and it is possible to more flexibly cope with the deviation of the train stop position. Furthermore, the stop of the train can be determined within a sufficiently short time, and by using both determination results, it is possible to accurately determine the stop position over a wide range, and after the train actually stops, It is possible to minimize the time lag until opening.

  FIG. 8 shows a second embodiment according to the present invention. The second embodiment of the present invention is characterized by having an imaging unit arrangement correcting unit 801 in addition to the configuration of the first embodiment. In the train stop detection system according to the present invention, the position, height, and angle at which the imaging unit 101 is installed in the train are used to calculate the size information of the detected object in the train position detection unit 102 and the speed information in the moving speed detection unit 104. Therefore, such a deviation in parameters leads to a detection error.

  Even if the method for fixing the imaging unit 101 in the train 110 is sufficiently strong, it may be caused by fluctuations in the height of the train caused by passengers getting on and off when the train stops, or by shaking of the vehicle body when the train is running Temporary angle fluctuations can occur. The imaging unit arrangement correction unit 801 corrects such fluctuations in the imaging unit arrangement.

  FIG. 9 shows a sequence diagram of the imaging unit arrangement correcting unit 801 when the train stops at the station. An arrow 900 extending from the top to the bottom indicates a time axis, and indicates a lapse of time from when the train stops at the station until it starts traveling again after passengers getting on and off. T1, T2, T3, and T4 indicate the time between them.

  T1 is the time when the train is stopped, T2 is the time when the door is opened, T3 is the time when the door is opened, T4 is the time when the door is closed, and T5 is the time when the door is closed. Represents the time when the vehicle starts to travel again.

  Step S901 represents the state of the train, which is in a stopped state from time T1 to T5, is in a traveling state after T5, and passengers get on and off between T3 and T4. Steps S910 to S913 indicate processing steps of the door opening / closing control unit, and when the train stop detection information is received at time T1 and the door is instructed to open, the train door is opened and the imaging unit arrangement correction unit On the other hand, it notifies that it will shift to the door open state.

When receiving the notification of the door open state in step S920, the imaging unit arrangement correction unit notifies the train position detection unit 103 of a correction start instruction. When the train position detection unit receives the correction start notification, in step S930, the train position detection unit acquires and stores the image before the passenger boarding / exiting at the time from the imaging unit.
At time T4, in step S912, the door opening / closing control unit notifies the imaging unit arrangement correction unit that the door closing state is to be shifted when the door is closed.

  When the imaging arrangement correction unit receives the door closed state notification, the imaging arrangement correction unit notifies the train position detection unit of a correction end instruction in step S921. When the train position detection unit receives the correction end notification, in step S931, the train position detection unit again acquires an image after passenger boarding / exiting at the time from the imaging unit. Furthermore, the train position detection unit performs image analysis on the image stored in step S930 and the image acquired in step S931, and performs correlation calculation, so that the same object photographed in both images is obtained. To detect. By calculating the distance that the same object has moved between the two images, the amount of change in the arrangement of the imaging unit before and after the passenger gets on and off is calculated.

  This calculation can be performed according to the principle of a stereo camera. Alternatively, the following processing can be performed. When any of the detected objects held in the detected object information holding unit 103 is shown in the image taken at the stop position, the back calculation is performed from the arrangement information of the detected object and the size information of the taken image. Thus, it is possible to obtain the arrangement correction information of the imaging unit.

  For this, for example, a method as disclosed in Patent Document 2 can be used. In this case, processing at the opening timing is not necessary, and correction processing may be performed at the closing timing. With the above configuration, even if the height of the train fluctuates due to passengers getting on and off, it is possible to provide a train stop detection system that is not affected by the fluctuation by correcting the arrangement information of the imaging unit.

  FIG. 10 is a diagram for explaining detected object information 1000 used in the third embodiment of the present invention. The difference from the detected object information 200 in the first embodiment is that it has a partial area information field 1001 in addition to 200.

  The state of the trajectory taken by the imaging unit differs depending on the station, and the arrangement state of the feature points that can be detected by the moving speed detection unit 104 may be different. Even in such a case, a partial area information field 1001 is added to stably detect the moving speed. The partial area information field 1001 holds pattern information of the partial area in the moving speed detection unit 104.

  The moving speed detection unit 104 receives notification from the train position detection unit 102 that it is in the vicinity of the train position and acquires detection area information. The detection area information is composed of pattern information indicating how many partial areas are arranged at what position in the camera image, and reference plane information in the partial areas.

  Specifically, the arrangement pattern of the partial area is provided by designating the partial area for image analysis by the point sequence in the coordinate system of the camera image, and the reference plane of the partial area is vertical or horizontal. And normal information representing the distance and distance information from the imaging unit. Using the information, the moving speed detection unit 104 can accurately convert the coordinate information of the feature points on the camera image into the coordinate information in the real space. With the above-described configuration, it is possible to stably detect the moving speed with respect to fluctuations in the state of the track.

  Although the above embodiment has been described mainly as a system at the time of stopping on a station platform, the present invention can also be used as a moving speed and position detection system for a train moving between stations.

  In the first to third embodiments, only the detected object information around the station is stored in the detected object information holding unit 103. However, in this embodiment, an object existing between stations is registered in the detected object information holding unit 103. It is possible to cope with it. In addition, the speed range of the train differs between the station premises and between the stations.

  For this reason, it is necessary to change the detection area | region in a moving speed detection part corresponding to a speed area. Specifically, since the image signal is updated in the imaging unit 101 at a constant cycle, the movement amount of the train in one cycle needs to be within a minimum of one detection region.

  In the image signal in the imaging unit 101, the far region has a small amount of movement within a certain period, and conversely the neighborhood region becomes large. Therefore, the detection region becomes closer to the neighborhood region with respect to the moving direction. Need to be large, and this size varies depending on the speed range. In railroads, the speed of movement is almost defined by the position on the track, so it is possible to cope by changing the detection area depending on which position the vehicle is traveling.

  The present invention relates to a train stop detection system for stopping a train in a station, but as shown in Example 4, it is applied to position detection and speed detection while the train is running using the same configuration. Is possible. In this case, it is possible to detect the train position and the moving speed without being affected by the speed deviation due to idling and sliding which is a problem of the wheel rotation sensor. By using it in combination with a rotation sensor, it is possible to construct a highly safe train control system.

DESCRIPTION OF SYMBOLS 100 Train stop detection system 101 Imaging part 102 Train position detection part 103 Detected object information holding part 104 Moving speed detection part 105 Train stop determination part 110 Train 111 Stop position 112 Track 120 Door opening / closing control part 200 Detected object management table 201 Station name field 202 Template field 203 Base coordinate 204 x coordinate value 205 y coordinate value 206 z coordinate value 210 A detected object information of A station 300 example of camera image 301 detected object A1
301-1-4 Detection object 302 Detection object A2
310 Orbit 311 Ground unit A1
401 Template A1
500 Camera images 501 to 505 Partial area 701 Car upper element 702-1, 2 Ground element 801 Imaging unit arrangement correction unit 1000 Detected object information 1001 Partial area information field

Claims (16)

A train stop detection system that detects that the train has stopped on the platform of the station and notifies the train door opening and closing control unit,
An imaging unit that is mounted on the train and images the external environment of the train and periodically outputs it as an image signal;
Analyzing the image signal and detecting a moving speed of the train; and
A detection object set in advance at a station where the train stops;
A detected object information holding unit for holding the coordinate value of the detected object;
Analyzing the image signal, a train position detection unit that detects the position of the train based on the coordinate value of the detection object and the size of the detection object in the image captured by the imaging unit ;
Using the detection result of the moving speed detection unit and the detection result of the train position detection unit, it is determined that the train has stopped at a specified position, and a train stop determination unit that notifies the door opening / closing control unit, A train stop detection system characterized by comprising: In the train stop detection system according to claim 1,
The moving speed detection unit sets one or more analysis regions in the image signal,
The moving speed detection unit extracts a feature point for each analysis region and compares the feature point position in the image signal with the feature point position in the previous image signal, thereby changing the movement of the feature point position. A train stop detection system characterized by determining a rate and determining whether the train is moving or stopped from one or more of the movement change rates. In the train stop detection system according to claim 2,
The moving speed detection section, the train stop detection system, wherein the performs edge analysis for each analysis region, selecting a larger location Brightness changes as a feature point. In the train stop detection system according to claim 1,
The detected object information holding unit holds one or more templates of the detected object,
The train position detection unit searches the image signal obtained from the imaging unit by enlarging or reducing the template,
A train stop detection system characterized in that, when the template is matched, the detected object is searched, and the distance to the detected object is calculated by using the enlargement or reduction rate information of the matched template. In the train stop detection system according to claim 4,
The detected object information holding unit holds the identification information of the ground unit on the orbit existing in the forward direction of the detected object,
The train position detecting unit acquires the ground element information from the vehicle upper element, and searches only the detected object existing beyond the ground element until the next ground element information is acquired. Detection system. In the train stop detection system according to any one of claims 1 to 5,
The detected object information holding unit holds detection area information indicating an arrangement pattern of detection areas that can be used in either the moving speed detection unit, the train position detection unit, or both,
The train stop detection system, wherein the arrangement pattern of the detection area is changed according to the position of the train. In the train stop detection system according to any one of claims 1 to 6,
From the door opening and closing control unit , obtain the opening timing to start the opening of the train door,
At the opening timing, the train position detection unit is notified of a correction start signal,
From the door opening and closing control unit , obtain the closing timing to start closing the train door,
At the closing timing, the train position detection unit has an imaging unit arrangement correction unit that notifies a correction start signal,
The train position detector
Upon receiving the notification of the opening timing, the image signal obtained from the imaging unit is stored as an opening timing image,
Upon receiving a notification of closing timing, the train stop detection system is characterized by correcting an arrangement change of the imaging unit by comparing an image signal obtained from the imaging unit with an opening timing image. In the train stop detection system according to any one of claims 1 to 6,
From the door opening and closing control unit , obtain the closing timing to start closing the train door,
At the closing timing, the train position detection unit has an imaging unit arrangement correction unit that notifies a correction start signal,
The train position detector
Upon receiving the notification of the closing timing, the image signal obtained from the imaging unit is analyzed,
When any one or more of the detected objects held in the detected object information holding unit is detected, the arrangement of the imaging unit is corrected based on the size of the detected object in the image signal. Train stop detection system. An imaging unit mounted on a railway train, which images the external environment of the train and periodically outputs it as an image signal,
Analyzing the image signal, a moving speed detector for detecting the moving speed of the train, and a detection object set in advance within the range of the railway line on which the train travels,
A detected object information holding unit for holding the coordinate value of the detected object;
Wherein analyzing the image signals, and chromatic coordinate values of the detected object, and a train position detecting unit which the imaging unit to detect the position of the train on the basis of the magnitude of the detected object occupying in the image captured,
The moving speed detection unit sets one or more analysis regions in the image signal,
The moving speed detection unit extracts a feature point for each analysis region and compares the feature point position in the image signal with the feature point position in the previous image signal, thereby changing the movement of the feature point position. Find the rate
A train movement speed and position detection system , wherein the train is judged whether it is in a moving state or a stopped state from one or more of the movement change rates . In the train movement speed and position detection system according to claim 9,
The train moving speed detection unit performs edge analysis for each analysis region, and selects a place having a large luminance change as a feature point . In the train movement speed and position detection system according to claim 9,
The detected object information holding unit holds one or more templates of the detected object,
The train position detection unit searches the image signal obtained from the imaging unit by enlarging or reducing the template,
When the template is matched, the detected object is searched for, and the distance to the detected object is calculated using the information on the enlargement or reduction ratio of the matched template. system. In the train movement speed and position detection system according to claim 9,
The detected object information holding unit holds the identification information of the ground unit on the orbit existing in the forward direction of the detected object ,
The train position detecting unit acquires the ground element information from the vehicle upper element and searches for only the detected object existing beyond the ground element until the next ground element information is acquired. Speed and position detection system. In the train movement speed and position detection system according to any one of claims 9 to 12 ,
The detected object information holding unit holds detection area information indicating an arrangement pattern of detection areas that can be used in either the moving speed detection unit, the train position detection unit, or both,
The train moving speed and position detection system, wherein the arrangement pattern of the detection area is changed according to the position of the train. In the train movement speed and position detection system according to claim 13 ,
The detection area information changes the arrangement pattern of the detection area according to the planned speed area of the train. In the train movement speed and position detection system according to any one of claims 9 to 12 ,
When the train stops at the station
From the door opening and closing control unit, obtain the opening timing to start the opening of the train door,
At the opening timing, the train position detection unit is notified of a correction start signal,
From the door opening and closing control unit, obtain the closing timing to start closing the train door,
At the closing timing, the train position detection unit has an imaging unit arrangement correction unit that notifies a correction start signal,
The train position detector
Upon receiving the notification of the opening timing, the image signal obtained from the imaging unit is stored as an opening timing image,
When the notification of the closing timing is received, the change in the arrangement of the imaging unit is corrected by comparing the image signal obtained from the imaging unit with the opening timing image . In the train movement speed and position detection system according to any one of claims 9 to 14 ,
When the train stops at the station
From the door opening and closing control unit , obtain the closing timing to start closing the train door ,
At the closing timing, the train position detection unit has an imaging unit arrangement correction unit that notifies a correction start signal,
When receiving the notification of the closing timing, the train position detection unit analyzes the image signal obtained from the imaging unit,
If it detects any one or more of the detected object to be retained in the detection object information holding unit, characterized in that the detection object based on the size occupied in the image signal, to correct the placement of the imaging unit Train moving speed and position detection system.

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