JP6000488B1 - Train position detection device, train stop detection device, train position detection method, and train stop detection method - Google Patents

Abstract

An object of the present invention is to more reliably detect that a train is stopped at a fixed position. A train fixed position stop detection device 10 measures a distance from a rear vehicle end 16R in a vehicle connecting portion 18 by a distance measuring device 12 installed at a station deviating from a center position 20CL of a fixed position range 20. Based on the measured distance, the positional relationship between the vehicle connecting portion 18 and the fixed position range 20 is determined. In this way, by installing the distance measuring device 12 at the station shifted from the center position 20CL of the fixed position range 20, the distance measuring device 12 is opposite to the direction in which the distance measuring device 12 is shifted in the vehicle connecting portion 18. Can be measured regardless of the position of the train 14. [Selection] Figure 1

Description

  The present invention relates to a train position detection device, a train stop detection device, a train position detection method, and a train stop detection method.

  If the train is not equipped with a train stop device and a platform door is installed on the platform of the station, the train is a stop position target (also called a stop) installed on the side of the track near the platform. To stop (stop). In addition, the train is required to stop within a fixed position stop range so that the opening of the vehicle door fits within the opening width of the platform door. Then, after the train stops within the fixed position stop range, the platform door and the vehicle door are opened. For this reason, it is necessary to detect the stop position of the train with high accuracy and allow the crew to recognize it.

  In Patent Literature 1, a train stop having a distance measuring device installed at a predetermined position on a platform of a station toward a roof or a side surface of a vehicle on both sides of a vehicle connecting portion and scanning a radiation beam in a fan shape at a maximum scanning angle A position sensing device is described. This detection device detects the travel direction of the trains at the edge of the vehicle on both sides of the vehicle connecting portion from the distance from the sensor reference position, which is the scanning start position of the radiation beam, to the edge of the vehicle on both sides of the vehicle connecting portion, The position is calculated, and it is determined whether the train is present at the fixed position from the position of the edge portion with respect to the fixed position reference position.

Japanese Patent No. 5511593

  In the detection device described in Patent Document 1, it is necessary to obtain the distances to the edge portions of the vehicle on both sides of the vehicle connecting portion by the distance measuring device. However, the greater the deviation between the center position of the vehicle connecting portion and the distance measuring device, the more the distance to the edge portion of one vehicle can be detected, but the distance to the edge portion of the other vehicle cannot be detected.

The reason for this is that if the position shift between the center position of the vehicle connecting portion and the distance measuring device is large, the radiation beam from the distance measuring device 112 is applied to the vehicle outer frame 130 of the vehicle 116 on the near side, as shown in FIG. This is because the vehicle 116 side of the vehicle connecting portion 118 cannot be scanned and the edge portion (vehicle end A) of the vehicle 116 cannot be detected.
For this reason, in the detection device which calculates | requires the position of the edge part of the vehicle of the both sides of a vehicle connection part, the stop position of a vehicle may be unable to be determined correctly.

  This invention is made in view of such a situation, Comprising: It aims at providing the train position detection apparatus and train position detection method which can detect more reliably that the train has stopped in the fixed position. And

  In order to solve the above problems, the train position detection device, the train stop detection device, the train position detection method, and the train stop detection method of the present invention employ the following means.

  The train position detection device according to the first aspect of the present invention is a train position detection device that detects that a vehicle connecting portion of a train is a fixed position range that is predetermined with respect to a station, A distance measuring unit that is installed at the station and deviates from a center position and measures a distance from one vehicle end in the vehicle connecting unit, and the vehicle connecting unit based on the distance measured by the distance measuring unit; Determining means for determining a positional relationship with the fixed position range.

  The train position detection apparatus according to the present configuration detects that the vehicle connection part of the train is in a fixed position range that is predetermined with respect to the station.

Distance measuring means for measuring the distance to the vehicle is installed at the station. The distance measuring means is installed at the station so as to deviate from the center position of the fixed position range, and measures the distance from one vehicle end in the vehicle connecting portion.
The distance measuring means is installed at the station so as to be shifted from the center position of the fixed position range, so that the distance to the vehicle end opposite to the direction in which the distance measuring means is shifted at the vehicle connecting portion is related to the position of the train. Can be measured. Then, based on the measured distance from one vehicle end, the positional relationship between the vehicle connecting portion and the fixed position range is determined by the determining means.

  Therefore, according to this structure, it can detect more reliably that the train has stopped at the fixed position.

  In the first aspect, the distance measuring means is installed to be shifted toward the traveling direction side of the train with respect to the center of the fixed position range, and the distance from the vehicle end behind the traveling direction of the train is determined. You may measure.

  According to this configuration, the distance measuring unit can more reliably measure the distance to the vehicle end in the vehicle connecting portion.

  In the first aspect, the distance measuring means is a first distance measuring means and a second distance measuring means, and the first distance measuring means is installed at the station deviating from a center position of the fixed position range, A first distance, which is a distance from one vehicle end in the vehicle connecting portion, is measured, and the second distance measuring means is an installation position of the first distance measuring means with reference to a center position of the fixed position range. A second distance, which is installed on the opposite side and measures a distance from the other vehicle end of the vehicle connection portion, is determined based on the first distance and the second distance. The positional relationship with the fixed position range is determined.

  In the train position detection apparatus according to this configuration, the first distance measuring means and the second distance measuring means for measuring the distance to the vehicle are installed at the station.

The first distance measuring means is installed at the station deviating from the center position of the fixed position range, and measures a first distance that is a distance from one vehicle end in the vehicle connecting portion. The second distance measuring means is installed on the opposite side to the installation position of the first distance measuring means with reference to the center position of the fixed position range. And a 2nd distance measurement means measures the 2nd distance which is a distance with the other vehicle end in a vehicle connection part.
The first distance measuring means and the second distance measuring means are installed at the station so as to deviate from the center position of the fixed position range, thereby measuring the distance to the vehicle end on the opposite side to the direction shifted in the vehicle connecting portion. it can. Then, based on the first distance and the second distance measured regardless of the position of the train, the positional relationship between the vehicle connecting portion and the fixed position range is determined by the determining means.

  Therefore, according to this structure, since the vehicle edge of the both sides in a vehicle connection part can be detected irrespective of the position of a train, it can detect more reliably that the train has stopped in the fixed position.

  The train position detection device according to the second aspect of the present invention is a train position detection device that detects that a vehicle connection part of a train is a fixed position range that is predetermined with respect to a station, A distance measuring unit that is installed at the station corresponding to a center position and measures a distance from one vehicle end in the vehicle connecting unit, and the vehicle connecting unit based on the distance measured by the distance measuring unit And determining means for determining a positional relationship between the fixed position range and the distance measuring means when the vehicle end in front of the traveling direction of the train cannot be detected. Is measured, and when the rear vehicle end cannot be detected in the traveling direction of the train, the distance from the front vehicle end is measured.

  The train position detection apparatus according to the present configuration detects that the vehicle connection part of the train is in a fixed position range that is predetermined with respect to the station.

Distance measuring means for measuring the distance to the vehicle is installed at the station. The distance measuring means is installed at a station corresponding to the center position of the fixed position range, and measures the distance from one vehicle end in the vehicle connecting portion.
This distance measuring means measures the distance to the rear vehicle end when the front vehicle end cannot be detected with respect to the traveling direction of the train, and when the rear vehicle end cannot be detected with respect to the traveling direction of the train. Measure the distance to the vehicle end ahead. That is, the distance measuring means switches the vehicle end that is the object of distance measurement.
Then, based on the distance from one vehicle end measured regardless of the train position, the positional relationship between the vehicle connecting portion and the fixed position range is determined by the determining means.

  Thus, according to this structure, since the vehicle end used as the object of distance measurement is switched, it can detect more reliably that the train has stopped at the fixed position.

  In the first aspect or the second aspect, the fixed position range may be determined in advance according to the type of the train.

  According to this structure, even if the kind of train which stops at a station differs, the fixed position according to a train is detectable.

  In the first aspect or the second aspect, the distance measuring means may be arranged at a position where the distance between the vehicle door and the vehicle door can be detected by scanning the vehicle door provided on the train with a laser.

  According to this configuration, the open / closed state of the vehicle door can be detected together with the fixed position of the train. Further, since the distance measuring means is arranged at a position further away from the vehicle, the measurable range for the vehicle connecting portion is increased and the number of measurement points is increased, so that the detection accuracy of the vehicle end can be increased.

  The train stop detection device according to the third aspect of the present invention includes stop determination means for determining whether or not the train has stopped based on the change in the distance measured by the distance measurement means described above.

  A train position detection method according to a fourth aspect of the present invention is a train position detection method for detecting that a vehicle connecting portion of a train is a fixed position range predetermined with respect to a station. Based on the distance measured by the distance measuring means installed at the station deviating from the center position and the distance measured by the distance measuring means with the first step of measuring the distance from the one vehicle end in the vehicle connecting portion, A second step of determining a positional relationship between the vehicle connecting portion and the fixed position range.

  A train position detection method according to a fifth aspect of the present invention is a train position detection method for detecting that a vehicle connection part of a train is a fixed position range predetermined with respect to a station. Based on the distance measured by the distance measuring means installed at the station corresponding to the center position and the distance measured by the distance measuring means based on the distance measured by the distance measuring means. A second step of determining a positional relationship between the vehicle connecting portion and the fixed position range, wherein the first step is configured to measure the distance between the vehicle end in front of the traveling direction of the train and the distance measuring unit. The distance measuring means measures the distance to the rear vehicle end, and the distance measuring means cannot detect the rear vehicle end with respect to the traveling direction of the train. Said vehicle ahead means To measure the distance between the end.

  The train stop detection method according to the sixth aspect of the present invention determines whether or not the train has stopped based on the change in the distance measured by the distance measuring means described above.

  According to the present invention, it has the outstanding effect that it can detect more certainly that a train has stopped at a fixed position.

It is a schematic diagram which shows the positional relationship of the ranging apparatus which concerns on 1st Embodiment of this invention, and the train which stops at a station. It is a schematic diagram which shows the laser scanning range by the distance measuring device which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the ranging method by the ranging apparatus which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the example of the stop position of the train which concerns on 1st Embodiment of this invention. It is the schematic diagram which showed the detection result of the vehicle end of the vehicle connection part corresponding to FIG. 4 which concerns on 1st Embodiment of this invention. It is a block diagram which shows the electric constitution of the train position detection apparatus which concerns on 1st Embodiment of this invention. It is a flowchart which shows the flow of the fixed position stop determination process which concerns on 1st Embodiment of this invention. It is a flowchart which shows the flow of the fixed position stop determination process which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the positional relationship of the ranging apparatus which concerns on 2nd Embodiment of this invention, and the train which stops at a station. It is an example of the measurement result by the two distance measuring devices which concern on 2nd Embodiment of this invention. It is a flowchart which shows the flow of the fixed position stop determination process which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the example of the stop position of the train which concerns on 3rd Embodiment of this invention. It is the schematic diagram which showed the detection result of the vehicle end of the vehicle connection part corresponding to FIG. 12 which concerns on 3rd Embodiment of this invention. It is a flowchart which shows the flow of the fixed position stop determination process which concerns on 3rd Embodiment of this invention. It is a schematic diagram which shows the positional relationship of the ranging apparatus which concerns on 4th Embodiment of this invention, and the train which stops at a station. It is a schematic diagram which shows the laser scanning range which concerns on 4th Embodiment of this invention. It is a block diagram which shows the electric constitution of the train position detection apparatus which concerns on 4th Embodiment of this invention. It is a graph which shows the measurement result of the range equivalent to the vehicle door which concerns on 4th Embodiment of this invention. It is a schematic diagram which shows an example of the measurement of the vehicle connection part by a distance measuring device.

  Hereinafter, an embodiment of a train position detection device, a train stop detection device, a train position detection method, and a train stop detection method according to the present invention will be described with reference to the drawings.

[First Embodiment]
The first embodiment of the present invention will be described below.
The train position detection device (train fixed position stop detection device) according to the first embodiment detects that the vehicle connection part of the train is in a fixed position range that is predetermined with respect to the station.

FIG. 1 is a schematic diagram showing the positional relationship between a distance measuring device (hereinafter referred to as “ranging device”) 12 provided in a train fixed position stop detection device 10 (see also FIG. 6) and a train 14 stopping on a station platform. FIG.
FIG. 1A is a side view of the train 14, and FIG. 1B is a longitudinal sectional view of the train 14. FIG. 1C is an example of a measurement result obtained by the distance measuring device 12. 1 and other drawings in which the train 14 is illustrated, the traveling direction of the train 14 is from the right side to the left side of the drawing. That is, the left side of the drawing in which the train 14 is illustrated is the front of the train 14, and the right side is the rear of the train 14.

  Here, when the train 14 is not equipped with a train fixed position stop device and a platform door is installed on the platform of the station, the train is set to a stop position target (stop) installed on the side of the track near the platform. It is also called as a target). In addition, the train is required to stop within a fixed position stop range so that the opening of the door of the vehicle 16 is within the opening width of the platform door. Then, after the train 14 stops within the fixed position stop range, the platform door and the vehicle door are opened.

In this case, in the train 14, a plurality of vehicles 16 are connected by the vehicle connecting portion 18, and the vehicle connecting portion 18 stops at a position in a predetermined fixed position range 20. The fixed position range 20 is determined in advance based on, for example, the stopping accuracy of the train 14 and the opening width of a platform door installed on the platform of the station.
The fixed position range 20 is determined in advance according to the type of the train 14. For example, the train 14 having a longer leading vehicle than the other trains 14 has the fixed position range 20 on the rear side with respect to the train traveling direction compared to the other trains 14.
In addition, in the station (platform) where the stop position of the train is the same even if the type of the train 14 is different, the fixed position range 20 is the same regardless of the type of the train 14.

  In the train fixed position stop detection device 10 according to the present embodiment, the train traveling direction side of the fixed position range 20 is the over range 24, while the train moving direction opposite side of the fixed position range 20 is the short range 26. Is done. That is, when the vehicle connecting portion 18 stops in the over range 24 that exceeds the fixed position range 20, an over stop occurs. On the other hand, when the vehicle connecting portion 18 stops in the short range 26 in front of the fixed position range 20, a short stop occurs. The over range 24 and the short range 26 are also determined in advance.

  The distance measuring device 12 measures the distance to the train 14 by laser scanning, and is deviated from the center position 20CL of the fixed position range 20, that is, is offset and installed at the station. A specific example of the installation position of the distance measuring device 12 is, for example, above the platform where the train 14 arrives (for example, under the roof) or the side of the track (track) near the platform, where the distance to the train 14 can be measured. There is no limitation as long as there is. As shown in FIG. 1B, the distance measuring device 12 according to the present embodiment is installed above the platform of the station so as to be obliquely above the train 14 as an example.

Then, when the train 14 stops at the station, the distance measuring device 12 measures the distance from one vehicle end (for example, the edge portion of the vehicle 16) in the vehicle connecting portion 18.
In addition, the vehicle connection part 18 used as the measuring object of the distance measuring device 12 may be any of the front side, the central vicinity, and the rear side of the train 14.
Further, as shown in FIG. 1, the distance measuring device 12 measures the distance to the vehicle 16 by irradiating the side surface of the vehicle 16 with a laser. You may measure the distance to the vehicle 16 by irradiating a laser.

More specifically, the distance measuring device 12 according to the first embodiment is installed so as to be shifted toward the traveling direction of the train 14 with respect to the center position 20CL of the fixed position range 20, and with respect to the traveling direction of the train 14 The distance from the rear vehicle end (hereinafter referred to as “rear vehicle end”) 16R is measured. In the example of FIG. 1, the distance measuring device 12 is installed offset to the train traveling direction side outside the fixed position range 20, that is, the over range 24 side.
Since the rear vehicle end 16R in the vehicle connecting portion 18 hardly stops (substantially over-stops) on the train traveling direction side of the position of the distance measuring device 12, the distance measuring device 12 is installed as shown in FIG. Thus, the distance between the distance measuring device 12 and the rear vehicle end 16R can be measured more reliably.
The distance measuring device 12 needs to be installed so that the laser scanning range includes at least the over range 24, the fixed position range 20, and the short range 26. Thereby, even if the train 14 is over-stopped or short-stopped within the assumed range, the distance measurement device 12 can measure the distance to the rear vehicle end 16R.

The distance measuring device 12 performs laser scanning to detect the shape of the vehicle end (hereinafter referred to as “vehicle end shape”). As shown in FIG. 1C, the shape of the rear vehicle end 16R can be detected by the distance measuring device 12 installed with an offset. On the other hand, the shape of the front vehicle end (hereinafter referred to as “front vehicle end”) 16L cannot be detected. This is because the laser from the distance measuring device 12 is blocked by the vehicle outer frame 30 on the front vehicle end 16L side.
That is, the train fixed position stop detection device 10 according to the first embodiment is based on the assumption that only the rear vehicle end 16R is detected.

  FIG. 2 is an example of a laser scanning range by the distance measuring device 12 according to the first embodiment. The distance measuring device 12 has a direction of the train 14 of 90 °, and in this figure, the direction of travel of the train is 0 ° (base angle), and is within a range of −45 ° to + 225 ° (maximum scanning angle width 270 °) at every predetermined angle. Laser scanning is performed by changing the laser irradiation angle.

Next, a distance measuring method using the distance measuring device 12 will be described with reference to FIG.
As shown in FIG. 3, the direction parallel to the train traveling direction is taken as the X axis, and the direction orthogonal to the X axis is taken as the Y axis.

The distance measuring device 12 irradiates a laser at a certain angle from the base point angle (θ = 0 °), and this laser (line A ₁ ) causes the vehicle 16 (the vehicle outer frame 30 and the vehicle connecting portion 18) to be moved from the distance measuring device 12. Measure the distance to. Based on the angle θ ₁ corresponding to the line A ₁ and the line A ₁ , the distance A _1X in the X-axis direction and the distance A _{1Y in the} Y-axis direction are calculated, and the XY coordinate point A _1XY is detected.
Similarly, n the laser (line A _n) irradiating the vehicle 16 and the vehicle coupling unit 18 calculates the distance A _nY distance A _nX and Y-axis direction of the X-axis direction at every predetermined angle, n XY coordinate points are detected. Note that define the laser irradiation from _{A 1} to _{A n} and one scan.
By connecting the n XY coordinate points, the shapes of the vehicle 16 and the vehicle connecting portion 18 are obtained.

Based on the n detected XY coordinate points, the position that is linear in the X direction (train traveling direction) changes to a substantially right angle (90 °) in the Y axis direction, that is, the edge of the vehicle 16. Is detected as the position of the rear vehicle end 16R (hereinafter referred to as “rear vehicle end position R _X ”).

Then, using the detected rear vehicle end positions R _X, the positional relationship between the position range 20 and the vehicle coupling portion 18 is determined.
The position and position range 20 of the distance measuring device 12 is also expressed in the same XY coordinate space and the rear wheel end positions R _X. That is, the positional relationship between the vehicle connecting portion 18 and the fixed position range 20 can be determined by comparing the rear vehicle end position _RX and the fixed position range 20.

Next, an example of a fixed position stop determination method for determining the positional relationship between the vehicle connecting portion 18 and the fixed position range 20 will be described.
First, a threshold value TPL (Threshold Position Left) and a threshold value TPR (Threshold Position Right) are set in advance with the fixed position range 20 as a reference. The threshold value TPL and the threshold value TPR are threshold values for determining that the center position 18CL of the vehicle connecting portion 18 is in the fixed position range 20, and the threshold value TPL is a threshold value on the left side (train traveling direction side) of the fixed position range 20. The threshold value TPR is a threshold value on the right side of the fixed position range 20 (on the opposite side of the train traveling direction).
On the other hand, by subtracting a predetermined value α to the rear wheel end positions R _X, the center position 18CL of the vehicle connecting portion 18 is calculated. The predetermined value α is a half value of the length of the vehicle connecting portion 18. Note that the length of the vehicle connecting portion 18 is substantially the same regardless of the type of the train 14.

When TPL <R _X −α <TPR, it is determined that the train 14 has stopped in the fixed position range 20. On the other hand, if R _X −α ≧ TPR, it is determined that the train 14 has stopped in the short range 26, and if R _X −α ≦ TPL, it is determined that the train 14 has stopped in the over range 24.

  4 shows an example of the stop position of the train 14, and FIG. 5 is a schematic diagram showing the detection result of the rear vehicle end 16R of the vehicle connecting portion 18 corresponding to FIG.

4A and 5A, since the center position 18CL of the vehicle connecting portion 18 is larger than the threshold value TPR, the train 14 is stopped in the short range 26. In FIG. 4 (B) and FIG. 5 (B) to FIG. 4 (D) and FIG. 5 (D), the center position 18CL of the vehicle connecting portion 18 is between the threshold value TPL and the threshold value TPR. It is assumed that the vehicle stops in the fixed position range 20.
On the other hand, in FIGS. 4E and 5E, the center position 18CL of the vehicle connecting portion 18 is smaller than the threshold value TPL, so the train 14 is stopped in the over range 24.

FIG. 6 is a block diagram showing an electrical configuration of the train fixed position stop detection device 10 according to the first embodiment.
The train fixed position stop detection device 10 includes, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and a computer-readable storage medium. A series of processes for realizing various functions is stored in a storage medium or the like in the form of a program as an example, and the CPU reads the program into a RAM or the like to execute information processing / arithmetic processing. As a result, various functions are realized. The program is preinstalled in a ROM or other storage medium, provided in a state stored in a computer-readable storage medium, or distributed via wired or wireless communication means. Etc. may be applied. The computer-readable storage medium is a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.

The train fixed position stop detection device 10 includes a distance measuring device 12 and an arithmetic processing unit 40. In addition, since the train fixed position stop detection apparatus 10 is provided with the stop determination part 46 so that it may mention later, it functions also as a train stop detection apparatus.
The arithmetic processing unit 40 includes an input unit 42, a vehicle type information storage unit 43, a stop position determination unit 44, a stop determination unit 46, and a determination output unit 48.

  The input unit 42 receives the measurement result of the distance to the train 14 by the distance measuring device 12 and outputs the input measurement result to the stop position determination unit 44 and the stop determination unit 46.

  The vehicle type information storage unit 43 stores various types of information corresponding to the type of the train 14 such as the fixed position range 20 corresponding to the type of the train 14. The type of the train 14 that has entered the station platform is determined by, for example, operation information of the train 14, reading of an IC tag provided in the train 14, or a vehicle type determination device provided in the station.

The stop position determination unit 44 determines the positional relationship between the vehicle connecting unit 18 and the fixed position range 20 based on the above-described fixed position stop determination method. A deviation amount (distance) between the center position 18CL of the vehicle connecting portion 18 and the center position 20CL of the fixed position range 20 is also calculated. The fixed position range 20 used in the fixed position stop determination method performed by the stop position determination unit 44 is read from the vehicle type information storage unit 43 according to the type of the train 14 that has entered the platform.
In addition, in the station (platform) where the stop position of the train is the same even if the type of the train 14 is different, it is determined in advance without reading the fixed position range 20 from the vehicle type information storage unit 43 according to the type of the train 14. Based on the fixed position range 20, a fixed position stop determination is performed.

  The stop determination unit 46 determines whether or not the train 14 has stopped based on a change in the distance to the vehicle end (the rear vehicle end 16R in the first embodiment) measured by the distance measuring device 12. That is, when a change occurs in the distance from the distance measuring device 12 to the vehicle end, it is determined that the train 14 is traveling, and a predetermined time (t) in which a state in which the change does not occur is determined in advance has elapsed. In this case, it is determined that the train 14 is stopped.

  The determination output unit 48 receives the determination results of the stop position determination unit 44 and the stop determination unit 46, and outputs the determination results to other devices connected to the train fixed position stop detection device 10. The other device is, for example, a general control panel serving as a higher-level facility that also controls a platform door installed on a station platform. Moreover, the stop position of the train 14 is displayed on the indicator of the train 14 or the like via the general control panel, and the stop position of the train 14 is recognized by the crew. Thereby, in the case of an over stop or a short stop, the driver of the train 14 causes the train 14 to travel again and stops the train 14 in the home position range 20.

  7 and 8 are flowcharts showing the flow of the fixed position stop determination process according to the first embodiment.

First, in step 100, for example, the train presence detection device installed on the platform of the station detects the train 14, thereby determining whether or not the train 14 has reached the distance measurement start position by the distance measurement device 12. If the determination is affirmative, the routine proceeds to step 102.
Note that the fact that the train 14 has reached the distance measurement start position is that, for example, a train existing line detection device (hereinafter referred to as “first existing line detection device”) is installed at the rear end of the platform with respect to the train traveling direction. This is determined by detecting the rearmost end of the train 14 that has entered the station by the 1 existing line detection device. Moreover, the detection of the last end of the train 14 is a case where the train 14 that has entered the station passes the first existing line detection device, and the first existing line detection device no longer detects the train 14.

  In step 102, the distance measuring device 12 starts detecting the rear vehicle end 16R of the vehicle connecting portion 18.

  In the next step 104, based on the detection result of step 102, the stop position determination of the train 14 shown in the process of FIG. 8 is performed.

In the next step 106, it is determined whether or not the train 14 has reached the distance measurement end position by the train presence detection device. If the determination is affirmative, the fixed position stop determination process is ended. On the other hand, in the case of negative determination, the process returns to step 102 and the processing of each step is repeated.
Note that the fact that the train 14 has reached the distance measurement end position is that, for example, a train presence detection device (hereinafter referred to as a “second presence detection device”) is installed closer to the train traveling direction of the platform than the first presence detection device. This is determined by detecting the last end of the train 14 that has entered the station. That is, the train 14 stops so that the rear end of the train 14 is between the first standing line detection device and the second standing line detection device. Then, when the train 14 departs, the second existing line detection device detects the rear end of the train 14, and thus the detection of the rear vehicle end 16R by the distance measuring device 12 is finished.
In addition to the above, for example, when the movement of the stopped train 14 is detected by another sensor, the fixed position stop determination process may be ended.

  In step 200 of FIG. 8, it is determined whether or not the position of the train 14 is within the short range 26 based on the detection result of the rear vehicle end 16R. If the determination is affirmative, the process proceeds to step 202. On the other hand, in the case of negative determination, the train 14 has reached the distance measurement start position, but has not yet reached the short range 26.

  In step 202, the position of the train 14 is in the short range 26, and the determination result is output together with the amount of deviation between the center position 18CL of the vehicle connecting portion 18 and the center position 20CL of the fixed position range 20.

  In step 204, it is determined whether or not the train 14 is in a moving state based on the detection result of the rear vehicle end 16R. If the determination is affirmative, the process proceeds to step 206. On the other hand, if the determination is negative, that is, if the train 14 is stopped, the process proceeds to step 212. In step 212, a stop output indicating that the train 14 is in a stopped state is performed, and the fixed position stop determination process ends.

  In step 206, based on the detection result of the rear vehicle end 16R, it is determined whether or not the position of the train 14 is within the fixed position range 20. If the determination is affirmative, the process proceeds to step 208. On the other hand, if the determination is negative, that is, if the position of the train 14 is not in the fixed position range 20, the train 14 is still moving in the short range 26, so the process returns to step 204.

  In step 208, a determination result indicating that the position of the train 14 is in the fixed position range 20 is output.

  In the next step 210, it is determined whether or not the train 14 is stopped based on the detection result of the rear vehicle end 16R. If the determination is affirmative, the process proceeds to step 212. On the other hand, if the determination is negative, that is, if the train 14 is in a moving state, the routine proceeds to step 214.

  In step 214, based on the detection result of the rear vehicle end 16R, it is determined whether or not the position of the train 14 is in the over range 24. If the determination is affirmative, the process proceeds to step 216. On the other hand, if the determination is negative, that is, if the position of the train 14 is not in the over range 24, the train 14 is still moving in the fixed position range 20, so the process returns to step 210.

  In step 216, the position of the train 14 is in the over range 24, and the determination result is output together with the amount of deviation between the center position 18CL of the vehicle connecting portion 18 and the center position 20CL of the fixed position range 20.

  In the next step 218, based on the detection result of the rear vehicle end 16R, it is determined whether or not the train 14 is in a stopped state. If the determination is affirmative, the process proceeds to step 212. On the other hand, if the determination is negative, that is, if the train 14 is in a moving state, the routine proceeds to step 220.

  In step 220, it is determined whether or not the train 14 exceeds the over range 24 and the presence of the train line is no longer detected. If the determination is affirmative, the process proceeds to step 222. If the determination is negative, the process returns to step 118.

  In step 222, the train 14 outputs a movement determination indicating that it is a passing train that does not stop on the platform of the station, and the fixed position stop determination process ends.

As described above, the train fixed position stop detection device 10 according to the first embodiment is located behind the vehicle connecting portion 18 by the distance measuring device 12 installed at the station so as to deviate from the center position 20CL of the fixed position range 20. The distance from the vehicle end 16R is measured, and the positional relationship between the vehicle connecting portion 18 and the fixed position range 20 is determined based on the measured distance.
In this way, by installing the distance measuring device 12 at the station shifted from the center position 20CL of the fixed position range 20, the distance measuring device 12 is opposite to the direction in which the distance measuring device 12 is shifted in the vehicle connecting portion 18. Can be measured regardless of the stop position of the train 14.

  Therefore, the train fixed position stop detection device 10 according to the first embodiment can more reliably detect that the train 14 is stopped at the fixed position.

[Second Embodiment]
Hereinafter, a second embodiment of the present invention will be described.

  FIG. 9 is a schematic diagram showing a positional relationship between the distance measuring device 12 according to the second embodiment and the train 14 that stops on the platform of the station. In FIG. 9, the same components as those in FIG. 1 are denoted by the same reference numerals as those in FIG.

The train fixed position stop detection device 10 according to the second embodiment includes two distance measuring devices 12A and 12B as the distance measuring device 12.
The distance measuring device 12 </ b> A is installed at a station that is shifted from the center position 20 </ b> CL of the fixed position range 20, and measures a rear vehicle end distance that is a distance from one (rear) rear vehicle end 16 </ b> R in the vehicle connecting portion 18.
The distance measuring device 12B is installed on the side opposite to the installation position of the distance measuring device 12A with respect to the center position 20CL of the fixed position range 20, and is a distance from the front vehicle end 16L which is the other vehicle end in the vehicle connecting portion 18. Measure the front vehicle end distance.
The distance measuring devices 12A and 12B are both installed so that the laser scanning range includes at least the over range 24, the fixed position range 20, and the short range 26.

  FIG. 10 is an example of measurement results obtained by the distance measuring devices 12A and 12B according to the second embodiment. FIG. 10A is an example of the measurement result of the distance measuring device 12A, and FIG. 10B is an example of the measurement result of the distance measuring device 12A.

  As shown in FIG. 10A, although the shape of the rear vehicle end 16R can be detected by the distance measuring device 12A, the shape of the front vehicle end 16L cannot be detected. On the other hand, as shown in FIG. 10B, although the shape of the front vehicle end 16L can be detected by the distance measuring device 12B, the shape of the rear vehicle end 16R cannot be detected.

  And the stop position determination part 44 with which the arithmetic processing part 40 is provided determines the positional relationship of the vehicle connection part 18 and the fixed position range 20 based on the back vehicle end distance and the front vehicle end distance.

Specifically, obtains a rear wheel end positions R _X based on the rear wheel across distances, determine the forward vehicle end positions L _X based on the front vehicle end-to-end distance, the rear wheel end positions R _X and front vehicle end positions L _X Is calculated as the center position 18CL of the vehicle connecting portion 18.
When the center position 18CL of the vehicle connecting portion 18 is between the threshold value TPL and the threshold value TPR, it is determined that the train 14 has stopped in the fixed position range 20. On the other hand, when the center position 18CL of the vehicle connecting portion 18 is smaller than the threshold value TPL, it is determined that the train 14 has stopped in the over range 24, and when the center position 18CL of the vehicle connecting portion 18 is larger than the threshold value TPR, the train 14 has the short range. It is determined at 26 that the vehicle has stopped.

  FIG. 11 is a flowchart showing the flow of the fixed position stop determination process according to the second embodiment.

  First, in step 300, for example, a train presence detection device installed on a platform of a station detects the train 14, and determines whether or not the train 14 has reached a distance measurement start position by the distance measurement device 12, and affirmatively. In the case of determination, the routine proceeds to step 302.

  In step 302, the distance measuring devices 12A and 12B start detecting the rear vehicle end 16R and the front vehicle end 16L of the vehicle connecting portion 18.

  In the next step 304, the center position 18CL of the vehicle connecting portion 18 is calculated from the rear vehicle end distance and the front vehicle end distance.

  In the next step 306, the stop position determination of the train 14 shown in the process of FIG. 8 according to the first embodiment described above is performed based on the calculation result of step 304. The detection of the rear vehicle end 16R and the front vehicle end 16L and the stop position determination of the train 14 are repeatedly performed until the train 14 stops.

  In the next step 308, it is determined whether or not the train 14 has reached the distance measurement end position by the train presence detection device. If the determination is affirmative, the fixed position stop determination process is ended. On the other hand, in the case of negative determination, the process returns to step 302 and the processing of each step is repeated.

  As described above, the train fixed position stop detection device 10 according to the second embodiment has the vehicle ends (the rear vehicle end 16R and the front vehicle end 16L) on both sides of the vehicle connecting portion 18 regardless of the stop position of the train 14. Therefore, it can be more reliably detected that the train 14 is stopped at a fixed position.

  Note that the distance measuring device 12A and the distance measuring device 12B may detect the front vehicle end 16L or the rear vehicle end 16R of the different vehicle connection portions 18 instead of the same vehicle connection portion 18. Specifically, for example, the distance measuring device 12A detects the rear vehicle end 16R of the vehicle 16 at the forefront of the train 14, and the distance measuring device 12A detects the front vehicle end 16L of the vehicle 16 at the rearmost of the train 14. . And the train fixed position stop detection apparatus 10 calculates center position 18CL of the vehicle connection part 18 based on the back vehicle end 16R and the front vehicle end 16L of these different vehicles.

[Third Embodiment]
Hereinafter, a third embodiment of the present invention will be described.
The distance measuring device 12 according to the third embodiment is installed at a station corresponding to the center position 20CL of the fixed position range 20, and measures the distance from one vehicle end in the vehicle connecting portion 18. That is, the scanning angle 90 ° of the distance measuring device 12 and the center position 20CL of the fixed position range 20 are arranged so as to match or substantially match.

  When the distance measuring device 12 according to the third embodiment cannot detect the front vehicle end 16L with respect to the traveling direction of the train 14, the distance measuring device 12 measures the distance from the rear vehicle end 16R, and with respect to the traveling direction of the train 14. When the rear vehicle end 16R cannot be detected, the distance to the front vehicle end 16L is measured. That is, the distance measuring device 12 switches the vehicle end that is the target of distance measurement.

The center position 18CL of the vehicle connecting portion 18, when detecting a rear vehicle end positions R _X showing the rear wheel ends 16R, while being calculated by subtracting a predetermined value α to the rear wheel end positions R _X, forward If it detects a forward vehicle end positions L _X of a vehicle end 16L, it is calculated by adding a predetermined value α to the front vehicle end positions L _X.
That is, when TPL <R _X −α <TPR, it is determined that the train 14 has stopped in the fixed position range 20. On the other hand, when R _X −α ≧ TPR, the train 14 is determined to have stopped in the short range 26, and when L _X + α ≦ TPL, the train 14 is determined to have stopped in the over range 24.

  FIG. 12 shows an example of the stop position of the train 14, and FIG. 13 is a schematic diagram showing the detection result of the rear vehicle end 16R of the vehicle connecting portion 18 corresponding to FIG.

12A and 13A, the center position 18CL of the vehicle connecting portion 18 is larger than the threshold value TPR, so that the train 14 is stopped in the short range 26.
12B, 13C and 13B, 13C, the center position 18CL of the vehicle connecting portion 18 is between the center position 20CL of the fixed position range 20 and the threshold value TPR. In (D) and FIG. 13 (D), since the center position 18CL of the vehicle connecting portion 18 is the same as the center position 20CL of the fixed position range 20, it is assumed that the train 14 has stopped in the fixed position range 20.

Here, as shown in FIGS. 12A to 12C and FIGS. 13A to 13C, the center position 18CL of the vehicle connecting portion 18 is shorter than the center position 20CL of the fixed position range 20. If it is on the side, the distance measuring device 12 cannot detect the front vehicle end 16 </ b> L with respect to the traveling direction of the train 14. For this reason, the distance measuring device 12 measures the distance from the rear vehicle end 16R.
As shown in FIGS. 12D and 13D, when the center position 18CL of the vehicle connecting portion 18 matches or substantially matches the center position 20CL of the fixed position range 20, the distance measuring device 12 Although the rear vehicle end 16R and the front vehicle end 16L can be detected, as an example, the distance measuring device 12 measures the distance to the rear vehicle end 16R.

Then, as shown in FIGS. 12E to 12G and FIGS. 13E to 13G, the center position 18CL of the vehicle connecting portion 18 is on the over range 24 side of the center position 20CL of the fixed position range 20. In this case, since the distance measuring device 12 cannot detect the rear vehicle end 16R, the distance measurement target is switched to the front vehicle end 16L.
In FIGS. 12E and 12F and FIGS. 13E and 13F, the center position 18CL of the vehicle connecting portion 18 is between the center position 20CL of the fixed position range 20 and the threshold value TPL. The train 14 is assumed to have stopped in the fixed position range 20.
On the other hand, in FIGS. 12G and 13G, since the center position 18CL of the vehicle connecting portion 18 is smaller than the threshold value TPL, the train 14 is stopped in the over range 24.

  FIG. 14 is a flowchart showing the flow of the fixed position stop determination process according to the third embodiment.

  First, in step 400, for example, the train presence detection device installed on the platform of the station detects the train 14, and determines whether or not the train 14 has reached the distance measurement start position by the distance measurement device 12. In the case of determination, the routine proceeds to step 402.

  In step 402, it is determined whether or not the distance measuring device 12 can detect the front vehicle end 16L of the vehicle connecting portion 18 of the train 14, and if the determination is affirmative, the process proceeds to step 404. If the determination is negative, step 406 is performed. Migrate to

  In step 404, the distance measuring device 12 starts detecting the front vehicle end 16 </ b> L of the vehicle connecting portion 18, and proceeds to step 408.

  In step 406, the distance measuring device 12 starts detecting the rear vehicle end 16 </ b> R of the vehicle connecting portion 18, and proceeds to step 408.

  In step 408, based on the detection result in step 404 or step 406, the stop position determination of the train 14 shown in the process of FIG. 8 according to the first embodiment described above is performed. The detection of the rear vehicle end 16R or the front vehicle end 16L and the stop position determination of the train 14 are repeatedly performed until the train 14 stops.

  In the next step 410, it is determined whether or not the train 14 has reached the distance measurement end position by the train presence detection device. If the determination is affirmative, the fixed position stop determination process is ended. On the other hand, in the case of negative determination, the process returns to step 402 and the processing of each step is repeated.

  As described above, the train fixed position stop detection device 10 according to the third embodiment is more sure that the train 14 is stopped at the fixed position because the vehicle end that is the target of distance measurement is switched. Can be detected.

[Fourth Embodiment]
The fourth embodiment of the present invention will be described below.
FIG. 15 is a schematic diagram showing a positional relationship between the distance measuring device 12 according to the fourth embodiment and the train 14 that stops on the platform of the station. FIG. 15A is a side view of the train 14, and FIG. 15B is a longitudinal sectional view of the train 14. 15 that are the same as those in FIG. 1 are assigned the same reference numerals as in FIG. 1 and descriptions thereof are omitted.

The distance measuring device 12 according to the fourth embodiment scans the vehicle door 50 provided on the train 14 with a laser as well as the distance between the vehicle connection portion 18 and the distance from the vehicle door 50. It is arranged at a detectable position. The measurement result by the distance measuring device 12 according to the fourth embodiment is also used for vehicle door detection and vehicle length detection, which will be described later.
In the present embodiment, a distance measuring device 12C is further provided when vehicle length detection is required.

The distance measuring device 12 is disposed at a position higher than the side wall surface 16C of the vehicle 16 so that the laser beam irradiates the side wall surface 16C of the vehicle 16 and the vehicle connecting portion 18. The distance measuring device 12 </ b> C is disposed at a position higher than the side wall surface 16 </ b> C of the vehicle 16 so that the laser irradiates the front end portion 16 </ b> A of the vehicle 16. The distance measuring devices 12 and 12C take into consideration the influence of the window glass of the vehicle door 50 of the train 14 and the change in the inclination of the train 14 when getting on and off, for example, as shown in FIG. Is also irradiated at the bottom.
The distance measuring devices 12 and 12C are installed by being suspended from the platform roof in consideration of the standing position of passengers on the platform.

FIG. 16 is a schematic diagram showing a laser scanning range by the distance measuring device 12 according to the fourth embodiment, and shows an upper surface of the vehicle 16. FIG. 16A shows a laser scanning range according to the fourth embodiment, and FIG. 16B shows a laser scanning range according to the first embodiment as a comparative example.
The distance measuring device 12 according to the fourth embodiment is disposed at a position farther from the vehicle 16 in order to measure the distance to the vehicle connecting portion 18 and the distance to the vehicle door 50. For this reason, the laser scanning range is wider than the distance measuring device 12 according to the first embodiment, and the measurable range W (measurable depth) with respect to the vehicle connecting portion 18 is increased, and the number of measurement points is increased. Thereby, the distance measuring device 12 according to the fourth embodiment can improve the detection accuracy of the rear vehicle end 16R.

  FIG. 17 is a block diagram showing an electrical configuration of the train fixed position stop detection device 10 according to the fourth embodiment. In FIG. 17, the same components as those in FIG. 6 are denoted by the same reference numerals as those in FIG.

  The input unit 42 receives the measurement result of the distance to the train 14 by the distance measuring device 12, and uses the input measurement result as a stop position determination unit 44, a stop determination unit 46, a door state determination unit 60, and a vehicle length detection unit. To 62. The input unit 42 receives the measurement result of the distance to the train 14 by the distance measuring device 12 </ b> C, and outputs the input measurement result to the vehicle length detection unit 62.

  The door state determination unit 60 represents the train 14 with a two-dimensional coordinate axis based on the distance between the vehicle door 50 and the door pocket 52 measured by the distance measuring device 12 and output from the distance measuring device 12. The state of the vehicle door 50 of the train 14, that is, whether the vehicle door 50 is in an open state, an opening / closing operation, or a closed state is determined based on the shape expressed on the coordinate axes.

  FIG. 18 is a graph showing measurement results in a range corresponding to the vehicle door 50 by the distance measuring device 12 according to the fourth embodiment.

  The distance measuring device 12 is arranged so that the laser scans along the vehicle door 50 and the door pocket 52 of the train 14 together with the vehicle connecting portion 18. At this time, the laser irradiates not only the vehicle door 50 but also the door pocket 52 in which the vehicle door 50 is accommodated. Accordingly, as shown in FIG. 18A, when the vehicle door 50 is in a closed state by receiving light reflected from the vehicle door 50 or the door pocket 52 of the train 14, the door pocket 52 and the vehicle door 50 are The depth of the boundary can also be detected. Therefore, the position and width of the vehicle door 50 when the vehicle is stopped can be determined.

  When the vehicle door 50 of the train 14 starts to open and enters the open state, the depth corresponding to the vehicle door 50 changes as shown in FIGS. The shape of the range corresponding to the vehicle door 50 represented on the coordinate axis changes. Thereby, the door state determination part 60 can determine whether the vehicle door 50 of the train 14 is in a closed state, during an opening / closing operation, or in an open state.

  And the opening / closing operation | movement of the door part of the platform door apparatus installed in the platform of a station can be linked with opening / closing of the vehicle door 50 using the determination result of the door state determination part 60. FIG.

Next, a method for detecting the vehicle length of the vehicle 16 of the train 14 stopped on the platform by the vehicle length detection unit 62 will be described.
The distance measuring device 12C scans so as to cover the front end portion 16A of the vehicle 16, and the distance measuring device 12 covers the rear end portion 16B (front vehicle end 16L) of the vehicle 16 including the vehicle connecting portion 18. And the measurement result is input to the vehicle length detector 62. The vehicle length detection part 62 detects the edge part (front edge part 16A, rear edge part 16B) of the vehicle 16 based on the input measurement result. At this time, as shown in FIG. 15A, the distance between the base point of the distance measuring device 12 and the base point of the distance measuring device 12C is M, and the distance measuring device 12C detects from the base point of the distance measuring device 12C. When the distance to the front end 16A of the vehicle 16 is L and the distance from the base point of the distance measuring device 12 to the rear end 16B of the vehicle 16 detected by the distance measuring device 12 is R, the vehicle length is L + M + R. It becomes.

  Based on the length of the vehicle 16 calculated by the vehicle length detection unit 62, for example, the type of the vehicle 16 of the train 14 stopped on the platform is determined.

  As mentioned above, although this invention was demonstrated using said each embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. Various changes or improvements can be added to the above-described embodiments without departing from the gist of the invention, and embodiments to which the changes or improvements are added are also included in the technical scope of the present invention. Moreover, you may combine said each embodiment suitably.

  In each of the above embodiments, the case has been described in which the vehicle end is a position where the shape that is linear in the X direction of the vehicle 16 changes to a substantially right angle (90 °) in the Y axis direction, that is, the edge of the vehicle 16. However, the present invention is not limited to this. For example, as a form in which the vehicle end is a position at which the shape of the vehicle 16 that is linear in the X direction is interrupted without detecting that the shape of the vehicle 16 changes substantially perpendicularly to the Y-axis direction (90 °). Also good.

  The flow of the fixed position stop determination process described in each of the above embodiments is also an example, and unnecessary steps can be deleted, new steps can be added, and the processing order can be changed without departing from the gist of the present invention. It may be replaced.

10 Train fixed position stop detection device 12 Ranging device (distance measuring means)
14 Train 18 Vehicle connecting part 20 Fixed position range 44 Stop position determination part (determination means)
46 Stop determination unit (train stop detection device)

Claims (10)

A train position detection device for detecting that a vehicle connection part of a train is a fixed position range predetermined with respect to a station,
A distance measuring means installed at the station deviating from the center position of the fixed position range and measuring a distance from one vehicle end in the vehicle connecting portion;
Determination means for determining a positional relationship between the vehicle connecting portion and the fixed position range based on the distance measured by the distance measuring means;
A train position detector.   2. The distance measuring unit is installed to be shifted toward the traveling direction of the train with respect to the center of the fixed position range, and measures a distance from the vehicle end behind the traveling direction of the train. Train position detector. The distance measuring means is a first distance measuring means and a second distance measuring means,
The first distance measuring means is installed at the station deviating from the center position of the fixed position range, and measures a first distance which is a distance from one vehicle end in the vehicle connecting portion;
The second distance measuring means is installed on the opposite side to the installation position of the first distance measuring means with respect to the center position of the fixed position range, and is a distance from the other vehicle end in the vehicle connecting portion. Measure two distances,
The train position detection apparatus according to claim 1, wherein the determination unit determines a positional relationship between the vehicle connecting portion and the fixed position range based on the first distance and the second distance. A train position detection device for detecting that a vehicle connection part of a train is a fixed position range predetermined with respect to a station,
Distance measuring means installed at the station corresponding to the center position of the fixed position range, and measuring a distance from one vehicle end in the vehicle connecting portion;
Determination means for determining a positional relationship between the vehicle connecting portion and the fixed position range based on the distance measured by the distance measuring means;
With
The distance measuring means measures the distance from the rear vehicle end when the front vehicle end cannot be detected with respect to the traveling direction of the train, and the rear vehicle end with respect to the traveling direction of the train. A train position detector that measures the distance to the vehicle end ahead when the vehicle cannot be detected.   The train position detection device according to any one of claims 1 to 4, wherein the fixed position range is predetermined according to the type of the train.   The said distance measurement means is arrange | positioned in the position which can scan the vehicle door provided in the said train with a laser, and can detect the distance between the said vehicle doors. Train position detector.   A train stop detection comprising stop determination means for determining whether or not the train has stopped based on a change in the distance measured by the distance measurement means according to any one of claims 1 to 6. apparatus. A train position detection method for detecting that a vehicle connection part of a train is a fixed position range predetermined with respect to a station,
A first step of measuring a distance from one vehicle end in the vehicle connecting portion by a distance measuring means installed at the station deviating from the center position of the fixed position range;
A second step of determining a positional relationship between the vehicle connecting portion and the fixed position range based on the distance measured by the distance measuring means;
A train position detection method. A train position detection method for detecting that a vehicle connection part of a train is a fixed position range predetermined with respect to a station,
A first step of measuring a distance from one vehicle end in the vehicle connecting portion by means of distance measuring means installed at the station corresponding to the center position of the fixed position range;
A second step of determining a positional relationship between the vehicle connecting portion and the fixed position range based on the distance measured by the distance measuring means;
Have
In the first step, when the distance measuring means cannot detect the front vehicle end with respect to the traveling direction of the train, the distance measuring means measures a distance from the rear vehicle end, and A train position detection method in which, when the distance measuring unit cannot detect the rear vehicle end with respect to the traveling direction, the distance measuring unit measures a distance from the front vehicle end.   The train stop detection method which determines whether the said train stopped based on the change of the said distance measured by the said distance measurement means of Claim 8 or Claim 9.

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