JP6102460B2 - Detection system, detection device, detection program, and detection method - Google Patents

Description

  The present invention relates to a detection system, a detection apparatus, a detection program, and a detection method for detecting a reflector that prevents detection of an object.

  2. Description of the Related Art Conventionally, a technique has been proposed in which electromagnetic waves such as millimeter waves are irradiated into a railroad crossing, a reflected wave of the irradiated electromagnetic waves is received, and a person or a car that has entered the railroad crossing is detected (for example, Patent Document 1). reference).

JP 2001-270442 A

  However, in the prior art, when a reflected wave from a signboard or a bicycle placed near a level crossing is received along with a reflected wave from an object such as a person or a car that has entered the level crossing, the object in the level crossing is detected. It can be difficult.

  In one aspect, the present invention aims to remove reflectors that interfere with object detection.

  According to one aspect, the detection system includes a transmission unit that irradiates an electromagnetic wave in a range including a predetermined region, and a plurality of reflection units that reflect the electromagnetic wave and are disposed on the opposite side of the transmission unit across the predetermined region. Receiving at least one sensor including a receiving unit that receives a reflected wave from the receiver, and reflection information indicating in time series the reflected wave information from each reflecting unit received by the receiving unit, and based on the received reflection information, The order in which the reflected waves by the reflecting parts are blocked is identified, and the comparison of the identified order with the order in which the reflected waves of each reflecting part estimated from the movement of the object passing through the predetermined area are blocked And a determination unit that determines the presence of a reflector that hinders detection of an object when a reflection unit that is not blocked is detected.

  According to another aspect, the detection device includes a transmission unit that irradiates an electromagnetic wave in a range including a predetermined region, and a plurality of reflection units that are disposed on the opposite side of the transmission unit across the predetermined region. A reception unit that receives reflection information in a time series of reflected wave information from each reflection unit received by the reception unit from at least one sensor including a reception unit that receives the reflected wave from Based on the comparison of the order in which the reflected waves by the respective reflecting portions are blocked, and the identified order and the order in which the reflected waves of each reflecting portion estimated from the movement of the object passing through the predetermined region are blocked, And a determination unit that determines the presence of a reflector that prevents detection of an object when a reflection unit that is not interrupted by reflected waves is detected.

  According to still another aspect, the detection program includes a transmission unit that irradiates an electromagnetic wave in a range including a predetermined region, and a plurality of reflections that are disposed on the opposite side of the transmission unit across the predetermined region. From at least one sensor including a receiving unit that receives a reflected wave from the unit, the information on the reflected wave from each reflecting unit received by the receiving unit is received in time series, and based on the received reflection information, The order in which the reflected waves by the respective reflecting portions are blocked is identified, and the reflected waves are compared by comparing the identified order with the order in which the reflected waves of each reflecting portion estimated from the movement of the object passing through the predetermined area are blocked. In the case where a reflection part that has been blocked is detected, the computer is caused to execute a process of determining the presence of a reflector that prevents the object from being detected.

  According to still another aspect, a detection method includes: a transmission unit that irradiates an electromagnetic wave in a range including a predetermined region; and a plurality of reflections that are disposed on the opposite side of the transmission unit across the predetermined region. From at least one sensor including a receiving unit that receives a reflected wave from the unit, the information on the reflected wave from each reflecting unit received by the receiving unit is received in time series, and based on the received reflection information, The order in which the reflected waves by the respective reflecting portions are blocked is identified, and the reflected waves are compared by comparing the identified order with the order in which the reflected waves of each reflecting portion estimated from the movement of the object passing through the predetermined area are blocked. In the case where a reflection part lacking the blocking is detected, the presence of a reflector that prevents object detection is determined.

  Reflectors that prevent object detection can be removed.

It is a figure which shows one Embodiment of a detection system and a detection apparatus. It is a figure which shows the example of the detection process of the reflector in the detection system shown in FIG. It is a figure which shows another embodiment of a detection system and a detection apparatus. It is a figure which shows the example of intensity distribution of the reflected wave which the sensor shown in FIG. 3 calculates It is a figure which shows the example of the log data shown in FIG. It is a figure which shows the example of the detection process of the reflector in the detection system shown in FIG. It is an overhead view which shows another embodiment of a detection system and a detection apparatus. FIG. 8 is a plan view of FIG. 7. It is a figure which shows the example of the sensor shown to FIG. 7 and FIG. It is a figure which shows the example of the detection apparatus shown to FIG. 7 and FIG. It is a figure which shows the example of the log data shown in FIG. It is a figure which shows the example of extraction data. It is a figure which shows the example of a determination log. It is a figure which shows the example of the detection process of the object in the detection system shown to FIG. 7 and FIG. It is a figure which shows the example of the detection process of the reflector in the detection system shown to FIG. 7 and FIG. It is a figure which shows the example of a process of step S302 shown in FIG. It is a figure which shows the continuation of the process of step S302 shown in FIG. It is a figure which shows the example of a process of step S303 shown in FIG. It is a figure which shows the continuation of the process of step S303 shown in FIG. It is a figure which shows the example of an order table. It is a figure which shows another example of the detection process of the reflector in the detection system shown to FIG. 7 and FIG. It is a figure which shows the example of a process of step S302a shown in FIG. It is a figure which shows the example of a process of step S303a shown in FIG.

  Embodiments will be described below with reference to the drawings.

  FIG. 1 shows an embodiment of a detection system and a detection device.

  A detection system 100 illustrated in FIG. 1 includes a sensor 1, a reflection unit 2 (2 a, 2 b), and a detection device 3. The predetermined area 4 indicated by a rectangle is, for example, a railroad crossing where a train track and a road intersect. The railroad is laid in the horizontal direction in FIG. 1 and the railroad crossing is laid in the vertical direction in FIG. The In the actual detection system 100, the sensor 1, the reflection unit 2, and the detection device 3 are arranged outside the track. The detection system 100 detects, for example, an object 5 such as a person or a car that passes through the predetermined area 4 in the vertical direction of FIG. The predetermined area 4 shown in FIG. 1 has a rectangular shape, but may have an arbitrary shape. The reflector 6 is a non-moving object such as a signboard or a neglected bicycle, and reflects the electromagnetic wave irradiated by the sensor 1 with the same reflectance as that of the reflector 2.

  The sensor 1 includes, for example, a transmission unit 1a that irradiates an electromagnetic wave to a range 7 including a predetermined region 4, and a reception unit 1b that receives a reflected wave from each reflection unit 2 of the irradiated electromagnetic wave. For example, the sensor 1 outputs the information of the reflected wave from each reflection unit 2 received by the reception unit 1b to the detection device 3 as reflection information indicating the time series. The reflection information output to the detection device 3 includes time-series information indicating the order in which the reflected waves from the respective reflection units 2 are blocked.

  The reflectors 2a and 2b have, for example, reflectors and are arranged on the opposite side of the sensor 1 with the predetermined region 4 interposed therebetween in order to detect the object 5 that passes through the predetermined region 4 in the vertical direction. The The optical path 8 (8a, 8b) of the reflected wave connecting the sensor 1 and the reflecting portions 2a, 2b intersects the direction in which the object 5 passes through the predetermined region 4. Therefore, when the object 5 passes through the predetermined region 4, the object 5 blocks the reflected wave in the order of the optical paths 8a and 8b, or blocks the reflected wave in the order of the optical paths 8b and 8a.

  Note that the detection system 100 illustrated in FIG. 1 includes two reflection units 2a and 2b, but may include three or more reflection units 2.

  The detection device 3 includes a reception unit 3a that receives the reflection information output from the sensor 1, and a determination unit 3b that determines whether the object 5 has passed the predetermined region 4 based on the received reflection information. The determination unit 3b is realized, for example, when a processor included in a computer or the like executes a detection program and the computer or the like operates as the detection device 3. Although the reception unit 3a receives the reflection information output from the sensor 1, the determination unit 3b may receive the reflection information output from the sensor 1.

  By the way, for example, when the sensor 1 does not have angular resolution, the sensor 1 recognizes a plurality of objects that are located at the same distance from the sensor 1 and are separated from each other as one object. That is, when the distance between the sensor 1 and the reflection unit 2b is equal to the distance between the sensor 1 and the reflector 6, even if the object 5 crosses the optical path 8b and blocks the reflected wave from the reflection unit 2b, the reception unit 1b may receive the reflected wave from the reflector 6 instead of the reflected wave of the reflecting part 2b. As a result, it is difficult for the determination unit 3b to detect that the object 5 has entered the predetermined region 4 based on the blocking of the reflected wave from the reflection unit 2b, and whether the object 5 has passed the predetermined region 4. It becomes difficult to determine whether or not. Therefore, the determination unit 3b specifies the order in which the reflected waves of the respective reflection units 2 are blocked from the received reflection information, and the specified order and the order estimated from the motion of the object 5 passing through the predetermined region 4. From the comparison, the presence of the reflector 6 that hinders the detection of the object 5 is determined.

  FIG. 2 shows an example of detection processing of the reflector 6 in the detection system 100 shown in FIG. Steps S10 and S11 indicate the operation of the determination unit 3b, and steps S20, S21, and S22 indicate the operation of the sensor 1. Steps S10 and S11 in FIG. 2 show examples of a detection program and a detection method.

  In step S <b> 20, the transmission unit 1 a of the sensor 1 irradiates the range 7 with electromagnetic waves.

  In step S21, the receiving unit 1b of the sensor 1 receives reflected waves from the reflecting units 2a and 2b, the reflector 6, and the like.

  In step S <b> 22, the sensor 1 outputs reflection information that is information on the received reflected wave from each reflection unit 2 to the detection device 3.

  In step S <b> 10, the reception unit 3 a receives reflection information from the sensor 1.

  In step S <b> 11, the determination unit 3 b identifies the order in which the reflected waves of the respective reflection units 2 are blocked based on the reflection information, and is estimated from the motion of the object 5 that passes through the predetermined region 4. , 2b or the order in which the reflected waves of the reflecting portions 2b, 2a are blocked. For example, when the receiving unit 1b of the sensor 1 receives the reflected wave from the reflector 6 as the reflected wave of the reflecting unit 2b, the reflected wave information obtained from the sensor 1 includes the reflected wave with respect to the reflected wave of the reflecting unit 2b. Is continuously included. Therefore, the order in which the reflected waves of the respective reflection units 2 specified based on the information about the reflected waves acquired from the sensor 1 are blocked does not include the blocking of the reflected waves from the reflection unit 2b. That is, in the order in which the reflected wave of each reflecting part 2 specified based on the reflected wave information obtained from the sensor 1 is blocked, the blocking of the reflected wave for the reflecting part 2b included in the estimated order is missing. I understand that. Therefore, the determination unit 3b determines the presence of the reflector 6 that hinders the detection of an object when the reflection unit 2b lacking the interruption of the reflected wave is detected.

  As described above, in this embodiment, when an object travels through the predetermined region 4, the sensor 1 radiates electromagnetic waves and receives the reflected wave from each reflection unit 2, and the determination unit 3 b The presence of the reflector 6 is determined based on a comparison between the order in which the reflected waves are blocked and the order estimated from the motion of the object. Thereby, the detection system 100 can remove the reflector 6 which is a factor which prevents detection of an object compared with the past with high accuracy.

  In this embodiment, the sensor 1 has no angular resolution, but is not limited to this. For example, the sensor 1 may have an angular resolution. When the angle formed by the optical path of the reflected wave from the reflector 6 and the optical path 8a of the reflected wave from the reflector 2a is equal to or less than the angular resolution of the sensor 1, the sensor 1 is distinguished from the reflector 2a and the reflector 6. It becomes difficult to do. As a result, the receiving unit 1b of the sensor 1 receives the reflected wave from the reflector 6 instead of the reflected wave of the reflecting unit 2a even if the object 5 crosses the optical path 8a and blocks the reflected wave of the reflecting unit 2a. There is. Therefore, even when the sensor 1 has an angular resolution, the determination process of the presence of the reflector 6 by the determination unit 3b can be applied.

  FIG. 3 shows an example of another embodiment of a detection system and a detection device.

  A detection system 200 shown in FIG. 3 includes a sensor 10, a reflector 20 (20a, 20b), and a detection device 30. A rectangular area 40 having vertices A, B, C, and D is a detection target area in which the detection system 200 performs object detection processing. The region 40 is, for example, a railroad crossing where the track of the train intersects with the road, and the railroad is laid in the horizontal direction of FIG. 3, and the railroad crossing is laid in the vertical direction of FIG. In the actual detection system 200, the sensor 10 and the detection device 30 are arranged outside the track. The detection system 200 detects an object 50 such as a person or a car passing through the region 40 in the vertical direction of FIG. The area 40 is an example of a predetermined area. In addition, the reflector 60 is, for example, a signboard or a bicycle that is left outside the region 40, reflects the millimeter wave irradiated by the sensor 10, behaves like the reflector 20, and The detection of the object 50 is hindered.

  For example, the sensor 10 irradiates the irradiation range 25 of the wide beam type beam pattern including the region 40 with electromagnetic waves in the millimeter wave band, and receives the reflected waves from the reflectors 20a and 20b and the object 50 that reflect the irradiated electromagnetic waves. Radar. The reflector 20 is an example of a reflecting part.

  Further, the sensor 10 does not have an angular resolution for identifying a plurality of objects located at the same distance from the sensor 10. For this reason, the sensor 10 recognizes a plurality of objects located at an equal distance from the sensor 10 and separated from each other as one object. Therefore, the sensor 10 and the reflection plates 20a, 20b, and 20c are arranged to face each other with the region 40 interposed therebetween so that the distances between the sensor 10 and the reflection plates 20a, 20b, and 20c are different from each other. For example, when the sensor 10 is arranged in the vicinity of the vertex A outside the area 40, the reflectors 20a and 20b are arranged in the vicinity of the vertices B and C outside the area 40, respectively. The optical paths 21a and 21b of the reflected wave connecting the sensor 10 and the reflecting plates 20a and 20b intersect with the direction in which the object 50 crosses the region 40. For this reason, the object 50 crossing the area | region 40 interrupts | blocks a reflected wave in order of reflecting plate 20a, 20b or reflecting plate 20b, 20a. The sensor 10 detects that the reflected wave of each reflecting plate 20 is blocked by the object 50. The detection device 30 determines whether or not the object 50 is in the region 40 based on the detection by the sensor 10 and detects the movement of the object 50. In the following description, the electromagnetic wave in the millimeter wave band is simply referred to as millimeter wave.

  The sensor 10 includes a control unit 11, a transmission unit 12, a reception unit 13, and a storage unit 15.

  For example, the control unit 11 includes a processor that executes a program stored in the storage unit 15 such as an EEPROM (Electrically Erasable Programmable Read-Only Memory), and controls each unit of the sensor 10. Moreover, the control part 11 performs the process of FM-CM (Frequency Modulated Continuous Wave) system etc. on the reflected wave from the reflecting plate 20 and the object 50, for example. The control unit 11 calculates the distance to the reflecting plate 20 and the object 50 and the intensity of the reflected wave. For example, the control unit 11 causes the transmission unit 12 to irradiate the irradiation range 25 with a millimeter wave having a frequency swept within a predetermined range at a time interval shorter than 1 second. The control unit 11 causes the reception unit 13 to receive a reflected wave from each reflector 20 or the object 50 with respect to the irradiated millimeter wave as a reception signal. The control unit 11 obtains a beat signal by obtaining a difference in frequency between the irradiated millimeter wave transmission signal and the reception signal of the reflected wave from each reflector 20 or the object 50. For example, the control unit 11 performs spectrum analysis such as Fourier calculation on the obtained beat signal, and determines the distance between the sensor 10 and the reflecting plate 20 or the object 50 and the reflecting plate 20 or the object 50 from the spectrum data of the beat signal. The intensity of the reflected wave from and is calculated.

  The control unit 11 stores, for example, the calculated distance between the sensor 10 and each reflecting plate 20 and the object 50, and the intensity of the reflected wave from each reflecting plate 20 and the object 50 as log data 17 together with information on the measured date and time. Store in unit 15. The control unit 11 outputs the stored log data 17 to the detection device 30. The output log data 17 has information indicating the time change of the intensity of the reflected wave of each reflector 20. The log data 17 will be described with reference to FIG.

  Further, the control unit 11 and the storage unit 15 may be arranged outside the sensor 10. For example, the transmission unit 12 of the sensor 10 emits millimeter waves based on the control of the detection device 30, and the reception unit 13 receives reflected waves from the reflector 20 and the object 50, and transmits a transmission signal and a reception signal. May be output to the detection device 30. Further, the detection device 30 performs processing such as FM-CW method on the received transmission signal and reception signal, calculates the distance between the reflector 20 and the object 50 and the intensity of the reflected wave, and stores it in a built-in storage unit such as an EEPROM. The log data 17 may be stored.

  In addition, the detection system 200 illustrated in FIG. 3 includes two reflectors 20a and 20b, but may include three or more reflectors 20. In this case, it is preferable that the reflecting plates 20 are arranged at intervals larger than the resolution of the distance that the sensor 10 has.

  The detection device 30 is, for example, a computer. The detection device 30 includes a communication unit 31, a control unit 32, and an output unit 36, and receives the log data 17 from the sensor 10 connected by wire or wireless. The detection device 30 acquires the order in which the reflected waves of the respective reflecting plates 20 are blocked based on information indicating temporal changes in the intensity of the reflected waves of the respective reflecting plates 20 included in the received log data 17. Even when the sensor 10 does not have angular resolution, the detection device 30 determines whether or not the passing object 50 is in the region 40 and the movement of the object 50 in the region 40 from the order in which the reflected waves of the reflecting plate 20 are blocked. Is detected.

  The communication unit 31 receives the data of the log data 17 from the sensor 10 and outputs the received log data 17 to the control unit 32. In addition, the communication unit 31 outputs a control instruction from the control unit 32 to the sensor 10. The communication unit 31 is an example of a reception unit.

  The control unit 32 includes, for example, a processor that executes a program stored in a storage unit such as an EEPROM built in the detection device 30 and controls each unit of the detection device 30. In addition, the control unit 32 functions as the determination unit 33 by executing a detection program stored in a storage unit such as an EEPROM built in the detection device 30.

  The determination unit 33 determines whether or not the object 50 is in the area 40 based on the received log data 17. In addition, as described with reference to FIG. 5, the determination unit 33 determines the presence of the reflector 60 that prevents the detection of the object 50 in the region 40 based on the received log data 17.

  The output unit 36 outputs the determination result by the determination unit 33 to, for example, an external computer. For example, an external computer or the like displays the determination result on a liquid crystal monitor or the like and notifies the administrator or the like. The manager or the like preferably removes the reflector 60 that prevents detection of the object 50 in the region 40 from the irradiation range 25 based on the displayed determination result.

  FIG. 4 shows an example of the intensity distribution of the reflected wave calculated by the sensor 10 shown in FIG. 4A, 4B, and 4C, the horizontal axis indicates the distance from the sensor 10, and the vertical axis indicates the intensity distribution of the reflected wave. For example, the distance between the sensor 10 and the reflection plate 20a is 10 meters, and the distance between the sensor 10 and the reflection plate 20b is 12 meters. For example, the distance between the sensor 10 and the reflector 60 is 12 meters, similar to the distance between the sensor 10 and the reflector 20b.

  FIG. 4A shows the intensity distribution of the reflected wave when there is no object in the region 40. In FIG. 4A, the intensity distribution has, for example, peaks exceeding the threshold α at 10 meters and 12 meters where the reflecting plates 20a and 20b are arranged.

  4B shows, for example, the intensity distribution when the object 50 crosses the optical path 21b shown in FIG. 3 at a position of 11 meters from the sensor 10 in the region 40 and blocks the reflected wave from the reflecting plate 20b. Show. In FIG. 4B, the intensity distribution has a peak exceeding the threshold value α at a distance of 10 meters and 11 meters where the reflecting plate 20a and the object 50 are located. On the other hand, the intensity distribution has a peak smaller than the threshold value α because the reflected wave is blocked by the object 50 at a distance of 12 meters where the reflector 20b is disposed.

  FIG. 4C shows an intensity distribution when the reflector 60 shown in FIG. 3 is present. The reflector 60 is placed at a distance of 12 meters from the sensor 10. In FIG. 4C, similarly to FIG. 4B, the object 50 crosses the optical path 21b at a position 11 meters from the sensor 10 and blocks the reflected wave from the reflecting plate 20b. In FIG. 4C, the intensity distribution has a peak exceeding the threshold α at 10 meters where the reflecting plate 20a is present and 11 meters where the object 50 is present. Furthermore, since the sensor 10 receives the reflected wave from the reflector 60, the intensity of the reflected wave at 12 meters where the reflecting plate 20b is arranged is as follows although the reflected wave from the reflecting plate 20b is blocked. A peak exceeding a threshold value α equivalent to the intensity at 12 meters shown in FIG.

  Here, the threshold value α is a reference value by which the control unit 11 determines whether or not there is a reflected wave. That is, the control unit 11 determines that there is a reflected wave from the reflecting plate 20 or the object 50 when the intensity of the reflected wave is equal to or greater than the threshold value α, and the reflecting plate 20 or the object when the intensity of the reflected wave is smaller than the threshold value α. It is determined that there is no reflected wave from 50. In FIG. 4A, the control unit 11 determines that there are reflected waves from the reflecting plates 20a and 20b. In FIG. 4B, the control unit 11 determines that there is a reflected wave from the reflecting plate 20a and the object 50, and determines that there is no reflected wave from the reflecting plate 20b. In FIG. 4C, the control unit 11 determines that there are reflected waves from the reflecting plates 20 a and 20 b and the object 50.

  FIG. 5 shows an example of the log data 17 shown in FIG. The log data 17 has a storage area for storing, for example, the measurement date and time of the reflected wave and the intensity of the reflected wave at each distance of 0.5 meters. For example, if the intensity of the reflected wave is smaller than the threshold value α and the controller 11 determines that there is no reflected wave, the value “0” is stored in the storage area for each distance in the log data 17 and the intensity of the reflected wave is stored. Is greater than or equal to the threshold value α and the control unit 11 determines that there is a reflected wave, the value “1” is stored. However, instead of storing a value of “0” or “1” for the presence or absence of the reflected wave, the intensity value of the reflected wave may be stored in the storage area of each distance of the log data 17. The value “1” stored in the storage area of 10 meters and 12 meters in FIGS. 5A and 5B indicates the reflected wave by the reflecting plates 20a and 20b.

  FIG. 5A shows measurement results every second from 12:00:00 on March 5, 2013 to 12: 00: 6. In FIG. 5 (a), the object 50 appears at a position 9 meters from the sensor 10 at 12:02:00 by detecting a reflected wave of 9 meters at 12:02:00 on March 5, 2013. It shows that. At this time, since the intensity at 10 meters decreases, it can be seen that the object 50 has entered the region 40 across the optical path 21a. The value “1” sequentially stored in the storage area from the distance of 9 meters to the distance of 11 meters from 12:02:00 to 12: 0: 06 is the value of the object 50 from the sensor 10 to 9. Indicates that the vehicle has passed a position 11 meters from the meter. It can be seen that the object 50 crosses the optical path 21b because the intensity at 12 meters decreases at 12: 00: 4. That is, FIG. 5A shows that the object 50 crosses the optical path 21a at a position 9 meters from the sensor 10 at 12:02:00, and the optical path 21b at a position 11 meters from the sensor 10 at 12:04:00. Is crossed.

  FIG. 5B shows an example of the log data 17 when the reflector 60 shown in FIG. 3 is present. FIG. 5B shows a measurement result every second from 12:00:00 on March 5, 2013 to 12:00:00 on March 5, 2013, as in FIG. The case where the optical path 21a is crossed at a position 9 meters from the sensor 10 and enters the region 40 at 12:02:00 is shown. In FIG. 5 (b), the object 50 crosses the optical path 21b at the position of 11 meters from the sensor 10 at 12:00:00, and in the log data 17 even though the reflected wave of the reflecting plate 20b is blocked. The storage area with a distance of 12 meters indicated by shading is set to the value “1”. This is because the sensor 10 receives the reflected wave from the reflector 60. For example, as shown in FIG. 4C, the intensity of the reflected wave at a distance of 12 meters is equal to or greater than a threshold value α, and the control unit 11 This is because it is determined that the reflected wave from the reflecting plate 20b has been received.

  As shown in FIGS. 4 and 5, when there is a reflector 60, even if the object 50 blocks the reflected wave of the reflecting plate 20 b, the sensor 10 that does not have angular resolution does not reflect the reflected wave from the pseudo-reflector 60. Received as a reflected wave of the reflector 20b. Then, as illustrated in FIG. 5B, the control unit 11 stores a value “1” indicating that there is a reflected wave in the storage area of the log data 17 having a distance of 12 meters. In the log data 17 shown in FIG. 5B, after the reflected wave of the reflecting plate 20a is blocked at 12:02:00 (10 meter value “0”), the reflected waves of the reflecting plates 20a and 20b are blocked. This makes it difficult for the detection device 30 to determine whether or not the object 50 is in the region 40.

  FIG. 6 shows an example of detection processing of the reflector 60 in the detection system 200 shown in FIG. The processing from step S30 to step S37 is realized by the control unit 32 of the detection device 30 executing a detection program stored in a storage unit such as an internal EEPROM. The processing from step S40 to step S44 is realized by the control unit 11 of the sensor 10 executing a program stored in the storage unit 15. That is, steps S30 to S37 in FIG. 6 show examples of the detection program and the detection method.

  In step S30, the control unit 32 of the detection device 30 outputs an irradiation instruction for irradiating the millimeter wave with the sensor 10 for a predetermined period. The predetermined period is, for example, a period during which the barrier 50 of the circuit breaker is raised and the level crossing is open when the region 40 is a railroad crossing, and is a period during which an object 50 such as a person or a car can freely come and go. .

  In step S <b> 40, when the control unit 11 of the sensor 10 receives an irradiation instruction from the detection device 30, for example, the transmission unit 12 performs irradiation with millimeter waves in which a frequency is swept within a predetermined range at a time interval shorter than 1 second. Let it begin.

  In step S41, the receiving unit 13 of the sensor 10 receives the reflected waves from the reflectors 20a and 20b, the object 50 passing through the region 40, the reflector 60, and the like.

  In step S <b> 42, for example, the control unit 11 performs an FM-CM method or the like on the irradiated millimeter wave transmission signal and the reception signal of the reflected wave from each reflector 20 or the object 50. The control unit 11 calculates the distance from the sensor 10 to each reflector 20 and the object 50 and the intensity of the reflected wave. For example, as illustrated in FIG. 5, the control unit 11 sets the calculated distance and the intensity of the reflected wave to a value “0” indicating that there is no reflected wave or a value “1” indicating that there is a reflected wave. The data 17 is stored in the storage area for each distance of 0.5 meters corresponding to the measurement date and time.

  In step S43, the control unit 11 determines whether or not a predetermined period, which is a period during which an object 50 such as a person or a car can freely come and go, has elapsed. When the predetermined period has elapsed, the controller 11 stops the millimeter wave irradiation and proceeds to the process of step S44 (YES side). On the other hand, if the predetermined period has not elapsed, the sensor 10 proceeds to the process of step S41 (NO side).

  In step S44, the sensor 10 outputs the log data 17 shown in FIG.

  On the other hand, in step S <b> 31, the communication unit 31 receives the log data 17 from the sensor 10 and outputs it to the determination unit 33.

  In step S32, the determination unit 33 determines whether there is an object 50 that has entered the region 40 across the optical path 21a. For example, the determination unit 33 searches for the measurement date and time when the value “0” is stored in the storage area with a distance of 10 meters, based on the received log data 17. The determination unit 33 determines that the object 50 has entered the region 40 across the optical path 21 a when the measurement date and time when the value “0” is stored in the storage region with a distance of 10 meters is detected. And the determination part 33 transfers to the process (YES side) of step S33. On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area with a distance of 10 meters, the determination unit 33 proceeds to the process of step S34 (NO side).

  In step S33, the determination unit 33 determines whether or not the object 50 that has entered the blocking area 40 from the reflection wave of the reflection plate 20a in step S32 has blocked the reflection wave of the reflection plate 20b. For example, the determination unit 33 estimates that the object 50 is passing toward the side CD of the region 40, and after the reflected wave of the reflecting plate 20a is blocked in step S32 in the received log data 17, the distance 12 The measurement date and time when the value “0” is stored in the storage area of the meter is searched. When the measurement date and time when the value “0” is stored in the storage area with a distance of 12 meters is detected after the reflected wave of the reflecting plate 20a is blocked, the determination unit 33 determines that the object 50 has crossed the optical path 21a. It is determined that the light passes through the region 40 from the side AB to the side CD across the optical path 21b. And the determination part 33 transfers to the process (YES side) of step S37. On the other hand, after the reflected wave of the reflecting plate 20a is interrupted, the determination unit 33 proceeds to the process of step S35 (NO side) when there is no measurement date and time in which the value “1” is stored in the storage area with a distance of 12 meters. To do.

  In step S34, for example, the determination unit 33 determines whether or not there is an object 50 that has crossed the optical path 21b even though the reflected wave of the reflecting plate 20a is not blocked in step S32. For example, the determination unit 33 searches the received log data 17 for the measurement date and time when the value “0” is stored in the storage area with a distance of 12 meters. The determination unit 33 determines that there is an object 50 that has crossed the optical path 21b when the measurement date and time when the value “0” is stored in the storage area with a distance of 12 meters is detected. The determination unit 33 determines that the reason why the reflection wave blocking of the reflection plate 20a is lost in step S32 is that the reflector 60 exists at a distance equivalent to 10 meters from the sensor 10 to the reflection plate 20a. And the determination part 33 transfers to the process (YES side) of step S36. On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area with a distance of 12 meters (NO side), the determination unit 33 determines that no object has entered the area 40 and ends the series of processes. .

  In step S35, the determination unit 33 determines whether or not the object 50 that blocked the reflected wave of the reflecting plate 20a in step S32 blocked the reflected wave of the reflecting plate 20b before blocking the reflected wave of the reflecting plate 20a. . For example, the determination unit 33 estimates that the object 50 has passed through the region 40 in the order of the optical paths 21b and 21a, and the received log data 17 has a distance of 12 meters before the reflected wave of the reflecting plate 20a is blocked in step S32. The measurement date and time when the value “0” is stored in the storage area is searched. When the measurement date and time when the value “0” is stored in the storage area with a distance of 12 meters is detected before the reflected wave of the reflecting plate 20a is blocked in step S32, the determination unit 33 detects that the object 50 is the optical path 21b, Crossing in the order of 21a, it is determined that the region 40 has been passed. And the determination part 33 transfers to the process (YES side) of step S37. On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area with a distance of 12 meters, the determination unit 33 loses the blocking of the reflected wave of the reflecting plate 20b, and the distance 12 from the sensor 10 to the reflecting plate 20b. It is determined that the reflector 60 exists at a distance equivalent to a meter. And the determination part 33 transfers to the process (NO side) of step S36.

  In step S36, the control unit 32 outputs the determination result including the distance and the measurement date / time of the reflecting plate 20 determined that the reflector 60 is present in step S34 or step S35 to an external computer or the like via the output unit 36. To do. For example, an administrator such as an output destination computer removes the reflector 60 from the millimeter wave irradiation range 25 of the sensor 10 according to the contents of the received determination result.

  In step S <b> 37, the determination unit 33 determines whether the next object has entered the region 40. For example, the determination unit 33 searches for the next measurement date and time when the reflected wave of the reflecting plate 20a is blocked and the value “0” is stored in the storage area having a distance of 10 meters. The determination unit 33 determines that the next object has entered the region 40 when the next measurement date and time when the value “0” is stored in the storage region with a distance of 10 meters is detected, and the process of step S32 (YES side) Migrate to On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area having a distance of 10 meters (NO side), the determination unit 33 ends the series of processes.

  As described above, in this embodiment, the sensor 10 measures the reflected wave from each reflecting plate 20 during a predetermined period when the object travels through the region 40, and the determination unit 33 blocks the reflected wave from each reflecting plate 20. The presence of the reflector 60 is determined by comparing the order with the order estimated from the motion of the object. Thereby, even if it uses the sensor 10 which does not have angle resolution, the detection system 200 can remove the reflector 60 which is a factor which prevents the detection of an object compared with the past with high accuracy.

  7 and 8 show another embodiment of the detection system and the detection device. 7 and 8 show a case where the detection system 300 is arranged at a crossing of a single track 80 having the breaker 70 (70a, 70b). FIG. 7 is an overhead view of a crossing. FIG. 8 is a plan view of FIG. 7 and 8 show an example of a state in which the barrier bar 71 (71a, 71b) of the circuit breaker 70 is raised and the railroad crossing is opened.

  The detection system 300 includes a sensor 10 (10a, 10b), a reflector 20 (20a, 20b, 20c, 20d), and a detection device 30a. The detection system 300 is equivalent to including the two detection systems 200 shown in FIG. 3, and a person or vehicle that has entered the railroad crossing 40a where the track 80 and the road 90 intersect when the railroad crossing is closed. Detect objects such as. The reflector 60 is, for example, a signboard or an abandoned bicycle disposed outside the railroad crossing 40a, reflects the millimeter wave irradiated by the sensor 10, behaves like the reflector 20, and takes a railroad crossing. This prevents detection of an object such as a person or a car that has entered into 40a.

  The sensors 10a and 10b are, for example, in the vicinity of the vertex A and the vertex C facing each other outside the railroad crossing 40a so that the irradiation range 25a and the irradiation range 25b of the wide beam type beam pattern overlap each other. Be placed. Thereby, sensor 10a, 10b can irradiate a millimeter wave to the whole railroad crossing 40a. In addition, each sensor 10 is installed, for example, at a height of about 60 centimeters to 65 centimeters from the ground in order to detect an object such as a person or a car entering the railroad crossing.

  The reflectors 20a and 20b are arranged to face the sensor 10a across the railroad crossing 40a in order to detect an object such as the automobile 110 passing through the railroad crossing 40a. For example, since the sensor 10a is disposed in the vicinity of the vertex A on the outside of the railroad crossing 40a, the reflectors 20a and 20b are disposed in the vicinity of the vertices B and C on the outside of the railroad crossing 40a, respectively. Reflected wave optical paths 21a and 21b connecting the sensor 10a and the reflecting plates 20a and 20b intersect with an object passing through the railroad crossing 40a.

  On the other hand, the reflecting plates 20c and 20d are disposed so as to face the sensor 10b across the railroad crossing 40a in order to detect an object passing through the railroad crossing 40a. For example, since the sensor 10b is disposed in the vicinity of the vertex C outside the railroad crossing 40a, the reflectors 20c and 20d are respectively disposed in the vicinity of the vertexes A and D outside the railroad crossing 40a. Reflected wave optical paths 21c and 21d connecting the sensor 10b and the reflecting plates 20c and 20d intersect with an object passing through the railroad crossing 40a. Each reflector 20 is installed at a height of about 60 cm to 65 cm from the ground in the same manner as the sensor 10. Further, the reflecting plate 20 shown in FIG. 7 has a triangular pyramid shape, but is not limited to this, and has any shape as long as it reflects the irradiated millimeter wave toward the sensor 10. Also good.

  The detection device 30a detects an object that enters the railroad crossing 40a by causing the sensors 10a and 10b to irradiate millimeter waves when the blocking bar 71 is lowered and the railroad crossing is closed. Further, when the blocking bar 71 is raised and the level crossing is opened, the detection device 30a irradiates the sensors 10a and 10b with millimeter waves, and detects the reflector 60 that prevents detection of an object entering the level crossing 40a.

  FIG. 9 shows an example of the sensor 10 shown in FIGS. 7 and 8. 9 that have the same or equivalent functions as the elements shown in FIG. 3 are assigned the same reference numerals and explanations thereof are omitted.

  Based on the control instruction of the control unit 11, the transmission unit 12, for example, transmits a millimeter-wave transmission signal in which a frequency is swept within a predetermined range at a time interval shorter than 1 second via the antenna unit 16 via the irradiation range 25. Irradiate (25a, 25b). The transmission unit 12 also outputs a millimeter wave transmission signal to the control unit 11.

  The receiving unit 13 receives, via the antenna unit 16, an object passing through the railroad crossing 40 a and a reflected wave signal from the reflector 60 along with the reflected wave from each reflecting plate 20 with respect to the irradiated millimeter wave. The receiving unit 13 outputs the received signal of the reflected wave to the control unit 11.

  The communication unit 14 outputs the log data 17 stored in the storage unit 15 to the detection device 30a, receives a control instruction from the detection device 30a, and outputs the received control instruction to the control unit 11.

  FIG. 10 shows an example of the detection device 30a shown in FIGS. 10 that have the same or equivalent functions as the elements shown in FIG. 3 are denoted by the same reference numerals and description thereof is omitted.

  The communication unit 31a receives data such as log data 17 from the sensors 10a and 10b. The communication unit 31 a has a function of receiving, for example, a signal that detects a train approaching a railroad crossing from a detector installed on the track 80 and a signal that indicates the open / close state of the barrier bar 71 from the circuit breaker 70. The communication unit 31a outputs the received data such as log data 17, the detection signal from the detector, and the signal from the circuit breaker 70 to the control unit 32a. Further, the communication unit 31a outputs control instructions for the sensors 10a and 10b received from the control unit 32a to the sensors 10a and 10b, respectively. The communication unit 31a is an example of a reception unit.

  For example, the control unit 32a includes a processor that controls each unit of the detection device 30a by executing a program stored in the storage unit 35 such as an EEPROM. In addition, the control unit 32a functions as the determination unit 33 and the extraction unit 34 by executing a detection program stored in the storage unit 35 such as an EEPROM.

  The extraction unit 34 extracts data from the log data 17 received from the sensors 10 a and 10 b according to the open / close state of the railroad crossing, and outputs the extracted data to the determination unit 33. For example, when the level crossing is closed, the extraction unit 34 outputs the received log data 17 to the determination unit 33 as it is. On the other hand, when the railroad crossing is open, the extraction unit 34, based on the information on the distance between the sensor 10 and the reflection plate 20 stored in the storage unit 35, the intensity of the reflected wave of each reflection plate 20 in the log data 17. And the data of the measurement date is extracted. The extraction unit 34 outputs the extracted data to the determination unit 33.

  The storage unit 35 stores a detection program executed by the control unit 32. The storage unit 35 stores information on the distance between the sensor 10 and each reflector 20. For example, the distance between the sensor 10a and the reflecting plate 20a is 10 meters, and the distance between the sensor 10a and the reflecting plate 20b is 12 meters. For example, the distance between the sensor 10b and the reflecting plate 20d is 10 meters, and the distance between the sensor 10b and the reflecting plate 20c is 12 meters. Furthermore, for example, the distance between the sensor 10b and the reflector 60 is 12 meters, similar to the distance between the sensor 10b and the reflector 20c.

  FIG. 11 shows an example of the log data 17 (17a, 17b) shown in FIG. FIGS. 11A and 11B show the sensors 10a and 10b when the railroad crossing is open, for example, when the automobile 110 crosses the light path 21a, 21b, 21c, and 21d and passes the railroad crossing 40a. The log data 17a and 17b acquired by is shown.

  FIG. 11A shows measurement results every second from 12:00:00 on March 5, 2013 to 12:00:00. In FIG. 11 (a), detection of the reflected wave at a distance of 9 meters and a distance of 9.5 meters at 12:02:00 on March 5, 2013, the automobile 110 is 9 meters and 9.5 meters from the sensor 10a. It has appeared at the position of. At this time, since the intensity at 10 meters decreases, it can be seen that the automobile 110 crosses the optical path 21a and enters the railroad crossing 40a. The value “1” sequentially stored in the storage area from the distance of 9 meters to the distance of 13 meters from 12:02:00 to 12: 0: 06 is the value of “1” by the vehicle 110 from the sensor 10a. Indicates that the vehicle has passed the position 13 meters from the meter. It can be seen that the vehicle 110 crosses the optical path 21b because the intensity at 12 meters decreases at 12: 00: 4.

  FIG. 11B shows a measurement result of 1 second between 12:00:00 on March 5, 2013 and 12:00:10. The case where the optical path 21a is traversed at the positions of 2 meters and 2.5 meters from 10b and enters the irradiation range 25b is shown. The value “1” sequentially stored in the storage area from the distance of 2.5 meters to the distance of 0.5 meters between 12: 00: 5 and 12: 00: 7 This indicates that the sensor 10b has passed a position of 2.5 to 0.5 meters. It can be seen that the automobile 110 has crossed the optical path 21d because the intensity at 10 meters decreases at 12:00:00 and 12:07:00. However, in FIG. 11 (b), the log data 17b despite the automobile 110 crossing the optical path 21c and blocking the reflected wave of the reflector 20c at 12: 0: 5 and 12: 0: 6. The storage area with a distance of 12 meters indicated by shading is set to the value “1”. This is because the sensor 10b receives the reflected wave from the reflector 60, for example, the intensity of the reflected wave at a distance of 12 meters exceeds the threshold value α, and the control unit 11 receives the reflected wave from the reflecting plate 20c. By determining that it has been received.

  A case where an object crosses in the order of the optical paths 21a, 21b, 21c, and 21d and passes through the railroad crossing 40a is referred to as a “forward direction”. A case where the object passes through the railroad crossing 40a so as to cross in the order of the optical paths 21d, 21c, 21b, and 21a is referred to as “reverse direction”. The forward direction is an example of the first direction, and the reverse direction is an example of the second direction.

  FIG. 12 shows an example of the extracted data. The extracted data 18 is, for example, the measurement date and time and each reflection extracted by the extraction unit 34 based on the distance information of each reflector 20 stored in the storage unit 35 of the log data 17a and 17b shown in FIG. It has information on the intensity of the reflected wave at the distance where the plate 20 is disposed. The extraction unit 34 outputs the extracted data 18 to the determination unit 33.

  FIG. 13 shows an example of the determination log. The determination log 19 has storage areas of measurement date and time, a distance of 10 meters (reflecting plate 20a), a distance of 12 meters (reflecting plate 20b), a distance of 12 meters (reflecting plate 20c), and a distance of 10 meters (reflecting plate 20d). The determination log 19 stores the detection result of the detection process of the reflector 60 in the detection system 300 described with reference to FIGS. In the measurement date and time storage area of the determination log 19, for example, the measurement date and time when the reflected wave of the reflecting plate 20a or the reflecting plate 20d is first blocked is stored. In addition, a value “0” indicating that no reflector is present or a value “1” indicating that a reflector is present is stored in the storage area of each reflector 20 in the determination log 19. For example, in FIG. 13, in the region of distance 12 meters (reflecting plate 20c) of 12:00:00 on March 5, 2013 and 12: 0: 41, a distance equivalent to 12 meters of the reflecting plate 20c Is stored with a value “1” indicating that the reflector 60 exists. Further, in the region of distance 12 meters (reflecting plate 20b) and distance 12 meters (reflecting plate 20c) at 12:00:27 on March 5, 2013, it is equivalent to the distance 12 meters of the reflecting plate 20b or the reflecting plate 20c. A value “1” indicating that the reflector 60 exists at the distance is stored. On the other hand, a value “0” indicating that the reflector 60 does not exist is stored in the storage area of each reflecting plate 20 on March 5, 2013 at 12:00:15, and the reflected waves of all the reflecting plates 20 are stored. Indicates that is blocked.

  FIG. 14 illustrates an example of object detection processing in the detection system 300 illustrated in FIGS. 7 and 8. The processing from step S100 to step S106 is realized by the control unit 32a of the detection device 30a executing a detection program stored in the storage unit 35 such as an EEPROM. The processing from step S200 to step S204 is realized by the control unit 11 of the sensors 10a and 10b executing a program stored in the storage unit 15.

  In step S100, the control unit 32a determines whether or not a detection signal for detecting a train approaching a railroad crossing is received by the detector installed on the track 80 via the communication unit 31a. When the control unit 32a receives the detection signal, the control unit 32a proceeds to the process of step S101 (YES side). On the other hand, the control part 32a waits until a detection signal is received, when the detection signal is not received (NO side).

  In step S101, the control unit 32a outputs an irradiation instruction to irradiate millimeter waves to the sensors 10a and 10b.

  In step S200, when receiving the irradiation instruction from the detection device 30a, the control unit 11 of the sensors 10a and 10b transmits, for example, irradiation of millimeter waves in which a frequency is swept within a predetermined range at a time interval shorter than 1 second. 12 starts.

  In step S201, the receiving units 13 of the sensors 10a and 10b receive the reflected waves from the respective reflecting plates 20 and the like. The receiving unit 13 outputs the received reflected wave to the control unit 11 as a received signal.

  In step S <b> 202, the control unit 11 of the sensors 10 a and 10 b performs processing such as the FM-CM method on the received transmission signal from the transmission unit 12 and the reflected wave signal from the reception unit 13. To the reflecting plate 20 and the like and the intensity of the reflected wave are calculated. The control unit 11 of the sensor 10a sets the calculated distance and the intensity of the reflected wave to a measurement date and time in the log data 17a with a value “0” indicating that there is no reflected wave or a value “1” indicating that there is a reflected wave. Store in the corresponding storage area for each distance of 0.5 meters. The control unit 11 of the sensor 10b measures the calculated distance and the intensity of the reflected wave with the value “0” indicating that there is no reflected wave or the value “1” indicating that there is a reflected wave, in the log data 17b. It stores in the storage area of each distance every 0.5 meters corresponding to the day and time.

  In step S203, the control unit 11 of the sensors 10a and 10b sends the data including the value “0” or the value “1” stored in the storage area for each distance of 0.5 meters to the control device 30a together with the measurement date and time. Output each.

  In step S204, the control unit 11 of the sensors 10a and 10b determines whether or not an instruction to stop the irradiation of millimeter waves has been received from the detection device 30a, for example, when the train has passed the level crossing and the level crossing has been opened. When the control unit 11 of the sensors 10a and 10b receives a stop instruction (YES side), the millimeter wave irradiation is stopped. On the other hand, the control part 11 of sensor 10a, 10b transfers to the process of step S201 as a false determination (NO) of step S204, when the stop instruction | indication is not received.

  On the other hand, in step S102, the communication unit 31a of the detection device 30a receives data including the measurement date and time and the value “0” or value “1” stored in the storage area for each distance of 0.5 meters. Accept from 10a and 10b, respectively. The communication unit 31a outputs the received data to the extraction unit 34. Since the level crossing is closed, the extraction unit 34 outputs the data received from each sensor 10 to the determination unit 33 as it is. In addition, the control unit 32 a stores the received data in the storage unit 35.

  In step S103, the determination unit 33 determines whether an object such as a person or a car has entered the railroad crossing based on the received data. For example, in the received data, the determination unit 33 stores the value “0” in the storage area with a distance of 10 meters or 12 meters and the value “1” in the storage area with a distance shorter than 10 meters or 12 meters. Is stored. When the value “0” is stored in the storage area of the distance 10 meters or the distance 12 meters and the value “1” is stored in the storage area of the distance shorter than the distance 10 meters or the distance 12 meters, the determination unit 33 It is determined that an object such as a person or a car has entered the railroad crossing. And the determination part 33 transfers to the process (YES side) of step S104. On the other hand, when the value “1” is stored in the storage area of the distance 10 meters and the distance 12 meters, the determination unit 33 determines that there is no object that has entered the railroad crossing and makes a false determination (NO) in step S103. The process proceeds to step S105.

  In step S104, the control unit 32a outputs, via the output unit 36, an alarm indicating that an object has entered the railroad crossing in step S103, for example, to a computer such as a management center that manages train operation. For example, a computer such as a management center outputs an alarm indicating that there is an object that has entered the railroad crossing on a train approaching the railroad crossing based on the received alarm, and stops the train. Alternatively, a computer such as a management center outputs a similar alarm to a computer at the nearest station, for example. The station staff at the nearest station removes the object that has entered the railroad crossing based on the received alarm.

  In step S105, the control unit 32a determines whether or not a signal indicating that the train has passed the railroad crossing and the barrier bar 71 has been raised is received from the circuit breaker 70 via the communication unit 31a. When the control unit 32a receives a signal indicating that the barrier rod 71 has been raised from the circuit breaker 70, the control unit 32a proceeds to the process of step S106 (YES side). On the other hand, if the determination unit 32 has not received a signal indicating that the barrier 71 has been raised from the circuit breaker 70, the determination unit 32 proceeds to the process of step S102 as a false determination (NO) of step S105.

  In step S106, the control unit 32a outputs a stop instruction to stop the irradiation of millimeter waves to the sensors 10a and 10b. The detection device 30a ends a series of processes.

  15 to 19 show examples of the detection process of the reflector 60 in the detection system 300 shown in FIGS. 7 and 8. FIG. 16 shows an example of the process of step S302 shown in FIG. FIG. 17 shows the continuation of the process of step S302 shown in FIG. FIG. 18 shows an example of the process of step S303 shown in FIG. FIG. 19 shows the continuation of the process of step S303 shown in FIG. The processing from step S300 to step S304, step S500 to step S517, and step S600 to step S617 is realized by the control unit 32a of the detection device 30a executing a detection program stored in the storage unit 35. The processing from step S400 to step S403 is realized by the control unit 11 of the sensors 10a and 10b executing a program stored in the storage unit 15. That is, steps S300 to S304, steps S500 to S517, and steps S600 to S617 shown in FIGS. 15 to 19 show examples of the detection program and the detection method.

  In step S300, in order to detect the reflector 60 that prevents detection of an object that enters the level crossing when the level crossing is closed, for example, the control unit 32a outputs millimeter waves for a predetermined period such as 2 minutes when the level crossing is open. An irradiation instruction for irradiation is output to the sensors 10a and 10b. Note that the control unit 32a may output a millimeter wave irradiation instruction for detecting the reflector 60 to each sensor 10 instead of the millimeter wave irradiation stop instruction in step S106 illustrated in FIG. Good.

  In step S400, when receiving the irradiation instruction from the detection device 30a, the control unit 11 of the sensors 10a and 10b transmits, for example, millimeter wave irradiation in which a frequency is swept at a time interval shorter than 1 second within a predetermined range. 12 starts.

  In step S401, the receiving units 13 of the sensors 10a and 10b receive reflected waves from the reflectors 60 and the like such as the automobile 110 passing through the reflectors 20 and the railroad crossing 40a. The receiving unit 13 outputs the received reflected wave to the control unit 11 as a received signal.

  In step S <b> 402, the control unit 11 of the sensors 10 a and 10 b performs processing such as an FM-CM method on the transmission signal from the transmission unit 12 and the reflected wave signal from the reception unit 13, for example. And the distance between each reflecting plate 20 and the object and the intensity of the reflected wave are calculated. The control unit 11 of the sensor 10a sets the calculated distance and the intensity of the reflected wave to a measurement date and time in the log data 17a with a value “0” indicating that there is no reflected wave or a value “1” indicating that there is a reflected wave. Store in the corresponding storage area for each distance of 0.5 meters. The control unit 11 of the sensor 10b measures the calculated distance and the intensity of the reflected wave with the value “0” indicating that there is no reflected wave or the value “1” indicating that there is a reflected wave, in the log data 17b. It stores in the storage area of each distance every 0.5 meters corresponding to the day and time.

  In step S403, the control unit 11 of the sensors 10a and 10b determines whether or not a predetermined period has elapsed. When the predetermined period has elapsed, the control unit 11 of the sensors 10a and 10b stops the millimeter wave irradiation, and proceeds to the process of step S404 (YES side). On the other hand, the control part 11 of each sensor 10 transfers to the process (NO side) of step S401, when predetermined time has not passed.

  In step S404, the control unit 11 of the sensors 10a and 10b outputs the log data 17a and 17b acquired during a predetermined period to the detection device 30a.

  In step S301, the communication unit 31a receives the log data 17a and 17b output from the sensors 10a and 10b, respectively, and outputs them to the extraction unit 34. Based on the information on the distance of each reflecting plate 20 stored in the storage unit 35, the extracting unit 34 includes the measurement date and time, the distance of 10 meters and the distance at which each reflecting plate 20 is arranged, in the received log data 17a and 17b. Extract data with reflected wave intensity at 12 meters. The extraction unit 34 outputs the extracted data to the determination unit 33, for example, as the extraction data 18 illustrated in FIG.

  In step S302, the determination unit 33 prevents detection of an object that has entered the railroad crossing when the railroad crossing is closed based on the extracted data 18 and the movement of an object such as the automobile 110 passing through the railroad crossing road 40a in the forward direction. The presence of a reflector 60 such as a signboard or a neglected bicycle is determined. The determination unit 33 stores the determination result, for example, in the storage area of each reflector 20 corresponding to the measurement date and time in the determination log 19 stored in the storage unit 35.

  In step S303, the determination unit 33 determines, based on the extracted data 18 and the movement of the object passing through the railroad crossing 40a in the opposite direction, the reflector 60 that prevents detection of an object that has entered the railroad crossing when the railroad crossing is closed. Determine existence. The determination unit 33 stores the determination result, for example, in the storage area of each reflector 20 corresponding to the measurement date and time in the determination log 19 stored in the storage unit 35.

  In step S304, the control unit 32a reads the determination log 19 from the storage unit 35, and outputs the read determination log 19 to a computer such as a management center via the output unit 36. The computer such as the management center transmits the received determination log 19 to the computer at the nearest station, for example. The computer at the nearest station displays the received determination log 19 on, for example, a liquid crystal monitor. The station staff at the nearest station removes the reflector 60 such as a signboard or a neglected bicycle according to the contents of the displayed determination log 19. For example, in the determination log 19 shown in FIG. 13, a value “1” indicating that there is a reflector is stored in a storage area of a distance of 12 meters (reflecting plate 20 c) more than the storage areas of other reflecting plates 20. Therefore, it is preferable that the station staff at the nearest station remove the reflector 60 such as a signboard or a neglected bicycle by confirming a distance equivalent to 12 meters from the sensor 10b to the reflector 20c.

  Next, the process of the determination unit 33 in step S302 will be described.

  In step S500 shown in FIG. 16, the determination unit 33 determines whether or not the reflected wave of the reflecting plate 20a that is one end of the railroad crossing 40a is blocked by an object such as the automobile 110 that passes through the railroad crossing 40a in the forward direction. To do. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20 a with a distance of 10 meters. If the determination unit 33 detects a measurement date and time such as 12:00:00 on March 5, 2013 in which the value “0” is stored in the storage area of the reflecting plate 20a with a distance of 10 meters, The process proceeds to S501 (YES side). On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20a with a distance of 10 meters, the determination unit 33 terminates the process of step S302 as a false determination (NO) in step S500. The process proceeds to S303.

  In step S501, the determination unit 33 determines whether the object that has blocked the reflected wave of the reflecting plate 20a in step S500 has blocked the reflected wave of the reflecting plate 20b. For example, the determination unit 33 estimates that the object passes through the railroad crossing 40a in the forward direction, and after the reflected wave of the reflecting plate 20a is blocked in step S500 in the extracted data 18, the distance 12 of the reflecting plate 20b is determined. The measurement date and time when the value “0” is stored in the storage area of the meter is searched. After the reflecting plate 20a is interrupted in step S500, the determination unit 33 measures the value “0” stored in the storage area of the reflecting plate 20b at a distance of 12 meters, for example, 2013 12:00:00 If the date is detected, the process proceeds to step S502 (YES side). On the other hand, after the reflected wave of the reflection plate 20a is blocked, the determination unit 33 performs the process of step S505 (NO in the case where there is no measurement date and time in which the value “0” is stored in the storage area of the reflection plate 20b with a distance of 12 meters). Side).

  In step S502, the determination unit 33 determines whether or not the reflected wave of the reflecting plate 20c is blocked by an object passing in the forward direction after the reflected wave of the reflecting plate 20b is blocked in step S501. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of a distance of 12 meters of the reflecting plate 20c after the reflected wave of the reflecting plate 20b is blocked in step S501. To do. If the measurement date and time in which the value “0” is stored in the storage area of a distance of 12 meters of the reflection plate 20c is detected after the reflected wave of the reflection plate 20b is blocked in step S501, the determination unit 33 performs the process of step S503. Shift to processing (YES side). On the other hand, after the reflected wave of the reflecting plate 20b is blocked in step S501, the determination unit 33 performs the process of step S512 when there is no measurement date and time in which the value “0” is stored in the 12-meter distance region of the reflecting plate 20c. Move to (NO side).

  In step S503, the determination unit 33 determines whether the reflected wave of the reflecting plate 20d is blocked by an object passing in the forward direction after the reflected wave of the reflecting plate 20c is blocked in step S502. For example, the determination unit 33 searches the extracted data 18 for a measurement date and time in which the value “0” is stored in the region of the distance of 10 meters of the reflection plate 20d after the reflected wave of the reflection plate 20c is blocked in step S502. . If the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters is detected after the reflected wave of the reflecting plate 20c is blocked in step S502, the determination unit 33 performs the process of step S504. Shift to processing (YES side). The determination unit 33 sets the value “0” indicating that there is no reflector together with the measurement date and time when the reflected wave of the reflection plate 20 a is blocked, and the storage area of each reflection plate 20 corresponding to the measurement date and time in the determination log 19. It is preferable to store in. On the other hand, after the reflected wave of the reflection plate 20c is blocked in step S502, the determination unit 33 determines that there is no measurement date and time in which the value “0” is stored in the storage area of the reflection plate 20d at a distance of 10 meters. Shift to processing (NO side).

  In step S504, the determination unit 33 determines whether the next object passing in the forward direction has entered the railroad crossing 40a. For example, the determination unit 33 searches for the next measurement date and time when the reflected wave of the reflecting plate 20 a is blocked and the value “0” is stored in the storage area with a distance of 10 meters in the extracted data 18. When the next measurement date / time is detected in the extracted data 18 in which the value “0” is stored in the storage area of the reflecting plate 20a at a distance of 10 meters, the determination unit 33 determines that the next object passing in the forward direction It is determined that the road 40a has been entered, and the process proceeds to step S501 (YES side). On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20a with a distance of 10 meters, the determination unit 33 ends the process of step S302 (NO side) and proceeds to the process of step S303. To do.

  In step S505, the determination unit 33 determines whether the object that blocked the reflected wave of the reflecting plate 20a in step S500 blocked the reflected wave of the reflecting plate 20c. For example, the determination unit 33 estimates that the object passes through the railroad crossing 40a in the forward direction, and after the reflected wave of the reflecting plate 20a is blocked in step S500 in the extracted data 18, the distance 12 of the reflecting plate 20c is determined. The measurement date and time when the value “0” is stored in the storage area of the meter is searched. When the measurement date and time when the value “0” is stored in the storage area of the reflection plate 20c at a distance of 12 meters is detected after the reflected wave of the reflection plate 20a is blocked in step S500, the determination unit 33 performs the process of step S506. Shift to processing (YES side). On the other hand, after the reflected wave of the reflection plate 20a is blocked in step S500, the determination unit 33 determines that there is no measurement date and time in which the value “0” is stored in the storage area of the reflection plate 20c at a distance of 12 meters. Shift to processing (NO side).

  In step S506, the determination unit 33 determines whether the object that has blocked the reflected wave of the reflecting plate 20c in step S505 passes through the railroad crossing 40a in the reverse direction. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters before the reflected wave of the reflecting plate 20c is blocked in step S505. To do. If the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters is detected before the reflected wave of the reflecting plate 20c is blocked in step S505, the determination unit 33 reverses the direction. It is determined that the passing object is on the railroad crossing 40a. The determination unit 33 determines that it is difficult to detect the reflector 60 and interrupts because the object passing in the forward direction and the reverse direction is on the railroad crossing 40a. And the determination part 33 transfers to the process (YES side) of step S504. On the other hand, if there is no measurement date / time in which the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters before the reflected wave of the reflecting plate 20c is blocked in step S505, the determination unit 33 reverses the direction. It is determined that no object passes through the railroad crossing 40a. And the determination part 33 transfers to the process (NO side) of step S507.

  In step S507, the determination unit 33 determines whether or not the reflected wave of the reflecting plate 20d is blocked by an object passing in the forward direction after the reflected wave of the reflecting plate 20c is blocked in step S505. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters after the reflected wave of the reflecting plate 20c is blocked in step S505. To do. When the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters is detected after the reflected wave of the reflecting plate 20c is blocked in step S505, the determination unit 33 moves forward. It is determined that the reflected wave is blocked by the passing object in the order of the reflecting plates 20c and 20d. And the determination part 33 transfers to the process (YES side) of step S508. On the other hand, after the reflected wave of the reflecting plate 20c is blocked in step S505, the determination unit 33 determines that there is no measurement date and time in which the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters. Shift to processing (NO side).

  In step S508, since the blocking of the reflected wave of the reflecting plate 20b is missing, the determination unit 33 detects the object in the level crossing when the level crossing is closed to a distance equivalent to the distance from the sensor 10a to the reflecting plate 20b. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 sets a value “0” indicating that there is no reflector in the storage area of the reflectors 20 a, 20 c, and 20 d corresponding to the measurement date and time when the reflected wave of the reflector 20 a is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflecting plate 20b. And the determination part 33 transfers to the process of step S504.

  In step S509, the determination unit 33 has a distance equivalent to the distance from the sensor 10a to the reflection plate 20b and from the sensor 10b to the reflection plate 20d because the blocking of the reflected waves of the reflection plate 20b and the reflection plate 20d is missing. It is determined that the reflector 60 exists. In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflection plates 20 a and 20 c corresponding to the measurement date and time when the reflected wave of the reflection plate 20 a is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflectors 20b and 20d. And the determination part 33 transfers to the process of step S504.

  In step S510, the determination unit 33 determines whether the object that has blocked the reflected wave of the reflecting plate 20a in step S500 passes through the railroad crossing 40a in the reverse direction. For example, in the extracted data 18, the determination unit 33 blocks the reflection wave of the reflection plate 20b before the reflection wave of the reflection plate 20a is blocked in step S500, and sets the value “ The measurement date and time in which “0” is stored is searched. If the measurement date and time when the value “0” is stored in the storage area of the distance of 12 meters of the reflection plate 20b is detected before the reflected wave of the reflection plate 20a is blocked in step S500, the determination unit 33 detects the reflection plate 20a. It is determined that the object blocking the reflected wave passes through the railroad crossing 40a in the opposite direction. Since the determination unit 33 performs the process for the object passing in the reverse direction in step S303, the determination unit 33 proceeds to the process of step S504 (YES side). On the other hand, if there is no measurement date and time in which the value “0” is stored in the 12-meter distance area of the reflection plate 20b before the reflected wave of the reflection plate 20a is blocked in step S500, the determination unit 33 performs the process of step S511. Move to (NO side).

  In step S511, the determination unit 33 has a distance equivalent to the distance from the sensor 10a to the reflection plate 20b and from the sensor 10b to the reflection plate 20c because the blocking of the reflected waves of the reflection plate 20b and the reflection plate 20c is missing. It is determined that the reflector 60 exists. In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflection plates 20 a and 20 d corresponding to the measurement date and time when the reflected wave of the reflection plate 20 a is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflectors 20b and 20c. And the determination part 33 transfers to the process of step S504.

  In step S512, the determination unit 33 determines whether the object that blocked the reflected wave of the reflecting plate 20b in step S501 blocked the reflected wave of the reflecting plate 20d. For example, the determination unit 33 estimates that the object passes through the railroad crossing 40a in the forward direction, and after the reflected wave of the reflection plate 20b is blocked in step S501 in the extracted data 18, the distance 10 of the reflection plate 20d is determined. The measurement date and time when the value “0” is stored in the storage area of the meter is searched. After the reflected wave of the reflecting plate 20b is interrupted in step S501, the determination unit 33 stores the value “0” in the storage area of the reflecting plate 20d at a distance of 10 meters, March 5, 2013, 12:00:00 When a measurement date and time such as 6 seconds is detected, the process proceeds to step S513 (YES side). On the other hand, after the reflected wave of the reflection plate 20b is blocked in step S501, the determination unit 33 determines that there is no measurement date and time in which the value “0” is stored in the storage area of the reflection plate 20d at a distance of 10 meters. Shift to processing (NO side).

  In step S513, the determination unit 33 determines whether the object that has blocked the reflected wave of the reflecting plate 20d in step S512 passes through the railroad crossing 40a in the reverse direction. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of a distance of 12 meters of the reflection plate 20c after the reflected wave of the reflection plate 20d is blocked in step S512. To do. When the measurement date and time when the value “0” is stored in the storage area of the reflection plate 20c at a distance of 12 meters is detected after the reflected wave of the reflection plate 20d is blocked in step S512, the determination unit 33 reverses the direction. It is determined that the passing object is on the railroad crossing 40a. The determination unit 33 determines that it is difficult to detect the reflector 60 and interrupts because the object passing in the forward direction and the reverse direction is on the railroad crossing 40a. And the determination part 33 transfers to the process (YES side) of step S504. On the other hand, after the reflected wave of the reflection plate 20d is blocked in step S512, the determination unit 33 performs the reverse operation when there is no measurement date and time in which the value “0” is stored in the storage area of the distance 12 meters of the reflection plate 20c. It is determined that no object passes through the railroad crossing 40a. And the determination part 33 transfers to the process of step S514 as a false determination (NO) of step S513.

  In step S514, the determination unit 33 lacks the interruption of the reflected wave of the reflecting plate 20c, and therefore, when the level crossing is closed to a distance equivalent to the distance from the sensor 10b to the reflecting plate 20c, It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 sets a value “0” indicating that there is no reflector in the storage area of the reflectors 20a, 20b, and 20d corresponding to the measurement date and time when the reflected wave of the reflector 20a is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflecting plate 20c. And the determination part 33 transfers to the process of step S504.

  In step S515, the determination unit 33 determines whether or not the reflected wave is blocked in the order of the reflecting plates 20d and 20c by the object passing in the reverse direction after the reflected wave of the reflecting plate 20b is blocked in step S501. . For example, in the extracted data 18, after the reflected wave of the reflection plate 20 b is blocked in step S 501, the determination unit 33 sets values in the storage area of the reflection plate 20 d at a distance of 10 meters and the storage area of the reflection plate 20 c at a distance of 12 meters. The measurement date and time in which “0” is sequentially stored is searched. The determination unit 33 performs measurement in which the value “0” is sequentially stored in the storage area of the reflection plate 20d with a distance of 10 meters and the storage area of the reflection plate 20c with a distance of 12 meters after the reflected wave of the reflection plate 20b is blocked. When the date is detected, it is determined that an object passing in the opposite direction is on the railroad crossing 40a. The determination unit 33 determines that it is difficult to detect the reflector 60 and interrupts because the object passing in the forward direction and the reverse direction is on the railroad crossing 40a. And the determination part 33 transfers to the process (YES side) of step S504. On the other hand, after the reflected wave of the reflecting plate 20b is blocked, the determination unit 33 sequentially stores the value “0” in the storing area of the reflecting plate 20d with a distance of 10 meters and the storing area of the reflecting plate 20c with a distance of 12 meters. If there is no measurement date and time, the process proceeds to step S516 (NO side).

  In step S516, since the blocking of the reflected waves of the reflecting plate 20c and the reflecting plate 20d is missing, the determination unit 33 sets the reflector to a distance equivalent to the distance from the sensor 10b to the reflecting plate 20c and the reflecting plate 20d. 60 is determined to exist. In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflectors 20 a and 20 b corresponding to the measurement date and time when the reflected wave of the reflector 20 a is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflectors 20c and 20d. And the determination part 33 transfers to the process of step S504.

  In step S517, since the blocking of the reflected wave of the reflecting plate 20d is missing, the determination unit 33 detects the object in the level crossing when the level crossing is closed to a distance equivalent to the distance from the sensor 10b to the reflecting plate 20d. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 sets a value “0” indicating that there is no reflector in the storage area of the reflectors 20a, 20b, and 20c corresponding to the measurement date and time when the reflected wave of the reflector 20a is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflecting plate 20d. And the determination part 33 transfers to the process of step S504.

  Next, the process of the determination unit 33 in step S303 will be described.

  In step S600 illustrated in FIG. 18, the determination unit 33 determines whether or not the reflected wave of the reflecting plate 20d that is the other end of the railroad crossing 40a is blocked by an object passing through the railroad crossing 40a in the reverse direction. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters. When the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d with a distance of 10 meters is detected, the determination unit 33 proceeds to the process of step S601 (YES side). On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d with a distance of 10 meters, the determination unit 33 ends the process of step S303 (NO side) and proceeds to the process of step S304. .

  In step S601, the determination unit 33 determines whether the object that has blocked the reflected wave of the reflecting plate 20d in step S600 has blocked the reflected wave of the reflecting plate 20c. For example, the determination unit 33 estimates that the object passes through the railroad crossing 40a in the forward direction, and in the extracted data 18, after the reflected wave of the reflecting plate 20d is blocked in step S600, the distance 12 of the reflecting plate 20c. The measurement date and time when the value “0” is stored in the storage area of the meter is searched. When the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20c at a distance of 12 meters is detected after the reflected wave of the reflecting plate 20d is blocked in step S600, the determination unit 33 performs the process of step S602. Shift to processing (YES side). On the other hand, after the reflected wave of the reflection plate 20d is blocked in step S600, the determination unit 33 performs the process of step S605 if there is no measurement date and time in which the value “0” is stored in the 12-meter distance region of the reflection plate 20c. Move to (NO side).

  In step S602, the determination unit 33 determines whether the reflected wave of the reflecting plate 20b is blocked by an object passing in the reverse direction after the reflected wave of the reflecting plate 20c is blocked in step S601. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the distance of 12 meters of the reflection plate 20b after the reflected wave of the reflection plate 20c is blocked in step S601. To do. If the measurement date and time when the value “0” is stored in the storage area of the reflection plate 20b at a distance of 12 meters is detected after the reflected wave of the reflection plate 20c is blocked in step S601, the determination unit 33 performs the process of step S603. Shift to processing (YES side). On the other hand, after the reflected wave of the reflection plate 20c is blocked in step S601, the determination unit 33 performs the process of step S612 when there is no measurement date and time in which the value “0” is stored in the 12-meter area of the reflection plate 20b. Move to (NO side).

  In step S603, the determination unit 33 determines whether the reflected wave of the reflecting plate 20a is blocked by an object passing in the opposite direction after the reflected wave of the reflecting plate 20b is blocked in step S602. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20a at a distance of 10 meters after the reflected wave of the reflecting plate 20b is blocked in step S602. To do. If the measurement date and time when the value “0” is stored in the storage area of a distance of 10 meters of the reflection plate 20a is detected after the reflected wave of the reflection plate 20b is blocked in step S602, the determination unit 33 performs the process of step S604. Shift to processing (YES side). The determination unit 33 sets the value “0” indicating that there is no reflector together with the measurement date and time when the reflected wave of the reflection plate 20 d is blocked, and the storage area of each reflection plate 20 corresponding to the measurement date and time in the determination log 19. It is preferable to store in. On the other hand, after the reflected wave of the reflection plate 20b is blocked in step S602, the determination unit 33 determines that there is no measurement date and time in which the value “0” is stored in the storage area of the reflection plate 20a at a distance of 10 meters. Shift to processing (NO side).

  In step S604, the determination unit 33 determines whether or not the next object passing in the reverse direction has entered the railroad crossing 40a. For example, the determination unit 33 searches for the next measurement date and time when the reflected wave of the reflecting plate 20d is blocked and the value “0” is stored in the storage area having a distance of 10 meters. When the next measurement date / time is detected in the extracted data 18 in which the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters, the determination unit 33 determines that the next object passing in the opposite direction It is determined that the road 40a has been entered, and the process proceeds to step S601 (YES side). On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d with a distance of 10 meters, the determination unit 33 ends the process of step S303 as a false determination (NO) of step S604. The process proceeds to step S304.

  In step S605, the determination unit 33 estimates that the object blocked by the reflected wave of the reflecting plate 20d in step S600 passes through the railroad crossing 40a in the reverse direction, and whether or not the reflected wave of the reflecting plate 20b is blocked. Determine whether. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the distance of 12 meters of the reflector 20b after the reflected wave of the reflector 20d is blocked in step S600. To do. When the measurement date and time in which the value “0” is stored in the storage area of the reflection plate 20b at a distance of 12 meters is detected after the reflected wave of the reflection plate 20d is blocked in step S600, the determination unit 33 performs the process of step S606. Shift to processing (YES side). On the other hand, after the reflected wave of the reflection plate 20d is blocked in step S600, the determination unit 33 determines that there is no measurement date and time in which the value “0” is stored in the storage area of the reflection plate 20b at a distance of 12 meters. Shift to processing (NO side).

  In step S606, the determination unit 33 determines whether the object that has blocked the reflected wave of the reflecting plate 20b in step S605 passes through the railroad crossing 40a in the forward direction. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20a at a distance of 10 meters before the reflected wave of the reflecting plate 20b is blocked in step S605. To do. When the measurement date and time when the value “0” is stored in the storage area of the distance of 10 meters of the reflection plate 20a is detected before the reflected wave of the reflection plate 20b is blocked in step S605, the determination unit 33 moves forward. It is determined that the passing object is on the railroad crossing 40a. The determination unit 33 determines that it is difficult to detect the reflector 60 and interrupts because the object passing in the forward direction and the reverse direction is on the railroad crossing 40a. And the determination part 33 transfers to the process (YES side) of step S604. On the other hand, if there is no measurement date and time in which the value “0” is stored in the storage area of the reflecting plate 20a at a distance of 10 meters before the reflected wave of the reflecting plate 20b is blocked in step S605, the determination unit 33 moves forward. It is determined that no object passes through the railroad crossing 40a. And the determination part 33 transfers to the process (NO side) of step S607.

  In step S607, the determination unit 33 determines whether or not the reflected wave of the reflecting plate 20a is blocked by an object passing in the reverse direction after the reflected wave of the reflecting plate 20b is blocked in step S605. For example, the determination unit 33 searches the extracted data 18 for a measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20a at a distance of 10 meters after the reflected wave of the reflecting plate 20b is blocked in step S605. To do. When the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20a at a distance of 10 meters is detected after the reflected wave of the reflecting plate 20b is blocked in step S605, the determination unit 33 reverses the direction. It is determined that the reflected wave is blocked by the passing object in the order of the reflectors 20b and 20a. And the determination part 33 transfers to the process (YES side) of step S608. On the other hand, after the reflected wave of the reflecting plate 20b is blocked in step S605, the determination unit 33 determines that there is no measurement date and time in which the value “0” is stored in the storage area of the reflecting plate 20a at a distance of 10 meters. Shift to processing (NO side).

  In step S608, since the blocking of the reflected wave of the reflecting plate 20c is missing, the determination unit 33 detects the object in the level crossing when the level crossing is closed to a distance equivalent to the distance from the sensor 10b to the reflecting plate 20c. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 sets a value “0” indicating that there is no reflector in the storage area of the reflectors 20 a, 20 b, and 20 d corresponding to the measurement date and time when the reflected wave of the reflector 20 d is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflecting plate 20c. And the determination part 33 transfers to the process of step S604.

  In step S609, the determination unit 33 has a distance equivalent to the distance from the sensor 10a to the reflection plate 20a or from the sensor 10b to the reflection plate 20c because the blocking of the reflected waves of the reflection plate 20a and the reflection plate 20c is missing. It is determined that the reflector 60 exists. In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflection plates 20 b and 20 d corresponding to the measurement date and time when the reflected wave of the reflection plate 20 d is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflectors 20a and 20c. And the determination part 33 transfers to the process of step S604.

  In step S610, the determination unit 33 determines whether the object that has blocked the reflected wave of the reflecting plate 20d in step S600 passes through the railroad crossing 40a in the reverse direction. For example, in the extracted data 18, the determination unit 33 blocks the reflection wave of the reflection plate 20c before blocking the reflection wave of the reflection plate 20d in step S600, and stores the value “ The measurement date and time in which “0” is stored is searched. If the measurement date and time when the value “0” is stored in the storage area of the distance 12 meters of the reflection plate 20c is detected before the reflected wave of the reflection plate 20d is blocked in step S600, the determination unit 33 determines that the reflection plate 20d It is determined that the object that has blocked the reflected wave passes through the railroad crossing 40a in the forward direction. Since the process for the object passing in the forward direction is performed in step S302, the determination unit 33 proceeds to the process of step S604 (YES side). On the other hand, if there is no measurement date and time in which the value “0” is stored in the storage area of the distance of 12 meters of the reflection plate 20c before the reflected wave of the reflection plate 20d is blocked in step S600, the determination unit 33 returns to step S611. Shift to processing (NO side).

  In step S611, the determination unit 33 has a distance equivalent to the distance from the sensor 10a to the reflection plate 20b and from the sensor 10b to the reflection plate 20c because the blocking of the reflected waves of the reflection plate 20b and the reflection plate 20c is missing. It is determined that the reflector 60 exists. In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflectors 20 a and 20 d corresponding to the measurement date and time when the reflected wave of the reflector 20 d is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflectors 20b and 20c. And the determination part 33 transfers to the process of step S604.

  In step S612, the determination unit 33 estimates that the object that has blocked the reflected wave of the reflecting plate 20c in step S601 passes through the railroad crossing 40a in the reverse direction, and whether or not the reflected wave of the reflecting plate 20a is blocked. Determine whether. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20a at a distance of 10 meters after the reflected wave of the reflecting plate 20c is blocked in step S601. To do. If the measurement date and time in which the value “0” is stored in the storage area of the reflecting plate 20a at a distance of 10 meters is detected after the reflected wave of the reflecting plate 20c is blocked in step S601, the determination unit 33 performs step S613. Shift to processing (YES side). On the other hand, after the reflected wave of the reflection plate 20c is blocked in step S601, the determination unit 33 determines that there is no measurement date and time in which the value “0” is stored in the storage area of the reflection plate 20a at a distance of 10 meters. Shift to processing (NO side).

  In step S613, the determination unit 33 determines whether the object that has blocked the reflected wave of the reflecting plate 20a in step S612 passes through the railroad crossing 40a in the forward direction. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the distance of 12 meters of the reflection plate 20b after the reflected wave of the reflection plate 20a is blocked in step S612. To do. When the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20b at a distance of 12 meters is detected after the reflected wave of the reflecting plate 20a is blocked in step S612, the determination unit 33 moves forward. It is determined that the passing object is on the railroad crossing 40a. The determination unit 33 determines that it is difficult to detect the reflector 60 and interrupts because the object passing in the forward direction and the reverse direction is on the railroad crossing 40a. And the determination part 33 transfers to the process (YES side) of step S604. On the other hand, after the reflected wave of the reflection plate 20a is blocked in step S612, the determination unit 33 moves forward in the case where there is no measurement date and time in which the value “0” is stored in the storage area of the reflection plate 20b at a distance of 12 meters. It is determined that there is no object passing through the railroad crossing 40a, and the process proceeds to step S614 (NO side).

  In step S614, since the blocking of the reflected wave of the reflecting plate 20b is missing, the determination unit 33 detects the object in the level crossing when the level crossing is closed to a distance equivalent to the distance from the sensor 10a to the reflecting plate 20b. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 sets a value “0” indicating that there is no reflector in the storage area of the reflectors 20a, 20c, and 20d corresponding to the measurement date and time when the reflected wave of the reflector 20d is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflecting plate 20b. And the determination part 33 transfers to the process of step S604.

  In step S615, the determination unit 33 determines whether or not the reflected wave is blocked in the order of the reflecting plates 20a and 20b by an object passing in the forward direction after the reflected wave of the reflecting plate 20c is blocked in step S601. . For example, in the extracted data 18, after the reflected wave of the reflecting plate 20 c is blocked in step S <b> 601, the determination unit 33 sets values in the storage area of the reflecting plate 20 a having a distance of 10 meters and the reflecting plate 20 b having a distance of 12 meters. The measurement date and time in which “0” is sequentially stored is searched. The determination unit 33 performs measurement in which the value “0” is sequentially stored in the storage area of the reflection plate 20a with a distance of 10 meters and the storage area of the reflection plate 20b with a distance of 12 meters after the reflected wave of the reflection plate 20c is blocked. When the date and time are detected, it is determined that an object passing in the forward direction is on the railroad crossing 40a. The determination unit 33 determines that it is difficult to detect the reflector 60 and interrupts because the object passing in the forward direction and the reverse direction is on the railroad crossing 40a. And the determination part 33 transfers to the process (YES side) of step S604. On the other hand, after the reflected wave of the reflection plate 20c is blocked, the determination unit 33 sequentially stores the value “0” in the storage area of the reflection plate 20a with a distance of 10 meters and the storage area of the reflection plate 20b with a distance of 12 meters. If there is no measurement date and time, the process proceeds to step S616 (NO side).

  In step S616, since the determination unit 33 lacks the blocking of the reflected wave of the reflecting plate 20a and the reflecting plate 20b, the determination unit 33 sets the reflector to a distance equivalent to the distance from the sensor 10a to the reflecting plate 20a and the reflecting plate 20b. 60 is determined to exist. It is determined that the reflector 60 exists at a distance equivalent to 0c and the distance to the reflector 20d. In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflectors 20 c and 20 d corresponding to the measurement date and time when the reflected wave of the reflector 20 d is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflectors 20a and 20b. And the determination part 33 transfers to the process of step S604.

  In step S617, since the determination unit 33 lacks the blocking of the reflected wave of the reflecting plate 20a, when the level crossing is closed to a distance equivalent to the distance from the sensor 10a to the reflecting plate 20a, the determination unit 33 detects the object in the level crossing. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 sets a value “0” indicating that there is no reflector in the storage area of the reflectors 20 b, 20 c, and 20 d corresponding to the measurement date and time when the reflected wave of the reflector 20 d is blocked. The value “1” indicating that there is a reflector is stored in the storage area of the reflecting plate 20a. And the determination part 33 transfers to the process of step S604.

  As described above, in this embodiment, the sensor 10 measures the reflected wave from each reflecting plate 20 during a predetermined period when the object travels on the railroad crossing 40a, and the determination unit 33 blocks the reflected wave from each reflecting plate 20. The presence of the reflector 60 is determined based on a comparison between the calculated order and the order estimated from the motion of the object. Thereby, even if it uses the sensor 10 which does not have angle resolution, the detection system 300 can remove the reflector 60 which is a factor which prevents the detection of an object compared with the past with high accuracy.

  In this embodiment, in the detection system 300, the track 80 is arranged at one level crossing. However, the present invention is not limited to this. For example, the detection system 300 may be arranged at a railroad crossing having a plurality of tracks 80. In the case of a railroad crossing having a plurality of tracks 80, one detection system 300 may be arranged, or a plurality of detection systems 300 may be arranged on each track 80, respectively. Furthermore, when a plurality of detection systems 300 are arranged on each track 80, one detection device 30a may perform detection processing of the plurality of detection systems 300.

  In this embodiment, the determination unit 33 examines the change in the intensity of the reflected wave of each reflector 20 in the order of the forward direction or the reverse direction. However, the present invention is not limited to this. For example, when the measurement date / time when the reflected wave from the reflector 20a is blocked and the measurement date / time when the reflected wave from the reflector 20b is separated from each other by a predetermined time or more, the determination unit 33 determines that the reflector 20a and the reflector You may determine with the object which interrupted the reflected wave with 20b differing. And it is preferable that the determination part 33 searches the measurement date and time when the reflecting plate 20a was interrupted next.

  In this embodiment, when the determination unit 33 determines in step S503 or step S603 that the reflector 60 does not exist, the process proceeds to step S501 or step S601. However, the present invention is not limited to this. For example, when the determination unit 33 determines that the reflector 60 does not exist even once, the processing in step S302 and step S303 may be ended.

  In this embodiment, the determination unit 33 performs the forward process in step S302 and then performs the reverse process in step S303. However, the present invention is not limited to this. For example, the determination unit 33 may perform the process of step S302 and the process of step S303 in parallel.

  In this embodiment, the extraction unit 34 extracts the reflected wave intensity data of each reflector 20 from the received log data 17a and 17b together with the measurement date and time when the railroad crossing is open. However, the present invention is not limited to this. However, the processing of the extraction unit 34 may be omitted.

  Further, the detection system of another embodiment is the same as or similar to the detection system 300 arranged at the crossing shown in FIGS. 7 and 8, and the description of the operation of each element shown in FIGS. 7 and 8 is omitted.

  The sensors 10a and 10b are the same as or similar to the sensors 10a and 10b shown in FIG.

  The detection device 30a is the same as or similar to the detection device 30a shown in FIG. The storage unit 35 includes an order table indicating the order in which the reflected waves of the reflecting plates 20 are blocked when the object passes through the railroad crossing 40a in the forward direction and the backward direction, together with the distance information of the reflecting plates 20, for example. Remember.

  FIG. 20 shows an example of the order table. The order table 22 (22a, 22b) is a value “0” indicating that there is no reflected wave and a value indicating that there is a reflected wave over the time of measurement dates T1, T2, T3, and T4 for each reflector 20. It has a storage area for storing “1”. Note that “−” stored in the order table 22 indicates either the value “0” or the value “1”.

  FIG. 20A shows the order in which the reflected waves of the respective reflecting plates 20 are blocked when an object passes through the railroad crossing 40a in the forward direction, for example. In the order table 22a, as time elapses from the measurement date and time T1 to the measurement date and time T4, the reflected waves from the reflection plate 20a to the reflection plate 20d are sequentially blocked, and the value “0” is stored in the storage area of each reflection plate 20. The

  FIG. 20B shows, for example, the order in which the reflected wave of each reflector 20 is blocked when an object passes through the railroad crossing 40a in the reverse direction. In the order table 22b, as the measurement date and time T4 and the measurement date and time T4 elapse, the reflected wave of the reflection plate 20a is sequentially blocked from the reflection plate 20d, and the value “0” is stored in the storage area of each reflection plate 20. The

  21 to 23 show another example of the detection process of the reflector 60 in the detection system 300 shown in FIGS. 7 and 8. In FIG. 21, steps that perform the same or similar processing as the processing shown in FIG. 15 are given the same step numbers, and detailed descriptions thereof are omitted. FIG. 22 shows an example of the process of step S302a shown in FIG. FIG. 23 shows an example of the process of step S303a shown in FIG. The processing from step S300 to step S304, step S700 to step S708, and step S800 to step S808 is realized by the control unit 32a of the detection device 30a executing a detection program stored in the storage unit 35. That is, steps S300 to S304, steps S700 to S708, and steps S800 to S808 shown in FIGS. 15 to 19 show examples of detection programs and detection methods.

  After performing the process of step S301, the detection system 300 performs the process of step S302a shown in FIG.

  In step S700, the determination unit 33 determines whether or not the reflected wave of the reflecting plate 20a that is one end of the railroad crossing 40a is blocked by an object such as the automobile 110 that passes through the railroad crossing 40a in the forward direction. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20 a with a distance of 10 meters. If the determination unit 33 detects a measurement date and time such as 12:00:00 on March 5, 2013 in which the value “0” is stored in the storage area of the reflecting plate 20a with a distance of 10 meters, The process proceeds to S701 (YES side). On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20a with a distance of 10 meters, the determination unit 33 ends the process of step S302a as a false determination (NO) in step S700. The process proceeds to S303a.

  In step S701, the determination unit 33 uses the extracted data 18 and the order table 22a stored in the storage unit 35 as a reference to measure the date and time when the reflected wave of the reflecting plate 20a is blocked, and the reflected wave is transmitted in the forward direction. A combination of obstructed reflectors 20 is extracted. For example, after the reflected wave of the reflection plate 20a is blocked, the determination unit 33 searches for the measurement date and time when the value “0” is stored in the storage area of each distance in the order of the reflection plates 20b, 20c, and 20d. When the determination unit 33 detects the measurement date and time in which the value “0” is stored in the storage area of each distance in the order of the reflectors 20b, 20c, and 20d, the same object passing in the forward direction is reflected on the reflector 20a. , 20b, 20c, and 20d are determined to block the reflected wave. The determination unit 33 extracts the determined reflectors 20a, 20b, 20c, and 20d as one combination. Further, in the extracted data 18 shown in FIG. 12, for example, after the reflected wave of the reflecting plate 20a is blocked at 12:02:00 on March 5, 2013, the distance of the reflecting plate 20b at 12:00:00 The value “0” is stored in the storage area of 12 meters. Further, the value “0” is stored in a storage area of a distance of 10 meters of the reflecting plate 20d at 12:00:00 and 12:07:00. Therefore, the determination unit 33 determines that the same object passing in the forward direction has blocked the reflected wave in the order of the reflection plates 20a, 20b, and 20d, and extracts the reflection plates 20a, 20b, and 20d as one combination.

  In step S702, the determination unit 33 determines whether or not the reflection plate 20b is included in the combination extracted in step S701. When the reflection plate 20b is included, the determination unit 33 determines that the reflector 60 does not exist at the distance from the sensor 10a to the reflection plate 20b, and proceeds to the processing of step S702 (YES side). In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflection plate 20 b corresponding to the measurement date and time when the reflected wave of the reflection plate 20 a is blocked. Is preferred. On the other hand, the determination part 33 transfers to the process (NO side) of step S706, when the reflecting plate 20b is not included.

  In step S703, the determination unit 33 determines whether or not the reflection plate 20c is included in the combination extracted in step S701. When the reflection plate 20c is included, the determination unit 33 determines that the reflector 60 does not exist at the distance from the sensor 10a to the reflection plate 20b, and proceeds to the process of step S704 (YES side). In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflection plate 20 c corresponding to the measurement date and time when the reflected wave of the reflection plate 20 a is blocked. Is preferred. On the other hand, the determination part 33 transfers to the process (NO side) of step S707, when the reflecting plate 20c is not included.

  In step S704, the determination unit 33 determines whether the reflection plate 20d is included in the combination extracted in step S701. When the reflection plate 20d is included, the determination unit 33 determines that the reflector 60 does not exist at the distance from the sensor 10a to the reflection plate 20d, and proceeds to the processing of step S705 (YES side). In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflection plate 20 d corresponding to the measurement date and time when the reflected wave of the reflection plate 20 a is blocked. Is preferred. On the other hand, the determination part 33 transfers to the process (NO side) of step S708, when the reflecting plate 20d is not included.

  In step S705, it is determined whether or not the next object passing in the forward direction has entered the railroad crossing 40a. For example, the determination unit 33 searches for the next measurement date and time when the reflected wave of the reflecting plate 20 a is blocked and the value “0” is stored in the storage area with a distance of 10 meters in the extracted data 18. When the next measurement date / time is detected in the extracted data 18 in which the value “0” is stored in the storage area of the reflecting plate 20a at a distance of 10 meters, the determination unit 33 determines that the next object passing in the forward direction It is determined that the road 40a has been entered, and the process proceeds to step S701 (YES side). On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20a with a distance of 10 meters, the determination unit 33 ends the process of step S302a as a false determination (NO) of step S705. The process proceeds to step S303a.

  In step S706, since the blocking of the reflected wave of the reflecting plate 20b is missing, the determination unit 33 detects the object in the level crossing when the level crossing is closed to a distance equivalent to the distance from the sensor 10a to the reflecting plate 20b. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 stores a value “1” indicating that there is a reflector in the storage area of the reflection plate 20 b corresponding to the measurement date and time when the reflected wave of the reflection plate 20 a is blocked. And the determination part 33 transfers to the process of step S703.

  In step S707, since the blocking of the reflected wave of the reflecting plate 20c is missing, the determination unit 33 detects the object in the level crossing when the level crossing is closed to a distance equivalent to the distance from the sensor 10b to the reflecting plate 20c. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 stores a value “1” indicating that there is a reflector in the storage area of the reflection plate 20 c corresponding to the measurement date and time when the reflected wave of the reflection plate 20 a is blocked. And the determination part 33 transfers to the process of step S704.

  In step S708, since the blocking of the reflected wave of the reflecting plate 20d is missing, the determination unit 33 detects the object in the level crossing when the level crossing is closed to a distance equivalent to the distance from the sensor 10b to the reflecting plate 20d. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 stores a value “1” indicating that there is a reflector in the storage area of the reflection plate 20 d corresponding to the measurement date and time when the reflected wave of the reflection plate 20 a is blocked. And the determination part 33 transfers to the process of step S705.

  Next, the process of the determination unit 33 in step S303a will be described.

  In step S800, the determination unit 33 determines whether or not the reflected wave of the reflecting plate 20d that is the other end of the railroad crossing 40a is blocked by an object passing through the railroad crossing 40a in the reverse direction. For example, the determination unit 33 searches the extracted data 18 for the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters. When the measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d with a distance of 10 meters is detected, the determination unit 33 proceeds to the process of step S801 (YES side). On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d with a distance of 10 meters, the determination unit 33 terminates the process of step S303a as a false determination (NO) in step S800. The process proceeds to S304.

  In step S801, the determination unit 33 uses the extracted data 18 and the order table 22b stored in the storage unit 35 as a reference to measure the date and time when the reflected wave from the reflecting plate 20d is blocked, and the reflected wave is transmitted in the reverse direction. A combination of obstructed reflectors 20 is extracted. For example, after the reflected wave of the reflection plate 20d is blocked, the determination unit 33 searches for the measurement date and time when the value “0” is stored in the storage area of each distance in the order of the reflection plates 20c, 20b, and 20a. When the determination unit 33 detects the measurement date and time when the value “0” is stored in the storage area of each distance of the reflection plates 20b and 20a, the same object passing in the opposite direction is reflected on the reflection plates 20d, 20b, and 20a. It is determined that the reflected wave is blocked in order. The determination unit 33 extracts the determined reflectors 20d, 20b, and 20a as one combination.

  In step S802, the determination unit 33 determines whether or not the reflection plate 20c is included in the combination extracted in step S801. When the reflection plate 20c is included, the determination unit 33 determines that the reflector 60 does not exist at the distance from the sensor 10b to the reflection plate 20c, and proceeds to the processing of step S803 (YES side). The determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflection plate 20c corresponding to the measurement date and time when the reflected wave of the reflection plate 20d is blocked in the determination log 19. Is preferred. On the other hand, the determination part 33 transfers to the process (NO side) of step S806, when the reflecting plate 20c is not included.

  In step S803, the determination unit 33 determines whether or not the reflection plate 20b is included in the combination extracted in step S801. When the reflection plate 20b is included, the determination unit 33 determines that the reflector 60 does not exist at the distance from the sensor 10a to the reflection plate 20b, and proceeds to the process of step S804 (YES side). In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflection plate 20b corresponding to the measurement date and time when the reflected wave of the reflection plate 20d is blocked. Is preferred. On the other hand, the determination part 33 transfers to the process (NO side) of step S807, when the reflecting plate 20b is not included.

  In step S804, the determination unit 33 determines whether or not the reflection plate 20a is included in the combination extracted in step S801. When the reflection plate 20a is included, the determination unit 33 determines that the reflector 60 does not exist at the distance from the sensor 10a to the reflection plate 20a, and proceeds to the processing of step S805 (YES side). In the determination log 19, the determination unit 33 stores a value “0” indicating that there is no reflector in the storage area of the reflection plate 20a corresponding to the measurement date and time when the reflected wave of the reflection plate 20d is blocked. Is preferred. On the other hand, the determination part 33 transfers to the process (NO side) of step S808, when the reflecting plate 20a is not included.

  In step S805, the determination unit 33 determines whether or not the next object passing in the reverse direction has entered the railroad crossing 40a in the extracted data 18. For example, the determination unit 33 searches for the next measurement date and time when the reflected wave of the reflecting plate 20d is blocked and the value “0” is stored in the storage area having a distance of 10 meters. When the next measurement date / time is detected in the extracted data 18 in which the value “0” is stored in the storage area of the reflecting plate 20d at a distance of 10 meters, the determination unit 33 determines that the next object passing in the opposite direction It is determined that the road 40a has been entered, and the process proceeds to step S801 (YES side). On the other hand, when there is no measurement date and time when the value “0” is stored in the storage area of the reflecting plate 20d with a distance of 10 meters, the determination unit 33 ends the process of step S303a as a false determination (NO) in step S805. The process proceeds to step S304.

  In step S806, since the blocking of the reflected wave of the reflecting plate 20c is missing, the determination unit 33 detects the object in the level crossing when the level crossing is closed to a distance equivalent to the distance from the sensor 10b to the reflecting plate 20c. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 stores a value “1” indicating that there is a reflector in the storage area of the reflection plate 20 c corresponding to the measurement date and time when the reflected wave of the reflection plate 20 d is blocked. And the determination part 33 transfers to the process of step S803.

  In step S807, since the blocking of the reflected wave of the reflecting plate 20b is missing, the determination unit 33 detects the object in the crossing when the crossing is closed to a distance equivalent to the distance from the sensor 10a to the reflecting plate 20b. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 stores a value “1” indicating that there is a reflector in the storage area of the reflection plate 20 b corresponding to the measurement date and time when the reflected wave of the reflection plate 20 d is blocked. Then, the determination unit 33 proceeds to the process of step S804.

  In step S808, since the determination unit 33 lacks the interruption of the reflected wave of the reflecting plate 20a, the determination unit 33 detects the object in the level crossing when the level crossing is closed to a distance equivalent to the distance from the sensor 10a to the reflecting plate 20a. It is determined that there is a reflector 60 that prevents detection. In the determination log 19, the determination unit 33 stores a value “1” indicating that there is a reflector in the storage area of the reflection plate 20 b corresponding to the measurement date and time when the reflected wave of the reflection plate 20 d is blocked. And the determination part 33 transfers to the process of step S805.

  As described above, in this embodiment, the sensor 10 measures the reflected wave from each reflecting plate 20 during a predetermined period when the object travels on the railroad crossing 40a, and the determination unit 33 blocks the reflected wave from each reflecting plate 20. The presence of the reflector 60 is determined based on a comparison between the calculated order and the order estimated from the motion of the object. Thereby, even if it uses the sensor 10 which does not have angle resolution, the detection system 300 can remove the reflector 60 which is a factor which prevents the detection of an object compared with the past with high accuracy.

  In this embodiment, in the detection system 300, the track 80 is arranged at one level crossing. However, the present invention is not limited to this. For example, the detection system 300 may be arranged at a railroad crossing having a plurality of tracks 80. In the case of a railroad crossing having a plurality of tracks 80, one detection system 300 may be arranged, or a plurality of detection systems 300 may be arranged on each track 80, respectively. Furthermore, when a plurality of detection systems 300 are arranged on each track 80, one detection device 30a may perform detection processing of the plurality of detection systems 300.

  In the present embodiment, the determination unit 33 acquires a combination in which the reflected waves of the reflecting plates 20 are sequentially blocked in the forward direction or the reverse direction, but the present invention is not limited to this. For example, when the measurement date / time when the reflected wave from the reflector 20a is blocked and the measurement date / time when the reflected wave from the reflector 20b is separated from each other by a predetermined time or more, the determination unit 33 determines that the reflector 20a and the reflector You may determine with the object which interrupted the reflected wave with 20b differing. And it is preferable to search the determination part 33 on the measurement date and time when the reflecting plate 20a was interrupted next.

  In this embodiment, the determination unit 33 performs the forward process in step S302a and then performs the reverse process in step S303a. However, the present invention is not limited to this. For example, the determination unit 33 may perform the process of step S302a and the process of step S303a in parallel.

  In this embodiment, the extraction unit 34 extracts the reflected wave intensity data of each reflector 20 from the received log data 17a and 17b together with the measurement date and time when the railroad crossing is open. However, the present invention is not limited to this. However, the processing of the extraction unit 34 may be omitted.

  From the above detailed description, features and advantages of the embodiments will become apparent. This is intended to cover the features and advantages of the embodiments described above without departing from the spirit and scope of the claims. Also, any improvement and modification should be readily conceivable by those having ordinary knowledge in the art. Therefore, there is no intention to limit the scope of the inventive embodiments to those described above, and appropriate modifications and equivalents included in the scope disclosed in the embodiments can be used.

Regarding the above embodiment, the following additional notes are disclosed.
(Appendix 1)
Reception that receives reflected waves from a transmitter that irradiates an electromagnetic wave to a range including a predetermined region, and a plurality of reflection units that are disposed on the opposite side of the transmitter with the predetermined region interposed therebetween. At least one sensor including a portion;
Receiving the reflection information indicating in time series the information on the reflected waves from each of the reflection units received by the reception unit, based on the received reflection information, specify the order in which the reflection waves by the reflection units are blocked, When a reflection part that lacks blocking of the reflected wave is detected from a comparison between the identified order and the order in which the reflected wave of each of the reflection parts estimated from the movement of the object passing through the predetermined region is blocked A determination unit for determining the presence of a reflector that prevents detection of the object;
A detection system comprising:
(Appendix 2)
In the detection system according to attachment 1,
The reflection information includes information on the distance from the sensor to each of the reflection portions,
The determination unit determines that the reflector exists at a position away from the sensor by a distance between the sensor and the reflection unit that detects that the interruption of the reflected wave is lost.
(Appendix 3)
In the detection system according to appendix 1 or appendix 2,
The determination unit, based on the reflection information, blocks the reflected wave by an object that passes through the predetermined area in a first direction and blocks the reflected wave by another object that passes through the area in a second direction. A detection system that interrupts the determination of the presence of the reflector when detected.
(Appendix 4)
Reception that receives reflected waves from a transmitter that irradiates an electromagnetic wave to a range including a predetermined region, and a plurality of reflection units that are disposed on the opposite side of the transmitter with the predetermined region interposed therebetween. A reception unit that receives, from at least one sensor including a unit, reflection information that is received in time by the reflected wave information from each reflection unit received by the reception unit;
Based on the received reflection information, the order in which the reflected waves by the respective reflecting parts are blocked is specified, and the reflected waves of the respective reflecting parts estimated from the specified order and the movement of the object passing through the predetermined region A determination unit that determines the presence of a reflector that hinders the detection of the object when a reflection unit that lacks the blocking of the reflected wave is detected from a comparison with the order in which
A detection apparatus comprising:
(Appendix 5)
In the detection device according to attachment 4,
The reflection information includes information on the distance from the sensor to each of the reflection portions,
The determination unit determines that the reflector exists at a position separated from the sensor by a distance between the sensor and the reflection unit that has detected that the interruption of the reflected wave is lost.
(Appendix 6)
In the detection device according to appendix 4 or appendix 5,
The determination unit, based on the reflection information, blocks the reflected wave by an object that passes through the predetermined area in a first direction and blocks the reflected wave by another object that passes through the area in a second direction. A detection apparatus that interrupts determination of the presence of the reflector when detected.
(Appendix 7)
Reception that receives reflected waves from a transmitter that irradiates an electromagnetic wave to a range including a predetermined region, and a plurality of reflection units that are disposed on the opposite side of the transmitter with the predetermined region interposed therebetween. From at least one sensor including a reflection unit, receiving reflection information in time series indicating information of the reflected wave from each reflection unit received by the reception unit;
Based on the received reflection information, the order in which the reflected waves by the respective reflecting parts are blocked is specified, and the reflected waves of the respective reflecting parts estimated from the specified order and the movement of the object passing through the predetermined region From the comparison with the order in which the blocking of the reflected wave is detected, the presence of a reflector that prevents the detection of the object is determined when the reflection unit that has lost the blocking of the reflected wave is detected.
A detection program that causes a computer to execute processing.
(Appendix 8)
In the detection program according to attachment 7,
The reflection information includes information on the distance from the sensor to each of the reflection portions,
The detection program is characterized in that the determination process determines that the reflector exists at a position separated from the sensor by a distance between the reflection unit that detects that the interruption of the reflected wave is lost and the sensor.
(Appendix 9)
In the detection program according to appendix 7 or appendix 8,
The determination process is based on the reflection information, blocking the reflected wave by an object passing through the predetermined area in the first direction and blocking the reflected wave by another object passing through the area in the second direction. A detection program that interrupts the determination of the presence of the reflector when detecting.
(Appendix 10)
Reception that receives reflected waves from a transmitter that irradiates an electromagnetic wave to a range including a predetermined region, and a plurality of reflection units that are disposed on the opposite side of the transmitter with the predetermined region interposed therebetween. From at least one sensor including a reflection unit, receiving reflection information in time series indicating information of the reflected wave from each reflection unit received by the reception unit;
Based on the received reflection information, the order in which the reflected waves by the respective reflecting parts are blocked is specified, and the reflected waves of the respective reflecting parts estimated from the specified order and the movement of the object passing through the predetermined region From the comparison with the order in which the blocking of the reflected wave is detected, the presence of a reflector that prevents the detection of the object is determined when the reflection unit that has lost the blocking of the reflected wave is detected.
A detection method characterized by the above.
(Appendix 11)
In the detection method according to attachment 10,
The reflection information includes information on the distance from the sensor to each of the reflection portions,
The detection method according to claim 1, wherein the determination process includes determining that the reflector exists at a position separated from the sensor by a distance between the sensor and the reflection unit that detects that the interruption of the reflected wave is lost.
(Appendix 12)
In the detection method according to appendix 10 or appendix 11,
The determination process is based on the reflection information, blocking the reflected wave by an object passing through the predetermined area in the first direction and blocking the reflected wave by another object passing through the area in the second direction. And detecting the presence of the reflector when it is detected.

DESCRIPTION OF SYMBOLS 1, 10, 10a, 10b ... Sensor; 1a, 12 ... Transmission part; 1b, 13 ... Reception part; 2, 2a, 2b ... Reflection part; 3, 30, 30a ... Detection apparatus; 3a ... Reception part; ... determining unit; 4 ... predetermined region; 5,50 ... object; 6,60 ... reflector; 7 ... range; 8a, 8b, 21a, 21b, 21c, 21d ... light path; 11, 32, 32a ... control unit; 14, 31, 31a ... communication unit; 15, 35 ... storage unit; 16 ... antenna unit; 17, 17a, 17b ... log data; 18 ... extracted data; 19 ... judgment log; 20a, 20b, 20c, 20d ... reflector 22a, 22b ... order table; 25, 25a, 25b ... irradiation range; 34 ... extraction part; 36 ... output part; 40 ... area; 40a ... railroad crossing; 70a, 70b ... breaker; 80 ... orbit; 90 ... road; 10 , 200, 300 ... detection system; 110 ... automobile; A, B, C, D ... vertex

Claims (6)

Reception that receives reflected waves from a transmitter that irradiates an electromagnetic wave to a range including a predetermined region, and a plurality of reflection units that are disposed on the opposite side of the transmitter with the predetermined region interposed therebetween. At least one sensor including a portion;
Receiving the reflection information indicating in time series the information on the reflected waves from each of the reflection units received by the reception unit, based on the received reflection information, specify the order in which the reflection waves by the reflection units are blocked, When a reflection part that lacks blocking of the reflected wave is detected from a comparison between the identified order and the order in which the reflected wave of each of the reflection parts estimated from the movement of the object passing through the predetermined region is blocked A determination unit for determining the presence of a reflector that prevents detection of the object;
A detection system comprising: The detection system according to claim 1,
The reflection information includes information on the distance from the sensor to each of the reflection portions,
The determination unit determines that the reflector exists at a position away from the sensor by a distance between the sensor and the reflection unit that detects that the interruption of the reflected wave is lost. The detection system according to claim 1 or 2,
The determination unit, based on the reflection information, blocks the reflected wave by an object that passes through the predetermined area in a first direction and blocks the reflected wave by another object that passes through the area in a second direction. A detection system that interrupts the determination of the presence of the reflector when detected. Reception that receives reflected waves from a transmitter that irradiates an electromagnetic wave to a range including a predetermined region, and a plurality of reflection units that are disposed on the opposite side of the transmitter with the predetermined region interposed therebetween. A reception unit that receives, from at least one sensor including a unit, reflection information that is received in time by the reflected wave information from each reflection unit received by the reception unit;
Based on the received reflection information, the order in which the reflected waves by the respective reflecting parts are blocked is specified, and the reflected waves of the respective reflecting parts estimated from the specified order and the movement of the object passing through the predetermined region A determination unit that determines the presence of a reflector that hinders the detection of the object when a reflection unit that lacks the blocking of the reflected wave is detected from a comparison with the order in which
A detection apparatus comprising: Reception that receives reflected waves from a transmitter that irradiates an electromagnetic wave to a range including a predetermined region, and a plurality of reflection units that are disposed on the opposite side of the transmitter with the predetermined region interposed therebetween. From at least one sensor including a reflection unit, receiving reflection information in time series indicating information of the reflected wave from each reflection unit received by the reception unit;
Based on the received reflection information, the order in which the reflected waves by the respective reflecting parts are blocked is specified, and the reflected waves of the respective reflecting parts estimated from the specified order and the movement of the object passing through the predetermined region From the comparison with the order in which the blocking of the reflected wave is detected, the presence of a reflector that prevents the detection of the object is determined when the reflection unit that has lost the blocking of the reflected wave is detected.
A detection program that causes a computer to execute processing. Reception that receives reflected waves from a transmitter that irradiates an electromagnetic wave to a range including a predetermined region, and a plurality of reflection units that are disposed on the opposite side of the transmitter with the predetermined region interposed therebetween. From at least one sensor including a reflection unit, receiving reflection information in time series indicating information of the reflected wave from each reflection unit received by the reception unit;
Based on the received reflection information, the order in which the reflected waves by the respective reflecting parts are blocked is specified, and the reflected waves of the respective reflecting parts estimated from the specified order and the movement of the object passing through the predetermined region From the comparison with the order in which the blocking of the reflected wave is detected, the presence of a reflector that prevents the detection of the object is determined when the reflection unit that has lost the blocking of the reflected wave is detected.
A detection method characterized by the above.

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