JP6426438B2 - Orbit approach warning system - Google Patents

Description

  The present invention relates to a track approach warning system used at a railway station.

  Railway cars are driven between stations as trains. The station has a platform (platform) for passengers to get on and off. Since the home is close to the track, if a person on the home approaches the track too much, there is a risk of falling from the home or contact with a moving vehicle.

  2. Description of the Related Art Conventionally, there has been known a monitoring device that performs image processing on an image from a camera taken in a track and on a home, and predicts the falling of a person and an object from the home (see Patent Document 1). However, since this monitoring device stops the input of the image taken by the camera when it is determined that the train is approaching (see FIG. 2 of Patent Document 1), it can not prevent people from coming into contact with the approaching train. .

  A fall prevention system has been proposed which processes an image from a CCD camera to prevent a person from falling from a home or touching a train (see Patent Document 2). This fall prevention system has a CCD camera provided on the roof of the home to detect trains and people on the home. However, this fall prevention system does not detect a person who has fallen from home. In this fall prevention system, the CCD camera is a very important part because it detects a person, and maintenance such as inspection and lens cleaning is indispensable. The CCD camera provided on the roof requires high-level work (work performed at a height of 2 m or more) for maintenance, and maintenance is not easy.

  There has been proposed a safety monitoring apparatus that captures an image of a home end with a stereo camera (see Patent Document 3). However, in this safety monitoring device, since a plurality of stereo cameras are installed downward at a position higher than the head of a person (see FIG. 1 of Patent Document 3), maintenance requires high-level work and maintenance is easy. Absent.

Japanese Patent Laid-Open No. 7-228250 JP, 2011-189921, A JP 2004-58737 A

  The present invention solves the above-mentioned problems, prevents a person from falling from a home and preventing a person from touching a moving vehicle, detects a person from falling from a home, and easily maintains a track approaching warning It aims to provide a system.

  The track approach warning system according to the present invention is used at a railway station, and includes a housing provided in a home, a human detection sensor provided in the housing, and an approach of a vehicle on a track close to the home. A vehicle detection unit that detects an on-line stop and departure, a notification unit that notifies an alarm to a person on the home, a driver notification indicator light for displaying a notification to the driver of the vehicle, the person detection sensor And a control device that processes information from the vehicle detection unit to control the notification unit and the driver notification indicator light, and a plurality of detection ranges are set in the human detection sensor and exist in each of the detection ranges The plurality of detection ranges include an on-home detection range set on the home and an on-orbit detection range set on a track approaching the home, and the control device People detection sensor detects people When in the detection range of the human is detected, the in accordance with the detection result of the vehicle detection unit, and controlling the notification unit and the operator's notification indicator.

  In this orbit approach warning system, it is preferable that the on-home detection area includes a plurality of on-home detection areas having different distances from the orbit.

  In this orbit approach warning system, as the plurality of on-home detection areas, a first on-home detection area far from the orbit and a second home on the side closer to the orbit than the first on-home detection area It is preferable to have a detection range.

  In the track approach warning system, when the person detection sensor detects a person in the home detection range and the vehicle detection unit does not detect a stop on the vehicle, the control device instructs the notification unit It is preferable to notify an alarm.

  In this trajectory approach warning system, when a person is detected in the on-orbit detection range by the human detection sensor and the vehicle detection unit does not detect a stop on the line of the vehicle, the control device notifies the driver It is preferable to display a notification on the indicator light.

  The trajectory approach warning system further includes a palm warning indicator light for displaying a warning on a palm of the vehicle, and the control device detects a person when the person detection sensor detects a person, and a detection range in which the person is detected. It is preferable to control the palm warning display light according to the detection result of the vehicle detection unit.

  In this trajectory approach warning system, when the person detection sensor detects a person in the second home upper detection range, and the vehicle detection unit detects any one of entry, suspension, and departure of a vehicle. Preferably, the control device causes a warning to be displayed on the palm warning light.

  In this track approach warning system, it is preferable that the casing has a plate-like outer shape and is erected on the track side edge of the home substantially in parallel with the longitudinal direction of the home.

  In this trajectory approach warning system, the control device and the notification unit are preferably provided in the housing.

  According to the track approach warning system of the present invention, the person on the home is alerted to the person on the home by detecting the person existing on the home on the detection range by the person detection sensor, and the vehicle falls from the home and to the moving vehicle. It becomes possible to prevent contact. In addition, by detecting a person present in the on-orbit detection range with the person detection sensor, it is possible to detect the fall of the person from the home, and the control device controls the driver notification indicator light to thereby detect the person from the home. It is possible to notify the driver of the fall of a person. The control device controls the notification unit according to the detection range in which a person is detected and the detection result of the vehicle detection unit, so that it is more accurate than notifying a warning based on the detection range in which a person is simply detected. An alarm can be notified and the security at home is further improved. In addition, since the housing provided with the human detection sensor is erected at the home, maintenance is easy.

FIG. 1 is a block diagram of a trajectory approach warning system according to a first embodiment of the present invention. The front view of the case of the same orbit approach warning system. The side view of the case of the same orbit approach warning system. The top view which shows the detection range in the same orbit approach warning system. The front view of the housing | casing of the track approach warning system which concerns on the 2nd Embodiment of this invention. The side view of the case of the same orbit approach warning system. The top view which shows the detection range in the same orbit approach warning system. The front view of the housing | casing of the track approach warning system which concerns on the 3rd Embodiment of this invention. The top view which shows the detection range in the same orbit approach warning system.

First Embodiment
A trajectory approach warning system according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 4. The track approach warning system of the present invention is used at a railway station. As shown in FIG. 1, the trajectory approach warning system 1 of the present embodiment controls the housing 2, the human detection sensor 3, the vehicle detection unit 4, the notification unit 5, the driver notification indicator light 6, and And an apparatus 7. As shown in FIG. 2 and FIG. 3, the housing 2 is erected on the home P. The human detection sensor 3 is provided on the housing 2. The vehicle detection unit 4 detects an approach, a stop on the line, and a departure of the vehicle on a track close to the home (see FIG. 1). The notification unit 5 is for notifying a person on the home of an alarm. The driver notification display light 6 is a display light for displaying a notification to the driver of the vehicle, particularly to the driver of the vehicle entering a track approaching the home. The control device 7 processes the information from the human detection sensor 3 and the vehicle detection unit 4 to control the notification unit 5 and the driver notification indicator lamp 6.

  The housing 2 has a plate-like outer shape, and is erected on the track side edge of the home P substantially parallel to the longitudinal direction of the home P (see FIGS. 2 and 3).

  In the present embodiment, the control device 7 and the notification unit 5 are provided in the housing 2.

  As shown in FIG. 4, the human detection sensor 3 sets a plurality of detection ranges and detects a person present in each detection range. The plurality of detection ranges include a home upper detection range Dp and an on-orbit detection range D3. The home upper detection range Dp is set on the home P. The on-orbit detection range D3 is set on the trajectory T close to the home P.

  The on-home detection range Dp includes a plurality of on-home detection ranges D1 and D2 different in distance from the track.

  As a plurality of on-home detection ranges Dp (D1, D2), a first on-home detection range D1 farther from the trajectory T and a second on-home detection closer to the trajectory T than the first detection range D1 There is a range D2.

  The control device 7 detects the detection range Dp (D1, D2) and D3 detected by the person when the person detection sensor 3 detects a person, and the notification unit 5 and the driving according to the detection result of the vehicle detection unit 4 The officer notification indicator 6 is controlled (see FIG. 1).

  The trajectory approach warning system 1 includes a conductor warning indicator 8 in addition to the housing 2, the human detection sensor 3, the vehicle detector 4, the notification unit 5, the driver notification indicator 6 and the control device 7. The conductor warning display light 8 is a display light for displaying a warning on a conductor of a vehicle, in particular, a conductor of a vehicle existing on a track T close to the home P. The conductor warning indicator light 8 is controlled by the control device 7. Control device 7 detects a palm warning display light 8 according to detection ranges Dp (D1, D2) and D3 detected by a person when person detection sensor 3 detects a person, and a detection result of vehicle detection unit 4. Control.

  The orbit approach warning system 1 will be described in more detail. The track approach warning system 1 of the present invention is a station where it is difficult to install a movable home fence or a fall prevention deterrent type movable protective fence etc. due to the width and structure of the home, and a station where there are relatively few customers. Developed to apply.

  The housing 2 accommodates the human detection sensor 3 and the like (see FIGS. 2 and 3). The housing 2 has a flat base plate portion 21 at the bottom. By fixing the base plate portion 21 to the home P by the anchor bolt, the housing 2 is provided in a standing state (provided upright). The housing 2 is also referred to as a “post” because it is erected. In the present embodiment, the external dimensions of the housing 2 are, for example, a width of about 0.5 m in the longitudinal direction of the home P, a height of about 1.1 m, a depth of about 17 cm in the width direction of the home P, and the base plate portion 21 The depth of is about 22 cm and is not limited to these numbers. The housing 2 is provided so as not to face the door of the vehicle stopped at the station. Since the home is long, a plurality of housings 2 provided with the human detection sensor 3 are generally used. The installable position of the chassis 2 at the station is determined in consideration of the positions of the doors of all vehicle types that stop at the station and the tolerance of the shift of the stopping position. Since the housing 2 does not operate mechanically, it can be thinner than the movable home fence or the fall preventing movable movable fence, and a wide passage width on the home P can be secured.

  The human detection sensor 3 is also called a "customer detection sensor". In the first embodiment, the human detection sensor 3 has a two-dimensional TOF sensor. The two-dimensional TOF sensor scans a laser beam on a plane (circumferentially), measures the distance to an object, and detects an object having a predetermined size or more on the plane. The light emitted from the two-dimensional TOF sensor is infrared laser light. The measurement of distance is performed by a light time-of-flight ranging method based on time of flight (TOF) of light. The human detection sensor 3 compares the measurement data from the two-dimensional TOF sensor with data when no human exists, detects an object, etc., and calculates the position of the detection object from the light emission direction and the measured distance. It is determined from the size of the detected object whether the detected object is a person or not. The human detection sensor 3 has a detection range preset, and detects a person present in each detection range. In the human detection sensor 3 of the present embodiment, two two-dimensional TOF sensors are vertically arranged in order to improve detection accuracy. The number of human detection sensors 3 may be one. Note that dedicated data processing may be provided for data processing in the human detection sensor 3 or the processing function of the control device 7 may be used.

  Detection ranges D1, D2, D3 of the human detection sensor 3 are elongated regions parallel to the longitudinal direction of the home P. Among these detection ranges, the first on-home detection range D1 is also called a "reminder area" because it is set to alert the customer (see FIG. 4). By providing and alerting the first home detection range D1, entry into the second home detection range D2 is prevented in advance. Since the second home detection range is set to warn the customer, it is also called a "warning area". For example, on the home P, it is set outside the white line, ie, a range closer to the home end than the white line. Be done. Since the on-orbit detection range D3 is set to detect a fall from a person's home P, it is also referred to as a "fall detection area".

  The vehicle detection unit 4 includes an entry detection unit 41, a train stop detection unit 42, and a departure detection unit 43 (see FIG. 1). The entrance detection unit 41 detects the entrance of a vehicle on a track close to the home. The entry of a vehicle in a track close to the home is referred to as the entry of the vehicle into the home. The on-line stop detection unit 42 detects the on-line and the stop (on-line stop) of the vehicle on the track approaching the home. The departure detection unit 43 detects departure of the vehicle on a track close to the home. In the present embodiment, the passage of the vehicle is detected by the vehicle detection unit 4 as entry and departure without stop on line.

  The entry detection unit 41 has a two-dimensional TOF sensor in the present embodiment. The two-dimensional TOF sensor of the entrance detection unit 41 is attached to the rearmost building fixed fence and detects the front of the vehicle entering the home. A video camera may be used instead of the two-dimensional TOF sensor. When another system (for example, a vehicle stop detection system) capable of detecting the entrance of a vehicle is provided at a station, an input interface or the like connected to the system instead of having a two-dimensional TOF sensor as the entrance detection unit 41 May be included.

  The on-line stop detection unit 42 has a two-dimensional TOF sensor in the present embodiment. The two-dimensional TOF sensor of the on-line stopping detection unit 42 is attached to the foremost architectural fixed fence at the home and detects the front of the vehicle existing at the home. A video camera may be used instead of the two-dimensional TOF sensor. When another system (for example, a vehicle stop detection system) capable of detecting a vehicle stop on the line is provided at a station, an input connected to the system instead of having a two-dimensional TOF sensor as the on-line stop detection unit 42 It may have an interface or the like.

  In the present embodiment, the departure detection unit 43 shares the two-dimensional TOF sensor with the on-line stop detection unit 42. A video camera may be used instead of the two-dimensional TOF sensor. When another system capable of detecting the departure of the vehicle (for example, a vehicle stop detection system) is provided at the station, the departure detection unit 43 may have an input interface or the like connected to the system. Further, as the departure detection unit 43, an input device (a push button) operated by a conductor when the vehicle departs may be provided in the housing 2 or the like.

  The notification unit 5 includes a display lamp 51 and a speaker 52, and reports a warning by a display by the display lamp 51 and an audio output by the speaker 52. As a result, an appropriate alarm can be notified by the contents and combination of the display by the indicator light 51 and the sound output by the speaker 52.

  The indicator 51 is also referred to as a "alert / alert indicator". In the present embodiment, the display lamp 51 has a plurality of LED elements, and can display a plurality of display colors (for example, white and orange) (see FIG. 3).

  The speaker 52 has a speaker unit that generates sound and an electronic circuit that drives the speaker unit, and can output a plurality of patterns of audio. In the present embodiment, the speaker 52 is a narrow directivity speaker.

  The driver notification indicator light 6 is also an indicator light for notifying the driver of the fall of a person from the home, and is therefore also called a “driver fall notification indicator light”. The driver notification indicator light 6 has an LED for display, and is provided at a position where it can be easily viewed from the train operator who enters the home by hanging on a building, attaching to the last building fixed fence in the home, or standing by itself. .

  The control device 7 has a CPU, a memory, and the like, and operates by executing a program. The control device 7 may be provided in each housing 2 to perform distributed processing, or one control device 7 may perform centralized processing. In addition, as the control device 7, an individual control device may be provided in each case 2 and an integrated control device for controlling the individual control devices may be separately provided, and the distributed processing and the centralized processing may be appropriately combined according to the control content. .

  The conductor warning indicator light 8 has an LED for display, and is provided by hanging the building, by standing or by being incorporated into the housing 2 or the like.

  In the track approach warning system 1 configured as described above, the indicator light 51 of the notification unit 5 by the control device 7 corresponding to the detection results of the detection ranges D1, D2 and D3 detected by a person and the vehicle detection unit 4 An example of control of the driver notification indicator 6 and the conductor warning indicator 8 is shown in Table 1.

  The detection result of the vehicle detection unit 4 is a detection result by the entry detection unit 41, the on-line stop detection unit 42, and the departure detection unit 43. As shown in Table 1, the entry of the vehicle is detected. There are four detection results, detection of the on-line stop of the vehicle and detection of the departure of the vehicle.

  In the approach approach warning system 1, when the person detection sensor 3 detects a person in the home detection range Dp (D1, D2) and the vehicle detection unit 4 does not detect a stop on the vehicle, the control device 7 , Notify the alarm unit 5 of the alarm. The voice output by the speaker 52 of the notification unit 5 is set in the control device 7 in advance according to each of the case where the vehicle is not detected, the case where the vehicle entry is detected, and the case where the vehicle departure is detected. ing.

  When a person is detected in the second home upper detection range D2 by the person detection sensor 3 and the vehicle detection unit 4 does not detect the on-line stop of the vehicle, the person is home although the vehicle is not stopped. It is in the state approaching the end. For this reason, the voice output by the speaker 52 is set to a content that causes a danger to be recognized than when a person is detected in the first home upper detection range D1.

  In the approach approach warning system 1, when the human detection sensor 3 detects a person in the second home upper detection range D2 and the vehicle detection unit 4 detects any of the entry, the stop, and the departure of the vehicle, The control device 7 causes the palm warning display light 8 to display a warning.

  When a person is detected in the on-orbit detection range D3 by the human detection sensor 3 and the vehicle detection unit 4 does not detect the on-rail stop of the vehicle, the control device 7 displays an operator notification display. Display a notice on light 6. This is a state in which a person falls from home and is on the orbit, and the driver who recognizes the notification by the driver notification indicator light 6 applies an emergency brake to stop the vehicle.

  As described above, according to the trajectory approach warning system 1 according to the present embodiment, the person detection sensor 3 detects a person existing in the home detection range Dp (D1, D2), thereby notifying the person on the home of the alarm. It is possible to prevent a fall from the home and a contact with a moving vehicle. In addition, by detecting a person present in the on-orbit detection range D3 by the person detection sensor 3, it is possible to detect a fall of a person from the home, and the control device 7 controls the driver notification indicator light 6. It will be possible to notify the driver of a person's fall from home. The control unit 7 controls the notification unit 5 according to the detection ranges Dp (D1, D2) and D3 in which a person is detected and the detection result of the vehicle detection unit 4 so that the detection range in which a person is simply detected An alert that is more accurate than alerting based on Dp (D1, D2) and D3 can be notified, and the safety at home is further improved. Further, since the housing 2 provided with the human detection sensor 3 is erected at the home, maintenance of the human detection sensor 3 which is an important part of detecting a human is easy.

  Since the home detection range Dp includes a plurality of home detection ranges having different distances from the track, the notification unit 5 can be controlled in accordance with the proximity of the detected person to the home end.

  The home on-the-home detection range Dp includes a first on-home detection range D1 farther from the orbit and a second on-home detection range D2 closer to the orbit than the first detection range D1. The alarm in the home upper detection range D2 makes it possible to prevent a person from falling from the home, and the alarm in the first home upper detection range D1 enters the second home upper detection range It will be possible to prevent.

  By providing the conductor warning indicator light 8 for displaying a warning on the conductor, it becomes possible for the conductor who has received the warning to take an appropriate response.

  Since the housing 2 has a plate-like outer shape and is erected on the track side edge of the home substantially in parallel with the longitudinal direction of the home, it becomes easy to secure the passage width on the home and The body 2 acts like a fall prevention fence and prevents people from falling from their homes.

  By providing the control device 7 and the notification unit 5 in the housing 2, installation of the trajectory approach warning system 1 becomes easy.

Second Embodiment
A trajectory approach warning system 1 according to a second embodiment of the present invention will be described with reference to FIGS. 5 to 7 with reference to FIG. The trajectory approach warning system 1 of this embodiment has the same configuration as that of the first embodiment (see FIG. 1). In the second embodiment, the human detection sensor 3 is not a two-dimensional TOF sensor but a three-dimensional TOF sensor as shown in FIG. 5 and FIG. In the present embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals. In the following description, detailed description of parts equivalent to the first embodiment will be omitted.

  The three-dimensional TOF sensor scans a laser beam up and down and left and right with a two-dimensional scanning mirror, measures the distance at each scanning angle, and detects an object having a predetermined size or more in a scanning range. The measurement of distance is performed by a light time-of-flight ranging method based on time of flight (TOF) of light. In the human detection sensor 3, scanning of light by the three-dimensional TOF sensor is performed in a predetermined scanning range ω. The human detection sensor 3 compares the measurement data from the three-dimensional TOF sensor with data when no human exists, detects an object, etc., and calculates the position of the detection object from the light emission direction and the measured distance. It is determined from the size of the detected object whether the detected object is a person or not. The human detection sensor 3 has a detection range preset, and detects a person present in each detection range. Note that dedicated data processing may be provided for data processing in the human detection sensor 3 or the processing function of the control device 7 may be used.

  As illustrated in FIG. 7, the detection ranges D1, D2, and D3 may be narrowed in the vicinity of the human detection sensor 3 due to the limitation of the angular range of light scanning by the three-dimensional TOF sensor. However, since the human detection sensor 3 is provided in the housing 2 and the housing 2 functions as a fall prevention fence, even if the detection range is thus limited in the vicinity of the human detection sensor 3, there is a problem in safety There is not.

  The trajectory approach warning system 1 of the second embodiment operates in the same manner as the first embodiment, and exhibits the same effect as the first embodiment.

Third Embodiment
A trajectory approach warning system 1 according to a third embodiment of the present invention will be described with reference to FIG. 8 and FIG. The trajectory approach warning system 1 of this embodiment has the same configuration as that of the first embodiment (see FIG. 1). In the third embodiment, the human detection sensor 3 is not a two-dimensional TOF sensor but a video camera as shown in FIG. In the present embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals. In the following description, detailed description of parts equivalent to the first embodiment will be omitted.

  The human detection sensor 3 acquires an image of a predetermined imaging range S including a detection range D1, D2, D3 by a video camera, and detects the presence of a person in each of the detection ranges D1, D2, D3 by image processing. As a video camera of the human detection sensor 3, a monocular video camera may be used, or a stereo video camera may be used. With a stereo video camera, the accuracy of distance measurement to an object to be imaged can be easily enhanced. Note that dedicated hardware may be provided for image processing in the human detection sensor 3 or the processing function of the control device 7 may be used.

  As illustrated in FIG. 9, the detection ranges D1, D2, and D3 may be narrowed in the vicinity of the human detection sensor 3 due to the restriction of the image pickup possible range by the video camera. However, since the human detection sensor 3 is provided in the housing 2 and the housing 2 functions as a fall prevention fence, even if the detection range is thus limited in the vicinity of the human detection sensor 3, there is a problem in safety There is not.

  The trajectory approach warning system 1 of the third embodiment operates in the same manner as the first embodiment, and exhibits the same effect as the first embodiment.

  The present invention is not limited to the configuration of the embodiment described above, and various modifications can be made without departing from the scope of the invention. For example, three or more home upper detection ranges Dp of the human detection sensor 3 may be set according to the distance from the home end.

DESCRIPTION OF SYMBOLS 1 orbit approach warning system 2 case 3 person detection sensor 4 vehicle detection part 5 alerting part 6 driver notification indicator light 7 control device 8 vehicle warning indicator light Dp home upper detection range D1 first home upper detection range D2 second Home detection range D3 Orbit detection range

Claims (10)

An orbital approach warning system used at a railway station,
An enclosure set up at home,
A human detection sensor provided in the housing;
A vehicle detection unit that detects an approach, a stop on the line, and a departure of a vehicle on a track close to the home;
A notification unit for notifying a person on the home of an alarm;
A driver notification indicator light for displaying a notification to the driver of the vehicle;
A control device that processes information from the human detection sensor and the vehicle detection unit to control the notification unit and the driver notification indicator light;
The human detection sensor sets a plurality of detection ranges and detects a person present in each of the detection ranges,
The plurality of detection ranges include an on-home detection range set on the home and an on-orbit detection range set on a track approaching the home,
The control device controls the notification unit and the driver notification indicator light according to a detection range in which a person is detected and a detection result of the vehicle detection unit when the person detection sensor detects a person. Trajectory approach warning system characterized by   The orbit approach warning system according to claim 1, wherein the on-home detection area includes a plurality of on-home detection areas having different distances from the orbit.   As the plurality of on-home detection ranges, there are a first on-home detection range far from the orbit and a second on-home detection range closer to the orbit than the first on-home detection range The orbit approach warning system according to claim 2, characterized in that:   When the person detection sensor detects a person in the home detection range and the vehicle detection unit does not detect a stop on the vehicle, the control device causes the notification unit to notify an alarm. The orbit approach warning system according to any one of claims 1 to 3, wherein:   When the person detection sensor detects a person in the on-orbit detection range and the vehicle detection unit does not detect a stop on the vehicle, the control device causes the driver notification indicator light to display a notification. The orbit approach warning system according to any one of claims 1 to 4, characterized in that: The vehicle further comprises a conductor warning indicator for displaying a warning on a conductor of the vehicle,
The control device is characterized in that when the human detection sensor detects a person, the control device controls the palm warning indicator light according to a detection range in which the human is detected and a detection result of the vehicle detection unit. The orbit approach warning system according to claim 3 . The vehicle further comprises a conductor warning indicator for displaying a warning on a conductor of the vehicle,
The control device is characterized in that when the human detection sensor detects a person, the control device controls the palm warning indicator light according to a detection range in which the human is detected and a detection result of the vehicle detection unit. The orbit approach warning system according to claim 4 or 5 .   When the person detection sensor detects a person in the second home upper detection range, and the vehicle detection unit detects any one of entry, stop on the line, and departure of the vehicle, the control device controls the vehicle palm The orbit approach warning system according to claim 6, wherein a warning is displayed on a warning indicator. Wherein the housing has a plate-like outer shape, substantially parallel to the longitudinal direction of the home, any one of claims 1 to 8, characterized in that it is erected on the line side edge of the home Orbit approach warning system as described in. The track approach warning system according to claim 9 , wherein the control device and the notification unit are provided in the case.

Images