JP6826283B2 - Platform door control system - Google Patents

Description

The present invention relates to a platform door control system that controls a platform door installed in a home.

In recent years, from the viewpoint of preventing accidents from falling from the platform of a station, an increasing number of stations have installed platform doors on the platform that open and close in conjunction with the opening and closing of vehicle doors of railway vehicles. As a technique for automatically controlling such a platform door to the closed state in conjunction with the closed state of the vehicle door, for example, the platform fence opening / closing system disclosed in Patent Document 1 below is known. This home fence opening / closing system uses a single system of wireless communication to reliably transmit information on door opening / closing operations, including a vehicle door operating device and on-board radio installed on the train, and the ground installed on the platform. It is configured to include a radio and a home fence control device. Then, after associating the train with the platform by establishing communication between the on-board radio in the low output mode and the terrestrial radio in the low output mode, the vehicle door operation device and the home fence control device are in the high output mode. The door opening / closing operation of the vehicle door and the home door is linked and controlled by communication between the on-board radio and the terrestrial radio in the high output mode.

Japanese Unexamined Patent Publication No. 2014-218184

By the way, in the configuration in which an on-board radio or the like is installed in a railroad vehicle (train) as disclosed in Patent Document 1, a radio or the like having an equivalent radio communication function in all railroad vehicles using the platform is provided. Since it will be installed, it will be necessary to construct and remodel railway vehicles in accordance with the installation of platform doors. In particular, when railcars of multiple railroad companies enter the same platform, not only construction and remodeling to install the default radios etc. are required for all railroad cars, but also some railroad cars Depending on the specifications, it may be difficult to install the above-mentioned default radio or the like on the railway vehicle.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to automatically operate a platform door in conjunction with a closed state of a vehicle door of a railroad vehicle without using wireless communication. The purpose is to provide a platform door control system that can be controlled to a closed state.

In order to achieve the above object, the invention according to claim 1 of the scope of patent claims is a platform door control system (1) that controls a platform door (20) arranged on a platform (2) of a station. The identification display can be recognized from at least the identification display (50 to 56) provided on the vehicle door (12) of the railroad vehicle (10), the imaging means (30) for capturing the identification display, and the image captured by the imaging means. The identification means (41) and the control means (40) for controlling the platform door to the closed state when the identification display is recognized by the recognition means are provided, and the identification display includes the vehicle door closed. When in the state, the image is arranged so as to be recognized by the recognition means from the image captured by the image pickup means, and the image pickup means have a part of each other's imaging field toward one vehicle door provided with the identification display. A plurality of imaging cycles are provided so as to overlap each other, and a part of the imaging cycles of the plurality of imaging means and at least a part of the imaging cycles are shifted by half a cycle of the illumination cycle of the illumination light applied to the identification display. It is a feature.

The invention according to claim 2 is a platform door control system (1) that controls a platform door (20) arranged on a platform (2) of a station, and is at least a vehicle door (12) of a railroad vehicle (10). The identification display (50 to 56) provided in the above, the imaging means (30) for capturing the identification display, the recognition means (41) capable of recognizing the identification display from the image captured by the imaging means, and the platform door. A control means (40) for controlling an open / closed state is provided, and the identification display is recognized by the recognition means from an image captured by the imaging means when the vehicle door is closed, and the vehicle door is opened. It is arranged so that it is not recognized by the recognition means from the image captured by the imaging means in the state, and the control means controls the platform door to be closed when the identification display is recognized by the recognition means. When the identification display is not recognized by the recognition means, the platform door is controlled to be in an open state, and the imaging means overlaps a part of the imaging field with each other toward one vehicle door provided with the identification display. A plurality of imaging cycles are provided as described above, and a part of the imaging cycles of the plurality of imaging means and at least a part of the imaging cycles are shifted by half a cycle of the illumination cycle of the illumination light applied to the identification display. And.
The reference numerals in the parentheses indicate the correspondence with the specific means described in the embodiments described later.

In the invention of claim 1, the identification display provided on the vehicle door of the railroad vehicle is arranged so as to be recognized by the recognition means from the image captured by the image pickup means when the vehicle door is in the closed state. As a result, when the identification display is recognized from the captured image, it can be determined that the vehicle door is in the closed state. In this case, the platform door is controlled to the closed state by the control means to perform wireless communication. Without using it, the platform door can be automatically controlled to the closed state in conjunction with the closed state of the vehicle door of the railroad vehicle.

In the invention of claim 2, the identification display provided on the vehicle door of the railroad vehicle is recognized by the recognition means from the image captured by the imaging means when the vehicle door is closed, and the vehicle door is in the open state. It is arranged so as not to be recognized by the recognition means from the image captured by the image pickup means. As a result, when the identification display is recognized from the captured image, it can be determined that the vehicle door is in the closed state. In this case, the platform door is controlled to the closed state by the control means to perform wireless communication. Without using it, the platform door can be automatically controlled to the closed state in conjunction with the closed state of the vehicle door of the railroad vehicle. Further, if the identification display is not recognized from the captured image even though the railcar is present at the platform, it can be determined that the vehicle door is in the open state. In this case, the platform door is opened by the control means. By controlling the state, it is possible to automatically control the platform door to the open state in conjunction with the open state of the vehicle door of the railroad vehicle without using wireless communication. That is, the platform door can be automatically opened and closed in conjunction with the open / closed state of the vehicle door of the railway vehicle without using wireless communication.

In the invention of claim 23 , when it is recognized that the identification display is moving after the identification display stopped by the recognition means is recognized, the platform door is controlled to the open state by the control means. As a result, it is possible to determine that the vehicle door is in the open state and control the platform door to the open state before the identification display moves and is not recognized due to the vehicle door being opened, so that the timing when the vehicle door starts to open can be controlled. It is possible to reduce the delay in the timing when the platform door starts to open. Therefore, it is possible to shorten the extended platform stop time of the railway vehicle by providing the platform door.

In the invention of claim 24 , the imaging means has such that the identification display when the vehicle door is in the closed state is located in the imaging field of view and the identification display when the vehicle door is in the open state is located outside the imaging field of view. Will be installed. As a result, since the identification display is not recognized by the recognition means when the vehicle door is in the open state, it is possible to prevent the vehicle door in the open state from being mistakenly recognized as being in the closed state. In particular, assuming that the identification display when the vehicle door is open is located outside the imaging field of view, the identification display of the vehicle door that has begun to close can be quickly recognized by expanding the imaging field of view as much as possible. , It is possible to reduce the delay of the timing when the platform door starts to close with respect to the timing when the vehicle door starts to close. Therefore, it is possible to shorten the extended platform stop time of the railway vehicle by providing the platform door.

In the invention of claim 25 , when the imaging means is positioned in the imaging field of view when the vehicle door is in the closed state and the vehicle door is in the open state in consideration of the deviation of the stop position of the railway vehicle. The identification display is installed so as to be located outside the imaging field of view. As a result, even if the stop position of the railroad vehicle shifts, the identification display is not recognized by the recognition means when the vehicle door is in the open state, so that it is surely misidentified that the open vehicle door is in the closed state. It can be suppressed.

In the invention of claim 26 , since the identification display is provided at a position where at least a part of the identification display is concealed so as not to be imaged by the imaging means when the vehicle door is in the open state, the identification display is displayed when the vehicle door is in the open state. Is not recognized by the recognition means, so that it is possible to reliably prevent the vehicle door in the open state from being mistakenly recognized as the closed state.

In the invention of claim 27 , since the identification display is provided at a position where the closed vehicle door is concealed so as not to be imaged by the imaging means from immediately after the start of the open operation until the open operation, the vehicle door opens. Once started, the identification display will not be recognized by the recognition means until the closing operation is completed. As a result, it is possible to easily grasp from the start of the opening operation to the completion of the closing operation of the vehicle door.

In the invention of claim 28 , when the determination means determines that the moving direction of the identification display recognized by the recognition means is a predetermined direction, the platform door is controlled to the closed state by the control means. As a result, a object moving in a direction different from the predetermined direction (that is, the opening / closing direction of the vehicle door) is not recognized as an identification display by the recognition means, so that it is difficult to be misidentified, and the recognition accuracy of the identification display by the recognition means. Can be improved.

In the invention of claim 29 , the identification display is an information code in which predetermined information is optically readable. For that purpose, the information code is easily recognized from the captured image, so that it is less likely to be misidentified, and the recognition accuracy of the identification display by the recognition means can be improved.

In the invention of claim 30 , the recognition means recognizes the identification display when the predetermined information is read from the information code imaged by the image pickup means. By confirming and recognizing the information recorded in the information code in this way, it becomes more difficult to be misidentified, and the recognition accuracy of the identification display by the recognition means can be further improved.

In the invention of claim 31 , the information code is generated so as to encrypt a predetermined information based on a predetermined encryption method. Therefore, since the information recorded in the information code cannot be read by a third party, fraudulent acts such as forgery of the identification display (information code) can be suppressed.

In the invention of claim 32 , since the plurality of information codes are generated so that the predetermined information to be recorded is related to each other, even if the information can be read from the predetermined number of information codes, they must be related to each other. If it is, it will not be recognized as an identification display. Therefore, it becomes difficult to misidentify the identification display, and the recognition accuracy of the identification display by the recognition means can be improved.

In the inventions of claims 9 and 10 , the identification display is attached to the outside of the window so as to be on the back side of the advertisement for the inside of the vehicle attached to the inside of the window. As a result, the identification display does not interfere with the advertisement and does not block the landscape or the like through the window, so that the efficient arrangement of the identification display can be realized.

In the inventions of claims 11 and 12 , since the identification display is attached to the window of the vehicle door from the inside of the vehicle, dirt is attached to the identification display as compared with the case where the identification display is attached from the outside of the vehicle. Peeling, damage, etc. can be suppressed, and the recognition accuracy of the identification display by the recognition means can be further improved.

In the invention of claim 13 , the window of the vehicle door is configured as double glazing with two glazings, and the identification is affixed between the two glazings. As a result, it is possible to reliably suppress the adhesion, peeling, damage, etc. of dirt on the identification display, and it is possible to further improve the recognition accuracy of the identification display by the recognition means.

In the invention of claim 21 , since the identification display is provided so as to straddle both one door and the other door in the closed state, the identification display cannot be recognized unless the vehicle door is in the closed state. It is possible to reliably prevent the vehicle door from being mistaken for being in the closed state.

In the invention of claim 22 , since the identification display is provided so as to surround the vehicle door and straddle both the portion that does not move together with the vehicle door and the vehicle door in the closed state, the identification display is performed unless the vehicle door is in the closed state. Since the display cannot be recognized, it is possible to reliably prevent the vehicle door in the open state from being mistaken for being in the closed state.

In the invention of claim 33 , the platform door is controlled to the closed state by the control means when all the plurality of identification displays are recognized by the recognition means. Therefore, even if only a part of the plurality of identification displays is recognized, the platform door is not controlled to be closed unless all the identification displays are recognized. Therefore, a part of the plurality of identification displays is assumed. Even if a display similar to the above is recognized, it is possible to reliably prevent the vehicle door in the open state from being mistaken for being in the closed state.

As in the invention of claim 34 , a part of the plurality of identification labels may be provided on one door and the other part may be provided on the other door.

In the invention of claim 35, the movement determining means determines whether or not at least a part of the plurality of identification displays is moving based on the captured image captured by the imaging means. Then, the platform door is controlled by the control means based on the determination result by the movement determination means in addition to the recognition result by the recognition means. As a result, the platform door can be controlled after grasping whether or not the vehicle door is opening and closing based on whether or not the identification display is moving. Therefore, the opening / closing timing of the platform door and the opening / closing timing of the vehicle door can be determined. The difference between the two can be easily adjusted.

In the invention of claim 36 , when it is determined by the movement determining means that all of the plurality of identification displays imaged by the imaging means are moving in the same direction, the platform door is controlled as if the railroad vehicle is moving. Controlled by means. When the railroad vehicle is moving, all the identification signs move in the same direction, so it is judged that the railroad vehicle is moving according to the judgment that all the identification signs are moving in the same direction. Therefore, even if the vehicle door moves with the movement of the railway vehicle, it is possible to suppress the misunderstanding that the vehicle door is opening and closing.

In the invention of claim 37 , among the plurality of identification displays recognized by the recognition means, a moving direction of a part of the identification display provided on one door and a moving direction of a part of the other door provided on the other door are close to each other. The platform door is controlled to be closed by the control means when it is determined by the movement determination means. When one door and the other door are moving in the approaching direction, it can be determined that the vehicle door is closed. In this case, by controlling the platform door to the closed state, the vehicle door is closed. It is possible to reduce the delay in the timing when the platform door starts closing with respect to the timing when it starts.

In the invention of claim 38 , a moving direction of a part of the plurality of identification displays imaged by the imaging means provided on one door and a moving direction of a part of the other door provided on the other door are directions away from each other. The platform door is controlled to be in the open state by the control means when the movement determination means determines. If one door and the other door are moving away from each other, it can be determined that the vehicle door is open. In this case, controlling the platform door to the open state opens the vehicle door. It is possible to reduce the delay in the timing when the platform door starts to open with respect to the timing when it starts.

As in the invention of claim 39 , the plurality of identification signs may include other identification signs provided at a portion that surrounds the vehicle door and does not move with the vehicle door.

In the invention of claim 40, the movement determining means determines whether or not at least a part of the plurality of identification displays is moving based on the captured image captured by the imaging means. Then, the platform door is controlled by the control means based on the determination result by the movement determination means in addition to the recognition result by the recognition means. As a result, the platform door can be controlled after grasping whether or not the vehicle door is opening and closing based on whether or not the identification display is moving. Therefore, the opening / closing timing of the platform door and the opening / closing timing of the vehicle door can be determined. The difference between the two can be easily adjusted.

In the invention of claim 41 , when it is determined by the movement determination means that all of the plurality of identification displays imaged by the imaging means are moving, the platform door is controlled by the control means as if the railroad vehicle is moving. Will be done. When the railroad vehicle is moving, all the identification signs move in the same direction. Therefore, it can be determined that the railroad vehicle is moving according to the judgment that all the identification signs are moving. Even if the vehicle door moves with the movement of the vehicle, it is possible to suppress the misunderstanding that the vehicle door is opening and closing.

In the invention of claim 42 , when it is determined by the movement determining means that the identification display other than the other identification display among the plurality of identification displays imaged by the imaging means is moving, the vehicle door is in the closed operation or The platform door is controlled by the control means as being in the open operation. When the identification display other than the other identification display is moving among the plurality of identification displays, it can be determined that the vehicle door is closed or opened. Therefore, the vehicle door is closed or opened during the closing operation or opening operation. It is possible to prevent the vehicle door from being mistakenly recognized as having completed the closed operation (closed state) or completed the open operation (open state).

In the invention of claim 43 , the identification display is an information code in which information regarding the moving direction of the identification display is optically readable and recorded at least when the vehicle door is opened and closed. As a result, by decoding and acquiring information on the moving direction from the captured information code, it is easy to determine whether the vehicle door provided with the moving information code is in the closed operation state or the open operation state. Can be grasped.

The invention of claim 44 includes a storage means in which the opening / closing direction of the vehicle door and the information regarding the identification display provided on the vehicle door are associated and stored. As a result, each time the identification display is imaged, the information about the captured identification display is read out from the storage means, so that the vehicle door provided with the moving identification display is in either the closed operation state or the open operation state. It is easy to know if there is one.

In the invention of claim 45 , when it is determined by the movement determining means that all of the plurality of identification displays imaged by the imaging means have not moved for a predetermined time, the platform door is controlled as the vehicle door is stopped. Is controlled by. As a result, it can be easily grasped whether or not the vehicle door is stopped (moved), so that the vehicle door is closed (closed state) or opened (opened) while the vehicle door is closed or opened. It is possible to suppress the misidentification of the state).

In the invention of claim 46 , it is determined that all of the plurality of identification displays recognized by the recognition means have not moved for a predetermined time immediately after detecting the closing operation of the vehicle door based on the judgment result of the movement determination means. When determined by, the platform door is controlled to the closed state by the control means. As a result, even if the vehicle door is reopened because the passenger's luggage or the like is caught in the vehicle door, the platform door is not controlled to be closed, so that unnecessary closing operation of the platform door is suppressed. can do.

In the invention of claim 47 , immediately after detecting the movement of the railway vehicle based on the determination result of the movement determination means, the movement determination means determines that all of the plurality of identification displays captured by the imaging means have not moved for a predetermined time. When it is determined, the platform door is controlled by the control means as if the railway vehicle is in the stopped state immediately before the vehicle door is opened. If it is determined that all of the plurality of identification displays have not moved for a predetermined time immediately after the movement of the railway vehicle is detected, it can be determined that the railway vehicle is in the stopped state immediately before the vehicle door is opened. The door can be controlled to open smoothly.

In the invention of claim 48 , the identification display is an information code in which information including at least the information regarding the predetermined time is optically readable. As a result, even if the opening / closing timing of the vehicle door differs for each railroad vehicle or for each vehicle door provided with the identification display, a suitable time for opening / closing the vehicle door provided with the identification display can be easily set as the predetermined time. Can be set.

In the invention of claim 49 , the platform door is closed by the control means when all the plurality of identification displays are recognized by the recognition means and the relative positions of the plurality of identification displays detected by the detection means have a predetermined positional relationship. Controlled by state. As a result, when the relative positions of the plurality of identification displays detected by the detection means are not in the default positional relationship, it can be assumed that the vehicle door is not completely closed by sandwiching the object, so that the vehicle door can be opened. Not only can it be recognized that it is in a closed state, but it can also be recognized that the vehicle door is not completely closed.

In the inventions of claims 14 and 15 , the identification display is provided so as to exhibit a predetermined reflection characteristic when illuminated with light in a predetermined wavelength band different from visible light, and at least a part of the identification display is a predetermined. It is covered with a coating that allows light in the wavelength band to pass through and prevents visible light from passing through. Since the identification display configured as described above can be imaged in a state where the covering portion is removed by irradiating the light in the predetermined wavelength band, the light in the predetermined wavelength band can be irradiated. By preparing an illumination light source, the identification display can be recognizable. On the other hand, without the above-mentioned illumination light source, the identification display cannot be completely imaged because it is obstructed by the covering portion, so that the identification display cannot be recognized. For this reason, it becomes difficult for a third party to accurately recognize the identification display itself, and fraudulent acts such as forgery of a similar identification display can be suppressed.

In the invention of claim 16 , since the covering portion covers all of the identification display and becomes the same color as the color of the surrounding vehicle door on which the identification display is provided, it is difficult to visually recognize not only the identification display but also the covering portion. Therefore, the above fraudulent activity can be further suppressed.

In the invention of claim 17 , the covering portion is composed of an arbitrary figure whose shape, pattern or color is changed. Even if the covering portion is composed of an arbitrary figure in this way, the covering portion transmits the reflected light from the identification display corresponding to the irradiation of the light of the predetermined wavelength band, so that the fraudulent activity is suppressed and the covering portion is covered. The design of the part can be improved.

In the inventions of claims 18 and 19 , the imaging means is set to a shutter speed at which the identification display cannot be recognized from the captured image when the vehicle door is opened and closed, except when the vehicle door is stopped including the open state and the closed state. To. As a result, the identification display captured during the opening / closing operation of the vehicle door is blurred and is not recognized. Therefore, whether or not the vehicle door is in the opening / closing operation based on whether or not the identification display is recognizable. Can be easily grasped, and the platform door can be controlled after grasping whether or not the vehicle door is in the opening / closing operation.

In the invention of claim 20 , the identification display is an information code in which information including at least the information regarding the shutter speed is optically readable. As a result, even if the opening / closing speed of the vehicle door differs for each railroad vehicle or for each vehicle door provided with the information code, the information code can be obtained by decoding the information related to the shutter speed from the captured information code. The unrecognizable shutter speed during the opening / closing operation of the vehicle door can be set by the imaging means for each case.

In the inventions of claims 1 and 2, a plurality of imaging means are provided toward one vehicle door provided with an identification display. As a result, it is difficult to install one imaging means at a position where it is easy to image the identification display due to the installation objects such as pillars and walls provided on the platform, and the deviation of the stop position of the railway vehicle becomes large. Even in an environment or the like, by using a plurality of imaging means, it is possible to easily secure an imaging field of view necessary for imaging an identification display, and it is possible to improve the ease of installation of each imaging means.

Since the plurality of imaging means are arranged so that a part of the imaging field of view overlaps with each other, the imaging field of view for capturing the identification display can be widened as compared with the case where one imaging means is used. it can.

In the invention of claim 3 , the plurality of imaging means are arranged so that the imaging fields of view overlap each other at least for a range in which the identification display may be imaged. As a result, even if the identification display of the closed vehicle door is not imaged by one of the plurality of imaging means, it is imaged by another imaging means, so that the image of the identification display for the vehicle door is redundant ( Robustness) can be ensured.

In the inventions of claims 1 and 2, a part of the imaging cycles of the plurality of imaging means and at least a part of the imaging cycles are shifted by half a cycle of the illumination cycle of the illumination light applied to the identification display. There is. As a result, even when the brightness of the illumination light applied to the identification display changes periodically, the identification display imaged by some imaging means and the identification display imaged by some other imaging means. Since both of them are not imaged in a dark state at the same time, the influence of flicker can be avoided.

In the invention of claim 4 , since at least a part of the plurality of imaging means is arranged so that the optical axes are not parallel to each other, each imaging is performed so that the optical axes are parallel to each other in order to widen the imaging field of view. It is possible to improve the ease of installation of each imaging means as compared with the case where the means are arranged. In particular, if the imaging means are arranged so that the imaging fields overlap each other at least in the range where the identification display may be imaged, for example, at a certain timing, some of the imaging means may be in the sunlight. Even in a situation where it is affected by spotlights, specular reflection, etc., other imaging means are less likely to be affected, so redundancy (robustness) is improved with respect to imaging the identification display for one vehicle door. be able to.

In the invention of claim 5 , the recognition means performs a process for recognizing the identification display of the image captured by any one of the plurality of imaging means for one vehicle door. As a result, it is not always necessary to consider all the imaging results by the plurality of imaging means, so that the recognition determination of the identification display, that is, the determination of the state of the vehicle door can be simplified.

In the invention of claim 6 , the recognition means performs a process for recognizing the identification display for each of the captured images by the plurality of imaging means for one vehicle door. Thereby, for example, if the identification display is imaged by even one of the plurality of imaging means, it can be determined that the corresponding vehicle door is in the closed state, so that the recognition of the identification display for one vehicle door is redundant (robust). Sex) can be improved.

In the invention of claim 7 , a plurality of recognition means are provided so as to be arranged for each vehicle door, and the control means controls the platform door based on the recognition results of the plurality of recognition means. As a result, the recognition results are collected for each vehicle door, so that the closed state and the like can be easily grasped for each vehicle door.

In the invention of claim 8 , any one of the plurality of imaging means is configured to function as a recognizable means for recognizing the identification display from the captured image captured by itself and the captured image acquired from the remaining imaging means. To. As a result, one imaging means having a function as a recognition means can be configured as a master machine, and the other imaging means can be configured as a slave machine. Since the control means can acquire the recognition result from the master machine, each imaging means. The communication configuration between the device and the control means can be simplified.

In the invention of claim 50, the identification display is provided on at least a part of the plurality of vehicle doors of the railway vehicle, and the imaging means is directed to at least a part of the plurality of vehicle doors provided with the identification display. Each of the recognition means is provided, and each of the vehicle doors to which the image pickup means is directed acquires an image captured from the image pickup means, and performs a process for recognizing the identification display of the acquired plurality of captured images. As a result, the platform doors are controlled in consideration of the closed state of each of the plurality of vehicle doors, so that the platform doors can be automatically controlled in a more realistic manner.

In the invention of claim 51, the recognition means acquires a captured image from the imaging means for each vehicle door to which the imaging means is directed, and recognizes an identification display for a part of the acquired plurality of captured images. Perform processing. As a result, the platform doors can be automatically controlled according to the closed state of some of the multiple vehicle doors, and the closed states of all the vehicle doors are not grasped. Therefore, the automatic control of the platform doors is redundant (robustness). ) Can be secured.

In the invention of claim 52, the identification display is provided on all the vehicle doors of the railway vehicle. As a result, even if the installation location of the imaging means is restricted for each platform where the railroad vehicle is stopped and the vehicle door to be imaged is different, the identification display can be displayed if the vehicle door is closed by any imaging means. Since the image is recognizable, the platform door can be automatically controlled without being affected by restrictions on the installation location of the imaging means.

It is explanatory drawing which shows the outline of the platform door control system which concerns on 1st Embodiment. It is a schematic perspective view explaining the positional relationship between a vehicle door and a platform door. It is a schematic front view explaining the positional relationship between a vehicle door and a platform door. It is a block diagram which illustrates the electrical structure of the platform door control device. It is a flowchart which shows the flow of the opening / closing process executed by the control part of the platform door control device in 1st Embodiment. It is explanatory drawing which shows the relationship between the open / closed state of a vehicle door, and the position of an identification display, FIG. 6A shows the position of the identification display when the vehicle door is open, and FIG. 6B shows. The position of the identification display while the vehicle door is opening and closing is shown, and FIG. 6C shows the position of the identification display when the vehicle door is in the closed state. It is explanatory drawing which shows the main part of the platform door control system which concerns on the modification of 1st Embodiment. It is a flowchart which shows the flow of the opening / closing process executed by the control part of the platform door control device in 2nd Embodiment. It is the schematic sectional drawing which shows the main part of the platform door control system which concerns on 3rd Embodiment. FIG. 10 (A) is a schematic cross-sectional view showing a main part of the home door control system according to the modified example of the third embodiment, FIG. 10 (A) shows a cross section of a window in the first modified example, and FIG. 2 The cross section of the window in the modified example is shown. It is explanatory drawing which shows the main part of the platform door control system which concerns on 4th Embodiment, FIG. 11A shows the state of the identification display when the vehicle door is closed, and FIG. 11B shows. Indicates the state of the identification display while the vehicle door is opening and closing. It is explanatory drawing which shows the main part of the platform door control system which concerns on the modification of 4th Embodiment, FIG. 12A shows the state of the identification display when a vehicle door is closed, and FIG. 12B ) Indicates the state of the identification display while the vehicle door is opening and closing. It is explanatory drawing which shows the main part of the platform door control system which concerns on 5th Embodiment, FIG. 13A shows the state of each identification display when the vehicle door is closed, and FIG. 13B is FIG. , Indicates the state of each identification display while the vehicle door is opening and closing. It is explanatory drawing which shows the main part of the platform door control system which concerns on the modification of 5th Embodiment, and FIG. 14A shows the state of each identification display when the vehicle door is closed, and FIG. B) indicates the state of each identification display while the vehicle door is opening and closing. It is explanatory drawing which shows the main part of the platform door control system which concerns on 6th Embodiment, FIG. 15A shows the state of the identification display when the vehicle door is closed, and FIG. 15B shows. Indicates the state of the identification display while the vehicle door is opening and closing. 6 is a flowchart showing a flow of opening / closing processing executed by the control unit of the platform door control device in the sixth embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on the modification of 6th Embodiment, FIG. 17A shows the state of the identification display when the vehicle door is closed, and FIG. 17B ) Indicates the state of the identification display while the vehicle door is opening and closing. It is explanatory drawing which shows the main part of the platform door control system which concerns on 7th Embodiment, FIG. 18A shows the state which the identification display was covered by the covering part, and FIG. 18B is the covering part. Indicates the removed state. It is explanatory drawing which shows the main part of the platform door control system which concerns on the modification of 7th Embodiment, FIG. 19A shows the state of the covering part in the 1st modification, and FIG. 19B is FIG. 2 The state of the covering portion in the modified example is shown. It is explanatory drawing which shows the main part of the platform door control system which concerns on 8th Embodiment, FIG. 20 (A) shows the state of the identification display when the vehicle door is closed, and FIG. The state of the identification display immediately after the start of the opening operation of the vehicle door is shown. It is explanatory drawing which shows the main part of the platform door control system which concerns on 9th Embodiment, FIG. 21 (A) shows the state of the identification display when a railroad vehicle is moving, and FIG. 21 (B) is Indicates the state of the identification display when the vehicle door of a stopped railway vehicle is closed. It is explanatory drawing which shows the main part of the platform door control system which concerns on 9th Embodiment, FIG. 22 (A) shows the state of the identification display when the vehicle door is open operation, and FIG. 22 (B) is , Indicates the state of the identification display when the vehicle door is closed. 9 is a flowchart showing a flow of opening / closing processing executed by a control unit of a platform door control device in a ninth embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on 10th Embodiment, FIG. 24 (A) shows the state of the identification display when a railroad vehicle is moving, and FIG. 24 (B) is Indicates the state of the identification display when the vehicle door of a stopped railway vehicle is closed. It is explanatory drawing which shows the main part of the platform door control system which concerns on 10th Embodiment, FIG. 25A shows the state of the identification display at the time of opening operation of a vehicle door, and FIG. , Indicates the state of the identification display when the vehicle door is closed. It is a flowchart which shows the flow of the opening / closing process executed by the control part of the platform door control device in tenth embodiment. It is explanatory drawing which shows the modification of the identification display. It is explanatory drawing which shows the modification of the vehicle door. It is explanatory drawing which illustrates the state which the pillar of a platform hinders the installation of a camera. It is explanatory drawing which shows the main part of the platform door control system which concerns on 12th Embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on 1st modification of 12th Embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on the 2nd modification of 12th Embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on the 3rd modification of 12th Embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on 13th Embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on 1st modification of 13th Embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on 2nd modification of 13th Embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on 14th Embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on 1st modification of 14th Embodiment. It is explanatory drawing which shows the state which the camera is directed to each vehicle door in 1st Embodiment. It is explanatory drawing explaining the state which the QR code attached to the vehicle door is imaged by the camera installed on the ceiling even when a tall passenger gets in in 1st Embodiment. It is explanatory drawing which shows the main part of the platform door control system which concerns on 16th Embodiment.

[First Embodiment]
Hereinafter, the first embodiment embodying the platform door control system of the present invention will be described with reference to the drawings.
The platform door control system 1 shown in FIGS. 1 and 2 is a system for controlling the platform door 20 arranged on the platform 2 of the station, and includes a plurality of cameras 30 for capturing an identification display provided on the railroad vehicle 10. It is provided with a platform door control device 40 (see FIG. 4) that controls the platform door 20 by using the image pickup result of each camera 30.

In the present embodiment, a QR code (registered trademark) 50 is adopted as an identification display provided on the railway vehicle 10, and the QR code 50 is affixed to the vehicle door 12 provided at the entrance / exit 11. That is, a QR code 50 is provided for each entrance / exit 11 (vehicle door 12). Therefore, in the present embodiment, the QR code 50 is information such as a vehicle number and a door number for specifying the railroad vehicle 10 and the entrance / exit 11 (vehicle door 12) where the QR code 50 is provided (hereinafter, getting on / off). It is generated so that the mouth-specific information) is recorded optically readable.

The vehicle door 12 is a double-door sliding door having one door 13 and the other door 14, and the one door 13 and the other door 14 are transparent glass in the upper center of the door body serving as a frame. Each is configured to hold the windows. As shown in FIG. 3, the QR code 50 is attached to the upper part of the glass window 13a of one door 13 and close to the other door 14 from the outside of the vehicle. Therefore, when the vehicle door 12 is opened, the QR code 50 is covered and concealed by the vehicle body portion 11a in which one of the doors 13 is housed, so that the QR code 50 cannot be imaged from the outside. Further, the QR code 50 is attached to the upper part of the glass window 13a in order to prevent passengers from interfering with the image when the vehicle door 12 is closed and not being imaged by the camera 30.

As shown in FIG. 3, the position of the QR code 50 when the railway vehicle 10 is stopped at the planned stop position and the vehicle door 12 is in the closed state is also referred to as a stop reference position. Further, in the present embodiment, it is assumed that the railway vehicle 10 is provided with a stop device or the like for automatically stopping at a planned stop position.

The platform doors 20 are arranged so as to form a protective wall along the extending direction (hereinafter, also referred to as opening / closing direction) of the edge 2a of the platform 2, and a plurality of platform doors 20 correspond to each entrance / exit 11 of the railway vehicle 10. It is configured to include a movable door 21 and a door driving unit 22. Each door drive unit 22 has a function of switching the platform door 20 to an open state or a closed state by moving the movable door 21 along the opening / closing direction in response to an opening instruction or a closing instruction from the platform door control device 40. It is provided and is arranged corresponding to each platform 11 at the planned stop position. That is, each door drive unit 22 performs an opening operation for each entrance / exit 11 at the planned stop position by accommodating at least a part of the movable door 21 and exposing the entrance / exit 11 in response to the input of the opening instruction. Do. Further, as shown in FIG. 3, each door drive unit 22 creates a narrow gap with respect to the movable door 21 moved by another door drive unit 22 facing in the opening / closing direction in response to the input of the closing instruction. By moving the movable door 21 to a position where it faces or contacts through the door (hereinafter, also referred to as a traffic blocking position), a closing operation for blocking the passage to the entrance / exit 11 is performed.

Each camera 30 functions as an image pickup means equipped with a light receiving sensor (for example, a C-MOS area sensor, a CCD area sensor, etc.), and when the vehicle door 12 is closed at each entrance / exit 11 at the planned stop position. The QR code 50 is provided on the ceiling 2b of the home 2 so as to be readable. The camera 30 is connected to the platform door control device 40 via a predetermined network such as a LAN, and receives an imaging instruction from the platform door control device 40 and transmits the captured image to the platform door control device 40. It is configured.

In particular, as shown in FIG. 3, the camera 30 has an imaging field of view 31 from the QR code 50 at the stop reference position to the edge of the vehicle body portion 11a located in the opening direction of one door 13 (right direction in FIG. 3). It is installed so as to include. This is to quickly image and recognize the QR code 50 of the vehicle door 12 that has begun to close, and it is assumed that the QR code 50 when the vehicle door 12 is in the open state is located outside the imaging field of view 31. The imaging field of view 31 is widened as much as possible along the opening / closing direction. As a result, in the camera 30, the QR code 50 when the vehicle door 12 is in the closed state is located in the image field of view 31, and the QR code 50 when the vehicle door 12 is in the open state is located outside the image field of view 31. Will be installed.

The platform door control device 40 controls the open / closed state of the platform door 20 by transmitting an open instruction or a close instruction to each door drive unit 22 based on the recognition result in the captured image received from each camera 30. It is a device that functions as a control means. The platform door control device 40 may be installed in the vicinity of the platform door 20 or may be installed so as to be incorporated in the platform door 20. As shown in FIG. 4, the platform door control device 40 includes a control unit 41 including a CPU, a storage unit 42 including a ROM, RAM, a non-volatile memory, and various operation buttons and operation keys (not shown). It includes an operation unit 43, a communication unit 44, and the like.

The control unit 41 detects the closed state of the vehicle door 12 by executing the opening / closing process described later, and then automatically controls the platform door 20 to the closed state in conjunction with the closed state of the vehicle door 12. Works for. A predetermined program or the like for executing the opening / closing process is preliminarily stored in the storage unit 42 so as to be executable by the control unit 41. The operation unit 43 is configured to give an operation signal to the control unit 41, and the control unit 41 receives the operation signal and performs an operation according to the content of the operation signal. In particular, the opening operation button (not shown) of the operation unit 43, which is operated when the opening / closing process is started, is located near the conductor room at a position where the conductor of the railway vehicle 10 can easily operate, for example, the planned stop position. It is arranged on the upper surface of the platform door 20 or the like where it is located. The communication unit 44 is configured as a known communication interface for performing wired communication or wireless communication via a predetermined network such as a LAN, and in cooperation with the control unit 41, the cameras 30 and the door drive units 22 and the like are used. Functions to communicate with external devices.

Next, in the present embodiment, the opening / closing process performed by the control unit 41 of the platform door control device 40 when the platform door 20 is opened / closed will be described with reference to the flowchart shown in FIG.
Before the railroad vehicle 10 enters the platform 2, the platform door 20 is in a closed state because each door drive unit 22 performs the closing operation. After that, when the railroad vehicle 10 that has entered the platform 2 stops at the planned stop position and the vehicle door 12 is opened, the conductor or the like operates the open operation button of the operation unit 43. As a result, the opening / closing process is started by the control unit 41, the opening instruction transmission process shown in step S101 of FIG. 5 is performed, and the opening instruction is transmitted to each door driving unit 22.

Upon receiving the opening instruction from the platform door control device 40, each door driving unit 22 performs the opening operation for accommodating at least a part of the movable door 21. As a result, the railroad vehicle 10 can get on and off through the entrance / exit 11 in which the vehicle door 12 is opened. At this time, as shown in FIG. 6A, the QR code 50 is in a state where it cannot be imaged from the outside because it is covered with the vehicle body portion 11a in which one of the doors 13 is housed.

After a predetermined time (time assumed that the vehicle door 12 is in the open state) has elapsed since the opening instruction is transmitted as described above, the imaging process shown in step S103 is performed, and each camera 30 performs the imaging process. Each of the captured images is acquired. Next, the decoding process shown in step S105 is performed, and a known decoding process for decoding the information code including the QR code 50 from each captured image is performed for each captured image. Subsequently, in the determination process shown in step S107, it is determined whether or not the identification display is recognized (imaged) in the captured images acquired from each camera 30.

In the present embodiment, the determination as to whether or not the identification display is recognized is made based on whether or not the above-mentioned entrance / exit identification information can be read by the above-mentioned decoding process, and the QR code 50 is imaged by each camera 30. If so, the boarding / alighting gate identification information corresponding to all the boarding / alighting gates 11 (vehicle door 12) is read by decoding each QR code 50. Therefore, if the QR code 50 is covered with the vehicle body portion 11a and cannot be imaged because the vehicle door 12 is in the open state, the QR code 50 cannot be decoded. Therefore, it is determined as No in step S107. The process from step S103 is repeated.

When the passengers get on and off the vehicle through the entrance 11, one door 13 and the other door 14 move in the closing direction in order to close each vehicle door 12 in response to a predetermined operation by the conductor. start. Along with this movement, as shown in FIG. 6B, when each QR code 50 moves into the imaging field of view 31 of the camera 30, each camera 30 images the QR code 50 (S103). As a result, the imaged QR code 50 is successfully decoded, and the entrance / exit identification information corresponding to all the entrance / exit 11s is read (S105). Assuming that the identification display is recognized, Yes in step S107. It is judged. When an information code different from the QR code 50 is captured and decoded, information different from the entrance / exit specific information is read, so that the identification display is not recognized (No in S107), and the process from step S103 above. Is repeated.

Subsequently, the closing instruction transmission process shown in step S109 is performed, the closing instruction is transmitted to each door drive unit 22, and the main opening / closing process is completed. The control unit 41 capable of recognizing the identification display by decoding the captured image obtained by capturing the QR code 50 can correspond to an example of the "recognition means".

Upon receiving the closing instruction from the platform door control device 40, each door driving unit 22 performs the closing operation of moving the movable door 21 in the closing direction. As a result, as shown in FIG. 3, each movable door 21 moves in the closing direction to the above-mentioned passage blocking position, so that the passage to each entrance / exit 11 is blocked. Further, at this time, each vehicle door 12 is in a closed state as shown in FIG. 6C.

As described above, in the platform door control system 1 according to the present embodiment, the QR code 50 provided as an identification display on the vehicle door 12 of the railroad vehicle 10 is captured by the camera 30 when the vehicle door 12 is in the closed state. It is arranged so as to be recognized from the image by the decoding process of the control unit 41. As a result, if the QR code 50 as the identification display is recognized by successfully decoding the QR code 50 from the captured image, it can be determined that the vehicle door 12 is in the closed state. By controlling the platform door 20 to the closed state by the platform door control device 40, the platform door 20 is automatically closed in conjunction with the closed state of the vehicle door 12 of the railroad vehicle 10 without using wireless communication. Can be controlled.

Further, in the camera 30, the QR code 50 when the vehicle door 12 is in the closed state is located in the imaging field of view 31, and the QR code 50 when the vehicle door 12 is in the open state is located outside the imaging field of view 31. Will be installed in. As a result, the QR code 50 is not imaged (recognized) when the vehicle door 12 is in the open state, so that it is possible to prevent the vehicle door 12 in the open state from being mistakenly recognized as being in the closed state.

In particular, in the present embodiment, the imaging field 31 is expanded as much as possible on the assumption that the QR code 50 when the vehicle door 12 is in the open state is located outside the imaging field 31, so that the vehicle door that has begun to close has started to close. The QR code 50 of 12 can be quickly recognized (see FIG. 6B), and the delay of the timing when the platform door 20 starts closing with respect to the timing when the vehicle door 12 starts closing can be reduced. Therefore, it is possible to shorten the platform stop time of the railway vehicle 10 which is extended by providing the platform door 20.

Further, since the QR code 50 is provided at a position hidden by the vehicle body portion 11a so as not to be imaged by the camera 30 when the vehicle door 12 is in the open state, the QR code 50 is provided when the vehicle door 12 is in the open state. Is not imaged and recognized, so that it is possible to reliably prevent the vehicle door 12 in the open state from being mistakenly recognized as being in the closed state. It should be noted that the QR code 50 is not limited to being provided at a position where everything is hidden by the vehicle body portion 11a when the vehicle door 12 is in the open state, and it is premised that the QR code 50 cannot be decoded even by using the error correction function. At least a part of it may be provided at a position hidden by the vehicle body portion 11a.

Then, in the present embodiment, the identification display is generated as a QR code 50 in which the entrance / exit identification information is optically readable as predetermined information. As with other types of information codes, the QR code is easily recognized from the captured image for the purpose of being generated, so that it is less likely to be misidentified and the recognition accuracy of the identification display can be improved.

In particular, in the determination process shown in step S107, the identification display is recognized when the entrance / exit identification information is read from the QR code 50 imaged by each camera 30. By confirming and recognizing the information recorded in the QR code 50 in this way, it becomes more difficult to be misidentified, and the recognition accuracy of the identification display can be further improved. In the determination process shown in step S107, it is determined whether or not the read information is the entrance / exit specific information in order to further reduce the delay of the timing at which the platform door 20 starts to close with respect to the timing at which the vehicle door 12 starts to close. The identification display may be recognized by reading some information in the image captured in the imaging field of view 31 by a known decoding process.

Further, since the QR code 50 is provided on the glass window 13a of the vehicle door 12, the QR code 50 can be easily displayed in a larger size and can be identified as compared with the case where the QR code 50 is provided on the door body 13b (see FIG. 3). The recognition accuracy of the display can be improved.

As a modification of the present embodiment, the railway vehicle 10 does not have to be provided with a stop device or the like for automatically stopping at a planned stop position. In this case, there is a high possibility that the stop position of the railway vehicle 10 deviates from the planned stop position by a predetermined distance and stops. Therefore, as shown in FIG. 7, the imaging field of view 31 is widened along the opening / closing direction by the expected stop position deviation L2 with respect to the opening / closing direction length L1 of the imaging field of view required when the stop position deviation does not occur. The camera 30 is installed so as to be. That is, when the camera 30 considers the deviation of the stop position of the railroad vehicle 10 and the QR code 50 when the vehicle door 12 is in the closed state is located in the imaging field of view 31, and the vehicle door 12 is in the open state. The QR code 50 is installed so as to be located outside the imaging field of view 31.

As a result, even if the stop position of the railroad vehicle 10 shifts, the QR code 50 of the closed vehicle door 12 is surely located within the imaging field of view 31, so that the closed vehicle door 12 is misidentified as being in the open state. It can be suppressed from being done. Then, even if the stop position of the railroad vehicle 10 shifts, the QR code 50 is not recognized when the vehicle door 12 is in the open state, so that it is surely misidentified that the open vehicle door 12 is in the closed state. It can be suppressed. The opening / closing direction length L1 is set to, for example, 650 mm so as to be equal to the door width Ld of one door 13, and in this case, the stop position deviation L2 is set to, for example, 700 mm.

[Second Embodiment]
Next, the platform door control system according to the second embodiment of the present invention will be described with reference to FIG.
The second embodiment is mainly different from the first embodiment in that the platform door 20 is automatically opened and closed in conjunction with the open / closed state of the vehicle door 12 of the railway vehicle 10. Therefore, the same reference numerals are given to the components substantially the same as those in the first embodiment, and the description thereof will be omitted.

In the present embodiment, by detecting the open state of the vehicle door 12 by using the identification display provided on the vehicle door 12, the platform door 20 is automatically opened without manually operating the open operation button by the conductor or the like. Control to state.

Hereinafter, in the present embodiment, the opening / closing process performed by the control unit 41 of the platform door control device 40 when the platform door 20 is opened / closed will be described with reference to the flowchart shown in FIG.
The opening / closing process is started by the control unit 41 before the railroad vehicle 10 entering the home 2 stops at the planned stop position. First, the railroad car 10 is stopped by the determination process shown in step S201 of FIG. It is judged whether or not it is. This determination process is a process of determining whether or not the railroad vehicle 10 is stopped by comparing with the captured image captured by the camera 30 last time, and is set to No in step S201 until the railroad vehicle 10 is stopped. Judgment is repeated. In the determination process of step S201, for example, it may be determined whether or not the railway vehicle 10 is stopped based on the QR code 50 (identification display) provided on the vehicle door 12, or the vehicle door 12 may be determined. It may be determined whether or not the railroad vehicle 10 is stopped based on itself.

When the railroad vehicle 10 that has entered the home 2 stops at the planned stop position and is determined to be Yes in step S201, the imaging process shown in step S203 is performed, and the images captured by each camera 30 are respectively. To be acquired. Next, the decoding process shown in step S205 is performed, and a known decoding process for decoding the information code including the QR code 50 from each captured image is performed for each captured image. Subsequently, in the determination process shown in step S207, it is determined whether or not the identification display is recognized (imaged) in the captured images acquired from each camera 30.

When the railroad vehicle 10 has just stopped at the planned stop position and each vehicle door 12 is in the closed state, the QR code 50 is located in the imaging field of view 31 (see FIG. 6C). The QR code 50 is imaged by the camera 30, and the entrance / exit identification information is read. Therefore, assuming that the identification display is recognized, it is determined as Yes in step S207, and the process from step S203 is repeated.

Even when the vehicle door 12 starts to open and one of the doors 13 moves in the opening direction during the repetitive process, the QR code 50 is located in the imaging field of view 31 (see FIG. 6B), and the step S207 It is determined as Yes, and the process from step S203 is repeated. Then, when the vehicle door 12 is opened and the QR code 50 is covered with the vehicle body portion 11a and is located outside the imaging field of view 31 (see FIG. 6A), decoding fails and the identification display is not recognized, and step S207 Is determined as No. In this case, the open instruction transmission process shown in step S209 is performed, and the open instruction is transmitted to each door drive unit 22.

Upon receiving the opening instruction from the platform door control device 40, each door driving unit 22 performs the opening operation for accommodating at least a part of the movable door 21. As a result, the railroad vehicle 10 can get on and off through the entrance / exit 11 in which the vehicle door 12 is opened.

Similar to the first embodiment, after a predetermined time has elapsed after the opening instruction is transmitted, the imaging process shown in step S211 is performed, and the images captured by each camera 30 are acquired. Next, the decoding process shown in step S213 is performed, and a known decoding process for decoding the information code including the QR code 50 from each captured image is performed for each captured image. Subsequently, in the determination process shown in step S215, it is determined whether or not the identification display is recognized (imaged) in the captured images acquired from each camera 30.

Since the QR code 50 is covered with the vehicle body portion 11a and cannot be imaged because the vehicle door 12 is in the open state, the QR code as the QR code 50 cannot be decoded. Therefore, it is determined as No in step S215. , The process from step S211 is repeated.

As passengers get on and off through the entrance 11 and one of the doors 13 starts to move in the closing direction, each QR code 50 reaches the imaging field of view 31 of the camera 30 as shown in FIG. 6B. It is moved and imaged (S211). As a result, the imaged QR code 50 is successfully decoded, and the boarding / alighting port identification information corresponding to all the boarding / alighting ports 11 is read (S213). Assuming that the identification display is recognized, Yes in step S215. It is judged. Then, the closing instruction transmission process shown in step S217 is performed, the closing instruction is transmitted to each door drive unit 22, and the main opening / closing process is completed.

As described above, in the platform door control system 1 according to the present embodiment, the QR code 50 provided as an identification display on the vehicle door 12 of the railroad vehicle 10 is captured by the camera 30 when the vehicle door 12 is in the closed state. It is recognized from the image by the decoding process of the control unit 41, and is arranged so as not to be recognized from the image captured by the camera 30 when the vehicle door 12 is in the open state. As a result, as in the first embodiment, the platform door 20 can be automatically controlled to the closed state in conjunction with the closed state of the vehicle door 12 of the railway vehicle 10 without using wireless communication. Further, if the QR code 50 is not recognized from the captured image even though the railroad vehicle 10 exists in the platform 2, it can be determined that the vehicle door 12 is in the open state. In this case, the platform door control is performed. By controlling the platform door 20 to the open state by the device 40, the platform door 20 is automatically controlled to the open state in conjunction with the open state of the vehicle door 12 of the railcar 10 without using wireless communication. Can be done. That is, the platform door 20 can be automatically opened and closed in conjunction with the open / closed state of the vehicle door 12 of the railway vehicle 10 without using wireless communication.

As a modification of the present embodiment, in step S207, decoding is successful, not limited to the processing after step S209, because each QR code 50 fails from the state where decoding was successful. When it is recognized that the movement of each QR code 50 is moving, the processing after step S209 may be performed. That is, when it is recognized that the QR code 50 is moving after the stopped QR code 50 (identification display) is recognized, the platform door 20 is controlled to the open state by the platform door control device 40. ..

As a result, it is determined that the vehicle door 12 is in the open state before the QR code 50 (identification display) moves and the image is not captured (recognized) due to the vehicle door 12 being opened, and the platform door 20 is opened. Therefore, it is possible to reduce the delay in the timing when the platform door 20 starts to open with respect to the timing when the vehicle door 12 starts to open. Therefore, it is possible to shorten the platform stop time of the railway vehicle 10 which is extended by providing the platform door 20.

[Third Embodiment]
Next, the platform door control system according to the third embodiment of the present invention will be described with reference to FIG.
In the third embodiment, as shown in FIG. 9, the QR code 50 provided as an identification display on the railroad vehicle 10 is on the back side with respect to the in-vehicle advertisement 15 affixed to the inside of the glass window 13a. The point that the glass window 13a is attached to the outside of the vehicle is mainly different from the first embodiment. As a result, even if the QR code 50 (identification display) is displayed in a large size, the QR code 50 does not interfere with the advertisement 15 and does not block the landscape or the like through the glass window 13a, so that the efficient QR code 50 Can be realized.

As a first modification of the present embodiment, as shown in FIG. 10A, a QR code 50 provided as an identification display on the railway vehicle 10 is attached to the glass window 13a of the vehicle door 12 from the inside of the vehicle. May be good. Therefore, as compared with the case where the QR code 50 is attached from the outside of the vehicle, it is possible to suppress the adhesion, peeling, damage, etc. of the QR code 50, and further improve the recognition accuracy of the QR code 50 as an identification display. Can be done.

Further, as a second modification of the present embodiment, as shown in FIG. 10B, the glass window 13a (14a) of the vehicle door 12 is configured as a double glazing having an outer glass 16a and an inner glass 16b. The QR code 50 provided on the railroad vehicle 10 as an identification display may be affixed between the two glasses 16a and 16b of the glass window 13a. As a result, it is possible to reliably suppress the adhesion, peeling, damage, etc. of dirt to the QR code 50, and it is possible to further improve the recognition accuracy of the QR code 50 as an identification display.

The characteristic configuration of the present embodiment in which the QR code 50 (identification display) is arranged on the glass window 13a (14a) of the vehicle door 12 as described above and its modified example is also applied to other embodiments and the like. can do.

[Fourth Embodiment]
Next, the platform door control system according to the fourth embodiment of the present invention will be described with reference to FIG.
In the fourth embodiment, the QR code 51 provided as an identification display on the railroad vehicle 10 is mainly configured to straddle both one door 13 and the other door 14 in the closed state. Different from the form. Therefore, the same reference numerals are given to the components substantially the same as those in the first embodiment, and the description thereof will be omitted.

In the present embodiment, as shown in FIG. 11A, the right side portion 51a of the QR code 51 is provided on the upper edge portion of the door body 13b of one door 13 on the other door 14 side, and the left side portion of the QR code 51 is provided. The portion 51b is provided on the upper edge portion of the door body 14b of the other door 14 on the one door 13 side. Therefore, the QR code 51 is not imaged decodably unless the vehicle door 12 is closed, and as shown in FIG. 11B, when the vehicle door 12 is not completely closed, the QR code 51 is displayed. Since it is divided into the right side portion 51a and the left side portion 51b and is not decoded, the processing after step S109 is not performed in the opening / closing processing.

In this way, since the QR code 51 provided as the identification display cannot be recognized unless the vehicle door 12 is in the closed state, it is possible to reliably suppress the misidentification that the vehicle door 12 in the open state is in the closed state. it can.

As a modification of the present embodiment, the identification display may be provided so as to surround the vehicle door 12 and straddle both the peripheral portion that does not move together with the vehicle door 12 and the vehicle door 12 in the closed state. Specifically, for example, the QR code 52 illustrated in FIG. 12A can be provided on the railroad vehicle 10 as an identification display, and the QR code 52 has a door 13 having a lower portion 52a of the QR code 52 on one side. The upper edge portion of the door body 13b of the above is provided, and the upper portion 52b of the QR code 52 is provided on the vehicle body portion 11b forming the upper edge of the entrance / exit 11.

Even in this case, the QR code 52 is not imaged decodably unless the vehicle door 12 is closed, and as illustrated in FIG. 12B, when the vehicle door 12 is not completely closed, Since the QR code 52 is divided into the lower side portion 52a and the upper side portion 52b and is not decoded, the processing after step S109 is not performed in the opening / closing processing. As a result, the QR code 52 provided as the identification display cannot be recognized unless the vehicle door 12 is in the closed state, so that it is possible to reliably suppress the misidentification that the vehicle door 12 in the open state is in the closed state. ..

It should be noted that the above-described identification display is characteristic of the present embodiment and its modifications provided so as to straddle two moving objects (one door 13 and the other door 14, one door 13 and the vehicle body portion 11b). The configuration can also be applied to other embodiments and the like.

[Fifth Embodiment]
Next, the platform door control system according to the fifth embodiment of the present invention will be described with reference to FIG.
The fifth embodiment is mainly different from the first embodiment in that a plurality of identification signs are provided on the railway vehicle 10. Therefore, the same reference numerals are given to the components substantially the same as those in the first embodiment, and the description thereof will be omitted.

In the present embodiment, as a plurality of identification indications, as illustrated in FIG. 13A, in addition to the QR code 50, the QR code 53 is the upper part of the glass window 14a of the other door 14 and one of them. It is affixed from the outside of the vehicle at a position close to the door 13. Then, as shown in FIG. 13A, the camera 30 has a narrow range in the opening / closing direction on the premise that the imaging field of view 31 includes the QR code 50 and the QR code 53 at the stop reference position. is set up.

Then, in the determination process of step S107 in the opening / closing process, when all of the QR code 50 and the QR code 53 are decoded and recognized, it is determined as Yes, and the processes after step S109 are performed.

Therefore, unless the vehicle door 12 is closed, both the QR code 50 and the QR code 53 are not imaged so as to be decodable at the same time, and as illustrated in FIG. 13B, the vehicle door 12 is completely closed. In the absence state, the QR code 50 and the QR code 53 are located outside the imaging field of view 31 and are not decoded, so that the processes after step S109 are not performed.

That is, even if only a part of the plurality of identification displays is recognized, the platform door 20 is not controlled to be closed unless all the identification displays are recognized. Therefore, a part of the plurality of identification displays is assumed. Even if a display similar to (for example, only a display similar to the QR code 50) is recognized, it is possible to surely suppress that the vehicle door 12 in the open state is mistakenly recognized as the closed state.

As a first modification of the present embodiment, the plurality of identification displays may include other identification displays provided in a peripheral portion that surrounds the vehicle door 12 and does not move together with the vehicle door 12. Specifically, for example, the QR code 54 illustrated in FIG. 14A can be provided on the railway vehicle 10 as an identification display, and the QR code 54 is provided at the upper edge of the door body 13b of one of the doors 13. Therefore, it is provided on the vehicle body portion 11b directly above the QR code 50. In this case, as shown in FIG. 14A, the camera 30 has a narrow range in the opening / closing direction on the assumption that the imaging field of view 31 includes the QR code 50 and the QR code 54 at the stop reference position. It is installed so that it becomes.

Even in this case, unless the vehicle door 12 is closed, both the QR code 50 and the QR code 54 are not imaged so as to be decodable at the same time, and the vehicle door 12 is completely as illustrated in FIG. 14 (B). In the state where the QR code 50 is not closed, the QR code 50 is located outside the imaging field of view 31 and is not decoded, so that the processes after step S109 are not performed. As a result, it is possible to reliably prevent the vehicle door 12 in the open state from being mistaken for being in the closed state.

The plurality of identification displays are not limited to including the QR code 53 or the QR code 54 in addition to the QR code 50, and may include both the QR code 53 and the QR code 54, and further. QR code (identification display) may be included.

As a second modification of the present embodiment, in a configuration in which a plurality of information codes are adopted as a plurality of identification displays, each information code may be generated so that predetermined information to be recorded is related to each other. For example, in the example shown in FIG. 13, the QR code 50 and the QR code 53 may be generated so that the same information is recorded, or the information which becomes a serial number may be recorded.

As a result, even if information can be read from a predetermined number of information codes, they will not be recognized as an identification display unless they are related, so that the identification display is less likely to be misidentified, and the identification display is displayed. The recognition accuracy can be improved.

It should be noted that the characteristic configuration of the present embodiment and its modified example in which the platform door 20 is controlled to be closed when all of the plurality of identification displays described above are recognized can be applied to other embodiments and the like. ..

[Sixth Embodiment]
Next, the platform door control system according to the sixth embodiment of the present invention will be described with reference to FIGS. 15 and 16.
The sixth embodiment is mainly different from the fifth embodiment in that the platform door 20 is controlled to be in the closed state when the relative positions of the plurality of recognized identification displays have a predetermined positional relationship. Therefore, the same reference numerals are given to the components substantially the same as those in the fifth embodiment, and the description thereof will be omitted.

In the present embodiment, in order to accurately determine whether or not the vehicle door 12 is in the closed state, at least two identification displays (QR code 50 and QR code 53) that move relative to each other when the vehicle door 12 is opened and closed are prepared. There is. Then, the relative distance in the opening / closing direction of the two identification displays when the vehicle door 12 is closed is measured in advance as a predetermined distance Xo as shown in FIG. 15 (A), and is stored as information regarding a predetermined positional relationship. It is stored in 42.

Then, in the opening / closing process performed by the control unit 41 of the platform door control device 40, after recognizing each identification display from the captured image, the relative position of each identification display is detected based on the captured image, and the detected relative position is detected. When the positions have a predetermined positional relationship, it is determined that the vehicle door 12 is in the closed state. Specifically, when the difference between the relative distance Xa of the QR code 50 and the QR code 53 detected from the captured image in the opening / closing direction and the specified distance Xo stored in the storage unit 42 is equal to or less than a predetermined threshold value Xth. It is determined that the vehicle door 12 is in the closed state. This is because if the vehicle door 12 is not completely closed, the identification displays are imaged at a distance of more than the specified distance Xo, and the detected relative positions do not satisfy the predetermined positional relationship. In the present embodiment, the predetermined threshold value Xth is set according to the relative distance at which the vehicle door 12 can be regarded as a closed state, and can be set to a value close to 0 (zero), for example. Further, the control unit 41 that detects the relative positions of the plurality of identification displays captured from the images captured by the camera 30 can correspond to an example of the “detection means”.

Hereinafter, in the present embodiment, the opening / closing process performed by the control unit 41 of the platform door control device 40 when the platform door 20 is opened / closed will be described with reference to the flowchart shown in FIG.
When the opening / closing process is started by the control unit 41 by operating the opening operation button of the operation unit 43 by the conductor or the like, the opening instruction is transmitted to each door driving unit 22 (S101 in FIG. 16). , Each vehicle door 12 is opened. Then, as in the first embodiment, after a predetermined time has elapsed after the opening instruction is transmitted, the imaging process shown in step S103 is performed, and the images captured by each camera 30 are acquired. Next, the decoding process shown in step S105 is performed, and a known decoding process for decoding the information code including the QR code 50 from each captured image is performed for each captured image. Subsequently, in the determination process shown in step S107, it is determined whether or not the identification display is recognized (imaged) in the captured images acquired from each camera 30.

Since the QR codes 50 and 53 are covered with the vehicle body portion 11a and cannot be imaged because the vehicle door 12 is in the open state, the QR codes 50 and 53 cannot be decoded. Therefore, it is determined as No in step S107. , The process from step S103 is repeated.

When the passengers get on and off through the entrance 11 and one of the doors 13 starts to move in the closing direction, the QR codes 50 and 53 move into the imaging field of view 31 of the camera 30 and are imaged (S103). ). As a result, the imaged QR codes 50 and 53 are successfully decoded, and the boarding / alighting port identification information corresponding to all the boarding / alighting ports 11 is read (S105), and it is assumed that the identification display is recognized in step S107. It is determined to be Yes.

Subsequently, in the determination process shown in step S108, it is determined whether or not the relative positions of the plurality of recognized identification displays have a predetermined positional relationship. Specifically, as described above, the difference between the relative distance Xa between the QR code 50 and the QR code 53 detected from the captured image and the specified distance Xo stored in the storage unit 42 is equal to or less than the predetermined threshold value Xth. Judgment is based on whether or not.

Here, as illustrated in FIG. 15A, since each vehicle door 12 is in the closed state, the relative distance Xa between the QR code 50 and the QR code 53 and the specified distance stored in the storage unit 42 are stored. When Xo is equal for each vehicle door 12, the difference between the relative distance Xa and the specified distance Xo is equal to or less than a predetermined threshold value Xth, so that the relative positions of the plurality of recognized identification displays are the default. Assuming that there is a positional relationship, it is determined as Yes in step S108. In this case, the closing instruction transmission process shown in step S109 is performed, the closing instruction is transmitted to each door drive unit 22, and the main opening / closing process is completed.

On the other hand, as illustrated in FIG. 15B, since at least one of the vehicle doors 12 is not completely closed, the relative distance Xa between the QR code 50 and the QR code 53 and the storage unit 42 are stored. When the difference from the distance Xo becomes larger than the predetermined threshold value Xth, it is determined as No in step S108, assuming that the relative positions of the recognized plurality of identification displays are not in the default positional relationship. In this case, it is determined that the difference between the relative distance Xa and the specified distance Xo is equal to or less than the predetermined threshold value Xth in all the vehicle doors 12, and the recognized relative positions of the plurality of identification displays are the default positional relationships. Until then, the process from step S103 is repeated.

If the determination of No in step S108 is continued for a longer time than expected, even if the vehicle door 12 is in a state of sandwiching an object and not completely closed, the outside is notified. Good. In particular, since the relative distance Xa is detected for each vehicle door 12, it is possible to grasp which of the vehicle doors 12 is not completely closed. Therefore, the vehicle door 12 that is not completely closed may be identifiablely notified by, for example, light emission of a light emitting unit provided on the opposing movable door 21 and the door drive unit 22, or the vehicle door 12 may be notified. It may be notified by transmitting the information for specifying the door to the outside.

As described above, in the platform door control system 1 according to the present embodiment, all of the plurality of identification displays are recognized (Yes in S107), and the relative positions of the detected plurality of identification displays are in a default positional relationship. (Yes in S108), the platform door 20 is controlled to be closed by the platform door control device 40. As a result, when the relative positions of the plurality of detected identification displays are not in the default positional relationship, it can be assumed that the vehicle door 12 is not completely closed by sandwiching the object, so that the vehicle door 12 is closed. Not only can it be recognized that it is in a state, but it can also be recognized that the vehicle door 12 is not completely closed.

As a first modification of the present embodiment, the plurality of identification displays may include other identification displays provided in a peripheral portion that surrounds the vehicle door 12 and does not move together with the vehicle door 12. Specifically, for example, the QR code 54 illustrated in FIG. 17A can be provided on the railroad vehicle 10 as an identification display, and the QR code 54 is provided at the upper edge of the door body 13b of one of the doors 13. Therefore, it is provided on the vehicle body portion 11b directly above the QR code 50. In particular, as shown in FIG. 17A, the QR code 54 is arranged so that the specified distance from the QR code 50 in the opening / closing direction when the vehicle door 12 is closed is 0 (zero).

Then, in the opening / closing process, the relative distance Xb between the QR code 50 and the QR code 54 in the opening / closing direction is detected from the captured image in which the QR code 50 and the QR code 54 are recognized, and the detected relative distance Xb is calculated. When the value is equal to or less than the predetermined threshold value Xth, it is assumed that the relative positions of the plurality of recognized identification displays have a default positional relationship (Yes in S108), and the processes after step S109 are performed. On the other hand, as illustrated in FIG. 17B, when at least one of the vehicle doors 12 is not completely closed, the relative distance Xb between the QR code 50 and the QR code 54 becomes larger than the predetermined threshold value Xth. Assuming that the relative positions of the plurality of recognized identification displays are not in the default positional relationship, it is determined as No in step S108, and the processing from step S103 is performed.

Even in this way, if the relative positions of the plurality of detected identification displays are not in the default positional relationship, it can be assumed that the vehicle door 12 is not completely closed by sandwiching the object. Not only can it be recognized that the vehicle 12 is in the closed state, but it is also possible to recognize that the vehicle door 12 is not completely closed. In particular, since the QR code 54 is provided at a portion that does not move together with the vehicle door 12, the detection accuracy of the relative distance Xb can be improved as compared with the case where the QR code 54 moves with each other.

In addition to the QR code 50, the plurality of identification displays simultaneously imaged when the vehicle door 12 is closed are not limited to the QR code 53 or the QR code 54, and the QR code 53 and the QR code 54 Both may be included, or another QR code (identification display) may be included. That is, the platform door 20 may be controlled to the closed state when the relative positional relationship is the default positional relationship for the three or more identification displays.

It should be noted that the characteristic configuration of this embodiment and its modified example of controlling the platform door 20 in the closed state when the relative positions of the plurality of recognized identification displays have a predetermined positional relationship is also applied to other embodiments and the like. Can be applied.

[7th Embodiment]
Next, the platform door control system according to the seventh embodiment of the present invention will be described with reference to FIG.
The seventh embodiment is different from the first embodiment in that the identification display is provided so that it is difficult to recognize. Therefore, the same reference numerals are given to the components substantially the same as those in the first embodiment, and the description thereof will be omitted.

In the present embodiment, the identification display is provided so as to exhibit a predetermined reflection characteristic when illuminated with light in a predetermined wavelength band different from visible light, and at least a part of the identification display is light in a predetermined wavelength band. It is covered with a coating that allows the light to pass through and prevents the transmission of visible light. Specifically, the QR code 50 provided as an identification display is configured by applying a commonly used ordinary paint or the like, and the covering portion 60 is formed when light in the predetermined wavelength band is irradiated. It is configured by applying a paint or the like that transmits the reflected light from the QR code 50 and hinders the transmission of visible light. In the present embodiment, for example, light in an infrared wavelength band (infrared light) is assumed as the light in the predetermined wavelength band, and the covering portion 60 is configured by applying, for example, an infrared transmissive paint or the like. To. In particular, the covering portion 60 is arranged so as to cover all of the QR code 50 as shown in FIG. 18A. In FIG. 18A, hatching is attached to the covering portion 60 for convenience.

The camera 30 is provided with an illumination light source (not shown) capable of irradiating infrared light, which is light in the predetermined wavelength band, with respect to a range including the imaging field 31, and infrared light from this illumination light source. By imaging the imaging field 31 in a state of being irradiated with light, as illustrated in FIG. 18B, the QR code 50 in a state where the covering portion 60 is removed can be imaged.

The QR code 50, which is entirely covered by the covering portion 60 in this way, can be imaged in a state where the covering portion 60 is removed by being irradiated with infrared light. Therefore, an illumination light source capable of irradiating infrared light can be used. By preparing the provided camera 30, the QR code 50 can be recognizablely imaged. On the other hand, if there is no illumination light source as described above, the QR code 50 cannot be completely imaged because it is obstructed by the covering portion 60, so that the QR code 50 cannot be recognized. For this reason, it becomes difficult for a third party to accurately recognize the QR code 50 itself provided as the identification display, and fraudulent acts such as forging an identification display similar to the QR code 50 can be suppressed.

It should be noted that the covering portion 60 does not cover all of the QR code 50 provided as an identification display, and specifies a portion where the QR code 50 becomes unreadable even if the error correction function is used, for example, a position detection pattern or the like. It may be arranged so as to cover a portion different from the pattern of. Even in this case, since the QR code 50 cannot be completely imaged, the QR code 50 cannot be recognized, and the above fraudulent activity can be suppressed.

As a first modification of the present embodiment, a covering portion 61 as illustrated in FIG. 19A may be adopted. In the first modification of the present embodiment, the QR code 50 provided as an identification display is provided on the door body 13b of one door 13, the covering portion 61 covers all of the QR code 50, and the QR code 50 covers all of the QR code 50. It is provided so as to be the same color as the color of the surrounding door body 13b provided. As a result, not only the QR code 50 (identification display) but also the covering portion 60 becomes difficult to see, so that the above fraudulent activity can be further suppressed.

As a second modification of the present embodiment, the covering portion 62 as illustrated in FIG. 19B may be adopted. The covering portion 62 is configured as an arbitrary figure whose shape, pattern, and color are changed, and is arranged so as to cover all of the QR code 50 provided as an identification display. Even if the covering portion 62 is composed of an arbitrary figure in this way, the covering portion 62 transmits the reflected light from the QR code 50 corresponding to the irradiation of the light in the predetermined wavelength band, so that the above fraudulent activity is suppressed. At the same time, the design of the covering portion 62 can be improved.

It should be noted that the characteristic configuration of the present embodiment and its modifications in which the identification display is difficult to recognize by using the covering portions 60 to 62 can be applied to other embodiments and the like.

[8th Embodiment]
Next, the platform door control system according to the eighth embodiment of the present invention will be described with reference to FIG.
In the eighth embodiment, the QR code 50 provided as an identification display on the railroad vehicle 10 is concealed so as not to be imaged by the camera 30 from immediately after the start of the closed vehicle door 12 to the open state. Is mainly different from the first embodiment described above.

Specifically, as shown in FIG. 20A, the QR code 50 is affixed to the upper corner of the door body 13b of one of the doors 13 near the edge of the vehicle body portion 11a.

Therefore, even when the camera 30 is arranged so that the imaging field of view 31 includes the vehicle door 12 and its surroundings, as shown in FIG. 20B, when the vehicle door 12 starts the opening operation, the closing operation is completed. The QR code 50 will not be recognized by the camera 30 until this is done. As a result, it is possible to easily grasp from the start of the opening operation to the completion of the closing operation of the vehicle door 12.

The characteristic configuration of the present embodiment is that the identification display such as the QR code 50 is provided at a position where the vehicle door 12 in the closed state is concealed so as not to be imaged by the camera 30 from immediately after the start of the open operation until the open state. , Other embodiments and the like.

[9th Embodiment]
Next, the platform door control system according to the ninth embodiment of the present invention will be described with reference to FIGS. 21 to 23.
The main point of the ninth embodiment is that the platform door 20 is automatically opened and closed in conjunction with the open / closed state of the vehicle door 12 of the railway vehicle 10 by using a plurality of identification displays provided on the vehicle door 12. It is different from the second embodiment. Therefore, the same reference numerals are given to the components substantially the same as those in the second embodiment, and the description thereof will be omitted.

In the present embodiment, as shown in FIGS. 21 and 22, in addition to the QR code 50, the QR code 53 is located at the upper part of the glass window 14a of the other door 14 and close to the one door 13. It is attached from the outside of the car. The camera 30 is installed so that the imaging field of view 31 is within a range in which the vehicle door 12 and its surroundings at the planned stop position can be imaged (hereinafter, also referred to as a vehicle door peripheral range).

Hereinafter, in the present embodiment, the opening / closing process performed by the control unit 41 of the platform door control device 40 when the platform door 20 is opened / closed will be described with reference to the flowchart shown in FIG.
The opening / closing process is started by the control unit 41 before the railroad vehicle 10 entering the home 2 stops at the planned stop position. First, the image pickup process of step S301 in FIG. 23 captures the image of the area around the vehicle door. After the start, in the determination process shown in step S303, it is determined whether or not each information code functioning as an identification display is moving in the same direction by comparing with the image captured by the camera 30 last time. .. Here, when the railroad vehicle 10 is not in the home 2, No is determined in step S303, and the process from step S301 is repeated. The control unit 41 that executes step S303 and steps S307, S311, S317, and S321 described later can correspond to an example of the "movement determination means".

Then, the railroad vehicle 10 that has entered the home 2 decelerates and comes to the front of the planned stop position, so that the QR code 50 and the QR that are moving in the same direction are compared with the image captured by the camera 30 last time. When the code 53 is imaged (see arrows F1a and F1b in FIG. 21A), it is determined to be Yes in step S303. Subsequently, in a state where the area around the vehicle door is imaged by the imaging process of step S305, it is determined by the determination process shown in step S307 whether or not each information code is stopped. Here, since the QR code 50 and the QR code 53 that are moving until the railroad vehicle 10 is stopped are imaged, No is determined in step S307, and the process from step S305 is repeated.

Then, when the railway vehicle 10 stops at the scheduled stop position and the QR code 50 and the QR code 53 have not moved for a predetermined time (see FIG. 21B), it is determined as Yes in step S307. In the present embodiment, a common value is preset for each vehicle door 12 for the predetermined time.

Subsequently, in the state where the area around the vehicle door is imaged by the imaging process of step S309, it is determined by the determination process shown in step S311 whether or not the QR code 50 and the QR code 53 are moving in the direction away from each other. Will be done. Here, when the vehicle door 12 has not started the opening operation, the QR code 50 and the QR code 53 are in the stopped state, so that it is determined as No in step S311 and the process from step S309 is performed. Repeated.

Then, when each vehicle door 12 of the railway vehicle 10 stopped at the planned stop position starts to open, the QR code 50 and the QR code 53 move in the direction away from each other (arrows F2a and F2b in FIG. 22A). (See), it is determined Yes in step S311. Subsequently, the opening instruction transmission process shown in step S313 is performed, and the opening instruction is transmitted to each door driving unit 22.

Subsequently, in the state where the area around the vehicle door is imaged by the imaging process of step S315, it is determined by the determination process shown in step S317 whether or not the QR code 50 and the QR code 53 are moving in the approaching direction. Will be done. Here, when the vehicle door 12 is in the open operation or the open state (stopped) and the vehicle door 12 has not started the closing operation, the QR code 50 and the QR code 53 have not moved in the approaching direction. Therefore, it is determined as No in step S317, and the process from step S315 is repeated.

Then, when each vehicle door 12 starts the closing operation, the QR code 50 and the QR code 53 move in the approaching direction (see arrows F3a and F3b in FIG. 22B), so that it is determined as Yes in step S317. Will be done. Subsequently, in a state where the area around the vehicle door is imaged by the imaging process of step S319, it is determined by the determination process shown in step S321 whether or not each information code is stopped. Here, when the vehicle door 12 is in the closing operation and the vehicle door 12 is not in the closed state (stopped), No is determined in step S321, and the process from step S319 is repeated.

Then, when the QR code 50 and the QR code 53 have not moved for a predetermined time due to the vehicle door 12 being closed (see FIG. 21B), it is determined as Yes in step S321. Subsequently, the closing instruction transmission process shown in step S323 is performed, the closing instruction is transmitted to each door drive unit 22, and the main opening / closing process is completed.

As described above, in the platform door control system 1 according to the present embodiment, whether or not the QR code 50 and the QR code 53 that function as a plurality of identification displays are moving based on the captured image captured by the camera 30. Is judged about. Then, the platform door 20 controls the control unit 41 based on the recognition result of recognizing the identification display by the decoding process for the captured image obtained by capturing the QR code 50 and the QR code 53 and the determination result regarding the movement of the QR code 50 and the QR code 53. Is controlled by. As a result, the platform door 20 can be controlled after grasping whether or not the vehicle door 12 is in the opening / closing operation based on whether or not the identification display is moving. Therefore, the opening / closing timing of the platform door 20 and the vehicle door 12 can be controlled. The difference from the opening / closing timing of the door can be easily adjusted.

Further, when it is determined that all of the QR code 50 and the QR code 53 imaged by the camera 30 as identification displays are moving in the same direction (Yes in S303), it is assumed that the railroad vehicle 10 is moving. The door 20 is controlled as a waiting state for the opening instruction. When the railroad vehicle 10 is moving, all the identification signs move in the same direction. Therefore, the railroad car 10 is moving according to the determination that all the identification signs are moving in the same direction. It can be determined that even if the vehicle door 12 moves with the movement of the railway vehicle 10, it is possible to suppress the misunderstanding that the vehicle door 12 is opening and closing.

Further, when it is determined that the moving direction of the QR code 50 provided on one door 13 and the moving direction of the QR code 53 provided on the other door 14 are close to each other (Yes in S317), the platform door 20 Is controlled to the closed state. When one door 13 and the other door 14 are moving in the approaching direction, it can be determined that the vehicle door 12 is closed. In this case, when controlling the platform door 20 to be closed, It is possible to reduce the delay in the timing when the platform door 20 starts to close with respect to the timing when the vehicle door 12 starts to close.

Further, when it is determined that the moving direction of the QR code 50 provided on one door 13 and the moving direction of the QR code 53 provided on the other door 14 are in a direction away from each other (Yes in S311), the platform door 20 Is controlled to the open state. When one door 13 and the other door 14 are moving away from each other, it can be determined that the vehicle door 12 is open. In this case, the platform door 20 is controlled to be in the open state. It is possible to reduce the delay in the timing when the platform door 20 starts to open with respect to the timing when the vehicle door 12 starts to open.

In particular, when it is determined that all of the QR code 50 and the QR code 53 imaged by the camera 30 as a plurality of identification displays have not moved for a predetermined time (Yes in S307, Yes in S321), the vehicle door 12 stops. The platform door 20 is controlled as a waiting state for the opening instruction or the closing instruction. As a result, it is possible to easily grasp whether or not the vehicle door 12 is stopped (moved), so that the vehicle door 12 is closed (closed) or opened while the vehicle door 12 is closed or opened. It is possible to prevent the misidentification of completion (open state).

Further, when it is determined that all of the QR code 50 and the QR code 53 have not moved for a predetermined time (Yes in S321) immediately after detecting the closing operation of the vehicle door 12 (Yes in S317), the platform door 20 Is controlled to the closed state. As a result, even if the vehicle door 12 is opened again because the passenger's luggage or the like is caught in the vehicle door 12, the platform door 20 is not controlled to be closed, so that an unnecessary platform door is not used. The closing operation of 20 can be suppressed.

Immediately after detecting the movement of the railroad vehicle 10 (Yes in S303), when it is determined that all of the QR code 50 and the QR code 53 functioning as a plurality of identification displays have not moved for a predetermined time (in S307). Yes), the platform door 20 is controlled assuming that the railway vehicle 10 is in a stopped state immediately before the vehicle door 12 is opened. If it is determined that all of the plurality of identification displays have not moved for a predetermined time immediately after the movement detection of the railway vehicle 10, it can be determined that the railway vehicle 10 is in the stopped state immediately before the vehicle door 12 is opened. Therefore, the platform door 20 can be controlled to open smoothly.

The QR code 50 and the QR code 53 that function as identification displays may be generated so that information including at least the information regarding the predetermined time is optically readablely recorded. As a result, even if the opening / closing timing of the vehicle door 12 is different for each railroad vehicle 10 or for each vehicle door 12 provided with the identification display, a suitable time for opening / closing the vehicle door 12 provided with the identification display is set as described above. It can be easily set as a time.

Further, the characteristic configuration of the present embodiment that automatically opens and closes the platform door 20 in conjunction with the open / closed state of the vehicle door 12 of the railway vehicle 10 by using a plurality of identification displays provided on the vehicle door 12. It can also be applied to other embodiments and the like.

[10th Embodiment]
Next, the platform door control system according to the tenth embodiment of the present invention will be described with reference to FIGS. 24 to 26.
The tenth embodiment is mainly different from the ninth embodiment in that the plurality of identification displays include other identification displays provided in a peripheral portion that surrounds the vehicle door 12 and does not move together with the vehicle door 12. .. Therefore, the same reference numerals are given to the components substantially the same as those of the ninth embodiment, and the description thereof will be omitted.

In the present embodiment, as shown in FIGS. 24 and 25, in addition to the QR code 50, the QR code 54 is directly above the QR code 50 as another identification display provided at a portion that does not move together with the vehicle door 12. It is provided in the vehicle body portion 11b. Therefore, when the vehicle door 12 is opened and closed, only the QR code 50 moves, and the QR code 54 does not move.

Further, in the present embodiment, since the QR code 50 is provided on one of the doors 13, the QR code 50 moves in the traveling direction of the railroad vehicle 10 when the vehicle door 12 is opened, and the railroad vehicle 10 is moved when the vehicle door 12 is closed. Moves in the opposite direction to the traveling direction of. Information regarding the opening / closing direction of the vehicle door 12 and the moving direction of the QR code 50 provided on the vehicle door 12 is stored in advance in the storage unit 42 that functions as a storage means. Therefore, by detecting the moving direction of the QR code 50, it is possible to grasp whether the vehicle door 12 is in the open operation or the closed operation.

Hereinafter, in the present embodiment, the opening / closing process performed by the control unit 41 of the platform door control device 40 when the platform door 20 is opened / closed will be described with reference to the flowchart shown in FIG.
Similar to the ninth embodiment, the control unit 41 has started the opening / closing process before the railroad vehicle 10 entering the home 2 stops at the scheduled stop position. First, the imaging process of step S301 in FIG. 26 After the imaging of the area around the vehicle door is started, it is determined by the determination process shown in step S303 whether or not each information code is moving in the same direction. Then, when the railroad vehicle 10 entering the platform 2 decelerates and comes to the front of the planned stop position, the QR code 50 and the QR code 54 moving in the same direction are imaged (FIG. 24 (A)). (See arrows F4a and F4b), yes is determined in step S303. Subsequently, in the state where the area around the vehicle door is imaged by the imaging process of step S305, it is determined by the determination process shown in step S307 whether or not each information code is stopped, and the railway vehicle 10 is scheduled to stop. If the QR code 50 and the QR code 54 have not moved for a predetermined time by stopping at the position (see FIG. 24B), it is determined to be Yes in step S307.

Subsequently, in the state where the area around the vehicle door is imaged by the imaging process of step S309, the QR code 50 is opened in the opening direction (the traveling direction of the railway vehicle 10) except for the QR code 54 by the determination process shown in step S311a. It is determined whether or not it is moving. Here, when the vehicle door 12 has not started the opening operation, since the QR code 50 is in the stopped state, it is determined as No in step S311a, and the process from step S309 is repeated.

Then, when each vehicle door 12 of the railway vehicle 10 stopped at the planned stop position starts to open, the QR code 54 remains stopped and the QR code 50 moves in the traveling direction (opening direction) of the railway vehicle 10. (See arrow F5 in FIG. 25 (A)), in step S311a, it is determined to be Yes. Subsequently, the opening instruction transmission process shown in step S313 is performed, and the opening instruction is transmitted to each door driving unit 22.

Subsequently, in the state where the area around the vehicle door is imaged by the imaging process of step S315, the QR code 50 is closed in the closing direction (relative to the traveling direction of the railway vehicle 10) except for the QR code 54 in the determination process shown in step S317a. It is determined whether or not the vehicle is moving in the opposite direction. Here, when the vehicle door 12 is in the open operation or the open state (stopped) and the vehicle door 12 has not started the closing operation, the QR code 50 is in the opposite direction to the traveling direction of the railway vehicle 10. Since it has not moved to, No is determined in step S317a, and the process from step S315 is repeated.

Then, when each vehicle door 12 starts the closing operation, the QR code 54 remains stopped and the QR code 50 moves in the opposite direction (closing direction) to the traveling direction of the railway vehicle 10 (FIG. 25 (B). ), Yes is determined in step S317a). Subsequently, in a state where the area around the vehicle door is imaged by the imaging process of step S319, it is determined by the determination process shown in step S321 whether or not each information code is stopped, and the vehicle door 12 is closed. Therefore, if the QR code 50 has not moved for a predetermined time (see FIG. 24B), it is determined to be Yes in step S321. Subsequently, the closing instruction transmission process shown in step S323 is performed, the closing instruction is transmitted to each door drive unit 22, and the main opening / closing process is completed.

As described above, in the platform door control system 1 according to the present embodiment, whether or not the QR code 50 and the QR code 54 that function as a plurality of identification displays are moving based on the captured image captured by the camera 30. Is judged about. Then, the platform door 20 controls the control unit 41 based on the recognition result of recognizing the identification display by the decoding process for the captured image obtained by capturing the QR code 50 and the QR code 54 and the determination result regarding the movement of the QR code 50 and the QR code 54. Is controlled by. Even in this way, as in the ninth embodiment, the platform door 20 can be controlled after grasping whether or not the vehicle door 12 is in the opening / closing operation based on whether or not the identification display is moving. Therefore, the difference between the opening / closing timing of the platform door 20 and the opening / closing timing of the vehicle door 12 can be easily adjusted.

Further, when it is determined that all of the QR code 50 and the QR code 54 imaged by the camera 30 as identification displays are moving (Yes in S303), the platform door 20 is assumed to be moving, assuming that the railroad vehicle 10 is moving. It is controlled as a waiting state for the opening instruction. Therefore, as in the ninth embodiment, it is possible to suppress the misidentification that the vehicle door 12 is opening and closing even if the vehicle door 12 moves with the movement of the railway vehicle 10.

In particular, when it is determined that the QR code 50 other than the QR code 54 (other identification display) is moving among the plurality of identification displays captured by the camera 30, the vehicle door 12 is closed or opened. The platform door 20 is controlled as being inside. When the QR code 50 is moving except for the QR code 54 among the plurality of identification displays, it can be determined that the vehicle door 12 is in the closed or open operation. Therefore, the vehicle door 12 is in the closed or open operation. It is possible to prevent the vehicle door 12 from being mistakenly recognized as having completed the closed operation (closed state) or completed the open operation (open state).

The QR code 50 may record information regarding the opening / closing direction of the vehicle door 12 and the moving direction of the QR code 50 provided on the vehicle door 12. That is, the identification display may be configured as an information code in which information regarding the moving direction of the identification display at least when the vehicle door 12 is opened and closed is optically readable. As a result, by decoding and acquiring information on the moving direction from the captured information code, the vehicle door 12 provided with the moving information code is closed without storing the information in the storage unit 42 in advance. It is possible to easily grasp whether the state is the open operation state or the open operation state.

Further, the characteristic configuration of the present embodiment in which another identification display is provided on a portion that does not move together with the vehicle door 12 can be applied to other embodiments and the like.

[11th Embodiment]
Next, the platform door control system according to the eleventh embodiment of the present invention will be described below.
In the eleventh embodiment, the camera 30 is set to a shutter speed at which the identification display cannot be recognized from the captured image when the vehicle door 12 is opened and closed, except when the vehicle door 12 is stopped including the open state and the closed state. This point is mainly different from the first embodiment.

Specifically, the shutter speed of the camera 30 is set to such an extent that the QR code 50 imaged in step S103 is blurred during the opening / closing operation of the vehicle door 12 and cannot be decoded by the decoding process in step S105. Therefore, when the vehicle door 12 is closed, the identification display is not recognized from the captured image, so that it is determined as No in step S107, and the closing instruction is not transmitted.

In this way, the QR code 50 imaged as the identification display during the opening / closing operation of the vehicle door 12 is blurred and is not recognized. Therefore, the vehicle door 12 opens / closes based on whether or not the identification display is recognizable. It is possible to easily grasp whether or not the vehicle door 12 is in operation, and to control the platform door 20 after grasping whether or not the vehicle door 12 is in the opening / closing operation.

Information on the shutter speed, for example, information for calculating the shutter speed or the shutter speed, or the like may be recorded in the QR code 50. That is, the identification display may be configured as an information code in which information including at least the information regarding the shutter speed is optically readable. As a result, even if the opening / closing speed of the vehicle door 12 is different for each railroad vehicle 10 or for each vehicle door 12 provided with the information code, the information on the shutter speed can be decoded and acquired from the captured information code. The camera 30 can set an unrecognizable shutter speed during the opening / closing operation of the vehicle door 12 for each information code.

Further, the characteristic configuration of the present embodiment in which the shutter speed of the camera 30 is set so that the identification display cannot be recognized from the captured image when the vehicle door 12 is opened and closed is different from the case where the moving direction of the identification display is determined. It can also be applied to the embodiment of.

[12th Embodiment]
Next, the platform door control system according to the twelfth embodiment of the present invention will be described below.
The twelfth embodiment is mainly different from the first embodiment in that a plurality of imaging means are provided toward one vehicle door on which an identification display is provided. Therefore, the same reference numerals are given to the components substantially the same as those in the first embodiment, and the description thereof will be omitted.

Installation objects such as pillars and walls are installed on the platform 2, and depending on the installation location of these installation objects, the camera 30 is installed at a position where it is easy to take an image of the QR code 50 attached to the vehicle door 12. It can be difficult. For example, as illustrated in FIG. 29, if the pillar 3 is installed at a position where the QR code 50 can be easily imaged, the pillar 3 may hinder the installation of the camera 30. Further, in an environment or the like in which the deviation of the stop position of the railway vehicle 10 with respect to the planned stop position is large, one camera 30 should capture the QR that should be originally captured when the railway vehicle 10 is largely deviated from the planned stop position and stops. Code 50 may not be imaged.

Therefore, in the present embodiment, a plurality of imaging means are provided toward one vehicle door on which the identification display is provided. Specifically, as shown in FIG. 30, cameras 30a and 30b are provided as two imaging means toward one vehicle door 12. That is, a pair of cameras 30a and 30b are directed to each vehicle door 12, respectively. The camera 30a and the camera 30b are arranged so that a part of the respective imaging fields of view 31a and 31b overlap each other, and the respective captured images are transmitted to the platform door control device 40.

More specifically, the camera 30a is at the QR code 50 (see the lower part X3 of FIG. 30) and the planned stop position when the deviation in the traveling direction is the largest with respect to the planned stop position (for example, the deviation is 700 mm). The QR code 50 (see the middle X2 of FIG. 30) is included in the imaging field of view 31a. Further, the camera 30b has a QR code 50 (see the upper part X1 in FIG. 30) and a planned stop position when the deviation in the direction opposite to the traveling direction is the largest with respect to the planned stop position (for example, the deviation is 700 mm). Both the QR code 50 and the QR code 50 are installed so as to be included in the imaging field of view 31b.

Then, in the opening / closing process executed by the control unit 41, images are taken by the cameras 30a and 30b for each vehicle door 12 (S103), and decoding processes are performed for each captured image (S105). Then, when the identification display is recognized by reading the entrance / exit specific information on at least one of the decoding processes of the images captured by the cameras 30a and 30b at each vehicle door 12 (Yes in S107), each door is driven. The closing instruction is transmitted to the unit 22 (S109).

As described above, in the platform door control system 1 according to the present embodiment, a plurality of image pickup means are provided toward one vehicle door 12 provided with the QR code 50 (identification display). As a result, it is difficult to install one imaging means at a position where it is easy to image the identification display due to the installation objects such as pillars 3 and walls provided on the platform 2, and the deviation of the stop position of the railway vehicle 10 is large. Even in such an environment, by using a plurality of imaging means, it is possible to easily secure an imaging field of view (31a, 31b) necessary for imaging an identification display, and improve the ease of installation of each imaging means. Can be done.

In particular, since the plurality of imaging means (30a, 30b) are arranged so that a part of the imaging field of view (31a, 31b) overlaps with each other, one imaging means is used as the imaging field of view for imaging the identification display. It can be made wider than when it is used.

The camera 30a and the camera 30b are not limited to being arranged so that the overlapping range of the imaging field of view 31a and the imaging field of view 31b is large as illustrated in FIG. 30, and the range is suitable for the usage environment and the like. It may be installed as follows. For example, as a first modification of the present embodiment, in order to widen the imaging field of view by the plurality of imaging means, as illustrated in FIG. 31, the overlapping range of the imaging field of view 31a and the imaging field of view 31b is at the planned stop position. The QR code 50 may be arranged so as to be in the minimum range in which an image can be taken. Further, depending on the installation environment in the home 2, the cameras 30a and the cameras 30b directed to at least a part of each vehicle door 12 may be arranged so that the imaging field of view 31a and the imaging field of view 31b do not overlap.

Further, the imaging means is not limited to two provided toward one vehicle door 12 provided with an identification display such as a QR code 50, and three or more may be provided. Specifically, for example, as a second modification of the present embodiment, as illustrated in FIG. 32, the cameras 30a to 30c that function as three imaging means toward one vehicle door 12 are referred to as an imaging field of view 31a. It may be provided so that the imaging field of view 31b partially overlaps and the imaging field of view 31b and the imaging field of view 31c partially overlap. Further, the number of imaging means may be different for each vehicle door 12.

Further, the plurality of imaging means may be arranged at least in part so that their optical axes are not parallel to each other. Specifically, as a third modification of the present embodiment, as illustrated in FIG. 33, the camera 30a and the camera so that the optical axis 32a of the camera 30a projected on the horizontal plane and the optical axis 32b of the camera 30b intersect. 30b and 30b can be arranged. As a result, the ease of installation of the cameras 30a and the cameras 30b (each imaging means) is improved as compared with the case where the imaging means are arranged so that their optical axes are parallel to each other in order to widen the imaging field of view. Can be done.

Further, in the opening / closing process executed by the control unit 41, for one vehicle door 12, a process for recognizing an identification display such as a QR code 50 for an image captured by any one of the cameras 30a and the camera 30b is performed. May be good. In this case, any one of the camera 30a and the camera 30b may be selected based on preset conditions and the like, and any one of the camera 30a and the camera 30b is selected each time according to the imaging environment and the like. May be good. As a result, it is not always necessary to consider all the imaging results by the plurality of imaging means, so that the recognition determination of the identification display, that is, the state determination of the vehicle door 12 can be simplified.

It should be noted that the characteristic configuration of this embodiment and its modifications in which a plurality of image pickup means are provided toward one vehicle door provided with an identification display can be applied to other embodiments and the like. For example, in the opening / closing process executed by the control unit 41 in the second embodiment, the ninth embodiment, and the like described above, the imaging means that first recognizes the identification display among the plurality of imaging means after the railway vehicle 10 is stopped. May be used to perform a process for recognizing the identification display.

[13th Embodiment]
Next, the platform door control system according to the thirteenth embodiment of the present invention will be described below.
The thirteenth embodiment is mainly different from the twelfth embodiment in that the plurality of imaging means are arranged so that the imaging fields of view overlap each other at least in the range where the identification display may be imaged.

Specifically, as shown in FIG. 34, the camera 30a has the largest deviation in the traveling direction with respect to the planned stop position as well as the QR code 50 (see the middle X2 in FIG. 34) at the planned stop position. Both the QR code 50 (see the lower X3 in FIG. 34) and the QR code 50 (see the upper X1 in FIG. 34) when the deviation in the direction opposite to the traveling direction is the largest with respect to the planned stop position. It is installed so as to be included in the imaging field of view 31a. Similarly, the camera 30b has not only the QR code 50 at the planned stop position, but also the QR code 50 when the deviation in the traveling direction is the largest with respect to the planned stop position, and the camera 30b is opposite to the traveling direction with respect to the planned stop position. It is installed so that both the QR code 50 and the QR code 50 when the deviation in the direction is the largest are included in the imaging field of view 31b.

In this way, the cameras 30a and 30b are arranged so that the imaging fields 31a and 31b overlap each other in the range where the QR code 50 may be imaged. Therefore, for example, the QR code 50 of the closed vehicle door 12 The QR code 50 is recognized by being imaged by the camera 30b even if is not imaged by the camera 30a. As a result, redundancy (robustness) can be ensured regarding the imaging of the identification display (QR code 50) for the vehicle door 12.

In a configuration in which a plurality of imaging means are arranged so that the imaging fields of view overlap each other in a range in which the identification display may be imaged, a part of the imaging cycles of each imaging means and at least a part of the other imaging means are arranged. The imaging cycle can be shifted by half a cycle of the illumination cycle of the illumination light applied to the identification display. Specifically, as a first modification of the present embodiment, as illustrated in FIG. 35, the imaging cycle of the camera 30a and the imaging of the camera 30b are taken with respect to the illumination cycle T of the illumination light Ls applied to the identification display. The period is shifted by T / 2, which corresponds to a half period of the illumination period T of the illumination light Ls.

As a result, even when the brightness of the illumination light Ls applied to the identification display changes periodically, the identification display captured by the camera 30a (some imaging means) and the camera 30b (some other imaging means) are captured. Since both the identification display and the identification display imaged by the means) are not imaged in a dark state at the same time, the influence of flicker can be avoided.

The imaging period of each of the cameras 30a and 30b may be set in advance based on the information regarding the illumination period T of the illumination light Ls acquired at the time of installation of the platform door control system 1. Further, each of the cameras 30a and 30b may be configured so that the imaging cycle thereof can be changed according to an instruction from the home door control device 40. In this case, the information regarding the lighting cycle T of the illumination light Ls can be obtained from the home. It may be acquired in advance at the time of installation of the door control system 1 and stored in the storage unit 42 or the like, or may be acquired in response to information input from the outside after installation or the like.

Further, the plurality of imaging means may be arranged at least in part so that their optical axes are not parallel to each other. Specifically, as a second modification of the present embodiment, as illustrated in FIG. 36, the camera 30a and the camera so that the optical axis 32a of the camera 30a projected on the horizontal plane and the optical axis 32b of the camera 30b intersect. 30b and 30b can be arranged. As a result, the ease of installation of the cameras 30a and the cameras 30b (each imaging means) is improved as compared with the case where the imaging means are arranged so that their optical axes are parallel to each other in order to widen the imaging field of view. Can be done. In particular, for example, even in a situation where the camera 30a (some imaging means) is affected by sunlight, spotlights, specular reflection, etc. at a certain timing, the camera 30b (other imaging means) Since it is less susceptible to the influence, it is possible to improve the redundancy (robustness) of the imaging of the identification display for one vehicle door 12.

It should be noted that the characteristic configurations of the present embodiment and its modifications in which a plurality of imaging means are arranged so that the imaging fields of view overlap each other at least in the range where the identification display may be imaged are described in other embodiments and the like. Can also be applied.

[14th Embodiment]
Next, the platform door control system according to the 14th embodiment of the present invention will be described below.
The 14th embodiment is mainly different from the 12th embodiment in that the recognition results of the identification display are collected for each vehicle door.

Specifically, as shown in FIG. 37, an aggregation that acquires an image captured by the camera 30a and an image captured by the camera 30b and performs a process for recognizing the QR code 50 by using a known decoding process or the like. A device 70 is provided for each vehicle door 12, and the recognition result of the QR code 50 by each aggregation device 70 is transmitted to the platform door control device 40. That is, each aggregation device 70 functions as a recognition means for recognizing the identification display (50) provided on the corresponding vehicle door 12 by using the plurality of imaging means (30a, 30b), and the recognition result is used as the platform door. It is transmitted to the control device 40.

In the opening / closing process performed by the control unit 41 of the platform door control device 40, the processes of steps S103 and S105 described above are omitted, and when the recognition result of recognizing the identification display is received from all the aggregation devices 70, step S107 is performed. The result is determined to be Yes, and the closing instruction is transmitted to each door driving unit 22 (S109).

In this way, a plurality of aggregation devices 70 functioning as recognition means are provided so as to be arranged for each vehicle door 12, and the platform door control device 40 is a platform door based on the recognition result of each aggregation device 70. 20 is controlled. As a result, the recognition results are aggregated for each vehicle door 12, so that the closed state and the like can be easily grasped for each vehicle door 12.

Instead of the above-mentioned aggregation device 70, one of the plurality of imaging means may be provided with the function of the aggregation device 70 to serve as a master machine, and the other imaging means may be configured as a slave device. That is, any one of the plurality of imaging means is configured to function as a recognizable means for recognizing the identification display from the captured image captured by itself and the captured image acquired from the remaining imaging means. For example, as illustrated in FIG. 38, the camera 30a can be provided with the function of the aggregation device 70 to be a master machine, and the camera 30b can be configured as a slave machine.

In this way, by configuring the camera 30a having a function as a recognition means as a master machine and the camera 30b as a slave machine, the platform door control device 40 can acquire the recognition result from the camera 30a which is the master machine. The communication configuration between the cameras 30a and 30b and the platform door control device 40 can be simplified.

It should be noted that the characteristic configuration of the present embodiment and its modifications that aggregate the recognition results of the identification display for each vehicle door can be applied to other embodiments and the like.

[15th Embodiment]
Next, the platform door control system according to the fifteenth embodiment of the present invention will be described below.
The fifteenth embodiment is mainly different from the first embodiment in that a process for recognizing an identification display is performed on a part of the acquired plurality of captured images. Therefore, the same reference numerals are given to the components substantially the same as those in the first embodiment, and the description thereof will be omitted.

In the first embodiment, as described above, all the vehicle doors 12 of the railway vehicle 10 are provided with identification displays such as the QR code 50, and the identification display in the closed state is imaged toward each vehicle door 12. Each of the cameras 30 can be provided (see FIG. 39). Each camera 30 is arranged so that the QR code 50 or the like can be recognized (decoded) even when a tall passenger gets in or when the passenger gets in with tall baggage or the like. Specifically, as illustrated in FIG. 40, the QR code 50 is affixed to the height of H1 (for example, 1350 mm) from the floor surface of the home 2, and the position is the distance Z (for example, 400 mm) from the vehicle door 12. Even if a tall passenger (for example, H2 = 2000 mm) is standing, the camera 30 is installed on the ceiling 2b of the home 2 so that the optical axis of the camera 30 is θ (for example, 60 °) with respect to the horizontal plane. As a result, the QR code 50 and the like are recognizable by the camera 30.

Then, in the opening / closing process performed by the control unit 41 of the platform door control device 40, a process for recognizing the identification display such as the QR code 50 is performed for all the vehicle doors 12. More specifically, it is determined that each vehicle door 12 is in the closed state by changing from an imaging state in which the identification display such as the QR code 50 is not recognized in all the captured images to an imaging state in which the identification display is recognized. As a result, the platform door 20 is controlled in consideration of the closed state of each of the plurality of vehicle doors 12, so that the platform door 20 can be automatically controlled in a more realistic manner.

On the other hand, in the present embodiment, the cameras 30 are provided so as to be able to image the identification display in the closed state toward a part of each vehicle door 12. For example, if there are four vehicle doors 12 per vehicle, the camera 30 is directed and arranged for one of the four vehicle doors 12. Then, in the opening / closing process performed by the control unit 41, the image pickup state in which the identification display such as the QR code 50 is not recognized in a part of all the captured images changes to the image pickup state in which the identification display is recognized. It is determined that each vehicle door 12 is in the closed state.

As a result, the platform door 20 can be automatically controlled according to the closed state of a part of the plurality of vehicle doors 12, and the closed state of all the vehicle doors 12 is not grasped. Therefore, the automatic control of the platform door 20 is redundant. Sex (robustness) can be ensured. For example, even if the identification display such as the QR code 50 is not imaged for one of the vehicle doors 12 in the closed state due to passenger's baggage or the like, the identification display such as the QR code 50 is imaged for the other vehicle door 12 in the closed state. By being recognized and recognized, the platform door 20 can be automatically controlled to the closed state.

It should be noted that the cameras 30 may be provided so as to be able to capture the identification display in the closed state toward all the vehicle doors 12, and even in that case, the QR code 50 or the like is identified in a part of all the captured images. It can be determined that each vehicle door 12 is in the closed state by changing from the imaging state in which the display is not recognized to the imaging state in which the identification display is recognized. Further, each door drive unit 22 differs from the closing instruction from the platform door control device 40 or the like according to the detection result of detecting the open / closed state of the corresponding vehicle door 12 by a sensor or the like provided on the surface of the railway vehicle. The movable doors 21 may be individually moved as described above.

The characteristic configuration of this embodiment, which performs a process for recognizing an identification display for a part of the acquired plurality of captured images, can also be applied to other embodiments and the like. For example, in the opening / closing process executed by the control unit 41 in the second embodiment, the identification display is not recognized from the imaging state in which the identification display such as the QR code 50 is recognized in a part of all the captured images. It may be determined that each vehicle door 12 is in the open state by changing to. Even in this way, since the open state of all the vehicle doors 12 is not grasped, redundancy (robustness) can be ensured for the automatic control of the platform doors 20. Further, in the opening / closing process executed by the control unit 41 in the ninth embodiment, when the movement of the identification display such as the QR code 50 is recognized in a part of all the captured images, the determination according to the movement is recognized. May be done. Even in this way, since the moving states of all the vehicle doors 12 are not grasped, redundancy (robustness) can be ensured for the automatic control of the platform doors 20.

[16th Embodiment]
Next, the platform door control system according to the 16th embodiment of the present invention will be described below.
The 16th embodiment is mainly different from the 12th embodiment in that the imaging means is provided toward a part of the plurality of vehicle doors provided with the identification display.

In the present embodiment, similarly to the twelfth embodiment, all the vehicle doors 12 of the railroad vehicle 10 are provided with identification displays such as a QR code 50, but unlike the twelfth embodiment, each vehicle door 12 Cameras 30a and 30b are provided toward a part of the cameras, respectively. In particular, in the present embodiment, the vehicle door 12 to which the cameras 30a and 30b are directed differs depending on the station.

Specifically, for example, as shown in FIG. 41, when a plurality of vehicle doors in a 3-car train 10 are set to 12a to 12l in order from the head side, at station A, vehicle doors 12d, 12h, and 12k are used. Cameras 30a and 30b are provided toward each other. Further, at station B, cameras 30a and 30b are provided toward the vehicle doors 12b, 12g and 12j, respectively, and at station C, cameras 30a and 30b are provided toward the vehicle doors 12c, 12f and 12k, respectively. In FIG. 41, the illustration of the identification display such as the QR code 50 is omitted for convenience.

Then, in the opening / closing process performed by the control unit 41, each of the images captured by the cameras 30a and 30b changes from an imaging state in which the identification display such as the QR code 50 is not recognized to an imaging state in which the identification display is recognized. It is determined that the vehicle door 12 is in the closed state. For example, at station A, each vehicle door 12 changes from an imaging state in which the identification display such as the QR code 50 is not recognized in the image captured by the vehicle doors 12d, 12h, 12k to an imaging state in which the identification display is recognized. It is judged to be closed. Further, at the station B, each vehicle door 12 changes from an imaging state in which the identification display such as the QR code 50 is not recognized in the image captured by the vehicle doors 12b, 12g, 12j to an imaging state in which the identification display is recognized. It is judged to be closed. Further, at the station C, each vehicle door 12 changes from an imaging state in which the identification display such as the QR code 50 is not recognized in the image captured by the vehicle doors 12c, 12f, 12k to an imaging state in which the identification display is recognized. It is judged to be closed.

In this way, by providing imaging means such as cameras 30a and 30b toward a part of a plurality of vehicle doors 12 provided with an identification display such as a QR code 50, FIG. 41 is illustrated. As described above, even if the installation location of the imaging means is restricted due to the pillars 3, walls 4, etc. for each platform 2 of the station where the railway vehicle 10 stops, and the vehicle door 12 to be imaged is different, the platform The door 20 can be automatically controlled.

In particular, since the identification display such as the QR code 50 is provided on all the vehicle doors 12 of the railway vehicle 10, even if the vehicle door 12 to be imaged is different for each platform 2 where the railway vehicle 10 is stopped. Since the identification display is recognizable if the vehicle door 12 is closed by any of the imaging means, the platform door 20 can be automatically controlled without being affected by restrictions on the installation location of the imaging means. ..

The characteristic configuration of the present embodiment in which the image pickup means is provided toward at least a part of the plurality of vehicle doors provided with the identification display can be applied to other embodiments and the like. For example, the imaging means directed toward a part of the plurality of vehicle doors 12 provided with the identification display is not limited to the two cameras 30a and 30b, but may be one camera 30 or three or more. The cameras 30a to 30c may be used. Further, the number of imaging means may be different for each vehicle door 12.

Further, in the opening / closing process executed by the control unit 41 in the second embodiment, in the example of the station A, the imaging state in which the identification display such as the QR code 50 is recognized in the captured images at the vehicle doors 12d, 12h, 12k. It may be determined that each vehicle door 12 is in the open state by changing to an imaging state in which the identification display is not recognized. Further, in the opening / closing process executed by the control unit 41 in the ninth embodiment, in the example of the station A, the movement of the identification display such as the QR code 50 is recognized in the captured image at the vehicle doors 12d, 12h, 12k. In some cases, a determination may be made according to the movement.

Further, in the opening / closing process executed by the control unit 41, one of the plurality of captured images acquired in order to ensure redundancy (robustness) regarding the automatic control of the platform door 20 as in the fifteenth embodiment. A process for recognizing the identification display may be performed on the unit. For example, in the example of station A, even if the identification display is not recognized in the image captured by the vehicle door 12d, the identification display is recognized from the imaging state in which the identification display is not recognized in the image captured by the vehicle doors 12h and 12k. By changing to the state, it may be determined that each vehicle door 12 is in the closed state.

The present invention is not limited to each of the above embodiments, and may be embodied as follows, for example.
(1) The identification display provided on the vehicle door 12 or the like is not limited to the QR code, but is of another type such as a one-dimensional code such as a barcode, a data matrix code, or a two-dimensional code such as a maxi code. It may be an information code. Further, the identification display provided on the vehicle door 12 may be, for example, a figure having a predetermined shape, pattern or color as shown in the display 55 illustrated in FIG. 27 (A), or may be a figure having a predetermined shape, pattern or color. A number display may be used as in the display 56 illustrated in 1. The display 55 illustrated in FIG. 27 (A) is displayed so as to be one of the position detection patterns of the QR code. Further, the display 56 illustrated in FIG. 27B is displayed so as to be, for example, a vehicle number and a door number for identifying the railway vehicle 10 and the entrance / exit 11 (vehicle door 12).

In particular, the information code provided as an identification display on the vehicle door 12 or the like is generated so as to encrypt the predetermined information based on the predetermined encryption method so that a third party who does not have the predetermined decryption key cannot read the information code. May be done. Therefore, since the information recorded in the information code cannot be read by a third party, fraudulent acts such as forgery of the identification display (information code) can be suppressed. Here, as the information code encrypted based on the above-mentioned predetermined encryption method, for example, a partially private code configured to have a public area and a private area can be adopted. The public area is an area in which information that does not require a decryption key is recorded, and the non-public area is an area in which information that is decryptably encrypted using the decryption key is recorded.

(2) The identification display such as the QR code 50 is not limited to being provided on all vehicle doors 12, but may be provided on some of the determined vehicle doors 12. In this case, the opening / closing process is performed based on the captured images of some of the determined vehicle doors 12, and an opening instruction or a closing instruction is transmitted to all the door driving units 22 of the platform door 20.

(3) In the determination process of step S107, the processing after step S109 is not limited to the case where the identification display is recognized, and the identification recognized by comparison with the image captured by the camera 30 last time. When it is determined that the movement direction of the display is a predetermined direction, the processes after step S109 may be performed. In this case, the control unit 41 determines whether or not the moving direction of the identification display detected based on the captured image captured by the camera 30 is the above-mentioned predetermined direction, and corresponds to an example of the "determining means". obtain. Here, the predetermined direction may correspond to the opening / closing direction. As a result, an information code that is moving in a direction different from the predetermined direction (that is, the opening / closing direction of the vehicle door 12), for example, an information code held by a third party over the camera 30 is not recognized as an identification display, and is therefore misidentified. It becomes difficult to do so, and the recognition accuracy of the identification display can be improved.

(4) The vehicle door 12 is not limited to being configured as a double door type sliding door having one door 13 and the other door 14, but is a single door type having one door 13 as illustrated in FIG. 28. It may be configured as a sliding door. In this case, the identification display such as the QR code 50 can be provided at a place like each of the above embodiments. Further, the platform door 20 is not limited to the configuration in which a pair of movable doors 21 are arranged for one entrance / exit 11, and one movable door 21 is arranged for one entrance / exit 11. It may be configured to be.

(5) The cameras 30 (30a to 30c) are not limited to being provided on the ceiling 2b of the platform 2, but are located at positions where the identification display provided on the vehicle door 12 can be imaged, for example, the upper part of the platform door 20 or the railway vehicle 10. It may be provided on the side surface or the like. In this case, since passengers do not enter between the identification display such as the QR code 50 and the cameras 30 (30a to 30c), the identification display can be provided, for example, at the lower part of the vehicle door 12. Further, the cameras 30 (30a to 30c) may be configured to transmit the captured image to the platform door control device 40 by using wireless communication.

1 ... Platform door control system 2 ... Home 10 ... Railcars 12, 12a-12l ... Vehicle door 13 ... One door 14 ... The other door 13a, 14a ... Glass window 20 ... Home door 21 ... Movable door 22 ... Door drive unit 30, 30a to 30c ... Camera (imaging means)
31 ... Imaging field of view 40 ... Platform door control device (control means, movement determination means)
41 ... Control unit (recognition means, detection means, determination means)
42 ... Storage unit (memory means)
50-54 ... QR code (identification display)
70 ... Aggregate device (recognition means)

Claims (52)

A platform door control system that controls platform doors placed on the platform of a station.
At least the identification sign on the door of the railroad car,
An imaging means for capturing the identification display and
A recognition means capable of recognizing the identification display from an image captured by the image pickup means,
A control means for controlling the platform door to a closed state when the identification display is recognized by the recognition means, and
With
The identification display is arranged so as to be recognized by the recognition means from the image captured by the image pickup means when the vehicle door is closed .
A plurality of the imaging means are provided so that a part of the imaging field of view overlaps with each other toward the one vehicle door provided with the identification display.
A platform door control system characterized in that a part of the imaging cycles of the plurality of imaging means and at least a part of the imaging cycles are shifted by half a cycle of the illumination cycle of the illumination light applied to the identification display. .. A platform door control system that controls platform doors placed on the platform of a station.
At least the identification sign on the door of the railroad car,
An imaging means for capturing the identification display and
A recognition means capable of recognizing the identification display from an image captured by the image pickup means,
A control means for controlling the open / closed state of the platform door and
With
The identification display is recognized by the recognition means from the image captured by the imaging means when the vehicle door is closed, and the recognition means is recognized from the image captured by the imaging means when the vehicle door is open. Arranged so that it is not recognized by
The control means controls the platform door to a closed state when the recognition means recognizes the identification display, and controls the platform door to an open state when the recognition means does not recognize the identification display .
A plurality of the imaging means are provided so that a part of the imaging field of view overlaps with each other toward the one vehicle door provided with the identification display.
A platform door control system characterized in that a part of the imaging cycles of the plurality of imaging means and at least a part of the imaging cycles are shifted by half a cycle of the illumination cycle of the illumination light applied to the identification display. .. The platform door control system according to claim 1 or 2, wherein the plurality of imaging means are arranged so that the imaging fields of view overlap each other at least for a range in which the identification display may be imaged. The platform door control system according to any one of claims 1 to 3, wherein at least a part of the plurality of imaging means is arranged so that their optical axes are not parallel to each other. Claims 1 to 4 are characterized in that the recognition means performs a process for recognizing the identification display on an image captured by any one of the plurality of imaging means for one vehicle door. The platform door control system according to any one of the above. Any one of claims 1 to 4, wherein the recognition means performs a process for recognizing the identification display on the captured images captured by the plurality of imaging means for one vehicle door. The platform door control system described in the section. A plurality of the recognition means are provided so as to be arranged for each of the vehicle doors.
The platform door control system according to claim 5 or 6, wherein the control means controls the platform door based on the recognition result of each of the plurality of recognition means. One of the plurality of imaging means is configured to function as the recognition means so that the identification display can be recognized from the captured image captured by itself and the captured image acquired from the remaining imaging means. The platform door control system according to claim 7. A platform door control system that controls platform doors placed on the platform of a station.
At least the identification sign on the door of the railroad car,
An imaging means for capturing the identification display and
A recognition means capable of recognizing the identification display from an image captured by the image pickup means,
A control means for controlling the platform door to a closed state when the identification display is recognized by the recognition means, and
With
The identification display is arranged so as to be recognized by the recognition means from the image captured by the image pickup means when the vehicle door is closed .
The vehicle door includes a window and a frame for holding the window.
The identification is a home door control system characterized Rukoto affixed to the vehicle exterior side of the window so that the rear surface side of the advertisement for the car to be attached to the interior side of the window. A platform door control system that controls platform doors placed on the platform of a station.
At least the identification sign on the door of the railroad car,
An imaging means for capturing the identification display and
A recognition means capable of recognizing the identification display from an image captured by the image pickup means,
A control means for controlling the open / closed state of the platform door and
With
The identification display is recognized by the recognition means from the image captured by the imaging means when the vehicle door is closed, and the recognition means is recognized from the image captured by the imaging means when the vehicle door is open. Arranged so that it is not recognized by
The control means controls the platform door to a closed state when the recognition means recognizes the identification display, and controls the platform door to an open state when the recognition means does not recognize the identification display .
The vehicle door includes a window and a frame for holding the window.
The identification is a home door control system characterized Rukoto affixed to the vehicle exterior side of the window so that the rear surface side of the advertisement for the car to be attached to the interior side of the window. A platform door control system that controls platform doors placed on the platform of a station.
At least the identification sign on the door of the railroad car,
An imaging means for capturing the identification display and
A recognition means capable of recognizing the identification display from an image captured by the image pickup means,
A control means for controlling the platform door to a closed state when the identification display is recognized by the recognition means, and
With
The identification display is arranged so as to be recognized by the recognition means from the image captured by the image pickup means when the vehicle door is closed .
The vehicle door includes a window and a frame for holding the window.
The identification is a home door control system characterized Rukoto affixed from the vehicle interior side with respect to the window. A platform door control system that controls platform doors placed on the platform of a station.
At least the identification sign on the door of the railroad car,
An imaging means for capturing the identification display and
A recognition means capable of recognizing the identification display from an image captured by the image pickup means,
A control means for controlling the open / closed state of the platform door and
With
The identification display is recognized by the recognition means from the image captured by the imaging means when the vehicle door is closed, and the recognition means is recognized from the image captured by the imaging means when the vehicle door is open. Arranged so that it is not recognized by
The control means controls the platform door to a closed state when the recognition means recognizes the identification display, and controls the platform door to an open state when the recognition means does not recognize the identification display .
The vehicle door includes a window and a frame for holding the window.
The identification is a home door control system characterized Rukoto affixed from the vehicle interior side with respect to the window. The window is configured as a double glazing with two glazings.
The platform door control system according to any one of claims 9 to 12, wherein the identification display is affixed between the two glasses. A platform door control system that controls platform doors placed on the platform of a station.
At least the identification sign on the door of the railroad car,
An imaging means for capturing the identification display and
A recognition means capable of recognizing the identification display from an image captured by the image pickup means,
A control means for controlling the platform door to a closed state when the identification display is recognized by the recognition means, and
With
The identification display is arranged so as to be recognized by the recognition means from the image captured by the image pickup means when the vehicle door is closed .
The identification display is provided so as to exhibit a predetermined reflection characteristic when irradiated with light in a predetermined wavelength band different from visible light.
The identification of at least a portion of the display, the home door control system in which the predetermined by transmitting light in the wavelength band, characterized in Rukoto is coated with a coating portion that prevents the transmission of visible light. A platform door control system that controls platform doors placed on the platform of a station.
At least the identification sign on the door of the railroad car,
An imaging means for capturing the identification display and
A recognition means capable of recognizing the identification display from an image captured by the image pickup means,
A control means for controlling the open / closed state of the platform door and
With
The identification display is recognized by the recognition means from the image captured by the imaging means when the vehicle door is closed, and the recognition means is recognized from the image captured by the imaging means when the vehicle door is open. Arranged so that it is not recognized by
The control means controls the platform door to a closed state when the recognition means recognizes the identification display, and controls the platform door to an open state when the recognition means does not recognize the identification display .
The identification display is provided so as to exhibit a predetermined reflection characteristic when irradiated with light in a predetermined wavelength band different from visible light.
Wherein the identification of at least a portion of the display, the home door control system in which said predetermined by transmitting light in the wavelength band, characterized in Rukoto covered with the covering portion to prevent the transmission of visible light. The platform according to claim 14 or 15, wherein the covering portion covers all of the identification display and is provided so as to have the same color as the color of the surrounding vehicle door on which the identification display is provided. Door control system. The platform door control system according to claim 14 or 15, wherein the covering portion is composed of an arbitrary figure whose shape, pattern, or color is changed. A platform door control system that controls platform doors placed on the platform of a station.
At least the identification sign on the door of the railroad car,
An imaging means for capturing the identification display and
A recognition means capable of recognizing the identification display from an image captured by the image pickup means,
A control means for controlling the platform door to a closed state when the identification display is recognized by the recognition means, and
With
The identification display is arranged so as to be recognized by the recognition means from the image captured by the image pickup means when the vehicle door is closed .
The imaging means, except when stopped including open state and during the closed state of the vehicle door is set in the unrecognizable shutter speed the identification from the captured image at the time of opening and closing operation of the vehicle door and wherein Rukoto Platform door control system. A platform door control system that controls platform doors placed on the platform of a station.
At least the identification sign on the door of the railroad car,
An imaging means for capturing the identification display and
A recognition means capable of recognizing the identification display from an image captured by the image pickup means,
A control means for controlling the open / closed state of the platform door and
With
The identification display is recognized by the recognition means from the image captured by the imaging means when the vehicle door is closed, and the recognition means is recognized from the image captured by the imaging means when the vehicle door is open. Arranged so that it is not recognized by
The control means controls the platform door to a closed state when the recognition means recognizes the identification display, and controls the platform door to an open state when the recognition means does not recognize the identification display .
The imaging means, except when stopped including open state and during the closed state of the vehicle door is set in the unrecognizable shutter speed the identification from the captured image at the time of opening and closing operation of the vehicle door and wherein Rukoto Platform door control system. The platform door control system according to claim 18 or 19, wherein the identification display is an information code in which information including at least information regarding the shutter speed is optically readable. The vehicle door is configured as a double door with one door and the other.
The platform door control according to any one of claims 1 to 8 and 14 to 20, wherein the identification display is provided so as to straddle both the one door in the closed state and the other door. system. Any of claims 1 to 8 and 14 to 20, wherein the identification display is provided so as to surround the vehicle door and straddle both a portion that does not move together with the vehicle door and the closed vehicle door. The platform door control system described in item 1. The control means controls the platform door to an open state when it is recognized that the identification display is moving after the identification display stopped by the recognition means is recognized. The platform door control system according to any one of claims 2, 10, 12, 15, and 19. The imaging means is installed so that the identification display when the vehicle door is closed is located in the imaging field of view and the identification display when the vehicle door is open is located outside the imaging field of view. The platform door control system according to any one of claims 1 to 23. In the imaging means, the identification display when the vehicle door is in the closed state is located in the imaging field of view, and the vehicle door is in the open state, in consideration of the deviation of the stop position of the railway vehicle. The platform door control system according to claim 24, wherein the identification display is installed so as to be located outside the imaging field of view. According to any one of claims 1 to 25, the identification display is provided at a position where at least a part of the identification display is concealed so as not to be imaged by the imaging means when the vehicle door is in the open state. The platform door control system described. The platform according to claim 26, wherein the identification display is provided at a position where the vehicle door in the closed state is concealed so as not to be imaged by the imaging means from immediately after the start of the opening operation to the opening state. Door control system. A determination means for determining whether or not the moving direction of the identification display detected based on the captured image captured by the imaging means is a predetermined direction is provided.
The control means is characterized in that the platform door is controlled to a closed state when the determination means determines that the movement direction of the identification display recognized by the recognition means is the predetermined direction. The platform door control system according to any one of claims 1 to 27. The platform door control system according to any one of claims 1 to 28, wherein the identification display is an information code in which predetermined information is optically readable. The platform door control system according to claim 29, wherein the recognition means recognizes the identification display when the predetermined information is read from the information code imaged by the imaging means. The platform door control system according to claim 30, wherein the information code is generated so as to encrypt the predetermined information based on a predetermined encryption method. A plurality of the information codes are provided.
The platform door control system according to claim 30, wherein the plurality of information codes are generated so that the predetermined information to be recorded is related to each other. A plurality of the identification displays are provided.
The home according to any one of claims 1 to 22, wherein the control means controls the platform door to a closed state when all of the plurality of identification displays are recognized by the recognition means. Door control system. The vehicle door is configured as a double door with one door and the other.
33. The aspect 33, wherein a part of the plurality of identification signs is provided on the one door, and the other part of the plurality of identification signs is provided on the other door. The platform door control system described. A movement determining means for determining whether or not at least a part of the plurality of identification displays is moving based on the captured image captured by the imaging means is provided.
The platform door control system according to claim 34, wherein the control means controls the platform door based on the determination result by the movement determination means in addition to the recognition result by the recognition means. When the movement determination means determines that all of the plurality of identification displays captured by the image pickup means are moving in the same direction, the control means determines that the railroad vehicle is moving and the platform screen doors. The platform door control system according to claim 35, which comprises controlling a door. The control means is a direction in which a part of the plurality of identification indications recognized by the recognition means is moved in a direction provided on one of the doors and a part of the other doors is approached. The platform door control system according to claim 35 or 36, wherein the platform door is controlled to be in a closed state when it is determined by the movement determination means. The control means is a direction in which a part of the plurality of identification displays imaged by the imaging means is moved away from the moving direction of a part of the identification display provided on the one door and the other moving direction of the other door. The platform door control system according to any one of claims 35 to 37, wherein the platform door is controlled to be in an open state when it is determined by the movement determination means. The platform door control system according to claim 33 or 34, wherein the plurality of identification displays include another identification display that surrounds the vehicle door and is provided at a portion that does not move with the vehicle door. A movement determining means for determining whether or not at least a part of the plurality of identification displays is moving based on the captured image captured by the imaging means is provided.
The platform door control system according to claim 39, wherein the control means controls the platform door based on the determination result by the movement determination means in addition to the recognition result by the recognition means. The control means controls the platform door as if the railroad vehicle is moving when it is determined by the movement determination means that all of the plurality of identification displays imaged by the imaging means are moving. The platform door control system according to claim 40. The control means closes the vehicle door when it is determined by the movement determining means that the identification display other than the other identification display among the plurality of identification displays imaged by the imaging means is moving. The platform door control system according to claim 40 or 41, wherein the platform door is controlled as being in operation or in an open operation. The identification display is an information code in which information regarding a moving direction of the identification display at least when the vehicle door is opened and closed is optically readable and recorded, according to claims 35 to 38 and 40 to 42. The platform door control system according to any one item. The invention according to any one of claims 35 to 38 and 40 to 42, wherein the storage means is provided in which the opening / closing direction of the vehicle door and the information related to the identification display provided on the vehicle door are stored in association with each other. The platform door control system described. When the movement determination means determines that all of the plurality of identification displays imaged by the image pickup means have not moved for a predetermined time, the control means determines that the vehicle door is stopped and the platform door. The platform door control system according to any one of claims 35 to 38 and 40 to 44. Immediately after the control means detects the closing operation of the vehicle door based on the determination result of the movement determination means, it is said that all of the plurality of identification displays recognized by the recognition means have not moved for a predetermined time. The platform door control system according to claim 45, wherein the platform door is controlled to be in a closed state when it is determined by the movement determination means. Immediately after the control means detects the movement of the railroad vehicle based on the determination result of the movement determination means, if all of the plurality of identification displays imaged by the imaging means have not moved for a predetermined time, the movement The platform door control according to claim 45 or 46, wherein when determined by the determination means, the platform door is controlled as being in the stopped state of the railroad vehicle immediately before the vehicle door is opened. system. The platform door control according to any one of claims 45 to 47, wherein the identification display is an information code in which information including information regarding at least the predetermined time is optically readable. system. The detection means for detecting the relative position of the plurality of identification displays captured from the image captured by the imaging means is provided.
The control means closes the platform door when all of the plurality of identification displays are recognized by the recognition means and the relative positions of the plurality of identification displays detected by the detection means have a predetermined positional relationship. The platform door control system according to any one of claims 34 to 48, which comprises controlling to a state. The identification display is provided on at least a part of the plurality of vehicle doors of the railway vehicle, respectively.
The imaging means is provided toward at least a part of the plurality of vehicle doors provided with the identification display.
The recognition means is characterized in that each of the vehicle doors to which the image pickup means is directed acquires captured images from the image pickup means, and performs a process for recognizing the identification display on the acquired plurality of captured images. The platform door control system according to any one of claims 1 to 49. The recognition means acquires a captured image from the imaging means for each vehicle door to which the imaging means is directed, and performs a process for recognizing the identification display for a part of the acquired plurality of captured images. The platform door control system according to claim 50. The platform door control system according to claim 50 or 51, wherein the identification display is provided on all the vehicle doors of the railway vehicle, respectively.

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