JP7087161B2 - Judgment device - Google Patents

Description

The present invention relates to a technique for determining whether or not an object has fallen into an orbit.

There is a need to determine whether an object has fallen into the track on which the train passes. For example, Patent Documents 1 to 9 are documents that disclose a technique for determining whether or not an object has fallen into an orbit.

Japanese Unexamined Patent Publication No. 2014-234085 Japanese Unexamined Patent Publication No. 2014-95649 Japanese Unexamined Patent Publication No. 2014-94697 Japanese Unexamined Patent Publication No. 2013-1000009 Japanese Unexamined Patent Publication No. 2012-243177 Japanese Unexamined Patent Publication No. 2012-35762 Japanese Unexamined Patent Publication No. 2005-231444 Japanese Unexamined Patent Publication No. 2005-231442 Japanese Unexamined Patent Publication No. 2005-231437

However, in the techniques described in Patent Documents 1 to 9, the accuracy of the determination is low because it is determined that the fall has occurred only when the object is detected in one space of the detection target.

An object of the present invention is to improve the accuracy of determining whether or not an object has fallen into an orbit.

In order to solve the above-mentioned problems, the present invention provides, as a first aspect, a determination device that determines a fall based on the transition of a combination of detection results of an object in each of the platform side space and the track side space of a station.

According to the determination device of the first aspect, it is possible to improve the accuracy of determination as to whether or not the object has fallen into the orbit.

In the determination device of the first aspect, when the transition of the combination of the detection results indicates that the object has moved from the platform side space to the orbit side space, it is determined that the object has fallen. May be adopted as the second aspect.

According to the determination device of the second aspect, it is possible to determine the presence or absence of a fall according to the movement of the detected object.

In the determination device of the first aspect, the orbital side space is located higher than the upper surface of the platform, and an object in each of the platform side space, the orbital side space, and the on-orbital space located below the orbital side space. When the transition of the combination of the detection results indicates that the object has not moved to the space on the orbit after the object has moved from the space on the platform side to the space on the orbit side, the object has not fallen. The configuration of determining may be adopted as the third aspect.

According to the determination device of the third aspect, it can be determined that the object has not actually fallen if there is no object in the orbital space.

In the determination device of any one of the first to third aspects, the fourth configuration is that the object is identified based on the shape of the detected object, and the fall determination is performed based on the locus of movement of the object. It may be adopted as an embodiment.

According to the determination device of the fourth aspect, the locus of movement of the object of interest is specified.

In the determination device of any one of the first to fourth aspects, a configuration in which the fall determination is interrupted when the approach information indicating that the train is approaching is received may be adopted as the fifth aspect. ..

According to the determination device of the fifth aspect, the train itself is not erroneously recognized as a falling object.

In the determination device of the fifth aspect, after receiving the approach information, a train is detected in the track side space, and then when the train is no longer detected, the fall determination is restarted. It may be adopted as the aspect of 6.

According to the determination device of the sixth aspect, it is possible to determine whether or not the object has fallen from the place where the train has passed.

The figure which shows an example of the structure of the determination system 9. The figure for demonstrating space S. The figure which shows an example of the structure of the determination device 4. The figure which shows an example of the transition table 421 stored in the storage part 42. The figure which shows an example of the functional structure of the determination device 4. The flow chart which shows the flow of operation of the determination device 4. The figure which shows the transition state of the detection result. The figure for demonstrating the space S in the modification. The figure which shows the transition state of the detection result in the modification.

1. 1. Embodiment 1-1. Overall configuration of the determination system In the figure below, the space in which each configuration is arranged is represented as the xyz right-handed coordinate space. In addition, among the coordinate symbols shown in the figure, the symbol in which a point is drawn in a circle represents an arrow from the back side of the paper to the front side. The direction along the x-axis in space is called the x-axis direction. Further, in the x-axis direction, the direction in which the x component increases is referred to as the + x direction, and the direction in which the x component decreases is referred to as the −x direction. For the y and z components, the y-axis direction, the + y direction, the −y direction, the z-axis direction, the + z direction, and the −z direction are defined according to the above definitions. Here, the z-axis direction is the direction of gravity, the + z direction is up, and the −z direction is down.

FIG. 1 is a diagram showing an example of the configuration of the determination system 9. The determination system 9 includes a detection device 1, a determination device 4, and an alarm device 5.

The platform 2 shown in FIG. 1 is a platform of a station where a train T traveling in the + x direction arrives and departs on the side in the −y direction. The edge 20 of the platform 2 faces the track on which the train T enters and extends along the x-axis direction. For example, when a user on the upper surface 21 of the platform 2 moves in the −y direction from the edge 20, the user falls into the orbit.

A plurality of fences 3 are installed at a position advanced in the + y direction by a certain distance from the edge portion 20 at intervals determined along the x-axis direction. The fence 3 is a fence for preventing the user on the upper surface 21 of the platform 2 from advancing in the −y direction from the edge 20 and falling into the orbit.

In the area between the fence 3 and the edge 20 of the upper surface 21 of the platform 2, a plurality of support columns 10 are installed at predetermined intervals along the x-axis direction. The detection device 1 is attached to each of the support columns 10 at a predetermined height, and is supported to monitor the determined space S in the + x direction. The space S monitored by the detection device 1 is, for example, a space between two adjacent fences 3, and is a space overlapping the passage where the user of the platform 2 goes up and down when the train T is stopped.

The detection device 1 is a sensor that detects an object existing in the above-mentioned space S, and is, for example, a distance image sensor. The range image sensor is a sensor that detects the position of an object in space based on the optical flight time measurement method. For example, a light source that irradiates space S with a near-infrared laser and the near-infrared laser exist in space. It has a photodiode that receives the reflected light reflected by the object. That is, the distance image sensor determines the direction and distance of the object reflecting the near-infrared laser from its own device, depending on the irradiation direction of the near-infrared laser by the light source and the time from the irradiation to the reception of the reflected light by the photodiode. It is a sensor that measures and.

The light source of the distance image sensor may simultaneously irradiate a plurality of different directions in the space S with the near-infrared laser, or irradiate the near-infrared laser in a direction that changes periodically by raster scanning, resage scanning, or the like. May be good.

The detection device 1 may be a distance image sensor, but may have another configuration. For example, the detection device 1 may be a stereo camera. A stereo camera has a plurality of combinations of a solid-state image sensor such as a CMOS image sensor or a CCD image sensor and an optical system such as a lens, and simultaneously shoots an object from a plurality of different directions in the depth direction of the object. It detects the position including information.

Further, the detection device 1 may use electromagnetic waves such as visible light and infrared light for detecting an object, but may also use ultrasonic waves, sound waves, or the like. In short, the detection device 1 may be any device that detects an object existing in the space S.

As shown in FIG. 1, the detection device 1 detects an object existing in the space S by irradiating the space S in the + x direction with a near-infrared laser and detecting the reflected light. The space S has a depth D along the x-axis direction, and the detection device 1 sets an upper limit and a lower limit for the measurement time, for example, so that a region closer to the space S, that is, a region in the −x direction or a space. The region farther than S, that is, the region in the + x direction is not monitored.

The determination device 4 shown in FIG. 1 is a device that acquires information on the detection result of an object from the detection device 1 and makes a fall determination based on this information. The determination device 4 is, for example, a computer.

The alarm device 5 shown in FIG. 1 is a device that takes measures to prevent accidents in response to an instruction from the determination device 4. The alarm device 5 may issue an alarm, for example, in the station yard in response to a certain instruction of the determination device 4, or transmit a control signal for urgently stopping the train T in response to another instruction of the determination device 4. You may.

The determination system 9 may have an information providing device 6 shown by a broken line in FIG. The information providing device 6 is, for example, a computer used in a train operation management system, and provides approach information indicating that the train T has approached the platform 2 to the determination device 4.

FIG. 2 is a diagram for explaining the space S. FIG. 2 shows a state in which the platform 2 and the space S are viewed in the −x direction. The space S is a space in the + z direction with respect to the upper surface 21 of the platform 2. The detection device 1 distinguishes the space S shown in FIG. 2 from the platform side space S0, which is a space close to the platform 2, and the orbit side space S1 which is a space close to the orbit. That is, the detection device 1 independently detects an object existing in the platform side space S0 and an object existing in the orbital side space S1. The boundary between the platform side space S0 and the track side space S1 may be determined based on the position of the edge portion 20.

1-2. Configuration of the determination device FIG. 3 is a diagram showing an example of the configuration of the determination device 4. The determination device 4 includes a control unit 41, a storage unit 42, a communication unit 43, an operation unit 44, and a display unit 45. The determination device 4 does not have to have the operation unit 44 and the display unit 45.

The control unit 41 has a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), and is determined by the CPU reading and executing a program stored in the ROM or the storage unit 42. It controls each part of the device 4.

The communication unit 43 is a communication circuit that connects to the detection device 1 and the alarm device 5 wirelessly or by wire. Further, the communication unit 43 may be connected to the information providing device 6. The determination device 4 exchanges information with the detection device 1 and the alarm device 5 by the communication unit 43.

The operation unit 44 includes an operator such as an operation button for giving various instructions, receives an operation by the user, and supplies a signal according to the operation content to the control unit 41.

The display unit 45 has a liquid crystal display and displays an image under the control of the control unit 41.

The storage unit 42 is a large-capacity storage means such as a hard disk drive, and stores various programs read by the CPU of the control unit 41.

Further, the storage unit 42 stores a transition table 421 that associates the transition of the combination of the detection result of the object in each of the platform side space S0 and the orbit side space S1 with the determination result corresponding to the transition.

FIG. 4 is a diagram showing an example of the transition table 421 stored in the storage unit 42. In the transition table 421, there are a plurality of cases in which the combination of the detection results of the objects in each of the platform side space S0 and the orbit side space S1 is described for each time series arriving in the order of A → B → C → D, and a plurality of cases. The determination result corresponding to the case and the timing of the alarm issuance are associated with each other. As a result, it is determined whether or not the detected object has fallen into the orbit depending on how the combination of the detection results transitions along this time series.

1-3. Functional configuration of the determination device FIG. 5 is a diagram showing an example of the functional configuration of the determination device 4. The control unit 41 of the determination device 4 functions as the acquisition unit 411, the determination unit 412, and the instruction unit 413 shown in FIG. 5 by executing the above-mentioned program. Further, the control unit 41 may function as a change unit 414 shown by a broken line in FIG.

The acquisition unit 411 sequentially acquires the detection results of the objects in each of the platform side space S0 and the orbit side space S1 from the detection device 1 via the communication unit 43, and transmits the transition of the detection results to the determination unit 412.

The determination unit 412 reads the transition table 421 from the storage unit 42, collates the transition of the combination of the detection results transmitted from the acquisition unit 411 with the transition table 421, and determines whether or not the object has fallen into the orbit. I do. That is, the determination unit 412 makes a fall determination based on the transition of the combination of the detection results of the objects in each of the platform side space and the track side space of the station. The result of the fall determination is transmitted to the instruction unit 413. The instruction unit 413 gives an instruction to the alarm device 5 via the communication unit 43 according to the result of the fall determination.

When the change unit 414 receives the approach information indicating that the train T has approached the platform 2 from the information providing device 6 via the communication unit 43, the change unit 414 may change the operation of the determination unit 412. For example, the change unit 414 may interrupt the fall determination by the determination unit 412 when the approach information is received. When the fall determination is interrupted by the change unit 414, the determination unit 412 may monitor only the platform side space S0, for example.

1-4. Operation of the determination device FIG. 6 is a flow chart showing an operation flow of the determination device 4. When the control unit 41 of the determination device 4 acquires the detection result of the object in each of the platform side space S0 and the orbit side space S1 from the detection device 1 (step S101), the transition of the detection result is stored in the storage unit 42. It is collated with the transition table 421 (see FIG. 4) (step S102). Then, the control unit 41 determines whether or not the detected object has fallen into the orbit as a result of the collation (step S103).

FIG. 7 is a diagram showing a transition state of the detection result. The horizontal axis of FIG. 7 shows time, and the vertical axis shows the detection result of an object in each space to be detected. The detection results of the platform side space S0 and the orbital side space S1 shown on the vertical axis of FIG. 7 are both shown by a pair of upper and lower lines, and the upper line means that an object has been detected, and the lower line means that an object has been detected. The line means that the object is not detected.

In the example shown in FIG. 7A, an object is detected in the platform side space S0 at time t1, and an object is detected in the orbital side space S1 at the subsequent time t2. After that, the object is not detected in the orbital side space S1 at the time t3, and the object is not detected in the platform side space S0 at the subsequent time t4.

In the example shown in FIG. 7A, the object is detected in the orbital side space S1 only in the period P2 from the time t2 to the time t3, but it continues over the period P1, P2, P3 from the time t1 to the time t4. Then, an object is detected in the space S0 on the platform side.

As a result, the object detected in the platform side space S0 was partially detected in the orbital side space S1 during the period P2, but finally returned to the platform side space S0, moved to the platform, and moved from the detection target space. It is presumed that it has disappeared. Therefore, in this case, the determination device 4 determines that the object has not fallen into the orbit.

On the other hand, in the example shown in FIG. 7 (b), the time t1 and the time t2 following the time t1 are the same as the example shown in FIG. 7 (a). However, it is different from the example shown in FIG. 7 (a) in that the object is not detected in the platform side space S0 at the subsequent time t5 and then the object is not detected in the orbital side space S1 at the time t6.

In the example shown in FIG. 7B, an object is detected in both the platform side space S0 and the orbital side space S1 in the period P5 from the time t2 to the time t5, and then the period from the time t5 to the time t6. In P6, the object is detected only in the orbital side space S1, and in the period P7 after the time t6, the object is not detected in any space.

As a result, a part of the object detected in the platform side space S0 is detected in the orbital side space S1 in the period P5, and the whole moves to the orbital side space S1 in the period P6, and then the object reaches the orbital side in the period P7. It is presumed that it disappeared from the orbital side space S1 because it fell to. That is, in the example shown in FIG. 7B, the transition of the combination of the detection results indicates that the object has moved from the platform side space S0 to the orbital side space S1. Therefore, in this case, the determination device 4 determines that the object has fallen into orbit.

When it is determined in step S103 that the object has not fallen into the orbit (step S103; NO), the control unit 41 returns the process to step S101. On the other hand, when it is determined in step S103 that the object has fallen into orbit (step S103; YES), the control unit 41 gives an instruction corresponding to the fall to the alarm device 5 via the communication unit 43 (step S104). .. This instruction is, for example, an instruction such as an alarm issuance or an emergency stop control of the train T.

By the operation described above, the determination device 4 distinguishes between the platform side space S0 and the orbit side space S1 and detects an object. Therefore, the detected object moves from the platform side space S0 to the orbit side space S1 and is on the orbit side. It is possible to distinguish whether the fall has occurred or whether the fall has been avoided by returning from the orbital side space S1 to the platform side space S0. This improves the accuracy of determining whether or not the object has fallen into the orbit.

2. 2. Modifications The above embodiments can be variously modified. An example of these variations is shown below. In addition, two or more modification examples shown below may be combined appropriately.

2-1. Modification 1
In the above-described embodiment, the detection device 1 is attached to the support column 10 at a predetermined height and is supported to monitor the determined space S in the + x direction, but the monitoring direction is in the + x direction. Not limited. The detection device 1 may be mounted on the ceiling of a station building, for example, and may be supported to monitor a predetermined space S in the −z direction.

FIG. 8 is a diagram for explaining the space S in this modified example. FIG. 2 shows a state in which the platform 2 and the space S in this modification are viewed in the −x direction. The detection device 1 is mounted on a ceiling (not shown) and monitors the space S in the −z direction. The space S includes a platform side space S0, an orbital side space S1, and an on-orbital space S2. The platform side space S0 and the orbital side space S1 are spaces higher than the upper surface 21 of the platform 2, that is, a space located in the + z direction with respect to the upper surface 21.

On the other hand, the in-orbit space S2 is located in the −y direction with respect to the edge portion 20 of the platform 2 and below the upper surface 21. The detection device 1 distinguishes between the orbital side space S1 and the on-orbital space S2 by the distance from its own device.

FIG. 9 is a diagram showing a transition state of the detection result in this modified example. The horizontal axis of FIG. 9 shows time, and the vertical axis shows the detection result of an object in each space to be detected. The detection results of the platform side space S0, the orbital side space S1 and the on-orbital space S2 shown on the vertical axis of FIG. 9 are all shown by a pair of upper and lower lines, and the upper line indicates that an object has been detected. The lower line means that the object is not detected.

In the example shown in FIG. 9, an object is detected in the platform side space S0 at time t1, and an object is detected in the orbital side space S1 at the subsequent time t2. After that, the object is not detected in the platform side space S0 at the time t5, and the object is not detected in the orbital side space S1 at the subsequent time t6.

In the example shown in FIG. 9, an object is detected in both the platform side space S0 and the orbital side space S1 in the period P5 from the time t2 to the time t5, and then the orbit in the period P6 from the time t5 to the time t6. When the object is detected in the side space S1, the object is not detected in the platform side space S0, and the object is not detected in any space during the period P7 after the time t6.

As a result, a part of the object detected in the platform side space S0 is detected in the orbital side space S1 in the period P5, and the whole moves to the orbital side space S1 in the period P6, and then the object reaches the orbital side in the period P7. It is presumed that it disappeared from the orbital side space S1 because it fell to. That is, in the example shown in FIG. 9, the transition of the combination of the detection results indicates that the object has moved from the platform side space S0 to the orbital side space S1. Therefore, in this case, the determination device 4 determines that the object has fallen into orbit.

However, in the example shown in FIG. 9, the object is detected in the orbital space S2 at the time t7 between the time t5 and the time t6, and the object is not detected in the orbital space S2 at the time t8 after the time t6. ing. As a result, it is presumed that the object detected in the orbital space S2 over the period P8 from the time t7 to the time t8 disappeared from the orbital space S2 in the period P9 after the time t8. Therefore, in this case, the determination device 4 determines that the object has not fallen into the orbit.

For example, when a station employee collects a fallen object with a tongue or the like, or when the detected object is a small animal or the like and leaves the space S by itself, the fallen object no longer exists in the orbit. Therefore, even if the train T arrives at the platform 2, there is no danger of collision. In this case, the determination device 4 cancels the determination that the object has fallen into the orbit and notifies the alarm device 5. The alarm device 5 may stop the alarm upon receiving this notification.

2-2. Modification 2
In the above-described embodiment, the detection device 1 has specified whether or not an object has been detected in each space, but the object may be identified based on the shape of the object. In this case, the determination device 4 may specify the locus of the detected and identified object from the detection result received from the detection device 1, and make a fall determination based on the locus. In the case of a distance image sensor, for example, the detection device 1 detects as a set of points according to the position where the irradiation light is reflected on the surface of the object, so that a line connecting adjacent points whose distance is within a threshold is detected. It represents the outline of the object. Therefore, the determination device 4 may acquire the detection result of the detection device 1 and specify the contour (shape) of the object based on the detection result. Then, the determination device 4 may determine whether or not the object has fallen based on the transition of the shape of the object.

2-3. Modification 3
In the above-described embodiment, it has been shown that the change unit 414 may interrupt the fall determination by the determination unit 412 when the approach information is received, but after receiving the approach information, the train T in the track side space S1. Is detected, and then when the train T is no longer detected, the fall determination may be restarted. This makes it possible to monitor the falling of an object into the track in order from the ascending / descending position where the train T has stopped departing.

2-4. Modification 4
The program executed by the control unit 41 of the determination device 4 is a recording medium that can be read by a computer device, such as a magnetic recording medium such as a magnetic tape or a magnetic disk, an optical recording medium such as an optical disk, an optical magnetic recording medium, or a semiconductor memory. Can be provided as stored in. It is also possible to download this program via a communication line such as the Internet. As the control means exemplified by the control unit 41, various devices other than the CPU may be applied, and for example, a dedicated processor or the like is used.

1 ... Detection device, 10 ... Support pillar, 2 ... Platform, 20 ... Edge, 21 ... Top surface, 3 ... Fence, 4 ... Judgment device, 41 ... Control unit, 411 ... Acquisition unit, 412 ... Judgment unit, 413 ... Instruction Unit, 414 ... Change unit, 42 ... Storage unit, 421 ... Transition table, 43 ... Communication unit, 44 ... Operation unit, 45 ... Display unit, 5 ... Alarm device, 6 ... Information providing device, 9 ... Judgment system.

Claims (5)

A detection device installed above the upper surface of the platform of the station, which monitors a part of the space above the upper surface along the traveling direction of the train, and the space below the upper surface, said. The platform-side space and the orbit-side space detected by a detection device that does not monitor a region closer to the traveling direction than a part of the space and a region farther along the traveling direction than the part of the space. A judgment device that makes a fall judgment based on the transition of the combination of the detection results of the objects in each. The determination device according to claim 1, wherein when the transition of the combination of the detection results indicates that the object has moved from the platform side space to the orbit side space, it is determined that the object has fallen. The determination device according to claim 1 or 2, wherein the object is identified based on the shape of the detected object, and the fall determination is performed based on the trajectory of the movement of the object. The determination device according to any one of claims 1 to 3, which interrupts the fall determination when the approach information indicating that the train is approaching is received. The determination device according to claim 4, wherein when the train is detected in the track side space after receiving the approach information and then the train is no longer detected, the fall determination is restarted.

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