JP7108115B2 - Vehicle door open/close detector - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle door opening/closing detection device for detecting opening/closing of a vehicle door of a railway vehicle.

2. Description of the Related Art Conventionally, a technique has been developed for detecting opening and closing of a vehicle door of a railroad vehicle by means of a device provided on the ground side. For example, there is known a technique for determining lighting of a door-closing car-side light provided at a predetermined car-side position of a railroad car by image processing (see Patent Document 1). The door closing car side light is turned on when the railroad car stops at the station and the car door is opened. The technique of Patent Document 1 is a technique for judging that the vehicle door is open when it is judged that the door closing car side light is on, and the door opening operation of the platform fence door is performed using this judgment result. is controlling

JP 2017-121834 A

However, the door closing vehicle side light continues to light while the vehicle door is open, in other words, until the door is closed. Therefore, for example, in the case where the closing control of the platform fence door is started based on the image determination that the door closing car side light is turned off, the closing operation of the platform fence door is started with a delay, and the passengers are kept waiting during that time. There was a problem that the stop time at the station increased. Also, when it is determined by image processing that the side light of the door closing car is turned on when a railroad car arrives at a station and the door is opened, and the platform fence door is opened, if the image processing takes time, The opening operation of the platform fence door is delayed by that amount.

Therefore, what is required for the technology for detecting the opening/closing of the vehicle door of the railcar by means of a device provided on the ground side is to reliably detect the opening/closing of the vehicle door and to speed up the detection. In addition, low cost, ease of installation of the device, and the like are required.
The present invention has been devised in view of the above problems.

A first invention for solving the above problems is
A vehicle door opening/closing detection device installed at a station for detecting opening/closing of a vehicle door of a railway vehicle stopped at a predetermined position,
The railway vehicle is provided with retroreflectors arranged in a predetermined positional relationship on the vehicle door and the vehicle body side wall near the vehicle door (hereinafter, the retroreflector on the vehicle body side wall is referred to as the "reference"). Reflector", the retroreflector of the vehicle door is called "door reflector"),
an imaging unit installed so that an imaging range includes the reference reflector and the door reflector of the railway vehicle with the door closed and stopped at the predetermined position;
a light projecting unit that projects light toward the photographing direction of the photographing unit;
a control unit that refers to the positional relationship to determine image locations of the reference reflector and the door reflector in the image captured by the imaging unit, and detects opening and closing of the vehicle door;
It is a vehicle door open/close detection device.

According to the first invention, a door reflector and a reference reflector arranged in a predetermined positional relationship on a vehicle door of a railroad vehicle and a vehicle body side wall portion in the vicinity thereof are photographed, and those image locations in the photographed image are determined. It is possible to reliably and quickly detect the opening operation and the closing operation of the vehicle door by relatively simple image processing of discrimination. In particular, since the door reflector and the reference reflector are retroreflectors and the light projecting unit projects light toward the photographing direction of the photographing unit, the image location of the door reflector and the reference reflector in the image cannot be changed. Determination can be ensured and simplified. What needs to be provided on the railway vehicle side is not an electronic component or the like, but a retroreflector, which can be expected to be relatively inexpensive, weather resistant, and durable. In addition, since the photographing unit needs only to be installed so that the photographing range includes the reference reflector and the door reflector of the railway vehicle with the door closed and stopped at a predetermined position, the trouble of installing the photographing unit can be reduced. In addition, by using the detection result of the vehicle door opening/closing detection device, for example, for controlling the opening/closing of a platform fence door installed in a station, the opening/closing control of the platform fence door can be realized in conjunction with the opening/closing of the vehicle door.

Moreover, the second invention is
The control unit detects that the image locations of the reference reflector and the door reflector in the captured image change from a relationship that satisfies the positional relationship to a relationship that does not satisfy the positional relationship. Detecting that the door opening operation has started,
It is a vehicle door opening/closing detection device of the first invention.

According to the second invention, it is detected that the positional relationship between the reference reflector and the door reflector in the photographed image has changed as the vehicle door opens, and the vehicle door opening operation is started. can be detected.

Moreover, the third invention is
By determining whether or not the image location of the door reflector in the captured image has moved by a predetermined amount or more when the image location of the reference reflector in the captured image does not move, Detecting that the opening operation of the vehicle door has started,
It is a vehicle door opening/closing detection device of the first invention.

According to the third invention, it is possible to determine the movement of the image portion of the door reflector in the photographed image accompanying the opening operation of the vehicle door, and detect the start of the opening operation of the vehicle door.

Moreover, the fourth invention is
The imaging unit is installed within the left and right ranges of the imaging range so as to include the full width of the vehicle door of the railway vehicle stopped at the predetermined position,
The control unit detects that a closing operation of the vehicle door has started by detecting a change from a state in which the image portion of the door reflector is included in the photographed image to a state in which the image portion is included. do,
A vehicle door opening/closing detection device according to any one of the first to third inventions.

When the vehicle door housed in the door pocket starts to advance out of the door pocket by the door closing operation at the completion of the door opening operation, the photographed image changes from a state in which the image portion of the door reflector is not included to a state in which the image location is included. According to the fourth invention, by detecting this, it is possible to detect that the closing operation of the vehicle door has started.

Moreover, the fifth invention is
The control unit detects that the railway vehicle has stopped by detecting that a change in the position of the image location of the reference reflector in the captured image satisfies a predetermined immobility equivalent condition.
A vehicle door opening/closing detection device according to any one of the first to fourth inventions.

When the railroad vehicle stops, the position of the reference reflector in the captured image also stops changing. According to the fifth invention, it is possible to detect that the railway vehicle has stopped when the positional change of the image portion of the reference reflector in the captured image satisfies a predetermined immobility equivalent condition.

Moreover, the sixth invention is
The photographing unit is configured to be capable of outputting a distance image,
The control unit determines whether or not the railway vehicle exists within a predetermined distance range from the photographing unit to the railway vehicle stopped at the predetermined position to be detected by the vehicle door opening/closing detection device. Judging from the image, if it does not exist, the opening and closing of the vehicle door is not detected, and if it exists, the opening and closing of the vehicle door is detected.
A vehicle door opening/closing detection device according to any one of the first to fifth inventions.

According to the sixth invention, it is determined from the distance image whether or not the railroad vehicle to be detected exists based on the distance between the photographing device and the railroad vehicle stopped at the predetermined position, and only if the railroad vehicle exists It is possible to detect whether the vehicle door is open or closed.

Moreover, the seventh invention is
The railway vehicle includes a plurality of types of vehicles having different numbers and/or positions of vehicle doors,
The positional relationship is an arrangement pattern of the door reflectors based on the position of the reference reflector, and is determined as a different arrangement pattern according to the type of the railway vehicle,
The control unit determines the type of the railway vehicle based on the arrangement pattern of the image locations of the door reflector with respect to the image locations of the reference reflector in the captured image.
A vehicle door opening/closing detection device according to any one of the first to sixth inventions.

According to the seventh invention, the type of railroad vehicle can be determined based on the arrangement pattern of the image locations of the reference reflector and the door reflector in the captured image.

Moreover, the eighth invention is
The arrangement pattern is determined by the distance from the reference reflector and/or the number of the door reflectors to be arranged.
It is a vehicle door opening/closing detection device of the seventh invention.

According to the eighth invention, the type of railway vehicle can be determined from the distance between the image locations of the reference reflector and the door reflector in the captured image and the number of image locations of the door reflector in the captured image.

Moreover, the ninth invention is
The light projecting unit irradiates near-infrared light,
The imaging unit captures near-infrared light,
A vehicle door opening/closing detection device according to any one of the first to eighth inventions.

According to the ninth invention, a photographed image can be obtained by photographing the near-infrared light while irradiating the near-infrared light in the photographing direction. Since the projected light is not a visible ray, even if the projected light enters the passenger's field of vision, the passenger hardly or hardly feels dazzled.

Moreover, the tenth invention is
The light projecting unit irradiates light with a wavelength of 940 nm,
It is a vehicle door opening/closing detection device of the ninth invention.

According to the tenth invention, the 940 nm band wavelength light can be irradiated and photographed. Therefore, it is possible to easily determine the image locations of the reference reflector and the door reflector from the photographed image even during the day when the sun is shining.

The figure explaining a vehicle door opening-and-closing detection system. The figure explaining imaging|photography of a retroreflector. Another diagram for explaining imaging of a retroreflector. The figure which shows an example of the arrangement pattern of a retroreflector. The figure which shows the other example of the arrangement pattern of a retroreflector. The figure which shows the other example of the arrangement pattern of a retroreflector. The figure explaining a vehicle door opening detection process. FIG. 2 is a block diagram showing a functional configuration example of a processing device; The flowchart which shows the flow of the opening-and-closing detection of a vehicle door.

Preferred embodiments of the present invention will be described below with reference to the drawings. In addition, the present invention is not limited by the embodiments described below, and the forms to which the present invention can be applied are not limited to the following embodiments. Moreover, in the description of the drawings, the same reference numerals are given to the same parts.

FIG. 1 is a diagram for explaining a schematic configuration of a vehicle door opening/closing detection system 10 to which a vehicle door opening/closing detection device 100 of the present embodiment is applied, and cooperation with other devices. In the example of FIG. 1, a train T running on a rail R is a three-car train in which three railcars 1 are connected. It shows a state in which a train T is stopped at a predetermined position in a station determined as a stop position target.

2 is a perspective view of the vicinity of the vehicle door 11 of the stopped railway vehicle 1 viewed from the platform side, and FIG. 3 is a longitudinal view of the railway vehicle 1 in FIG. 1 is a schematic view of the end face seen from . 2 and 3, with respect to the platform fence 9 installed on the platform, illustration of the platform fence door 93 (see FIG. 1 and the like) is omitted, and only the door case 91 is shown.

As shown in FIG. 1, in the vehicle door open/close detection system 10, N vehicle door open/close detection devices 100 (100-1, 2, 3, . configured to be connectable.

The vehicle door opening/closing detection device 100 incorporates a light projecting unit 21 (see FIG. 3) that projects light in the photographing direction, and is a photographing device that functions as a photographing unit that photographs the retroreflector 13 provided on the railroad vehicle 1. 20 and a processing device 30 that processes the photographed image to determine the image location of the retroreflector 13 and detects opening/closing of the vehicle door 11 . The retroreflector 13 is formed of a retroreflector material that reflects incident light in the incident direction. , and a vehicle body side wall portion in the vicinity thereof in a predetermined positional relationship. Of course, the vehicle door 11 to which the retroreflector 13 is arranged may be other than this example, and the retroreflector 13 may be arranged for all the vehicle doors 11 of the railcar 1. The retroreflector 13 may be arranged only for the vehicle doors 11 closest to the crew cabin of the leading vehicle and the last vehicle among the multiple vehicles organized as a train. Since it is only the retroreflector 13 that needs to be provided in the railcar 1, not electronic components, etc., low cost, weather resistance, and durability can be expected.

The retroreflector 13 is, as shown in FIG. A retroreflector (reference reflector) 131 is provided. For example, a sheet-like retroreflector is attached with an adhesive and placed at various locations. In this embodiment, the door reflectors 133 have a circular shape, and are arranged one by one near the upper corners of the double doors that come into contact with each other in the closed state. On the other hand, the reference reflector 131 has a laterally elongated shape with rounded corners, and is arranged above the two door reflectors 133 on the side wall of the vehicle near the top of the vehicle door 11 . Although the shape of the retroreflector 13 is not particularly limited, it can be made difficult to peel off by using a shape without corners such as a circular shape or an elliptical shape or a shape with rounded corners (R-chamfered shape). The frequency of requiring maintenance can be reduced. The size may also be set as appropriate, but for example, the width in the vertical direction (height direction) can be set to 10 mm or more and 100 mm or less (for example, about 50 mm).

The number N of the vehicle door opening/closing detection devices 100 can be set to the maximum number of trains of trains departing from and arriving at the station, if one unit is installed for each vehicle as shown in FIG. One car door open/close detection device 100 is installed in advance so that it corresponds to each car 1 when the train T of the largest train stops at a predetermined position. Then, the photographing device 20 captures the retroreflector 13 (the reference reflector 131 and the door reflector 133) related to the vehicle door 11 on the platform side of the railroad vehicle 1 when stopped at a predetermined position. It is installed so that it is included in the imaging range when the door is closed, and the entire width of the upper part of the vehicle door 11 is included within the left and right ranges of the imaging range. It goes without saying that the photographing device 20 may be installed so as to correspond to each car door 11 of each car of a train that can arrive at and depart from the station. In addition, more specifically, at least one photographing device 20 is installed for each train, such as by installing the photographing device 20 so as to correspond only to the car door 11 closest to the crew cabin of the leading car of the train that can depart and arrive at the station. It may be installed.

Here, in the present embodiment, in addition to the two-door car shown as an example, the railcar 1 that runs on the rail R may have a different number of doors 11, such as a three-door car or a four-door car. It is assumed that there are a plurality of types of vehicles having different numbers and/or positions of the vehicle doors 11, such as vehicles having the same vehicle body length but different vehicle door 11 positions. Therefore, in the present embodiment, the photographing device 20 is configured using a camera with a wide angle of view (for example, 90 degrees) using a wide-angle lens, and the vehicle door 11 above the platform, which is the photographing target of the stopped vehicle 1, is photographed. Set it facing the range.

Further, the light projecting unit 21 built in the photographing device 20 irradiates near-infrared light toward the photographing direction of the photographing device 20, as shown in FIG. The imaging device 20 captures near-infrared light to generate a reflection intensity image of an object within an imaging range as a captured image, and measures the distance to the target to generate a distance image of the imaging range. It consists of a TOF (Time of Flight) camera capable of In this embodiment, the light projecting unit 21 emits wavelength light in the 940 nm band. Note that the light projecting unit 21 is not limited to being built in the imaging device 20, and may be provided separately.

According to this photographing device 20, as shown in FIGS. 2 and 3, a wide range A1 of the vehicle upper portion including the retroreflector 13 can be irradiated with near-infrared light. Then, the retroreflector 13 reflects the light projected from the light projecting unit 21 in the direction of the light projecting unit 21, and the photographing device 20 photographs the reflected light (near infrared light) B11 and B13. , a distance image representing the distance to the retroreflector 13 can be generated and output. Therefore, even when any type of railway vehicle 1 stops, the imaging device 20 can be easily installed so that the upper full width of the retroreflector 13 and the vehicle door 11 is within the imaging range. It becomes unnecessary to finely adjust the installation position and the installation angle when installing. In particular, since the retroreflector 13 returns the reflected lights B11 and B13 to the photographing device 20, it is possible to reliably and simply determine the image location of the retroreflector 13 in the photographed image. It is also advantageous for a photographed image with a wide field of view. In addition, since the retroreflector 13 is arranged on the upper part of the vehicle door 11 and on the side wall of the vehicle near it and photographed, when detecting the opening and closing of the vehicle door, which will be described later, the effect of passengers getting on and off is less likely to cause false detection. can be suppressed.

In addition, since the wavelength band near 940 nm is a wavelength region in which the proportion of near-infrared light contained in sunlight is low, even in the presence of sunlight during the day, the effect of the wavelength band is suppressed and the retroreflector 13 can be captured clearly. On the other hand, since near-infrared light is emitted from the light projecting unit 21 to capture the image, the retroreflector 13 can be clearly captured even in a dark environment such as at night or in bad weather. Therefore, the retroreflector 13 within the photographing range can be reliably photographed without being affected by the installation environment of the photographing device 20 . In addition, since the projected light is near-infrared light that is not visible light, even if the projected light enters the field of view of passengers, they are hardly or hardly dazzled.

The integrated control device 50 is communicably connected to the platform fence control device 7 that controls the opening and closing of the platform fence door 93. In order to open and close the platform fence door 93 in conjunction with the opening and closing of the vehicle door 11, the vehicle door open/close detection is performed. The detection results of the device 100 (for example, vehicle type detection signal, stop detection signal, open door detection signal, closed door detection signal, etc.) are relayed to the platform fence control device 7 as needed. For example, it is possible to adopt a configuration in which the detection results of the N vehicle door opening/closing detection devices 100 are grouped by an AND condition or an OR condition, and the results are relayed.

It should be noted that each vehicle door opening/closing detection device 100 may perform self-diagnosis to detect an abnormality such as a failure of the photographing device 20 or a large influence of disturbance, and output the self-diagnosis result to the integrated control device 50. good. The integrated control device 50 may select the detection result of the vehicle door opening/closing detection device 100 for which the self-diagnosis result is normal, and relay it to the platform fence control device 7 .

The platform fence control device 7 performs opening/closing control of the platform fence door 93 according to the stopped railway vehicle 1 according to the detection signal from the integrated control device 50 . Further, in opening/closing control, the platform fence door 93 to be opened and closed and the opening width thereof are controlled according to the number and positions of the vehicle doors 11 provided in the railway vehicle 1 . In addition, the platform fence 9 may be a platform fence in which the door pocket portion 91 that houses the platform fence door 93 is movable. In this case, the platform fence control device 7 also performs control to move the door pocket portion 91 in accordance with the detection signal from the integrated control device 50 .

[principle]
In this embodiment, the photographing device 20 continuously photographs the photographing range at a predetermined frame rate (for example, 20 fps) and outputs the photographed image and the distance image to the processing device 30 at any time. On the other hand, the processing device 30 discriminates the image locations of the reference reflector 131 and the door reflector 133 in the photographed image on a frame-by-frame basis (reflector discrimination processing). Then, based on the discriminated image locations and their positional relationships, processing for detecting the type of the railway vehicle 1 (type of railway vehicle) (vehicle type detection processing), processing for detecting the stop of the train (stop detection processing), A process of detecting an opening operation of the vehicle door 11 of the railway vehicle 1 (vehicle door opening detection process) and a process of detecting a closing operation of the vehicle door 11 (vehicle door closing detection process) are performed, and detection signals thereof are generated. is output to the overall control device 50 .

1. Reflector Discrimination Processing As described above, the retroreflector 13 reflects incident light in the direction of incidence. The photographing device 20 shoots the near-infrared light at a predetermined frame rate while irradiating the near-infrared light from the light projecting unit 21 in the shooting direction. Therefore, when the retroreflector 13 is present within the imaging range, the image location appears as a pixel range with high brightness (pixel range with high reflection intensity of near-infrared light) in the captured image. Therefore, in the reflector discrimination process, for example, the captured image is binarized using a predetermined threshold value, and the process of extracting image locations with high reflection intensity is repeated for each frame.

Also, at that time, it is determined whether or not the railway vehicle 1 to be detected by the device exists within a predetermined distance range (for example, 3 m) set in advance. The vehicle door opening/closing detection device 100 detects the railway vehicle 1 stopped on the platform on which the photographing device 20 is installed. However, in a station having a plurality of platforms, if there is no railway vehicle on the platform where the imaging device 20 is installed, and the railway vehicle is parked on another platform behind it, the other railway vehicle can be equipped with the camera. A situation may occur in which the captured retroreflector is included in the photographing range of the photographing device 20 . If this is regarded as the retroreflector 13 provided on the railway vehicle 1 to be detected and the subsequent processing is performed, the open/close detection of the vehicle door 11 is performed even though there is no railway vehicle on the installation platform. This is a problem.

Therefore, when an image location with high reflection intensity is extracted in the manner described above, the distance measured for the extracted image location is read out from the distance image input together with the photographed image. Then, a predetermined distance range including the distance from the photographing device 20 to the railway vehicle 1 corresponding to the train T stopped at a predetermined position is set in advance, and if the read distance is within the distance range, the self device It is determined that the railway vehicle 1 to be detected exists (that is, the extracted image location is the retroreflector 13 arranged on the railway vehicle 1 to be detected). When it is determined that the railway vehicle 1 to be detected is outside the distance range and does not exist, the opening/closing detection of the vehicle door 11 (the subsequent processing described below) is not performed.

According to this reflector discrimination processing, the image location of the retroreflector 13 can be discriminated simply by extracting the image location with high reflection intensity in the photographed image, and image processing such as form recognition is not required. Therefore, the image location of the retroreflector 13 can be determined quickly and reliably. In this embodiment, in order to make the retroreflector 13 difficult to peel off, a shape with no corners or a shape with rounded corners (R-chamfered shape) is used. There is also a secondary effect that the shape of the retroreflector 13 can be freely selected.

2. Vehicle Type Detection Processing In the present embodiment, it is assumed that there are types of railway vehicles having different numbers of vehicle doors 11 . The vehicle door opening/closing detection device 100 also detects the type of the railway vehicle. For this reason, the retroreflector 13 is attached to the railway vehicle 1 to be arranged, depending on the type of the railway vehicle 1, that is, the number of vehicle doors 11 in this embodiment (for example, whether it is a two-door vehicle or a three-door vehicle). It is arranged in the corresponding arrangement pattern.

FIG. 4 is a diagram showing an example of an arrangement pattern of the retroreflectors 13 for a two-door car, and FIG. 5 is a diagram showing an example of an arrangement pattern of the retroreflectors 13 for a three-door car. The arrangement pattern is defined as the arrangement pattern of the door reflectors 133 with reference to the position of the reference reflector 131. For example, as shown in FIGS. can be determined by the distances d11 and d13 of . In the examples of FIGS. 4 and 5, the distance d11 related to the arrangement pattern of the two-door car is set shorter than the distance d13 related to the arrangement pattern of the three-door car.

The arrangement pattern is not limited to the distance from the reference reflector 131 and may be determined by the number of door reflectors 133 . FIG. 6 is a diagram showing a modification of the arrangement pattern of the retroreflectors 13. As shown in FIG. For example, in the case of a two-door car, two door reflectors 133 may be provided as shown in FIG. 4 or 5, and in the case of a three-door car, four door reflectors 133 may be provided as shown in FIG. good. Since the arrangement pattern can be a different arrangement pattern depending on the type of railway vehicle, if there is a railway vehicle with different positions of the vehicle door 11 as the type of railway vehicle, the position of the vehicle door 11 Different placement patterns can be defined. Alternatively, different arrangement patterns may be determined according to the combination of the number and positions of the vehicle doors 11 . In any case, the retroreflectors 13 may be arranged on the railroad vehicle 1 in a layout pattern corresponding to the positions and numbers of the vehicle doors 11 or a combination of the number and positions of the vehicle doors 11 .

Then, in the vehicle type detection process, according to the positional relationship (arrangement pattern) of the image location of the door reflector 133 with respect to the image location of the reference reflector 131 in the photographed image, the railroad vehicle type (in this case, vehicle door 11 number). Then, the determined railway vehicle type is output to the integrated control device 50 as a vehicle type detection signal.

The integrated control device 50 may directly output the input vehicle type detection signal to the platform fence control device 7, or may control the platform fence 9 corresponding to the type of railway vehicle indicated by the vehicle type detection signal. In order to do so, a signal for controlling the position of the door pocket portion 91 and the opening width of the platform fence door 93 may be output to the platform fence control device 7 according to the vehicle type detection signal.

3. Stop Detection Processing In the stop detection processing, the stop of the train T (railroad car 1) is detected by detecting that the change in the position of the image portion of the reference reflector 131 in the captured image satisfies a predetermined immobility equivalent condition. This is because the reference reflector 131 is arranged on the side wall of the vehicle body, so that the image location in the photographed image also moves while the train T is moving, and when the train T stops, it also stops.

For example, for the image location of the reference reflector 131 in the captured image, the train speed is calculated from the amount of movement between the current frame and the previous frame and the frame rate (eg, 20 fps). Then, "the train speed has become equal to or less than a predetermined speed (for example, 3 km/h or less)" is used as a non-moving equivalent condition, and when the non-moving equivalent condition is satisfied, it is detected that the train T has stopped. When the stop of the train T is detected, a stop detection signal is output to the integrated control device 50 . Stopping is detected based on the movement speed when all the image locations of the retroreflectors 13 in the photographed image, including the door reflector 133 as well as the reference reflector 131, are moving in the same direction. It is also possible to

4. Vehicle Door Open Detection Processing FIG. 7 is a diagram for explaining the vehicle door open detection processing, and shows changes in the positional relationship between the reference reflector 131 and the door reflector 133 accompanying the opening operation of the vehicle door 11 . . The positional relationship between the reference reflector 131 and the door reflector 133 is the positional relationship when the door is closed (determined by the vehicle type detection process) shown in FIG. placement pattern). And the said positional relationship changes after that when the vehicle door 11 starts opening operation (arrows A21 and A23). This is because the two door reflectors 133 move away from each other as shown in FIG. 7(b). Therefore, in the vehicle door open detection process, by detecting that the positional relationship of the image locations of the reference reflector 131 and the door reflector 133 has changed from a relationship that satisfies the positional relationship when the door is closed to a relationship that does not satisfy the positional relationship, It detects that the opening operation of the vehicle door 11 has started.

In this embodiment, since the position of the reference reflector 131 is fixed, the start of the door opening operation is detected from the amount of movement of the door reflector 133 . Specifically, for example, the image locations of the two door reflectors 133 are tracked in the photographed image, and either one of the movement amounts d21 and d23 from the time when the stop of the train T is detected reaches a preset predetermined amount. If so, it is detected that the opening/closing operation of the vehicle door 11 has started. It may be detected when both of the movement amounts d21 and d23 reach a predetermined amount.

When the start of the opening operation of the vehicle door 11 is detected, a vehicle door opening detection signal is output to the integrated control device 50 . This vehicle door open detection signal is output to the platform fence control device 7 by the integrated control device 50 , and the platform fence control device 7 receives this and starts the door opening operation of the platform fence door 93 . Therefore, by using the detection result of the vehicle door opening/closing detection device 100 of the present embodiment, it becomes possible to open the platform fence door 93 in conjunction with the start of the opening operation of the vehicle door 11 . That is, when the opening operation of the vehicle door 11 is started, the platform fence door 93 can be opened correspondingly.

It should be noted that this is not limited to the case where the start of the door opening operation is detected from the amount of movement of the door reflector 133, but the distances d31 and d33 between the two door reflectors 133 are monitored, and when the two door reflectors 133 are separated by a predetermined distance or more, the door opens. The start of door operation may be detected.

In parallel with tracking of the image location of the door reflector 133, it is preferable to determine whether or not the image location of the reference reflector 131 satisfies the immobility equivalent condition in the same manner as the stop detection processing. By judging “that the image portion of the door reflector 133 has moved by a predetermined amount or more” and “that the reference reflector 131 is in a stopped state”, the vehicle door 11 can be opened while the railway vehicle 1 is stopped. Since the movement can be detected, it is possible to prevent erroneous detection that the movement of the railway vehicle 1 itself is detected as the door opening operation.

5. Vehicle door closing detection process When the vehicle door 11 completes the door opening operation, the vehicle door 11 is housed in a door pocket provided in the vehicle body, but the photographing range of the photographing device 20 is within the left and right range of the upper part of the vehicle door 11. Since the entire width is included, the image location of the door reflector 133 is not included in the photographed image as soon as the opening operation of the vehicle door 11 is completed. After that, the closing operation of the vehicle door 11 is started, and as soon as the vehicle door 11 starts to move out of the door pocket, the image portion of the door reflector 133 is included. Note that the image location of the reference reflector 131 remains included in the captured image during this period.

Therefore, in the vehicle door closing detection process, by detecting a change to the included state, it is detected that the closing operation of the vehicle door 11 has started. When the start of the closing operation of the vehicle door 11 is detected, a vehicle door closing detection signal is output to the integrated control device 50 . This vehicle door closing detection signal is output to the platform fence control device 7 by the integrated control device 50 , and the platform fence control device 7 receives this signal and causes the platform fence door 93 to start closing operation. Therefore, by using the detection result of the vehicle door opening/closing detection device 100 of the present embodiment, the platform fence door 93 can be closed in conjunction with the start of the closing operation of the vehicle door 11 . That is, when the closing operation of the vehicle door 11 is started, it becomes possible to perform the closing operation of the platform fence door 93 so as to correspond to it.

In order to prevent erroneous detection in the vehicle door closed detection process, it is preferable to determine in parallel whether or not the image location of the reference reflector 131 satisfies the immobility equivalent condition in the same manner as in the vehicle door open detection process. .

[Function configuration]
FIG. 8 is a block diagram showing a functional configuration example of the processing device 30. As shown in FIG. As shown in FIG. 8, the processing device 30 is a kind of computer including an operation unit 31, a display unit 33, a communication unit 35, a control unit 37, and a storage unit 39, and configured as a CPU board or the like. It is possible to

The operation unit 31 includes push switches, dials, and the like, and the display unit 33 includes LEDs, a small liquid crystal display device, and the like. The operation unit 31 and the display unit 33 are mainly used by workers during maintenance.

The communication unit 35 is a wired or wireless communication device realized by, for example, a wireless communication module, a router, a modem, a TA, a jack of a wired communication cable, a control circuit, or the like. 50, etc.). A photographed image input frame by frame from the photographing device 20 via the communication unit 35 is stored in the storage unit 39 as photographed image data 395 , and a distance image input together with the photographed image is stored in the storage unit 39 as distance image data 397 .

The control unit 37 is realized by electronic components such as processors such as CPU (Central Processing Unit) and DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), and FPGA (Field-Programmable Gate Array). Data input/output control is performed between Various kinds of arithmetic processing are performed based on predetermined programs and data, data input via the communication unit 35, and the like, and the operation of the processing device 30 is controlled. The control unit 37 includes a reflector discrimination unit 371 , a vehicle type detection unit 373 , a stop detection unit 375 , a vehicle door open detection unit 377 , and a vehicle door close detection unit 379 . These functional units may be processing blocks realized as software by executing programs, or circuit blocks realized by hardware circuits such as ASIC and FPGA. In the present embodiment, the control unit 37 executes the vehicle door opening/closing detection program 391 to describe processing blocks realized as software.

The reflector discriminating unit 371 uses the photographed image and the distance image input from the photographing device 20 to determine the retroreflector 13 (the reference reflector 131 and the door reflector 133) arranged on the railway vehicle 1 to be detected. An image location in a captured image is discriminated for each frame.

The vehicle type detection unit 373 refers to the reflector arrangement pattern data 393 to determine the type of railway vehicle (e.g., vehicle number of doors 11).

The stop detection unit 375 tracks the image location of the reference reflector 131 in the captured image between frames, and detects that the positional change satisfies a predetermined immobility equivalent condition. Detect outages.

When the stop detection unit 375 detects that the train T (railroad car 1) has stopped, the vehicle door open detection unit 377 tracks the image location of the door reflector 133 in the captured image between frames, By determining whether or not the location has moved by a predetermined amount or more from the position at which the train stopped, it is detected that the vehicle door 11 has started to open.

When the vehicle door open detection unit 377 detects the start of the opening operation of the vehicle door 11, the vehicle door closed detection unit 379 changes the image location of the door reflector 133 from the photographed image to the state where the image location is not included. The closing operation of the vehicle door 11 is detected by detecting a change to the included state.

The storage unit 39 is implemented by a storage medium such as an IC memory, hard disk, or optical disk. In this storage unit 39, a program for operating the processing device 30 and realizing various functions of the processing device 30, data used during the execution of the program, and the like are stored in advance, or stored each time processing is performed. stored temporarily. For example, the storage unit 39 stores a vehicle door opening/closing detection program 391, reflector arrangement pattern data 393, captured image data 395, distance image data 397, reflector position data 399, and the like.

The vehicle door open/close detection program 391 is a program for causing the control unit 37 to function as a reflector determination unit 371, a vehicle type detection unit 373, a stop detection unit 375, a vehicle door open detection unit 377, and a vehicle door close detection unit 379. is.

In the reflector arrangement pattern data 393, the arrangement pattern of the retroreflectors 13 predetermined according to the type of railway vehicle (here, the number of vehicle doors 11) is set in association with the type of railway vehicle. be.

The reflector position data 399 stores the reflector discrimination result for each frame by the reflector discrimination unit 371 in chronological order. Therefore, in the reflector position data 399, position coordinates are set for frames containing image locations of the reference reflector 131 and the door reflector 133 placed on the railway vehicle 1 to be detected in the captured image. be.

[Process flow]
FIG. 9 is a flowchart showing the flow of opening/closing detection of the vehicle door 11. As shown in FIG. The processing described here can be realized by the control unit 37 reading out the vehicle door opening/closing detection program 391 from the storage unit 39 and executing it.

First, the control unit 37 activates the photographing device 20 to start projecting light and inputting a photographed image and a distance image (step S1).

When the input of the photographed image and the distance image is started, the reflector discrimination unit 371 first starts the process of extracting an image portion having a high reflection intensity from the photographed image for each frame as reflector discrimination processing (step S3). . Then, if the extraction here is performed (step S5: YES), the reflector determination unit 371 reads the measured distance corresponding to the image location from the distance image, and determines whether or not it is within a predetermined distance range. (step S7). If within the distance range (step S7: YES), the process proceeds to step S9. On the other hand, if it is outside the distance range (step S7: NO), the process proceeds to the end determination of step S35 without detecting the opening/closing of the vehicle door 11, which is realized in the processing after step S9.

Then, in step S9, the vehicle type detection unit 373 repeatedly performs the vehicle type detection process for each frame. Determine vehicle type. Then, when the railway vehicle type is determined in step S9 (step S11: YES), a vehicle type detection signal is output to the integrated control device 50 (step S13). This vehicle type detection signal is output to the platform fence control device 7 by the integrated control device 50 , and used in the platform fence control device 7 to control the opening and closing of the platform fence door 93 . That is, the platform fence control device 7 controls the opening and closing of the platform fence doors 93 and the door opening width according to the railroad vehicle type (the number of vehicle doors 11) indicated by the vehicle type detection signal.

Subsequently, the stop detection unit 375 repeatedly performs stop detection processing for each frame, and when the change in the position of the image location of the reference reflector 131 in the captured image satisfies a predetermined immobility equivalent condition, the train T (railway vehicle 1 ) has stopped (step S15). Then, when the stop of the train T is detected in step S15 (step S17: YES), a stop detection signal is output to the integrated control device 50 (step S19). This stop detection signal is output to the platform fence control device 7 by the integrated control device 50 , and used in the platform fence control device 7 to control the opening and closing of the platform fence door 93 .

Subsequently, the vehicle door open detection unit 377 starts vehicle door open detection processing (step S21). In this vehicle door open detection process, the vehicle door open detection unit 377 obtains and monitors the movement amount of the image location of the door reflector 133 in the photographed image from the time when the stop of the train T is detected for each frame. Then, when the amount of movement reaches a predetermined amount, it is detected that the opening operation of the vehicle door 11 has been started. If the detection is made here (step S23: YES), a vehicle door open detection signal is output to the integrated control device 50 (step S25). This vehicle door open detection signal is output to the platform fence control device 7 by the integrated control device 50 , and is used in the platform fence control device 7 to control the opening and closing of the platform fence door 93 . Specifically, the platform fence control device 7 receives the input of the vehicle door open detection signal and starts the opening operation of the platform fence door 93 .

Thereafter, a standby state is established until the photographed image does not include the image portion of the door reflector 133 (that is, until the opening operation of the vehicle door 11 is completed). Then, when the opening operation of the vehicle door 11 is completed (step S27: YES), the vehicle door closing detection unit 379 starts vehicle door closing detection processing (step S29). In this vehicle door closing detection process, the vehicle door closing detection unit 379 detects that the image location of the door reflector 133 has changed from being included in the photographed image to being included. Detects that the closing operation of the door has started. If the detection is made here (step S31: YES), a vehicle door closing detection signal is output to the integrated control device 50 (step S33). This vehicle door closing detection signal is output to the platform fence control device 7 by the integrated control device 50, and is used in the platform fence control device 7 to control the opening and closing of the platform fence door. Specifically, the platform fence control device 7 receives the input of the vehicle door closing detection signal and starts the closing operation of the platform fence door 93 . When the closing operation of the platform fence door 93 is completed, the train T departs from the station.

Then, in the subsequent step S35, it is determined whether the process ends.

As described above, according to the present embodiment, the retroreflectors 13 (the reference reflector 131 and the door reflector 133) arranged on the upper portion of the vehicle door 11 and the nearby side wall of the vehicle body are photographed. , the image locations of the reference reflector 131 and the door reflector 133 in the captured image can be determined. Then, using the determined positional relationship between the reference reflector 131 and the door reflector 133, the type of railway vehicle is detected, the stop of the train is detected, and the start of the opening operation and the closing operation of the vehicle door 11 is detected. can do. Further, the platform fence control device 7 inputs and uses these detection signals at any time, so that the opening and closing of the platform fence door 93 can be controlled in conjunction with the opening and closing of the vehicle door 11 .

In the above-described embodiment, the arrangement pattern of the door reflectors 133 is determined based on the position of the reference reflector 131 according to the type of railway vehicle. You can keep it. For example, the distance from the door reflector 133 to the reference reflector 131 and/or the number of the reference reflectors 131 to be arranged in the closed door state may be varied, and this variation may be used as the layout pattern.

Further, since the vehicle door opening/closing detection device 100 detects the opening/closing of the vehicle door 11 by photographing the near-infrared light reflected by the retroreflector 13, the color of the retroreflector 13 can be freely selected. For example, the retroreflector 13 can be visually inconspicuous by using a color similar to the body color (ground color or paint color) of various parts of the railcar 1 on which the retroreflector 13 is arranged. . Conversely, it is also possible to make the retroreflector 13 stand out by selecting a color different from the body color or a flashy color.

Further, the photographing of the photographed image by the photographing device 20 may be started immediately before the train T arrives at the station and may be performed only until the train T departs from the station. For example, it is possible to employ a method in which sensors are provided at suitable locations along the track, and the processing device 30 inputs an external signal that detects the entry of the train T arriving at the station, thereby causing the photographing device 20 to start photographing. can be done.

Further, in the above-described embodiment, one car door opening/closing detection device 100 is installed in each car 1 of the train T stopped at a predetermined position. It is also possible to detect the number of stopped trains T using the result of determination as to whether or not there is a railway vehicle 1 to be detected.

In addition, the vehicle door opening/closing detection device 100 assumes all types of railway vehicles 1 that stop at a station, and all vehicle doors 11 provided in a specific vehicle (for example, the leading vehicle) 1 of the stopped train T You may install so that one vehicle door opening-and-closing detection apparatus 100 may respond|correspond respectively.

Alternatively, the photographing device 20 may be configured using a camera capable of outputting a color image, and the color image may be recorded so as to be referred to appropriately during maintenance.

Further, the type and type of railway vehicle to which the present invention can be applied is not particularly limited, and the present invention can be applied by arranging the retroreflector on the vehicle door to be arranged. For example, in the above-described embodiment, the double-opening vehicle door 11 was illustrated as the vehicle door of the railroad vehicle, but the same can be applied to a railroad vehicle having a single-opening vehicle door.

10 vehicle door opening/closing detection system 100 (100-1, 2, 3, ...) vehicle door opening/closing detection device 20 photographing device 21 light projection unit 30 processing device 31 operation unit 33 display unit 35 communication Unit, 37 Control Unit, 371 Reflector Discrimination Unit, 373 Vehicle Type Detection Unit, 375 Stop Detection Unit, 377 Vehicle Door Open Detection Unit, 379 Vehicle Door Closed Detection Unit, 39 Storage Unit, 391 Vehicle Door Open/Closed Detection Program, 393 Reflector arrangement pattern data 395 Photographed image data 397 Distance image data 399 Reflector position data 50 Integrated control device 7 Platform fence control device 93 Platform fence door 1 Railway vehicle 11 Vehicle door 13 Retroreflection body, 131 reference reflector, 133 door reflector

Claims (7)

A vehicle door opening/closing detection device installed in a station for detecting opening/closing of a vehicle door of a railway vehicle stopped at a predetermined position,
In the railway vehicle, a door reflector is arranged on the vehicle door and a reference reflector is arranged on the vehicle body side wall portion in the vicinity of the vehicle door in a predetermined positional relationship,
The reference reflector and the door reflection in the photographed image photographed by the photographing unit installed so as to include the reference reflector and the door reflector of the railway vehicle in the door closed state stopped at the predetermined position. a control unit that determines the position of the image of the body with reference to the positional relationship and detects opening and closing of the vehicle door;
with
The railway vehicle includes a plurality of types of vehicles having different numbers and/or positions of vehicle doors,
The positional relationship is an arrangement pattern of the door reflectors based on the position of the reference reflector, and is determined as a different arrangement pattern according to the type of the railway vehicle,
The control unit determines the type of the railway vehicle based on the arrangement pattern of the image locations of the door reflector with respect to the image locations of the reference reflector in the captured image.
Vehicle door open/close detector. The control unit detects that the image locations of the reference reflector and the door reflector in the photographed image have changed from a relationship that satisfies the positional relationship to a relationship that does not satisfy the positional relationship. Detecting that the door opening operation has started,
The vehicle door opening/closing detection device according to claim 1. By determining whether or not the image location of the door reflector in the captured image has moved by a predetermined amount or more when the image location of the reference reflector in the captured image does not move, Detecting that the opening operation of the vehicle door has started,
The vehicle door opening/closing detection device according to claim 1. The imaging unit is installed within the left and right ranges of the imaging range so as to include the full width of the vehicle door of the railway vehicle stopped at the predetermined position,
The control unit detects that a closing operation of the vehicle door has started by detecting a change from a state in which the image portion of the door reflector is included in the photographed image to a state in which the image portion is included. do,
The vehicle door opening/closing detection device according to any one of claims 1 to 3. The control unit detects that the railway vehicle has stopped by detecting that a change in the position of the image location of the reference reflector in the captured image satisfies a predetermined immobility equivalent condition.
The vehicle door opening/closing detection device according to any one of claims 1 to 4. The photographing unit is configured to be capable of outputting a distance image,
The control unit determines whether or not the railway vehicle exists within a predetermined distance range from the photographing unit to the railway vehicle stopped at the predetermined position to be detected by the vehicle door opening/closing detection device. Judging from the image, if it does not exist, the opening and closing of the vehicle door is not detected, and if it exists, the opening and closing of the vehicle door is detected.
The vehicle door opening/closing detection device according to any one of claims 1 to 5. The arrangement pattern is determined by the distance from the reference reflector and/or the number of the door reflectors to be arranged.
The vehicle door opening/closing detection device according to any one of claims 1 to 6.

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