JP7166133B2 - Automatic door closing device - Google Patents

Description

The present invention relates to an automatic door closing device.

A platform door system is a type of automatic door system installed on the platform of a railway station that opens the boarding aisle after the train arrives to allow passengers to enter and exit the train, and opens the boarding aisle before the train departs. It is a device that closes to prevent passengers from falling onto the tracks. The platform door device is opened after the train arrives at the track adjacent to the platform and stops. After the platform door device is opened, the boarding/alighting gate of the train is opened, and passengers board/alight. After the passengers have finished boarding and alighting, the boarding and alighting gates are closed, and then the platform door system is closed. After that, the train departs. Conventionally, the closing of the platform door system has been performed manually. In other words, the station staff visually confirms that the boarding gate is closed, and then operates the switch to close the platform door system.

However, in recent years, in order to save labor, there has been a demand for a device and method for automatically closing the platform door system after closing the entrance and exit of the train. Examples of such apparatus and methods are described in US Pat. Patent document 1 is characterized in that a plurality of target marks of different sizes, which are provided at predetermined intervals along the opening/closing direction of the door on each door panel of a vehicle door that can be opened from both sides, are captured by an optical sensor. A vehicle door open/close detection method is disclosed. In this vehicle door open/close detection method, the open/close state of the vehicle door is detected based on the size of the interval between the target marks in the image captured by the optical sensor.

Patent Document 2 discloses a platform door control system comprising an identification display provided on a vehicle door of a railroad vehicle, an imaging means for capturing an image of the identification display, and a recognition means for recognizing the identification display from an image captured by the imaging device. disclosed. The identification is arranged to be imaged by the imaging means when the vehicle door is closed. Patent Document 2 exemplifies a sticker on which a two-dimensional barcode is displayed as a specific example of the identification display.

JP-A-2001-264013 JP 2018-20756 A

According to the methods and systems disclosed in Patent Literatures 1 and 2, the platform door device can be automatically closed without human intervention after the train entrance/exit is closed. However, in these methods and systems, it is necessary to install a dedicated target mark or identification mark on the vehicle door. Therefore, there is a problem that the installation and maintenance costs of the target marks and the like increase. In addition, if a target mark or the like for exclusive use, that is, for no other purpose, is installed on the vehicle door, the appearance of the vehicle door is spoiled and passengers feel uncomfortable, which is not preferable.

The present invention has been made in view of the above problems, and provides an automatic door closing device that automatically closes a platform door device by detecting that a vehicle door is closed, and is inexpensive to install and operate. To provide an automatic door closing device capable of closing and not spoiling the appearance of a vehicle door.

In order to achieve the above object, an automatic door closing device according to the present invention is an automatic door closing device for automatically closing a platform door device installed on a platform. imaging means for imaging an entrance; open/closed state determination means for determining an open/closed state of a door of the entrance/exit by comparing a real-time image captured by the imaging means with a reference image; A door control means for causing a platform door device to perform a closing operation when the opening/closing state of the door of the entrance/exit changes from an open state to a closed state. The reference image is an image obtained by capturing all or part of the mark indicating the operator of the vehicle drawn on the outer surface of the door of the entrance/exit, and the opening/closing state determination means detects the reference image in the real-time image. When the image is not included, it is determined that the door of the entrance/exit is in an open state, and when the reference image is included in the real-time image, it is determined that the door of the entrance/exit is in a closed state.

The automatic door closing device according to the present invention compares the image of the entrance/exit captured by the imaging means with the reference image to determine the open/closed state of the entrance/exit. do not have. As a result, the cost for installing and maintaining the target mark can be saved, and the automatic door closing device can be operated at low cost. A target mark or the like installed on a door of a vehicle does not impair the appearance of the vehicle. Moreover, the passenger does not feel uncomfortable.

1 is a front view of an automatic door closing device according to a determination method of the present invention and a platform door device including the automatic door closing device as viewed from the platform side, and (A) is a front view of the automatic door closing device and the platform door device in the closed state; (B) is a front view of the automatic door closing device and the platform door device in the open state FIG. 2 is a configuration diagram showing the hardware configuration of a computer that constitutes the automatic door closing device shown in FIG. 1; A diagram showing an example of a reference image according to the first and second determination methods Flowchart showing processing by an automatic door closing program according to the first determination method Flowchart showing processing by the automatic door closing program according to the second determination method A diagram showing an example of a reference image according to the third determination method Flowchart showing processing by an automatic door closing program according to the third determination method A diagram showing an example of a reference image according to the fourth determination method Flowchart showing processing by an automatic door closing program according to the fourth determination method

Hereinafter, an automatic door closing device according to an embodiment of the present invention and a platform door device including the automatic door closing device will be described in detail with reference to the drawings. In addition, in each drawing, the same code|symbol is attached|subjected to the same or equivalent part.

(Platform door device with automatic door closing device)
FIGS. 1A and 1B are configuration diagrams showing basic configurations of an automatic door closing device 1 according to an embodiment of the present invention and a platform door device 4 including the automatic door closing device 1. FIG. FIG. 1(A) shows the forms of the automatic door closing device 1 and the platform door device 4 in the closed state, and FIG. 1(B) shows the forms of the automatic door closing device 1 and the platform door device 4 in the opened state. there is

As shown in FIGS. 1(A) and 1(B), the automatic door closing device 1 has a camera 2 and a computer 3 . The specific configurations and actions of the camera 2 and computer 3 will be described later.

The platform door device 4 is a kind of automatic door device installed on a platform 5 of a railway station, and as shown in FIGS. a door body 7 which is supported so as to move forward and backward, a driving device 8 which moves the door body 7 forward and backward with respect to the door pocket 6, and a drive control device 9 which controls the driving device 8. The drive control device 9 is a computer that operates the drive device 8 . The drive control device 9 is controlled by a host system (not shown) that controls the automatic door closing device 1 and all the devices on the platform 5 . Further, as shown in FIG. 1A, when the platform door device 4 is in the closed state, the door body 7 is pulled out of the door pocket 6. As shown in FIG. As shown in FIG. 1B, when the platform door device 4 is in the open state, the door 7 is drawn into the door pocket 6. As shown in FIG.

When there is no vehicle 10 on the track (not shown) adjacent to the platform 5, the platform door device 4 is closed. When the vehicle 10 arrives at the track adjacent to the platform 5 and stops, the platform door device 4 is opened. After that, the doors 11a and 11b covering the entrance/exit 11 are drawn into door pockets (not shown), and the entrance/exit 11 is opened. As a result, the platform door device 4 and the entrance/exit 11 of the vehicle 10 are in the state shown in FIG. 1(B). A door 11a of the entrance/exit 11 is painted with a logo mark 12 representing a company operating the vehicle 10. As shown in FIG. As shown in FIG. 1(A), when the entrance/exit 11 is closed, the logo mark 12 can be seen from the outside, but when the entrance/exit 11 is opened as shown in FIG. Mark 12 disappears. Further, the door opening operation of the platform door device 4 is executed under the control of a host system (not shown). The opening and closing of the entrance/exit 11 of the vehicle 10 is performed by a conductor who works on the vehicle 10 .

When the entrance 11 of the vehicle 10 is opened, passengers (not shown) get on and off. After the passengers have boarded and alighted, the conductor closes the door 11 of the vehicle 10. - 特許庁When the entrance 11 of the vehicle 10 is closed, the platform door device 4 is closed by the automatic door closing device 1 . As a result, the platform door device 4 and the entrance/exit 11 of the vehicle 10 are in the state shown in FIG. 1(A). After that, the vehicle 10 departs. In addition, a logo mark 12 indicating a company operating the vehicle 10 is painted on the entrance/exit 11 .

The camera 2 constituting the automatic door closing device 1 is an imaging means for imaging the entrance/exit 11 of the vehicle 10 and its surroundings, and is fixed to a pedestal (not shown). The computer 3 determines whether the doorway 11 is opened or closed based on the image of the doorway 11 and its surroundings captured by the camera 2, and controls the drive control device 9 according to the determination result. It is a device that closes the The computer 3 is arranged and stored at an arbitrary location separated from the camera 2 .

FIG. 2 is a configuration diagram showing the hardware configuration of the computer 3. As shown in FIG. As shown in FIG. 2, the computer 3 provides a CPU (Central Processing Unit) device 31 for arithmetic processing, a storage device 32 for storing programs and data, and data or commands for the camera 2 and drive control device 9. An input/output interface 33 for input/output is provided.

The automatic door closing device 1 compares the real-time image captured by the camera 2 with the reference image to determine the open/closed state of the entrance/exit 11 . Four methods for determining the open/closed state of the entrance/exit 11 by comparing the real-time image and the reference image, that is, the first to fourth determination methods will be described below.

(First determination method)
FIG. 3 is a diagram showing an example of the reference image 13 used in the first discrimination method. As shown in FIG. 3, the reference image 13 used in the first determination method is an image of the opened boarding/alighting gate 11 and its surroundings captured by the camera 2 . The reference image 13 is previously acquired, ie captured, and stored in the storage device 32 of the computer 3 .

FIG. 4 is a flow chart showing processing by the automatic door closing program executed by the CPU device 31 of the computer 3 in the first determination method. The automatic door closing program is controlled by a host controller (not shown in FIG. 1) when the vehicle 10 arrives on the track adjacent to the platform 5 and the door 7 of the platform door device 4 is opened. Activated by the controller. When the automatic door closing program is activated, the computer 3 waits for a predetermined time (step 101). This is because the entrance/exit 11 of the vehicle 10 is opened after the door 7 of the platform door device 4 is opened, so the operator waits for the entrance/exit 11 of the vehicle 10 to be opened.

After a predetermined time has elapsed, the door 7 of the platform door device 4 and the entrance/exit 11 of the vehicle 10 are brought into the state shown in FIG. 1(B). After that, the computer 3 operates the camera 2 to take an image of the entrance/exit 11 and its surroundings to obtain a real-time image (step 102). Then, the computer 3 calculates the degree of similarity between the acquired real-time image and the pre-recorded reference image, and compares the two (step 103). If the degree of similarity of the real-time image to the reference image is within a range in which both can be regarded as the same image (step 103: Yes), the process returns to step 102 to obtain the real-time image, and the process proceeds to step 103. Then, the processing of steps 102 and 103 is repeated until a real-time image that cannot be regarded as the same image as the reference image is obtained (step 103: No).

If the similarity of the real-time image acquired in step 102 to the pre-recorded reference image is not within the same range (step 103: No), it can be estimated that the entrance/exit 11 of the vehicle 10 is closed. can. Therefore, in this case, the drive control device 9 is instructed to close the door 7 (step 104), and all the processing is finished. When the closing of the door body 7 is commanded, the driving device 8 is operated by the drive control device 9 and the door body 7 is pulled out of the door case 6 . As a result, the platform door device 4 returns to the state shown in FIG. 1(A).

Thus, when executing steps 101 to 103, the computer 3 compares the real-time image captured by the camera 2 with the reference image 13 to determine the open/closed state of the entrance/exit 11. function as Further, when executing step 104, the computer 3 causes the platform door device 4 to close when the open/close state of the entrance/exit 11 determined by the open/close state determining means changes from the open state to the closed state. It functions as a door control means that allows the door to open.

As described above, the determination of the open/closed state in step 103 is performed by obtaining the degree of similarity of the real-time image to the reference image 13 and comparing the degree of similarity with a predetermined reference value. If the degree of similarity is smaller than the reference value, it is determined that the doorway 11 is open, and if the degree of similarity is greater than the reference value, it is determined that the doorway 11 is closed. Note that the reference value is determined by conducting an experiment in advance or conducting a theoretical study.

Further, the degree of similarity is calculated by performing pattern matching between the entire real-time image and the entire reference image 13 . The method of pattern matching is not particularly limited. For example, pattern matching can be performed by evaluating the degree of similarity between the reference image and the real-time image using SSD (Sum of Absolute Difference), which is the sum of the squares of the differences in luminance values of pixels at the same position in the real-time image. good. Alternatively, pattern matching may be performed by evaluating the degree of similarity between the reference image and the real-time image using SAD (Sum of Absolute Difference), which is the sum of the absolute values of the differences in luminance values of pixels at the same position in the real-time image. good.

(Second determination method)
In the first discrimination method, an example is shown in which the reference image 13 is acquired in advance, stored in the storage device 32 of the computer 3, and then repeatedly used. However, the reference image 13 may be obtained each time the automatic door closing program is executed. Therefore, in the second determination method, an example in which the reference image 13 is obtained each time the automatic door closing program is executed will be described. Note that the reference image 13 shown in FIG. 3 is also used in the second embodiment. That is, also in the second embodiment, the image of the entrance/exit 11 and its surroundings captured by the camera 2 with the entrance/exit 11 of the vehicle 10 opened is used as the reference image 13 .

FIG. 5 is a flow chart showing processing by an automatic door closing program executed by the CPU device 31 in the second determination method. The automatic door closing program is controlled by a higher control device (not shown in FIG. 1) when the vehicle 10 arrives on the track adjacent to the platform 5, and when the platform door device 4 opens the door 7, the higher control Activated by the device. When the automatic door closing program is activated, the computer 3 waits for a predetermined time (step 201). This is because the entrance/exit 11 of the vehicle 10 is opened after the door 7 of the platform door device 4 is opened, so the operator waits for the entrance/exit 11 of the vehicle 10 to be opened.

After a predetermined time has elapsed, the door 7 of the platform door device 4 and the entrance/exit 11 of the vehicle 10 are brought into the state shown in FIG. 1(B). After that, the computer 3 operates the camera 2 to take an image of the boarding/alighting gate 11 and its surroundings to acquire the reference image 13 (step 202). The computer 3 then stores the acquired reference image 13 in the storage device 32 .

After acquiring and storing the reference image 13, the computer 3 operates the camera 2 again to capture the image of the entrance/exit 11 and its surroundings to acquire a real-time image (step 203). The computer 3 then compares the acquired real-time image with the reference image 13 (step 204). If the degree of similarity of the real-time image to the reference image is within a range in which both can be regarded as the same image (step 204: Yes), the process returns to step 203 to obtain the real-time image, and the process proceeds to step 204. Then, the processing of steps 203 and 204 is repeated until a real-time image that cannot be regarded as the same image as the reference image is obtained (step 204: No).

If the similarity of the real-time image acquired in step 203 to the pre-recorded reference image is not within a range that can be regarded as identical (step 204: No), it can be estimated that the entrance/exit 11 of the vehicle 10 has been closed. can. Therefore, in this case, the computer 3 instructs the drive control device 9 to close the door 7 (step 205) and completes all the processing. When the closing of the door body 7 is commanded, the driving device 8 is operated by the drive control device 9 and the door body 7 is pulled out of the door case 6 . As a result, the platform door device 4 returns to the state shown in FIG. 1(A).

Thus, when executing steps 201 to 204, the computer 3 compares the real-time image captured by the camera 2 with the reference image 13 to determine the open/closed state of the entrance/exit 11. function as Further, when executing step 205, the computer 3 causes the platform door device 4 to close when the open/close state of the entrance/exit 11 determined by the open/close state determination means changes from the open state to the closed state. It functions as a door control means that allows the door to open.

Note that the calculation of the real-time image and the reference image 13 in the second determination method is also performed by pattern matching between the entire real-time image and the entire reference image 13 in the same manner as in the first determination method. calculate.

(Third determination method)
In the first and second determination methods, an example using the reference image 13 shown in FIG. 3 is shown. That is, in the first and second embodiments, an example is shown in which the image of the open entrance 11 and its surroundings captured by the camera 2 is used as the reference image 13 . However, the reference image 13 is not limited to an image of the open entrance 11 and its surroundings. The reference image 13 may be an image captured with the entrance/exit 11 of the vehicle 10 closed. That is, the reference image 13 may be the image shown in FIG. In the third embodiment, an example of determining the open/closed state of the entrance/exit 11 using the reference image 13 shown in FIG. 6 will be described. Note that the reference image 13 is acquired in advance and stored in the storage device 32 of the computer 3, as in the first embodiment.

FIG. 7 is a flowchart showing processing by the automatic door closing program executed by the CPU device 31 of the computer 3 in the second determination method. The automatic door closing program is controlled by a higher control device (not shown in FIG. 1) when the vehicle 10 arrives on the track adjacent to the platform 5, and when the platform door device 4 opens the door 7, the higher control Activated by the device. When the automatic door closing program is activated, the computer 3 waits for a predetermined time (step 301). This is because the entrance/exit 11 of the vehicle 10 is opened after the door 7 of the platform door device 4 is opened, so the operator waits for the entrance/exit 11 of the vehicle 10 to be opened.

After a predetermined time has elapsed, the door 7 of the platform door device 4 and the entrance/exit 11 of the vehicle 10 are brought into the state shown in FIG. 1(B). After that, the computer 3 operates the camera 2 to capture an image of the entrance/exit 11 and its surroundings to obtain a real-time image (step 302). Then, the degree of similarity between the obtained real-time image and the pre-recorded reference image is obtained, and the two are compared (step 303). If the degree of similarity of the real-time image to the reference image is not within the range in which both can be regarded as the same image (step 303: No), it can be estimated that the entrance/exit 11 of the vehicle 10 is still open. In this case, return to step 302 to acquire a real-time image and proceed to step 303 . Then, the processing of steps 302 and 303 is repeated until the degree of similarity of the real-time image with respect to the reference image reaches a range in which both can be regarded as the same image.

If the similarity between the real-time image acquired in step 302 and the pre-recorded reference image is within a range in which they can be regarded as the same image (step 303: Yes), it is estimated that the entrance 11 of the vehicle 10 is closed. can do. Therefore, in this case, the drive control device 9 is instructed to close the door 7 (step 304), and all the processing is completed. When the closing of the door body 7 is commanded, the driving device 8 is operated by the drive control device 9 and the door body 7 is pulled out of the door case 6 . As a result, the platform door device 4 returns to the state shown in FIG. 1(A).

Thus, when executing steps 301 to 303, the computer 3 compares the real-time image captured by the camera 2 with the reference image 13 to determine the open/closed state of the entrance/exit 11. function as When executing step 304, the computer 3 causes the platform door device 4 to close when the open/close state of the entrance/exit 11 determined by the open/close state determining means changes from the open state to the closed state. It functions as a door control means that allows the door to open.

It should be noted that the calculation of the real-time image and the reference image 13 in the third determination method also involves pattern matching between the entire real-time image and the entire reference image 13, as in the first and second determination methods. to calculate.

Moreover, in the third determination method, the example in which the reference image 13 is obtained in advance and stored in the storage device 32 of the computer 3 is shown as in the first embodiment. However, even in the third determination method, the reference image 13 may be obtained each time the automatic door closing program is executed, as in the second embodiment.

(Fourth determination method)
In the first to third embodiments, as shown in FIGS. 3 and 6, an example in which an image of the entire entrance/exit 11 is used as the reference image 13 is shown. It is not limited to images. When characters or graphics are drawn on the entrance/exit 11 , an image including the characters or graphics may be used as the reference image 13 . For example, as shown in FIG. 8, an image including a logo mark 12 that displays a company that operates the vehicle 10 may be used as the reference image 13 . In the fourth embodiment, an example of determining the open/closed state of the entrance/exit 11 using the reference image 13 shown in FIG. 8 will be described.

FIG. 9 is a flowchart showing processing by an automatic door closing program stored in the storage device 32 of the computer 3 and executed by the CPU device 31 in the fourth determination method. The automatic door closing program is started at the timing when the platform door device 4 opens the door 7 under the control of a higher control device (not shown in FIG. 1) when the vehicle 10 arrives on the track adjacent to the platform 5. . When the automatic door closing program is activated, the computer 3 waits for a predetermined time (step 401). This is because the entrance/exit 11 of the vehicle 10 is opened after the door 7 of the platform door device 4 is opened, so the operator waits for the entrance/exit 11 of the vehicle 10 to be opened.

After a predetermined time has elapsed, the door 7 of the platform door device 4 and the entrance/exit 11 of the vehicle 10 are brought into the state shown in FIG. 1(B). After that, the computer 3 operates the camera 2 to capture an image of the entrance/exit 11 and its surroundings to obtain a real-time image (step 402). A comparison is then made between the acquired real-time image and the pre-recorded reference image (step 403). If the real-time image acquired in step 302 and the pre-recorded reference image do not match (step 403 : No), return to step 402 to acquire the real-time image and proceed to step 403 . In this way, when the logo mark 12 is not included in the acquired real-time image, it can be estimated that the entrance/exit 11 of the vehicle 10 has not yet been closed. Acquire a time image and go to step 403 . Then, the processes of steps 402 and 403 are repeated until a real-time image including the logo mark 12 is acquired.

If the real-time image acquired in step 402 matches the reference image (step 403: Yes), that is, if the logo mark 12 is included in the acquired real-time image, the entrance 11 of the vehicle 10 is closed. It can be assumed that Therefore, in this case, the computer 3 instructs the drive control device 9 to close the door 7 (step 404), and all the processing ends. When the drive control device 9 is instructed to close the door 7 , the drive device 8 is operated by the drive control device 9 to draw the door 7 out of the door case 6 . As a result, the platform door device 4 returns to the state shown in FIG. 1(A).

In this way, when executing steps 401 to 403, the computer 3 saves the reference image 13, compares the real-time image captured by the camera 2 with the reference image 13, and determines whether the entrance 11 is opened or closed. It functions as open/closed state determination means for determining the state. Further, when executing step 404, the computer 3 causes the platform door device 4 to perform the door closing operation at the timing when the open/close state of the entrance/exit 11 determined by the open/close state determination means changes from the open state to the closed state. Acts as a control means.

In the fourth determination method, pattern matching is performed by comparing the reference image 13 and the real-time image. If the image of the logo mark 12 is found in the real-time image as a result of pattern matching, it is determined that the reference image and the real-time image match.

As described above, the automatic door closing device 1 according to the first to fourth determination methods determines the opening/closing state of the entrance/exit 11 based on the real-time image captured by the camera 2, and determines whether the entrance/exit is open or closed. 11 is closed, the platform door device 4 can be automatically closed. Further, when introducing the automatic door closing device 1 according to the first to fourth determination methods, it is not necessary to install a dedicated mark on the vehicle 10, so the introduction can be made at low cost.

It should be noted that the above-described embodiments are examples of the embodiments of the present invention, and the technical scope of the present invention is not limited by the above-described embodiments. The present invention can be freely applied, modified or improved within the scope of the technical idea described in the claims.

The configurations of the automatic door closing device 1 and the platform door device 4 shown in FIG. 1 are examples. Therefore, the configurations of the automatic door closing device 1 and platform door device 4 are not limited to those illustrated. In particular, the camera 2 may be installed anywhere as long as the image of the entrance/exit 11 can be captured.

The number of cameras 2 provided in the automatic door closing device 1 is not limited to one. The automatic door closing device 1 may be provided with a plurality of cameras 2. - 特許庁In order to avoid erroneous detection due to reflection of sunlight, a plurality of cameras 2 may be used by switching between morning and afternoon, or between daytime and nighttime.

In general, each vehicle 10 has a plurality of entrances 11, and a train is composed of a plurality of vehicles 10. As shown in FIG. Therefore, since the train is provided with a large number of entrances 11, the platform 5 must be provided with a large number of automatic door closing devices 1 and platform door devices 4. - 特許庁In this case, the automatic door closing device 1 may be configured by combining a plurality of cameras 2 for respectively imaging a plurality of platform door devices 4 and one computer 3 .

In the above-described embodiment, as shown in FIGS. 3 and 6, an example is shown in which an image obtained by capturing the entire entrance/exit 11 is used as the reference image and the real-time image. However, the reference image and the real-time image are not limited to images of the entire entrance/exit 11 . The reference image and the real-time image may be images obtained by capturing a part of the entrance/exit 11 . For example, the reference image and the real-time image may be images obtained by imaging the lower portions of the windows of the doors 11a and 11b, that is, images that do not include the windows of the doors 11a and 11b. If the images of the doors 11a and 11b that do not include the windows are used as the reference image and the real-time image, it is possible to prevent erroneous detection caused by the reflection of light on the surface of the window glass or the presence or absence of passengers in the vehicle seen through the window glass. can be avoided.

Moreover, in the above-described embodiment, an example of detecting the logo mark 12 indicating the company operating the vehicle 10 has been described. That is, in the fourth discrimination method, an example of detecting a trademark or a mark used as a trademark is shown. However, in the fourth determination method, characters or graphics to be detected are not limited to trademarks or marks used as trademarks. The characters or graphics to be detected may be characters or graphics that constitute the design of the vehicle 10 . In the fourth determination method, the characters or graphics to be detected may be characters or graphics having practical meaning, for example, characters or graphics that indicate the model of the vehicle 10 or its unique vehicle body number. Also, the reference image used in the fourth determination method may be an image obtained by imaging a part of characters or figures provided on the door of the entrance/exit 11 of the vehicle 10 . The reference image used in the fourth determination method may be an image obtained by imaging the XY or rail portion, which is a part of the XYrail.

Also, as shown in FIG. 1A, an example in which the logo mark 12 is arranged on the left shoulder of the door 11a is shown. However, the portion where the logo mark 12, that is, the character or figure to be detected in the fourth determination method is arranged is not limited to the left shoulder of the door 11a. The characters or graphics to be detected may be placed on any part of the doors 11a and 11b as long as the image can be captured by the camera 2. FIG. Characters or graphics may be arranged on the glass surfaces of the windows of the doors 11a and 11b. Alternatively, a sheet on which characters or figures are drawn is attached to the inner surface of the window glass of the doors 11a and 11b, that is, the surface facing the passenger compartment of the vehicle, so that the characters or figures can be seen through the window glass from the outside of the vehicle. can be

1 automatic door closing device, 2 camera, 3 computer, 4 platform door device, 5 platform, 6 door pocket, 7 door body, 8 drive device, 9 drive control device, 10 vehicle, 11 entrance/exit, 11a, 11b door, 12 logo mark , 13 reference image, 31 CPU device, 32 storage device, 33 input/output interface

Claims (1)

An automatic door closing device for automatically closing a platform door device installed on a platform,
an imaging means for imaging a boarding/alighting entrance of a vehicle stopping facing the platform door device;
open/closed state determination means for determining the open/closed state of the door of the entrance/exit by comparing the real-time image captured by the imaging means with a reference image;
door control means for causing the platform door device to perform a closing operation when the opening/closing state of the door of the entrance/exit determined by the opening/closing state determination means changes from an open state to a closed state;
The reference image is an image obtained by capturing all or part of a mark indicating a business operator that operates the vehicle drawn on the outer surface of the door of the entrance and exit,
The opening/closing state determination means determines that the door of the entrance/exit is in an open state when the reference image is not included in the real-time image, and determines that the reference image is included in the real-time image. If it is, it is determined that the door of the entrance/exit is in a closed state,
Automatic door closing device.

Images