JP7317480B2 - Vehicle door open/close detector - Google Patents

Description

The present invention relates to a vehicle door open/close detector.

A platform door device installed on a platform has a door pocket portion provided along the edge of the platform and a door portion for entering and exiting the door pocket portion. 2. Description of the Related Art In order to open and close door units of a platform door system at appropriate timing, there is known a technique for detecting the open/closed state of doors provided in train cars using sensors. For example, Patent Literature 1 below discloses that a light wave rangefinder is arranged on a platform as a door open/closed state detection sensor, and the open/closed state of a vehicle door is detected by the output signal pattern of the light wave rangefinder.

Japanese Patent No. 3790847

If TASC control or ATO control is not introduced on a train route, the stop position accuracy of the train is low because the stop position is determined according to the driver's manual operation. Therefore, the range in which the vehicle actually stops is wider than when TASC control or ATO control is introduced. Therefore, it is necessary to set a wide detectable range in advance for the sensor that detects the open/closed state of the vehicle door.

In this case, if the sensor detects a wide range and all of the detected data is used to determine whether the vehicle door is open or closed, surplus data for locations irrelevant to the determination of whether the vehicle door is open or closed is also included. Therefore, there is a problem that such surplus data causes erroneous detection and lowers the accuracy of determination of whether the vehicle door is opened or closed. In addition, since the result of the open/closed state of the vehicle door is derived after receiving all the data, the response is delayed.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and provides a vehicle door open/close detection device capable of improving judgment accuracy and responsiveness when judging whether a vehicle door is open or closed. intended to

In order to solve the above problems, the vehicle door opening/closing detection device of the present invention employs the following means.
That is, the vehicle door opening/closing detection device according to the first aspect of the present invention includes a train detection section for detecting a train, a door detection section for detecting a vehicle door provided on the train stopped on a platform, and the train detection section. a stop position calculation unit for calculating the stop position of the train based on the detection result of; an open/close determination unit for determining the open/closed state of the vehicle door based on the detection result of the door detection unit; a determination unit that determines a range of detection data in the width direction of the vehicle door detected by the door detection unit to be used in the opening/closing determination unit based on the amount of deviation from a reference position based on the stop position; The open/close determination unit determines whether the vehicle door is opened or closed using only the detection data detected by the door detection unit within the range determined by the determination unit.

In the above invention, the open/close determining section divides the width direction of the vehicle door into a plurality of divided areas based on the detection result of the door detecting section, and determines whether the vehicle door is open or closed for each of the divided areas. , the opening/closing determination unit determines that the vehicle door is performing an opening operation or a closing operation when one of the divided areas and the adjacent divided area are sequentially detected to be in an open state or a closed state; It may be determined that the vehicle door is not performing the opening operation or the closing operation when the open state or the closed state of the divided area of 1 and the adjacent divided area is detected singly and not in order.

A vehicle door opening/closing detection device according to a second aspect of the present invention includes a door detection unit that detects a vehicle door provided on a train that has stopped on a platform; The area corresponding to the vehicle door is divided into a plurality of divided areas along the width direction of the vehicle door based on the shape of the opening that the door opens and closes, and the open/closed state of the vehicle door is determined for each of the divided areas. The open/close determination unit performs an opening operation or a closing operation of the vehicle door when the open state or the closed state of one of the divided areas and the adjacent divided area is detected in order. When the open state or the closed state of one of the divided areas and the adjacent divided area is detected independently and not in order, it is determined that the vehicle door is not performing the opening operation or the closing operation. .

In the above invention, the opening/closing determination unit sets the divided area adjacent to the door pocket through which the vehicle door enters and exits widely, or sets two or more divided areas as one area, and in the newly set area, the vehicle is opened. You may judge the open-closed state of a door.

In the above invention, it is preferable that the open/close determination unit does not use detection data detected outside the vehicle relative to the position of the vehicle door for determination of the open/closed state.

In the above invention, the door detection unit detects the shape of the edge of the opening that the vehicle door opens and closes, and the opening/closing determination unit detects the edge of the opening based on the shape of the detected edge. The position of the part or the width of the opening may be determined.

In the above invention, when only the edge on one side of the opening is detected, the opening/closing determination section relates to the shape of the detected edge on the one side and the previously recorded width of the opening. Based on the information, the position of the edge on the other side of the opening may be determined.

In the above invention, the opening/closing determination unit determines a point of change from the outside of the vehicle to the inside of the vehicle as the position of the edge of the opening in the detection data in the width direction of the vehicle door detected by the door detection unit. You may

ADVANTAGE OF THE INVENTION According to this invention, when judging the opening-and-closing state of a vehicle door, responsiveness can be improved, improving judgment accuracy.

It is a top view which shows the platform door apparatus installed in the platform. 1 is a block diagram showing a vehicle door opening/closing detection device according to an embodiment of the present invention; FIG. It is a graph which shows the detection result of the range corresponded to a vehicle door when the schematic which shows a train and a vehicle door of a train is in a closed state. It is a graph which shows the detection result of the range corresponded to a vehicle door when the vehicle door of a train and a train is in a half-open state. It is a graph which shows the detection result of the range corresponded to a vehicle door when the schematic which shows a train and a vehicle door of a train is in an open state. 1 is a schematic diagram showing a train and the range of adoption of conventional detection data; FIG. FIG. 2 is a schematic diagram showing a train and an adoption range of detection data according to the present embodiment; It is a schematic diagram showing a train and a graph showing a detection result according to the present embodiment, showing an open determination region, a closed determination region, and a non-determination region on the graph. It is the graph which shows the schematic diagram which shows a train, and the detection result which concerns on this embodiment. 4 is a flow chart showing the operation of the vehicle door opening/closing detection device according to the embodiment of the present invention; 4 is a flow chart showing the operation of the vehicle door open/close detection device according to the embodiment of the present invention regarding open/close determination.

A vehicle door opening/closing detection device 1 according to an embodiment of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, the platform door device 21 is installed along the edge of the platform 20 and consists of a door portion 22 and a door pocket portion 23 which can accommodate the door portion 22 and allows the door portion 22 to enter and exit. A plurality of door pocket portions 23 are arranged along the edge of the platform 20 . The door pocket 23 accommodates a drive unit 24 including a motor for driving the door unit 22 and an individual control panel 25 for controlling the drive unit 24 (see FIG. 2). The door pocket portion 23 has a structure capable of accommodating the entire length of the door portion 22 . The door portion 22 that enters and exits from the door case portion 23 may be configured by a single plate-like member in the length direction, or may be configured by combining a plurality of plate-like members in the length direction so as to be able to expand and contract. good.

An opening 26 that is opened and closed by the door portion 22 is formed between the adjacent door pocket portions 23 . The opening 26 is opened and closed by both the door portion 22 that is accessed from one door pocket portion 23 and the door portion 22 that is accessed from the other door pocket portion 23 . It should be noted that the number of door portions 22 for opening and closing the opening 26 is not limited to the case where two are provided. In this case, one door portion 22 enters and exits through the door pocket portion 23 installed on one side of the opening portion 26 . On the other side of the opening 26, there are cases in which the door pocket 23 that accommodates the door 22 that opens and closes another opening 26 is installed, and in some cases a fixed fence other than the door pocket 23 is installed.

A vehicle door opening/closing detection device 1 according to the present embodiment includes a train detection unit 2, a door detection unit 3, a vehicle type determination unit 4, and a control unit 5, as shown in FIG. In the vehicle door open/close detection device 1, for example, the train detection section 2, the door detection section 3, the vehicle type discrimination section 4, and the control section 5 are each configured as individual devices (separate assemblies), and these are combined. be. In some cases, not all of them are individual devices.

A train detection unit 2 detects a train 30 . The train detection unit 2 has, for example, a distance measuring sensor, and when detecting the front of the vehicle, it is installed on the platform 20 ahead of the position where the train 30 stops, as shown in FIG. The train detector 2 scans and irradiates a laser beam onto the front surface of the train 30 and receives the laser beam reflected from the front surface of the train 30 . As a result, the train detection unit 2 detects the distance from the front of the train 30 that is stopping or in a stopped state on the platform 20 . The train detection unit 2 transmits a detection result such as a fixed position stop or a vehicle stop position to the control unit 5 . Note that the train detection unit 2 is not limited to detecting the front surface of the vehicle, and may detect the rear surface of the vehicle or a connecting portion that connects two vehicles. In this case, the train detector 2 scans and irradiates a laser beam onto the rear surface of the train 30 or the connecting portion, and receives the laser beam reflected from the rear surface of the train 30 or the connecting portion.

A door detection unit 3 detects a vehicle door 31 provided on a train stopped on the platform. The door detection unit 3 has, for example, a distance measuring sensor, scans and irradiates a laser beam to the vehicle door 31 of the train 30 and the door pocket 32 of the train 30, and reflects the laser beam from the vehicle door 31 of the train 30 and the door pocket 32 of the train 30. Receives the laser light emitted from the The door detection unit 3 calculates the distance of each point in the width direction of the vehicle door 31 scanned by the laser beam.

As a result, the door detection unit 3 detects the distance from the vehicle door 31 in the open state, the opening/closing operation, or the closed state, and the distance from the door pocket 32 . Door detector 3 transmits the detection result to controller 5 .

The door detection unit 3 is set to have a wide detectable range according to the assumed stop range of the train and the assumed vehicle type. As a result, even if the stop position of the train is shifted or the vehicle type is different, the door detection unit 3 can irradiate the vehicle door 31 and the door pocket 32 with laser light within the detectable range, and the vehicle door 31 can be reliably detected. can.

It is preferable that a plurality of door detection units 3 be installed for one train 30 to detect opening and closing of a plurality of vehicle doors 31 rather than one unit being installed for each train 30 .

The door detection unit 3 is installed in the above-described predetermined stopping range of the train 30 in consideration of the place where the vehicle door 31 is expected to be positioned when the train 30 stops.

The door detection unit 3 is arranged so that the laser beam crosses and scans the vehicle door 31 and the door pocket 32 of the train 30 . At this time, the laser light irradiates not only the vehicle door 31 but also the door pocket 32 in which the vehicle door 31 is stored. As a result, as shown in FIG. 3, by receiving light reflected by the vehicle door 31 or the door compartment 32 of the train 30, when the vehicle door 31 is in the closed state, the boundary between the door compartment 32 and the vehicle door 31 is detected. Depth can also be detected. Therefore, it is possible to determine the position and width of the vehicle door 31 when the vehicle is stopped.

When the car door 31 of the train 30 starts to open and is in an open state, the depth of the range corresponding to the car door 31 changes as shown in FIGS. The shape of the range corresponding to the vehicle door 31 changes. Thereby, it can be determined whether the vehicle door 31 of the train 30 is in a closed state, is in an opening/closing operation, or is in an open state.

The laser beam of the door detection unit 3 is irradiated below the window glass of the vehicle door 31 as shown in FIG. 3, for example. Further, the door detection unit 3 is installed by being suspended from the roof of the platform 20 in consideration of the standing positions of passengers on the platform 20 and the like. Note that the irradiation position of the laser light is not limited to the above example.

The vehicle type discriminating unit 4 is a device that receives identification information transmitted by a train 30 stopped at the platform 20 and discriminates the vehicle type, for example. Alternatively, the vehicle type determination unit 4 is a device that determines the vehicle type by irradiating a stopped train 30 with a laser beam and measuring the vehicle length from one end to the other end of the vehicle. The vehicle type determination unit 4 transmits information about the vehicle type of the stopped train 30 , which is the determination result, to the control unit 5 .

The control unit 5 is, for example, a computer that executes programs. As shown in FIG. 2, the control unit 5 includes a receiving unit 6, a storage unit 7, a stop position calculation unit 8, an opening/closing determination unit 9, a determination unit 10, and the like.

The receiving unit 6 receives the stop position information regarding the stop position of the train 30 stopped on the platform 20 detected by the train detecting unit 2 and the vehicle type regarding the vehicle type of the train 30 stopped on the platform 20 determined by the vehicle type determining unit 4. receive information; The stop position information is, for example, information regarding the stop position of the train 30 detected by the train detection unit 2 . The vehicle type information is information regarding the vehicle type of the train 30 stopping at the platform 20 .

In the storage unit 7, door information regarding vehicle doors 31 provided in the train 30 is recorded. The door information is information such as the door position for each vehicle type, the opening width of the vehicle door 31, and the number of doors, which differ according to the vehicle type (vehicle type).

The stop position calculator 8 determines whether the train 30 is stopped within a predetermined stop range based on the distance to the train 30 measured by the train detector 2 and received from the train detector 2 . Here, the predetermined stop range is a so-called fixed position, and is a predetermined range in which the train 30 stops. The fixed position is, for example, within a range of several tens of centimeters to about 1 meter in front and rear from the reference position. The stop position calculator 8 calculates the stop position of the train 30 based on the distance to the train 30 measured by the train detector 2 and received from the train detector 2 .

The open/close determination unit 9 determines whether the vehicle door 31 is opened or closed based on the detection result of the door detection unit 3 . Based on the distance between the vehicle door 31 and the door pocket 32 that is measured by the door detection unit 3 and received from the door detection unit 3, the open/close determination unit 9 expresses the train 30 with a two-dimensional coordinate axis. Based on the shape represented above, the state of the car door 31 of the train 30 is determined, ie, whether the car door 31 is open, in the process of opening and closing, or closed.

In order to determine whether the vehicle door 31 is in an open state, an opening/closing operation, or a closed state, the opening/closing determination unit 9 determines the vehicle door 31 calculated based on the detection result of the door detection unit 3. successively stores the position and width of the opening 33 to be opened and closed, and judges based on the stored position and width of the opening 33 .

When acquiring data from a plurality of door detection units 3, the open/close determination unit 9 determines the open state or the closed state in the case of a majority vote or a total match. As a result, it is possible to reduce erroneous detection that an opening operation or a closing operation is being performed even though the open/closed state is maintained.

Based on the vehicle type information and the stop position calculated by the stop position calculation unit 8, the determination unit 10 selects the range used in the open/close determination unit 9 from the detection data in the width direction of the vehicle door 31 detected by the door detection unit 3. to decide. That is, as shown in FIG. 6, when judging the open/closed state of the vehicle door 31 by the open/close judging section 9, instead of using all the detection data in the width direction of the vehicle door 31 (broken line portion in FIG. 6), the data shown in FIG. , only the minimum detection data necessary for detecting one car door 31 is used according to the position and type of train that actually stopped (broken line in FIG. 7).

For example, as shown in FIG. 7(b), in a certain vehicle type, when a train stops in front, the vehicle door 31 is also positioned in front. Only the data is used as data necessary for determining whether the vehicle door 31 is opened or closed. Conversely, as shown in FIG. 7(c), when the train stops at the rear, only the detection data for the rear of the train within the detectable range of the door detection unit 3 is used as the data necessary for judging whether the vehicle door 31 is open or closed. used as

Based on the stop position and vehicle type of the train, only the minimum necessary detection data is used to determine the open/closed state of the car door 31, so the calculation time is shortened compared to the case where all the detection data are used. and become more responsive. In addition, since the area where the detection error occurs is reduced by using only the data of the range related to the opening/closing of one vehicle door 31, the detection accuracy of the open/closed state is improved.

When it is determined that the train 30 is stopped within a predetermined stop range, or when the vehicle door opening/closing detection device 1 determines that the vehicle door 31 is open or is being opened, the platform door control device 11 is operated. causes the door section 22 of the platform door device 21 to open. When the vehicle door opening/closing detection device 1 determines that the vehicle door 31 is closed or is being closed, the platform door control device 11 closes the door portion 22 of the platform door device 21 . The platform door control device 11 transmits a command to open or close the door portion 22 to the individual control panel 25 housed in the door pocket portion 23 of the platform door device 21 . The platform door control device 11 also receives an open completion signal or a close completion signal from the individual control panel 25 .

Next, the opening/closing determination of the vehicle door 31 by the opening/closing determination unit 9 will be described in detail.

If there is only one type of train that stops on the platform, and the positions of the car doors 31 are all the same, the stop position of the car is detected, and the relative position information of the car doors 31 that has been recorded in advance is used to determine when the train will stop. It is possible to calculate the position of the vehicle door 31 of the vehicle.

On the other hand, when the vehicle stops with the actual position of the vehicle door 31 deviated, the position of the vehicle door 31 is deviated from the position calculated from the relative position information recorded in advance. If determined, there is a risk of false positives. The door detection unit 3 according to this embodiment detects the shape of the edge of the opening 33 that the vehicle door 31 opens and closes.

When the vehicle door 31 is closed, the door pocket 32 of the vehicle is located outside the vehicle door 31. Therefore, the edge of the opening 33 is detected by the door detection unit 3 scanning the laser beam. A shape is specified. The open/close determination unit 9 determines the position of the edge of the opening 33 and/or the width of the opening 33 based on the shape of the detected edge.

Based on the relationship between the installation position of the door detection unit 3 and the actual position of the vehicle door 31 when the vehicle is stopped, if the door detection unit 3 is positioned at the center of the vehicle door 31 in the width direction, the door detection unit 3 detects that the door is open. The shape of the edges on both sides of the portion 33 can be detected. In this case, since the open/close determination unit 9 can determine the positions of the edges on both sides of the opening 33, the width of the opening 33 can also be determined based on the result.

On the other hand, when the door detection unit 3 is located at a position deviated from the center of the vehicle door 31 in the width direction, only the shape of the edge on one side of the edges on both sides of the opening 33 is detected, and the edge on the other side is detected. shape may not be detected. In this case, the opening/closing determination unit 9 determines the position of the edge of the opening 33 on one side based on the shape of the detected edge, and also determines the previously recorded information about the width of the opening 33 for each vehicle type. , the position of the other edge of the opening 33 is determined.

Note that when the shape detected by the door detection unit 3 is not the shape of the edge of the opening 33 but is detected as a shape in which the outer surface of the door pocket and the outer surface of the vehicle door 31 are obliquely connected, the opening/closing determination unit 9 , the change point from the vehicle outer side to the vehicle inner side in the detected shape is determined as the position of the edge of the opening 33 . In this case as well, the opening/closing determination unit 9 can determine the positions of the edges on both sides of the opening 33, so the width of the opening 33 can also be determined based on the result.

The open/close determination unit 9 uses the following filtering function in order to reduce erroneous detection during open/close determination. The data detected by the door detection unit is less likely to cause erroneous detection in a situation where no passenger is near the vehicle door 31 . However, when a passenger gets on and off at the opening 33 or is near the vehicle door 31, the laser light is blocked, resulting in a distorted waveform. Therefore, false detection is reduced by applying the filter function according to the present embodiment.

<1> Out-of-Determination Area Filter As shown in FIG. is set as a closed determination region, and the vehicle outside of the vehicle door 31 is set as an out-of-determination region. In this case, when the waveform is detected in the open determination region, it is determined that the vehicle door 31 is in the open state. When the waveform is detected in the closed determination region, it is determined that the vehicle door 31 is in the closed state. When the waveform is detected in the out-of-determination region, it is determined that the open/closed state of the vehicle door 31 is maintained from the previous state.

<2> First Opening/Closing Area Filter When the vehicle door 31 opens and closes symmetrically about the center of the opening 33, the waveform generated at the time of opening/closing changes with the center of the opening 33 as the starting point. That is, when the center side edge of the vehicle door 31 moves from the center to the edge, the vehicle door 31 is performing an opening operation, and when the center side edge of the vehicle door 31 moves from the edge to the center, the vehicle door 31 is performing the closing action.

As shown in the lower graph in FIG. , and the open/closed state of the vehicle door 31 is determined for each of the plurality of divided regions. Then, as shown in FIG. 9, the opening/closing determination unit 9 detects the open state or the closed state of one divided area and the next divided area in order, and the vehicle door 31 performs the opening operation or the closing operation. judge that there is On the other hand, when the open state or the closed state of one divided area and the adjacent divided area is detected independently, not in order, the vehicle door 31 is not performing the opening operation or the closing operation, that is, the previous state (open state or closed state) is held.

As a result, even if the detected waveform is disturbed by a passenger, the open state or closed state is maintained without erroneously determining that the opening or closing operation is being performed.
It should be noted that not only the case where the two vehicle doors 31 open and close symmetrically about the central portion of the opening 33, but also the case where one vehicle door opens and closes the opening of the vehicle. When the front end of the vehicle door moves from one end to the other end of the opening, the vehicle door is performing an opening operation, and when the front end of the vehicle door moves from the other end to the one end, the vehicle The door is closing. Also in this case, the first open/close area filter according to the present embodiment can be applied.

<3> Second opening/closing area filter Even if the first opening/closing area filter is installed, for example, if a passenger stands near the edge of the opening 33, there is a possibility that it may be erroneously determined that the closing operation is being performed. .

The opening/closing determination unit 9 according to the present embodiment sets a wide divided area adjacent to the door pocket 32 from which the vehicle door 31 enters and exits, or sets two or more divided areas as one area, and newly sets the divided area. The open/closed state of the vehicle door 31 is determined in the set area.

As a result, one area of the newly set area becomes relatively wide, so even if a passenger stands near the edge of the opening 33, that area is not detected as closed. As a result, when a passenger stands near the edge of the opening 33, it is less likely that the vehicle door 31 will be closed.

Next, referring to FIG. 10, the operation of the vehicle door open/close detector 1 will be described.
First, the operation of opening the door portion 22 of the platform door device 21 from the closed state will be described.
The door section 22 is closed until the train 30 enters the platform and stops.

A train detection unit 2, for example, a distance measuring sensor, irradiates a laser beam to the front of an incoming train 30. As shown in FIG. When the train 30 enters the measurable range of the distance measuring sensor, the distance from the distance measuring sensor to the front of the train 30 is measured, and the stop position of the train 30 is calculated (step S11). The same process is performed when the train detection unit 2 detects the rear surface of a vehicle or a connecting portion that connects two vehicles.
The vehicle type determination unit 4 determines the vehicle type of the train 30 stopping on the platform 20 (step S12).

The receiving unit 6 receives the stop position information regarding the stop position of the train 30 detected by the train detecting unit 2 and the vehicle type information regarding the vehicle type of the train 30 determined by the vehicle type determining unit 4 (step S13).

When it is determined that the train 30 is stopped within a predetermined stop range, the amount of deviation from the reference position is calculated based on the calculated stop position, and the width direction of the vehicle door 31 detected by the door detection unit 3 is calculated. of the detection data, the range to be used in the open/close determination unit 9 is determined (step S14).

Further, when it is determined that the train 30 is stopped within the predetermined stop range, the car door 31 provided for the stopped train on the platform is detected (step S15). Then, the open/closed state of the vehicle door 31 is determined using only the detection data detected by the door detection unit 3 within the range determined in the above step (step S16).

Next, referring to FIG. 11, the operation of determining whether the vehicle door 31 is opened or closed will be described.
When it is determined that the train 30 is in a stopped state within a predetermined stop range, the position and opening of the edge of the opening 33 are determined based on the shape of the edge of the opening 33 opened and closed by the vehicle door 31 detected. 33 width is determined (step S21).

Then, based on the detection result of the door detection unit 3, the width direction of the vehicle door 31 is divided into a plurality of divided regions (step S22), and the open/closed state of the vehicle door 31 is determined for each of the plurality of divided regions (step S23). ). At this time, when the waveform is detected in the open determination region, it is determined that the vehicle door 31 is in the open state. When the waveform is detected in the closed determination region, it is determined that the vehicle door 31 is in the closed state. When the waveform is detected in the out-of-determination region, it is determined that the open/closed state of the vehicle door 31 is maintained from the previous state.

Next, the position of the vehicle door 31 and the shape of the opening 33 are continuously detected (step S24). When the opening/closing judgment unit 9 judges that the center side edge of the vehicle door 31 is neither at the door closed end position nor at the door open end position, the opening/closing order of the vehicle door 31 is detected (step S25).

That is, when the open state or the closed state of one divided area and the adjacent divided area is detected in order, it is determined that the vehicle door 31 is performing the opening operation or the closing operation (step S26). Specifically, when the divided area on the central side of the opening 33 is opened and then the divided area on the end side is opened, it is determined that the vehicle door 31 is opening. Further, when the divided area on the end side of the opening 33 is closed and then the divided area on the central side is closed, it is determined that the vehicle door 31 is performing the closing operation.

On the other hand, when the open state or the closed state of one divided area and the adjacent divided area is detected independently, not in order, the vehicle door 31 is not performing the opening operation or the closing operation, that is, the previous state (open state or closed state) is held.

On the other hand, when the position of the vehicle door 31 and the shape of the opening 33 continue to be detected, and the opening/closing determination unit 9 determines that the center side edge of the vehicle door 31 is at the door closed end position. , the vehicle door 31 is determined to be fully closed (step S27). Further, when the open/close determining unit 9 determines that the center side edge of the vehicle door 31 is at the door open end position, it is determined that the vehicle door 31 is fully open (step S28).

Note that when the divided area adjacent to the door pocket 32 through which the vehicle door 31 enters and exits among the plurality of divided areas is set wide or when two or more divided areas are set as one area, the vehicle door 31 is set in the newly set area. is determined.
In the above explanation of the operation, the case where the two vehicle doors 31 open and close symmetrically about the central portion of the opening 33 has been explained, but the case where one vehicle door opens and closes the opening of the vehicle is explained. can be applied as well. In this case, the above-mentioned "center side end of the vehicle door 31" is read as "tip side end of the vehicle door", "center side of the opening 33" is read as "one end of the opening", and "opening 33 "end side" is read as "the other end of the opening".

As described above, according to the present embodiment, the range to be used in the opening/closing determination unit 9 is determined from the detection data in the width direction of the vehicle door 31 detected by the door detection unit 3 based on the vehicle stop position and vehicle type information. be. When judging the open/closed state of the car door 31 by the open/close judging section 9, instead of using all the detection data in the width direction of the car door 31, one car is selected according to the position and type of the train that actually stopped. Only the minimum detection data required to detect door 31 is used. Since the open/closed state of the vehicle door 31 is determined using only the minimum necessary detection data, the time required for calculation is shortened and the responsiveness is improved compared to the case where all the detection data are used. In addition, since the area where the detection error occurs is reduced by using only the data of the range related to the opening/closing of one vehicle door 31, the detection accuracy of the open/closed state is improved.

When determining whether the vehicle door 31 is open or closed, the width direction of the vehicle door 31 is divided into a plurality of divided areas, and the open/closed state of the vehicle door 31 is determined for each of the plurality of divided areas. At this time, when the open state or the closed state of one divided area and the next divided area is detected in order, it is determined that the vehicle door 31 is performing the opening operation or the closing operation. As a result, even if the detected waveform is disturbed by a passenger, the open state or closed state is maintained without erroneously determining that the opening or closing operation is being performed.

Among the plurality of divided areas, a divided area adjacent to the door pocket 32 through which the vehicle door 31 enters and exits is set wide, or two or more divided areas are set as one area, and the opened/closed state of the vehicle door 31 is set in the newly set area. to judge. As a result, one area of the newly set area becomes relatively wide, so even if a passenger stands near the edge of the opening 33, that area is not detected as closed. As a result, when a passenger stands near the edge of the opening 33, it is less likely that the vehicle door 31 will be closed.

In the above-described embodiment, as an example of the train detection unit 2 that detects the stop position of the train 30 and the door detection unit 3 that detects the open/closed state of the vehicle door 31 of the train 30, the case of using a range sensor will be described. However, the invention is not limited to this example. For example, as the train detection unit 2 or the door detection unit 3, an imaging device such as a camera, an IC tag, or a plurality of distance sensors are used to detect the stop position of the train 30 and the open/closed state of the vehicle door 31 of the train 30. may be detected. Also, the installation position of the distance measuring sensor and the like is not limited to the above description, and may be any position as long as it can detect a train or a vehicle door. Furthermore, the irradiation position of the laser light from the distance measuring sensor is not limited to the above description, and there are both cases where a portion not including the window is irradiated and a portion including the window is irradiated.

Reference Signs List 1: vehicle door open/close detection device 2: train detection unit 3: door detection unit 4: vehicle type determination unit 5: control unit 6: reception unit 7: storage unit 8: stop position calculation unit 9: opening/closing determination unit 10: determination unit 11 : platform door control device 20 : platform 21 : platform door device 22 : door section 23 : door pocket section 24 : drive section 25 : individual control panel 26 : opening 30 : train 31 : car door 32 : door pocket 33 : opening

Claims (8)

a train detection unit that detects a train;
a door detection unit that detects a vehicle door provided on the train stopped on the platform;
A stop position calculation unit that calculates the stop position of the train based on the detection result of the train detection unit;
an open/close determination unit that determines whether the vehicle door is opened or closed based on the detection result of the door detection unit;
Based on the calculated amount of deviation from the reference position based on the stop position, a range to be used in the opening/closing determination unit is determined from among detection data in the width direction of the vehicle door detected by the door detection unit. a decision unit;
with
The vehicle door open/close detection device, wherein the open/close determination unit determines the open/closed state of the vehicle door using only the detection data detected by the door detection unit in the range determined by the determination unit. The opening/closing determination unit divides the width direction of the vehicle door into a plurality of divided regions based on the detection result of the door detection unit, and determines whether the vehicle door is opened or closed for each of the divided regions,
The opening/closing determination unit determines that the vehicle door is performing an opening operation or a closing operation when one of the divided areas and the adjacent divided area are sequentially detected to be in an open state or a closed state. 2. The vehicle door according to claim 1, wherein when the open state or the closed state of the divided area and the adjacent divided area is detected singly and not in order, it is determined that the vehicle door is not performing the opening operation or the closing operation. Open/close detection device. A door detection unit that detects a vehicle door provided on a train that has stopped on the platform;
The area corresponding to the vehicle door is divided into a plurality of divided areas along the width direction of the vehicle door based on the position of the vehicle door detected by the door detection unit and the shape of the opening that the vehicle door opens and closes. an open/close determination unit that divides the vehicle door and determines an open/close state of the vehicle door for each of the divided areas;
with
The opening/closing determination unit determines that the vehicle door is performing an opening operation or a closing operation when one of the divided areas and the adjacent divided area are sequentially detected to be in an open state or a closed state. determining that the vehicle door is not performing an opening operation or a closing operation when the open state or the closed state of the divided area and the adjacent divided area is detected independently and not in order ;
The opening/closing determination unit sets the divided area adjacent to the door pocket through which the vehicle door enters and exits widely, or sets two or more divided areas as one area, and determines the open/closed state of the vehicle door in the newly set area. A vehicle door open/close detection device that judges 4. The vehicle door opening/closing detection device according to claim 1, wherein the opening/closing determination unit does not use detection data detected outside the vehicle relative to the position of the vehicle door for determining the opening/closing state. The door detection unit detects a shape of an edge of an opening opened and closed by the vehicle door,
The vehicle door according to any one of claims 1 to 4 , wherein the opening/closing determination unit determines the position of the edge of the opening or the width of the opening based on the detected shape of the edge. Open/close detection device. When only the edge on one side of the opening is detected, the opening/closing determination unit is configured based on the shape of the detected edge on the one side and prerecorded information on the width of the opening. 6. A vehicle door open/close detector according to claim 5 , wherein the position of said edge on the other side of said opening is determined. A door detection unit that detects a vehicle door provided on a train that has stopped on the platform;
The area corresponding to the vehicle door is divided into a plurality of divided areas along the width direction of the vehicle door based on the position of the vehicle door detected by the door detection unit and the shape of the opening that the vehicle door opens and closes. an open/close determination unit that divides the vehicle door and determines an open/close state of the vehicle door for each of the divided areas;
with
The opening/closing determination unit determines that the vehicle door is performing an opening operation or a closing operation when one of the divided areas and the adjacent divided area are sequentially detected to be in an open state or a closed state. determining that the vehicle door is not performing an opening operation or a closing operation when the open state or the closed state of the divided area and the adjacent divided area is detected independently and not in order ;
The door detection unit detects a shape of an edge of an opening opened and closed by the vehicle door,
The opening/closing determination unit determines the position of the edge of the opening or the width of the opening based on the detected shape of the edge,
When only the edge on one side of the opening is detected, the opening/closing determination unit is configured based on the shape of the detected edge on the one side and prerecorded information on the width of the opening. , a vehicle door open/close detector for determining the position of said edge on the other side of said opening . 6. The opening/closing determination unit determines a change point from the outside of the vehicle to the inside of the vehicle as the position of the edge of the opening in the detection data in the width direction of the vehicle door detected by the door detection unit. 8. The vehicle door opening/closing detection device according to any one of 7 above .

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