KR100869835B1 - Multi sensor based railway platform monitoring system - Google Patents

Abstract

An elevator monitoring system based on multi sensors is provided to retrace movement information of a camera image frame when a dangerous object is detected, determine falling possibility of the object, and cope with the object rapidly and accurately by using a laser sensor, thereby minimizing personnel and proprietary damages. A camera(110) is installed at a platform(1). An A/D converter converts a video information collected by the camera into a digital signal. By using digitized video information after the A/D converter, a train(402) and an object are detected by a scanning processor(130). And if movement of the object is detected, the video information is retraced, a falling object is distinguished and the monitoring information is generated. A laser sensor(140) is installed in a lower part of the platform at a predetermined interval. The laser sensor senses the train or the object of a line side sensitive area. A scanning/location information processor receives sensing information of the train or the object of the laser sensor. And the scanning/location information processor outputs the scanning of location information of the corresponding train or object.

Description

Multi-sensor based railway platform monitoring system {multi sensor based railway platform monitoring system}

1 is a conceptual diagram of a platform monitoring based on multiple sensors according to the present invention,

2 is a block diagram of a multi-sensor based platform monitoring system according to the present invention,

3 is a diagram illustrating a detection process of a multi-sensor based platform monitoring system according to the present invention,

4 is a state table of the train entering and leaving the platform,

5 is a state diagram showing the transition state of the train entering and exiting the platform,

6 is a state transition table of FIG. 5,

7 is a diagram illustrating an area of a camera.

*** Explanation of symbols for main parts of drawing ***

1: platform 2: track

10: camera area 11: train area

12: danger zone 100: information collector

110: camera 120: A / D converter

130: detection processor 132: train detection module

134: object detection module 136: object recognition module

138: object tracking module 140: laser sensor

150: detection / location information processor 200: information fusion unit

300: information providing unit 400: train operation total control device

402: train

The present invention relates to a multi-sensor based platform monitoring system. More specifically, the multi-sensor uses a multi-sensor to identify a dangerous area of a platform so as to quickly and accurately recognize and respond to emergency and emergency situations in the platform. It relates to a monitoring system.

In general, railways are a popular and convenient means of transportation on a large scale.

However, because railroads are used by many passengers, many casualties can occur with only one inadequate safety management.

In particular, in recent years, people's accidents caused by falls on the platform of subways, accidents where clothes or body parts get stuck in the doors of trains during the rush hour of commute, part of passengers in the gap between platform and railway vehicle Safety accidents on railroads, such as accidents that are falling off, are becoming more frequent.

Of course, in order to monitor such safety accidents in the platform, the current CCTV is installed and operated in the subway station yard, but the CCTV must be monitored continuously by the operator in the command room or the station office, so the immediate recognition and emergency It was difficult to establish countermeasures, and was operated passively and limitedly, which made it difficult to recognize and respond quickly to emergency situations.

On the other hand, in recent years, the installation of screen doors (PSDs) has been expanded in order to prevent passengers from crashing in advance. However, it is economically expensive to install them on all platforms, especially in the case of ground platforms. It also has the drawback that it can block passengers and increase their frustration.

In addition, when the train does not stop in the right position may cause problems in the opening and closing of the screen door, it is difficult to prepare for the case where the human body or object is caught in the gap between the screen door and the train.

Accordingly, the present invention has been made to solve such a problem, the purpose of which is to detect the passenger risk factors and the occurrence position in the platform by using the camera image processing and laser sensing technology to quickly and quickly in the event of an emergency or emergency situation It is to provide a multi-sensor-based platform monitoring system that can minimize the damage to people and property by ensuring accurate response.

Another object of the present invention is to provide a multi-sensor-based platform monitoring system that is low in installation and maintenance costs, and can be installed and improved reliability without being separated by the characteristics of the platform.

The present invention for achieving the above object;
At least one information collecting unit installed in the platform to detect the train and the object in the platform to determine whether the object is falling and to generate monitoring information; An information fusion unit generating an alarm message using the monitoring information of the information collecting unit; And an information providing unit for transmitting the alarm message information of the information fusion unit to a receiving device, wherein the information collecting unit comprises: a camera installed in a platform, an A / D converter for converting image information collected by the camera into a digital signal; A detection processor that detects trains and objects by using the digitized image information through the A / D converter, and detects the falling object by back-tracking the image information when the movement of the object is detected, and generates the monitoring information, and the lower part of the platform. A laser sensor that detects trains or objects in a line-side detection area and maintains a fixed interval thereon, and receives detection information of trains or objects of the laser sensor and outputs detection and location information of the corresponding trains or objects. It is characterized by consisting of a; location information processor.

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The detection processor may further include a train detection module that determines whether a train exists in the image information of the camera, an object detection module that detects movement of an object when a train does not exist when determining the train detection module, and When the movement of the object is detected in the object detection module is characterized in that it consists of an object tracking module for determining whether or not the object fall by trace back the frame of the previous image information.

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The image information of the camera is divided into a train area into which a train enters and a danger area in which an object can fall within the train area, and the train detection module determines whether a train exists in the train area. The object detecting module detects the movement of the object within the danger zone, and when the object detecting module detects the movement of the object within the danger zone, the object detection module detects the frame of the previous image information and traces the danger outside the danger zone. When the movement of the object inside the area is traced, it is characterized by the fall object.

The object detecting module may further include an object recognition module for determining whether the detected object is a predetermined size or more when the movement of the object is detected.

In addition, the receiving device is characterized in that any one of the train operation comprehensive control device (TTC), the train, the terminal of the station attendant.

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In addition, the information provided to the receiving device is characterized in that the information providing unit is transmitted as an alarm message, such as an image and an alarm.

Hereinafter, with reference to the accompanying drawings, a multi-sensor based platform monitoring system according to the present invention will be understood by the embodiments described in detail.

At this time, Figure 1 is a conceptual diagram of a multi-sensor based platform monitoring according to the present invention, Figure 2 is a block diagram of a multi-sensor based platform monitoring system according to the present invention, Figure 3 is a multi-sensor based platform monitoring according to the present invention 4 is a diagram illustrating a detection process of the system, FIG. 4 is a state table of trains entering and exiting a platform, and FIG. 5 is a state diagram showing transition states of trains entering and exiting a platform. 7 is a state transition table, and FIG. 7 is a diagram illustrating an area of a camera.

Referring to Figures 1 and 2, the multi-sensor based platform monitoring system according to the present invention to immediately recognize the platform passenger risk factors through image processing and laser sensing technology and to quickly respond to the situation (1) the information collecting unit 100 for generating monitoring information by detecting trains and objects in the train area on the track 2 side, and detecting and generating trains and objects collected by the information collecting unit 100; Information fusion unit 200 for analyzing the situation using the monitoring information that is generated and generates an alarm message according to the information providing unit 300 for transmitting the alarm message information of the information fusion unit 200 to the corresponding recipients. It is composed of

Hereinafter, each component of the present invention will be described in more detail.

First, the information collecting unit 100 detects and recognizes a dangerous situation such as a fire on the track 2 side of the landing 1 or a track crash of the passenger. To this end, the information collecting unit 100 detects trains and objects and performs a series of tasks such as object recognition and object tracking.

The information collecting unit 100 is an A / D converter that converts the camera 110 installed to face the track 2 of the landing 1 and the image information collected by the camera 110 into a digital signal. 120 and the A / D converter 120 to generate monitoring information by detecting trains, detecting objects, and performing a series of computational processes related to object recognition and object tracking using digitized image information. The detection processor 130 and the laser sensor 140, which is installed at a lower portion of the platform 1 and maintains a predetermined interval to detect a train or an object in the detection area on the track 2 side, and the laser sensor 140 The detection / location information processor 150 for receiving the detection information of the train or the object and outputs the detection and location information of the train or object.

In this case, the detection processor 130 detects the movement of an object when a train does not exist in the train detection module 132 and the train detection module 132 determines whether a train exists in the camera 110 region. When the object detection module 134, the object detection module 134 detects the movement of the object, the object recognition module 136 for detecting whether the object is a predetermined size or more, and in the object detection module 134 When the movement of the object is detected, it is composed of an object tracking module 138 that identifies the falling object when the movement of the frame into the dangerous area is traced back to the previous image information.

In addition, the information collecting unit 100 is installed in at least one platform (1) to obtain the image information about the train and the object for each specific location and using this to detect the track fall or danger, in particular the object The recognition module 136 may determine whether an object is an obstacle that may cause an abnormality in a person or a train progress when the object is larger than or equal to a predetermined size, and may perform control and incident response of an entry train as necessary.

Meanwhile, the information fusion unit 200 receives image monitoring information and position information of the laser sensor 140 from one or more of the information collecting units 100 for comprehensive analysis of the situation inside the platform 1. It is responsible for extracting high levels of information. That is, the information fusion unit 200 comprehensively analyzes the situation by using the image monitoring information of the information collecting unit 100 and the location information of the laser sensor 140 and through the results, the command room staff, station attendants, and entry trains. The driver will generate an alarm message with different actions.

That is, the laser sensor 140 has an advantage of ensuring the detection and location information of trains and objects in the blind area outside the area that the camera 110 cannot capture.

In addition, the information providing unit 300 is an alarm message generated in the information fusion unit 200 with a standard operation procedure (SOP; Standard Operation Procedure) corresponding to different recipients, that is, the command room staff, station attendant, driver of the entering train And it serves to immediately transmit a video on the dangerous situation.

In this case, the information providing unit 300 is information to the receiving device such as the TTC Total Traffic Control 400 of the command room and the terminal (not shown) of the train 402 and the station attendant 404. Send it to make a quick response.

On the other hand, it is natural that the information fusion unit 200 generates an alarm message by subdividing it according to the characteristics of a receiver (for example, a command room employee, a station attendant, and an entering train driver).

Hereinafter, the processing of the detection processor 130 will be described in detail.

First, referring to FIG. 3, the train detection module 132 of the detection processor 130 detects a train in a corresponding camera 110 region.

At this time, it is determined whether the train exists (S110), and if there is a train in the determination process, branching to the step (S100) to determine the current state of the train.

If there is no train in step S110, the object detection module 134 detects an object.

At this time, the object detection module 134 detects the movement when detecting the object (S130), and if the movement of the object is not detected in the process of detecting the movement, branches to the step (S100) and the current state of the train. Will be determined.

On the other hand, when the movement of the object is detected in the step (S130), the object recognition module 136 determines whether or not the object is a predetermined size or more (S140), if it is less than the reference size at that time (S100) Branching to determine the current state of the train.

If the object is larger than a predetermined size in step S140, the object is recognized as an object (S150).

When it is recognized as an object through the step (S150), the object tracking module 138 traces the frame of the previous image information to determine whether the object movement in the dangerous area is traced outside the dangerous area (S160). At this time, if the movement of the object from the danger zone to the danger zone is not tracked, the process branches to the step S100 to determine the current state of the train.

On the other hand, if the movement of the object in the dangerous area is tracked in the step S160 in the step (S160) is determined as the falling object to generate the monitoring information for controlling the train and coping with it to transmit to the information fusion unit 200. (S170)

At this time, the motion is detected by the difference between the image frame obtained from the camera 110 and the background separation, and the object is recognized when the size of the object is larger than a predetermined size.

Therefore, if it is recognized as an object, it is necessary to determine whether it is an obstacle that may cause an abnormality in people or train progress so that it is possible to perform control of an ingress train and to deal with an accident as necessary.

On the basis of such a condition, the detection processor 130 first determines the state of the train in the train detection module 132 to prevent a mistake in performing the passenger fall detection of the train.

At this time, the state of the train obtained through the at least one or more cameras 110 installed in the platform 1, as shown in Figure 4, the off (state) state that there is no train in the platform 1, the platform ( 1) In state where the train enters, IN state where the train is stopped at the platform, ON state, OUT state where the train is leaving the platform Have

Therefore, detection of an object or a person among the four states of the train is performed only when the OFF state, that is, when the train is not in the detection area of the camera 110.

On the other hand, in order to determine the danger of the object falling on the platform, first the current state of the train must be accurately calculated. The current state of the train can be determined according to the transition state diagram as shown in FIG. 5, and each state transition thereof can be defined as shown in FIG. 6.

The state of a train can be regarded as the movement of a train if it detects movement within the danger zone and a large movement occurs. In this case, the sudden brightness change of the image is not considered, and when a large motion occurs continuously for 5 frames or more in consideration of noise, it is determined as a train movement. Through this image processing technique, the four states of the train can be detected completely.

That is, referring to FIGS. 5 and 6, the current state of the train is the OFF-IN state when five consecutive movements occur in the vehicle region, and five movements in the vehicle region are not detected continuously. If not, it is in the in-on state, if 5 consecutive movements occur in the vehicle area, if it is ON-OUT state, if 5 consecutive movements are not detected in the vehicle area, It can be known as OUT-OFF state.

On the other hand, since the train is not detected, the object detection module 134 detects the movement within the danger area of the landing 1 obtained through the camera 110.

At this time, when the motion is detected in the danger area of the landing 1, it may be divided into a case where a falling object exists, when a train movement exists, and a sudden brightness change of an image appears.

Therefore, the object discrimination technique of the object tracking module 138 first considers only the movement in the danger zone in the OFF state in which the train is not present in the landing 1. In addition, by back-tracking the movements in the previous frames, it may be determined as a fall object in the case of movement from outside the danger zone to the danger zone.

At this time, the object tracking stores the motion information of the previous frame, and if there is a motion in the OUT state, the back track, and if the back tracked object is out of the danger zone, it is determined as a fall object. It also preserves the object's position even if the fallen object stops and there is no movement.

That is, when the movement of the object is detected in the danger area 12 in the entire camera area as shown in FIG. 7, it is possible to detect whether the object is a fall through a back tracking technique.

At this time, the danger zone 12 exists inside the train zone 11 and the zone 13 of the object exists. Therefore, when the object enters the danger zone 12, the motion information of the previous frame is traced back to determine whether the object movement is from the danger zone 12 to the inside of the danger zone 12.

Hereinafter, an operation process of a multi-sensor based platform monitoring system according to the present invention will be described with reference to FIGS. 1 to 7.

The image information obtained through the camera 110 installed in the boarding point 1 is converted into digitized image information through the A / D converter 120 and input to the detection processor 130.

The detection processor 130 determines whether a train exists by determining whether a train exists in the train area 11 of the image information of the camera 110.

In this case, when the train does not exist, the object detection module 134 detects the object, and in this case, the motion is detected through the image processing by the frame difference and the background separation.

As such, when the movement of the object is detected by the object detection module 134, the object tracking module 138 traces the frame of the previous image information to track the movement of the object into the dangerous area 12 outside the dangerous area 12. Will be determined.

If the movement of the object is tracked out of the danger area 12 into the danger area 12 through the back trace, it is determined that the object is falling.

On the other hand, when the movement of the object is detected in the object detection module 134, the object recognition module 136 determines whether or not the detected object is a specific size or more, and if it is more than a specific size it is transmitted to the information fusion unit 200. Will be sent.

Such information is used as an analysis data necessary for controlling the entry train and performing an accident response in the information fusion unit 200.

The monitoring information generated by the processing of the image information of the information collection unit 100 is transmitted to the information fusion unit 200 and the standard operating procedures (SOP) and alarm messages corresponding to the command room staff, station attendants, drivers of the entering train and Image information about a dangerous situation is generated, and such information is transmitted from the information providing unit 300 to an alarm message such as an image and an alarm to a terminal (not shown) of the corresponding receiver.

On the other hand, when the train enters the inside of the train area 11, the laser sensor 140 detects this, which generates the location information of arrival of the train in the detection / location information processor 150 and transmits it to the information fusion unit 200. Done.

In this case, when the train does not exist, the object detection module 134 detects the object, and in this case, the motion is detected through the image processing by the frame difference and the background separation.

As such, when the movement of the object is detected by the object detection module 134, the object tracking module 138 traces the frame of the previous image information to track the movement of the object into the dangerous area 12 outside the dangerous area 12. Will be determined.

If the movement of the object is tracked out of the danger area 12 into the danger area 12 through the back trace, it is determined that the object is falling.

On the other hand, when the movement of the object is detected in the object detection module 134, the object recognition module 136 determines whether or not the detected object is a specific size or more, and if it is more than a specific size it is transmitted to the information fusion unit 200. Will be sent.

In addition, when the object falls, the laser sensor 140 detects this, and the detection information generates the fall position information of the object in the detection / position information processor 150 and transmits the information to the information fusion unit 200.

Such information is used as an analysis data necessary for controlling the entry train and performing an accident response in the information fusion unit 200.

Monitoring information generated by the processing of the image information of the information collection unit 300 is transmitted to the information fusion unit 200, the standard operating procedures (SOP) and alarm messages corresponding to the command room staff, station attendant, driver of the train entering and Image information about a dangerous situation is generated, and such information is transmitted from the information providing unit 300 to an alarm message such as an image and an alarm to a terminal (not shown) of the corresponding receiver.

Although the preferred embodiment of the present invention has been described above, the scope of the present invention is not limited thereto, and the scope of the present invention extends to the scope of the present invention to be substantially equivalent to the embodiment of the present invention. Various modifications can be made by those skilled in the art without departing from the scope of the present invention.

As can be seen from the above description, according to the present invention, when a hazard of a passenger is detected, such as when an object enters a train area into which a train in a platform enters and a danger area where an object can fall, the camera image frame is used. It has the advantage of minimizing the damage of people and property by quickly and accurately coping with the motion information to determine the danger of falling of the object and by using the location information of the corresponding risk factor using the laser sensor.

In addition, when the present invention is installed and maintained in the platform, the cost is low, there is an advantage that can be installed without being separated in the characteristics of the platform.

Claims (9)

One or more information collecting units installed in the platform to detect the train and the object in the platform to determine whether the object falls and to generate monitoring information; An information fusion unit generating an alarm message using the monitoring information of the information collecting unit; It consists of an information providing unit for transmitting the alarm message information of the information fusion unit to a receiving device, The information collecting unit includes a camera installed at a platform, an A / D converter for converting the image information collected by the camera into a digital signal, and a train and an object using the digitized image information through the A / D converter. Detect and detect the movement of the object when the motion of the object is detected by detecting the falling object by back-tracking the image information to generate the monitoring information, and maintains a certain interval in the lower part of the platform installed to detect the train or object in the line detection area A multi-sensor based platform monitoring system comprising a laser sensor and a detection / position information processor configured to receive detection information of a train or an object of the laser sensor and output detection and position information of the corresponding train or an object. delete delete The system of claim 1, wherein the detection processor; A train detecting module for determining whether a train is present in the image information of the camera, an object detecting module detecting a movement of an object when no train is present at the time of detecting the train detecting module, and an object of the object in the object detecting module. Platform tracking system based on a multi-sensor, characterized in that consisting of an object tracking module to determine whether the object falls by tracking back the frame of the previous image information when the motion is detected. The method of claim 4, wherein The image information of the camera is divided into a train area into which a train enters and a danger area in which an object may fall within the train area, and the train detection module determines whether a train exists in the train area, and the object The detection module detects the movement of the object in the danger zone, and when the object detection module detects the movement of the object in the danger zone, the detection module traces back the frame of the previous image information and moves inside the danger zone outside the danger zone. Platform monitoring system based on multiple sensors, characterized in that if the movement of the object in the furnace is tracked to determine the fall. The method of claim 4, wherein The multi-sensor-based platform monitoring system further comprises an object recognition module for determining whether the detected object is a predetermined size or more when the movement of the object is detected in the object detection module. delete The method of claim 1, The receiving device is a multi-sensor based platform monitoring system, characterized in that any one of the train operation control system (TTC), and the terminal of the train, the station attendant. The method of claim 8, The information provided to the receiving device is a multi-sensor based platform monitoring system, characterized in that transmitted from the information providing unit to the alarm message, such as image and alarm.

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