JP6948201B2 - Vehicle door open / close detection device - Google Patents

Description

The present invention relates to a vehicle door opening / closing detection device that detects the opening / closing of a vehicle door of a railway vehicle.

Conventionally, a technique for detecting the opening and closing of a vehicle door of a railway vehicle has been developed by a device provided on the ground side. For example, there is known a technique for determining the lighting of a door-closing vehicle side light provided at a predetermined vehicle-side position of a railway vehicle by image processing (see Patent Document 1). The door-closing car side light turns on when the railroad car stops at the station and the car door is open. The technique of Patent Document 1 is a technique of determining that the vehicle door is open when it is determined that the door closing vehicle side light is lit, and the platform screen door opening operation is performed using this determination result. Is in control.

JP-A-2017-121834

However, the door-closing vehicle side light remains lit while the vehicle door is open, in other words, until the door is closed. Therefore, for example, when the closing control of the platform screen doors is started by image-determining the extinguishing of the side lights of the platform screen doors, the closing operation of the platform screen doors is delayed and the passengers are kept waiting during that time. There was a problem that the platform screen doors and the stop time at the station increased. In addition, when it is determined by image processing that the door closing vehicle side light is turned on when the railroad vehicle arrives at the station and the door is opened, the platform screen door is opened. The opening operation of the platform screen doors will be delayed by that amount.

Therefore, what is required of the technology for detecting the opening and closing of the vehicle door of a railway vehicle by a device provided on the ground side is to reliably detect the opening and closing of the vehicle door and to speed up the detection. In addition, it is required to be inexpensive and easy to install the device.
The present invention has been devised in view of the above problems.

The first invention for solving the above problems is
It is a vehicle door opening / closing detection device installed at a station to detect the opening / closing of the vehicle door of a railway vehicle stopped at a predetermined position.
The railroad vehicle is provided with retroreflective bodies arranged in a predetermined positional relationship on the vehicle door and the vehicle body side wall portion in the vicinity of the vehicle door (hereinafter, the retroreflective body of the vehicle body side wall portion is referred to as "reference". "Reflector", the retroreflective body of the vehicle door is called "door reflector"),
A photographing unit installed so as to include the reference reflector and the door reflector of the railway vehicle in the closed door state stopped at the predetermined position in the photographing range.
A light projecting unit that projects light in the shooting direction of the shooting unit,
A control unit that determines the image locations of the reference reflector and the door reflector in the image captured by the imaging unit with reference to the positional relationship, and detects the opening and closing of the vehicle door.
It is a vehicle door open / close detection device equipped with.

According to the first invention, the door reflectors and the reference reflectors arranged in a predetermined positional relationship on the vehicle door of the railroad vehicle and the side wall portion of the vehicle body in the vicinity thereof are photographed, and those image portions in the photographed image are captured. It is possible to detect the opening operation and the closing operation of the vehicle door reliably and at high speed by a relatively simple image processing of discrimination. In particular, the door reflector and the reference reflector are retroreflectors, and the light projecting unit projects light toward the photographing direction of the photographing unit. Therefore, the image portion of the door reflector and the reference reflector in the image The discrimination can be surely and simplified. What needs to be installed on the railroad vehicle side is not an electronic component or the like, but a retroreflector, which is relatively inexpensive and can be expected to have weather resistance and durability. Further, since the photographing unit can be installed so as to include the reference reflector and the door reflector of the railway vehicle in the closed door state stopped at a predetermined position in the photographing range, the time and effort required for installing the photographing unit can be reduced. Further, by using the detection result of the vehicle door opening / closing detection device for, for example, the opening / closing control of the platform screen door installed at the station, the opening / closing control of the platform screen door linked with the opening / closing of the vehicle door can be realized.

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

According to the second invention, the door opening operation of the vehicle door is started by detecting that the positional relationship between the reference reflector and the door reflector in the captured image has changed with the opening operation of the vehicle door. Can be detected.

Moreover, the third invention is
The control unit determines whether or not the image portion of the door reflector in the captured image has moved by a predetermined amount or more when the image portion of the reference reflector in the captured image does not move. Detecting that the opening operation of the vehicle door has started,
The vehicle door open / close detection device of the first invention.

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

Moreover, the fourth invention is
The photographing unit is installed within the left and right range of the photographing range so as to include the vehicle door of the railway vehicle stopped at the predetermined position in full width.
The control unit detects that the vehicle door closing operation has been started by detecting that the captured image has changed from a state in which the image portion of the door reflector is not included to a state in which the image portion is included. do,
The vehicle door open / close detection device according to any one of the first to third inventions.

When the vehicle door stored in the door pocket starts to advance from the door pocket due to the door closing operation when the door opening operation is completed, the photographed image changes from the state in which the image portion of the door reflector is not included to the state in which the image portion is included. According to the fourth invention, it is possible to detect that the closing operation of the vehicle door is started by detecting this.

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

When the railroad vehicle stops, the position of the reference reflector in the captured image does not change either. According to the fifth invention, it is possible to detect that the railroad vehicle has stopped when the position change of the image portion of the reference reflector in the captured image satisfies a predetermined immobility equivalent condition.

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

According to the sixth invention, whether or not the railroad vehicle to be detected exists is determined from the distance image based on the distance between the photographing device and the railroad vehicle stopped at a predetermined position, and only when the railroad vehicle exists. It is possible to detect the opening and closing of the vehicle door.

Moreover, the seventh invention is
The railroad vehicles include a plurality of types of vehicles having different numbers and / or positions of vehicle doors.
The positional relationship is an arrangement pattern of the door reflector based on the position of the reference reflector, and is defined as a different arrangement pattern according to the type of the railway vehicle.
The control unit determines the type of the railroad vehicle based on the arrangement pattern of the image portion of the door reflector with respect to the image portion of the reference reflector in the captured image.
The vehicle door open / close detection device according to any one of the first to sixth aspects.

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

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

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

Moreover, the ninth invention is
The light projecting unit irradiates near-infrared light and
The photographing unit captures near-infrared light.
The vehicle door open / close detection device according to any one of the first to eighth inventions.

According to the ninth invention, the near-infrared light can be photographed while irradiating the near-infrared light in the photographing direction, and the photographed image can be acquired. Since the projected light is not visible light, even if the projected light comes into the field of view of the passengers, it is unlikely or hardly that the passengers feel dazzling.

Moreover, the tenth invention is
The light projecting unit irradiates light having a wavelength in the 940 nm band.
The vehicle door open / close detection device of the ninth invention.

According to the tenth invention, it is possible to irradiate light having a wavelength in the 940 nm band and photograph it. Therefore, even in the daytime when the sun is shining, the image locations of the reference reflector and the door reflector can be easily determined from the captured image.

The figure explaining the vehicle door open / close detection system. The figure explaining the imaging of the retroreflective body. Another figure illustrating the imaging of a retroreflective body. The figure which shows an example of the arrangement pattern of a retroreflective body. The figure which shows another example of the arrangement pattern of a retroreflector. The figure which shows another example of the arrangement pattern of a retroreflector. The figure explaining the vehicle door opening detection process. The block diagram which shows the functional configuration example of a processing apparatus. A flowchart showing the flow of opening / closing detection of the vehicle door.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. It should be noted that the embodiments described below do not limit the present invention, and the embodiments to which the present invention can be applied are not limited to the following embodiments. Further, in the description of the drawings, the same parts are designated by the same reference numerals.

FIG. 1 is a diagram for explaining a schematic configuration of a vehicle door open / close detection system 10 to which the vehicle door open / close detection device 100 of the present embodiment is applied and cooperation with other devices. In the example of FIG. 1, the train T traveling on the rail R is a three-car train in which three railroad cars 1 are connected, and each railroad car 1 has a pair of vehicle doors 11 and 11 on both sides of the vehicle body side surface. It is a two-door car equipped with two sets of each, and shows a state in which the train T is stopped at a predetermined position of a station set as a stop position target.

Further, FIG. 2 is a perspective view of the vicinity of the vehicle door 11 of the stopped railway vehicle 1 as viewed from the platform side, and FIG. 3 is a view of the railway vehicle 1 in FIG. It is a schematic view of the end face seen from. In FIGS. 2 and 3, the platform screen door 93 (see FIG. 1 and the like) is omitted from the platform fence 9 installed on the platform, and only the platform screen door 91 is shown.

As shown in FIG. 1, in the vehicle door open / close detection system 10, N vehicle door open / close detection devices 100 (100-1, 2, 3, ...) Installed at the station communicate with the integrated control device 50. Possible to be connected and configured.

The vehicle door open / close detection device 100 has a built-in light projecting unit 21 (see FIG. 3) that emits light in the photographing direction, and also functions as an imaging unit that photographs the retroreflective body 13 provided in the railway vehicle 1. 20 and a processing device 30 that processes the captured image to determine the image location of the retroreflective body 13 and detects the opening and closing of the vehicle door 11. The retroreflective body 13 is formed of a retroreflective material that reflects incident light in the incident direction, and is, for example, with one end of each vehicle 1 in the front-rear direction or the upper portion of each vehicle door 11 near both ends. , Are arranged in a predetermined positional relationship with the side wall portion of the vehicle body in the vicinity thereof. Of course, the vehicle door 11 to which the retroreflective body 13 is to be arranged may be other than this example, and the retroreflective body 13 may be arranged to all the vehicle doors 11 of the railroad vehicle 1. The retroreflector 13 may be arranged only for the vehicle door 11 closest to the crew room of the leading car and the last car of the plurality of cars organized as a train. Since it is not an electronic component or the like that needs to be provided in the railway vehicle 1 but only the retroreflector 13, it can be expected to be inexpensive, weather resistant, and durable.

As shown in FIG. 2 and the like, the retroreflective body 13 is provided on the retroreflective body (door reflector) 133 provided on the upper part of the vehicle door 11 to be arranged and on the side wall portion of the vehicle body near the upper part of the vehicle door 11. It is composed of a retroreflective body (reference reflector) 131 provided, and for example, a sheet-shaped retroreflective material is attached with an adhesive and arranged at various places. In the present embodiment, the door reflector 133 has a circular shape, and is arranged one by one near the upper corner of each of the double doors that come into contact with each other in the closed state. On the other hand, the reference reflector 131 has a rounded corner and a horizontally long shape, and is arranged at a position above the two door reflectors 133 on the side wall portion of the vehicle body near the upper portion of the vehicle door 11. The shape of these retroreflectors 13 is not particularly limited, but it can be made difficult to peel off by forming a shape without corners such as a circular shape or an ellipse or a shape with rounded corners (R chamfered shape), and it can be reattached or the like. The frequency of requiring maintenance can be reduced. Further, the size may be appropriately set, but for example, the width in the vertical direction (height direction) can be set to 10 mm or more and 100 mm or less (for example, about 50 mm).

If one vehicle door open / close detection device 100 is installed for each vehicle as shown in FIG. 1, the number N of the vehicle door open / close detection devices 100 can be, for example, the maximum number of trains departing from or arriving at the station. One vehicle door open / close detection device 100 is installed in advance so that each vehicle 1 corresponds to each vehicle 1 when the train T of the maximum train set stops at a predetermined position. Then, the photographing device 20 is a vehicle door 11 on the platform side of the railway vehicle 1 when stopped at a predetermined position, and the retroreflective body 13 (reference reflector 131 and door reflector 133) related to the vehicle door 11 is used. In the closed state, the vehicle door 11 is installed so as to be included in the photographing range and to include the entire width of the upper part of the vehicle door 11 within the left and right ranges of the photographing range. Of course, the photographing device 20 may be installed so as to correspond to each vehicle door 11 of each vehicle of the train that can arrive and depart from the station. Further, further, at least one train is supported, such as installing a photographing device 20 so as to correspond only to the vehicle door 11 closest to the crew room of the leading car of the train that can arrive and depart from the station. It may be installed.

Here, in the present embodiment, in addition to the illustrated two-door car, the rail car 1 traveling on the rail R has a different number of vehicle doors 11, such as a three-door car and a four-door car, or a number. It is assumed that there are a plurality of types of vehicles having different numbers and / or positions of vehicle doors 11, such as those having different positions of vehicle doors 11 due to differences in vehicle body length or the like even if they are the same. Therefore, in the present embodiment, the photographing device 20 is configured by using a camera having a wide angle of view (for example, 90 degrees) using a wide-angle lens, and the image is taken on the vehicle door 11 above the platform, which is the object of photographing the stopped vehicle 1. Install with the range facing.

Further, as shown in FIG. 3, the light projecting unit 21 built in the photographing device 20 irradiates near-infrared light toward the photographing direction of the photographing device 20. The photographing device 20 photographs near-infrared light to generate a reflection intensity image of an object within the imaging range as a captured image, and measures the distance to the object to generate a distance image of the imaging range. It consists of a TOF (Time of Flight) camera that can be used. In the present embodiment, the light projecting unit 21 irradiates light having a wavelength in the 940 nm band. The light projecting unit 21 is not limited to the configuration built in the photographing device 20, and may be a separate body.

According to the photographing device 20, as shown in FIGS. 2 and 3, it is possible to irradiate a wide range A1 of the upper part of the vehicle body including the retroreflector 13 with near infrared light. Then, the retroreflective body 13 reflects the light projected from the light projecting unit 21 toward the light projecting unit 21, and the photographing device 20 photographs the reflected light (near infrared light) B11 and B13. , A distance image showing the distance to the retroreflective body 13 can be generated and output. Therefore, no matter what type of railroad vehicle 1 is stopped, the photographing device 20 can be easily installed so that the entire upper width of the retroreflective body 13 and the vehicle door 11 falls within the photographing range, and the photographing device 20 can be easily installed. It is not necessary to finely adjust the installation position and installation angle of the installation. In particular, since the reflected lights B11 and B13 are returned to the photographing device 20 by the retroreflective body 13, it is possible to reliably and easily discriminate the image portion of the retroreflective body 13 in the captured image. It is also advantageous for a wide captured image. Further, since the retroreflective body 13 is arranged on the upper portion of the vehicle door 11 and the side wall portion of the vehicle body in the vicinity thereof and a photograph thereof is taken, it is difficult to be affected by passengers when detecting the opening / closing of the vehicle door, which will be described later, and erroneous detection is performed. Can be suppressed.

Further, since the wavelength band around 940 nm is a wavelength region in which the proportion of the near-infrared light contained in sunlight is low, the influence of the wavelength band is suppressed even in the presence of sunlight in the daytime, and the retroreflective body 13 Can be taken clearly. On the other hand, since the light projecting unit 21 irradiates near-infrared light for shooting, the retroreflector 13 can be clearly shot even when the surroundings are dark, such as at night or in bad weather. Therefore, the retroreflector 13 within the photographing range can be reliably photographed without being affected by the installation environment of the photographing device 20. Further, since the projected light is near-infrared light that is not visible light, even if the projected light enters the field of view of the passengers, it is unlikely or hardly that the passengers feel glare.

The integrated control device 50 is communicatively connected to the platform fence control device 7 that controls the opening and closing of the platform fence door 93, and opens and closes the platform fence door 93 in conjunction with the opening and closing of the vehicle door 11, so that the platform screen door opening and closing detection is detected. The detection result of the device 100 (for example, vehicle type detection signal, stop detection signal, door opening detection signal, door closing detection signal, etc.) is relayed to the platform fence control device 7 at any time. For example, the detection result of the N vehicle door open / close detection devices 100 can be relayed by the result of being bound by the AND condition or the OR condition.

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

The platform fence control device 7 controls the opening and closing of the platform fence door 93 according to the stopped railroad vehicle 1 according to the detection signal from the integrated control device 50. Further, in the opening / closing control, the platform fence door 93 to be opened / closed and the opening width thereof are controlled according to the number and positions of the vehicle doors 11 included in the railway vehicle 1. The platform fence 9 may be a platform fence in which the door pocket portion 91 for accommodating the platform fence door 93 is movable. In this case, the platform fence control device 7 also controls the movement of the door pocket portion 91 according to the detection signal from the integrated control device 50.

[principle]
In the present embodiment, the photographing device 20 continuously photographs the photographing range at a predetermined frame rate (for example, 20 fps), and outputs the photographed image and the distance image to the processing device 30 at any time. On the other hand, the processing device 30 discriminates the image portions of the reference reflector 131 and the door reflector 133 in the captured image on a frame-by-frame basis (reflector discrimination process). Then, based on the determined image location and its positional relationship, a process of detecting the type of the railway vehicle 1 (vehicle type) (vehicle type detection process), a process of detecting the stop of the train (stop detection process), and a stop. Processing for detecting the opening operation of the vehicle door 11 of the railcar 1 (vehicle door opening detection processing) and processing for detecting the closing operation of the vehicle door 11 (vehicle door closing detection processing) are performed, and these detection signals are performed. Is output to the general control device 50.

1. 1. Reflector Discrimination Process As described above, the retroreflector 13 reflects the incident light in the incident direction. Then, the photographing device 20 photographs the near-infrared light at a predetermined frame rate while irradiating the near-infrared light from the light projecting unit 21 toward the photographing direction. Therefore, if the retroreflective body 13 is within the photographing range, the image portion appears as a pixel range having high brightness (a pixel range having a large reflection intensity of near-infrared light) in the captured image. Therefore, in the reflector discrimination process, for example, a process of binarizing a captured image using a predetermined threshold value set in advance and extracting an image portion having a high reflection intensity is repeated for each frame.

At that time, it is determined whether or not the railroad vehicle 1 to be detected by the own device exists within a predetermined distance range (for example, 3 m or the like) set in advance. The object to be detected by the vehicle door open / close detection device 100 is the railroad vehicle 1 stopped on the platform on which the photographing device 20 is installed. However, in a station equipped with a plurality of platforms, if there is no railroad vehicle on the platform where the photographing device 20 is installed and the railroad vehicle is stopped on another platform behind it, the railroad vehicle is provided on the other railroad vehicle. A situation may occur in which the retroreflector is included in the photographing range of the photographing apparatus 20. If this is regarded as the retroreflective body 13 provided in the railroad vehicle 1 to be detected and the subsequent processing is performed, the opening / closing of the vehicle door 11 is detected even though the railroad car does not exist at the installation platform. That is a problem.

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

According to this reflector discrimination process, the image portion of the retroreflective body 13 can be discriminated by simply extracting an image portion having a high reflection intensity in the captured image, and image processing such as morphological recognition is not required. Therefore, the image portion of the retroreflective body 13 can be discriminated at high speed and reliably. In the present embodiment, the retroreflector 13 is made into a shape without corners or a shape with rounded corners (R chamfered shape) in order to make it difficult for the retroreflector 13 to be peeled off. There is also a secondary effect that the shape of the retroreflective body 13 can be freely selected.

2. Vehicle type detection processing In the present embodiment, it is assumed that there are types of railway vehicles having different numbers of vehicle doors 11. Then, the vehicle door open / close detection device 100 also detects the type of this railway vehicle. Therefore, the retroreflector 13 is based on the type of the railroad vehicle 1 to be arranged, that is, the number of vehicle doors 11 in the present embodiment (for example, whether it is a two-door car or a three-door car). It is arranged according to the arrangement pattern.

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

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

Then, in the vehicle type detection process, according to the positional relationship (arrangement pattern) of the image portion of the door reflector 133 with respect to the image portion of the reference reflector 131 in the captured image, the railroad vehicle type of the corresponding arrangement pattern (here, the vehicle door 11). Number of) is determined. Then, the determined railway vehicle type is output to the integrated control device 50 as a vehicle type detection signal.

The integrated control device 50 may output the input vehicle type detection signal to the platform screen door control device 7 as it is, or can control the platform screen door 9 corresponding to the type of railroad vehicle indicated by the vehicle type detection signal. Therefore, a signal for controlling the position of the door pocket portion 91 and the opening width of the platform screen door 93 may be output to the platform screen door control device 7 in response to the vehicle type detection signal.

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

For example, the train speed is calculated from the amount of movement between the current frame and the immediately preceding frame and the frame rate (for example, 20 fps) for the image portion of the reference reflector 131 in the captured image. Then, "the train speed is equal to or less than a predetermined speed (for example, 3 km / h or less)" is used as the immobility equivalent condition, and when the immobility equivalent condition is satisfied, the train T is detected as stopped. When the stop of the train T is detected, the stop detection signal is output to the integrated control device 50. It should be noted that the stop is detected based on the movement speed when all the image parts of the retroreflective body 13 in the captured image including the door reflector 133 as well as the reference reflector 131 are moving in the same direction. You may do it.

4. Vehicle door opening detection process FIG. 7 is a diagram illustrating a vehicle door opening detection process, and shows a change in the positional relationship between the reference reflector 131 and the door reflector 133 as the vehicle door 11 opens. .. The positional relationship between the reference reflector 131 and the door reflector 133 is determined by the positional relationship (vehicle type detection process) when the door is closed as shown in FIG. 7A until the train T (railroad vehicle 1) stops. Placement pattern) is maintained. Then, the positional relationship changes when the vehicle door 11 starts the door opening operation (arrows A21 and A23). This is because, as shown in FIG. 7B, the two door reflectors 133 move in directions away from each other. Therefore, in the vehicle door opening detection process, it is detected that the positional relationship between the image locations of the reference reflector 131 and the door reflector 133 has changed from a relationship that satisfies the positional relationship when the door is closed to a relationship that does not. It is detected that the opening operation of the vehicle door 11 has started.

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

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

Not only when the start of the door opening operation is detected from the movement amount of the door reflector 133, the distances d31 and d33 between the two door reflectors 133 are monitored, and the door is opened when the distance is more than a predetermined distance. The start of door operation may be detected.

Further, in parallel with tracking the image portion of the door reflector 133, it is preferable to determine whether or not the immobility equivalent condition is satisfied for the image portion of the reference reflector 131 in the same manner as in the stop detection process. By determining that "the reference reflector 131 is in a stopped state" in addition to "the image portion of the door reflector 133 has moved by a predetermined amount or more", the vehicle door 11 is opened in a state where the railcar 1 is stopped. Since it is possible to detect the movement, it is possible to prevent erroneous detection such that the movement of the railroad vehicle 1 itself is detected as a door opening operation.

5. Vehicle door closing detection process When the vehicle door 11 completes the door opening operation, the vehicle door 11 is housed in a door pocket provided on the vehicle body, but the photographing range of the photographing device 20 is within the left and right range of the upper part of the vehicle door 11. Since the entire width is included, when the door opening operation of the vehicle door 11 is completed, the image portion of the door reflector 133 is not included in the captured image. Then, after that, the closing operation of the vehicle door 11 is started, and as soon as the vehicle door 11 starts to advance from the door pocket, the state changes to include the image portion of the door reflector 133. The image portion of the reference reflector 131 remains included in the captured image during that period.

Therefore, in the vehicle door closing detection process, it is detected that the closing operation of the vehicle door 11 is started by detecting the change to the included state. When the start of the closing operation of the vehicle door 11 is detected, the vehicle door closing detection signal is output to the integrated control device 50. The vehicle door closing detection signal is output to the platform fence control device 7 by the integrated control device 50, and the platform fence control device 7 starts the closing operation of the platform fence door 93 in response to the output. Therefore, by using the detection result of the vehicle door opening / closing detection device 100 of the present embodiment, it is possible to close the platform fence door 93 in conjunction with the start of the closing operation of the vehicle door 11. That is, when the closing operation of the vehicle door 11 is started, the platform fence door 93 can be closed in response to the closing operation.

In the vehicle door closing detection process as well, in order to prevent erroneous detection, it is preferable to determine in parallel whether or not the immobility equivalent condition is satisfied for the image portion of the reference reflector 131 as in the vehicle door opening detection process. ..

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

The operation unit 31 is configured to include a push switch, a dial, and the like, and the display unit 33 is configured to include an LED, a small liquid crystal display device, and the like. The operation unit 31 and the display unit 33 are mainly used by workers during maintenance.

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

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

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

The vehicle type detection unit 373 refers to the reflector arrangement pattern data 393, and refers to the railway vehicle type (for example, a vehicle) corresponding to the positional relationship (arrangement pattern) of the image locations of the reference reflector 131 and the door reflector 133 in the captured image. The number of doors 11) is determined.

The stop detection unit 375 tracks the image portion of the reference reflector 131 in the captured image between frames, and detects that the position change satisfies a predetermined immobility equivalent condition, so that the train T (railroad vehicle 1) has a stop detection unit 375. Detect a stop.

When the stop detection unit 375 detects that the train T (railcar 1) has stopped, the vehicle door opening detection unit 377 tracks the image portion of the door reflector 133 in the captured image between frames, and the image is taken. By determining whether or not the location has moved by a predetermined amount or more from the position when the train is stopped, it is detected that the opening operation of the vehicle door 11 has started.

When the vehicle door closing detection unit 379 detects the start of the door opening operation of the vehicle door 11 by the vehicle door opening detection unit 377, the vehicle door closing detection unit 379 starts from a state in which the image portion of the door reflector 133 is not included in the captured image. By detecting the change to the included state, the closing operation of the vehicle door 11 is detected.

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

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

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

The reflector position data 399 stores the reflector discrimination result for each frame by the reflector discriminating unit 371 in time series. Therefore, in the reflector position data 399, the position coordinates of the frame including the image portion of the reference reflector 131 and the door reflector 133 arranged on the railroad vehicle 1 to be detected in the captured image are set. NS.

[Processing flow]
FIG. 9 is a flowchart showing the flow of opening / closing detection of the vehicle door 11. The process described here can be realized by the control unit 37 reading the vehicle door open / close detection program 391 from the storage unit 39 and executing the program.

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

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

Then, in step S9, the vehicle type detection unit 373 repeatedly performs the vehicle type detection process for each frame, and the railway corresponding to the positional relationship (arrangement pattern) of the image locations of the reference reflector 131 and the door reflector 133 in the captured image. Determine the vehicle type. Then, when the railway vehicle type is determined in step S9 (step S11: YES), the vehicle type detection signal is output to the integrated control device 50 (step S13). This vehicle type detection signal is output to the platform fence control device 7 by the integrated control device 50, and is used for opening / closing control of the platform fence door 93 in the platform fence control device 7. That is, the platform fence control device 7 controls the platform fence door 93 that opens and closes and the opening width thereof according to the railcar type (the number of vehicle doors 11) indicated by the vehicle type detection signal.

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

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

After that, the standby state is set until the image portion of the door reflector 133 is not included in the captured image (that is, until the opening operation of the vehicle door 11 is completed). Then, when the door opening operation of the vehicle door 11 is completed (step S27: YES), the vehicle door closing detection unit 379 starts the vehicle door closing detection process (step S29). In this vehicle door closing detection process, the vehicle door closing detection unit 379 detects that the image portion of the door reflector 133 is not included in the captured image but is included in the captured image, whereby the vehicle door 11 is detected. Detects that the door closing operation has started. Then, when the detection here is performed (step S31: YES), the vehicle door closing detection signal is output to the integrated control device 50 (step S33). This vehicle door closing detection signal is output to the platform fence control device 7 by the integrated control device 50, and is used for opening / closing control of the platform fence door in the platform fence control device 7. Specifically, the platform screen door control device 7 receives the input of the vehicle door closing detection signal and starts the closing operation of the platform screen door 93. When the closing operation of the platform screen door 93 is completed, the train T departs from the station.

Then, in the following step S35, the end determination is made, and if the end is not completed (step S35: YES), the process returns to step S5 to prepare for the arrival of the next train T.

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

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

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

Further, the photographing image may be photographed by the photographing apparatus 20 only immediately before the train T arrives at the station and only until the train T departs from the station. For example, by installing a sensor at an appropriate position along the track, the processing device 30 inputs an external signal that detects the arrival of the train T arriving at the station, so that the photographing device 20 starts photographing. Can be done.

Further, in the above-described embodiment, since one vehicle door open / close detection device 100 is installed for each vehicle 1 of the train T stopped at a predetermined position, the processing device 30 is performed by each vehicle door open / close detection device 100. It is also possible to detect the number of stopped train T vehicles by using the determination result of whether or not the railroad vehicle 1 to be detected exists.

Further, the vehicle door open / close detection device 100 assumes all railway vehicle types of the railway vehicle 1 that stops at the station, and applies to all the vehicle doors 11 included in the specific vehicle (for example, the leading vehicle) 1 of the stopped train T. One vehicle door open / close detection device 100 may be installed so as to correspond to each.

Further, the photographing apparatus 20 may be configured by using a camera capable of outputting a color image, and the color image may be recorded so that the image can be referred to appropriately at the time of maintenance.

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

10 Vehicle door open / close detection system, 100 (100-1,2,3, ...) Vehicle door open / close detection device, 20 Imaging device, 21 Floodlight unit, 30 Processing device, 31 Operation unit, 33 Display unit, 35 Communication Unit, 37 Control unit, 371 Reflector discrimination unit, 373 Vehicle type detection unit, 375 Stop detection unit, 377 Vehicle door opening detection unit, 379 Vehicle door closing detection unit, 39 Storage unit, 391 Vehicle door opening / closing detection program, 393 Reflector placement pattern data, 395 photographed image data, 397 distance image data, 399 reflector position data, 50 general control device, 7 home fence control device, 93 home fence door, 1 railroad vehicle, 11 vehicle door, 13 retroreflective Body, 131 reference reflector, 133 door reflector

Claims (9)

It is a vehicle door opening / closing detection device installed at a station to detect the opening / closing of the vehicle door of a railway vehicle stopped at a predetermined position.
The railroad vehicle is provided with retroreflective bodies arranged in a predetermined positional relationship on the vehicle door and the vehicle body side wall portion in the vicinity of the vehicle door (hereinafter, the retroreflective body of the vehicle body side wall portion is referred to as "reference". "Reflector", the retroreflective body of the vehicle door is called "door reflector"),
A photographing unit installed so as to include the reference reflector and the door reflector of the railway vehicle in the closed door state stopped at the predetermined position in the photographing range.
A light projecting unit that projects light in the shooting direction of the shooting unit,
A control unit that determines the image locations of the reference reflector and the door reflector in the image captured by the imaging unit with reference to the positional relationship, and detects the opening and closing of the vehicle door.
With
The railroad vehicles include a plurality of types of vehicles having different numbers and / or positions of vehicle doors.
The positional relationship is an arrangement pattern of the door reflector based on the position of the reference reflector, and is defined as a different arrangement pattern according to the type of the railway vehicle.
The control unit determines the type of the railroad vehicle based on the arrangement pattern of the image portion of the door reflector with respect to the image portion of the reference reflector in the captured image.
Vehicle door open / close detection device. The control unit detects that the image locations of the reference reflector and the door reflector in the captured image have changed from a relationship that satisfies the positional relationship to a relationship that does not satisfy the positional relationship. Detects that the door opening operation has started,
The vehicle door open / close detection device according to claim 1. The control unit determines whether or not the image portion of the door reflector in the captured image has moved by a predetermined amount or more when the image portion of the reference reflector in the captured image does not move. Detecting that the opening operation of the vehicle door has started,
The vehicle door open / close detection device according to claim 1. The photographing unit is installed within the left and right range of the photographing range so as to include the vehicle door of the railway vehicle stopped at the predetermined position in full width.
The control unit detects that the vehicle door closing operation has been started by detecting that the captured image has changed from a state in which the image portion of the door reflector is not included to a state in which the image portion is included. do,
The vehicle door open / close detection device according to any one of claims 1 to 3. The control unit detects the stop of the railway vehicle by detecting that the position change of the image portion of the reference reflector in the captured image satisfies a predetermined immobility equivalent condition.
The vehicle door open / close detection device according to any one of claims 1 to 4. The photographing unit is configured to be capable of outputting a distance image.
The control unit determines whether or not the railway vehicle exists within a predetermined distance range from the photographing unit to the railway vehicle stopped at the predetermined position to be detected by the vehicle door open / close detection device. Judging from the image, if it does not exist, the opening / closing of the vehicle door is not detected, and if it exists, the opening / closing of the vehicle door is detected.
The vehicle door open / close detection device according to any one of claims 1 to 5. The arrangement pattern is determined by the distance from the reference reflector and / or the number of door reflectors to be arranged.
The vehicle door open / close detection device according to any one of claims 1 to 6. The light projecting unit irradiates near-infrared light and
The photographing unit captures near-infrared light.
The vehicle door open / close detection device according to any one of claims 1 to 7. The light projecting unit irradiates light having a wavelength in the 940 nm band.
The vehicle door open / close detection device according to claim 8.

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