JP7524729B2 - Vehicle stop determination device, vehicle stop determination method, and vehicle stop determination program - Google Patents

Description

The present invention relates to a vehicle stop determination device, a vehicle stop determination method, and a vehicle stop determination program that determine the stopped state of a vehicle stopped at a specified position.

2. Description of the Related Art In recent years, a fallen person detection device has been proposed that detects a person who has fallen into the gap between a station platform and a railway car.
In this type of person-falling detection device, when the train is not stopped at the station platform or when the train is stopped at the station platform, the device determines whether the train is stopped or not as a preliminary step to detecting a person who has fallen from the platform.

For example, Patent Document 1 discloses a vehicle stop detection device that detects trains stopped at stations by setting reflectors attached to the vehicle body or specific wheels of the vehicle as detection targets for the vehicle.

JP 2002-127904 A

However, the above-mentioned conventional vehicle fixed position stop detection device has the following problems.
In other words, the vehicle fixed-position stop detection device disclosed in the above publication determined that the vehicle had stopped by detecting that a detection object (reflector, wheels) was located in a single detection area set up at a fixed distance from a sensor installed at the station.

However, with this type of method, there is a risk that the position of the object to be detected will differ when the type and length of trains stopping at a station are different, so it is necessary to set a detection area that encompasses the positions of multiple objects to be detected corresponding to each train, for example.
However, if the detection area is widened, the detection area becomes longer, and there is a risk that the detection accuracy will decrease, for example, when the vehicle starts to move, it may not be considered to have departed because the wheels do not leave the detection area even though the vehicle is moving.

The objective of the present invention is to provide a vehicle stop determination device, a vehicle stop determination method, and a vehicle stop determination program that can perform vehicle stop determination with high accuracy even when the vehicle type, length, stopping position, etc. are different.

The vehicle stop determination device according to the first invention is a vehicle stop determination device that determines whether a vehicle stopped at a predetermined position is stopped or not, and includes a detection area setting unit, a wheel detection unit, and a determination unit. The detection area setting unit sets a first detection area for detecting the wheels of a first vehicle stopped at a predetermined position, and a second detection area for detecting the wheels of a second vehicle having a different length from that of the first vehicle. The wheel detection unit detects the presence or absence of the wheels of the first vehicle in the first detection area, or the wheels of the second vehicle in the second detection area. The determination unit determines whether the vehicle is stopped or not based on the detection result of the wheel detection unit in the first detection area or the second detection area.

Here, for example, in order to determine whether different vehicles (a first vehicle and a second vehicle) stopped at a station or the like are stopped, a first detection area and a second detection area corresponding to each vehicle are set, and a determination of whether the vehicles are stopped is made based on the detection results of the wheels of each vehicle in each detection area.
Here, different vehicles refer to vehicles that differ in length, stopping position, etc., for example.

Vehicles that are the subject of the stop determination include various vehicles equipped with wheels, such as trains, steam trains, buses, trucks, and passenger cars.
The first detection area for detecting the wheels of the first vehicle and the second detection area for detecting the wheels of the second vehicle may be set at positions spaced apart from each other, or may be set at positions where they partially overlap.
This makes it possible to appropriately detect wheels that are assumed to be in different positions, even if vehicles of different lengths or stopping positions are stopped in a predetermined position, for example.
Therefore, even if the type, length, stopping position, etc. of the vehicle are different, the stopping determination of the vehicle can be performed with high accuracy.

A vehicle stop determination device of the second invention is the vehicle stop determination device of the first invention, wherein the determination unit determines that the vehicle is stopped when the wheel detection unit detects a wheel for a predetermined period of time or longer in the first detection area or the second detection area.
As a result, even if, for example, garbage or an animal passes in front of the wheel detection unit, it will not be recognized as a wheel until a predetermined time has elapsed, thereby avoiding erroneous detection of the wheel.

A vehicle stop determination device according to a third aspect of the present invention is the vehicle stop determination device according to the first or second aspect of the present invention, wherein the detection area setting unit sets a plurality of detection areas in accordance with a plurality of vehicles stopped at predetermined positions.
As a result, even when making a stop determination for three or more different types of vehicles, multiple detection areas corresponding to each of the vehicles are set, so that the stop determination for each vehicle can be performed with high accuracy.

A vehicle stop determination device according to a fourth aspect of the present invention is the vehicle stop determination device according to the third aspect of the present invention, further comprising a memory unit that stores the multiple detection areas set in the detection area setting unit.
As a result, since multiple detection areas corresponding to multiple vehicles are stored in advance in the memory unit, it is possible to easily set an appropriate detection area according to, for example, a vehicle scheduled to stop at a specific station.

A vehicle stop judgment device of the fifth invention is a vehicle stop judgment device of any one of the first to fourth inventions, further comprising a vehicle detection unit that detects a specified vehicle, either the first vehicle or the second vehicle.
As a result, since a vehicle detection unit separate from the wheel detection unit is provided to detect when the vehicle has stopped, it is possible to more accurately determine whether the vehicle has stopped.

A vehicle stop judgment device of a sixth invention is a vehicle stop judgment device of the fifth invention, wherein the judgment unit judges that the vehicle is stopped when a wheel is detected by the wheel detection unit and a first vehicle or a second vehicle is detected by the vehicle detection unit.
This makes it possible to determine whether the vehicle has stopped with greater accuracy by using both the detection of the wheels by the wheel detection unit and the detection of the vehicle by the vehicle detection unit as conditions for determining whether the vehicle has stopped.

A vehicle stop determination device according to a seventh aspect of the present invention is the vehicle stop determination device according to the sixth aspect of the present invention, wherein the vehicle detection unit obtains a detection result from an infrared sensor that irradiates infrared rays toward a vehicle, and detects the presence or absence of a vehicle.
As a result, by detecting a vehicle using the infrared sensor, it is possible to determine whether the vehicle has stopped with a simple configuration.

A vehicle stop determination device according to an eighth aspect of the present invention is the vehicle stop determination device according to any one of the first to seventh aspects of the present invention, wherein the first vehicle and the second vehicle are different in length.
As a result, even if the wheel positions of the first vehicle and the second vehicle are different between a first vehicle and a second vehicle having different vehicle lengths, the first detection area and the second detection area are set to correspond to each, so that stopping judgment of each vehicle can be performed with high accuracy.

A vehicle stop determination device according to a ninth aspect of the present invention is the vehicle stop determination device according to any one of the first to seventh aspects of the present invention, wherein the first vehicle and the second vehicle have different predetermined stopping positions.
As a result, even if the wheel positions of the first vehicle and the second vehicle are different between a first vehicle and a second vehicle that have different stopping positions, the first detection area and the second detection area are set to correspond to each, so that stopping judgment of each vehicle can be performed with high accuracy.

A vehicle stop determination device according to a tenth aspect of the present invention is a vehicle stop determination device according to any one of the first to ninth aspects of the present invention, wherein the wheel detection unit acquires detection results from a scanning unit that scans a scanning area of a predetermined angle range with laser light, and detects the presence or absence of wheels.
This makes it possible to detect the presence or absence of wheels using the detection results obtained from a laser sensor that scans a laser beam within a predetermined angular range.

An eleventh aspect of the present invention is the vehicle stop determination device according to the tenth aspect of the present invention, wherein the scanning unit scans with the laser light in a substantially horizontal direction.
This makes it possible to detect the presence or absence of a wheel by using a scanning unit that scans a laser beam in a substantially horizontal direction.

A vehicle stop determination device according to a twelfth aspect of the present invention is the vehicle stop determination device according to any one of the first to eleventh aspects of the present invention, wherein the scanning unit is installed under a platform of a station.
This makes it possible to use a scanning unit such as a laser sensor installed under the station platform to detect the wheels of a vehicle stopped at the station, thereby making it possible to determine whether the vehicle has stopped.

A vehicle stop determination device according to a thirteenth aspect of the present invention is the vehicle stop determination device according to the twelfth aspect of the present invention, wherein the scanning unit detects a person or object that has fallen from a station platform.
This allows the scanning unit, which detects the presence or absence of wheels, to be used as a fall detection sensor, for example, to detect people or objects that have fallen off a train station platform.

A vehicle stop determination device according to a fourteenth aspect of the present invention is the vehicle stop determination device according to the eleventh or twelfth aspect of the present invention, wherein the vehicle is a train that enters a station and stops at a predetermined position.
As a result, for example, even if the lengths of vehicles stopping at a station vary based on the position of the lead vehicle, the wheel positions, which differ for each vehicle, can be properly detected by setting detection areas according to the wheel positions of vehicles of different lengths.

A vehicle stop determination method according to a fifteenth aspect of the present invention is a vehicle stop determination method for determining whether a vehicle stopped at a predetermined position is stopped, and includes a detection area setting step, a wheel detection step, and a determination step. The detection area setting step sets a first detection area for detecting wheels of a first vehicle stopped at the predetermined position and a second detection area for detecting wheels of a second vehicle different from the first vehicle. The wheel detection step detects the presence or absence of wheels of the first vehicle in the first detection area, or wheels of the second vehicle in the second detection area. The determination step determines whether the vehicle is stopped based on the detection result in the wheel detection step in the first detection area or the second detection area.
Here, for example, in order to determine whether different vehicles (a first vehicle and a second vehicle) stopped at a station or the like are stopped, a first detection area and a second detection area corresponding to each vehicle are set, and a determination of whether the vehicles are stopped is made based on the detection results of the wheels of each vehicle in each detection area.
Here, different vehicles refer to vehicles that differ in length, stopping position, etc., for example.

Vehicles that are the subject of the stop determination include various vehicles equipped with wheels, such as trains, steam trains, buses, trucks, and passenger cars.
The first detection area for detecting the wheels of the first vehicle and the second detection area for detecting the wheels of the second vehicle may be set at positions spaced apart from each other, or may be set at positions where they partially overlap.
This makes it possible to appropriately detect wheels that are assumed to be in different positions, even if vehicles of different lengths or stopping positions are stopped in a predetermined position, for example.
Therefore, even if the type, length, stopping position, etc. of the vehicle are different, the stopping determination of the vehicle can be performed with high accuracy.

The vehicle stop determination program according to the sixteenth invention is a vehicle stop determination program that causes a computer to execute a vehicle stop determination method for determining whether a vehicle stopped at a predetermined position is stopped or not, and includes a detection area setting step, a wheel detection step, and a determination step. The detection area setting step sets a first detection area for detecting the wheels of a first vehicle stopped at a predetermined position, and a second detection area for detecting the wheels of a second vehicle different from the first vehicle. The wheel detection step detects the presence or absence of the wheels of the first vehicle in the first detection area, or the wheels of the second vehicle in the second detection area. The determination step determines whether the vehicle is stopped or not based on the detection result in the wheel detection step in the first detection area or the second detection area.

Here, for example, in order to determine whether different vehicles (a first vehicle and a second vehicle) stopped at a station or the like are stopped, a first detection area and a second detection area corresponding to each vehicle are set, and a determination of whether the vehicles are stopped is made based on the detection results of the wheels of each vehicle in each detection area.
Here, different vehicles refer to vehicles that differ in length, stopping position, etc., for example.

Vehicles that are the subject of the stop determination include various vehicles equipped with wheels, such as trains, steam trains, buses, trucks, and passenger cars.
The first detection area for detecting the wheels of the first vehicle and the second detection area for detecting the wheels of the second vehicle may be set at positions spaced apart from each other, or may be set at positions where they partially overlap.

This makes it possible to appropriately detect wheels that are assumed to be in different positions, even if vehicles of different lengths or stopping positions are stopped in a predetermined position, for example.
Therefore, even if the type, length, stopping position, etc. of the vehicle are different, the stopping determination of the vehicle can be performed with high accuracy.

The vehicle stop determination device according to the present invention can perform highly accurate vehicle stop determination even when the vehicle type, length, stopping position, etc. are different.

1 is a control block diagram showing a configuration of a vehicle stop determination device according to an embodiment of the present invention; 1A is a plan view of the platform and the track when there is no train, and FIG. 1B is a plan view of the platform and the track when there is a train on the line. FIG. 3 is a cross-sectional view taken along line III-III in FIG. 1A is a perspective view showing a track monitoring area set by a scanner unit when there is no train, and FIG. 1B is a perspective view showing a gap monitoring area set by the scanner unit when there is a train on the track; 1A is a plan view showing the stopping position of a leading car of a train made up of cars stopped at predetermined stopping positions along a platform, and FIG. 1B is a plan view showing the stopping position of a leading car of a train made up of cars stopped at the same stopping positions as in FIG. 1A is a plan view showing the stopping position of a leading car of a train made up of cars stopped at a predetermined stopping position along a platform, and FIG. 1B is a plan view showing the stopping position of a leading car of a train made up of cars stopped at a stopping position different from that shown in FIG. FIG. 7 is a diagram showing an area A set to correspond to the vehicle shown in FIG. 5( a ) or FIG. 6( a ), and an area B set to correspond to the vehicle shown in FIG. 5( b ) or FIG. 6( b ). 1A is a diagram showing a detection area as a comparative example 1; and FIG. 1B is a diagram showing a detection area as a comparative example 2. 3 is a flowchart showing a process flow of a vehicle stop determination method executed by the vehicle stop determination device of the present invention. 4 is a flowchart showing a process flow of a fall detection method executed by the vehicle stop determination device of the present invention.

A vehicle stop determination device according to an embodiment of the present invention will be described below with reference to FIGS. 1 to 10. FIG.
In the following description, the "longitudinal direction" refers to the longitudinal direction of a platform P of a railway station. The longitudinal direction is approximately parallel to the extension direction of the track R adjacent to the platform P and the vehicle length direction of the vehicle C on the track R. The "width direction" refers to the width direction of the platform P. The width direction is approximately parallel to the gauge direction of the track R adjacent to the platform P and the vehicle width direction of the vehicle C on the track R. The "inner side" or "inner side" in the width direction refers to the side or direction approaching the width center of the platform P. The "outer side" or "outward" in the width direction refers to the side or direction moving away from the width center of the platform P.

The track R includes a track bed and a pair of rails provided thereon. The train T runs on the track R along the rails. The train T is composed of, for example, six cars C coupled via couplers (see FIG. 2(b)). The platform P is installed adjacent to the track R in the width direction.
The states of the track R include an "unattended state" shown in Fig. 2(a) and an "occupied (stopped) state" shown in Fig. 2(b). In the unattended state, no train T is present on the track R, and the space above the track R is widely open. In the unattended state, railway passengers wait for the arrival of the train T on the upper surface of the platform P. In the occupied state, the train T is stopped on the track R. In the occupied state, railway passengers straddle the gap D formed between the platform P and the train T and board the train T from the upper surface of the platform P, or disembark from the train T to the upper surface of the platform P.

(1) Vehicle stop determination device 1
The vehicle stop determination device 1 according to this embodiment is installed, for example, in a railway station equipped with a platform P, performs stop determination for a train T entering the platform P, and detects the on-track state and the unoccupied state of the train T. Furthermore, the vehicle stop determination device 1 detects a railway user (person) who has accidentally fallen from the platform P, a fallen object, and the like, when the train T is on the track and when it is unoccupied.

As shown in FIG. 1, the vehicle stop determination device 1 includes an infrared sensor 2, a scanning device 3, a control device 4, and an alarm device 5.
The infrared sensor 2 is installed, for example, on the roof of a railway station, and detects the presence or absence of a train by irradiating infrared rays IR to the side of the leading car (first car) of a train T stopped on a track R adjacent to a platform P, as shown in Figure 2 (b).

As shown in Figures 2(a) and 2(b), the scanning device 3 is provided along a track R adjacent to the platform P. As shown in Figure 1, the scanning device 3 has a plurality of scanner units 3a, 3b, and 3c.
The scanner units 3a, 3b, and 3c are disposed at predetermined intervals in the longitudinal direction, one for each of the two vehicles C. As shown in FIG.

The scanner 31 is, for example, a 2D laser scanner, and as shown in FIG. 1, has a light emitting unit 33, a deflection unit 34, a light receiving unit 35, and a detection unit 36.
The light emitting unit 33 emits a scanning light SL such as a laser beam. The deflection unit 34 has a deflector such as a galvanometer mirror and an actuator that rotates the deflector. The scanning light SL emitted by the light emitting unit 33 is deflected by the deflection unit 34 and then emitted.

2A and 2B, a two-dimensional scanning range SR is formed. If an object (wheel W of a vehicle C, a fallen object, etc.) is present within the scanning range SR, the scanning light SL is reflected by the object.
The light receiving section 35 receives the reflected light of the scanning light SL.
The detection unit 36 detects whether or not an object is present within the scanning range SR (a monitoring area set within the scanning range SR) based on the reflected light received by the light receiving unit 35 .

As shown in FIG. 3, the scanner 31 is installed below the platform P and slightly above the track R.
The scanner 31 mainly detects the wheels W of the carriages C of the train T that is stopped, a person who has fallen off the tracks, etc.
3, the scanner 31 is installed inward in the width direction from the track R and further inward in the width direction from the edge of the platform P. A space that is recessed inward in the width direction when viewed from the edge of the platform P may be formed below the platform P. The installation positions of the scanner units 3a, 3b, 3c are set, for example, in such a space, and the position of the scanner 31 in the up-down direction and width direction is adjusted within the space.

The scanner 31 is installed in a position in which the scanning light SL is emitted substantially horizontally outward in the width direction and deflected within a substantially horizontal plane. As a result, the scanner 31 forms two substantially horizontal scanning ranges SR below the platform P and outward in the width direction as viewed from the scanner 31.
The deflection range of the scanning light SL is approximately 180 degrees, as shown in Figures 2(a) and 2(b). In a plan view, the scanning range SR is formed in an approximately semicircular shape that is line-symmetrical with respect to a reference line RL extending in the width direction from the corresponding scanner 31. The multiple scanning ranges SR are arranged in the longitudinal direction by the multiple scanner units 3a, 3b, and 3c and are formed so as to partially overlap each other.

A monitoring area is set within each scanning range SR. Each scanner 31 can detect the presence or absence of an object within the scanning range SR. When each scanner 31 detects the presence of an object within the set monitoring area, it can output a detection signal to that effect.
The size and location of the monitoring area are changed according to the state of the track. In the scanner 31 according to this embodiment, it is possible to simultaneously set a plurality of monitoring areas in different areas within the same scanning range SR. In addition, the scanning range SR is set so that two or more monitoring areas set simultaneously partially overlap each other at their ends in a direction substantially parallel to the longitudinal direction of the platform P.

In this embodiment, the scanner units 3a, 3b, and 3c are installed at intervals corresponding to the length of two cars in the longitudinal direction. Each installation position is a position that faces a car coupling portion of a stopped train T in the width direction.
The scanner unit 3a is disposed at a position facing the vehicle couplings of the first and second cars installed at the end on one side in the longitudinal direction (the left side of the paper in Figs. 2(a) and 2(b)). As shown in Fig. 2(b), the scanner unit 3a detects the rear wheels W of the leading car C of the train T that is stopped.

Furthermore, when train T is not present as shown in Figures 2(a) and 4(a), the scanner unit 3a detects people who have fallen off the track, fallen objects, etc. in the track monitoring area ARa set on the track R, and when train T is present as shown in Figures 2(b) and 4(b), the scanner unit 3a detects people who have fallen off the track, fallen objects, etc. in the gap monitoring area ADa set between the car C of the stopped train T and the platform P.

Scanner unit 3b is spaced from scanner unit 3a at the end by the length of two cars and is disposed in a position facing the coupling portions of the third and fourth cars, as shown in FIG. 2(b).
When the train T is absent as shown in FIG. 2(a), the scanner unit 3b detects a person who has fallen off the track, fallen objects, etc. in a track monitoring area ARb set on the track R, and when the train T is present as shown in FIG. 2(b), the scanner unit 3b detects a person who has fallen off the track, fallen objects, etc. in a gap monitoring area ADb set between the car C of the stopped train T and the platform P.

Scanner unit 3c is spaced from scanner unit 3b at the end by the length of two cars and is disposed in a position facing the coupling portion of the fifth and sixth cars, as shown in FIG. 2(b).
When the train T is absent as shown in FIG. 2(a), the scanner unit 3c detects a person who has fallen off the track, fallen objects, etc. in a track monitoring area ARc set on the track R, and when the train T is present as shown in FIG. 2(b), the scanner unit 3c detects a person who has fallen off the track, fallen objects, etc. in a gap monitoring area ADc set between the car C of the stopped train T and the platform P.

The monitoring area set for each scanner unit 3a to 3c has a length equivalent to that of two cars in the longitudinal direction, and corresponds to an area in which two cars, a car C on one side in the longitudinal direction and a car C on the other side (the right side of the paper in FIG. 2(a) and the like), are stopped when viewed from the installation position.
The multiple monitoring areas set in each of the scanner units 3a, 3b, and 3c are connected in the longitudinal direction, so that the entire area in which the train T stops is subject to monitoring.

The number of scanner units 3a, 3b, 3c may be one or more and is not particularly limited. The number of scanner units 3a, 3b, 3c can be changed as appropriate according to the longitudinal dimension of the monitoring area, the effective length of the platform P, and the maximum length of the train T that is expected to stop on the track R.
1, the control device 4 performs a stop determination as to whether the train T is stopped or not based on the detection results output from the infrared sensor 2 and the scanning device 3, and detects a person who has fallen from the platform P, a fallen object, etc. When the control device 4 determines that the train T is in a stopped state, it executes a process for detecting a person who has fallen, a fallen object, etc. Here, when the control device 4 detects a person who has fallen, it controls the alarm device 5 to perform an alarm operation to notify relevant people such as station staff.

The warning device 5 includes an alarm device provided in a control center that manages train operations and issues a warning to a commander, an alarm device provided in a railway station and issues a warning to station staff, and an alarm device provided in a control car of the train T and issues a warning to a driver or conductor. The alarm device may be a speaker or buzzer that outputs sound, or a display or lamp that displays text information.
This allows station staff and other relevant personnel to take measures based on the alarm to deal with the fall and to prevent secondary accidents associated with the fall.

(2) Control device 4
The control device 4 is, for example, configured by a computer including a CPU, memories such as a ROM, a RAM, and an EEPROM, and an input/output interface. The computer may be a single unit or a combination of multiple physically distributed computers.

The memory stores a program for causing such a computer to execute a vehicle stop determination method and a fall detection method (see FIGS. 9 and 10).
The CPU reads the programs stored in the memory and performs information processing related to the vehicle stop determination method and the fall detection method. The memory can temporarily store not only various programs but also information or data required for executing the vehicle stop determination method and the fall detection method.

By executing various programs, the control device 4 has a storage unit 10, a timer 11, a vehicle detection unit 12, a detection area setting unit 13, a wheel detection unit 14, a scan data acquisition unit 15, a determination unit 16, and an output unit 17. The storage unit 10 is realized by the above-mentioned memory.
The memory unit 10 stores a pattern of a monitoring area that is variably set according to the state of the track R for each of the scanner units 3 a , 3 b , and 3 c included in the scanner 31 .

The memory unit 10 also stores a plurality of detection areas A and B (see FIG. 7) for the scanner unit 3a included in the scanner 31 to detect the wheels W set for each vehicle C. The pattern of the detection areas A and B for the wheels W set for each vehicle C will be described later.
The timer 11 measures, for example, the residence time of the wheel W of the vehicle C in the detection area A or the detection area B. More specifically, the timer 11 starts measurement after the wheel W is detected in the preset detection area A or B, and is used to determine whether a predetermined time has elapsed while the wheel W is detected in the detection area A or B.

The vehicle detection unit 12 acquires information indicating the presence or absence of a train T on the track, i.e., whether the train T has entered and stopped at the platform P, based on the detection result of the infrared sensor 2. In this embodiment, the vehicle detection unit 12 acquires information indicating whether the train T is in a present state or an absent state as a state indicating the presence or absence of a train C.
The detection area setting unit 13 sets detection areas A, B (see Figure 7) for the scanner 31 to detect the wheels W, depending on the type (length, etc.) and stopping position of the car C of the train T entering the platform P.

For example, if the cars C of a train T have different lengths, when the train stops at a predetermined position on the platform P based on the position of the leading car (first car), the position of the wheels W of the first car detected by the scanner 31 installed near the joint between the first and second cars will change depending on the cars C having different lengths L1, L2.
Specifically, for example, if the length L1 (approximately 20 m) of vehicle C (first vehicle) shown in Figure 5(a) and the length L2 (approximately 17 m) of vehicle C (second vehicle) shown in Figure 5(b) are the same, then the position of the wheels W detected by the scanner unit 3a will move further to the left in the approximately 17 m long vehicle C than in the approximately 20 m long vehicle C, as shown in Figure 5(b).

In addition, it is also assumed that the stopping positions on the platform P may differ depending on, for example, the number of trains T, the destination, and the type of the train T. In this case, the positions of the wheels W detected by the scanner 31 also change.
Specifically, for example, when stopping position B of vehicle C (second vehicle) shown in Figure 6(b) moves to the right (toward the rear of the vehicle) in the figure relative to stopping position A of vehicle C (first vehicle) shown in Figure 6(a), the position of the wheel W detected by the scanner unit 3a moves to the right, as shown in Figure 6(b).

In the vehicle stop determination device 1 of this embodiment, as described above, even if the position of the wheels W detected by the scanner 31 changes, individual detection areas A, B (see Figure 7) etc. corresponding to the cars C of the train T scheduled to enter the station are set.
The vehicle stop position determination process performed by the vehicle stop determination device 1 will be described in detail later.

The wheel detection unit 14 detects the presence or absence of wheels W in detection areas A and B that are set for each type of vehicle C and stopping position in the detection area setting unit 13. Specifically, the wheel detection unit 14 detects whether wheels W have been detected in detection area A or detection area B using the detection results received from the scanner unit 3a of the scanner 31 installed on the frontmost vehicle (first car) side.

The scanning data acquisition unit 15 acquires the detection results regarding the presence or absence of objects (a person who has fallen, a fallen object, etc.) output from each scanner 31 within the monitoring area of the predetermined scanner 31 after the vehicle stop determination process described below is performed based on the detection results from the vehicle detection unit 12 and the wheel detection unit 14.
In addition, the scan data acquisition unit 15 selects one monitoring area to be set for each scanner 31 from a plurality of trajectory monitoring areas (trajectory/a to trajectory/c) stored in the memory unit 10, and sets the selected monitoring area to each scanner 31.

The judgment unit 16 judges whether the vehicle C is stopped or not based on the detection results in the vehicle detection unit 12 and the wheel detection unit 14, and also judges whether there are any objects (a person who has fallen, a fallen object, etc.) within the monitoring area acquired by the scanning data acquisition unit 15.
More specifically, the judgment unit 16 detects that the train T that has entered the platform P is stopped by the vehicle detection unit 12, and when the wheel detection unit 14 detects a wheel W in either of the predetermined detection areas A or B, and the timer 11 determines that the residence time of the wheel W in the detection area A or B has reached or exceeded a predetermined time, the judgment unit 16 judges that the car C of the train T is stopped.
The output unit 17 outputs a command to the alarm device 5 to perform an alarm operation when the determination unit 16 determines that a person or object has fallen.

(3) Wheel detection area The wheel detection area is set by dividing the scanning range of the scanner unit 3a into multiple areas, and as shown in FIG. 1, is stored in the memory unit 10 as detection areas A and B for detecting the moving wheels W according to the type (length, etc.) of the vehicle C, the stopping position, etc.

The detection areas A and B are set, for example, to a width of 2 m for vehicles C that are approximately 20 m long and 17 m long, respectively, depending on the type of train T (number of trains, etc.), the type of vehicle C (length, etc.), and the stopping position of the train T entering the platform P of the railway station.
The detection area A is set at a position corresponding to the position of the wheels W of the vehicle C shown in FIG. 5(a), and is set in the vicinity of the scanner unit 3a if the central portion shown in FIG. 7 is the position of the scanner unit 3a.

Detection area B is set at a position corresponding to the position of the wheels W of vehicle C shown in Figure 5 (b), and if the central portion shown in Figure 7 is the position of scanner unit 3a, it is set at a position farther away from scanner unit 3a than detection area A.
Here, as a comparative example 1, as shown in Figure 8 (a), if only one detection area A is set, regardless of the type (number of trains, etc.) of train T entering a platform P of a railway station, the type (length, etc.) of vehicle C, and the stopping position, it is not possible to detect wheels W that have moved outside the range of the detection area A.

On the other hand, as a comparative example 2, as shown in FIG. 8(b), a detection area C is set that is longer in the longitudinal direction of the train T than detection area A so that a single detection area C covers the type of train T (number of trains, etc.), the type of car C (length, etc.), and the position of the wheels W corresponding to the stopping position of the train T entering the platform P of the railway station. In this case, when the car C starts moving from a stopped state, it takes time for the wheels W to leave the detection area C, which is longer than detection area A, and even though the car C is moving when it starts moving, it cannot be considered to have departed because the wheels W do not leave the detection area C, and there is a risk of a decrease in the accuracy of detecting the departure of the car C.

In this way, the detection areas corresponding to each vehicle C are individually set in advance according to the type of train T (number of trains, etc.), the type of vehicle C (length, etc.), and the stopping position of the train T entering the platform P of the railway station, so that the stopped state of each vehicle C can be accurately detected.

(4) Monitoring Area As shown in Figures 1 and 4, the memory unit 10 stores a track monitoring area AR, which is a pattern set when no train is present, and a gap monitoring area AD, which is a pattern set when a train is present, as monitoring area patterns selectively set by the scanning device 3 depending on the state of the track.
In FIG. 4, the monitoring areas of the scanner units 3b and 3c are not shown, but the monitoring areas are set in the same manner as the other scanner unit 3a.
As shown in Fig. 2(a) and Fig. 4(a), the trajectory monitoring area AR is set so as to cover the upper part of the trajectory R. A person who falls will enter the trajectory monitoring area AR during the process of falling. Therefore, a person who falls can be detected across the entire width of the trajectory R based on the detection result that an object is present within the trajectory monitoring area AR.

As shown in Figures 2(b) and 4(b), the gap monitoring area AD is narrower in width than the track monitoring area AR and is set within the gap D. A person who falls through the gap and reaches the track R enters the gap monitoring area AD during the fall. Therefore, a person who falls through the gap can be detected based on the detection result that an object is present within the gap monitoring area AD.

<Method of determining whether the vehicle is stopped>
The vehicle stop determination method performed by the vehicle stop determination device 1 of this embodiment will be described below with reference to the flowchart of FIG.
That is, in step S1, the detection area setting unit 13 of the control device 4 sets in advance detection areas (areas A, B) corresponding to each car C of the train T scheduled to enter the platform P of the railway station.
Next, in step S2, the vehicle detection unit 12 uses the infrared sensor 2 to detect whether or not a vehicle C is parked on the platform P. If a vehicle C is detected, the process proceeds to step S3, and if a vehicle C cannot be detected, the process determines that the vehicle is not present and proceeds to step S6.

Next, in step S3, it is detected whether the wheel W of the vehicle C detected by the infrared sensor 2 is in either of the preset detection areas A and B. If the wheel W is detected, the process proceeds to step S4, and if the wheel W cannot be detected, the process proceeds to step S6.
Next, in step S4, the timer 11 measures the time from when the wheel W is detected in the detection area A or B, and the process waits until a predetermined time has elapsed, after which the process proceeds to step S5.

Next, in step S5, vehicle C is detected using infrared sensor 2 in step S2, wheel W is detected in detection area A or B in step S3, and it is determined in step S4 that wheel W has remained in detection area A or B for a predetermined time since the detection of wheel W, so that the judgment unit 16 judges that vehicle C is stopped.
On the other hand, in step S6, since vehicle C was not detected in step S2, or wheels W were not detected in detection area A or B in step S3, it is determined that vehicle C is not stopped, and the processing is terminated.

<Fall detection method>
The fall detection method performed by the vehicle stop determination device 1 of this embodiment will be described below with reference to the flowchart of FIG.
The fall detection method of this embodiment is performed when the vehicle stop determination process is performed by the vehicle stop determination method described above and it is determined that the vehicle C is stopped.

That is, in step S11, a monitoring area is set in advance depending on the track state, that is, whether the car C of the train T is present on the track or not.
Next, in step S12, it is determined whether or not the vehicle C is determined to be in a stopped state in the above-mentioned vehicle stop determination process. If it is determined that the vehicle C is stopped, the process proceeds to step S13, and if it is determined that the vehicle C is not stopped, the process proceeds to step S14.

Next, in step S13, since it has been determined in step S12 that the vehicle C is stopped, detection of a fallen object (person or object) is performed in the gap monitoring area AD that is set to correspond to the vehicle's presence on the rails.
On the other hand, in step S14, since it is determined in step S12 that the vehicle C is not stopped, detection of a fallen object (person or object) is performed in the track monitoring area AR that is set to correspond to an unoccupied state.

Next, in step S15, it is determined whether or not a falling object (person or object) has been detected in step S13 or step S14, and if a falling object (person or object) has been detected, the process proceeds to step S16.
Next, in step S16, since a falling object (person or object) has been detected in step S15, the control device 4 outputs a signal from the output unit 17 to the alarm device 5 to issue an alarm.

As a result, falling objects (people or objects) can be detected in the gap monitoring area AD, which is preset according to the track condition and corresponds to the presence of train car C of train T, and in the track monitoring area AR, which corresponds to the absence of train car C of train T, and if detected, an alarm can be issued to station staff etc. by the alarm device 5.

[Other embodiments]
Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the gist of the invention.

(A)
In the above embodiment, the vehicle stop determination device 1 and the vehicle stop determination method are described as examples of the present invention. However, the present invention is not limited to this.
For example, the present invention may be realized as a vehicle stop determination program that causes a computer to execute the vehicle stop determination method by the vehicle stop determination device described above.
This vehicle stop determination program is stored in a memory (storage unit) mounted on the vehicle stop determination device, and the CPU reads the vehicle stop determination program stored in the memory and causes the hardware to execute each step.

More specifically, the CPU loads a vehicle stop determination program and executes a detection area setting step in which a first detection area for detecting the wheels of a first vehicle stopped at a predetermined position and a second detection area for detecting the wheels of a second vehicle having a different length from the first vehicle, a wheel detection step for detecting the presence or absence of the wheels of the first vehicle in the first detection area or the wheels of the second vehicle in the second detection area, and a determination step for determining whether or not the vehicle is stopped based on the detection results of the wheel detection step in the first detection area or the second detection area, thereby achieving the same effect as described above.
Furthermore, the present invention may be realized as a recording medium storing a vehicle stop determination program for use by the vehicle stop determination device.

(B)
In the above embodiment, an example has been described in which a vehicle stop determination is made using the detection result from the vehicle detection unit 12, which detects the presence or absence of a vehicle C using the infrared sensor 2, and the detection result from the wheel detection unit 14, which detects the presence or absence of wheels W in predetermined detection areas A and B using the scanner unit 3a. However, the present invention is not limited to this.
For example, the stop determination of the vehicle may be performed using only the detection result of the wheel detection unit, without using the detection result of the vehicle detection unit.

(C)
In the above embodiment, an example has been described in which the vehicle detection unit 12 detects that the train T that has entered the platform P is stopped, the wheel detection unit 14 detects the wheels W in either of the predetermined detection areas A or B, and the timer 11 determines that the residence time of the wheels W in the detection area A or B has reached or exceeded a predetermined time, and then the vehicle C of the train T is determined to be stopped. However, the present invention is not limited to this.
For example, the detection results of the vehicle detection unit and the wheel detection unit may be used to determine whether the vehicle has stopped, without using the time that the wheels remain in the detection area measured by a timer.

(D)
In the above embodiment, an example has been described in which two detection areas A and B are provided and are set in advance to detect the wheel W. However, the present invention is not limited to this.
For example, three or more detection areas may be set depending on the type of car C of the train T entering the platform.

(E)
In the above embodiment, an example has been described in which a stop determination of the vehicle C is performed as a preliminary step before detecting a fallen object (person or object) on the track. However, the present invention is not limited to this.
For example, the determination of whether the vehicle C has stopped may be performed separately and independently from the detection of the presence or absence of any fallen object on the track.

(F)
In the above embodiment, an example in which a short vehicle C shown in Fig. 6(b) is stopped and has a different length from the vehicle C shown in Fig. 6(a) has been described as an example in which the vehicle C stops at a different position. However, the present invention is not limited to this.
For example, even if the length of the cars is the same, the stop determination process of the present invention can be similarly applied to trains having different destinations or different numbers of cars, in which the stopping positions are different.

(G)
In the above embodiment, an example has been described in which the scanner units 3a to 3c installed to perform the process of determining whether the vehicle C has stopped and detecting fallen objects (people or objects) scan with a laser so as to cover an area equivalent to the size of two vehicles. However, the present invention is not limited to this.
For example, one scanner unit may be provided for each vehicle, or one scanner unit may cover an area equivalent to three or more vehicles.

(H)
In the above embodiment, an example has been described in which the wheels W of the vehicle C and a fallen person or the like are detected using the scanner units 3a to 3c that scan with a laser. However, the present invention is not limited to this.
For example, other sensors may be used to detect wheels or a person falling.

(I)
In the above embodiment, an example has been described in which the infrared sensor 2 is used to detect the presence or absence of a vehicle C stopped at a platform P of a railway station. However, the present invention is not limited to this.
For example, the presence or absence of a parked vehicle may be detected using a sensor other than an infrared sensor.

(J)
In the above embodiment, an example has been described in which wheels of a train stopped at a platform P of a railway station are detected to determine whether the train has stopped. However, the present invention is not limited to this.
For example, the vehicle stoppage determination device may be used to determine whether or not various vehicles equipped with wheels, such as buses, trucks, passenger cars, etc., parked in a parking space, as well as trains, linear motor cars, etc., are stopped.

The vehicle stop determination device of the present invention has the effect of being able to perform vehicle stop determination with high accuracy even when the vehicle type, length, stopping position, etc. are different, and therefore can be widely applied to devices and methods that perform stop determination at a specified position for various vehicles equipped with wheels.

REFERENCE SIGNS LIST 1 Vehicle stop determination device 2 Infrared sensor 3 Scanning devices 3a, 3b, 3c Scanner unit 4 Control device 5 Warning device 10 Memory unit 11 Timer 12 Vehicle detection unit 13 Detection area setting unit 14 Wheel detection unit 15 Scan data acquisition unit 16 Determination unit 17 Output unit 31 Scanner 33 Light emitting unit 34 Deflection unit 35 Light receiving unit 36 Detection units A, B Detection area C Vehicle D Gap P Platform R Track T Train W Wheel AD Gap monitoring area AR Track monitoring area DA Wheel detection area IR Infrared light L1, L2 Length RL Reference line SL Scanning light SR Scanning range

Claims (16)

A vehicle stop determination device that determines whether a moving body that stops at a predetermined position is stopped,
a detection area setting unit that sets a first detection area for detecting wheels of a first vehicle of the moving object stopped at a predetermined position and a second detection area for detecting wheels of a second vehicle connected to the first vehicle and different from the first vehicle;
a wheel detection unit that detects the presence or absence of a wheel of the first vehicle in the first detection area or the presence or absence of a wheel of the second vehicle in the second detection area;
a determination unit that determines whether or not the moving object is stopped based on a detection result of the wheel detection unit in the first detection area or the second detection area;
A vehicle stop determination device comprising: the determination unit determines that the moving object is stopped when the wheel detection unit detects the wheel in the first detection area or the second detection area for a predetermined period of time or longer.
The vehicle stop determination device according to claim 1 . the detection area setting unit sets a plurality of detection areas in accordance with a plurality of vehicles of the moving body stopped at the predetermined position;
The vehicle stop determination device according to claim 1 or 2. Further comprising a storage unit for storing the plurality of detection areas set by the detection area setting unit.
The vehicle stop determination device according to claim 3 . Further comprising a vehicle detection unit that detects a predetermined vehicle of the first vehicle or the second vehicle.
The vehicle stop determination device according to claim 1 . the determination unit determines that the vehicle is stopped when the wheel detection unit detects the wheel and the first vehicle or the second vehicle is detected by the vehicle detection unit.
The vehicle stop determination device according to claim 5 . The vehicle detection unit acquires a detection result of an infrared sensor that irradiates infrared rays to the vehicle, and detects the presence or absence of the vehicle.
The vehicle stop determination device according to claim 5 or 6. The first vehicle and the second vehicle have different vehicle lengths.
The vehicle stop determination device according to claim 1 . The first vehicle and the second vehicle are stopped at different predetermined positions.
The vehicle stop determination device according to claim 1 . the wheel detection unit obtains a detection result from a scanner unit that scans a scanning area within a predetermined angle range with a laser beam, and detects the presence or absence of the wheel.
The vehicle stop determination device according to any one of claims 1 to 9. The scanner unit scans the laser light along a substantially horizontal direction.
The vehicle stop determination device according to claim 10. The scanner unit is installed under the station platform.
The vehicle stop determination device according to claim 10 or 11. the scanner unit detects any person or object falling from the station platform;
The vehicle stop determination device according to claim 12. The moving object is a train that enters a station and stops at a predetermined position.
The vehicle stop determination device according to claim 12 or 13. A vehicle stop determination method for determining whether a moving body stopped at a predetermined position is stopped, comprising:
a detection area setting step of setting a first detection area for detecting wheels of a first vehicle of the moving body stopped at the predetermined position and a second detection area for detecting wheels of a second vehicle coupled to the first vehicle and different from the first vehicle;
a wheel detection step of detecting the presence or absence of a wheel of the first vehicle in the first detection area or a wheel of the second vehicle in the second detection area;
a determination step of determining whether or not the moving object is stopped based on a detection result in the wheel detection step in the first detection area or the second detection area;
A vehicle stop determination method comprising: A vehicle stop determination program for causing a computer to execute a vehicle stop determination method for determining whether a moving object stopped at a predetermined position is stopped,
a detection area setting step of setting a first detection area for detecting wheels of a first vehicle of the moving body stopped at the predetermined position and a second detection area for detecting wheels of a second vehicle connected to the first vehicle and different from the first vehicle;
a wheel detection step of detecting the presence or absence of a wheel of the first vehicle in the first detection area or a wheel of the second vehicle in the second detection area;
a determination step of determining whether or not the moving object is stopped based on a detection result in the wheel detection step in the first detection area or the second detection area;
A vehicle stop determination program comprising:

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