JP6542318B2 - Home door control device and home door control method - Google Patents

Description

  The present invention relates to a home door control device and a home door control method for controlling opening and closing of a home door device installed on a platform.

  When stopping the train on the platform, a fixed position stopping device (TASC) is used to stop the train in a predetermined range (also called fixed position) and to match the positions of the vehicle door and the door of the home door device. Often Since TASC is included as part of the function of automatic train operation equipment (ATO), introduction of ATO on a route basis is considered when installing home door equipment. In addition, transceivers (for example, on-vehicle child and ground child, etc.) are provided on the vehicle side and the ground side, respectively, and the opening and closing of the vehicle door and the opening and closing of the door part of the home door device are linked based on the transmission and reception signal. However, when installing a home door device on an existing route, if TASC or ATO is introduced or a transceiver for linking with a vehicle door is installed, it takes time and effort for construction, and increases cost. It connects.

  The following Patent Document 1 is an invention related to a home door all ground control device, and a technique capable of performing opening and closing operations of a door portion of a home door apparatus corresponding to a vehicle door without modifying the vehicle is disclosed. ing.

Unexamined-Japanese-Patent No. 2001-10485 (patent 3258983)

  In Patent Document 1, an ITV camera captures an open / close state of a vehicle door, and detects the open / close state or the open / close operation by image processing. However, since the imaging result by the camera is easily influenced by the external light, it is difficult to obtain a stable result. Also, image processing requires a sophisticated arithmetic processing unit.

  Furthermore, as described in Patent Document 1, when the opening operation of the door portion of the home door apparatus is started after the start of the opening operation of the vehicle door is detected, it takes from the time the train is stopped to the time it can get on and off. Time is long. Therefore, it is necessary to increase the moving speed of the door unit of the home door device to shorten the time required for the opening operation of the door unit, but there is a physical limit.

  The present invention has been made in view of such circumstances, and it is possible to indirectly perform cooperation with a vehicle door without remodeling the vehicle, and quickly open and close the door portion of the home door device. It is an object of the present invention to provide a home door control device and a home door control method that can be performed.

In order to solve the above-mentioned subject, a home door control device and a home door control method of the present invention adopt the following means.
That is, the home door control device according to the present invention includes a train detector for detecting a train, based on the previous SL train detector of the detection result, predetermined stopping range in which the train is predetermined to stop in the range, when the train with the first determining section for determining whether or not the stop state, the previous SL first determination unit, the train is determined to be in a stopped state at a predetermined stop range, the platform to without determination vehicle door provided on the train has stopped whether the opening operation or during the open state, the door portion provided in the home door apparatus installed in the platform by opening operation, the when the train is determined to be in a stopped state at a predetermined stop range, and a control unit system to maintain the closed state of the door part.
In the above invention, a door detection unit that detects the vehicle door, and a second determination unit that determines whether the vehicle door is in a closing operation or in a closed state based on the detection result of the door detection unit. When the control unit determines that the vehicle door is in the closing operation or in the closing state based on the detection result of the door detection unit, the control unit may be configured to The door may be closed.

  According to this configuration, when the train is detected and it is determined that the train has stopped in the predetermined stop range, the door of the home door apparatus is opened, so the door can be opened quickly after the train stops. Can be For example, the start timing of the opening operation of the door portion of the home door device can be advanced compared to the case where the opening operation of the door portion of the home door device is started after detecting the opening operation of the vehicle door. In addition, since it is determined that the door of the home door apparatus is closed when it is determined that the vehicle door is in the operation of closing from the open state or in the state of closing the vehicle door, cooperation with the vehicle door is performed. Can. Furthermore, it is not necessary to transmit and receive signals between the vehicle side and the platform (ground) side, and the door part of the home door apparatus can be opened and closed indirectly by linking with the vehicle door by a relatively simple system.

  In the above invention, the train detection unit has a first distance measurement unit that scans and emits laser light toward the train and measures a distance between the train and the first determination unit. It is determined based on the distance between the train and the train measured by the first ranging unit whether or not the train is in a stop state in the predetermined stop range.

  In the above invention, the train detection unit has an imaging unit that images the train, and the first determination unit determines the predetermined stop range of the train based on a result of imaging by the imaging unit. It is judged whether or not it is in the stopped state at.

  In the above invention, the train detection unit has a reception unit for receiving a signal from an IC tag provided in the train, and the first determination unit is based on the result received by the reception unit. And determining whether the train is at rest in the predetermined stop range.

  In the above invention, the train detection unit is disposed along the traveling direction of the train, and irradiates laser light toward the side surface of the train to measure the distance to the train. And the first determination unit is configured to stop the train in the predetermined stop range based on the distance between the train and the train measured by the second distance measurement unit. Determine if it is in a state.

  According to these configurations, it is determined from the outside of the train whether the train is in the stop state within the predetermined stop range based on the distance to the train or the result of imaging the train. Determine the stop condition of the train. Therefore, the stop state of the train can be determined without receiving a signal indicating that the train has stopped from the train side. That is, there is no need to transmit and receive signals between the train side and the home side, and it is possible to indirectly perform cooperation with the vehicle door with a relatively simple system, and start the opening operation of the door portion of the home door device .

In the above invention, when the door unit of the home door apparatus is in the open state, the first determination unit determines that the train has started to move based on the detection result of the train detection unit. when, before Symbol control part is, the door portion of the home door apparatus for closing operation.

In the above invention, the door detection unit scans and irradiates a laser beam toward the vehicle door and a vehicle door bag storing the vehicle door, and the distance between the vehicle door and the vehicle door bag A third distance measuring unit for measuring a distance, wherein the second determination unit determines the distance between the vehicle door and the distance measured by the third distance measuring unit and the distance between the vehicle door and the vehicle door bag Based on the distance, the train is represented by a two-dimensional coordinate axis, and it is determined whether the vehicle door is in a closing operation or in a closed state based on the shape represented on the coordinate axis.

  In the above invention, the door detection unit includes an imaging unit that images the vehicle door and a vehicle door bag that stores the vehicle door, and the second determination unit is based on a result of imaging by the imaging unit. It is determined whether the vehicle door is in a closing operation or in a closing state.

  In the above invention, the door detection unit has a reception unit for receiving a signal from an IC tag provided on the vehicle door, and the second determination unit is based on the result received by the reception unit. It is determined whether the vehicle door is in a closing operation or in a closing state.

  In the above invention, the door detection unit is disposed along the traveling direction of the train, and each emits laser light toward the side surface of the train, and the vehicle door and the vehicle door pocket for storing the vehicle door And a plurality of fourth distance measuring units for measuring the distance between the vehicle door and the vehicle door case, wherein the second judging unit is configured to measure the distance between the vehicle door and the vehicle door pocket measured by the fourth distance measuring unit. Based on the distance, it is determined whether the vehicle door is in a closing operation or in a closing state.

  According to these configurations, it is possible to detect the operation of starting closing from the open state of the train door or the state in which the door part has completed closing without receiving a signal about the closing operation of the train door from the train side . Therefore, it is not necessary to transmit and receive a signal between the train side and the home side, and cooperation with the vehicle door can be indirectly performed with a relatively simple system, and the closing operation of the door of the home door device can be started.

  In the above invention, the second determination unit sequentially stores the width of the vehicle door detected by the door detection unit, and the vehicle door is being closed or closed based on the stored width of the vehicle door. Determine if it is in a state.

  According to this configuration, since the width of the vehicle door that changes during the opening and closing operation of the vehicle door is sequentially stored, the detected width of the vehicle door changes in the narrowing direction or the width does not change. , It can be detected that the vehicle door is in the closing operation or in the closing state.

  In the above invention, when the first determination unit determines that the train is in the stop state in the predetermined stop range, the train is a rear surface of one formation based on the detection result of the train detection unit. And further determine whether or not the front faces of the other formations are opposed and connected by the coupler.

  According to this configuration, if both the rear face of one formation of the train and the front face of the other formation are detected by the train detection unit, the rear face of the one formation and the front face of the other formation face each other by the coupler It can be determined that they are in a connected state. If only the rear face of one train formation of the train is detected, it can be determined that only one formation is stopped, and if only the front face of the other formation is detected, only the other formation is stopped. It can be judged. In addition, the train detection unit may detect a hood provided between vehicles. In this case, it can be determined that, in the detection position, a plurality of formations do not correspond to the portions connected by the coupler but correspond to the hood portion of one formation.

In the above invention, before Symbol control section confirms that the opening operation or closing operation of the door portion is completed, the door portion to display that it is in the open or closed state to the display unit.

According to this structure, braking when that opening operation or closing operation of the door portion is completed was confirmed in control unit, display unit, control by a command from the control unit, the home door system the door portion is opened or Indicate that it is closed. The display unit is installed, for example, at a position where the driver and the conductor can see. Thus, the driver or the conductor can open the vehicle door after confirming that the door is in the open state. Also, the driver can start the train after confirming that the door is in the closed state.

In the home door control method according to the present invention, the train detection unit detects a train, and the first determination unit determines in advance the train to stop based on the detection result of the train detection unit. in predetermined stop range is a range with a step of the train determines whether the stop state, control section is, in the first determination unit, the train stopped at a predetermined stop range When it is judged that there is, it is provided in a home door apparatus installed in the platform without determining whether the vehicle door provided in the train stopped at the platform is in an open operation or in an open state . Opening the door portion and maintaining the closed state of the door portion when it is determined that the train is in the stopped state outside the predetermined stop range .

  According to the present invention, the vehicle door can be linked indirectly without remodeling the vehicle, and the door portion of the home door device can be quickly opened and closed.

It is a top view which shows the home door apparatus installed in the platform. It is a block diagram showing a home door control device concerning one embodiment of the present invention. It is a flowchart which shows transfer to the open state of the home door apparatus which concerns on one Embodiment of this invention. It is a chart which shows transition to the closed state of the home door device concerning one embodiment of the present invention. It is a schematic diagram showing a train and a graph showing detection results of a range corresponding to a vehicle door when the vehicle door of the train is in a closed state. It is a schematic diagram showing a train and a graph showing detection results of a range corresponding to a vehicle door when the vehicle door of the train is in a half-opened state. It is a schematic diagram showing a train and a graph showing detection results of a range corresponding to a vehicle door when the vehicle door of the train is in an open state.

Hereinafter, a home door control device 1 according to an embodiment of the present invention will be described with reference to the drawings.
The home door control device 1 controls the opening and closing operation of the door portion 22 of the home door device 21 installed on the platform 20. As shown in FIG. 1, the home door device 21 is installed along the edge of the platform 20, and can include the door portion 22 and the door portion 22. The door portion 22 includes a door pocket portion 23 and the like. The door pocket unit 23 accommodates a drive unit 24 including a motor or the like for driving the door unit 22 and an individual control panel 25 for controlling the drive unit 24 (see FIG. 2).

  As shown in FIG. 2, the home door control device 1 according to this embodiment includes a train detection unit 2, a door detection unit 3, and a control unit 4.

  The train detection unit 2 has, for example, a distance measurement sensor (first distance measurement unit), and when detecting the front of the vehicle, as shown in FIG. 1, the platform 20 ahead of the train 30 stops. Will be installed. The train detection unit 2 scans and irradiates the front of the train 30 with laser light, and receives the laser light reflected by the front of the train 30. As a result, the train detection unit 2 detects the distance between the platform 20 and the front of the train 30 in the stop operation or in the stop state. The train detection unit 2 transmits the detection result to the control unit 4.

  The door detection unit 3 has, for example, a distance measurement sensor (third distance measurement unit), scans and irradiates the vehicle door 31 of the train 30 and the door bag 32 of the train 30 with a laser beam. And the laser beam reflected by the door case 32 of the train 30 is received. As a result, the door detection unit 3 detects the distance to the vehicle door 31 in the open state, the open / close operation, or the closed state, and the distance to the door pocket 32. The door detection unit 3 transmits the detection result to the control unit 4.

  The control unit 4 is, for example, a computer that executes a program. As shown in FIG. 2, the control unit 4 includes a train state determination unit 5, a door state determination unit 6, a home door opening / closing control unit 7, and a display control unit 8.

  Based on the distance from the train detection unit 2 measured by the train detection unit 2 and received from the train detection unit 2, the train state judgment unit 5 judges whether the train 30 is in a stop state in a predetermined stop range. Here, the predetermined stop range is a so-called fixed position, which is a range determined in advance so that the train 30 stops. The fixed position is usually in the range of about 1 m (e.g., 750 mm back and forth) from the reference position.

  The door state determination unit 6 is represented by a two-dimensional coordinate axis of the train 30 based on the distance between the vehicle door 31 and the door bag 32 measured by the door detection unit 3 and received from the door detection unit 3 and is two-dimensional Based on the shape represented on the coordinate axis, it is determined whether the state of the vehicle door 31 of the train 30, that is, whether the vehicle door 31 is in an open state, in an open / close operation, or in a closed state.

  In order to determine whether the vehicle door 31 is in the open state, in the open / close operation, or in the closed state, the door state determination unit 6 sequentially stores the width of the vehicle door 31 detected by the door detection unit 3 , Based on the stored width of the vehicle door 31. Since the width of the vehicle door 31 that changes during the opening and closing operation of the vehicle door 31 is sequentially stored, the detected width of the vehicle door 31 changes in a widening direction or a narrowing direction, or does not change. The state of the vehicle door 31 can be detected.

  When it is determined that the train 30 is in the stop state in the predetermined stop range, the home door opening / closing control unit 7 causes the door portion 22 of the home door device 21 to open. Further, when it is detected that the vehicle door 31 of the train 30 is in the closing operation, the home door opening / closing control unit 7 causes the door portion 22 of the home door device 21 to close. The home door opening / closing control unit 7 may close the door 22 when it is detected that the vehicle door 31 of the train 30 is not in the closing operation but in the closing state.

When the train state determination unit 5 determines that the train 30 has started moving based on the detection result of the train detection unit 2 when the door portion 22 of the home door device 21 is in the open state, The home door opening / closing control unit 7 may close the door 22 of the home door device 21. As a result, even when the closing operation of the vehicle door 31 is not detected and the closing operation of the door unit 22 is not performed, the door unit 22 of the home door device 21 can be closed.
Then, the home door opening / closing control unit 7 transmits an open command or a close command of the door 22 to the individual control panel 25 housed in the door pocket 23 of the home door device 21. Further, the home door opening / closing control unit 7 receives an open completion signal or a close completion signal from the individual control panel 25.

  The display control unit 8 transmits a signal to display on the display unit 40 that the home door device 21 is in the open state or the close state based on the open completion signal or the close completion signal received by the home door opening / closing control unit 7 . The display 40 displays that the home door device 21 is in the open or closed state. One or more indicators 40 are installed at positions where the driver and the conductor can view.

Next, the operation of the home door control device 1 will be described. In the following, instead of manually opening and closing the door portion 22 of the home door device 21, the case where the vehicle door 31 of the train 30 and the door portion 22 of the home door device 21 cooperate by the home door control device 1 explain.
First, with reference to FIG. 3, an operation of changing the door portion 22 of the home door device 21 from the closed state to the open state will be described.
The train detection unit 2, for example, a distance measurement sensor irradiates the front of the incoming train 30 with laser light. When the train 30 enters the measurable range of the distance measurement sensor, the distance from the distance measurement sensor to the front of the train 30 is measured (step S11).
The result measured by the train detection unit 2 is sent to the control unit 4, and the control unit 4 controls the position, speed of the train 30 until the train 30 stops or the train 30 when the train 30 stops. The position is calculated (step S12). Then, based on the calculation result, it is determined whether the train 30 is within the predetermined stop range (step S13). If it is determined that the train 30 is within the predetermined stop range, it is determined whether the train 30 is in the stop state based on the calculation result (step S14). For example, when the speed of the train 30 is calculated based on the amount of change in the position of the train 30 until the train 30 stops or the amount of change in the position of the train 30 and the position change of the train 30 does not change within a predetermined time, Alternatively, when the state in which the speed of the train 30 is 0 continues for a predetermined time, it is determined that the train 30 is in the stop state. The present invention is not limited to the above-described example, and the determination in step S14 may be made before the determination in step S13, and if it is determined that the train 30 is in a stopped state, the train 30 is stopped in a predetermined manner. It may be determined whether or not it is within the range.

  If it is determined that the train 30 is in the stop state in the predetermined stop range, the home door opening / closing control unit 7 operates to open the door 22 of the home door device 21 (step S15). Thereby, the door 22 of the home door device 21 starts the opening operation from the closed state. On the other hand, when the train 30 is not in the predetermined stop range or when the train 30 is not in the stop state, the door 22 is maintained in the closed state.

  As described above, according to the present embodiment, when the front of the train 30 is detected and it is determined that the train 30 has stopped on the platform 20 in the predetermined stop range, the door 22 of the home door device 21 opens. Thus, after the train 30 is stopped, the door 22 can be quickly opened. For example, as compared with the case where the opening operation of the door portion 22 of the home door device 21 is started after the opening operation of the vehicle door 31 of the train 30 is detected, the start timing of the opening operation of the door portion 22 of the home door device 21 is Be quickened. Therefore, the time from when the train 30 stops to when it can get on and off can be shortened, and the influence of the opening operation of the door 22 on the operation time of the train 30 can be reduced. As a result, the moving speed of the door 22 of the home door device 21 does not have to be increased, and changes such as reducing the weight of the door 22 or increasing the capacity of the motor of the drive 24 are also unnecessary.

  In the individual control panel 25 of the home door device 21, it is determined whether the opening operation of the door portion 22 is completed (step S16). When it is confirmed that the door 22 of the home door device 21 is opened, the display 40 displays that the door 22 is in an open state (step S17). Thereby, the palm confirms that the home door device 21 is in the open state, and can open the vehicle door 31 of the train 30 (step S18). Thereafter, in the train 30, getting on / off of passengers is performed. According to the timing of the opening operation of the present embodiment, the door portion 22 of the home door device 21 does not buffer against the customer getting off the train 30, so the safety is also improved.

Next, with reference to FIG. 4, an operation of changing the door portion 22 of the home door device 21 from the open state to the closed state will be described.
The portion corresponding to the vehicle door 31 and the door bag 32 of the train 30 is measured by the door detection unit 3, for example, a distance measurement sensor, and the distance from the distance measurement sensor to the vehicle door 31 and the door case 32 of the train 30 is measured (step S21).

  The result measured by the door detection unit 3 is sent to the control unit 4, and the control unit 4 controls the position of the vehicle door 31 of the train 30 while the train 30 is stopped, and the vehicle door 31 or the door pocket 32. The shape of is calculated (step S22). The shape of the vehicle door 31 or the door pocket 32 can be represented on a two-dimensional coordinate axis. Then, the closing operation of the vehicle door 31 of the train 30 is determined based on the shape of the vehicle door 31 or the door pocket 32 represented on the two-dimensional coordinate axis (step S23). The width of the vehicle door 31 detected by the door detection unit 3 is sequentially stored according to the shape of the vehicle door 31 or instead of the shape of the vehicle door 31, and based on the stored width of the vehicle door 31. The closing operation of the vehicle door 31 of the train 30 may be determined. At this time, when measurement is performed on a plurality of vehicle doors 31 and it is determined that all the plurality of vehicle doors 31 are in the closing operation, it may be determined that the vehicle doors 31 are collectively in the closing operation. When it is determined that a predetermined percentage or more (for example, a majority) of the plurality of vehicle doors 31 is in the closing operation, it may be determined that the vehicle doors 31 are collectively in the closing operation.

  When it is determined that the vehicle door 31 of the train 30 is in the closing operation or closed from the open state, the home door opening / closing control unit 7 causes the door 22 of the home door device 21 to close (step S24). . Thereby, the door 22 of the home door device 21 starts the closing operation from the open state. The closing operation of the door 22 of the home door device 21 is started while the vehicle door 31 is closing, or the closing of the door 22 of the home door 21 is completed when the closing operation of the vehicle door 31 is completed. Whether to start the operation is selected according to the operation method of the train 30, the operation method of the home door apparatus 21, and the like.

  As described above, according to the present embodiment, when it is detected that the vehicle door 31 of the train 30 is closed, the door 22 of the home door device 21 is closed. It can be carried out.

  On the other hand, although not shown in FIG. 4, it is determined that the train detection unit 2 detects the distance between the train 30 and the train 30 based on the result calculated by the control unit 4. When it is determined, the home door opening / closing control unit 7 causes the door 22 of the home door device 21 to close. As a result, even when the closing operation of the vehicle door 31 is not detected and the closing operation of the door unit 22 is not performed, the door unit 22 of the home door device 21 can be closed. Safety can be improved.

  In the individual control panel 25 of the home door device 21, it is determined whether the opening operation of the door portion 22 is completed (step S25). Then, it is judged by the obstacle sensor provided in the home door device 21 whether or not there is a person's presence or obstacle between the train 30 and the door 22 of the home door device 21 (step S26). If it is confirmed that the door 22 of the home door device 21 is closed and it is determined that there is no human presence or obstacle, the door 40 of the home door device 21 is closed on the display 40. That is, departure permission is displayed (step S27). Thereby, the driver can confirm that the home door device 21 is in the closed state, and can start the train 30 (step S28).

<Train stop position detection>
The reference position of the predetermined stop range of the train 30 is set at a certain point on the platform 20. A range of about 1 m (for example, 750 mm, for example) before and behind the reference position is defined as a predetermined stop range. Here, the front-rear direction is a direction parallel to the traveling direction of the train 30. It is determined whether the train 30 has stopped in this predetermined stop range. When it is determined that the train 30 has stopped in the fixed position range, it is determined that the train 30 has stopped normally, and the home door open / close control unit 7 operates to open the door 22 of the home door device 21. On the other hand, when the train 30 stops outside the predetermined stop range or when the train 30 is in the stop operation outside the predetermined stop range, it is not determined that the train 30 has stopped normally, The closed state is maintained without opening the door 22.

  The train detection unit 2 is arranged such that the laser light scans across the front of the train 30. Thus, the position of the front of the train 30 is measured by receiving the light reflected from the front of the train 30 after being irradiated with the laser light.

  The range in which the train detection unit 2 can measure the distance of the train 30 is, for example, a range of about 2 m (a total of 4 m) before and after the predetermined stop range. Further, the laser light of the train detection unit 2 is irradiated to the lower side than the cab window of the train 30. As a result, the distance to the front of the train 30 can be measured relatively stably without being affected by the glass and uneven portions in front of the train 30.

  In addition, it is desirable to determine the irradiation reference height of the laser light in consideration of a change in the vehicle height due to a change in the operating condition or weight of the train 30. For example, even if the vehicle height changes by ± 50 mm, a position that is not easily affected by the glass or the uneven portion in front of the train 30 is set as the irradiation reference height.

  In the above embodiment, the stop state of the train 30 is determined by detecting the front of the vehicle of the train 30, but the present invention is not limited to this example. For example, the train detection unit 2 may detect the rear surface of the vehicle. In this case, the train detection unit 2 is installed on the platform 20 behind the position at which the train 30 stops. In this case, the train detection unit 2 applies a laser beam to the rear surface of the train 30 which is about to stop. When the train 30 enters the measurable range of the train detection unit 2, the distance from the train detection unit 2 to the rear surface of the train 30 is measured.

<Train door detection>
In the predetermined stop range of the train 30 described above, the door detection unit 3 is installed in consideration of a place where the vehicle door 31 is predicted to be located when the train 30 stops.

  The door detection unit 3 is disposed so that the laser light scans across the vehicle door 31 and the door pocket 32 of the train 30. At this time, the laser beam irradiates not only the vehicle door 31 but also the door pocket 32 in which the vehicle door 31 is stored. Thereby, as shown in FIG. 5, when the vehicle door 31 is in the closed state by receiving the light reflected from the vehicle door 31 or the door case 32 of the train 30, the boundary portion between the door case 32 and the vehicle door 31 The depth can also be detected. Therefore, the position and width of the vehicle door 31 when the vehicle is stopped can be determined.

  When the vehicle door 31 of the train 30 starts an opening operation and becomes an open state, as shown in FIGS. 6 and 7, the depth of the range corresponding to the vehicle door 31 changes and is represented on a two-dimensional coordinate axis The shape of the range corresponding to the vehicle door 31 changes. Thereby, it can be determined whether the vehicle door 31 of the train 30 is in the closed state, in the opening / closing operation, or in the open state.

  The laser light of the door detection unit 3 is located below the window glass, for example, as shown in FIG. 5 in consideration of the influence of the window glass of the vehicle door 31 of the train 30 and the change in inclination of the train 30 at the time of getting on and off. It is irradiated. The door detection unit 3 is suspended from the roof of the platform 20 in consideration of the standing position of the passenger on the platform 20 and the like.

  In the embodiment described above, the distance detection sensor is used as an example of the train detection unit 2 that detects the stop position of the train 30 and the door detection unit 3 that detects the open / close state of the vehicle door 31 of the train 30. However, the present invention is not limited to this example. For example, the stop position of the train 30 or the open / close state of the vehicle door 31 of the train 30 using an imaging device such as a camera, an IC tag, or a plurality of distance sensors as the train detection unit 2 or door detection unit 3 May be detected.

  When the train detection unit 2 includes an imaging device (imaging unit), the imaging device images the front or rear of the train 30. Then, the train state determination unit 5 determines whether or not the train 30 is in the stop state in the predetermined stop range, based on the result of the imaging by the imaging device (comparison of the imaging results at different imaging times). In addition, the IC tag is installed on the surface of the train 30, and the train detection unit 2 receives the signal from the IC tag, so that the train state determination unit 5 stops the train 30 in the predetermined stop range. It may be determined whether or not. Furthermore, a plurality of distance sensors (second distance measuring units) are arranged along the platform 20, that is, along the traveling direction of the train 30, and each of the distance sensors irradiates the laser light toward the side of the train 30 And the distance between the trains 30 may be measured. In this case, the train state determination unit 5 determines whether the train 30 is in the stop state in the predetermined stop range based on the distance between the train 30 and the train 30 measured by the distance sensor. The closer the distance between the distance sensors is, and the greater the number of distance sensors, the more the detection accuracy is improved.

  When the door detection unit 3 includes an imaging device (imaging unit), the imaging device images the vehicle door 31 and the door pocket 32 of the train 30. Then, the door state determination unit 6 determines whether the vehicle door 31 is in the closing operation or in the closed state based on the result of the imaging by the imaging device (comparison of the imaging results at different imaging times). In addition, the IC tag is installed on the surface of the vehicle door 31 of the train 30, and when the door detection unit 3 receives a signal from the IC tag, the door state determination unit 6 closes the vehicle door 31 or It may be determined whether or not it is in a closed state. Furthermore, a plurality of distance sensors (fourth distance measuring units) are arranged along the platform 20, that is, along the traveling direction of the train 30, and each of the distance sensors irradiates a laser beam toward the side of the train 30 The distance between the vehicle door 31 or the door pocket 32 may be measured. In this case, the door state determination unit 6 determines whether the vehicle door 31 is in the closing operation or in the closing state, based on the distance between the train 30 and each measured by the distance sensor. Also in this case, the detection accuracy is improved as the distance between the distance sensors is reduced and as the number of distance sensors is increased.

<Train formation determination>
In a route where trains 30 are operated by connecting a plurality of formations, the train detection unit 2 may be provided not only in front of or behind the platform 20 but also at a position corresponding to the connection portion of the plurality of formations. For example, when both the train 30 in which 11 train formation and 4 train formation are connected and the train 30 in 15 train formation stop, the train detection unit 2 is installed in the connection part of 11 train formation and 4 train formation.

  Thus, when the train state determination unit 5 determines that the train 30 is in the stop state in the predetermined stop range, the train 30 is detected at the detection position of the train detection unit 2 based on the detection result of the train detection unit 2. It is further determined whether or not the rear face of one formation (e.g., an 11-car formation) and the front face of the other formation (e.g., a four-car formation) are oppositely connected by a coupler.

  For example, if both the rear face of one formation and the front face of another formation of the train 30 are detected by the train detection unit 2, the rear face of the one formation and the front face of the other formation are opposed and connected by the coupler. It can be determined that the Moreover, when only the rear face of one formation of the train 30 is detected, it can be determined that only one formation is stopped in front of the platform 20, and only the front face of the other formation is detected. Behind the platform 20, it can be determined that only other formations have stopped. Furthermore, the train detection unit 2 may detect a hood provided between vehicles. In this case, it can be determined that, in the detection position, a plurality of formations do not correspond to the portions connected by the coupler but correspond to the hood portion of one formation. That is, in the above-mentioned example, it can be judged that the train 30 of 15 train formation has stopped on the platform 20. Based on these determination results, the door 22 at an appropriate position of the home door device 21 can be opened, and cooperation between the home door device 21 and the formation of the train 30 can be achieved.

1 Home door control device 2 Train detection unit 3 Door detection unit 4 Control unit 5 Train state determination unit (first determination unit)
6 door state judgment unit (second judgment unit)
7 Home door opening and closing control unit (opening and closing control unit)
DESCRIPTION OF SYMBOLS 8 Display control part 20 Platform 21 Home door apparatus 22 Door part 23 Door bag part 24 Drive part 25 Individual control panel 30 Train 31 Vehicle door 32 Door bag (vehicle door bag)
40 Indicator (display section)

Claims (15)

A train detection unit that detects a train ;
Based on the previous SL train detection portion of the detection result, the predetermined stop range is a predetermined range such that the train is stopped, a first determination unit that the train is determined whether or not the stop state and,
Before SL first determination section, when the train is determined to be in the stopped state at a predetermined stop range, whether the vehicle door provided to the train stopped at the platform in an open operation or in an open state When the door is provided to the platform door installed on the platform and the train is judged to be in the stopped state outside the predetermined stop range, the door is closed. and a control section to maintain the,
Home door control device comprising: A door detection unit that detects the vehicle door;
A second determination unit that determines whether the vehicle door is in the closing operation or in the closing state based on the detection result of the door detection unit;
Equipped with
When the control unit determines that the vehicle door is in the closing operation or in the closing state based on the detection result of the door detection unit, the control unit determines the door unit of the home door apparatus. The home door control device according to claim 1, which is operated to close. The train detection unit includes a first distance measurement unit that scans and emits laser light toward the train and measures a distance between the train and the train.
The first determination unit determines whether the train is in a stop state in the predetermined stop range, based on the distance between the train and the train measured by the first distance measurement unit. The home door control device according to claim 1. The said train detection part has an imaging part which images the said train,
The home door control device according to claim 1, wherein the first determination unit determines whether the train is in a stop state in the predetermined stop range, based on a result of imaging by the imaging unit. . The said train detection part has a receiving part which receives the signal from the IC tag provided in the said train,
The home door control device according to claim 1, wherein the first determination unit determines whether the train is in a stop state in the predetermined stop range based on a result received by the reception unit. . The train detection unit is disposed along the traveling direction of the train, and each emits a laser beam toward the side surface of the train to measure a distance between the train and the plurality of second distance measurement units. Have
The first determination unit determines whether the train is in a stop state in the predetermined stop range based on the distances between the train and the train measured by the second distance measurement unit. The home door control device according to claim 1. In the case where the door of the home door apparatus is in the open state, the first determining unit determines that the train has started moving based on the detection result of the train detecting unit, serial control part is, the home door control device according to any one of the home of the door portion of the door system of claims 1 to closing operation 6. The door detection unit scans and emits laser light toward the vehicle door and a vehicle door pocket storing the vehicle door, and measures a distance between the vehicle door and the vehicle door pocket. Has a third ranging unit,
The second determination unit, the third on the basis of the distance between said distance and said vehicle door pocket between the measured the vehicle door in the distance measurement unit, the train in a two-dimensional coordinate axes The home door control device according to claim 2 , wherein it is determined whether the vehicle door is in a closing operation or in a closing state based on the shape represented on the coordinate axis. The door detection unit includes an imaging unit that images a vehicle door and a vehicle door bag that stores the vehicle door.
The home door control device according to claim 2 , wherein the second determination unit determines whether the vehicle door is in a closing operation or in a closed state based on a result of imaging by the imaging unit. The door detection unit has a reception unit that receives a signal from an IC tag provided on the vehicle door,
The home door control device according to claim 2 , wherein the second determination unit determines whether the vehicle door is in a closing operation or in a closing state based on the result received by the receiving unit. The door detection unit is disposed along the traveling direction of the train, and each emits a laser beam toward the side surface of the train, and a distance between the vehicle door and a vehicle door bag storing the vehicle door is It has a plurality of fourth ranging units to measure,
The second determination unit determines whether the vehicle door is in a closing operation or in a closed state based on the distance between the vehicle door and the vehicle door pocket measured by the fourth distance measuring unit. The home door control device according to claim 2 , wherein it is determined whether or not it is determined. The second determination unit sequentially stores the width of the vehicle door detected by the door detection unit, and based on the stored width of the vehicle door, whether the vehicle door is in a closing operation or in a closed state The home door control device according to any one of claims 8 to 11 , wherein it is determined whether or not it is. When the first determination unit determines that the train is in the stop state in the predetermined stop range, the train is a back surface of another formation and the other formation based on the detection result of the train detection unit. The home door control device according to any one of claims 1 to 12 , further determining whether or not the front faces of the two face each other and are connected by a coupler. Before SL control section confirms that the opening operation or closing operation of the door portion has been completed, one of claims 1 to indicate that the door unit is in the open state or the closed state to the display unit 13 of the The home door control device according to any one of the preceding claims. The train detection unit detects a train;
A first determination unit determines, based on the detection result of the train detection unit, whether or not the train is in a stop state in a predetermined stop range which is a range predetermined to stop the train. Step to
A control unit is, in the first determination unit, wherein when the train is determined to be stopped at a predetermined stop range, the vehicle door opening operation or during the open state provided in the train stopped at the platform When it is determined that the train is in the stopped state outside the predetermined stop range by operating the door portion provided in the home door device installed in the platform without judging whether the train is in the Maintaining the closed state of the door ;
Home door control method comprising:

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