Railway map generating device and railway map generating method

Abstract

The railway map generating device 1 includes a map design reading module 10 configured to read a map design document 2 indicating objects located along the railway tracks and extract railway map information, a railway map data creation module 20 configured to generate railway map data based on the railway map information, a sensing data acquisition module 30 configured to acquire sensing data indicating the sensing results of objects sensed by a sensor 3, a railway map data matching module 40 configured to compare the sensing data with the railway map data, and a railway map data update module 50 configured to update the railway map based on the result of the comparison by the railway map data matching module 40.

Description

[Technical Field]

[0001] The present invention relates to an apparatus and method for generating a railway map. [Background technology]

[0002] In railway systems, traffic control devices such as signals and infrastructure devices exist along the railway lines of the railway network. The information provided by these devices is essential for train drivers, so location information of the devices along the railway line is necessary. Given this situation, technologies that enable the automatic generation of railway maps showing the locations of devices along the railway line have been researched.

[0003] The following Patent Document 1 is known as prior art to the present invention. Patent Document 1 discloses a method for generating a map of a railway line from a database of a railway network that includes position and elevation information of signaling devices and infrastructure devices of the railway network. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] European Patent No. 3992056A1 Summary of the Invention [Problem to be solved by the invention]

[0005] According to Patent Document 1, in order to generate a map, it is necessary to prepare a database containing device location and altitude information. However, since the location of the device is not publicly known and a database does not generally exist, preparing a database is difficult. While it may be possible to prepare a database manually, it would be time-consuming and costly.

[0006] The present invention has been made in view of the above-mentioned problems, and its main object is to generate railway maps for train operation in less time and at less cost. [Means for solving the problem]

[0007] The railway map generating device according to the present invention comprises a map design reading module configured to read a map design document indicating objects located along the railway tracks and extract railway map information relating to the positional relationship between specific points on the railway tracks and the objects; a railway map data creation module configured to create railway map data based on the railway map information; a sensing data acquisition module configured to acquire sensing data indicating the detection results of objects sensed by sensors mounted on trains running on the railway tracks; a railway map data comparison module configured to compare the sensing data with railway map data; and a railway map data update module configured to update the railway map based on the results of the comparison by the railway map data comparison module.

[0008] The railway map generating method according to the present invention includes reading a map design document indicating objects existing along the railway tracks, extracting railway map information relating to the positional relationship between specific points on the railway tracks and the objects, generating railway map data based on the railway map information, obtaining sensing data indicating the detection results of objects sensed by sensors mounted on trains running on the railway tracks, comparing the sensing data with the railway map data, and updating the railway map based on the results of the comparison. [Effects of the Invention]

[0009] According to the present invention, railway maps for train operations can be generated in less time and at less cost. [Brief explanation of the drawings]

[0010] [Figure 1]1 is a diagram showing functional blocks of a railway map generation device according to a first embodiment of the present invention. [Figure 2] 1 is a diagram illustrating a hardware configuration of a railway map generation device according to a first embodiment. [Figure 3] 3 is a flowchart of a process executed by the railway map generating device of the first embodiment. [Figure 4] FIG. 2 illustrates an example of a situation in which a sensory data acquisition module acquires sensory data from a sensor. [Figure 5] 5 is a diagram showing an example of the positional relationship between objects detected by a sensor in the situation shown in FIG. 4. FIG. [Figure 6] FIG. 4 is a diagram showing functional blocks of a railway map generation device according to a second embodiment of the present invention. [Figure 7] 10 is a flowchart of a process executed by a railway map generating device according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] (First embodiment) Fig. 1 is a diagram showing the functional blocks of a railway map generation device according to a first embodiment of the present invention. As shown in Fig. 1, the railway map generation device 1 of this embodiment is configured to include a map design reading module 10, a railway map data creation module 20, a sensory data acquisition module 30, a railway map data matching module 40, a railway map data update module 50, and a railway map database 70.

[0012] The map design read module 10 receives as input a map design document 2. The map design document 2 is a physical or digital document used in design or operation that shows information related to a railway. This information includes the distance of the railway line from its origin and the locations of railway facilities such as stations, crossings, and devices for train traffic control, such as signals, balusters, and other train protection elements. The locations of these items can be represented in the map design document 2 by pictorial icons or text.

[0013] When the map design document 2 is input to the map design reading module 10, the map design reading module 10 reads it and extracts the above-described information about the positional relationship between specific points on the railroad track and objects along the railroad track as railroad map information. This railroad map information can be extracted by pattern / template matching using machine learning. The starting point or station can be used as a specific point on the railroad track that indicates the reference point for the distance of an object along the railroad track.

[0014] The railway map data creation module 20 creates railway map data based on the railway map information extracted from the map design document 2 by the map design reading module 10, and records the created railway map data in the railway map database 70. This railway map data is a railway map showing the layout of railway tracks in a given area or route, as well as railway facilities (such as stations, crossings, and devices for train traffic control) that exist along the railway tracks. Each entry of the railway map data recorded in the railway map database 70 includes the following information: Distance from starting point Distance from the nearest station Type of object (signal, train protection, etc.) Index of objects on railway tracks Inbound or outbound (representing the object's orientation) Map Design Document 2 icon in multiple configurations, combinations, and permutations, including but not limited to:

[0015] The railroad map database 70 can be stored in a number of formats, including as a structured data frame, a markup language file, or a text-based database. The railroad map database 70 can be stored on an offline storage medium, an online server, or a combination thereof.

[0016] The sensory data acquisition module 30 acquires sensory data from a sensor 3 mounted on a train traveling on a railroad track. The sensor 3 may be an image sensor, RADAR, LiDAR, ultrasonic sensor, GNSS sensor, or the like. As the train travels on the railroad track, the sensor 3 detects various objects present near the railroad track and outputs sensory data indicating the object detection results. This allows the sensory data acquisition module 30 to acquire information on the shapes and positions of traffic control devices (such as traffic lights) and structures (such as buildings) as sensory data from the sensor 3. Note that multiple sensors may be used in combination as the sensor 3. In other words, the sensory data acquisition module 30 can acquire sensory data by combining multiple detection results of objects each detected by a different sensor.

[0017] The railway map data matching module 40 compares the sensed data acquired by the sensed data acquisition module 30 with the railway map data recorded in the railway map database 70 for each object sensed by the sensor 3. If there is a discrepancy between the sensed data and the railway map data, information on the discrepancy is output from the railway map data matching module 40 to the railway map data update module 50.

[0018] The railway map data update module 50 updates the railway map based on the comparison result by the railway map data comparison module 40. Specifically, if the railway map data comparison module 40 determines that there is a discrepancy between the sensed data and the railway map data, the railway map data update module 50 corrects the railway map data recorded in the railway map database 70 based on the difference information input from the railway map data comparison module 40. In this way, the railway map drawn using the railway map data can be corrected according to the actual situation.

[0019] Fig. 2 is a diagram showing the hardware configuration of the railway map generation device 1 of this embodiment. As shown in Fig. 2, the railway map generation device 1 can be a computer in which a CPU 101, a memory 102, a storage device 103, an input device 104, an output device 105, and a communication interface 106 are connected to each other via a communication bus 107.

[0020] The CPU 101 performs various processes for controlling the railway map generation device 1 to realize the functions of the railway map generation device 1. The CPU 101 uses the memory 102 as a work area and executes predetermined programs to cause the computer to operate as the railway map generation device 1.

[0021] The memory 102 is configured by, for example, a RAM (Random Access Memory). The memory 102 is interfaced with the CPU 101 to temporarily store data used by the program being executed.

[0022] The storage device 103 is a recording medium capable of non-primarily storing various programs and data. The storage device 103 may be a read-only memory (ROM), a hard disk drive (HDD), a flash memory, or the like.

[0023] The input device 104 is a device for receiving input data from a user of the railway map generation device 1. As the input device 104, a keyboard, a mouse, a touch panel, or the like may be used.

[0024] The output device 105 is a device for outputting data to a user of the railway map generation device 1. As the output device 105, a monitor, a printer, etc. may be used.

[0025] The communication interface 106 connects to a communication network (not shown) and transmits and receives various data via the communication network between the railway map generation device 1 and other devices including the sensor 3. The communication network may be a mobile network, a wired or wireless LAN (Local Area Network), the Internet, or the like.

[0026] The map design reading module 10, the railway map data creating module 20, the sensed data acquiring module 30, the railway map data matching module 40, and the railway map data updating module 50 shown in Fig. 1 can be implemented in the railway map generating device 1 by the CPU 101 executing programs stored in the storage device 103. The railway map database 70 shown in Fig. 1 can be implemented in the railway map generating device 1 by the storage device 103.

[0027] Fig. 3 is a flowchart of processing executed by the railway map generation device 1 of this embodiment. The processing shown in the flowchart of Fig. 3 is executed in the railway map generation device 1 by the CPU 101 operating as the module shown in Fig. 1.

[0028] In step S10, the map design reading module 10 reads the map design document 2. In this step, the map design reading module 10 may scan the physical document of the map design document 2 to read its contents, or may read the digital document of the map design document 2 to obtain its contents.

[0029] In step S20, the map design reading module 10 extracts railway map information from the contents of the map design document 2 read in step S10. In this step, the map design reading module 10 extracts, as railway map information, location information relating to the positional relationship between specific points on the railway track (such as the starting point and stations) and objects along the railway track (such as traffic lights).

[0030] In step S30, the railway map data creation module 20 creates railway map data based on the railway map information extracted in step S20 and records it in the railway map database 70. In this step, the railway map data creation module 20 creates railway map data that indicates the location of each object along the railway track relative to a specific point, in addition to railway map data that indicates the layout of the railway tracks.

[0031] In step S40, the sensed data acquisition module 30 acquires sensed data of objects from the sensors 3. In this step, the sensors 3 mounted on the train sense the locations of various objects (traffic control devices such as traffic lights, and structures such as buildings) present along the railroad tracks on which the train is traveling, and output the sensed data of the objects to the sensed data acquisition module 30. The sensed data acquisition module 30 can acquire the sensed data output from the sensors 3 in this manner.

[0032] In step S50, the railway map data matching module 40 calculates the location of the object for which sensing data was acquired in step S40. In this step, the railway map data matching module 40 calculates the geographic locations of objects (such as traffic control devices such as traffic lights and structures such as buildings) present along the railway tracks based on the sensing data. More specifically, for example, the railway map data matching module 40 can calculate the geographic location of the object based on GNSS sensing data indicating the absolute location of the sensor 3 and location data such as RADAR or LiDAR sensing data indicating the relative location of the object. In this calculation process, the railway map data matching module 40 can complement the sensing data of a given object based on sensing data of other objects around it.

[0033] An example of the processing executed in steps S40 and S50 will be described below with reference to FIGS.

[0034] 4 is a diagram showing an example of a situation in which the sensory data acquisition module 30 acquires sensory data from the sensor 3 in step S40. The sensor 3 is mounted on a train 41 traveling on a railway track 43, senses the locations of a traffic light 42 and buildings 44, 45, and 46, and outputs sensory data indicating the results of sensing these objects. In addition, the sensor 3 senses the location movement history of the train 41 as it travels on the railway track 43, which indicates the layout of the railway track 43, and outputs the sensory data. In step S40, the sensory data acquisition module 30 acquires the sensory data output from the sensor 3.

[0035] FIG. 5 is a diagram showing an example of the positional relationship between objects detected by the sensor 3 in the situation shown in FIG. 4. As described above, the railway map data matching module 40 can calculate the geographical location of the object detected by the sensor 3 based on the sensory data acquired by the sensory data acquisition module 30. By performing this process on the situation of FIG. 4, the positional relationship between a traffic light 42, a railway track 43, and buildings 44, 45, and 46 can be calculated as shown in FIG. 5. Note that while FIG. 5 illustrates the positional relationship between the objects as an overhead image, any other representation (e.g., a 3-D dimensional image) can be used in the process of step S50.

[0036] In step S50, the railway map data matching module 40 creates an overhead image of the structure as shown in Fig. 5 based on the sensory data of the structure, and can use this image to complement the sensory data of the device (e.g., traffic light 42) to be compared with the railway map data. In this way, the sensory data of the device can be accurately complemented in a simple manner.

[0037] Returning to the explanation of FIG. 3, in step S60, the railway map data checking module 40 selects one of the objects whose locations have been calculated in step S50.

[0038] In step S70, the railway map data matching module 40 compares the sensed data of the object selected in step S60 with the railway map data recorded in the railway map database 70 in step S30. In this step, the railway map data matching module 40 extracts an entry from the railway map database 70 relating to the object most recently selected in step S60, and compares the sensed data of this object obtained in step S40 with the extracted entry in the railway map database 70. The result of the comparison made in step 70 is output from the railway map data matching module 40 to the railway map data update module 50.

[0039] In step S80, the railway map data matching module 40 determines whether the sensed data of the selected object matches the railway map data based on the comparison result made in step S70. If the comparison result shows any difference between the sensed data and the railway map data, the railway map data matching module 40 determines the result of the determination in step S80 as negative (NO) and proceeds to step S90. On the other hand, if the comparison result shows no difference between the sensed data and the railway map data, the railway map data matching module 40 determines the result of the determination in step S80 as positive (YES) and proceeds to step S100. In this determination, if the difference between the sensed data and the railway map data is smaller than a predetermined value, it is preferable to ignore the difference.

[0040] In step S90, the railway map data update module 50 updates the railway map recorded in the railway map database 70 based on the results of the comparison performed by the railway map data comparison module 40 in step S70. In this step, the railway map data update module 50 updates the entries in the railway map database 70 extracted in step S70 so as to cancel the differences determined in step S80. After this is done, the processing proceeds to step S100.

[0041] In step S100, the railway map data matching module 40 determines whether or not all objects have been selected in step S60. If at least one of the objects whose locations have been calculated in step S50 has not yet been selected in the previous step S60, the railway map data matching module 40 returns the process to step S60 and repeats steps S60 to S100. On the other hand, if all of the objects whose locations have been calculated in step S50 have been selected in the previous step S60, the railway map data matching module 40 ends the process of the flowchart shown in FIG. 3.

[0042] According to the first embodiment of the present invention described above, the following actions and effects can be obtained.

[0043] (1) The railway map generation device 1 includes a map design reading module 10 configured to read a map design document 2 showing objects existing along the railway tracks (step S10) and extract railway map information relating to the positional relationships between specific points on the railway tracks and the objects (step S20), a railway map data creation module 20 configured to create railway map data based on the railway map information (step S30), a sensing data acquisition module 30 configured to acquire sensing data showing the results of sensing objects sensed by sensors 3 mounted on trains running on the railway tracks (step S40), a railway map data matching module 40 configured to compare the sensing data with railway map data (step S70), and a railway map data update module 50 configured to update the railway map based on the results of the comparison by the railway map data matching module 40 (step S90). This configuration enables railway maps for train operation to be automatically generated with less time and cost.

[0044] (2) The sensory data acquisition module 30 can acquire sensory data by combining multiple sensing results of an object sensed by different sensors 3. This allows accurate acquisition of sensory data indicating the location of an object.

[0045] (3) The object may include a device for controlling the traffic of trains traveling on the railway tracks, and may further include structures existing around the device. In this configuration, the railway map data matching module 40 may complement the device's sensory data compared with the railway map data in step S50 based on the sensory data of the structures. This allows sensory data indicating the location of the object to be obtained more accurately.

[0046] (4) In step S50, the railway map data matching module 40 creates an overhead image of the structure as shown in Fig. 5 based on the sensing data of the structure, and the overhead image can be used to complement the sensing data of the device to be compared with the railway map data. In this way, sensing data that accurately indicates the location of the object can be obtained in a simple manner.

[0047] (Second embodiment) Fig. 6 is a diagram showing functional blocks of a railway map generation device according to a second embodiment of the present invention. As shown in Fig. 6, the railway map generation device 1A of this embodiment is configured by further including a warning module 60, compared to the railway map generation device 1 shown in Fig. 1 described in the first embodiment.

[0048] In this embodiment, the comparison result by the railway map data matching module 40 is also output to the warning module 60. The warning module 60 determines whether each object sensed by the sensor 3 is an abnormal object based on the comparison result. If any of the objects is determined to be an abnormal object, the warning module 60 issues a warning to the warning device 4. The warning device 4 is connected to the railway map generation device 1A by wire or wirelessly, and notifies the user of the warning from the warning module 60 in a predetermined format (for example, by displaying an image, turning on a lamp, or sounding a siren).

[0049] If the warning device 4 repeatedly outputs a warning for the same object multiple times, it is assumed that the location of this object is not correctly recorded in the railway map data of the railway map database 70. Taking such a situation into consideration, in this embodiment, the railway map data update module 50 updates the railway map when the number of warnings issued by the warning module 60 is greater than a predetermined number. This allows the railway map data recorded in the railway map database 70 to be updated according to the actual environment.

[0050] 7 is a flowchart of the process executed by the railway map generation device 1A of this embodiment. Compared with the flowchart of FIG. 3 described in the first embodiment, this flowchart further includes steps S81, S82, and S83 between steps S80 and S90.

[0051] In steps S10 to S80, the same processes as in the first embodiment are executed by each of the map design reading module 10, the railway map data creation module 20, the sensed data acquisition module 30, and the railway map data matching module 40. If the railway map data matching module 40 determines that the determination result in step S80 is negative (NO), the process proceeds to step S81.

[0052] In step S81, the warning module 60 determines whether the object selected in step S60 is an abnormal object based on the result of the comparison made in step S70. In this step, the warning module 60 obtains the comparison result from the railway map data matching module 40. If the result indicates that there is no matching data for the sensed data of the selected object in the railway map data recorded in the railway map database 70, the warning module 60 determines the result of the determination in step S81 as affirmative (YES) and proceeds to step S82. On the other hand, if the result indicates that there is any matching data for the sensed data of the selected object in the railway map data recorded in the railway map database 70, the warning module 60 determines the result of the determination in step S81 as negative (NO) and proceeds to step S90.

[0053] It should be noted that in step S81, the size, location, and / or movement of the object may be taken into consideration for making the determination. For example, if an object is detected on a railroad track, it is preferable to determine that the object is an anomalous object regardless of the result of the comparison. It may also be possible to determine that the object is not an anomalous object if the moving object is smaller than a predetermined size. Other variations of the determination performed in step S81 are also applicable.

[0054] In step S82, the warning module 60 issues a warning to the warning device 4. This warning is notified to the user by the warning device 4. This allows the user (for example, a train driver, a station staff member, etc.) to recognize the presence of an abnormal object.

[0055] In step S83, the warning module 60 determines whether a warning has been issued a predetermined number of times in step S82 for the object selected in step S60. If the number of warnings issued by the warning module 60 in step S82 up to this point is greater than the predetermined number, the warning module 60 determines the result of the determination in step S83 as affirmative (YES) and proceeds to step S90. On the other hand, if the number of warnings issued by the warning module 60 in step S82 up to this point is less than the predetermined number, the warning module 60 determines the result of the determination in step S83 as negative (NO) and proceeds to step S100.

[0056] In step S90, the railway map data update module 50 updates the railway map recorded in the railway map database 70 based on the result of the comparison performed by the railway map data matching module 40 in step S70, as in the first embodiment. In this embodiment, if the answer to step S83 is affirmative, the railway map data update module 50 may update the railway map database 70 in step S90 by adding a new entry for the object selected in step S60.

[0057] In step S100, the railway map data matching module 40 executes the same processing as in the first embodiment. If it is determined in step S100 that all of the objects have been selected in the previous step S60, the railway map data matching module 40 ends the processing of the flowchart shown in FIG.

[0058] According to the second embodiment of the present invention described above, in addition to the same actions and effects as those of the first embodiment, the following actions and effects can be obtained.

[0059] (5) The railway map generating device 1A further includes a warning module 60 configured to determine whether the object is an abnormal object based on the result of the comparison by the railway map data matching module 40 (step S81), and if the object is determined to be an abnormal object (step S81: YES), to issue a warning to the warning device 4 connected to the railway map generating device 1A (step S82). With this configuration, a warning can be issued to the user when an abnormal object is present around the railway tracks.

[0060] (6) If the number of warnings issued by the warning module 60 is greater than a predetermined number (step S83: YES), the railway map data update module 50 updates the railway map (step S90). By doing so, if there is a discrepancy between the sensing data and the railway map data, it becomes possible to update the railway map data in an appropriate manner according to the actual situation.

[0061] The above-described embodiments and variations are merely illustrative, and the present invention is not to be considered limited by the details thereof. Other embodiments are within the scope of the present invention, provided that the essential features of the invention are maintained. [Explanation of symbols]

[0062] 1. 1A Railway map generator 2 Map Design Documents 3 sensors 4. Warning Devices 10 Map design reading module 20 Railway map data creation module 30. Sensory data acquisition module 40 Railway map data matching module 50 Railway map data update module 60 Warning Module 70 Railway Map Database

Claims

1. A railway map generation device, a map design reading module configured to read a map design document showing objects located along a railway line and extract railway map information related to a positional relationship between specific points on the railway line and the objects; a railway map data creation module configured to create railway map data based on the railway map information; a sensory data acquisition module configured to acquire sensory data indicative of a result of sensing the object sensed by a sensor mounted on a train traveling on the railroad track; a railroad map data matching module configured to compare the sensed data with the railroad map data; a railway map data update module configured to update the railway map based on a result of the comparison by the railway map data matching module; A railway map generation device comprising:

2. The railway map generating device according to claim 1 , wherein the sensing data acquisition module acquires the sensing data by combining a plurality of sensing results of the object sensed by the different sensors, respectively.

3. The railway map generating apparatus according to claim 1 , wherein the object includes a device for traffic control of trains traveling on the railway tracks.

4. The object further includes a structure surrounding the device; The railway map data matching module complements the sensory data of the device compared with the railway map data based on the sensory data of the structure. The railway map generating device according to claim 3 .

5. The railway map generating device according to claim 4, wherein the railway map data matching module creates an overhead image of the structure based on the sensory data of the structure, and uses the overhead image to complement the sensory data of the comparison device with the railway map data.

6. 2. The railway map generating device according to claim 1, further comprising a warning module configured to determine whether the object is an abnormal object based on the result of the comparison by the railway map data matching module, and to issue a warning to a warning device connected to the railway map generating device if the object is determined to be an abnormal object.

7. 7. The railway map generating device according to claim 6, wherein the railway map data update module updates the railway map when the number of times the warning is issued by the warning module is greater than a predetermined number.

8. A railway map generation method, comprising: reading a map design document showing objects located along a railroad track; extracting railway map information relating to a positional relationship between a specific point on the railway line and the object; Creating railway map data based on the railway map information; acquiring sensing data indicating a result of sensing an object sensed by a sensor mounted on a train traveling on the railroad track; comparing the sensed data with the railroad map data; updating the railroad map based on the results of the comparison; A method for generating a railway map.

Images