Position estimation system

Abstract

To provide a position estimation system for estimating the current position of a train.SOLUTION: A position estimation system includes an acquisition unit, a detection unit, and an extraction unit. The acquisition unit acquires a picked-up image picked up by an imaging unit that directs an imaging direction in a direction perpendicular to a train advancing direction. The detection unit detects a sign related to the current position of the train from the picked-up image. The extraction unit extracts information on the current position of the train from the picked-up image from which the sign is detected.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE Embodiments of the present invention relate to a position estimation system. [Background technology]

[0002] In recent years, automatic train operation systems for railway vehicles have been developed. For example, automatic train operation systems measure the number of rotations of the wheels using a tachograph installed on the axle of the train. Then, the automatic train operation systems estimate the current position of the train based on the number of rotations of the wheels.

[0003] However, in some cases, the automatic train operation system may have a discrepancy between the estimated current position of the train and the actual current position of the train due to measurement errors in the speed generator. Therefore, the automatic train operation system corrects the current position of the train by communicating with a transponder (transponder) installed on the track. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2015-033177 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, there are places where transponder wayside coils cannot be installed, such as inside rolling stock yards. In such places, the train operation device cannot obtain the current train position.

[0006] Therefore, the present invention has been made in consideration of the above circumstances, and an object of the present invention is to estimate the position of a train. [Means for solving the problem]

[0007] A position estimation system according to an embodiment includes an acquisition unit, a detection unit, and an extraction unit. The acquisition unit acquires an image captured by an imaging unit whose imaging direction is oriented in a direction perpendicular to a traveling direction of a train. The detection unit detects a sign related to the current position of the train from the captured image. The extraction unit extracts information related to the current position of the train from the captured image in which the sign has been detected. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a schematic configuration of a train system according to a first embodiment. [Diagram 2] FIG. 2 is a diagram illustrating a schematic example of a hardware configuration of the operation control device according to the first embodiment. [Diagram 3] FIG. 3 is a diagram illustrating a schematic example of a hardware configuration of the image analyzing device according to the first embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of a schematic configuration of functions of various devices included in the train system according to the first embodiment. [Diagram 5] FIG. 5 is a diagram showing an example of a captured image including a sign. [Figure 6] FIG. 6 is a flowchart illustrating an example of a correction process executed by the image analyzing device according to the first embodiment. [Figure 7] FIG. 7 is a diagram illustrating a schematic example of a hardware configuration of an operation control device according to the second embodiment. [Figure 8] FIG. 8 is a diagram illustrating a schematic example of a hardware configuration of an image analyzing apparatus according to the second embodiment. [Figure 9] FIG. 9 is a diagram illustrating an example of a schematic configuration of functions of various devices included in the train system according to the second embodiment. [Figure 10] FIG. 10 is a flowchart illustrating an example of a correction process executed by the image analyzing device and the operation control device according to the second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The position estimation system will be described in detail below with reference to the accompanying drawings. In the following description of each embodiment and modification, parts with the same reference numerals have substantially the same functions, and descriptions of overlapping parts will be omitted as appropriate.

[0010] (First embodiment) FIG. 1 is a diagram showing an example of a schematic of a train system 1 according to a first embodiment. The train system 1 is a system mounted on a train. The train system 1 estimates a current position indicating the current position of the train on which it is mounted. The train is one or more vehicles traveling along a track. The train system 1 includes a tachograph generator 10, an operation control device 20, an imaging unit 40, a transmission device 50, and an image analysis device 60.

[0011] The tachometer generator 10 is installed on the axle of the wheels of the train. The tachometer generator 10 generates electricity using the rotation of the wheels. The tachometer generator 10 outputs a pulse signal corresponding to the rotation of the wheels to the operation control device 20.

[0012] The operation control device 20 is a device that automates all or part of train operation. For example, the operation control device 20 estimates the current position of the train. The current position of the train is the position of the train when the train's position is measured. Then, the operation control device 20 stops the train at a set position based on the result of estimating the current position. Specifically, the operation control device 20 is a device such as an automatic train operation device (Automatic Train Operation), an automatic train control device (Automatic Train Control), an automatic train stop device (Automatic Train Stop), or a train automatic stop-position controller.

[0013] The operation control device 20 estimates the travel distance of the train based on the pulse signal output from the tachograph 10. That is, the operation control device 20 estimates the current position indicating the current position of the train based on the pulse signal output from the tachograph 10.

[0014] However, when the number of rotations of the wheels is low, the operation control device 20 cannot generate a pulse signal with a sufficient voltage. In such a case, an error occurs between the current position of the train estimated by the operation control device 20 and the actual current position of the train. Therefore, the operation control device 20 corrects the current position of the train by communicating with a transponder ground coil installed on the track. Note that the operation control device 20 may obtain the current position of the train not only from the transponder ground coil but also from a Global Navigation Satellite System (GNSS).

[0015] The imaging unit 40 is a camera whose imaging direction is oriented in the direction of train travel and in a direction approximately perpendicular to the train floor. That is, the imaging unit 40 is a camera oriented from the inside of a window 41 provided on the side of the train to the outside of the window 41. For example, the imaging unit 40 captures an image every time a certain period of time has elapsed. Then, the imaging unit 40 outputs a captured image G1 (see FIG. 5), which is an image captured.

[0016] The transmission device 50 is a relay device that controls data transmission. The transmission device 50 relays data transmission by the imaging unit 40 and the image analysis device 60. The transmission device 50 also relays communication with the operation control device 20.

[0017] The image analysis device 60 estimates the current position of the train based on the captured image G1 (see FIG. 5) captured by the imaging unit 40. Here, it may not be possible to install a transponder ground coil within the premises of a depot, which is the base of the train. Furthermore, it may not be possible to obtain the current position of the train by GNSS within the premises of a depot because radio waves are blocked by buildings, etc. Therefore, the image analysis device 60 estimates the current position of the train based on the captured image G1 (see FIG. 5) captured by the imaging unit 40. Then, the image analysis device 60 corrects the current position estimated by the operation control device 20.

[0018] Next, the hardware configuration of each device installed in the train will be described.

[0019] 2 is a diagram showing a schematic example of a hardware configuration of the operation control device 20 according to the first embodiment. The operation control device 20 has a processor 21, a RAM (Random Access Memory) 22, a storage unit 23, and a communication interface 24.

[0020] The processor 21 comprehensively controls the operation control device 20. For example, the processor 21 is a control circuit such as a CPU (Central Processing Unit). The RAM 22 is a volatile memory that provides a working area for the processor 21. The processor 21 executes various arithmetic processing using the RAM 22 as a working area according to programs stored in the storage unit 23 or the like.

[0021] The storage unit 23 is a device that stores information such as a hard disk drive (HDD), a solid state drive (SSD), a flash memory, etc. For example, the storage unit 23 stores a control program. The control program is a program for realizing the functions of the storage unit 23.

[0022] The communication interface 24 is an interface that performs communication.

[0023] 3 is a diagram showing a schematic example of a hardware configuration of an image analyzing device 60 according to the first embodiment. The image analyzing device 60 has a processor 61, a RAM 62, a storage unit 63, and a communication interface 64.

[0024] The processor 61 comprehensively controls the image analysis device 60. For example, the processor 61 is a control circuit such as a CPU. The RAM 62 is a volatile memory that provides a working area for the processor 61. The processor 61 executes various arithmetic processing using the RAM 62 as a working area according to programs stored in the storage unit 63 or the like.

[0025] The storage unit 63 is a device that stores information on an HDD, an SSD, a flash memory, etc. For example, the storage unit 63 stores a control program. The control program is a program for realizing the functions of the storage unit 63.

[0026] The storage unit 63 also stores sign list information 65 (see FIG. 4 ) in which the installation positions of each sign are registered. More specifically, the sign list information 65 is information in which sign identification information for identifying each of a plurality of signs installed on the track is associated with installation position information indicating the position at which the sign identified by the sign identification information is installed. The sign is a landmark for identifying the current position of the train. The sign includes a number indicating the sign identification information. Note that the sign is not limited to a number indicating the sign identification information, and may be a symbol, figure, or character indicating the sign identification information. The installation position information is information indicating the position at which the sign is installed. For example, the installation position information may be a name indicating the position at which the sign is installed, may be coordinates indicating the position at which the sign is installed, may be a distance to a reference point, or may be a combination of these.

[0027] The storage unit 63 also stores current position information 25. The current position information 25 is information indicating the current position of the train. For example, the current position information 25 may be a name indicating the current position of the train, coordinates indicating the current position of the train, a distance traveled by the train from a reference point, or a combination of these.

[0028] The communication interface 64 is an interface that performs communication.

[0029] Next, a description will be given of the configuration of characteristic functions of the train system 1. Fig. 4 is a diagram showing a schematic example of the functions of various devices of the train system 1 according to the first embodiment.

[0030] The processor 21 of the operation control device 20 executes various processes using the RAM 22 as a working area in accordance with the programs stored in the storage unit 23 etc., thereby realizing the functions shown in Fig. 4. That is, the processor 21 of the operation control device 20 realizes the functions of the first position estimation unit 210, the first communication control unit 220, and the first correction unit 230.

[0031] All or part of the functions of the operation control device 20 and the image analysis device 60 may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. Examples of computer-readable recording media include portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into a computer system. The program may be transmitted via a telecommunications line.

[0032] The first position estimation unit 210 estimates a current position indicating the current position of the train based on the pulse signal output from the tachograph generator 10. For example, the first position estimation unit 210 measures the number of rotations of the wheels based on the pulse signal output from the tachograph generator 10. The first position estimation unit 210 also estimates that the position specified by the number of rotations of the wheels is the current position of the train. Then, the first position estimation unit 210 stores current position information 25 indicating the current position of the train estimated by the first position estimation unit 210 in the memory unit 23.

[0033] The first communication control unit 220 controls the communication interface 24 to communicate with other devices and systems. For example, the first communication control unit 220 receives a change request from the image analyzing device 60 to request a change to the current position of the train.

[0034] When a change request is received by the first communication control unit 220, the first correction unit 230 changes the current position of the train indicated by the current position information 25 to the current position of the train indicated by the change request. As a result, the first correction unit 230 corrects the current position to the one estimated by the image analysis device 60.

[0035] The processor 61 of the image analyzing device 60 executes various processes using the RAM 62 as a working area in accordance with the programs stored in the storage unit 63 etc., thereby realizing the functions shown in Fig. 4. That is, the processor 61 of the image analyzing device 60 realizes the functions of the second communication control unit 610, the image processing unit 620, and the calculation unit 630.

[0036] The second communication control unit 610 controls the communication interface 64 to communicate with other devices and systems. For example, the second communication control unit 610 receives a captured image G1 (see FIG. 5) that is an image captured by the imaging unit 40. That is, the second communication control unit 610 acquires the captured image G1. The second communication control unit 610 is an example of an acquisition unit. In addition, the second communication control unit 610 transmits a change request to the operation control device 20, requesting that the current position of the train indicated by the current position information 25 estimated by the operation control device 20 be changed to the current position of the train estimated by the calculation unit 630.

[0037] The image processing unit 620 executes image processing on the captured image G1 received by the second communication control unit 610. The image processing unit 620 includes a sign detection unit 621 and an information extraction unit 622.

[0038] The sign detection unit 621 detects a sign area G11, which is an image area of ​​a sign related to the current position of the train, from the captured image G1. The sign detection unit 621 is an example of a detection unit. The sign related to the current position of the train is a sign indicating a position. For example, it is a sign in the sign area G11 shown in FIG. 5. That is, the sign detection unit 621 detects the sign area G11 included in the captured image G1. FIG. 5 is a diagram showing an example of the captured image G1 including a sign. For example, the sign detection unit 621 detects the sign area G11 by pattern matching. Note that the sign detection unit 621 may detect the sign area G11 by inputting the captured image G1 to a trained model that has learned the appearance of a sign, not limited to pattern matching, or may detect the sign area G11 by another method.

[0039] The information extraction unit 622 extracts information about the current position of the train from the captured image G1 in which a sign area G11, which is an area of ​​a sign, is detected. The information extraction unit 622 is an example of an extraction unit. The information about the current position of the train is information for estimating the current position of the train. For example, the information about the current position of the train includes sign identification information and delay distance information. More specifically, the information extraction unit 622 extracts, from the captured image G1, sign identification information for identifying the sign and delay distance information indicating the position of the sign area G11 from a reference position G12 on the captured image G1 in the traveling direction of the train.

[0040] The sign identification information is identification information for identifying a sign. The delay distance information is information indicating a delay distance from a reference position G12 on the captured image G1 to the sign area G11 in the traveling direction of the train. Here, the delay distance indicates that there is no delay distance when the reference position G12 and the center position G13 of the sign area G11 coincide with each other. The delay distance is negative, indicating that the train is ahead of the train, when the center position G13 of the sign area G11 is on the opposite side of the traveling direction from the reference position G12, and is positive, indicating that the train is behind the train, when the center position G13 of the sign area G11 is on the opposite side of the traveling direction from the reference position G12. For example, in the case of the captured image G1 shown in FIG. 5, the center position G13 of the sign area G11 is on the opposite side of the traveling direction from the reference position G12, so the delay distance is positive.

[0041] As shown in Fig. 5, the sign region G11 includes sign identification information for identifying the sign. For example, the sign shown in Fig. 5 indicates "30" as the sign identification information. Therefore, the information extraction unit 622 extracts "30" as the sign identification information.

[0042] More specifically, the information extraction unit 622 extracts delay distance information indicating the delay distance from a reference position G12 in the captured image G1 to a central position G13 that is the center of the sign area G11. The reference position G12 is a position on the captured image G1 at which the installation position of the installation position information shown in the sign list information 65 coincides with the current position of the train when the reference position G12 coincides with the central position G13. That is, the delay distance information indicates the distance from the installation position of the installation position information to the current position of the train.

[0043] The calculation unit 630 estimates the current position of the train based on the sign list information 65. More specifically, the calculation unit 630 has a second position estimation unit 631 and a correction request unit 632.

[0044] The second position estimation unit 631 estimates the current position of the train using information on the current position of the train extracted by the information extraction unit 622 based on the sign list information 65. The second position estimation unit 631 is an example of an estimation unit. That is, the second position estimation unit 631 estimates the current position of the train using the sign identification information and delay distance information extracted by the information extraction unit 622 based on the sign list information 65. For example, the second position estimation unit 631 estimates the current position of a running train.

[0045] More specifically, the second position estimation unit 631 acquires the installation position of the sign specified by the sign identification information extracted by the information extraction unit 622 based on the sign list information 65. The second position estimation unit 631 also acquires the distance from the installation position of the sign to the current position of the train based on delay distance information indicating the delay distance from the reference position G12 to the center position G13 of the captured image G1. That is, the second position estimation unit 631 estimates the current position of the train at the time of capturing the captured image G1. Specifically, the second position estimation unit 631 estimates that the current position of the train at the time of capturing the captured image G1 in which the sign is detected is a position obtained by adding the distance indicated by the delay distance information to the installation position of the sign acquired from the sign list information 65.

[0046] The correction request unit 632 corrects the current position estimated by the second position estimation unit 631 based on the current position of the train estimated by the operation control device 20. The correction request unit 632 is an example of a correction unit. More specifically, the correction request unit 632 causes the second communication control unit 610 to transmit a correction request requesting correction to the current position of the train estimated by the second position estimation unit 631. As a result, the second communication control unit 610 transmits the correction request to the operation control device 20. The correction request has the current position of the train estimated by the second position estimation unit 631.

[0047] Next, various processes executed by the image analyzing device 60 according to the first embodiment will be described.

[0048] 6 is a flowchart showing an example of the correction process executed by the image analyzing device 60 according to the first embodiment. The correction process is a process for correcting the current position of a running train.

[0049] The second communication control unit 610 acquires a captured image G1 which is an image captured by the imaging unit 40 (step S1).

[0050] The sign detection unit 621 determines whether or not the captured image G1 acquired by the second communication control unit 610 includes a sign area G11, which is an image area of ​​a sign (step S2). If the sign area G11 is not included (step S2; No), the second communication control unit 610 acquires the captured image G1 in step S1.

[0051] When the sign region G11 is included (step S2; Yes), the information extracting unit 622 extracts sign identification information for identifying the sign of the sign region G11 included in the captured image G1 from the captured image G1 (step S3).

[0052] The information extraction unit 622 extracts delay distance information indicating the delay distance from the reference position G12 of the captured image G1 to the center position G13 of the marker area G11 (step S4).

[0053] The second position estimation unit 631 acquires the installation position of the sign specified by the acquired sign identification information based on the sign list information 65 (step S5).

[0054] The second position estimation unit 631 estimates that the current position of the train at the time when the captured image G1 including the sign area G11 was captured is a position at a distance from the acquired sign installation position corresponding to the delay distance indicated by the delay distance information (step S6).

[0055] The second communication control unit 610 corrects the current position of the train (step S7). That is, the second communication control unit 610 transmits to the operation control device 20 a change request requesting that the current position of the train estimated by the operation control device 20 be changed to the current position of the train estimated by the second position estimation unit 631. As a result, the first correction unit 230 of the operation control device 20 corrects the current position of the train to the position indicated by the change request.

[0056] With the above, the image analyzing device 60 ends the correction process.

[0057] As described above, the image analyzing device 60 according to the first embodiment acquires the captured image G1 captured by the imaging unit 40 whose imaging direction is oriented in a direction substantially perpendicular to the traveling direction of the train. The image analyzing device 60 also detects a sign related to the current position of the train from the captured image G1. The image analyzing device 60 then extracts information related to the current position of the train from the captured image G1 in which the sign is detected. Thus, the image analyzing device 60 can estimate the current position of the train.

[0058] Here, if the sign is captured by a camera facing the train's traveling direction, it is difficult to estimate the current position of the train with high accuracy. More specifically, since the sign is placed in the train's traveling direction, the distance from the train to the sign changes as the train moves forward. Therefore, the train must estimate the distance from the train to the sign based on the image captured by the camera.

[0059] The imaging unit 40 has an imaging direction oriented approximately perpendicular to the traveling direction of the train. Since the train runs on the tracks, the distance from the imaging unit 40 oriented approximately perpendicular to the traveling direction of the train to the sign changes much less than the distance from the imaging unit 40 oriented in the traveling direction to the sign. This eliminates the need for the image analyzing device 60 to estimate the distance from the imaging unit 40 to the sign. Therefore, the image analyzing device 60 can estimate the current position of the train more easily than when estimating the current position of the train from an image captured in the traveling direction of the train.

[0060] Second Embodiment In a train system 1a according to the second embodiment, an operation control device 20a estimates a current position of a train based on sign list information .

[0061] 7 is a diagram showing a schematic example of a hardware configuration of an operation control device 20a according to the second embodiment. The operation control device 20a has a processor 21, a RAM 22, a storage unit 23a, and a communication interface 24. The processor 21, the RAM 22, and the communication interface 24 have the same functions as those of the first embodiment.

[0062] The storage unit 23a is a device that stores information such as an HDD, an SSD, or a flash memory, as in the first embodiment. The storage unit 23a stores current position information 25. In addition, the storage unit 23a stores sign list information 26 so that the operation control device 20a estimates the current position of the train. The sign list information 26 is the same information as the sign list information 65 according to the first embodiment.

[0063] 8 is a diagram showing a schematic example of a hardware configuration of an image analyzing device 60a according to the second embodiment. The image analyzing device 60a has a processor 61, a RAM 62, a storage unit 63, and a communication interface 64. The processor 61, the RAM 62, and the communication interface 64 have the same functions as those of the first embodiment.

[0064] As in the first embodiment, the storage unit 63a is a device that stores information such as an HDD, an SSD, a flash memory, etc. The storage unit 63a does not store the sign list information 65 because the operation control device 20a estimates the current position of the train.

[0065] FIG. 9 is a diagram showing an example of a schematic configuration of functions of various devices included in a train system 1a according to the second embodiment.

[0066] The image analyzing device 60a includes a second communication control unit 610, an image processing unit 620, and a calculation unit 630a, similarly to the first embodiment. The calculation unit 630a includes a correction request unit 632a.

[0067] When the information extraction unit 622 extracts the sign identification information and the delay distance information, the correction request unit 632a causes the second communication control unit 610 to transmit a correction request including the sign identification information and the delay distance information.

[0068] The memory unit 23a of the driving control device 20a stores current position information 25 and sign list information 26. Similarly to the first embodiment, the driving control device 20a also has a first position estimation unit 210 and a first communication control unit 220. Furthermore, the driving control device 20a also has a calculation unit 240.

[0069] The calculation unit 240 includes a second position estimation unit 241 and a second correction unit 242 .

[0070] Similar to the second position estimation unit 631 according to the first embodiment, the second position estimation unit 241 estimates the current position of the train based on the sign list information 26. More specifically, the first communication control unit 220 receives a correction request having sign identification information and delay distance information. Based on the sign list information 26, the second position estimation unit 241 acquires the installation position of the sign corresponding to the sign identification information extracted by the information extraction unit 622 and received by the first communication control unit 220. In addition, the second position estimation unit 241 acquires the distance from the installation position of the installation position information to the current position of the train based on delay distance information indicating the delay distance from the reference position G12 to the center position G13 of the captured image G1.

[0071] The second correction unit 242 corrects the current position of the train estimated by the operation control device 20a to the current position of the train estimated by the second position estimation unit 241. In other words, the second correction unit 242 corrects the current position of the train indicated by the current position information 25 stored in the memory unit 23a to the current position of the train estimated by the second position estimation unit 241.

[0072] Next, various processes executed by the image analyzing device 60a and the operation control device 20a according to the second embodiment will be described.

[0073] 10 is a flowchart showing an example of the correction process executed by the image analyzing device 60a and the operation control device 20a according to the second embodiment. The correction process is a process for correcting the current position of a running train.

[0074] The second communication control unit 610 of the image analyzing device 60a acquires a captured image G1 which is an image captured by the imaging unit 40 (step S11).

[0075] The sign detection unit 621 determines whether or not the captured image G1 acquired by the second communication control unit 610 includes a sign area G11, which is an image area of ​​a sign (step S12). If a sign is not included (step S12; No), the second communication control unit 610 acquires the captured image G1 in step S11.

[0076] If a sign is included (step S12; Yes), the information extracting section 622 extracts sign identification information for identifying the sign in the sign area G11 included in the captured image G1 from the captured image G1 (step S13).

[0077] The information extraction unit 622 extracts delay distance information indicating the delay distance from the reference position G12 of the captured image G1 to the center position G13 of the marker area G11 (step S14).

[0078] The second communication control unit 610 transmits a correction request including the sign identification information and the delay distance information to the driving control device 20a (step S15).

[0079] The first communication control unit 220 of the driving control device 20a receives the correction request including the sign identification information and the delay distance information (step S16).

[0080] The second position estimation unit 241 acquires the installation position of the sign identified by the received sign identification information based on the sign list information 26 (step S17).

[0081] The second position estimation unit 241 estimates that the current position of the train at the time when the captured image G1 including the sign was captured is a position at a distance from the acquired sign installation position corresponding to the delay distance indicated by the delay distance information (step S18).

[0082] The second correction unit 242 corrects the current position of the train indicated by the current position information 25 stored in the storage unit 23a to the current position of the train estimated by the second position estimation unit 241 (step S19).

[0083] With the above, the image analyzing device 60a and the operation control device 20a finish the correction process.

[0084] As described above, the operation control device 20a according to the second embodiment acquires a correction request having sign identification information and delay distance information from the image analysis device 60a. Then, the operation control device 20a extracts information related to the current position of the train from the sign identification information and delay distance information based on the sign list information 26. Therefore, the operation control device 20a can estimate the current position of the train.

[0085] (Variation 1) The train system 1 according to the first embodiment and the train system 1a according to the second embodiment estimate the current position of a running train. However, the train systems 1 and 1a may estimate the current position of a stopped train, not limited to a running train.

[0086] The second communication control unit 610 receives the captured image G1 captured by the imaging unit 40 while the train is stopped. In the configuration of the first embodiment, the image processing unit 620 and the calculation unit 630 estimate the current position of the stopped train by executing the same process as in the first embodiment based on the captured image G1 captured while the train is stopped. In the configuration of the second embodiment, the image processing unit 620, the calculation unit 630, and the calculation unit 240 estimate the current position of the stopped train by executing the same process as in the first embodiment based on the captured image G1 captured while the train is stopped.

[0087] Furthermore, the train system 1, 1a is not limited to estimating the current position of a stopped train, and may correct the current position of a stopped train.

[0088] (Variation 2) In the train system 1 according to the first embodiment and the train system 1a according to the second embodiment, the current location information 25 is stored in the memory unit 23, 23a of the operation control device 20, 20a. However, the current location information 25 is not limited to being stored in the operation control device 20, 20a, and may be stored in another device.

[0089] For example, the current position information 25 may be stored in an automatic driving information management device that manages information related to automatic driving. In this case, when the operation control device 20 receives a change request from the image analysis device 60 requesting to change the current position of the train, the operation control device transmits the change request to the automatic driving information management device. As a result, the automatic driving information management device corrects the current position of the train to the position indicated by the change request. Alternatively, the image analysis device 60 may transmit the change request to the automatic driving information management device.

[0090] Alternatively, when the second position estimation unit 631 estimates the current position of the train, the operation control device 20a transmits a change request to the automatic operation information management device to request that the current position of the train be changed to the estimated current position of the train. As a result, the automatic operation information management device corrects the current position of the train to the position indicated by the change request.

[0091] In addition, the programs executed by the image analysis devices 60, 60a and the operation control devices 20, 20a of this embodiment are provided as files in an installable or executable format, recorded on a computer-readable recording medium such as a semiconductor storage device such as a DVD (Digital Versatile Disk), a USB (Universal Serial Bus) memory, or an SSD (Solid State Drive).

[0092] The program may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. The program may be provided or distributed via a network such as the Internet.

[0093] The program may also be provided in a state where it is pre-installed in a ROM or the like. [Explanation of symbols]

[0094] 1, 1a... train system, 10... speed generator, 20, 20a... operation control device, 40... imaging unit, 41... window, 21, 61... processor, 22, 62... RAM (Random Access Memory), Memory), 23, 23a, 63, 63a...storage unit, 24, 64...communication interface, 50...transmission device, 60, 60a...image analysis device, 25...current location information, 26, 65...sign list information, 210...first position estimation unit, 220...first communication control unit, 230...first correction unit, 240...calculation unit, 241, 631...second position estimation unit, 242...second correction unit, 610...second communication control unit, 620...image processing unit, 621...sign detection unit, 622...information extraction unit, 630, 630a...calculation unit, 632, 632a...correction request unit, G1...captured image, G11...sign area, G12...reference position, G13...center position.

Claims

1. an acquisition unit that acquires an image captured by an imaging unit whose imaging direction is oriented in a direction intersecting the traveling direction of the train; a detection unit that detects a sign related to a current position of the train from the captured image; an extraction unit that extracts information about a current position of the train from the captured image in which the sign is detected; A position estimation system comprising:

2. an estimation unit that estimates a current position of the train based on information about the current position of the train, based on sign list information in which the installation positions of the signs are registered; The location estimation system of claim 1 .

3. The extraction unit extracts, from the captured image, identification information for identifying the sign and delay distance information indicating a delay distance from a reference position on the captured image to the sign; The estimation unit estimates a current position of the train using the identification information and the delay distance information based on the sign list information. The location estimation system of claim 2 .

4. The estimation unit is acquiring installation positions of the signs identified by the identification information extracted by the extraction unit based on the sign list information; a delay distance from a reference position to the position of the sign, the delay distance information indicating the delay distance, is used to estimate a current position of the train at the time of capturing the captured image; The location estimation system of claim 3 .

5. a correction unit that corrects the current position of the train estimated by the operation control device based on the current position of the train estimated by the estimation unit, The location estimation system of claim 2 .

6. The estimation unit estimates a current position of the stopped train based on information regarding a current position of the train, based on sign list information in which installation positions of the signs are registered. The location estimation system of claim 2 .

7. An operation control device that estimates a current position of the train, The operation control device corrects the current position of the train based on information regarding the current position of the train, based on sign list information in which the installation positions of the signs are registered. The location estimation system of claim 1 .

8. The extraction unit extracts, from the captured image, identification information for identifying the sign and delay distance information indicating a delay distance from a reference position on the captured image to the sign; The operation control device corrects the current position of the train using the identification information and the delay distance information based on the sign list information. The location estimation system of claim 7.

9. The operation control device includes: acquiring installation positions of the signs identified by the identification information extracted by the extraction unit based on the sign list information; correcting a current position of the train at the time of capturing the image based on a delay distance from a reference position indicated by the delay distance information to the position of the sign; The location estimation system of claim 8 .

10. The acquisition unit acquires the captured image captured by the imaging unit whose imaging direction is oriented in a direction substantially perpendicular to the traveling direction of the train. A position estimation system according to any one of claims 1 to 9.

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