Platform door system

Abstract

To achieve a platform door system that contributes to cooperation between vehicle doors and platform doors by enabling an opening / closing determination of the vehicle doors of a railroad vehicle to be independently performed at low cost.SOLUTION: A control unit determines that a railroad vehicle 9 has stopped in a platform by causing an event camera unit to detect an occurrence of a first event resulting from performance of a first movement M1 by a first moving body T1 and to detect an end of the first event resulting from stopping of the first moving body T1 during the first movement M1. The control unit determines whether a vehicle door 90 of the railroad vehicle 9 is open or closed by causing the event camera unit to detect an occurrence or an end of a second event resulting from performance of a second movement M2 by a second moving body T2 after the end of the first event. The first movement M1 is movement along a travel route, and the second movement M2 is movement along an opening / closing direction of the vehicle door 90.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a platform door system for managing platform doors provided on a railway platform.

Background Art

[0002] In recent years, from the viewpoint of safety, it has been desired to provide platform doors on railway platforms. At such stations, users who want to board a railway vehicle need to pass through the platform doors before boarding the vehicle from the vehicle doors. For example, Japanese Patent Application Laid-Open No. 2014-162241 (Patent Document 1) discloses an invention related to such platform doors.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, the vehicle door and the platform door may be configured to be opened and closed manually or to be opened and closed in cooperation with each other. These days, at newly constructed stations, the installation of platform doors may have been originally designed, and in this case, it is possible to relatively easily construct a system for coordinating the vehicle door and the platform door. When coordinating these doors, it is essential to perform door opening and closing determination. However, for example, at existing stations, since the platform doors are retrofitted, the construction of the above-described cooperation system is relatively costly.

[0005] In view of the above situation, there is a need for a platform door system that can inexpensively perform the opening and closing determination of the vehicle doors of railway vehicles alone and contribute to the cooperation between the vehicle doors and the platform doors.

Means for Solving the Problems

[0006] A platform door system for managing platform doors provided on a platform of a railway station, an event camera unit installed on the platform with its imaging direction oriented along the running route of a railway vehicle, and a control unit, wherein the event camera unit is configured to detect the occurrence of an event caused by the movement of a moving body and to detect the end of the event caused by the stop of the moving body that has been moving, and the control unit determines that the railway vehicle has stopped within the platform when the event camera unit detects the occurrence of a first event caused by a first moving body performing a first operation and also detects the end of the first event caused by the stop of the first moving body during the first operation, and determines the opening or closing of the vehicle door of the railway vehicle when the event camera unit detects the occurrence or end of a second event caused by a second moving body performing a second operation after the end of the first event, wherein the first operation is an operation of moving along the running route, and the second operation is an operation of moving along the opening / closing direction of the vehicle door.

[0007] According to this configuration, by using a relatively inexpensive and available event camera and taking advantage of each moving object performing a unique operation, the first moving object performing the first operation can be identified as a railway train, and the second moving object performing the second operation can be identified as a vehicle door. As a result, it is possible to determine the departure and stop of a railway vehicle, as well as the opening and closing of the vehicle door after the railway vehicle has stopped. Then, by using this determination result for the opening and closing control of the platform door, it becomes possible to easily construct a cooperation system between the vehicle door and the platform door. Therefore, according to this configuration, it is possible to inexpensively perform the opening and closing determination of the vehicle door of a railway vehicle alone, and to realize a platform door system that contributes to the cooperation between the vehicle door and the platform door. Note that it is also conceivable to attach a target such as a two-dimensional code to the vehicle door and read it with a reader installed on the platform side to determine the opening and closing of the vehicle door. However, when using a two-dimensional code and a reader for reading it, there is a problem that the cost is likely to increase. Also, in this case, factors such as deterioration of the target, reflection of sunlight on the target, or being in a dark place can cause the reading accuracy of the reader to decrease. However, by using an event camera as in this configuration, it is also possible to solve these problems.

[0008] Further features and advantages of the technology according to the present disclosure will become clearer from the following description of exemplary and non-limiting embodiments described with reference to the drawings.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0010] The home door system is a system for managing the home doors provided on the platform of a station. Hereinafter, embodiments of the home door system will be described with reference to the drawings.

[0011] As shown in FIG. 1, the home door system 100 includes an event camera unit 1 installed on the platform 8 with the imaging direction facing the running route R of the railway vehicle 9, and a control unit 2 (see FIG. 3).

[0012] FIGS. 1 and 2 show a state where the railway vehicle 9 is stopped within the platform 8. A home door 80 is provided between the stopped railway vehicle 9 and the boarding and alighting area A on the platform 8. The home door 80 is basically in a closed state, thereby preventing users 7 from entering the running route R of the railway vehicle 9. When the railway vehicle 9 stops within the platform 8 and it is time for the user 7 to board or alight from the railway vehicle 9, the home door 80 becomes open. The opening and closing of the home door 80 can be manually performed by a worker or the like, but in this embodiment, the control unit 2 (see FIG. 3) controls the opening and closing of the home door 80.

[0013] The control unit 2 includes a control device having a central processing unit such as a CPU. The control unit 2 may be constituted by a plurality of control devices. Some of the plurality of control devices constituting the control unit 2 may be vehicle-side control devices mounted on the railway vehicle 9. Some of the others may be ground-side control devices provided separately from the railway vehicle 9, such as the platform 8 of the station or the management base. The control device includes, for example, a processor such as a microcomputer and peripheral circuits such as a memory. And each function is realized by the cooperation of these hardware and a program executed on a processor such as a computer. In the present embodiment, the control unit 2 is configured to control the operations of the vehicle door 90 and the platform door 80 based on the information acquired from the event camera unit 1 (see FIG. 3).

[0014] The event camera unit 1 is a kind of image sensor, detects a change in the luminance value (pixel value) at each pixel, and generates and outputs data including the detected time, the coordinates of the detected object, and the change value of the detected object. That is, the event camera unit 1 detects a moving object (hereinafter referred to as "moving body") and outputs it as visible data that can be visually recognized, but does not detect stationary objects or non-moving objects, and does not perform visualization of these. As a feature of the event camera unit 1, high temporal resolution can be mentioned, and for example, even in a dark place, a moving body can be clearly captured. Also, since only the data of the moving body is output, the data amount and power consumption can be reduced, and merits in terms of cost can also be expected.

[0015] In the platform door system 100 according to the present disclosure, the event camera unit 1 is configured to detect the occurrence of an event due to the movement of a moving body and also detect the end of the event due to the stop of the moving body that has been moving.

[0016] In this embodiment, the control unit 2 stores the types of moving bodies and the unique operations of each moving body in a storage unit (not shown). Then, the control unit 2 identifies the type of the moving body based on the unique operation of the moving body detected by the event camera unit 1. Note that this identification may also be performed by the event camera unit 1.

[0017] As shown in FIG. 4, the event camera unit 1 detects the occurrence of different events based on the operations preset for each type of moving body, and also detects the end of an event based on the moving body stopping. In this embodiment, the first event, the second event, the third event, and the fourth event (see FIG. 5) are the events detected by the event camera unit 1. Then, the control unit 2 determines the states of the vehicle door 90 and the home door 80 based on the detection result of the event camera unit 1, and also controls these operations in this example. In this embodiment, the control unit 2 includes a determination unit 20 (see FIG. 3), and thereby determines the states of the vehicle door 90 and the home door 80.

[0018] 〔First Event〕 The first event occurs when the first moving body T1 performs the first operation M1. In other words, the moving body performing the first operation M1 is identified as the first moving body T1, and the occurrence of the first event is detected. Then, the first event ends when the first moving body T1 stops.

[0019] The first operation M1 is an operation of moving along the travel route R. Therefore, the first moving body T1 performing the first operation M1 is identified as the railway vehicle 9.

[0020] The control unit 2 detects that the event camera unit 1 detects the occurrence of the first event due to the first moving body T1 performing the first operation M1 (first event (a): occurrence), and detects that the event camera unit 1 detects the end of the first event due to the first moving body T1 stopping during the first operation M1 (first event (c): end), and determines that the railway vehicle 9 has stopped within the home 8.

[0021] In this embodiment, when the first moving body T1 performing the first operation M1 enters the viewing angle, the event camera unit 1 detects the occurrence of the first event (first event (a): occurrence). When the first moving body T1 continues the first operation M1, the event camera unit 1 detects that the first event is occurring (first event (b): occurring). When the first moving body T1 stops, the event camera unit 1 detects the end of the first event (first event (c): end). When the first moving body T1 stops, as shown in the first event (c) of FIG. 4, the first moving body T1 disappears from the captured image by the event camera unit 1.

[0022] 〔Second event (opening)〕 The second event is generated when the second moving body T2 performs the second operation M2. In other words, the moving body performing the second operation M2 is identified as the second moving body T2, and the occurrence of the second event is detected. Then, the second event ends when the second moving body T2 stops.

[0023] The second operation M2 is an operation of moving along the opening and closing direction of the vehicle door 90. Here, the vehicle door 90 is configured by using two door bodies that move horizontally so as to approach or separate from each other. In this example, the second operation M2 is an operation of moving horizontally so that the two door bodies approach or separate from each other. Therefore, the second moving body T2 performing the second operation M2 is identified as the vehicle door 90.

[0024] In this embodiment, the second event includes a second opening event in which the vehicle door 90 opens and a second closing event in which the vehicle door 90 closes (see FIG. 6). FIG. 4 shows the second opening event. The second closing event will be described later.

[0025] In this embodiment, the control unit 2 controls the opening and closing operation of the vehicle door 90 on the condition that the event camera unit 1 detects the end of the first event (the first event (c): end). In the example shown in FIG. 4, the control unit 2 controls to open the vehicle door 90. As a result, the vehicle door 90 starts the opening operation, and a second opening event occurs.

[0026] After the end of the first event, when the event camera unit 1 detects the occurrence of the second opening event due to the second moving body T2 performing the second operation M2 (the second opening event (a): occurrence), the control unit 2 determines the opening of the vehicle door 90 of the railway vehicle 9. Here, it determines the start of the opening of the vehicle door 90. However, the control unit 2 may determine the start of the opening of the vehicle door 90 during the occurrence of the second opening event. Also, when the event camera unit 1 detects the end of the second opening event (the second opening event (c): end), the control unit 2 determines the completion of the opening of the vehicle door 90 of the railway vehicle 9.

[0027] In this embodiment, the event camera unit 1 detects the occurrence of the second opening event (the second opening event (a): occurrence) when the second moving body T2, that is, the operating ends 90e of the two door bodies constituting the vehicle door 90 (specifically, the vertical lines at the edge portions of the door bodies) move apart. The event camera unit 1 detects that the second opening event is occurring (the second opening event (b): occurring) when the second moving body T2 continues the second operation M2. The event camera unit 1 detects the end of the second opening event (the second opening event (c): end) when the second moving body T2 stops. When the second moving body T2 stops, as shown in the second opening event (c) of FIG. 4, the second moving body T2 disappears from the captured image by the event camera unit 1.

[0028] 〔Third event (opening)〕 The third event is generated when the third moving body T3 performs the third operation M3. In other words, the moving body performing the third operation M3 is identified as the third moving body T3, and the occurrence of the third event is detected. Then, the third event ends when the third moving body T3 stops.

[0029] The third operation M3 is an operation of moving along the opening and closing direction of the home door 80. Here, the home door 80 is configured using two gate bodies that move horizontally so as to approach or separate from each other. In this example, the third operation M3 is an operation of moving horizontally so that the two gate bodies approach or separate from each other. Therefore, the third moving body T3 performing the third operation M3 is identified as the home door 80.

[0030] In this embodiment, the third event includes a third opening event in which the home door 80 opens and a third closing event in which the home door 80 closes (see FIG. 6). FIG. 4 shows the third opening event. The third closing event will be described later.

[0031] In this embodiment, the control unit 2 controls the opening and closing operation of the home door 80 on the condition that the event camera unit 1 has detected at least the occurrence of the second event. In this example, the control unit 2 controls the opening and closing operation of the home door 80 on the condition that the event camera unit 1 has detected the end of the second event. In the example shown in FIG. 4, the control unit 2 controls to open the home door 80. Thereby, the home door 80 starts the opening operation and the third opening event occurs.

[0032] In this embodiment, after at least the second event occurs, when the event camera unit 1 detects the occurrence of a third release event caused by the third moving body T3 performing a third operation M3 (third release event (a): occurrence), the control unit 2 determines the opening of the home door 80. Here, it determines the start of the opening of the home door 80. However, the control unit 2 may determine the start of the opening of the home door 80 during the occurrence of the third release event. Further, when the event camera unit 1 detects the end of the third release event (third release event (c): end), the control unit 2 determines the completion of the opening of the home door 80.

[0033] In this embodiment, the event camera unit 1 detects the occurrence of the third release event (third release event (a): occurrence) when the third moving body T3, that is, the moving end portions 80e of the two gate bodies constituting the home door 80 (specifically, the vertical lines at the edge portions of the gate bodies) move apart. The event camera unit 1 detects that the third release event is occurring (third release event (b): occurring) when the third moving body T3 continues the third operation M3. The event camera unit 1 detects the end of the third release event (third release event (c): end) when the third moving body T3 stops. When the third moving body T3 stops, as shown in the third release event (c) of FIG. 4, the third moving body T3 disappears from the captured image by the event camera unit 1.

[0034] 〔Fourth event〕 As shown in FIG. 5, the fourth event occurs when the fourth moving body T4 performs a fourth operation M4. In other words, the moving body performing the fourth operation M4 is identified as the fourth moving body T4, and the occurrence of the fourth event is detected. In FIG. 5, an image of the captured image by the event camera unit 1 is shown on the left side in the figure, and an image of the same state captured by a general camera is shown on the right side in the figure as a comparative example.

[0035] In this embodiment, the fourth operation M4 is an operation of moving along an unspecified number of directions. In other words, operations other than the first operation M1, the second operation M2, and the third operation M3 are regarded as the fourth operation M4. Therefore, there may be a plurality of fourth moving bodies T4 that perform the fourth operation M4. In this embodiment, the fourth moving body T4 performing the fourth operation M4 is identified as the user 7 (or a pet, a guide dog, an AI robot, etc.).

[0036] Since the fourth moving body T4 that performs the fourth operation M4 is identified as the user 7, it is difficult to consider a state where all users 7 existing within the viewing angle of the event camera unit 1 stop. Therefore, in this embodiment, after a fourth event occurs due to a plurality or a single fourth moving body T4 performing the fourth operation M4, when the moving amount of the plurality or the single fourth moving body T4 becomes equal to or less than a predetermined reference moving amount, the event camera unit 1 detects the end of the fourth event. That is, when it can be determined that the movement of the user 7 or the like in the home 8 has changed from an active state to a gentle state, the end of the fourth event is detected. The "moving amount" may depend on the number of moving bodies, the density of the moving bodies within the viewing angle, or the direction of approaching or separating from the railway vehicle 9 or the boarding and alighting area A. When the "moving amount" is a concept including the direction, it becomes a vector. Therefore, the event camera unit 1 can detect the occurrence and end of the fourth event based on the number, density, or direction of the fourth moving body T4, or a combination thereof.

[0037] In this embodiment, when the total amount or the average moving amount of the moving amounts of all the fourth moving bodies T4 existing within the viewing angle of the event camera unit 1 becomes equal to or less than the reference moving amount, the end of the fourth event is detected. Here, the number of users 7, etc. varies depending on each station and also varies depending on the time zone. Therefore, the above reference moving amount may be appropriately defined by experiments or the like based on these indexes. For example, at stations or in time zones where the number of users 7 is large, the reference moving amount can be set relatively higher than at stations or in time zones where the number of users 7 is small.

[0038] In this embodiment, when the event camera unit 1 detects the occurrence of the fourth event (fourth event (a): occurrence), the control unit 2 determines that the degree of attention arousal in the boarding and alighting area A is high. Then, when the event camera unit 1 detects the end of the fourth event (fourth event (c): end), the control unit 2 determines that the degree of attention arousal in the boarding and alighting area A is low.

[0039] In this embodiment, the event camera unit 1 detects the occurrence of the fourth event (fourth event (a): occurrence) when there is movement of the fourth moving body T4, that is, the user 7 or the like. The event camera unit 1 detects that the fourth event is occurring when the fourth moving body T4 continues the fourth operation M4 (fourth event (b): occurring). The event camera unit 1 detects the end of the fourth event (fourth event (c): end) when the movement amount of all the fourth moving bodies T4 within the viewing angle becomes equal to or less than the reference movement amount. Since it is unlikely that all the fourth moving bodies T4 such as the user 7 stop, as shown in the fourth event (c) of FIG. 5, it is not always the case that all the fourth moving bodies T4 disappear from the captured image by the event camera unit 1.

[0040] In this embodiment, when the event camera unit 1 detects that the fourth event has ended before the occurrence of the second event (second closing event) and the third event (third closing event), the control unit 2 determines the safety in the boarding and alighting area A provided around the home door 80. Then, based on this determination result, the control unit 2 controls to close the vehicle door 90 of the stopped railway vehicle 9. As a result, the vehicle door 90 starts the closing operation and the second closing event occurs (see FIG. 6).

[0041] 〔Second closing event〕 As shown in FIG. 6, after the end of the first event, when the event camera unit 1 detects the occurrence of a second closing event due to the second moving body T2 performing the second operation M2, the control unit 2 determines the closing of the vehicle door 90 of the railway vehicle 9. Here, the start of the closing of the vehicle door 90 is determined. However, the control unit 2 may determine the start of the closing of the vehicle door 90 during the occurrence of the second closing event. Further, when the event camera unit 1 detects the end of the second closing event (second closing event (c): end), the control unit 2 determines the completion of the closing of the vehicle door 90. The second operation M2 here is an operation of moving along the direction in which the vehicle door 90 closes. That is, it is an operation of moving horizontally so that the two door bodies constituting the vehicle door 90 approach each other.

[0042] In the present embodiment, after the end of the first event, the second opening event, the third opening event (see FIG. 4), and the fourth event (see FIG. 5), when the event camera unit 1 detects the occurrence of a second closing event due to the second moving body T2 performing the second operation M2, the control unit 2 determines the start of the closing of the vehicle door 90 of the railway vehicle 9.

[0043] In the present embodiment, the event camera unit 1 detects the occurrence of the second closing event (second closing event (a): occurrence) when the second moving body T2, that is, the operating ends 90e of the two door bodies constituting the vehicle door 90, moves so as to approach each other. The event camera unit 1 detects that the second closing event is occurring (second closing event (b): occurring) when the second moving body T2 continues the second operation M2. The event camera unit 1 detects the end of the second closing event (second closing event (c): end) when the second moving body T2 stops. When the second moving body T2 stops, as shown in the second closing event (c) of FIG. 6, the second moving body T2 disappears from the captured image by the event camera unit 1.

[0044] 〔Third Event (Closing)〕 In this embodiment, the control unit 2 controls the closing operation of the home door 80 on the condition that the event camera unit 1 detects the end of the second closing event (the second closing event (c): end). As a result, the home door 80 starts the closing operation, and a third closing event occurs.

[0045] In this embodiment, the control unit 2 determines the closing of the home door 80 when the event camera unit 1 detects the occurrence of a third closing event caused by the third moving body T3 performing a third operation M3 after at least the second event has occurred. Here, the start of the closing of the home door 80 is determined. However, the control unit 2 may determine the start of the closing of the vehicle door 90 during the occurrence of the third closing event. Further, when the event camera unit 1 detects the end of the third closing event (the third closing event (c): end), the control unit 2 determines the completion of the closing of the home door 80. The third operation M3 here is an operation of moving along the direction in which the home door 80 closes. That is, it is an operation of moving horizontally so that the two gate bodies constituting the home door 80 approach each other.

[0046] In this embodiment, the event camera unit 1 detects the occurrence of the third closing event (the third closing event (a): occurrence) when the third moving body T3, that is, the operating ends 80e of the two gate bodies constituting the home door 80, moves so as to approach each other. The event camera unit 1 detects that the third closing event is occurring (the third closing event (b): occurring) when the third moving body T3 continues the third operation M3. The event camera unit 1 detects the end of the third closing event (the third closing event (c): end) when the third moving body T3 stops. When the third moving body T3 stops, as shown in the third closing event (c) of FIG. 6, the third moving body T3 disappears from the captured image by the event camera unit 1.

[0047] As described above, according to the home door system 100 according to the present disclosure, by using the relatively inexpensive and available event camera unit 1 and utilizing the fact that each moving body performs a unique operation, the type and operation of each moving body can be specified. Then, based on the detection result by the event camera unit 1, it becomes possible to operate the vehicle door 90 and the home door 80 at an appropriate timing.

[0048] 〔Other Embodiments〕 Next, other embodiments will be described.

[0049] (1) In the above-described embodiment, an example in which the home door 80 is configured using two gate bodies that move horizontally so as to approach or separate from each other has been described. However, without being limited to such an example, for example, as shown in FIG. 7, it can also be applied to a lifting home door 80. FIG. 7 shows a third opening event in which the lifting home door 80 is opened. Also, in FIG. 7, an image of the captured image by the event camera unit 1 is shown on the left side in the figure, and an image of the same state captured by a general camera is shown on the right side in the figure as a comparative example. When the home door 80 is of the lifting type, the third operation M3, which is the operation of the third moving body T3, is a lifting operation that moves along the vertical direction. In the example shown in FIG. 7, the event camera unit 1 detects the occurrence of the third opening event when the third moving body T3, that is, the lifting fence constituting the home door 80, moves upward (third opening event (a): occurrence). The event camera unit 1 detects that the third opening event is occurring when the third moving body T3 continues the third operation M3 (third opening event (b): occurring). The event camera unit 1 detects the end of the third opening event when the third moving body T3 stops (third opening event (c): end). Note that when the third moving body T3 stops, as shown in the third opening event (c) of FIG. 7, the third moving body T3 disappears from the captured image by the event camera unit 1.

[0050] (2) In the above-described embodiment, an example has been described in which the identification of the type of the moving body is performed based on the unique motion of the moving body detected by the event camera unit 1. However, without being limited to such an example, for example, a set range may be provided within the field of view angle of the event camera unit 1 for each type of moving body, and the identification of the type of the moving body may be performed based on the reflection within the set range. For example, a first set range, a second set range, a third set range, and a fourth set range are provided within the field of view angle of the event camera unit 1. Then, the moving body reflected in the first set range is identified as the first moving body T1 (railway vehicle 9), the moving body reflected in the second set range is identified as the second moving body T2 (vehicle door 90), the moving body reflected in the third set range is identified as the third moving body T3 (platform door 80), and the moving body reflected in the fourth set range is identified as the fourth moving body T4 (user 7, etc.). The identification of the moving body by this set range may be performed in combination with the identification by the unique motion of each moving body.

[0051] (3) In the above-described embodiment, an example has been described in which the vehicle door 90 is configured by using two door bodies that move horizontally so as to approach or separate from each other. However, without being limited to such an example, the vehicle door 90 may be configured by using one door body. In this case, the second operation M2 performed by the second moving body T2 (vehicle door 90) is an operation in which one door body moves left and right in the horizontal direction. Also, for example, when a single elevating door body is used as the vehicle door 90, the operation of moving in the vertical direction is the second operation M2. In addition to the above configuration, the vehicle door 90 may be a folding type. In this case, the vehicle door 90 is deployed in the closed state and folded in the open state.

[0052] (4) In the above-described embodiment, an example has been described in which the event camera unit 1 detects the occurrence of a fourth event when a plurality or a single fourth moving body T4 performs a fourth operation M4. However, without being limited to such an example, the event camera unit 1 may detect the occurrence of a fourth event based on the total amount or the average amount of movement of all the fourth moving bodies T4 existing within the viewing angle, based on a predetermined threshold value. Also, a plurality of threshold values may be set for the determination of each situation.

[0053] (5) In the above-described embodiment, an example has been described in which the control unit 2 controls the opening and closing operation of the home door 80 on the condition that the event camera unit 1 detects the end of a second event. However, without being limited to such an example, the control unit 2 may control the opening and closing operation of the home door 80 on the condition that the event camera unit 1 detects the occurrence or the ongoing occurrence of a second event.

[0054] (6) In the above-described embodiment, an example has been described in which the control unit 2 controls the opening and closing operation of the vehicle door 90 on the condition that the event camera unit 1 detects the end of a first event. However, without being limited to such an example, the control unit 2 may use the home door 80 as the control target according to the above condition. That is, the control unit 2 may control the opening and closing operation of the home door 80 on the condition that the event camera unit 1 detects the end of a first event.

[0055] (7) In the above embodiment, an example in which the third closing event occurs after the end of the second closing event has been described. However, without being limited to such an example, these orders may be reversed. That is, first, the third closing event may occur and then end, and thereafter, the second closing event may occur. In this case, the control unit 2 controls the opening / closing operation (closing operation) of the vehicle door 90 on the condition that the event camera unit 1 has detected the end of the third event (third closing event). Alternatively, the control unit 2 may control the opening / closing operation (closing operation) of the vehicle door 90 on the condition that the event camera unit 1 has detected that the third event (third closing event) has occurred or is occurring.

[0056] (8) Note that the configurations disclosed in the above-described embodiments can also be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations as well, all the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate without departing from the gist of the present disclosure.

[0057] [Outline of the above embodiment] Hereinafter, the outline of the above embodiment will be described.

[0058] A platform door system for managing platform doors provided on a platform of a station, an event camera unit installed on the platform with an imaging direction directed toward the running route of a railway vehicle, and a control unit, wherein the event camera unit is configured to detect the occurrence of an event caused by the movement of a moving body and to detect the end of the event caused by the stop of the moving body that has been moving, and the control unit The event camera unit detects the occurrence of a first event due to the first moving body performing a first operation, and determines that the railway vehicle has stopped within the platform when the event camera unit detects the end of the first event due to the first moving body stopping during the first operation. After the end of the first event, when the event camera unit detects the occurrence or end of a second event due to a second moving body performing a second operation, it determines the opening or closing of the vehicle door of the railway vehicle. The first operation is an operation of moving along the travel route. The second operation is an operation of moving along the opening and closing direction of the vehicle door.

[0059] According to this configuration, by using a relatively inexpensive and available event camera and utilizing the fact that each moving body performs a unique operation, the first moving body performing the first operation can be identified as a railway train, and the second moving body performing the second operation can be identified as a vehicle door. Thereby, it is possible to determine the stop of the railway vehicle and the opening and closing of the vehicle door after the stop of the railway vehicle. And by using this determination result for the opening and closing control of the platform door, it becomes possible to easily construct a cooperation system between the vehicle door and the platform door. Therefore, according to this configuration, it is possible to inexpensively perform the opening and closing determination of the vehicle door of the railway vehicle alone, and a platform door system that contributes to the cooperation between the vehicle door and the platform door can be realized. Incidentally, it is also conceivable to attach a target such as a two-dimensional code to the vehicle door and read it with a reader installed on the platform side to determine the opening and closing of the vehicle door. However, when using a two-dimensional code and a reader for reading it, there is a problem that the cost is likely to increase. Also, in this case, factors such as deterioration of the target, reflection of sunlight on the target, or being in a dark place can cause the reading accuracy of the reader to decrease. However, by using an event camera as in this configuration, it is also possible to solve these problems.

[0060] The control unit After at least the second event has occurred, when the event camera unit detects the occurrence of a third event due to a third moving body performing a third operation, the opening or closing of the home door is determined. Preferably, the third operation is an operation of moving along the opening / closing direction of the home door.

[0061] According to this configuration, it becomes possible to specify a third moving body that performs a third operation as the home door by using an operation unique to the home door.

[0062] After a fourth event has occurred due to a plurality or a single fourth moving body performing a fourth operation, when the moving amount of the plurality or the single fourth moving body becomes equal to or less than a predetermined reference moving amount, the event camera unit detects the end of the fourth event. The control unit When the event camera unit detects that the fourth event has ended before the second event and the third event occur, the safety in the boarding / alighting area provided around the home door is determined. Preferably, the fourth operation is an operation of moving along an unspecified number of directions.

[0063] For example, a person waiting for a railway vehicle at home makes random movements. According to this configuration, a fourth moving body that makes movements different from those of the railway vehicle, the vehicle door, and the home door can be specified as a person or the like. There may be a plurality of people at home. Their movements are various, and almost none of them stop moving. However, according to this configuration, when the moving amount of the fourth moving body (person or the like) becomes equal to or less than a predetermined reference moving amount, the end of the fourth event is detected. That is, when it can be determined that the movement of a person or the like at home has changed from an active state to a gentle state, the end of the fourth event is detected. For example, based on the end of the fourth event, it is also possible to realize safe operation by controlling the opening and closing of the vehicle door and the home door.

[0064] The control unit On the condition that the event camera unit detects the end of the first event, the opening and closing operation of the vehicle door is controlled, It is preferable to control the opening and closing operation of the home door on the condition that the event camera unit detects at least the occurrence of the second event.

[0065] According to this configuration, the vehicle door can be opened and closed triggered by the end of the first event. Also, the home door can be opened and closed triggered by at least the occurrence of the second event. Therefore, it is easy and inexpensive to construct a cooperation system between the vehicle door and the home door.

[0066] The control unit On the condition that the event camera unit detects the end of the first event, the opening and closing operation of the home door is controlled, On the condition that the event camera unit detects the occurrence of a third event due to at least a third moving body performing a third action, the opening and closing operation of the vehicle door is controlled.

[0067] According to this configuration, the home door can be opened and closed triggered by the end of the first event. Also, the vehicle door can be opened and closed triggered by at least the occurrence of the third event. Therefore, it is easy and inexpensive to construct a cooperation system between the vehicle door and the home door.

Industrial Applicability

[0068] The technology according to the present disclosure can be used in a home door system that manages home doors provided on the platform of a station.

Explanation of Signs

[0069] 100: Home door system 1: Event camera unit 2: Control unit 8: Home 80: Home door 9: Railway vehicle 90: Vehicle door M1: First operation M2: Second operation M3: Third operation M4: Fourth operation T1: First moving body T2: Second moving body T3: Third moving body T4: Fourth moving body R: Running route A: Boarding and alighting area

Claims

1. A platform door system that manages platform doors installed on station platforms, an event camera unit installed on the platform with an imaging direction facing a travel path of the railway vehicle; A control unit, the event camera unit is configured to detect an occurrence of an event caused by a moving object moving, and to detect an end of the event caused by the moving object stopping, The control unit the event camera unit detects the occurrence of a first event caused by a first moving object performing a first action, and the event camera unit detects the end of the first event caused by the first moving object stopping during the first action, thereby determining that the railway vehicle has stopped within the platform; determining whether a vehicle door of the railway vehicle is opened or closed based on the detection by the event camera unit of an occurrence or end of a second event caused by a second moving object performing a second action after the first event is ended; the first motion is a motion of moving along the travel path, A platform door system, wherein the second action is an action of moving along the opening and closing direction of the vehicle door.

2. The control unit determining whether the platform door is opened or closed based on the event camera unit detecting an occurrence or end of a third event caused by a third moving object performing a third action after at least the second event has occurred; The platform door system according to claim 1, wherein the third action is an action of moving along the opening and closing direction of the platform door.

3. the event camera unit detects an end of the fourth event when a movement amount of the fourth moving body or the single fourth moving body becomes equal to or less than a predetermined reference movement amount after a fourth event occurs by the fourth moving body or the single fourth moving body performing a fourth action; The control unit determining safety in a boarding / alighting area provided around the platform door based on the event camera unit detecting that the fourth event has ended before the occurrence of the second event and the third event; The platform door system according to claim 2, wherein the fourth action is an action of moving along an unspecified number of directions.

4. The control unit controlling an opening / closing operation of the vehicle door on condition that the event camera unit detects an end of the first event; The platform door system according to any one of claims 1 to 3, wherein the opening and closing operation of the platform door is controlled on the condition that the event camera unit detects the occurrence of at least the second event.

5. The control unit controlling an opening / closing operation of the platform door on condition that the event camera unit detects the end of the first event; The platform door system according to any one of claims 1 to 3, wherein the opening and closing operation of the vehicle door is controlled on the condition that the event camera unit detects the occurrence of a third event caused by at least a third moving object performing a third action.

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