Stop position detection system

Abstract

To provide a feature capable of easily ensuring a detectable range wide enough to detect stop misalignment of a railway vehicle by using a plurality of information codes added to the railway vehicle.SOLUTION: A camera 20 is disposed so as to be able to image at least one of information codes Ca1 and Ca2 displayed on the side surface 11 of a railway vehicle 10 when the railway vehicle 10 stops at a stop reference position, and the stop position of the railway vehicle 10 is detected by a detection device 30 by using the imaging result of the camera 20. Position information, etc., regarding the display positions on the side surface 11 is recorded in the information codes Ca1 and Ca2.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a stop position detection system for detecting a stop position where a railway vehicle stops.

Background Art

[0002] When a railway vehicle stops at a platform, in order to enable passengers to board and alight smoothly, the driver manually applies the brakes to stop with respect to a stop position target such as a previously installed landmark. At the time of stopping, since the braking distance of the railway vehicle changes depending on weather (rain, snow, etc.) conditions, the passenger occupancy rate, etc., it may move forward (overshoot) with respect to the stop position target in the traveling direction or may not reach the stop position target (undershoot). In particular, when stopping at a platform where platform doors are installed, if the deviation of the vehicle door with respect to the opening of the platform door, that is, the stop position deviation is not within the allowable range, it will hinder the boarding and alighting of passengers. In order to reduce the variation in manual brakes, it is possible to introduce an automatic brake (fixed position stop device = TASK: Automatic Stop - position Controller) and modify the vehicle itself, but there is a problem that the modification cost tends to be high.

[0003] For this reason, for example, in the platform door control system disclosed in Patent Document 1 below, the stop position of the railway vehicle is detected according to the position of the QR code (registered trademark) used for detecting the opening and closing of the vehicle door of the railway vehicle in the captured image, thereby aiming to reduce the cost required for detecting the stop position deviation.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, when installing a camera for imaging the information code attached to a railway vehicle at the home, depending on the installation location and the like, the imaging distance between the camera and the information code to be imaged may be relatively short. In such a case, since the visual field range capable of imaging the information code becomes narrow, there is a problem that the detectable range of the parking position deviation detected according to the position of the information code in the captured image becomes narrow. In particular, since the installation environment of the camera changes for each home, there are cases where a sufficient imaging distance can be secured at one home, but a sufficient imaging distance cannot be secured at another home.

[0006] The present invention has been made to solve the above-described problems, and an object thereof is to provide a configuration capable of easily securing a detectable range of a size necessary for detecting a parking position deviation of a railway vehicle by using a plurality of information codes attached to the railway vehicle.

Means for Solving the Problems

[0007] To achieve the above object, one aspect of the present invention is a parking position detection system (1) for detecting a parking position of a railway vehicle (10), a plurality of information codes (Ca1, Ca2, Cb1 to Cb5, Cca1, Cca2, Ccb1, Ccb2) attached to a predetermined display surface (11) that is a part of the outer surface of the railway vehicle, an imaging unit (20) arranged to be able to image at least one of the plurality of information codes when the railway vehicle stops at a parking reference position, a parking position detection unit (30) for detecting the parking position of the railway vehicle by using the imaging result of the imaging unit, comprising wherein position information regarding the display position on the predetermined display surface is recorded in each of the information codes.

[0008] Another aspect of the present invention is a parking position detection system (1a) for detecting a parking position of a railway vehicle (10), A first information code (Cd1) on the front side in the traveling direction and a second information code (Cd2) on the rear side in the traveling direction, which are attached to a predetermined display surface (11) that is part of the outer surface of the railway vehicle, A first imaging unit (21) that, when the railway vehicle stops at a stop reference position, images the first information code shifted by a first shift amount along the traveling direction from the imaging center, A second imaging unit (22) that, when the railway vehicle stops at the stop reference position, images the second information code shifted by a second shift amount along the traveling direction from the imaging center, A stop position detection unit (30) that detects the stop position of the railway vehicle using the imaging result of the first imaging unit and the imaging result of the second imaging unit, Comprising, The first information code and the second information code are each recorded with position information regarding the display position on the predetermined display surface, and are arranged such that the shift direction of the first shift amount and the shift direction of the second shift amount are in opposite directions. In addition, the reference numerals in each of the above parentheses indicate the correspondence with the specific means described in the embodiments described later.

Effects of the Invention

[0009] In the present invention, an imaging unit is arranged so as to be able to image at least one of a plurality of information codes displayed on a predetermined display surface of the railway vehicle when the railway vehicle stops at a stop reference position, and the stop position of the railway vehicle is detected by a stop position detection unit using the imaging result of this imaging unit. Position information regarding the display position on the predetermined display surface is recorded in each of the information codes.

[0010] Accordingly, based on the position information read from the information code imaged when the railway vehicle stops and the position of the information code in the imaged image, the stop position detection unit can detect the stop position of the railway vehicle. In particular, since the detectable range of the stop position changes for each information code, the detectable range can be widened according to the number of information codes. Therefore, by using a plurality of information codes attached to the railway vehicle, it is possible to easily secure a detectable range of a size necessary for detecting the deviation of the stop position of the railway vehicle.

[0011] The plurality of information codes may be two information codes imaged at one end and the other end of the imaged image by the imaging unit when stopping at the stop reference position.

[0012] Accordingly, it is possible to detect the stop position in a wider range by combining the detectable range detected using the imaging result of one information code and the detectable range detected using the imaging result of the other information code into one. Therefore, even when detecting the deviation of the stop position of the railway vehicle with two information codes, the detectable range can be widened.

[0013] The plurality of information codes are arranged at regular intervals along the traveling direction of the railway vehicle, and the information code arranged at one end in the traveling direction and the information code arranged at the other end in the traveling direction are arranged so as not to be imaged by the imaging unit when stopping at the stop reference position. The above-mentioned regular interval may be set so that the information codes are imaged at one end and the other end of the imaged image by the imaging unit, respectively.

[0014] As a result, it is possible to detect the parking position in a wider range by combining a plurality of detectable ranges detected using the imaging results of each information code into one. In addition, since the information code arranged at one end in the traveling direction and the information code arranged at the other end in the traveling direction among the plurality of information codes are not imaged by the imaging unit when the vehicle stops at the parking reference position, it is possible to detect both the parking position deviation (over) in the traveling direction from the parking reference position and the parking position deviation (short) that does not reach the target stop position. In particular, by making the number of information codes arranged on one side in the traveling direction of the information code imaged when the vehicle stops at the parking reference position the same as the number of information codes arranged on the other side in the traveling direction, it is possible to maximize the detectable range of the parking position deviation in both directions.

[0015] The plurality of information codes may be printed on one sheet, and the sheet may be attached to a predetermined display surface so as to be arranged side by side at regular intervals along the traveling direction of the railway vehicle.

[0016] As a result, even when the number of information codes increases, they can be arranged at regular intervals without misarranging them, and the arrangement work can be easily carried out.

[0017] A plurality of predetermined indicators for indicating the vertical direction at the time of attachment may be printed on the sheet together with the plurality of information codes.

[0018] As a result, by performing the attachment work of the sheet in accordance with the vertical direction visually recognized from the predetermined indicator, it is possible to prevent the situation where the sheet is attached in the wrong direction.

[0019] In addition to the position information, the code size of the information code is recorded in the information code, and the parking position detection unit may detect the parking position based on the length from a specific position in the captured image of the imaging unit to the information code along the traveling direction of the railway vehicle, the position information read from the information code, and the code size.

[0020] Since the installation location of the camera etc. has to be changed according to the home, even for cameras with the same performance, the field of view range capable of imaging the information code may change depending on the home. In such a case, if the range of the parking position where the information code is imaged so that it can be read is set within the allowable range of parking position deviation, the allowable range of parking position deviation will change depending on the home. In a home where the field of view range is wide, a parking position that should originally be determined to be outside the allowable range may be erroneously determined to be within the allowable range.

[0021] Therefore, by detecting the actual parking position deviation based on the length from a specific position in the captured image to the information code along the traveling direction of the railway vehicle, the position information read from the information code, and the code size, and determining whether the detected parking position deviation is within the allowable range, the above-mentioned erroneous determination can be eliminated.

[0022] The information code records vehicle information that can identify the railway vehicle to which the information code is attached. The detection unit includes a storage unit in which correction information for correcting the parking position deviation with respect to the parking reference position obtained from the position of the information code in the captured image of the imaging unit is stored in association with the vehicle information. The parking position deviation may be detected using the position of the information code in the captured image of the imaging unit and the correction information stored in the storage unit in association with the vehicle information read from the information code.

[0023] Thereby, even if the position where the information code is attached is different depending on the railway vehicle, by storing the correction information corresponding to the different positions in the storage unit in association with the vehicle information, the parking position deviation of the railway vehicle can be correctly detected.

[0024] In the present invention, a first information code and a second information code are attached to a predetermined display surface that forms part of the outer surface of a railway vehicle. When the railway vehicle stops at a stop reference position, the first information code is imaged by a first imaging unit and is shifted from the imaging center along the traveling direction of the railway vehicle by a first shift amount, and when the railway vehicle stops at the stop reference position, the second information code is imaged by a second imaging unit and is shifted from the imaging center along the traveling direction by a second shift amount. The stop position of the railway vehicle is detected by a stop position detection unit using the imaging result of the first imaging unit and the imaging result of the second imaging unit. The first information code and the second information code each record position information regarding the display position on the predetermined display surface, and are arranged such that the shift direction of the first shift amount and the shift direction of the second shift amount are opposite to each other.

[0025] Accordingly, based on the position information read from at least one of the first information code and the second information code imaged when the railway vehicle stops and the position of the information code in the captured image, the stop position detection unit can detect the stop position of the railway vehicle. In particular, when the railway vehicle stops at the stop reference position, the shift amount from the imaging center of the first information code imaged by the first imaging unit (first shift amount) and the shift amount from the imaging center of the second information code imaged by the second imaging unit (second shift amount) are in opposite directions. For this reason, it is possible to make different the detectable range of the stop position that can be detected using the imaging result of the first information code by the first imaging unit and the detectable range of the stop position that can be detected using the imaging result of the second information code by the second imaging unit. Therefore, by using the imaging results of both, the detectable range becomes wider, so it is possible to easily secure a detectable range of a size necessary for detecting the stop position deviation of the railway vehicle.

[0026] The first information code and the second information code are separated at a predetermined code pitch such that the deviation directions of the first deviation amount and the second deviation amount approach each other, and when stopped at the front deviation position shifted forward in the traveling direction with respect to the stop reference position, at the front end of the captured image in the traveling direction by the first imaging unit or at a position shifted rearward in the traveling direction from the end within the first short distance, and at the rear end of the captured image in the traveling direction or at a position shifted forward in the traveling direction from the end within the second short distance. When stopped at the rear deviation position shifted rearward in the traveling direction with respect to the stop reference position, the first imaging unit captures the image at the front end of the captured image in the traveling direction or at a position shifted rearward in the traveling direction from the end within the first short distance, and at the rear end of the captured image in the traveling direction or at a position shifted forward in the traveling direction from the end within the second short distance. They may be arranged to be imaged.

[0027] Accordingly, in the case of stopping between the front deviation position and the rear deviation position, at least one of the first information code and the second information code is imaged by either the first imaging unit or the second imaging unit. Further, when the stop position is shifted forward in the traveling direction within the predetermined code pitch from the front deviation position, the second information code is imaged by the first imaging unit, and when the stop position is shifted rearward in the traveling direction within the predetermined code pitch from the rear deviation position, the first information code is imaged by the second imaging unit. Therefore, the range of the stop position where at least one of the first information code and the second information code is imaged, that is, the detectable range in which the stop position deviation can be detected, can be made wider.

Brief Description of the Drawings

[0028]

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Mode for Carrying Out the Invention

[0029] [First Embodiment] Hereinafter, a first embodiment embodying the parking position detection system according to the present invention will be described with reference to the drawings. The parking position detection system 1 according to the present embodiment is configured as a system for detecting the parking position when the railway vehicle 10 stops at the platform 2. In the present embodiment, as shown in FIG. 1, the parking position detection system 1 targets the railway vehicle 10 to which a plurality of information codes for parking position detection are attached, and includes a camera 20 installed on the platform 2 of the station and a detection device 30 that detects the parking position of the railway vehicle 10 using the imaging result of the information code by the camera 20.

[0030] In this embodiment, as a plurality of information codes for detecting a parking position, two square QR codes of the same size, namely information code Ca1 and information code Ca2, are prepared. In addition to the position information regarding the pasting position such as the order of arrangement from the front side in the traveling direction (the left - right direction in FIG. 1) along the traveling direction of the railway vehicle 10, the vehicle information and the code size (at least one of the length of one side of the information code and the length of one side of the cell) T that can identify the attached railway vehicle 10 are recorded and generated.

[0031] Information code Ca1 and information code Ca2 are arranged so as to be lined up in the traveling direction at a distance of the code pitch Pa, which will be described later, with respect to the side surface 11 on the boarding / alighting side that is a part of the outer surface of the railway vehicle 10. Note that the side surface 11 on the boarding / alighting side may correspond to an example of the "predetermined display surface".

[0032] In this embodiment, since two information codes are adopted for detecting the parking position, as the position information recorded in information code Ca1, for example, the code number "1" indicating the first position in the traveling direction can be adopted. In this case, as the position information recorded in information code Ca2, the code number "2" indicating the second position in the traveling direction is adopted. Also, as the position information recorded in information code Ca1, for example, information indicating the position on the front side in the traveling direction can be adopted, and in this case, as the position information recorded in information code Ca2, information indicating the position on the rear side in the traveling direction is adopted.

[0033] The camera 20 functions as an imaging unit equipped with a light - receiving sensor (for example, a C - MOS area sensor, a CCD area sensor, etc.), and is configured to output the imaging result to the detection device 30 via a predetermined network such as a LAN at a predetermined timing.

[0034] The camera 20 is installed on the ceiling of the platform 2 so that when the railway vehicle 10 stops at the stop reference position, it can capture images that can read both the information code Ca1 and the information code Ca2. Note that the camera 20 is not limited to being installed on the ceiling of the platform 2. For example, if it is a platform where a platform door is installed, it may be installed on the track side of the platform door.

[0035] By increasing the code pitch Pa, the detectable range of the stop position expands. Therefore, in this embodiment, as shown in FIG. 2, when stopping at the stop reference position, the code pitch Pa is set so that the information code Ca1 and the information code Ca2 can be captured and read at the front end (left side in FIG. 2) and the rear end (right side in FIG. 2) in the traveling direction of the captured image by the camera 20. For this reason, the camera 20 is arranged so that the imaging center (angle of view center) of the captured image captured when stopping at the stop reference position coincides with the intermediate position between the information code Ca1 and the information code Ca2.

[0036] The detection device 30 functions as a stop position detection unit that detects the stop position of the railway vehicle 10 and the deviation of the stop position from the stop reference position based on information (imaging result) such as the captured image received from the camera 20. As shown in FIG. 3, the detection device 30 includes a control unit 31 composed of a CPU or the like, a storage unit 32 composed of a ROM, a RAM, a non-volatile memory, etc., an operation unit 33 composed of various operation buttons and operation keys (not shown), a communication unit 34, and the like.

[0037] The control unit 31 functions to detect the stopping position and the deviation of the stopping position of the railway vehicle 10 by executing the stopping position detection process described later, and transmits the detection result to a host device (not shown). In the storage unit 32, a predetermined program or the like for executing the stopping position detection process is stored in advance so as to be executable by the control unit 31. The operation unit 33 is configured to give an operation signal to the control unit 31, and the control unit 31 performs an operation according to the content of the operation signal in response to receiving this operation signal. The communication unit 34 is configured as a known communication interface that performs wired communication or wireless communication via a predetermined network such as a LAN, and functions to communicate with the camera 20, the host device, etc. in cooperation with the control unit 31. Note that the detection device 30 may be formed integrally with the camera 20.

[0038] In the stopping position detection system 1 configured as described above, when the railway vehicle 10 stops, the control unit 31 of the detection device 30 that has received a detection instruction from the host device starts the stopping position detection process. In this stopping position detection process, as shown in the flowchart of FIG. 4, when an imaging image is acquired from the camera 20 (S101), a decoding process for decoding the information code is performed (S102). When the code number etc. are acquired by the success of this decoding (S103), and when the code size is acquired (S104), the position of the information code in the imaging image (hereinafter also referred to as the code position) is calculated (S105). When the stopping position of the railway vehicle 10 is detected based on the thus detected code position (S106), detection information indicating whether or not the deviation of the detected stopping position from the stopping reference position is within the allowable range is transmitted to the host device via the communication unit 34 as the detection result (S107).

[0039] In this embodiment, detection information indicating whether or not the detected deviation of the stopping position is within the allowable range is adopted as the detection result transmitted to the host device. However, the present invention is not limited to this. For example, further, the direction of the deviation of the stopping position (over or short) and the amount of the deviation etc. may be adopted.

[0040] Here, the detectable range of the parking position deviation described above will be specifically described with reference to the drawings. As illustrated in FIG. 5, when both the information code Ca1 and the information code Ca2 are imaged so as to be readable by the camera 20 and the imaging center of the captured image is considered to coincide with the intermediate position between the two codes (see FIG. 2), parking at the parking reference position is detected based on the code position of the information code Ca1 or the code position of the information code Ca2. Note that in FIG. 5 and FIGS. 6, 7, etc. to be described later, the field of view (imaging range) of the camera 20 is hatched and illustrated.

[0041] On the other hand, when only the information code Ca2 is imaged so as to be readable by the camera 20, a parking position deviation shifted to the front side in the traveling direction with respect to the parking reference position is detected based on the code position of the information code Ca2. As illustrated in FIG. 6, even when the information code Ca2 is imaged at the front end in the traveling direction, the parking position deviation can be detected based on the code position of the information code Ca2. That is, the detectable range can be set to the parking position shifted by the code pitch Pa to the front side in the traveling direction from the parking reference position.

[0042] Also, when only the information code Ca1 is imaged so as to be readable by the camera 20, a parking position deviation shifted to the rear side in the traveling direction with respect to the parking reference position is detected based on the code position of the information code Ca1. As illustrated in FIG. 7, even when the information code Ca1 is imaged at the rear end in the traveling direction, the parking position deviation can be detected based on the code position of the information code Ca1. That is, the detectable range can be set to the parking position shifted by the code pitch Pa to the rear side in the traveling direction from the parking reference position.

[0043] Specifically, for example, assuming that the field of view of the camera 20 in the traveling direction at the imaging distance corresponding to the side surface 11 of the railway vehicle 10 is 1200 mm, a readable code size T of 150 mm and a code pitch Pa of 950 mm are adopted. In such a case, a total range of 1900 mm, which is the range of 950 mm from the stop reference position to the front side in the traveling direction and the range of 950 mm from the stop reference position to the rear side in the traveling direction, can be set as the detectable range.

[0044] As described above, in the parking position detection system 1 according to the present embodiment, when the railway vehicle 10 stops at the stop reference position, the camera 20 is arranged so as to be able to image at least one of the information codes Ca1 and Ca2 displayed on the side surface 11 of the railway vehicle 10, and the parking position of the railway vehicle 10 is detected by the detection device 30 using the imaging result of this camera 20. Position information and the like regarding the display position on the side surface 11 are respectively recorded in the information codes Ca1 and Ca2.

[0045] Thereby, based on the position information read from any of the information codes imaged when the railway vehicle 10 stops and the position of the information code in the captured image, the detection device 30 can detect the parking position of the railway vehicle 10. In particular, since the detectable range of the parking position changes for each information code, the detectable range can be widened according to the number of information codes. Therefore, by using a plurality of information codes attached to the railway vehicle 10, it is possible to easily secure a detectable range of a size necessary for detecting the deviation of the parking position of the railway vehicle 10.

[0046] In particular, in the present embodiment, the information code Ca1 and the information code Ca2 are imaged at the front end (one end) and the rear end (the other end) in the traveling direction of the captured image by the camera 20 when stopping at the stop reference position.

[0047] As a result, it is possible to detect the parking position in a wider range that combines the detectable range detected using the imaging result of the information code Ca1 and the detectable range detected using the imaging result of the information code Ca2. Therefore, even when detecting the parking position deviation of the railway vehicle 10 with the two information codes Ca1 and Ca2, the detectable range can be widened.

[0048] As a modification of this embodiment, on the premise that correction information (offset information) for correcting the parking position deviation with respect to the parking reference position obtained from the position of the information code in the captured image of the camera 20 is stored in advance in the storage unit 32 in association with the vehicle information, the position of the information code in the captured image of the camera 20 and the correction information stored in the storage unit 32 in association with the vehicle information read from the information code may be used to detect the parking position deviation of the railway vehicle 10.

[0049] For example, when it is not possible to attach the information code Ca1 and the information code Ca2 at a predetermined position as illustrated in FIG. 2 to the side surface 11 on the boarding / alighting side of the railway vehicle 10 and the two codes are attached with a 100 mm shift to the front side in the traveling direction, the correction information is associated with both pieces of information as "100 mm to the rear side in the traveling direction" and stored in the storage unit 32. In this case, the parking position deviation is detected by correcting the parking reference position 100 mm to the rear side in the traveling direction.

[0050] As a result, even if the positions where the information codes are attached by the railway vehicle 10 are different, by associating the correction information corresponding to the different positions with the vehicle information and storing it in the storage unit 32, the parking position deviation of the railway vehicle 10 can be correctly detected.

[0051] [Second Embodiment] Next, the parking position detection system according to the second embodiment will be described with reference to the drawings. In the second embodiment, the main difference from the first embodiment is that three or more information codes are attached to the side surface 11 on the boarding and alighting side of the railway vehicle 10. Therefore, the same reference numerals are given to the components substantially the same as those in the first embodiment, and the description thereof is omitted.

[0052] Depending on the environment of the platform 2 or the like, the imaging distance from the camera 20 to the information code for detecting the stop position may not be ensured as in the first embodiment, so that the visual field range available for imaging the information code may be further narrowed. For example, when the camera 20 is installed on the track side of the platform door, the imaging distance to the side surface 11 on the boarding and alighting side at the time of stopping (the imaging distance to the information code for detecting the stop position) becomes short, so that the visual field range available for imaging the information code becomes narrow. In such a case, in the configuration in which two information codes are imaged by one camera 20 as in the first embodiment to detect the stop position deviation, the necessary detectable range may not be ensured.

[0053] Therefore, in this embodiment, as illustrated in FIG. 8, five square QR codes of the information codes Cb1 to Cb5 of the same size are prepared as a plurality of information codes for detecting the stop position. Each of the information codes Cb1 to Cb5 is generated so that vehicle information, code size, etc. are recorded together with the above-described code number.

[0054] Specifically, the information code Cb1 is generated so that the code number "1" indicating the first position in the traveling direction is recorded as the position information. Similarly, the information code Cb2 has the code number "2" indicating the second position in the traveling direction recorded as the position information, the information code Cb3 has the code number "3" indicating the third position in the traveling direction recorded as the position information, the information code Cb4 has the code number "4" indicating the fourth position in the traveling direction recorded as the position information, and the information code Cb5 has the code number "5" indicating the fifth position in the traveling direction recorded as the position information, respectively.

[0055] Each information code Cb1 to Cb5 is arranged such that when the railway vehicle 10 stops at the stop reference position, the center of the information code Cb3 coincides with the imaging center of the camera 20 with respect to the side surface 11 on the boarding / alighting side of the railway vehicle 10, and they are arranged in a line at a constant code pitch Pb along the traveling direction of the railway vehicle 10. In particular, the code pitch Pb is shorter than the visual field range of the camera 20 in the traveling direction on the side surface 11, and the information code with code number "k" and the information code with code number "k + 1" are set to be imaged simultaneously at the front end (one end) and the rear end (the other end) in the traveling direction of the imaging image captured by the camera 20. For this reason, the code pitch Pb is set so that even when the information code with code number "k" and the information code with code number "k + 1" are imaged simultaneously, the information code with code number "k" and the information code with code number "k + 2" are not imaged simultaneously. That is, in order to detect the parking position deviation in both directions, namely, the parking position deviation (over) in the traveling direction from the stop reference position and the parking position deviation (short) that does not reach the stop position target, the information code Cb1 arranged at one end in the traveling direction and the information code Cb5 arranged at the other end in the traveling direction among the information codes Cb1 to Cb5 are arranged so as not to be imaged by the camera 20 when stopping at the stop reference position. In particular, in order to maximize the detection efficiency regarding the detectable range of the parking position deviation in both directions, the number of information codes arranged on one side in the traveling direction of the information codes imaged when stopping at the stop reference position can be made the same as the number of information codes arranged on the other side in the traveling direction.

[0056] Therefore, in this embodiment, as illustrated in FIG. 9, when it is considered that the center of the information code Cb3 coincides with the imaging center of the camera 20, the stop at the stop reference position is detected based on the code position of the information code Cb3.

[0057] On the one hand, when only the information code Cb5 is imaged in a readable manner by the camera 20, a parking position deviation shifted forward in the traveling direction with respect to the parking reference position is detected based on the code position of the information code Cb5. As illustrated in FIG. 10, even when the information code Cb5 is imaged at the front end in the traveling direction, the parking position deviation can be detected based on the code position of the information code Cb5. That is, the detectable range can be set to a parking position shifted forward in the traveling direction by 2.5 times the code pitch Pb from the parking reference position.

[0058] On the other hand, when only the information code Cb1 is imaged in a readable manner by the camera 20, a parking position deviation shifted backward in the traveling direction with respect to the parking reference position is detected based on the code position of the information code Cb1. As illustrated in FIG. 11, even when the information code Cb1 is imaged at the rear end in the traveling direction, the parking position deviation can be detected based on the code position of the information code Cb1. That is, the detectable range can be set to a parking position shifted backward in the traveling direction by 2.5 times the code pitch Pb from the parking reference position.

[0059] Specifically, for example, assuming that the field of view range of the camera 20 in the above traveling direction at the imaging distance corresponding to the side surface 11 of the railway vehicle 10 is 800 mm, a readable code size T of 150 mm and a code pitch Pb of 400 mm assuming that five information codes are arranged are adopted. In such a case, the detectable range can be set to a total of 2000 mm, including a range of 1000 mm forward in the traveling direction from the parking reference position and a range of 1000 mm backward in the traveling direction from the parking reference position.

[0060] Note that the plurality of information codes for detecting the parking position arranged at regular intervals along the traveling direction are not limited to the adoption of five information codes (Cb1 to Cb5), and three information codes, four information codes, six or more information codes may be adopted.

[0061] As described above, in the parking position detection system 1 according to the present embodiment, each information code (Cb1 to Cb5) for parking position detection is arranged at regular intervals with a code pitch Pb along the traveling direction of the railway vehicle 10, and the above-mentioned regular interval is set so that the information codes are respectively imaged at the front end (one end) and the rear end (the other end) in the traveling direction of the captured image by the camera 20.

[0062] Thereby, even when the visual field range available for imaging the information code becomes narrower, the parking position can be detected in a wider range where a plurality of detectable ranges detected using the imaging results of each information code are combined into one.

[0063] As a modification of the present embodiment, each information code for parking position detection may be printed on one sheet 12, and the sheet 12 may be attached to the side surface 11 on the boarding / alighting side so as to be arranged at regular intervals along the traveling direction of the railway vehicle 10.

[0064] Specifically, for example, as illustrated in FIG. 12, a sheet 12 on which the information codes Cb1 to Cb5 are printed side by side at regular intervals with a code pitch Pb is prepared. A predetermined index 13 for indicating the vertical direction at the time of attachment can be printed on this sheet 12 together with each information code Cb1 to Cb5. In the present embodiment, an underscore indicating the downward direction is adopted as the predetermined index 13.

[0065] The prepared sheet 12 described above is attached to a specified position on the side surface 11 on the boarding / alighting side while confirming the vertical direction at the time of attachment by the predetermined index 13 so that the information codes Cb1 to Cb5 are arranged along the traveling direction in the order of the code numbers. Thereby, even when the number of information codes for parking position detection increases, they can be arranged at regular intervals without misarranging their order, and the arrangement work can also be easily carried out.

[0066] In particular, on the sheet 12, a predetermined indicator 13 for indicating the vertical direction during pasting is printed together with each information code. Therefore, by performing the pasting operation of the sheet 12 in accordance with the vertical direction visible from the predetermined indicator 13, it is possible to prevent the situation where the sheet 12 is pasted in the wrong direction.

[0067] Note that the predetermined indicator 13 is not limited to adopting an underscore indicating the downward direction. For example, a specific figure or the like indicating at least one of the upward direction and the downward direction may be adopted, or character information or the like indicating the vertical directionality may be adopted.

[0068] [Third Embodiment] Next, the parking position detection system according to the third embodiment will be described with reference to the drawings. In the third embodiment, the main difference from the first embodiment is that the parking position is detected using the code size in which the information code is recorded. Therefore, the same reference numerals are given to the substantially same components as those in the first embodiment, and the description thereof is omitted.

[0069] Since the installation location of the camera 20 has to be changed by the home, even for cameras 20 with the same performance, the field of view range capable of imaging the information code may change depending on the home. In such a case, if the range of the parking position where the information code is imaged readably is set within the allowable range of parking position deviation, the allowable range of parking position deviation will change depending on the home, and in a home with a wider field of view range, a parking position that should originally be determined to be outside the allowable range may be erroneously determined to be within the allowable range.

[0070] Specifically, for example, although the installation condition is to install the camera 20 so that the field of view range in the above traveling direction at the imaging distance corresponding to the side surface 11 of the railway vehicle 10 is 1200 mm, in some homes, the camera 20 has to be installed farther away, so the field of view range may become wider, such as 1800 mm.

[0071] In such a case, in the home that meets the installation conditions, the information codes Ca1 and Ca2 imaged as shown in FIG. 5 when stopping at the stop reference position are imaged so as to shift to the imaging center side in both cases in some of the above homes, as can be seen from FIG. 13. In FIG. 13 and the like, the edge of the field of view of the camera 20 of the home that meets the installation conditions is illustrated by a two-dot chain line.

[0072] And the information code Ca2 imaged at the stop position detected as shown in FIG. 6 is imaged so as to shift from the front end in the traveling direction to the imaging center side instead of the front end in the traveling direction, as can be seen from FIG. 14.

[0073] Then, even when the stop position detected as shown in FIG. 6 is set as the allowable limit on the front side in the traveling direction, as illustrated in FIG. 15, the information code Ca2 is imaged when stopping beyond the allowable limit by a distance α.

[0074] For this reason, if the range of the stop position where the information code is imaged readably is within the allowable range of the stop position deviation, the allowable range of the stop position deviation will change between the home that meets the installation conditions and some of the above homes. Then, in some of the above homes, even the stop position in FIG. 15 that should be determined to be outside the allowable range will be erroneously determined to be within the allowable range.

[0075] Therefore, in the present embodiment, based on a specific position in the captured image of the information code, specifically, for example, the length from the center of the captured image to the center of the information code along the traveling direction of the railway vehicle 10, and the position information and code size read from the information code, the actual distance of the stop position deviation is calculated to detect the stop position deviation. Since the length of one side of the information code imaged by the read code size and the length of one side of the cell are known, even when reading information codes of various code sizes, the actual distance of the stop position deviation can be calculated based on the deviation amount between the position of the information code in the captured image and the imaging center.

[0076] Therefore, even when an information code is imaged at a parking position that should be determined to be outside the original allowable range as exemplified in FIG. 15, by calculating the actual distance as described above to detect the parking position deviation, the misjudgment as described above can be eliminated. Note that the actual distance of the parking position deviation is not limited to being calculated based on the deviation amount between the position of the information code in the captured image and the imaging center, but may also be calculated based on the deviation amount between the position of the information code in the captured image and another specific position preset in the captured image.

[0077] In addition, due to restrictions such as the attachment position and range of the information code to the side surface 11 on the boarding / alighting side, there may be a case where an information code smaller than the code size suitable for reading is attached to the side surface 11 on the boarding / alighting side. For example, when the code size Ta (the length of one side of the information code is 150 mm and the length of one side of the cell is 6.52 mm) of the information codes Cca1 and Cca2 with the code pitch Pca in FIG. 16 is a code size suitable for reading, there may be a case where information codes Ccb1 and Ccb2 with a smaller code size Tb (the length of one side of the information code is 75 mm and the length of one side of the cell is 3.26 mm) are attached to the side surface 11 on the boarding / alighting side at the code pitch Pcb. Even in such a case, by using the code size recorded in the information code, based on the deviation amount between the position of the information code in the captured image and the imaging center (a specific position in the captured image), the actual distance of the parking position deviation can be calculated.

[0078] [Fourth Embodiment] Next, the parking position detection system according to the present fourth embodiment will be described with reference to the drawings. In the present fourth embodiment, the main difference from the first embodiment is that the parking position of the railway vehicle is detected using two information codes and two cameras. Therefore, components substantially the same as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

[0079] Depending on the railway vehicle, due to design or other reasons, it may not be possible to attach a large number of information codes to the predetermined position of the railway vehicle 10.

[0080] Therefore, in the parking position detection system 1a according to this embodiment, as shown in FIG. 17, two information codes (the information code Cd1 on the front side in the traveling direction and the information code Cd2 on the rear side in the traveling direction), which are separated from each other by a predetermined distance (code pitch Pd: for example, 10 m) such that they cannot be visually recognized simultaneously, are arranged on the side surface 11 on the boarding / alighting side of the railway vehicle 10. The information codes Cd1 and Cd2 are respectively generated such that position information such as code numbers, vehicle information, code size T, etc. are recorded as described above. Note that the information code Cd1 corresponds to an example of the "first information code", and the information code Cd2 may correspond to an example of the "second information code".

[0081] On the ceiling or the like of the platform 2, two cameras 21 and 22 having the same function as the camera 20 are arranged apart from each other such that the field of view ranges (hereinafter also referred to as the field of view width H) centered on the information codes that can read the information codes in the above traveling direction on the side surface 11 are approximately the same. The detection device 30 detects the parking position and the parking position deviation of the railway vehicle 10 by using the imaging results of the camera 21 and the imaging results of the camera 22. Note that the camera 21 corresponds to an example of the "first imaging unit", and the camera 22 may correspond to an example of the "second imaging unit".

[0082] Specifically, as shown in FIG. 18, the camera 21 is arranged such that, when parking at the parking reference position, the information code Cd1 is imaged at the rear end in the traveling direction that is displaced from the imaging center by the first displacement amount X1 along the traveling direction. The camera 22 is arranged such that, when parking at the parking reference position, the information code Cd2 is imaged at the front end in the traveling direction that is displaced from the imaging center by the second displacement amount X2 along the traveling direction. In FIG. 18, the information code Cd1 imaged at the front end in the traveling direction by being displaced by the first displacement amount X1 along the traveling direction from the imaging center of the camera 21 and the information code Cd2 imaged at the rear end in the traveling direction by being displaced by the second displacement amount X2 along the traveling direction from the imaging center of the camera 22 are illustrated by a two-dot chain line.

[0083] The information code Cd1 and the information code Cd2 are arranged such that the first deviation amount X1 and the second deviation amount X2 are at the same distance and equal to half of the visual field width H, and the deviation direction of the first deviation amount X1 and the deviation direction of the second deviation amount X2 are opposite to each other.

[0084] In the present embodiment, by arranging two information codes Cd1, Cd2 and two cameras 21, 22 as described above, the following detectable range can be secured. When the information code Cd1 is imaged at the rear end in the traveling direction of the camera 21 and the information code Cd2 is imaged at the front end in the traveling direction of the camera 22, parking at the parking reference position is detected based on the code position of the information code Cd1 or the code position of the information code Cd2 (see Fig. 18).

[0085] On the other hand, when the information code Cd1 is imaged so as to be readable by the camera 21 and the information code Cd2 is not imaged by the camera 22, a parking position deviation shifted forward in the traveling direction with respect to the parking reference position is detected based on the code position of the information code Cd1. Even when the information code Cd1 is imaged at the front end in the traveling direction by the camera 21 (see the code Cd1 indicated by the two-dot chain line in Fig. 18), the parking position deviation can be detected based on the code position of the information code Cd1. That is, the detectable range can be set from the parking reference position to the parking position shifted forward in the traveling direction by the visual field width H.

[0086] Also, when the information code Cd2 is imaged so as to be readable by the camera 22 and the information code Cd1 is not imaged by the camera 21, a parking position deviation shifted rearward in the traveling direction with respect to the parking reference position is detected based on the code position of the information code Cd2. Even when the information code Cd2 is imaged at the rear end in the traveling direction by the camera 22 (see the code Cd2 indicated by the two-dot chain line in Fig. 18), the parking position deviation can be detected based on the code position of the information code Cd2. That is, the detectable range can be set from the parking reference position to the parking position shifted rearward in the traveling direction by the visual field width H.

[0087] Even when the information code Cd1 is imaged by the camera 21 so as to be readable at the front end in the traveling direction and the information code Cd2 is imaged by the camera 22 so as to be readable at the rear end in the traveling direction when the vehicle is stopped at the parking reference position, it is possible to secure a detectable range equivalent to the above-described arrangement relationship.

[0088] As described above, in the parking position detection system 1a according to the present embodiment, the information code Cd1 and the information code Cd2 are attached to the side surface 11 on the boarding / alighting side of the railway vehicle 10. When the railway vehicle 10 stops at the parking reference position, the information code Cd1 is imaged with a first deviation amount X1 by the camera 21 and the information code Cd2 is imaged with a second deviation amount X2 by the camera 22, and the parking position of the railway vehicle 10 is detected by the detection device 30 using the imaging results of the camera 21 and the camera 22. The information code Cd1 and the information code Cd2 record position information and the like regarding the display positions on the side surface 11, respectively, and are arranged such that the deviation direction of the first deviation amount X1 and the deviation direction of the second deviation amount X2 are opposite to each other.

[0089] Thereby, based on the position information read from at least one of the information code Cd1 and the information code Cd2 imaged when the railway vehicle 10 stops and the position of the information code in the captured image, the parking position of the railway vehicle 10 can be detected. In particular, when the railway vehicle 10 stops at the parking reference position, the deviation amount (first deviation amount X1) from the imaging center of the information code Cd1 imaged by the camera 21 and the deviation amount (second deviation amount X2) from the imaging center of the information code Cd2 imaged by the camera 22 are in opposite directions. For this reason, it is possible to make different the detectable range of the parking position detectable by using the imaging result of the information code Cd1 by the camera 21 and the detectable range of the parking position detectable by using the imaging result of the information code Cd2 by the camera 22. Therefore, by using the imaging results of both, the detectable range becomes wider, so that it is possible to easily secure a detectable range of a size necessary for detecting the deviation of the parking position of the railway vehicle 10.

[0090] Note that the information code Cd1 and the information code Cd2 may be arranged such that the first deviation amount X1 and the second deviation amount X2 are shorter than half of the visual field width H, or they may be arranged such that the distance of the first deviation amount X1 and the distance of the second deviation amount X2 are different.

[0091] [Fifth Embodiment] Next, the parking position detection system according to the fifth embodiment will be described with reference to the drawings. In the fifth embodiment, in order to widen the detectable range, the main difference from the fourth embodiment above is that an arrangement relationship is adopted in which at least one of the two information codes can be read and imaged by each of the two cameras within the detectable range. Therefore, the same reference numerals are given to the components substantially the same as those in the fourth embodiment, and the description thereof is omitted.

[0092] In the present embodiment, as shown in FIG. 19, the information code Cd1 and the information code Cd2 are arranged such that the deviation directions of the first deviation amount X1 and the second deviation amount X2 approach each other, and the code pitch Pd thereof is equal to the visual field width H.

[0093] More specifically, the information code Cd1 and the information code Cd2 are imaged at the front end and the rear end in the traveling direction of the captured image by the camera 21 when parked at the front deviation position shifted forward in the traveling direction with respect to the parking reference position, and at the front end and the rear end in the traveling direction of the captured image by the camera 22 when parked at the rear deviation position shifted rearward in the traveling direction with respect to the parking reference position.

[0094] By arranging the two information codes Cd1, Cd2 and the two cameras 21, 22 as described above, in the present embodiment, the following detectable range can be ensured. When the information code Cd1 is imaged at the rear end in the traveling direction of the camera 21 and the information code Cd2 is imaged at the front end in the traveling direction of the camera 22, parking at the parking reference position is detected based on the code position of the information code Cd1 or the code position of the information code Cd2 (see FIG. 19).

[0095] On the other hand, when the information code Cd1 is imaged so as to be readable by the camera 21 and the information code Cd2 is not imaged, a parking position deviation shifted forward in the traveling direction with respect to the parking reference position is detected based on the code position of the information code Cd1. And when the information code Cd1 and the information code Cd2 are imaged at the front end and the rear end in the traveling direction of the captured image by the camera 21, parking at the above-mentioned front shift position is detected. And when the information code Cd2 is imaged so as to be readable by the camera 21 and the information code Cd1 is not imaged, a parking position deviation further shifted forward in the traveling direction with respect to the parking reference position is detected based on the code position of the information code Cd2. Even when the information code Cd2 is imaged at the front end in the traveling direction by the camera 21, the parking position deviation can be detected based on the code position of the information code Cd2. That is, the detectable range can be set to a parking position shifted forward in the traveling direction by twice the visual field width H (code pitch Pd) from the parking reference position.

[0096] Also, when the information code Cd2 is imaged so as to be readable by the camera 22 and the information code Cd1 is not imaged, a parking position deviation shifted rearward in the traveling direction with respect to the parking reference position is detected based on the code position of the information code Cd2. And when the information code Cd1 and the information code Cd2 are imaged at the front end and the rear end in the traveling direction of the captured image by the camera 22, parking at the above-mentioned rear shift position is detected. And when the information code Cd1 is imaged so as to be readable by the camera 22 and the information code Cd2 is not imaged, a parking position deviation further shifted rearward in the traveling direction with respect to the parking reference position is detected based on the code position of the information code Cd1. Even when the information code Cd1 is imaged at the rear end in the traveling direction by the camera 22, the parking position deviation can be detected based on the code position of the information code Cd1. That is, the detectable range can be set to a parking position shifted rearward in the traveling direction by twice the visual field width H (code pitch Pd) from the parking reference position.

[0097] As described above, in this embodiment, in the case of parking between the front shift position and the rear shift position, at least one of the information code Cd1 and the information code Cd2 is imaged by either the camera 21 or the camera 22. Further, when the parking position is shifted forward in the traveling direction within the code pitch Pd or less from the front shift position, the information code Cd2 is imaged by the camera 21, and when the parking position is shifted rearward in the traveling direction within the code pitch Pd or less from the rear shift position, the information code Cd1 is imaged by the camera 22. For this reason, the range of the parking position at which at least one of the information code Cd1 and the information code Cd2 is imaged, that is, the detectable range in which the parking position shift can be detected, can be made wider. Note that the information code Cd1 and the information code Cd2 are located within a first short distance (for example, the code size of the information code Cd1) from the front end in the traveling direction to the rear end in the traveling direction of the captured image by the camera 21 when parking at the front shift position shifted forward in the traveling direction with respect to the parking reference position, and within a second short distance (for example, the code size of the information code Cd2) from the rear end in the traveling direction to the front end in the traveling direction of the captured image by the camera 21 when parking at the front shift position shifted forward in the traveling direction with respect to the parking reference position, and are arranged to be imaged at positions within the first short distance from the front end in the traveling direction to the rear end in the traveling direction and within the second short distance from the rear end in the traveling direction to the front end in the traveling direction of the captured image by the camera 22 when parking at the rear shift position shifted rearward in the traveling direction with respect to the parking reference position.

[0098] Note that the present invention is not limited to the above-described embodiments and the like, and may be embodied as follows, for example. (1) In the first embodiment described above, on the premise that a plurality of cameras 20 are installed separately from the home 2, the information codes Ca1 and Ca2 may be arranged on the side surface 11 on the boarding and alighting side so as to be imaged by each camera 20 when parking at the parking reference position. In this case, the detection device 30 can improve the detection accuracy by detecting the parking position and the parking position shift of the railway vehicle 10 using the imaging results of each camera 20, as compared with the case of using the imaging result of one camera 20. The configuration of using a plurality of imaging results as described above can also be applied to other embodiments and the like.

[0099] (2) The detection device 30 is not limited to starting the stop position detection process by receiving a detection instruction from a host device. Without waiting for an external instruction, it may also start the stop position detection process by detecting the stop of the railway vehicle 10 from imaging results such as image differences.

Explanation of Signs

[0100] 1, 1a Stop position detection system 10 Railway vehicle 11 Side 20 Camera (imaging unit) 21 Camera (first imaging unit) 22 Camera (second imaging unit) 30 Detection device (stop position detection unit) 31 Control unit Ca1, Ca2, Cb1~Cb5 Information code Cca1, Cca2, Ccb1, Ccb2 Information code Cd1 Information code (first information code) Cd2 Information code (second information code)

Claims

1. A parking position detection system for detecting the parking position of a railway vehicle, comprising: a plurality of information codes attached to a predetermined display surface that is part of the outer surface of the railway vehicle; an imaging unit arranged to image at least one of the plurality of information codes when the railway vehicle stops at a parking reference position; a parking position detection unit that detects the parking position of the railway vehicle using the imaging result of the imaging unit; wherein position information regarding the display position on the predetermined display surface is recorded in each of the information codes, characterized in that it is a parking position detection system.

2. The parking position detection system according to claim 1, wherein the plurality of information codes are two information codes imaged at one end and the other end of an imaging image by the imaging unit when stopping at the parking reference position.

3. The plurality of information codes are arranged side by side at regular intervals along the traveling direction of the railway vehicle, and the information code arranged at one end in the traveling direction and the information code arranged at the other end in the traveling direction are arranged so as not to be imaged by the imaging unit when stopping at the parking reference position, wherein the regular interval is set such that information codes are respectively imaged at one end and the other end of the imaging image by the imaging unit, characterized in that it is a parking position detection system according to claim 1.

4. The parking position detection system according to claim 3, wherein the plurality of information codes are printed on one sheet, and the sheet is attached to the predetermined display surface, so as to be arranged side by side at the regular intervals along the traveling direction of the railway vehicle.

5. The parking position detection system according to claim 4, wherein a predetermined indicator for indicating the up-down direction at the time of attachment is printed on the sheet together with the plurality of information codes.

6. In addition to the position information, the code size of the information code is recorded in the information code, wherein the parking position detection unit detects the parking position based on the length from a specific position in the imaging image of the imaging unit to the information code along the traveling direction of the railway vehicle, the position information read from the information code, and the code size, characterized in that it is a parking position detection system according to claim 1.

7. Vehicle information capable of identifying the railway vehicle to which the information code is attached is recorded in the information code, The detection unit includes a storage unit in which correction information for correcting a parking position deviation with respect to the parking reference position obtained from the position of the information code in the captured image of the imaging unit is stored in association with the vehicle information. The parking position deviation is detected using the position of the information code in the captured image of the imaging unit and the correction information stored in the storage unit in association with the vehicle information read from the information code. The parking position detection system according to claim 1, characterized in that.

8. A parking position detection system for detecting the parking position of a railway vehicle, A first information code on the front side in the traveling direction and a second information code on the rear side in the traveling direction attached to a predetermined display surface that is part of the outer surface of the railway vehicle, A first imaging unit that captures the first information code shifted by a first shift amount along the traveling direction from the imaging center when the railway vehicle stops at the parking reference position, A second imaging unit that captures the second information code shifted by a second shift amount along the traveling direction from the imaging center when the railway vehicle stops at the parking reference position, A parking position detection unit that detects the parking position of the railway vehicle using the imaging result of the first imaging unit and the imaging result of the second imaging unit, Comprising, The first information code and the second information code are each recorded with position information regarding the display position on the predetermined display surface, and are arranged such that the shift direction of the first shift amount and the shift direction of the second shift amount are in opposite directions. A parking position detection system characterized by that.

9. The first information code and the second information code are separated at a predetermined code pitch such that the deviation directions of the first deviation amount and the second deviation amount approach each other, and when the vehicle stops at a front deviation position shifted forward in the traveling direction with respect to the stop reference position, the first imaging unit captures an image at an end on the front side in the traveling direction of the captured image or a position shifted rearward in the traveling direction by within a first short distance from the end, and a position shifted forward in the traveling direction by within a second short distance from an end on the rear side in the traveling direction or the end, and when the vehicle stops at a rear deviation position shifted rearward in the traveling direction with respect to the stop reference position, the second imaging unit captures an image at an end on the front side in the traveling direction of the captured image or a position shifted rearward in the traveling direction by within the first short distance from the end, and a position shifted forward in the traveling direction by within the second short distance from an end on the rear side in the traveling direction or the end. The parking position detection system according to claim 8, wherein the parking position detection system is arranged as described above.

Images