Circuit breaker rod abnormality detection device

Abstract

To provide a technology that enables the detection of abnormalities in a barrier arm using a method different from the detection of abnormalities in a barrier arm using images captured by a camera. [Solution] When the lowering of the barrier arm 42 is complete, the barrier arm abnormality detection device 10 determines the position of each part of the barrier arm 42 based on the measurement results within the determination range measured by the laser sensor 14, which includes the determination range in its measurement range that the barrier arm 42 may be located when it has completed its lowering under normal conditions. Then, the barrier arm abnormality detection device 10 detects an abnormality in the barrier arm 42 based on the determination results of the positions of each part.

Description

Technical Field

[0001] The present invention relates to a blocking bar abnormality detection device.

Background Art

[0002] Conventionally, techniques for detecting an abnormality in a blocking bar of a railroad crossing gate are known. For example, Patent Document 1 describes a technique of performing machine learning on images of a railroad crossing captured by a camera to detect a shape abnormality (such as breakage) of a blocking bar. Further, Patent Document 2 describes a technique of detecting breakage or the like of a blocking bar based on the color scheme of the blocking bar using an image of the blocking bar captured by a camera.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] Techniques for detecting an abnormality in a blocking bar using an image captured by a camera may be affected by weather. For example, detection accuracy may decrease under backlight conditions.

[0005] The problem to be solved by the present invention is to provide a technique that enables detection of an abnormality in a blocking bar by a method different from the abnormality detection for a blocking bar using an image captured by a camera.

Means for Solving the Problem

[0006] The first invention for solving the above problems is a barrier rod abnormality detection device comprising: a part position determination unit that determines the position of each part of the barrier rod based on measurement results within the determination range measured by a laser sensor whose measurement range includes the determination range in which the barrier rod can be located when it has completed its descent under normal conditions, and an abnormality detection unit that detects an abnormality in the barrier rod based on the determination result of the part position determination unit.

[0007] According to the first invention, the position of each part of the barrier rod can be measured using a laser sensor, and any abnormalities can be detected. Laser sensors have higher resistance to backlighting environments compared to using images captured by a camera. This makes it possible to detect abnormalities in the barrier rod in a different way than detecting abnormalities in the barrier rod using images captured by a camera.

[0008] The second invention is a barrier rod abnormality detection device in which, in the above invention, the abnormality detection unit detects abnormalities based on the height of each part of the barrier rod.

[0009] According to the second invention, abnormalities based on the height of each part of the barrier rod, such as sagging or breakage, can be detected.

[0010] The third invention is a barrier rod abnormality detection device in which, in the above invention, the barrier rod is a pair of double-arm type barrier rods, and the abnormality detection unit detects an abnormality in the distance between the tips of the pair of barrier rods.

[0011] According to the third invention, it becomes possible to detect abnormalities in the tip separation of a pair of double-arm type barrier arms.

[0012] The fourth invention is a barrier rod abnormality detection device in which, in the above invention, the determination range includes the range in which a suspended object suspended from the barrier rod can be located when the barrier rod has finished descending under normal conditions, the part position determination unit determines the position of the suspended object, and the abnormality detection unit detects an abnormality in the suspended object.

[0013] According to the fourth invention, it becomes possible to detect abnormalities in the suspended objects hanging from the barrier rod.

[0014] The fifth invention is a barrier arm abnormality detection device in which, in the above invention, the laser sensor further includes an obstacle detection range for detecting obstacles on a level crossing in the measurement range, and is a sensor shared for use as a level crossing obstacle detection device.

[0015] According to the fifth invention, by sharing the laser sensor, it becomes possible to reduce the man-hours and costs associated with introducing the barrier rod abnormality detection device.

[0016] The sixth invention is a barrier rod abnormality detection device in which, in the above invention, the barrier rod alternately has a portion with relatively low reflectivity and a portion with high reflectivity, and the portion position determination unit determines the position of at least the portion with high reflectivity.

[0017] Furthermore, the seventh invention is a barrier rod abnormality detection device in which the abnormality detection unit detects an abnormality in the barrier rod based on the location of the part with high reflectivity.

[0018] Laser light has the characteristic that its reflection intensity changes depending on the color and surface properties of the reflecting object, so differences in reflectivity can affect measurement accuracy. However, according to the sixth or seventh invention, the location of the part of the barrier rod with high reflectivity is determined, so the influence of such characteristics can be eliminated or reduced. [Brief explanation of the drawing]

[0019] [Figure 1] A diagram showing an example configuration of a circuit breaker rod abnormality detection device. [Figure 2] This diagram illustrates an example of the positional relationship between the measurement range of a laser sensor, the obstacle detection range, and the position determination range for determining the position of a barrier arm. [Figure 3] A schematic top view illustrating distance measurement using a laser sensor. [Figure 4]Schematic side view for explaining the blocking bar height of a laser sensor and the blocking bar height of the blocking bar. [Figure 5] Example of a measurement result graph of a blocking bar obtained by a laser sensor. [Figure 6] Example of a measurement result graph when an abnormality in the height direction of a blocking bar is detected. [Figure 7] Example of a measurement result graph when an abnormality such as horizontal deformation of a blocking bar is detected. [Figure 8] Example of a measurement result graph when an abnormality in tip spacing of a blocking bar is detected. [Figure 9] Block diagram showing an example of a functional configuration of a blocking bar abnormality detection device. [Figure 10] Diagram showing an example of programs and data stored in a storage unit. [Figure 11] Flowchart for explaining the flow of initial setting processing. [Figure 12] Flowchart for explaining the flow of normal operation processing. [Figure 13] Flowchart for explaining the flow of blocking bar abnormality detection processing. [Figure 14] Diagram showing an example of the positional relationship between the measurement layer of a laser sensor, a blocking bar, and a suspended object in a modified example. [Figure 15] Example of a graph of measurement results in a modified example. [Figure 16] Flowchart for explaining the flow of initial setting processing in a modified example. MODE FOR CARRYING OUT THE INVENTION

[0020] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. The present invention is not limited by the embodiments described below, nor are the forms to which the present invention is applicable limited to the following embodiments. In addition, in the description of the drawings, the same reference numerals are given to the same parts.

[0021] Figure 1 is a diagram showing a configuration example of a blocking bar abnormality detection device 10 to which the present invention is applied. Level crossing 3 is equipped with level crossing safety equipment 40, including level crossing warning signals and level crossing barriers. In addition to detecting abnormalities in the barrier arm 42 of the level crossing safety equipment 40, the barrier arm abnormality detection device 10 also functions as a level crossing obstacle detection device 11 that detects level crossing obstacles present at the monitored level crossing 3 that obstruct train passage.

[0022] The level crossing safety equipment 40 in Figure 1 is a double-arm type. A pair (2 units) of barriers is installed on one side and the other side of the level crossing 3, and traffic is blocked by lowering the barrier arms 42 from both sides of the level crossing 3. Note that the level crossing safety equipment 40 may also be a single-arm type.

[0023] The level crossing safety equipment 40 is operated under the control of the level crossing control device 16. The level crossing control device 16 outputs and transmits level crossing control information to the barrier arm abnormality detection device 10. The level crossing control information indicates the operating status of the level crossing safety equipment 40 (the control status by the level crossing control device 16), such as whether the level crossing warning signal is sounding or not, and whether the barrier arm 42 of the level crossing barrier is raised or lowered.

[0024] The barrier arm abnormality detection device 10 is connected to the laser sensor 14 so that it can communicate wirelessly or via a wire. The barrier arm abnormality detection device 10 is also connected to the level crossing control device 16 and the special signal light 18, which control the operation of the level crossing safety equipment 40, so that they can communicate wirelessly or via a wire.

[0025] The barrier arm abnormality detection device 10 uses at least two laser sensors 14 for each level crossing 3. The two laser sensors 14 are installed diagonally opposite each other on the outside of the railway tracks 5, with one on each side of the level crossing 3 (on the uphill and downhill sides of the tracks 5).

[0026] The laser sensor 14 is a detection means that detects objects within the measurement range and outputs a signal corresponding to the relative position to the object to the barrier rod abnormality detection device 10.

[0027] Figure 2 is a diagram illustrating an example of the positional relationship between the measurement range 61 of the laser sensor 14, the obstacle detection range 62, and the position determination range 63 for determining the position of the barrier arm 42. Figure 3 is a schematic top view illustrating the distance measurement by the laser sensor 14, and Figure 4 is a schematic side view illustrating the scanning height Hs of the laser sensor 14 and the barrier rod height Hk of the barrier rod 42.

[0028] The laser sensor 14 is implemented, for example, as a LiDAR (Light Detection and Ranging) conforming to Class 1 (JIS C 6802). The laser sensor 14, for example, emits a spot laser in the emission azimuth angle θ, receives the reflected light, and calculates the distance R to the reflected object based on the elapsed time from emission to reception or the change in the frequency of the reflected light. The laser sensor 14 then outputs a measurement signal that associates the emission azimuth angle θ with the distance R to the barrier rod abnormality detection device 10. In Figure 2, an example of the measurement result for one emission related to a single barrier rod 42 is shown by a thick arrow.

[0029] The laser sensor 14 repeats the process of emission → reception → distance calculation → output of a measurement signal while changing the emission azimuth angle θ over the measurement range 61. The laser sensor 14 completes one 2D scan by repeating this process from one end to the other of the measurement range 61, where the emission azimuth angle θ can take place. The laser sensor 14 repeats the scan at a predetermined cycle.

[0030] When viewed from directly above, the measurement range 61 of the laser sensor 14 forms a fan shape, with the laser sensor 14 located at the pivot point of the fan. The measurement range 61 has a width that includes the obstacle detection range 62 and the position determination range 63 set on the level crossing 3. The position determination range 63 is defined as the range for detecting and determining abnormalities in the barrier arm 42 on the opposite side of the railway track 5 from the laser sensor 14.

[0031] Furthermore, as shown in Figure 4, the laser sensor 14 is mounted on a support column or the like so that its vertical position can be adjusted so that its scanning height Hs (laser emission height) is the same as or approximately the same as the barrier arm height Hk of the barrier arm 42 (the height of the barrier arm 42 as specified in "Interpretation Standards for Technical Standards for Railways, Article 62 (Level Crossing Safety Equipment)"; 80 cm above ground level).

[0032] The laser emitted from the laser sensor 14 diffuses as it moves away from the laser sensor 14, as shown in the shaded triangular shape in Figure 4, and this becomes the vertical detection angle of the sensor. The width Lw of the laser at the position where it reaches the blocking rod 42 is set to be the same as, or encompasses, the normal rod height range (minimum value Hkmin. to maximum value Hkmax.) in which the blocking rod 42, when adjusted to a normal position, is considered normal based on the blocking rod height Hk.

[0033] Returning to Figure 2, obstacle detection at the level crossing 3 is performed based on the measurement results of the laser sensor 14 within the obstacle detection range 62 of the measurement range 61. Abnormal detection of the barrier arm 42 is performed based on the measurement results within a predetermined position determination range 63 of the measurement range 61.

[0034] The obstacle detection range 62 is measured and determined during a predetermined initial setup procedure. Although the obstacle detection range 62 in Figure 2 is rectangular in shape, it is not limited to this shape depending on the shape of the railroad crossing 3, etc. The obstacle detection range 62 is initially set by measuring the coordinates of the four vertices as seen from the laser sensor 14.

[0035] Figure 5 is an example of a graph showing the measurement results of the barrier rod 42 by the laser sensor 14, and shows the position determination range 63 (see Figure 2) related to the determination of abnormality detection of the barrier rod 42, extracted from the measurement range 61 of the laser sensor 14.

[0036] Furthermore, the height and distance between the tips of the two barrier arms 42 are adjusted in accordance with the provisions of "Article 62 (Level Crossing Safety Equipment) of the Interpretation Standards for the Ministerial Ordinance Establishing Technical Standards for Railways." Also, the number of point clouds representing the measured distance R is determined according to the scanning resolution of the laser sensor 14 and is not limited to the example shown in Figure 5. Each point constituting this point cloud corresponds to each distance measurement by the laser sensor 14.

[0037] The shielding rod 42 has a striped appearance in which relatively high-reflectivity areas (high-reflectivity areas) and relatively low-reflectivity areas (low-reflectivity areas) of a predetermined width are repeated in the longitudinal direction. In common examples of shielding rod color schemes, the high-reflectivity areas are yellow, and the low-reflectivity areas are black. Differences in reflectivity are created not only by differences in color but also by surface properties (for example, by using paints with different degrees of laser light absorption or by having different surface micro-shapes). The color combinations of the high-reflectivity areas and low-reflectivity areas may be other color combinations besides yellow and black, such as white and black, or white and red.

[0038] Significant distance R can be obtained in areas with high reflectivity. Areas with low reflectivity absorb the laser light depending on the measurement conditions. Therefore, for areas with low reflectivity, it is either impossible to measure the reflected light or the reflection intensity is low, making it difficult to obtain significant measurement results, effectively making them "outside of measurement." Thus, as shown in the graph in Figure 5, when a normal barrier rod 42 is measured, the same number of measurement points as in areas with high reflectivity appear intermittently and linearly aligned in the azimuth axis direction.

[0039] A single measurement point cloud is identified by a combination of the azimuth angle θ at one end and the azimuth angle θ at the other end of the measurement point cloud in which significant measurement results were obtained (for example, θ1 and θ2, θ3 and θ4, ...). This is called the "regional azimuth angle range". The regional azimuth angle range is used as a criterion for determining which measurement results from the laser sensor 14 are to refer to in order to check the normality / abnormality of the position of the corresponding high-reflectance region.

[0040] Then, by adding a predetermined allowable distance ΔR to the area azimuth angle range, a three-dimensional area-specific judgment range 64 (shaded parallelogram) is set. The allowable distance ΔR is the allowable width of horizontal (or approximately horizontal) fluctuations of the barrier rod 42 due to wind, etc., and is the horizontal width of the area-specific judgment range 64. The vertical width of the area-specific judgment range 64 is the width Lw of the laser at the position where it reaches the barrier rod 42 (see Figure 4).

[0041] The point where the check angle ranges of adjacent high-reflectance areas are closest (θm, θm+1 in Figure 5) is the point where the tips of the two barrier rods 42 meet. The angle difference between the azimuth angle θm and the azimuth angle θm+1 represents the tip separation D in a normal state.

[0042] Figure 6 shows an example of a measurement result graph when an abnormality in the height direction of the shut-off rod 42 is detected. In the example in Figure 6, there are 10 measurement points corresponding to one part-specific judgment range 64, and these 10 points constitute one measurement point group. Therefore, if all 10 measurement points, or a predetermined number of measurement points including errors, are measured within the range corresponding to one part-specific judgment range 64, it can be determined that it is normal. However, in the example in Figure 6, only 3 points are measured within the range of the part-specific judgment range 64d, and there are also 3 measurement points corresponding to the part-specific judgment range 64d. In this case, the shut-off rod abnormality detection device 10 considers that the high-reflectance part corresponding to that range is deformed or damaged to such an extent that it deviates from the vertical width (laser width Lw; see Figure 4) of the part-specific judgment range 64, and detects an abnormality in the shut-off rod 42.

[0043] Figure 7 shows an example of a measurement result graph when an abnormality such as horizontal deformation of the barrier arm 42 is detected. Similar to the example in Figure 6, the number of measurement points corresponding to one part-specific judgment range 64 is 10 in the example in Figure 7. In the example in Figure 7, all 10 measurement points corresponding to the part-specific judgment range 64d are measured, but only 3 measurement points are measured within the range of the part-specific judgment range 64d. In this case, the barrier arm abnormality detection device 10 considers the high-reflectance part corresponding to that range to be in an abnormal state of breakage, such as being bent or broken, and detects an abnormality in the barrier arm 42. Of course, depending on the direction in which the measurement point deviates from the part-specific judgment range 64, it may be determined that the part is in an abnormal state of breakage or bending in a direction away from the laser sensor 14.

[0044] Figure 8 shows an example of a measurement result graph when an abnormality in the tip separation D of the barrier arm 42 is detected. In this example, the tip separation D exceeds a predetermined maximum separation Dmax. The barrier arm abnormality detection device 10 determines that at least one of the pair of double-arm type barrier arms 42 is misaligned and in a state of excessive separation at its tip, and detects an abnormality in the barrier arm 42.

[0045] When the circuit breaker rod abnormality detection device 10 detects such an abnormality in the circuit breaker rod 42, it outputs an "abnormality detection signal" to a predetermined external device (see Figure 1).

[0046] Figure 9 is a block diagram showing an example of the functional configuration of the circuit breaker rod abnormality detection device 10. The circuit breaker rod abnormality detection device 10 comprises an operation unit 110, a display unit 120, a communication unit 130, a processing unit 200, and a storage unit 500. The circuit breaker rod abnormality detection device 10 is configured as a type of computer system.

[0047] The operation unit 110 is implemented by an input device such as a button switch or a touch panel, and outputs an operation signal to the processing unit 200 in accordance with the operation input. The display unit 120 is implemented by a display device such as an LCD (Liquid Crystal Display) or a touch panel, and displays various information in accordance with the display signal from the processing unit 200. The communication unit 130 is implemented by a wired or wireless communication device and communicates with external devices such as the laser sensor 14, the level crossing control device 16, the special signal lighter 18, and the destination for abnormality detection signals (see Figure 1).

[0048] The processing unit 200 is implemented by, for example, an arithmetic circuit such as a CPU (Central Processing Unit) or a control board including said arithmetic circuit, and controls the operation of the cutoff rod abnormality detection device 10 by performing various arithmetic processes based on programs and data stored in the storage unit 500.

[0049] The processing unit 200 includes an initial setting unit 202, a part position determination unit 204, an anomaly detection unit 206, an obstacle detection unit 210, an external notification control unit 212, and a timing unit 290. Each of these functional units may be a software block realized by executing a predetermined program, or a circuit block realized by a signal processing circuit. Here, the processing unit 200 will be described as functioning as a software block by executing a predetermined program.

[0050] The initial setup unit 202 performs processing related to setting the obstacle detection range 62 (see Figure 2) and the part-specific determination range 64 (see Figure 5).

[0051] When the lowering of the barrier arm 42 is complete, the part position determination unit 204 determines the position of each part of the barrier arm 42 based on the measurement results within the determination range measured by the laser sensor 14, which includes in its measurement range 61 the determination range (position determination range 63, part-specific determination range 64) where the barrier arm 42 may be located when it has finished lowering under normal conditions.

[0052] The abnormality detection unit 206 detects an abnormality in the barrier rod 42 based on the determination result of the part position determination unit 204.

[0053] The obstacle detection unit 210 detects and determines obstacles at the level crossing 3, such as people and vehicles, when a train is approaching. Specifically, the obstacle detection unit 210 determines that an obstacle has been detected at the level crossing when it determines that the state in which an object is present in the obstacle detection range 62 has reached a predetermined threshold time.

[0054] The external notification control unit 212 outputs and transmits an abnormality detection signal to a predetermined external device when the abnormality detection unit 206 detects an abnormality in the barrier arm 42. Furthermore, the external notification control unit 212 outputs an alarm signal to the special signal lighter 18 when the obstacle detection unit 210 detects an obstacle at the level crossing. In addition, wireless notification may be provided to the onboard equipment of a train approaching the level crossing 3.

[0055] The timing unit 290 uses the system clock to perform various timing operations (for example, the duration of time an object is present in the obstacle detection range 62).

[0056] The storage unit 500 is implemented using a storage medium such as an IC memory or a hard disk. The storage unit 500 pre-stores programs for operating the circuit breaker rod abnormality detection device 10 and realizing the various functions of the circuit breaker rod abnormality detection device 10, as well as data used during the execution of said programs, or temporarily stores them each time processing is performed.

[0057] The memory unit 500 stores, for example, a program 501, obstacle detection range setting data 506, position determination range setting data 508, part-specific determination range setting data 510, measurement result data 530, level crossing safety equipment ID 531, shape abnormality detection flag 532, and separation abnormality detection flag 534, as shown in Figure 10. In addition, it stores, as appropriate, counters and flags for elapsed time related to various determination processes.

[0058] Obstacle detection range setting data 506 is data that defines the obstacle detection range 62 and is created for each laser sensor 14. One obstacle detection range setting data 506 stores the target laser sensor ID and a set of data for the position coordinates of the vertices of the obstacle detection range 62.

[0059] The position determination range setting data 508 is data that defines the position determination range 63 and is created for each laser sensor 14. Each position determination range setting data 508 stores the target laser sensor ID and the azimuth angle range to be used as the position determination range 63.

[0060] The part-specific judgment range setting data 510 is prepared for each part based on the reflectance of the barrier rod 42. One part-specific judgment range setting data 510 includes a judgment range ID 511, a measurement layer ID 512, a part azimuth angle range 514, judgment range vertex data 516, and a tip flag 518 indicating that the part corresponds to the tip of the barrier rod 42. The distance between parts for which the tip flag 518 is set is the tip separation D (see Figure 5). In this embodiment, since there is "1" measurement layer, the measurement layer ID 512 can be omitted. However, if the laser sensor 14 has multiple measurement layers, the identification information of the measurement layer that measures the barrier rod 42 is set in the measurement layer ID 512.

[0061] The shape anomaly detection flag 532 has an initial value of "0 (no anomaly)" and is set when an anomaly in the shape of the barrier arm 42 is detected.

[0062] The separation anomaly detection flag 534 has an initial value of "0 (no anomaly)" and is set when an anomaly in the distance between the tips of the barrier rod 42 is detected.

[0063] Figure 11 is a flowchart illustrating the flow of the initial setup process. When installing the barrier arm abnormality detection device 10 at the level crossing 3, the workers complete preliminary work such as installing the barrier arm abnormality detection device 10 and connecting the barrier arm abnormality detection device 10 to the laser sensor 14, and then perform a predetermined initial setup operation on the barrier arm abnormality detection device 10. The barrier arm abnormality detection device 10 starts the initial setup process in response to this operation.

[0064] The barrier rod abnormality detection device 10 first sets the obstacle detection range 62 by executing Loop A for each vertex within that range (steps S12 to S18). In Loop A, the barrier rod abnormality detection device 10 sets the vertex position to be processed (step S14) and then finishes Loop A (step S18). The vertex position may be set, for example, by determining the absolute position coordinates by satellite positioning, or by placing a reflective object directly above the vertex position and measuring the distance with the laser sensor 14.

[0065] Once Loop A has been executed for each vertex of the obstacle detection range 62, the barrier rod abnormality detection device 10 creates and stores obstacle detection range setting data 506 (step S20) and displays a notification that the setting of the obstacle detection range 62 is complete (step S22).

[0066] The barrier arm abnormality detection device 10 then sets the position determination range 63 and the part-specific determination range 64. Specifically, the barrier arm abnormality detection device 10 displays a prompt to the worker to adjust the barrier arm 42 and to input the measurement execution operation after the adjustment is complete (step S30).

[0067] Next, the cutoff rod abnormality detection device 10 performs measurements for each of the laser sensors 14 in response to the input of the setting execution operation (step S32). The barrier rod anomaly detection device 10 identifies a position determination range 63 and a part-specific determination range 64 for each laser sensor 14 from the measurement results, and creates and stores the respective setting data (step S34). Specifically, the barrier rod anomaly detection device 10 identifies areas in the measurement data where measurement point clouds corresponding to high reflectivity areas appear intermittently and linearly (see Figure 5), and sets the range of azimuth angles including both ends of these areas as the position determination range 63. Then, it sets each measurement point cloud as a part-specific determination range 64.

[0068] Next, the barrier rod abnormality detection device 10 searches for adjacent part-specific judgment ranges 64 with the minimum separation distance, sets a tip flag 518 for them (step S36), displays a notification that the setting of the part-specific judgment ranges 64 is complete (step S38), and ends the initial setup process.

[0069] Figure 12 is a flowchart illustrating the normal operation process of the circuit breaker rod abnormality detection device 10. The worker confirms the completion of the initial setup process and inputs a normal operation start operation to the circuit breaker rod abnormality detection device 10. The circuit breaker rod abnormality detection device 10 starts the normal operation process in response to this operation.

[0070] The barrier arm abnormality detection device 10 can determine the start / end of the sounding of the level crossing warning signal and the status of the completion of the lowering of the barrier arm from level crossing control information obtained from the level crossing control device 16 at any time.

[0071] When the alarm starts sounding (YES in step S50), the barrier arm abnormality detection device 10 starts the level crossing obstacle detection process (step S52). From this point onward, the level crossing obstacle detection process is repeatedly executed, and the barrier arm abnormality detection device 10 functions as a level crossing obstacle detection device 11. That is, after the alarm starts sounding, if there are objects such as pedestrians or vehicles on the level crossing 3, it can detect them and output and transmit an alarm signal.

[0072] If the crossing control information determines that the lowering of the barrier arm 42 has been completed (YES in step S54), the barrier arm abnormality detection device 10 initializes the shape abnormality detection flag 532 and the separation abnormality detection flag 534 to "0 (no abnormality)" (step S56) and executes the barrier arm abnormality detection process (step S58).

[0073] Figure 13 is a flowchart illustrating the flow of the cutoff rod abnormality detection process. In the circuit breaker rod abnormality detection process, the circuit breaker rod abnormality detection device 10 executes loop B for each circuit breaker rod 42 (steps S70 to S88).

[0074] In loop B, the circuit breaker abnormality detection device 10 executes loop C for each part-specific determination range 64 related to the circuit breaker 42 that is the target of processing in loop B (steps S72 to S80).

[0075] Specifically, in loop B, the barrier rod abnormality detection device 10 reads the measured values ​​of measurement points related to the part-specific judgment range 64 that is the target of processing from the measurement result data 530 (step S74). Then, it counts the number of measurement points whose measured values ​​fall outside the part-specific judgment range 64 that is the target of processing, and determines whether the ratio of the number of measurement points measured in a given range to the number of measurement points that are scheduled to be measured in a given part-specific judgment range 64 (= the number of measurement points that are measured under normal circumstances) satisfies a predetermined abnormality determination threshold condition (step S76). The abnormality determination threshold condition can be, for example, that the ratio is less than or equal to an abnormality determination threshold such as 10% or 20%. Alternatively, the number of measurement points that are outside the range can be obtained by subtracting the number of measurement points that are actually measured from the number of measurement points that are scheduled to be measured in a given part-specific judgment range 64. In that case, the abnormality determination threshold condition can be that the ratio of the number of measurement points that are outside the range is equal to or greater than the abnormality determination threshold.

[0076] Then, if a measurement point outside the part-specific judgment range 64 reaches the abnormality judgment threshold (YES in step S76), the barrier rod abnormality detection device 10 determines that there is an "abnormality related to shape" in the barrier rod 42 measured by the laser sensor 14, which is the processing target of loop B, changes the shape abnormality detection flag 532 to "1" to set the flag (step S78), and terminates loop C (step S80).

[0077] If Loop C has been executed for all part-specific determination ranges 64 related to the barrier rod 42, which is the target of Loop B, the barrier rod abnormality detection device 10 then calculates the tip separation D (step S82). If the tip separation D exceeds a predetermined maximum separation Dmax. (YES in step S84), the barrier rod abnormality detection device 10 changes the separation abnormality detection flag 534 to "1" and sets the flag (step S86), and terminates Loop B (step S88).

[0078] The barrier arm abnormality detection device 10 outputs and transmits an abnormality detection signal to a predetermined external device (step S90) if at least one of the shape abnormality detection flag 532 and the separation abnormality detection flag 534 is set to "1" (YES in step S90). The abnormality detection signal may include, for example, the level crossing safety equipment ID 531, the value of the shape abnormality detection flag 532, and the value of the separation abnormality detection flag 534.

[0079] Returning to Figure 12, if the level crossing alarm stops sounding (YES in step S100), the barrier arm abnormality detection device 10 stops the ongoing level crossing obstacle detection process (step S102). Then it proceeds to step S50.

[0080] As described above, according to this embodiment, the barrier arm abnormality detection device 10 can detect and notify abnormalities in the barrier arm 42 of a level crossing barrier. Railway operators can quickly detect and deal with sudden abnormalities in the barrier arm 42. Laser sensors have higher resistance in backlit environments compared to cases using images captured by a camera. According to this embodiment, it is possible to detect abnormalities in the barrier arm in a different way than detecting abnormalities in the barrier arm using images captured by a camera.

[0081] The embodiments of the present invention are not limited to those described above, and may be added, omitted, or modified as appropriate.

[0082] [Variation 1] For example, in the above embodiment, an example was shown in which a part-specific determination range 64 is provided for each high-reflectance part as the range for detecting abnormalities in the barrier rod 42, but it is not limited to this. For example, a single determination range that encompasses all part-specific determination ranges 64 may be used instead of the multiple part-specific determination ranges 64 in the above embodiment. In this case, loop C in Figure 13 becomes a single loop process performed for that single determination range.

[0083] [Variation 2] For example, although the laser sensor 14 was exemplified as a two-dimensional scanning type with one measurement layer in the above embodiment, it may also be a three-dimensional scanning type sensor having multiple measurement layers. Furthermore, when using a three-dimensional scanning type laser sensor 14, it is also possible to configure it to assign an abnormality level to the abnormality detection signal.

[0084] Specifically, the laser sensor 14 has first to third measurement layers in the height direction, and the intermediate second measurement layer is used for measuring the barrier rod 42 as described in the above embodiment. Then, in step S78 (see Figure 13), the barrier rod abnormality detection device 10 sets the abnormality level to "1 (predictive detection level)" if the measurement point that is outside the part-specific judgment range 64 which is the processing target of loop C is outside the second measurement layer but within the first or third measurement layer. If it is outside the second measurement layer and also outside the first or third measurement layer, it sets the abnormality level to "2 (clear abnormality level)". Then, in step S92, an abnormality detection signal including abnormality level information may be output and transmitted.

[0085] [Variation 3] Furthermore, when using a three-dimensional scanning type laser sensor 14, as shown in Figure 14, the first measurement layer 7a may scan the main body of the barrier rod 42, and the second measurement layer 7b may scan the suspended object 44 suspended from the barrier rod 42.

[0086] The suspended object 44 is a level crossing safety measure that is suspended from the barrier arm 42 by a string or the like. The suspended object 44 may be a barrier arm warning sign as illustrated in Figure 14, or a hanging belt, hanging pole, banner, etc.

[0087] The width Lw of the laser beam at the position of the barrier rod 42 in the first measurement layer 7a covers the entire vertical width of the barrier rod 42, and the width Lw2 of the laser beam at the position of the barrier rod 42 in the second measurement layer 7b covers the entire vertical width of the suspended object 44, or at least covers a portion of the suspended object 44.

[0088] Figure 15 is a graph showing an example of measurement results for two barrier arms 42, each having two suspended objects 44, and shows the position determination range 63 related to the detection of abnormalities in the barrier arms 42, extracted from the measurement range 61 of the laser sensor 14. The upper graph in Figure 15 is the graph of the measurement results of the first measurement layer 7a, and the lower graph is the graph of the measurement results of the second measurement layer 7b.

[0089] Focusing on the lower graph, there are two significant measurement point clusters on each of the two barrier arms 42 due to reflected light from the suspended object 44. The barrier arm abnormality detection device 10 identifies these from the measurement data and sets the part-specific judgment range 64t for the suspended object 44 to include the measurement point cluster of the suspended object 44.

[0090] In other words, the measurement point cloud originating from the suspended object 44 is identified by the combination of the azimuth angle θt at one end and the azimuth angle θt at the other end (for example, θt1 and θt2, θt3 and θt4, ...) in which significant measurement results were obtained within that cloud. These azimuth angle ranges are used as a criterion for determining which measurement results from the laser sensor 14 are to refer to in order to check the normal / abnormal status of the corresponding suspended object 44.

[0091] Furthermore, by adding a predetermined allowable distance ΔRt to the part azimuth angle range, a part-specific judgment range 64t for the three-dimensional suspended object 44 is set. The allowable distance ΔRt is the allowable width of horizontal (or nearly horizontal) fluctuation of the suspended object 44 due to wind, etc., and is the horizontal width of the part-specific judgment range 64t. The vertical width of the part-specific judgment range 64t is the width Lw2 of the laser of the second measurement layer 7b at the position where it reaches the suspended object 44 (see Figure 14).

[0092] Figure 16 is a flowchart illustrating the flow of the initial setup process B performed in this configuration. The initial setup process B basically follows the same flow as the initial setup process in the above embodiment.

[0093] However, in the initial setup process B, the barrier rod abnormality detection device 10 executes step S34 based on the measurement results of the first measurement layer 7a. The measurement layer ID 512 of the part-specific judgment range setting data 510 contains settings related to the first measurement layer 7a (see Figure 10).

[0094] Furthermore, following step S36, the barrier rod abnormality detection device 10 sets the part-specific determination range 64t for the suspended object 44 from the measurement results of the second measurement layer 7b that correspond to the position determination range 63 (step S37). In this step, the part-specific determination range setting data 510 for the suspended object 44 is set, and the measurement layer ID 512 is set with settings related to the second measurement layer 7b.

[0095] The process for detecting abnormalities in the shut-off rod in this configuration is the same as in the embodiment described above. According to this configuration, it becomes possible to promptly detect and report abnormalities in the barrier rod 42 that has a suspended object 44.

[0096] [Variation 4] Although the laser sensor 14 is shown as being shared with the level crossing obstacle detection device, it is also possible to configure the system to use separate laser sensors for level crossing obstacle detection and barrier arm malfunction detection. [Explanation of symbols]

[0097] 3... railroad crossing 10…Break-off rod abnormality detection device 11…Level crossing obstacle detection device 14… Laser sensor 40... Level crossing safety equipment 42… Barrier lever 44… Hanging objects 61...Measurement range 62… Obstacle detection range 63...Position detection range 64... Judgment range by body part 200... Processing Unit 202…Initial setting section 204…Part position determination unit 206... Anomaly detection unit 210... Obstacle detection unit 212...External Notification Control Unit 500...Storage section 501... Program 506... Obstacle detection range setting data 508...Location detection range setting data 510...Data for setting the judgment range by body part 530...Measurement result data 532... Shape anomaly detection flag

Claims

1. A part position determination unit determines the position of each part of the barrier arm based on the measurement results within the determination range measured by a laser sensor whose measurement range includes the determination range in which the barrier arm can be positioned when it has finished descending under normal conditions, when the lowering of the barrier arm is completed. An abnormality detection unit detects an abnormality in the barrier rod based on the determination result of the part position determination unit, A device for detecting abnormalities in a circuit breaker rod.

2. The abnormality detection unit detects abnormalities based on the height of each part of the barrier rod. The circuit breaker abnormality detection device according to claim 1.

3. The aforementioned barrier arm is a pair of barrier arms with arms on both sides, The abnormality detection unit detects an abnormality in the distance between the tips of the pair of barrier rods. The circuit breaker abnormality detection device according to claim 1.

4. The determination range includes the range in which the suspended object hanging from the barrier rod may be located when the barrier rod has finished descending under normal conditions. The aforementioned part position determination unit determines the position of the suspended object, The abnormality detection unit detects abnormalities in the suspended object. The circuit breaker abnormality detection device according to claim 1.

5. The aforementioned laser sensor further includes an obstacle detection range for detecting obstacles on a level crossing within its measurement range, and is a sensor shared for use in level crossing obstacle detection devices. A device for detecting an abnormality in a circuit breaker rod according to any one of claims 1 to 4.

6. The aforementioned barrier rod has alternating sections with relatively low reflectivity and sections with high reflectivity. The part position determination unit determines the position of at least the part with high reflectivity. A device for detecting an abnormality in a circuit breaker rod according to any one of claims 1 to 4.

7. The abnormality detection unit detects an abnormality in the barrier rod based on the location of the part with high reflectivity. The circuit breaker abnormality detection device according to claim 6.

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