Obstacle monitoring system and obstacle monitoring method

Abstract

To enable proper management of the registration and deletion of obstacles detected by the detection device. [Solution] The on-board device 10 obtains detection information, including location information of the detected obstacle, from one of several detection devices 20 that have different installation locations but are capable of tracking and detecting obstacles. It compares each detected obstacle based on the detection information, identifies detected obstacles that meet predetermined identical conditions as the same obstacle, registers and manages the identified same obstacle as a common registered obstacle, selects an authorized device from among the detection devices 20 that have detected the common registered obstacle, and deletes the registration of the common registered obstacle when it is confirmed that the registered obstacle has moved outside the track 3 based on the detection information of the authorized device.

Description

[[Technical Field]]

[0001] The present invention relates to an obstacle monitoring system and the like. [[Background Art]]

[0002] In order to realize autonomous operation of trains that minimizes human intervention in operation work, it is necessary to acquire and manage various types of information required for operation judgment on board the train. As a method for acquiring and managing such information, for example, a method has been considered that uses a database configured to enable mutual position conversion by superimposing a map represented by geographic coordinates on a schematic wiring diagram (track diagram) that depicts track wiring and railway facilities expressed in distance markers (see, for example, Patent Documents 1 and 2). [[Prior Art Documents]] [[Patent Documents]]

[0003] [[Patent Document 1]] Japanese Unexamined Patent Publication No. 2014-219482 [[Patent Document 2]] Japanese Unexamined Patent Publication No. 2021-081491 [[Summary of the Invention]] [[Problem to be Solved by the Invention]]

[0004] One of the pieces of information that should be acquired and managed for autonomous train operation is information related to obstacles near the tracks. For example, it is conceivable that information related to an obstacle is registered in the on-board database when the obstacle is first detected by a detection device such as a camera mounted on the train or a detection device provided on the ground. In such a case, when the obstacle no longer exists near the tracks because the obstacle has moved outside the tracks or has been removed by workers or the like, it is necessary to delete the registration of the obstacle from the database. In order to prevent the registration of a different obstacle from being deleted, it is desirable that the deletion of an obstacle registration is performed under the authority of the detection device that first detected the obstacle, on the premise that said detection device continuously tracks and detects said obstacle.

[0005] However, in that case, while it would be ideal if the detection device that initially detected the obstacle could continuously track and detect it until the obstacle disappeared from the vicinity of the tracks, there may be cases where this is not possible. For example, the detection device's line of sight may be suddenly obstructed, making it suddenly impossible to detect the obstacle. In such cases, the registration of the obstacle cannot be canceled. In addition, if the obstructed line of sight is restored and the device detects an obstacle again, it becomes unclear whether a new obstacle has been detected or an obstacle that was previously detected. If the registration of an obstacle cannot be canceled, it will be treated as if it exists even if it does not actually exist, which can lead to inconveniences such as the train having to stop.

[0006] The problem that this invention aims to solve is to enable proper management of the registration and deletion of obstructions detected by a detection device. [Means for solving the problem]

[0007] The first invention for solving the above problem is: An obstacle monitoring system that monitors the presence of obstacles in the area where railway vehicles pass, Among multiple detection devices installed in different locations and capable of tracking and detecting obstacles, an acquisition means (for example, the acquisition unit 102 in Figure 11) acquires detection information including location information of the detected obstacle from a detection device that has detected an obstacle. An identification means (for example, the identification unit 104 in Figure 11) compares each of the detected obstacles based on the detection information and identifies detected obstacles that satisfy predetermined identical conditions as the same obstacle, A registration management means (for example, the registration management unit 110 in Figure 11) that registers and manages the same obstruction identified by the identification means as a common registered obstruction, An execution means (for example, the running control unit 200 in Figure 11) that executes a predetermined operation control process related to the operation of the railway vehicle based on the location information of the registered obstruction, Equipped with, The aforementioned registration management means is A selection means (for example, the selection unit 112 in Figure 11) for selecting an authorization device from among the detection devices that have detected the common registered obstruction, A deletion means (for example, the deletion unit 114 in Figure 11) for deleting the registration of the common registered obstacle when it is confirmed that the registered obstacle has moved outside the passage area based on the detection information of the authorization device, Having This is an obstacle monitoring system.

[0008] Other inventions include, A method for monitoring the presence of obstacles in the area where railway vehicles pass, The process involves an acquisition step of obtaining detection information, including location information of the detected obstacle, from among multiple detection devices that are installed in different locations but capable of tracking and detecting obstacles, and the detection device that has detected the obstacle. An identification step in which each of the detected obstacles is compared based on the detection information, and detected obstacles that satisfy predetermined identical conditions are identified as the same obstacle, A registration management step involves registering and managing the identical obstruction identified in the identification step as a common registered obstruction, A control execution step in which a predetermined operation control process related to the operation of the railway vehicle is executed based on the location information of the registered obstruction, Includes, The aforementioned registration management step is: A selection step of selecting an authorized device from among the detection devices that have detected the common registered obstruction, A deletion step in which, if the movement of the registered obstruction outside the passage area is confirmed based on the detection information of the authorization device, the registration of the common registered obstruction is deleted. including, A method for monitoring for obstructions may be configured.

[0009] According to the first invention, when an obstruction detected by multiple detection devices is identified as the same obstruction, that obstruction is managed as a common registered obstruction, and one of the multiple detection devices is selected as the authorization device. When the authorization device confirms that the registered obstruction has moved outside the railway vehicle's passage area, its registration is canceled. Since the registration and cancellation of the obstruction are performed based on the detection of the obstruction by the detection device selected as the authorization device, it becomes possible to properly manage the registration and cancellation of obstructions.

[0010] The second invention relates to the above invention, The selection means, if the detection of the registered obstruction by the authorization device fails or becomes impossible before the registration of the common registered obstruction is deleted, selects a new authorization device different from the authorization device from among the detection devices that have detected the registered obstruction. This is an obstacle monitoring system.

[0011] According to the second invention, if the authorization device fails to detect or is unable to detect a common registered obstacle before the registration of the obstacle is cancelled, a different new authorization device is selected from among the detection devices that have detected the registered obstacle. By changing the authorization device in this way, it becomes possible to appropriately cancel the registration of obstacles that have moved outside the passage area, and it is possible to avoid treating an obstacle as existing even though it does not actually exist.

[0012] The third invention is, in the above invention, The plurality of detection devices include an on-board detection device installed on the railway vehicle and a ground detection device installed on the ground. This is an obstacle monitoring system.

[0013] According to the third invention, by including an on-board detection device mounted on a railway vehicle and a ground detection device installed on the ground as the detection device, it becomes possible to efficiently and reliably detect obstacles in the railway's traffic area.

[0014] In a fourth aspect of the present invention, in the above-mentioned invention, the plurality of detection devices include a first detection device and a second detection device whose detection ranges partially or entirely overlap, when the first detection device detects the detected obstacle before the second detection device does, the registration management means registers the detected obstacle as the registered obstacle, and the selection means selects the first detection device as the authorized device, when the second detection device detects the detected obstacle after the first detection device does, the identification means performs identification determination on the detected obstacles respectively detected by the first detection device and the second detection device, and the registration management means registers the detected obstacle as the common registered obstacle, which is an obstacle monitoring system.

[0015] According to the fourth aspect of the present invention, among the first detection device and the second detection device with overlapping detection ranges, the first detection device that detects the obstacle first is selected as the authorized device. When the second detection device subsequently detects the obstacle, the obstacle is managed as a common registered obstacle. This enables appropriate management of common registered obstacles and appropriate selection of authorized devices.

[0016] In a fifth aspect of the present invention, in the above-mentioned invention, the second detection device is an on-vehicle detection device installed on a railway vehicle with its detection range facing forward of the railway vehicle, the selection means selects the second detection device as a new authorized device when detection of the registered obstacle by the first detection device, which is the authorized device, becomes undetected or undetectable before the registration of the common registered obstacle is deleted, which is an obstacle monitoring system.

[0017] According to the fifth aspect of the present invention, the ground detection device can quickly detect an obstacle before a train approaches, and when the ground detection device becomes unable to detect the obstacle or fails to detect it, the on-vehicle detection device is selected as a new authorized device, thereby enabling efficient and reliable detection of the obstacle. [Brief explanation of the drawing]

[0018] [Figure 1] An example of an obstacle monitoring system application. [Figure 2] An example of a ground-based detection device installation. [Figure 3] An example of how the on-board detection device operates when it detects an obstacle. [Figure 4] An example of how the ground detection device operates when it detects an obstacle. [Figure 5] An example of operation when an obstacle is detected by the ground detection device and then the on-board detection device. [Figure 6] An example of operation when an obstacle is detected by the ground detection device and then the on-board detection device. [Figure 7] An example of operation when an obstacle is detected by the ground detection device and then the on-board detection device. [Figure 8] An example of operation when an obstacle is detected by the on-board detection device and then the ground detection device. [Figure 9] An example of operation when an obstacle is detected by the on-board detection device and then the ground detection device. [Figure 10] An example of operation when an obstacle is detected by the on-board detection device and then the ground detection device. [Figure 11] Example of a functional configuration for on-board equipment. [Figure 12] An example of a database. [Modes for carrying out the invention]

[0019] Preferred embodiments of the present invention will be described below with reference to the drawings. However, the applicable forms of the present invention are not limited to the following embodiments. Furthermore, in the drawings, the same elements are denoted by the same reference numerals.

[0020] Figure 1 shows an example of the application of the obstacle monitoring system of this embodiment. The obstacle monitoring system 1 of this embodiment monitors the presence of obstacles in the area where railway vehicles travel. The area where railway vehicles travel is a spatial area including the building clearance along the tracks, and is a spatial area where obstacles should not exist in order for railway vehicles to travel safely. Hereinafter, it will simply be referred to as "the tracks" or "on the tracks". Furthermore, the obstacles to be monitored are assumed to be movable objects such as people, automobiles, bicycles, animals, falling rocks, and soil.

[0021] As shown in Figure 1, the obstacle monitoring system 1 comprises an on-board device 10 mounted on an autonomously operating train 5 and a plurality of detection devices 20. The on-board device 10 and the detection devices 20 are connected to each other via wireless or wired communication.

[0022] The detection device 20 is installed so that its detection range 26 includes the track 3, which is the area traveled by the train 5, a railway vehicle. The detection device 20 includes an on-board detection device 22 mounted on the train 5 and a ground detection device 24 installed near the track 3. The on-board detection device 22 is installed with its detection direction facing forward of the train 5. The ground detection device 24 is installed on the ground beside the track 3, with its detection range aligned with the direction of travel of the train 5, in order to complement the area that the on-board detection device 22 has difficulty detecting. Specifically, in addition to the straight section of the track 3 shown in Figure 1, it is installed in places where visibility is poor and blind spots are likely to occur for the on-board detection device 22. For example, it is installed so that the detection range includes the middle area of ​​the curved section of the track 3, or the exit area AE of the curved section as shown in Figure 2. The ground detection device 24 may also be installed so that its detection range includes places with a high risk of disruption to train operation, such as places where there is a risk of falling rocks or near level crossings.

[0023] The detection device 20 has sensors such as a camera and LiDAR, and detects obstacles on the railway track 3 based on the detection signals from these sensors. It then determines the location, size, and type of the detected obstacle and tracks it. The location of the obstacle is determined based on the location where the detection device 20 is installed and the relative distance and relative orientation from the detection device 20 to the obstacle as determined by the detection device 20. The types of obstacles can be, for example, people, small animals, large animals, cars, two-wheeled vehicles (bicycles, motorcycles), etc. Since the detection range 26 includes areas outside the railway track 3, the detection device 20 considers objects on the railway track 3 as obstacles, and other objects outside the railway track 3 as not being obstacles.

[0024] The first time the detection device 20 detects an object as an obstacle is called an obstacle discovery, and the continuous detection of the discovered obstacle is called an obstacle tracking. When an obstacle being tracked is no longer located on the track 3 due to movement or removal by workers, it is called an obstacle disappearance. On the other hand, when an obstacle being tracked becomes undetectable (not detected or undetectable) before it disappears, it is called an obstacle untrackable. At predetermined time intervals, the detection device 20 transmits detection information to the on-board device 10, including whether or not an obstacle has been detected, the location, size, and type of the detected obstacle, as well as information on the detection status of the obstacle, such as whether it has been discovered, is being tracked, has disappeared, or is untrackable.

[0025] The onboard equipment 10 updates the DB (database) 300 based on detection information received from the detection devices 20 (onboard detection device 22 and ground detection device 24), and uses this DB 300 to manage obstacles on the track 3. The DB 300 is a database for managing various information about the track 3 and its surrounding areas, and includes information about obstacles on the track 3. Specifically, the DB 300 stores information about obstacles on the track 3, associating it with information such as the location (kilometers) along the track 3, size, type, the detection device 20 that discovered the obstacle, the detection device 20 that is tracking the obstacle, and the detection device 20 (authority device) that has the authority to delete the registration of information about the obstacle. The DB 300 is stored by being synchronized (or shared, so to speak) between the onboard equipment 10 of each train 5 at any time.

[0026] The detection device 20 that detects an obstacle may be not just one detection device 20, but multiple detection devices 20. The detection devices 20 that detect an obstacle are stored in DB300 in association with the detection order. The detection device 20 with the authority to delete the obstacle (authorized device) is at most one of the detection devices 20 that detected the obstacle, and in principle, it is the detection device 20 that detected it first (first). The onboard device 10 then refers to DB300 and controls the movement of its own train, using the obstacle on the track 3 as one of the decision factors, for example, by stopping before the obstacle.

[0027] As a specific example of the operation of the obstacle monitoring system 1, the operation of the on-board device 10 when an obstacle is detected by the detection device 20 will be explained.

[0028] Figure 3 shows an example of operation when the on-board detection device 22 detects an obstacle. As shown in Figure 3, when the on-board detection device 22a mounted on train 5a traveling on track 3 detects an obstacle 30a located in front of train 5a, the on-board equipment 10 of train 5a registers the obstacle 30a as a new obstacle in DB300 based on the detection information received from the on-board detection device 22a. That is, as information about the obstacle 30a, the identification ID of the obstacle 30a ("obstacle a") is associated with the location, size, type, etc. of the obstacle 30a, and the on-board detection device 22a ("on-board a") that discovered the obstacle 30a is associated with the detection device 20 that has the authority to detect, track, and delete the obstacle, and stored in DB300.

[0029] Furthermore, the on-board detection device 22a that discovers the obstruction 30a transmits the detection information to the on-board devices 10 of each other train 5, and the information related to the obstruction 30a is registered in the DB300 at the on-board devices 10 of each other train 5. Thus, information about the discovered obstruction 30a is shared among the on-board devices 10 of multiple trains 5.

[0030] Subsequently, when the onboard detection device 22a detects the disappearance of the obstacle 30a due to movement or other reasons, the onboard equipment 10 of train 5a confirms, based on the detection information received from the onboard detection device 22a, that the onboard detection device 22a that detected the disappearance is an authorized device with deletion authority, and deletes the information regarding the obstacle 30a from DB300 to cancel the registration of the obstacle 30a.

[0031] Figure 4 shows an example of operation when the ground detection device 24 detects an obstacle. As shown in Figure 4, when the ground detection device 24c detects the obstacle 30b because it has moved into the detection range 26c of the ground detection device 24c installed beside the track 3, detection information to that effect is transmitted to the onboard equipment 10 of each train 5. Based on the detection information received from the ground detection device 24c, the onboard equipment 10 of train 5b registers the obstacle 30b as a new obstacle in DB300. That is, as information about the obstacle 30b, the identification ID of the obstacle 30b ("obstacle b") is associated with the location, size, type, etc. of the obstacle 30b, and the onboard detection device 22c ("ground c") that discovered the obstacle 30b is associated with the detection device 20 that has the authority to discover, track, and delete the obstacle, and this information is stored in DB300.

[0032] Similarly, information regarding the obstruction 30b is registered in the DB300 in the onboard equipment 10 of each other train 5, so that the information about the discovered obstruction 30b is shared among the onboard equipment 10 of multiple trains 5.

[0033] Subsequently, when the ground detection device 24c detects the disappearance of the obstruction 30b due to movement or other reasons, detection information to that effect is transmitted to the onboard equipment 10 of each train 5. Based on the detection information received from the ground detection device 24c, the onboard equipment 10 of train 5b confirms that the ground detection device 24c that detected the disappearance of the obstruction 30b is an authorized device with deletion authority, and deletes the information related to the obstruction 30b from DB300 to cancel the registration of the obstruction 30b.

[0034] Figures 5 to 7 show examples of operation when the same obstacle is detected first by the ground detection device 24, and then subsequently by the on-board detection device 22.

[0035] As shown in Figure 5, the ground detection device 24e is installed beside the track 3 with its detection direction aligned with the direction of travel of the train 5d. When the ground detection device 24e detects or finds the obstacle 30d due to its movement, detection information to that effect is transmitted to the onboard equipment 10 of each train 5. Based on the detection information received from the ground detection device 24e, the onboard equipment 10 of train 5d registers the obstacle 30d as a new obstacle in the DB 300. That is, as information regarding the obstacle 30d, the DB 300 stores information such as the location, size, and type of the obstacle 30d, along with the ground detection device 24e ("ground e") that discovered the obstacle 30d, as a detection device 20 that has the authority to discover, track, and delete the obstacle.

[0036] Subsequently, as shown in Figure 6, when train 5d travels and approaches the installation location of the ground detection device 24e, the detection range 26d of the on-board detection device 22d and the detection range 26e of the ground detection device 24e partially overlap. When the on-board detection device 22d mounted on train 5d detects the obstacle 30d, the on-board equipment 10 of train 5d registers the obstacle 30d as a new obstacle in DB300 based on the detection information received from the on-board detection device 22d. That is, as information regarding the obstacle 30d, the identification ID of the obstacle 30d ("obstacle e") is associated with the location, size, type, etc. of the obstacle 30d, and the on-board detection device 22d ("on-board d") that detected the obstacle 30 is associated with the detection device 20 that has the authority to detect, track, and delete the obstacle, and stored in DB300. At this point, in the DB of the onboard equipment 10 of train 5d, the same obstruction 30d is registered twice as two different objects, “obstruction d” and “obstruction e”.

[0037] Next, the on-board device 10 determines, based on its location, size, type, etc., whether the newly registered obstacle ("obstacle e") is the same object as the previously registered obstacle ("registered obstacle") ("obstacle d"). If it determines (identifies) that the newly registered obstacle ("obstacle e") is the same object as the previously registered obstacle ("obstacle d"), it integrates the information of the newly registered obstacle ("obstacle e") with the information of the previously registered obstacle ("obstacle d") and deletes it, and thereafter manages them as a common registered obstacle. In other words, the on-board detection device 22d ("on-board d") that discovered the new obstacle ("obstacle e") is added to the end of the detection sequence as the detection device 20 that discovered the registered obstacle ("obstacle e"), and is also added to the detection devices 20 being tracked. The detection device 20 with the authority to delete remains unchanged.

[0038] Subsequently, as shown in Figure 7, train 5d travels further and stops before the obstacle 30d. As a result, the obstacle 30d is within the detection range 26e of the ground detection device 24e. However, the obstacle 30d is undetectable and untrackable by the ground detection device 24e due to train 5d being located between the ground detection device 24e and the obstacle 30d, and detection information to that effect is transmitted to the onboard equipment 10 of each train 5. Then, the onboard equipment 10 of train 5d updates the information about the obstacle 30d registered in DB300 based on the detection information received from the ground detection device 24e. Specifically, the ground detection device 24e ("ground e") is removed from the tracking detection devices 20, and the detection device 20 with deletion authority is changed from the ground detection device 24e ("ground e") to the other tracking detection device 20 that has the earliest detection order, the onboard detection device 22d ("onboard d").

[0039] Subsequently, when the onboard detection device 22d detects the disappearance of the obstacle 30d due to movement or other reasons, detection information to that effect is transmitted to the onboard equipment 10 of each train 5. Based on the detection information received from the onboard detection device 22d, the onboard equipment 10 of train 5d confirms that the onboard detection device 22d that detected the disappearance of the obstacle 30d is the detection device 20 with deletion authority, and deletes the information related to the obstacle 30d from DB 300 to cancel the registration of the obstacle 30d.

[0040] Figures 8 to 10 show examples of operation when the same obstacle is detected first by the ground detection device 24 and then by the on-board detection device 22. In Figures 8 to 10, a train 5f is traveling on one track 3a of the double track 3, and a ground detection device 24g is installed beside the other track 3b, with its detection direction facing in the opposite direction to the direction of travel of the train 5f. The moving object that constitutes the obstacle 30f is moving so as to cross one track 3a and then the other track 3b of the double track 3.

[0041] First, as shown in Figure 8, when the onboard detection device 22f mounted on train 5f detects an obstacle 30f on the track 3a ahead, detection information to that effect is transmitted to the onboard equipment 10 of each train 5. Based on the detection information received from the onboard detection device 22f, the onboard equipment 10 of train 5f registers information about the obstacle 30f in DB300. Specifically, as information about the obstacle 30f, the identification ID of the obstacle 30f ("obstacle f") is associated with the location, size, type, etc. of the obstacle 30f, and the onboard detection device 22f ("onboard f") that discovered the obstacle 30f is associated with the detection device 20 that has the authority to detect, track, and delete the obstacle, and this information is stored in DB300.

[0042] Subsequently, as shown in Figure 9, when the obstacle 30f moves between the double tracks 3, the obstacle 30f is within the detection range 26f of the onboard detection device 22f. However, the obstacle 30f becomes hidden behind the object 9 between the double tracks 3, and the onboard detection device 22f fails to detect the obstacle 30f, making tracking impossible. Detection information to that effect is transmitted to the onboard equipment 10 of each train 5. Then, the onboard equipment 10 of train 5f updates DB300 based on the detection information received from the onboard detection device 22f. That is, the onboard detection device 22f ("onboard f") is removed from the detection device 20 that is currently tracking.

[0043] Next, when the obstruction 30f moves onto the other track 3b, the ground detection device 24g detects and finds the obstruction 30f, and this detection information is transmitted to the onboard equipment 10 of each train 5. Then, the onboard equipment 10 of train 5f registers the obstruction 30f as a new obstruction in DB 300 based on the detection information received from the ground detection device 24g. That is, as information about the obstruction 30f, it is associated with the identification ID of the obstruction 30f ("obstruction g"), along with information such as the location, size, and type of the obstruction 30, and the ground detection device 24g ("ground g") that found the obstruction 30 is associated with it as a detection device 20 that has the authority to find, track, and delete the obstruction, and stored in DB 300. At this point, in the DB of the onboard equipment 10, the same obstruction 30f is registered twice as two different "obstruction f" and "obstruction g".

[0044] Next, the on-board device 10 determines, based on its location, size, type, etc., whether the newly registered obstacle ("obstacle g") is the same object as an already registered obstacle (registered obstacle). If it determines (identifies) that the newly registered obstacle ("obstacle g") is the same object as a registered obstacle ("obstacle f"), it integrates the information of the newly registered obstacle ("obstacle g") with the information of the previously registered obstacle ("obstacle f") and deletes it, and thereafter manages them as a common registered obstacle. In other words, the ground detection device 24g ("ground g") that discovered the new obstacle ("obstacle g") is added to the end of the detection sequence as the detection device 20 that discovered the registered obstacle ("obstacle f"), and is also added to the detection devices 20 that are being tracked. Furthermore, since the on-board detection device 22f is not a detection device 20 that has the authority to delete registered obstructions ("obstruction f"), the ground detection device 24g ("ground g") is designated as the detection device 20 that has the authority to delete.

[0045] Subsequently, as shown in Figure 10, when the obstruction 30f moves off the track 3, the ground detection device 24g detects the disappearance of the obstruction 30f, and this detection information is transmitted to the onboard equipment 10 of each train 5. Based on the detection information received from the ground detection device 24g, the onboard equipment 10 of train 5f confirms that the ground detection device 24g that detected the disappearance of the obstruction 30f is a detection device 20 with deletion authority, and deletes the information related to the obstruction 30f from DB 300 to cancel the registration of the obstruction 30f.

[0046] Figure 11 shows an example of the functional configuration of the on-board device 10. As shown in Figure 11, the on-board device 10 comprises an operation determination unit 100 and a driving control unit 200, and is implemented as a type of computer system. The on-board device 10 may be implemented with a single computer, or it may be configured by connecting multiple computers.

[0047] The operation decision unit 100 manages various information acquired from external devices using DB300. Then, referring to DB300, it makes decisions regarding the operation of its own train, such as whether to continue running, stop, or slow down, based on the presence or absence of obstacles 30 on the tracks.

[0048] DB300 contains information about the obstructions 30 on the railway tracks. Specifically, as shown in Figure 12, for each obstruction 30, it stores location information including the location and detection time, type information including the type and size, and a list of detection devices, all associated with an obstruction ID that identifies the obstruction 30. The location information may include not only the most recent location but also the history since discovery (movement history). The list of detection devices is a list of the detection devices 20 that detected the obstruction, and stores the detection device ID, a tracking flag indicating whether or not it is being tracked, and a deletion authority flag indicating whether or not it has the authority to delete the obstruction, all associated with the detection order.

[0049] Furthermore, the operation decision unit 100 has an acquisition unit 102, an identification unit 104, and a registration management unit 110 in order to manage information regarding obstructions 30 on the railway tracks.

[0050] The acquisition unit 102 acquires detection information, including location information of the detected obstacle, from among multiple detection devices 20 that are installed in different locations but capable of tracking and detecting the obstacle 30, specifically from the detection device 20 that has detected the obstacle 30.

[0051] Specifically, the detection device 20 acquires detection information regarding obstacles detected by the detection device 20 from the on-board detection device 22 installed on its own train, or from the ground detection device 24 and on-board detection devices 22 installed on other trains via the wireless communication device 6 installed on its own train. The detection information includes whether or not an obstacle 30 has been detected, the location, time of detection, size, type, etc. of the detected obstacle 30, as well as information regarding the detection status of the obstacle, such as whether it has been found, is being tracked, has disappeared, or is untrackable.

[0052] The identification unit 104 compares each detected obstacle based on the detection information and identifies detected obstacles that meet predetermined identical conditions as the same obstacle. For example, if an obstacle is detected by the second detection device after the first detection device, the identification unit 104 performs an identification determination on the detected obstacles detected by both the first and second detection devices.

[0053] Specifically, for two obstacles 30, it is determined whether they are the same obstacle 30 by whether they satisfy the same conditions, such as whether the location, detection time, type, size, etc., of the obstacle 30 included in the corresponding detection information are substantially the same. Furthermore, the identification determination is performed on obstacles 30 detected by multiple detection devices 20 whose detection ranges 26 partially or completely overlap. That is, when an obstacle 30 is detected by the second detection device 20 among these multiple detection devices 20, it is determined whether that obstacle is the same obstacle 30 that was detected and registered by the first detection device 20.

[0054] The registration management unit 110 registers and manages identical obstructions identified by the identification unit 104 as common registered obstructions. Furthermore, if an obstruction is detected by the first detection device before an obstruction is detected by the second detection device, whose detection ranges partially or completely overlap, the detected obstruction is registered as a registered obstruction. Also, if an obstruction is detected by the second detection device after the first detection device, the obstructions detected by both the first and second detection devices are registered as common registered obstructions.

[0055] Specifically, based on the detection information obtained from the detection device 20, the obstacle 30 detected by the detection device 20 is registered in DB300 as a new obstacle 30. Then, when the identification unit 104 determines (identifies) that the new obstacle 30 is the same as a registered obstacle (registered obstacle), the information about the new obstacle 30 is integrated with the information about the registered obstacle and the information about the new obstacle 30 is deleted. In other words, the detection device 20 that detected the new obstacle is added to the end of the detection sequence for the registered obstacles.

[0056] Furthermore, the registration management unit 110 includes a selection unit 112 and a deletion unit 114.

[0057] The selection unit 112 selects an authorized device from among the detection devices 20 that have detected a common registered obstacle. Furthermore, if the authorized device fails to detect or is unable to detect the common registered obstacle before the registration of the common registered obstacle is deleted, it selects a new authorized device different from the one that detected the registered obstacle from among the detection devices that have detected the registered obstacle. Also, if the first detection device detects the obstacle before a second detection device whose detection range partially or completely overlaps, the first detection device is selected as the authorized device. Furthermore, if the first detection device, which is the authorized device, fails to detect or is unable to detect the common registered obstacle before the registration of the common registered obstacle is deleted, the second detection device is selected as the new authorized device.

[0058] Specifically, when registering a new obstacle 30 in DB300, the detection device 20 that detected the obstacle 30 is selected as the detection device with deletion authority (authorized device). Also, when integrating information about the new obstacle 30 with the information about registered obstacles and registering it as a common registered obstacle, the detection device 20 that is tracking the registered obstacle and has the earliest detection order among the detection devices 20 that detected the registered obstacle is selected as the device with deletion authority (authorized device). Furthermore, if the device with deletion authority for a registered obstacle (authorized device) becomes unable to detect or has not detected the registered obstacle and is therefore untrackable, the detection device 20 that is tracking the registered obstacle and has the earliest detection order among the other detection devices 20 that detected the registered obstacle (excluding the authorized device) is changed to the new device with deletion authority (authorized device).

[0059] The deletion unit 114 deletes the registration of a common registered obstacle when it is confirmed that the registered obstacle has moved outside the passage area based on the detection information from the authorization device.

[0060] Specifically, when a detection device with deletion authority (authorization device) detects the disappearance of a corresponding registered obstacle, it deletes information about that registered obstacle from DB300, thereby deleting the registration of that obstacle.

[0061] The running control unit 200 controls the running of its own train according to the operation decision made by the operation decision unit 100. For example, it performs predetermined operation control processing related to the operation of a railway train, such as referring to DB300 and applying brake control to stop the train before the registered obstacle based on the location information of the obstacle.

[0062] According to this embodiment, when an obstacle 30 detected by each of the multiple detection devices 20 is identified as the same obstacle, the obstacle 30 is managed as a common registered obstacle, and one of the multiple detection devices 20 is selected as the authorization device. When the authorization device confirms that the registered obstacle has moved outside the track 3, which is the area where the train 5 passes, its registration is canceled. Since the registration and cancellation of the obstacle 30 are performed based on the detection of the obstacle 30 by the detection device 20 selected as the authorization device, it becomes possible to properly manage the registration and cancellation of obstacles 30.

[0063] It should be noted that the applicable embodiments of the present invention are not limited to those described above, and can be modified as appropriate without departing from the spirit of the invention.

[0064] The obstacle monitoring system may be configured to include a ground device, which may have the function of managing obstacles 30 on the track 3. In this case, the ground device manages obstacles on the track 3 by updating the DB 300 based on detection information about obstacles received from the detection device 20, similar to the on-board device 10 in the above-described embodiment. It then transmits information such as the location and type of the obstacles to the on-board device 10 of each train 5. [Explanation of Symbols]

[0065] 1… Obstacle monitoring system 10...Onboard equipment 100...Operation judgment department 102…Acquisition part 104...Identification Department 108...Selection section 110...Registration Management Department 200...Execution Control Unit 300...DB 20...Detection device 22... On-board detection device 24... Ground detection device 26...Detection range 30… Obstacles 3...Railway 5... Train

Claims

1. An obstacle monitoring system that monitors the presence of obstacles in the area where railway vehicles pass, A means for acquiring detection information, including location information of an detected obstacle, from among multiple detection devices that are installed in different locations but capable of tracking and detecting obstacles, and from a detection device that has detected an obstacle. An identification means for comparing each of the detected obstacles based on the detection information and identifying detected obstacles that satisfy predetermined identical conditions as the same obstacle, A registration management means for registering and managing the same obstruction identified by the identification means as a common registered obstruction, An execution means that performs a predetermined operation control process related to the operation of the railway vehicle based on the location information of the registered obstruction, Equipped with, The aforementioned registration management means is A selection means for selecting an authorized device from among the detection devices that have detected the common registered obstruction, A deletion means for deleting the registration of a common registered obstacle when it is confirmed that the registered obstacle has moved outside the passage area based on the detection information of the authorization device, Having, Obstacle monitoring system.

2. The selection means, if the detection of the registered obstruction by the authorization device fails or becomes impossible before the registration of the common registered obstruction is deleted, selects a new authorization device different from the authorization device from among the detection devices that have detected the registered obstruction. Obstacle monitoring system according to claim 1.

3. The plurality of detection devices include an on-board detection device installed on the railway vehicle and a ground detection device installed on the ground. Obstacle monitoring system according to claim 1 or 2.

4. The plurality of detection devices include a first detection device and a second detection device whose detection ranges partially or completely overlap. If the first detection device detects the detection obstruction before the second detection device, the registration management means registers the detection obstruction as the registered obstruction, and the selection means selects the first detection device as the authorization device. If the detection obstruction is detected by the second detection device after the first detection device, the identification means performs an identification determination on the detection obstruction detected by the first detection device and the second detection device, respectively, and the registration management means registers the detection obstruction as the common registered obstruction. Obstacle monitoring system according to claim 1.

5. The second detection device is an on-board detection device installed on the railway vehicle with its detection range directed forward of the railway vehicle. The selection means selects the second detection device as the new authorization device if, before the registration of the common registered obstruction is deleted, the first detection device, which is the authorization device, fails to detect or is unable to detect the registered obstruction. Obstacle monitoring system according to claim 4.

6. A method for monitoring the presence of obstacles in the area where railway vehicles pass, The process involves an acquisition step of obtaining detection information, including location information of the detected obstacle, from among multiple detection devices that are installed in different locations but capable of tracking and detecting obstacles, and the detection device that has detected the obstacle. An identification step in which each of the detected obstacles is compared based on the detection information, and detected obstacles that satisfy predetermined identical conditions are identified as the same obstacle, A registration management step involves registering and managing the identical obstruction identified in the identification step as a common registered obstruction, A control execution step in which a predetermined operation control process related to the operation of the railway vehicle is executed based on the location information of the registered obstruction, Includes, The aforementioned registration management step is: A selection step of selecting an authorized device from among the detection devices that have detected the common registered obstruction, A deletion step in which, if the movement of the registered obstruction outside the passage area is confirmed based on the detection information of the authorization device, the registration of the common registered obstruction is deleted. including, Obstacle monitoring method.

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