Platform door system

Abstract

To realize a platform door system that can independently and inexpensively determine whether railway vehicle doors are open or closed, and that contributes to the coordination between vehicle doors and platform doors. [Solution] The control unit determines that the railway vehicle 9 has stopped within the platform when the event camera unit detects the occurrence of a first event caused by a first moving body T1 performing a first action M1 and the end of the first event caused by the first moving body T1 stopping during the first action M1. After the end of the first event, the control unit determines whether the vehicle door 90 of the railway vehicle 9 has been opened or closed when the event camera unit detects the occurrence or end of a second event caused by a second moving body T2 performing a second action M2. The first action M1 is an action of moving along a travel route R, and the second action M2 is an action of moving in the opening / closing direction of the vehicle door 90.

Description

[Technical field]

[0001] The present invention relates to a platform door system that manages platform doors installed on station platforms. [Background technology]

[0002] In recent years, from the viewpoint of safety, there has been a demand for installing platform doors on train stations. At such stations, users who wish to board a train must go through the platform doors before boarding the train through the train door. For example, JP 2014-162241 A (Patent Document 1) discloses an invention relating to such platform doors. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-162241 A Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, in addition to being opened and closed manually, the vehicle doors and the platform doors may be configured to open and close in coordination with each other. Recently, in some newly constructed stations, the installation of platform doors is originally designed, and in such cases, it is relatively easy to build a system that links the vehicle doors and the platform doors. In linking these doors, it is essential to determine whether the doors are open or closed. However, for example, in existing stations, the platform doors will be retrofitted, so building such a linking system tends to be relatively costly.

[0005] In light of the above situation, there is a demand for a platform door system that can independently and inexpensively determine whether railway vehicle doors are open or closed and that contributes to the coordination of vehicle doors and platform doors. [Means for solving the problem]

[0006] A platform door system that manages platform doors installed on station platforms, an event camera unit installed on the platform with an imaging direction facing a travel path of the railway vehicle; A control unit, the event camera unit is configured to detect an occurrence of an event caused by a moving object moving, and to detect an end of the event caused by the moving object stopping, the event camera unit detects the moving object and outputs the detected moving object as visible data that can be seen, and does not detect or visualize fixed objects or objects that are not moving; The control unit the event camera unit detects the occurrence of a first event caused by a first moving object performing a first action, and the event camera unit detects the end of the first event caused by the first moving object stopping during the first action, thereby determining that the railway vehicle has stopped within the platform; determining whether a vehicle door of the railway vehicle is opened or closed based on the occurrence or end of a second event caused by a second moving object performing a second action after the first event is ended by the event camera unit; The first motion is a motion of moving along the travel path, The second motion is a motion of moving along a direction in which the vehicle door is opened or closed.

[0007] According to this configuration, by using a relatively inexpensive and available event camera and utilizing the unique operation of each moving body, the first moving body performing the first operation can be identified as a railway train, and the second moving body performing the second operation can be identified as a vehicle door. This makes it possible to determine the departure and stop of the railway vehicle, and the opening and closing of the vehicle door after the railway vehicle has stopped. Then, by using this determination result for the opening and closing control of the platform door, it becomes possible to easily build a linkage system between the vehicle door and the platform door. Therefore, according to this configuration, it is possible to realize a platform door system that contributes to the linkage between the vehicle door and the platform door by independently determining the opening and closing of the vehicle door of the railway vehicle at low cost. It is also possible to determine the opening and closing of the vehicle door by attaching a target such as a two-dimensional code to the vehicle door and reading it with a reader installed on the platform side. However, when using a two-dimensional code and a reader that reads it, there is a problem that it is easy to be costly. In addition, in this case, the accuracy of reading the reader may decrease due to factors such as deterioration of the target, reflection of sunlight on the target, or being in a dark place. However, by using an event camera as in this configuration, it is possible to solve these problems.

[0008] Further features and advantages of the techniques disclosed herein will become more apparent from the following description of exemplary and non-limiting embodiments, which proceeds with reference to the drawings. [Brief description of the drawings]

[0009] [Figure 1] Front view of a train stopped at a station platform [Diagram 2] Side view of a train stopped at a station platform [Diagram 3] System configuration diagram of platform door system [Figure 4] A diagram showing how a first event, a second opening event, and a third opening event occur and end in sequence. [Diagram 5] A diagram showing the occurrence and end of the fourth event [Figure 6] A diagram showing how the second and third closing events occur and end in sequence. [Figure 7] A diagram showing the occurrence and end of a third opening event in a platform door structure according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] The platform door system is a system for managing platform doors installed on station platforms. Hereinafter, an embodiment of the platform door system will be described with reference to the drawings.

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

[0012] 1 and 2 show a state in which a railway vehicle 9 is stopped within a platform 8. Platform doors 80 are provided between the stopped railway vehicle 9 and the boarding and disembarking area A on the platform 8. The platform doors 80 are basically in a closed state, thereby preventing users 7 from entering the travel route R of the railway vehicle 9. When the railway vehicle 9 stops within the platform 8 and it is time for the users 7 to board or disembark from the railway vehicle 9, the platform doors 80 are opened. The platform doors 80 can be opened and closed manually by an employee or the like, but in this embodiment, the opening and closing of the platform doors 80 is controlled by a control unit 2 (see FIG. 3).

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

[0014] The event camera unit 1 is a type of image sensor that detects changes in the brightness value (pixel value) of each pixel, and generates and outputs data including the detection time, the coordinates of the detected object, and the change value of the detected object. In other words, the event camera unit 1 detects moving objects (hereinafter referred to as "moving objects") and outputs them as visible data that can be seen by the eye, but does not detect fixed objects or non-moving objects, and does not visualize them. A feature of the event camera unit 1 is its high time resolution, which allows it to clearly capture moving objects even in dark places, for example. In addition, since it only outputs data on moving objects, it is possible to reduce the amount of data and power consumption, and costs can also be expected to be advantageous.

[0015] In the platform door system 100 of the present disclosure, the event camera unit 1 is configured to detect the occurrence of an event due to the movement of a moving object, and to detect the end of the event due to the moving object stopping.

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

[0017] As shown in FIG. 4, the event camera unit 1 detects the occurrence of different events based on operations preset for each type of moving object, and detects the end of an event based on the stopping of the moving object. In this embodiment, a first event, a second event, a third event, and a fourth event (see FIG. 5) are events detected by the event camera unit 1. Then, the control unit 2 determines the state of the vehicle doors 90 and the platform doors 80 based on the detection results by the event camera unit 1, and in this example, also controls the operations of these doors. In this embodiment, the control unit 2 is provided with a determination unit 20 (see FIG. 3), which determines the state of the vehicle doors 90 and the platform doors 80.

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

[0019] The first motion M1 is a motion of moving along the travel route R. Therefore, the first moving object T1 performing the first motion M1 is identified as a railcar 9.

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

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

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

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

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

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

[0026] The control unit 2 determines that the vehicle door 90 of the railway vehicle 9 has been opened when the event camera unit 1 detects the occurrence of a second opening event caused by the second moving body T2 performing the second action M2 after the first event has ended (second opening event (a): occurrence). Here, the control unit 2 determines that the opening of the vehicle door 90 has started. However, the control unit 2 may also determine that the opening of the vehicle door 90 has started while the second opening event is occurring. Furthermore, when the event camera unit 1 detects the end of the second opening event (second opening event (c): end), the control unit 2 determines that the opening of the vehicle door 90 of the railway vehicle 9 has been completed.

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

[0028] [Third Event (Open)] The third event occurs when the third moving body T3 performs the third action M3. In other words, the moving body performing the third action M3 is identified as the third moving body T3, and the occurrence of the third event is detected. Then, the third event ends when the third moving body T3 stops.

[0029] The third action M3 is an action of moving along the opening and closing direction of the platform door 80. Here, the platform door 80 is configured using two gate bodies that move horizontally to move closer to or away from each other. In this example, the third action M3 is an action of moving the two gate bodies horizontally to move closer to or away from each other. Therefore, the third moving body T3 that performs the third action M3 is identified as the platform door 80.

[0030] In this embodiment, the third event includes a third opening event in which the platform doors 80 are opened, and a third closing event (see FIG. 6) in which the platform doors 80 are closed. The third opening event is shown in FIG. 4. The third closing event will be described later.

[0031] In this embodiment, the control unit 2 controls the opening and closing operation of the platform doors 80 on the condition that the event camera unit 1 detects the occurrence of at least the second event. In this example, the control unit 2 controls the opening and closing operation of the platform doors 80 on the condition that the event camera unit 1 detects the end of the second event. In the example shown in FIG. 4, the control unit 2 controls the platform doors 80 to open. As a result, the platform doors 80 start an opening operation, and a third opening event occurs.

[0032] In this embodiment, the control unit 2 determines that the platform doors 80 are opened when the event camera unit 1 detects the occurrence of a third opening event caused by the third moving body T3 performing the third action M3 after at least the second event has occurred (third opening event (a): occurrence). Here, the control unit 2 determines that the opening of the platform doors 80 has started. However, the control unit 2 may also determine that the opening of the platform doors 80 has started while the third opening event is occurring. Furthermore, when the event camera unit 1 detects the end of the third opening event (third opening event (c): end), the control unit 2 determines that the opening of the platform doors 80 has been completed.

[0033] In this embodiment, the event camera unit 1 detects the occurrence of a third opening event when the third moving body T3, i.e., the operating ends 80e of the two gate bodies constituting the platform door 80 (more specifically, the vertical lines on the edge parts of the gate bodies) move apart (third opening event (a): occurred). The event camera unit 1 detects that the third opening event is occurring when the third moving body T3 continues the third operation M3 (third opening event (b): occurring). The event camera unit 1 detects the end of the third opening event when the third moving body T3 stops (third opening event (c): ended). Note that when the third moving body T3 stops, the third moving body T3 disappears from the image captured by the event camera unit 1, as shown in the third opening event (c) in FIG. 4.

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

[0035] In this embodiment, the fourth motion M4 is a motion of moving in an unspecified number of directions. In other words, any motion other than the first motion M1, the second motion M2, and the third motion M3 is considered to be the fourth motion M4. Therefore, there may be multiple fourth moving objects T4 performing the fourth motion M4. In this embodiment, the fourth moving object T4 performing the fourth motion M4 is identified as the user 7 (or a pet, a service dog, an AI robot, etc.).

[0036] Since the fourth moving body T4 performing the fourth action M4 is identified as the user 7, it is difficult to imagine a state in which all users 7 present within the angle of view of the event camera unit 1 stop. Therefore, in this embodiment, the event camera unit 1 detects the end of the fourth event when the movement amount of the fourth moving body T4 becomes equal to or less than a predetermined reference movement amount after the fourth event occurs due to the fourth moving body T4 performing the fourth action M4. That is, the end of the fourth event is detected when it is determined that the movement of the user 7 or the like on the platform 8 has changed from an active state to a calm state. The "movement amount" may depend on the number of moving bodies, the density of the moving bodies within the angle of view, or the direction of approaching or moving away from the railcar 9 or the boarding and disembarking area A. When the "movement amount" is a concept that includes the direction, it becomes a vector. Therefore, the event camera unit 1 can detect the occurrence or end of the fourth event based on the number, density, or direction of the fourth moving body T4, or a combination of these.

[0037] In this embodiment, the end of the fourth event is detected when the total or average movement amount of all the fourth moving bodies T4 present within the angle of view of the event camera unit 1 becomes equal to or less than the reference movement amount. Here, the number of users 7, etc. differs depending on each station and also on the time period. Therefore, the above-mentioned reference movement amount may be appropriately determined by experiments, etc. based on these indicators. For example, the reference movement amount may be set relatively higher in stations and time periods where there are many users 7 than in stations and time periods where there are few users 7.

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

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

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

[0041] [Second Closure Event] As shown in FIG. 6, the control unit 2 determines that the vehicle door 90 of the railway vehicle 9 is closed when the event camera unit 1 detects the occurrence of a second closing event caused by the second moving object T2 performing the second action M2 after the end of the first event. Here, the control unit 2 determines that the vehicle door 90 has started to close. However, the control unit 2 may determine that the vehicle door 90 has started to close while the second closing event is occurring. Furthermore, when the event camera unit 1 detects the end of the second closing event (end of second closing event (c):), the control unit 2 determines that the vehicle door 90 has completed closing. The second action M2 here is an action of moving along the direction in which the vehicle door 90 closes. In other words, it is an action of moving horizontally so that the two door bodies constituting the vehicle door 90 approach each other.

[0042] In this embodiment, the control unit 2 determines that the closing of the vehicle door 90 of the railway vehicle 9 has begun when the event camera unit 1 detects the occurrence of a second closing event caused by the second moving body T2 performing a second action M2 after the first event, the second opening event, the third opening event (see Figure 4), and the fourth event (see Figure 5) have ended.

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

[0044] [Third Event (Closed)] In this embodiment, the control unit 2 controls the closing operation of the platform doors 80 on the condition that the event camera unit 1 detects the end of the second closing event (end of the second closing event (c)). As a result, the platform doors 80 start the closing operation, and a third closing event occurs.

[0045] In this embodiment, the control unit 2 determines that the platform doors 80 are closed when the event camera unit 1 detects the occurrence of a third closing event caused by the third moving body T3 performing the third action M3 after at least the second event has occurred. Here, the control unit 2 determines that the platform doors 80 have started to close. However, the control unit 2 may determine that the vehicle doors 90 have started to close while the third closing event is occurring. Furthermore, when the event camera unit 1 detects the end of the third closing event (third closing event (c): end), the control unit 2 determines that the platform doors 80 have completed closing. The third action M3 here is an action in which the platform doors 80 move in the direction in which they close. In other words, it is an action in which the two gate bodies that make up the platform doors 80 move horizontally so as to approach each other.

[0046] In this embodiment, the event camera unit 1 detects the occurrence of a third close event when the third moving body T3, i.e., the operating ends 80e of the two gate bodies that make up the platform door 80, move closer to each other (third close event (a): occurred). The event camera unit 1 detects that the third close event is occurring when the third moving body T3 continues the third operation M3 (third close event (b): occurring). The event camera unit 1 detects the end of the third close event when the third moving body T3 stops (third close event (c): ended). Note that when the third moving body T3 stops, the third moving body T3 disappears from the image captured by the event camera unit 1, as shown in the third close event (c) in Figure 6.

[0047] As described above, according to the platform door system 100 of the present disclosure, the type and movement of each moving object can be identified by utilizing the unique movement of each moving object using the relatively inexpensive event camera unit 1. Then, based on the detection results by the event camera unit 1, it becomes possible to operate the vehicle doors 90 and platform doors 80 at appropriate times.

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

[0049] (1) In the above embodiment, an example has been described in which the platform door 80 is configured using two gate bodies that move in the horizontal direction so as to approach or move away from each other. However, the present invention is not limited to such an example, and can be applied to a lift-up type platform door 80, for example, as shown in FIG. 7. FIG. 7 shows a third opening event in which the lift-up type platform door 80 opens. In addition, in FIG. 7, an image of an image captured by the event camera unit 1 is shown on the left side of the figure, and an image of an image captured by a general camera in the same state is shown on the right side of the figure as a comparative example. When the platform door 80 is a lift-up type, the third operation M3, which is the operation of the third moving body T3, is a lift-up operation that moves along the vertical direction. In the example shown in FIG. 7, the event camera unit 1 detects the occurrence of a third opening event when the third moving body T3, i.e., the lift-up type fence that constitutes the platform door 80, moves so as to rise (third opening event (a): occurrence). When the third moving body T3 continues the third action M3, the event camera unit 1 detects that the third opening event is occurring (third opening event (b): occurring). When the third moving body T3 stops, the event camera unit 1 detects the end of the third opening event (third opening event (c): ended). When the third moving body T3 stops, the third moving body T3 disappears from the image captured by the event camera unit 1, as shown in the third opening event (c) of FIG. 7.

[0050] (2) In the above embodiment, an example has been described in which the type of moving object is identified based on the unique motion of the moving object detected by the event camera unit 1. However, the present invention is not limited to such an example. For example, a set range may be set within the angle of view of the event camera unit 1 for each type of moving object, and the type of moving object may be identified based on the reflection in the set range. For example, a first set range, a second set range, a third set range, and a fourth set range may be set within the angle of view of the event camera unit 1. Then, the moving object reflected in the first set range may be identified as the first moving object T1 (railroad vehicle 9), the moving object reflected in the second set range may be identified as the second moving object T2 (vehicle door 90), the moving object reflected in the third set range may be identified as the third moving object T3 (platform door 80), and the moving object reflected in the fourth set range may be identified as the fourth moving object T4 (user 7, etc.). The identification of the moving object based on the set range may be performed in combination with the identification based on the unique motion of each moving object.

[0051] (3) In the above embodiment, an example has been described in which the vehicle door 90 is configured using two door bodies that move in the horizontal direction so as to approach or move away from each other. However, the present invention is not limited to such an example, and the vehicle door 90 may be configured using one door body. In this case, the second action M2 performed by the second moving body T2 (vehicle door 90) is an action in which the one door body moves horizontally left and right. In addition, for example, when a single lift-up type door body is used as the vehicle door 90, an action in which the door moves up and down is the second action M2. In addition to the above configuration, the vehicle door 90 may be a folding type. In this case, the vehicle door 90 unfolds in a closed state and folds in an open state.

[0052] (4) In the above embodiment, an example has been described in which the event camera unit 1 detects the occurrence of a fourth event by a single or multiple fourth moving objects T4 performing a fourth action M4. However, without being limited to such an example, the event camera unit 1 may detect the occurrence of a fourth event based on a predetermined threshold value for the total or average amount of movement of all the fourth moving objects T4 present within the angle of view. Also, multiple threshold values ​​may be set when determining each situation.

[0053] (5) In the above embodiment, an example has been described in which the control unit 2 controls the opening and closing operation of the platform doors 80 on the condition that the event camera unit 1 detects that the second event has ended. However, without being limited to such an example, the control unit 2 may control the opening and closing operation of the platform doors 80 on the condition that the event camera unit 1 detects that the second event has occurred or is occurring.

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

[0055] (7) In the above embodiment, an example has been described in which the third closing event occurs after the second closing event ends. However, the present invention is not limited to this example, and the order may be reversed. That is, the third closing event may occur first and then end, and then the second closing event may occur. In this case, the control unit 2 controls the opening / closing operation (closing operation) of the vehicle door 90 on the condition that the event camera unit 1 detects the end of the third event (third closing event). Alternatively, the control unit 2 may control the opening / closing operation (closing operation) of the vehicle door 90 on the condition that the event camera unit 1 detects that the third event (third closing event) has occurred or is occurring.

[0056] (8) The configurations disclosed in the above-described embodiments can be applied in combination with configurations disclosed in other embodiments, as long as no contradiction occurs. As for other configurations, the embodiments disclosed in this specification are merely examples in all respects. Therefore, various modifications can be made as appropriate within the scope of the present disclosure.

[0057] [Summary of the above embodiment] The above embodiment will now be outlined.

[0058] A platform door system that manages platform doors installed on station platforms, an event camera unit installed on the platform with an imaging direction facing a travel path of the railway vehicle; A control unit, the event camera unit is configured to detect an occurrence of an event caused by a moving object moving, and to detect an end of the event caused by the moving object stopping, The control unit the event camera unit detects the occurrence of a first event caused by a first moving object performing a first action, and the event camera unit detects the end of the first event caused by the first moving object stopping during the first action, thereby determining that the railway vehicle has stopped within the platform; determining whether a vehicle door of the railway vehicle is opened or closed based on the occurrence or end of a second event caused by a second moving object performing a second action after the first event is ended by the event camera unit; The first motion is a motion of moving along the travel path, The second motion is a motion of moving along a direction in which the vehicle door is opened or closed.

[0059] According to this configuration, by using a relatively inexpensive and available event camera and utilizing the fact that each moving body performs a unique operation, the first moving body performing the first operation can be identified as a railway train, and the second moving body performing the second operation can be identified as a vehicle door. This makes it possible to determine whether the railway vehicle is stopped and whether the vehicle door is open or closed after the railway vehicle is stopped. Then, by using this determination result for controlling the opening and closing of the platform door, it becomes possible to easily build a system for linking the vehicle door and the platform door. Therefore, according to this configuration, it is possible to realize a platform door system that contributes to the linking of the vehicle door and the platform door by independently determining whether the vehicle door of the railway vehicle is open or closed at low cost. It is also possible to determine whether the vehicle door is open or closed by attaching a target such as a two-dimensional code to the vehicle door and reading it with a reader installed on the platform side. However, when using a two-dimensional code and a reader that reads it, there is a problem that it is likely to be costly. In addition, in this case, the accuracy of reading the reader may decrease due to factors such as deterioration of the target, reflection of sunlight on the target, or being in a dark place. However, by using an event camera as in this configuration, it is possible to solve these problems.

[0060] The control unit determining whether the platform door is opened or closed based on the event camera unit detecting an occurrence of a third event caused by a third moving object performing a third action after at least the second event has occurred; It is preferable that the third action is an action of moving along the opening and closing direction of the platform door.

[0061] According to this configuration, it is possible to identify the third moving body performing the third operation as the platform door by utilizing the operation specific to the platform door.

[0062] the event camera unit detects an end of the fourth event when a movement amount of the fourth moving bodies becomes equal to or less than a predetermined reference movement amount after a fourth event occurs due to a fourth action being performed by the fourth moving bodies or a single fourth moving body; The control unit determining safety in a boarding / alighting area provided around the platform door based on the event camera unit detecting that the fourth event has ended before the occurrence of the second event and the third event; The fourth motion is preferably a motion of moving along an indefinite number of directions.

[0063] For example, people waiting for trains on a platform move randomly. According to this configuration, a fourth moving object that moves differently from the movements of trains, train doors, and platform doors can be identified as a person. There may be a plurality of people on a platform. The movements of these people vary, and it is rare for all of them to stop moving. However, according to this configuration, the end of the fourth event is detected when the movement amount of the fourth moving object (people, etc.) becomes equal to or less than a predetermined reference movement amount. That is, the end of the fourth event is detected when it is determined that the movement of people, etc. on the platform has changed from an active state to a calm state. For example, safe operation can be achieved by controlling the opening and closing of train doors and platform doors based on the end of the fourth event.

[0064] The control unit controlling an opening / closing operation of the vehicle door on condition that the event camera unit detects an end of the first event; It is preferable that the opening and closing operation of the platform doors is controlled on the condition that the event camera unit detects the occurrence of at least the second event.

[0065] According to this configuration, the end of the first event can be used as a trigger to open and close the train doors. Also, the occurrence of at least the second event can be used as a trigger to open and close the platform screen doors. Therefore, a system for linking train doors and platform screen doors can be easily and inexpensively constructed.

[0066] The control unit controlling an opening / closing operation of the platform door on condition that the event camera unit detects the end of the first event; The opening and closing operation of the vehicle door is controlled on condition that the event camera unit detects the occurrence of a third event caused by at least a third moving object performing a third action.

[0067] According to this configuration, the end of the first event can be used as a trigger to open and close the platform doors. Also, the occurrence of at least the third event can be used as a trigger to open and close the train doors. Therefore, a system for linking train doors and platform doors can be easily and inexpensively constructed. [Industrial Applicability]

[0068] The technology disclosed herein can be used in platform door systems that manage platform doors installed on station platforms. [Explanation of symbols]

[0069] 100: Platform door system 1: Event camera unit 2: Control unit 8: Home 80: Platform door 9:Railroad cars 90: Vehicle door M1: 1st operation M2: 2nd operation M3: 3rd operation M4: 4th operation T1: First moving object T2: Second moving body T3: Third mobile unit T4: Fourth mobile unit R: Route A: Boarding and disembarking area

Claims

1. A platform door system that manages platform doors installed on station platforms, an event camera unit installed on the platform with an imaging direction facing a travel path of the railway vehicle; A control unit, the event camera unit is configured to detect an occurrence of an event caused by a moving object moving, and to detect an end of the event caused by the moving object stopping, the event camera unit detects the moving object and outputs the detected moving object as visible data that can be seen, and does not detect or visualize fixed objects or objects that are not moving; The control unit the event camera unit detects the occurrence of a first event caused by a first moving object performing a first action, and the event camera unit detects the end of the first event caused by the first moving object stopping during the first action, thereby determining that the railway vehicle has stopped within the platform; determining whether a vehicle door of the railway vehicle is opened or closed based on the detection by the event camera unit of an occurrence or end of a second event caused by a second moving object performing a second action after the first event is ended; the first action is an action of moving along the travel path, A platform door system, wherein the second action is an action of moving along the opening and closing direction of the vehicle door.

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

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

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

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

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