Fall detection device, fall detection system, fall detection method, and fall detection program

Abstract

To provide a falling detection device, a falling detection system, a falling detection method and a falling detection program with which it is possible to quickly detect and respond to an event that abnormality has occurred to an optical scanner.SOLUTION: A falling detection device 4 detects a person having fallen from a station platform to a rail track on which a train passes, the device comprising a signal reception unit 11 and a control unit 10. The signal reception unit 11 acquires, from upper and lower scanners 31, 32 that scan light within a prescribed angle range in a falling detection area that is set onto the rail track and receive reflected light of the light, RAW data of the reflected light of the light having been radiated under a given condition, for each prescribed angle, as reference data, and acquires received light data of the reflected light of the light having been radiated from the upper and lower scanners 31, 32. The control unit 10 compares data acquired by a measurement data acquisition unit with the reference data acquired by the signal reception unit 11, and determines whether or not the upper and lower scanners 31, 32 are inclined according the difference exceeds a prescribed threshold or not.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a fall detection device, a fall detection system, a fall detection method, and a fall detection program for detecting a person who has fallen from a platform of a railway station.

Background Art

[0002] At railway stations, railway users may accidentally fall from the platform onto the tracks. Also, when a train is stopped at a railway station, a railway user may fall into the gap between the platform and the train. Conventionally, systems have been proposed that detect these track falls and gap falls and report them to relevant personnel (such as conductors, station staff, guards, or drivers). For example, Patent Documents 1 and 2 disclose a system provided with a laser scanner that emits a laser while deflecting it to form a two-dimensional scanning range. The laser scanner is installed at a height below the platform and above the tracks in a posture where the laser is emitted horizontally. An arbitrary area within the horizontal scanning range formed at that height is set as a monitoring area. The laser scanner detects whether an object exists within the monitoring area.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the above conventional detection system has the following problems. In other words, in the detection system disclosed in the above publication, if the sensor installed under the platform is tilted due to some kind of impact or vibration, or if dust or leaves adhere to the lens surface of the sensor, there is a risk that the system may frequently fail to detect a person who has fallen or falsely detect someone other than a person who has fallen. Furthermore, because the sensors are installed beneath the platform, it was difficult to notice that the cause of non-detection or false detection was due to the sensor's tilt or the presence of dust or leaves on the lens surface, potentially making it difficult to take appropriate action in such situations.

[0005] The object of the present invention is to provide a fall detection device, a fall detection system, a fall detection method, and a fall detection program that can quickly detect and address abnormalities in an optical scanner. [Means for solving the problem]

[0006] The fall detection device according to the first invention is a fall detection device for detecting a person who has fallen from a station platform onto the tracks through which a train passes, and comprises a reference data acquisition unit, a measurement data acquisition unit, and a tilt determination unit. The reference data acquisition unit acquires the received light data of reflected light from an optical scanner that scans light within a predetermined angular range in a fall detection area set on the tracks and receives the reflected light, under certain conditions, as reference data at predetermined angles. The measurement data acquisition unit acquires the received light data of reflected light from the optical scanner at predetermined angles. The tilt determination unit compares the data acquired by the measurement data acquisition unit with the reference data acquired by the reference data acquisition unit and determines whether or not the optical scanner is tilted depending on whether the difference exceeds a predetermined threshold at a certain angle.

[0007] Here, for example, with respect to an optical scanner installed under a train station platform, reference data acquired at the time of installation of the optical scanner is saved, and newly acquired measurement data is compared with the reference data. If a difference exceeding a predetermined threshold occurs, it is determined that the sensor has tilted. Here, the optical scanner is, for example, a laser sensor that detects an object by irradiating a fall detection area on the track with light such as laser light and receiving the reflected light, and is installed in the space below the platform.

[0008] The acquisition of reference data is carried out, for example, by acquiring the reflected light from the light irradiated by the optical scanner when the train is not at the station. This makes it easy to detect when an optical scanner installed beneath a station platform tilts due to some kind of shock or vibration, causing the detection area to shift from the fall detection area, or when the sensing function of the optical scanner malfunctions. As a result, even when optical scanners are installed in hard-to-see locations such as the space beneath the platform, it is possible to quickly detect and address any abnormalities in the optical scanners.

[0009] The fall detection device according to the second invention is a fall detection device for detecting a person who has fallen from a station platform onto the tracks through which a train passes, and comprises a reference data acquisition unit, a measurement data acquisition unit, and a foreign object adhesion determination unit. The reference data acquisition unit acquires the received light data of reflected light from an optical scanner that scans light within a predetermined angular range in a fall detection area set on the tracks and receives the reflected light, under certain conditions, as reference data at predetermined angles. The measurement data acquisition unit acquires the received light data of reflected light from the optical scanner at predetermined angles. The foreign object adhesion determination unit compares the data acquired by the measurement data acquisition unit with the reference data acquired by the reference data acquisition unit within a predetermined distance range from the surface of the lens part that collects light emitted from the light source part of the optical scanner, and determines whether or not foreign objects are attached to the optical scanner depending on whether or not the difference exceeds a predetermined threshold at a certain angle.

[0010] Here, for example, with respect to an optical scanner installed under a train station platform, reference data acquired at the time of installation of the optical scanner is stored, and newly acquired measurement data within a predetermined distance range from the surface of the lens part that collects light emitted from the light source part of the optical scanner is compared with the reference data. The presence or absence of foreign matter adhering to the optical scanner is determined based on whether or not it exceeds a predetermined threshold.

[0011] Here, the optical scanner is, for example, a laser sensor that detects an object by irradiating a fall detection area on the track with light such as laser light and receiving the reflected light, and is installed in the space below the platform. The acquisition of reference data is carried out, for example, by acquiring the reflected light from the light irradiated by the optical scanner when the train is not at the station.

[0012] This makes it easy to detect when an abnormality occurs, such as when foreign objects like dust adhere to the surface of the optical scanner installed under the station platform, causing a malfunction in the sensing function of a portion of the fall detection area. As a result, even when optical scanners are installed in hard-to-see locations such as the space beneath the platform, it is possible to quickly detect and address any abnormalities in the optical scanners.

[0013] The fall detection device according to the third invention is a fall detection device according to the first or second invention, wherein the reference data acquisition unit acquires light reception data of reflected light emitted from an optical scanner when there is no train at the station, as reference data at predetermined angles. This allows for the detection of abnormalities in the optical scanner, even when the train is not present at the station, by using reference data acquired at predetermined angles within the scanning range of the optical scanner.

[0014] The fall detection device according to the fourth invention is a fall detection device according to the first or third invention, further comprising a first warning unit that issues a warning to the user when the tilt determination unit determines that the optical scanner is tilted. This allows the system to detect if the optical scanner has tilted due to vibration or shock, and to notify the user of the abnormality in the optical scanner, enabling them to take corrective action such as adjusting the tilt.

[0015] The fall detection device according to the fifth invention is the fall detection device according to the fourth invention, wherein the first warning unit causes a warning message to be displayed on a display device or outputs a warning sound from an audio output device. This allows the user to be notified of any malfunction in the optical scanner by displaying a warning message or emitting a warning sound.

[0016] The fall detection device according to the sixth invention is a fall detection device according to any one of the first to fifth inventions, wherein the determination is made by excluding data acquired when an object is detected entering the fall detection area, or data acquired when a train entering the station is detected. This allows for accurate detection of abnormalities in the optical scanner by excluding data acquired when a person or object falls into the fall detection area, as well as data acquired when a train enters the station.

[0017] The fall detection device according to the seventh invention is a fall detection device according to the second invention, further comprising a second warning unit that issues a warning to the user when the foreign matter adhesion determination unit determines that a foreign matter is attached to the optical scanner. This allows the system to detect if dust or dirt has accumulated on the surface of the optical scanner, and to notify the user of any abnormalities in the optical scanner, enabling them to take action such as removing the dust or dirt.

[0018] The fall detection device according to the eighth invention is a fall detection device according to any one of the first to seventh inventions, wherein the optical scanner has a distance calculation unit that calculates the distance from the optical scanner according to the time from when light is irradiated until reflected light is received. The data acquisition unit acquires distance data calculated for each predetermined angle as reference data. By using, as reference data, distance data calculated based on the time until the reflected light of the light irradiated from the optical scanner is received, it is possible to detect an abnormality occurring in the optical scanner.

[0019] The fall detection device according to the ninth invention is a fall detection device according to any one of the first to eighth inventions, and among the distance data acquired by the data acquisition unit, determination is made after excluding infinite data. As a result, when the distance data becomes infinite because the reflected light of the light irradiated from the optical scanner at a certain angle cannot be detected, the above determination is made by excluding that data, so that the abnormality occurring in the optical scanner described above can be detected with higher accuracy.

[0020] The fall detection system according to the tenth invention includes a fall detection device according to any one of the first to ninth inventions, and an optical scanner that scans light within a predetermined angle range in a fall detection area set on a track and receives the reflected light of the light. As a result, as described above, even when the optical scanner is installed in a hard-to-see place such as the lower space of the platform, it is possible to configure a system that can quickly detect and deal with an abnormality occurring in the optical scanner.

[0021] The fall detection method according to the 11th invention is a fall detection method for detecting a person who has fallen onto the track through which a train passes from a station platform, and includes a light scanning step, a reference data acquisition step, a measurement data acquisition step, and an inclination determination step. In the light scanning step, light is scanned within a predetermined angular range from a light scanner in a fall detection area set on the track, and the reflected light of the light is received. In the reference data acquisition step, the received data of the reflected light of the light irradiated under certain conditions is acquired as reference data for each predetermined angle. In the measurement data acquisition step, the received data of the reflected light of the light irradiated from the light scanner is acquired for each predetermined angle. In the inclination determination step, the measurement data acquired in the measurement data acquisition step is compared with the reference data acquired in the reference data acquisition step, and whether the difference exceeds a predetermined threshold at a certain angle is used to determine whether there is an inclination of the light scanner.

[0022] Here, for example, regarding the light scanner installed under the station platform, the reference data acquired at the time of installation of the light scanner etc. is saved, and the newly acquired measurement data and the reference data are compared, and when a difference of a predetermined threshold or more occurs, it is determined that a sensor inclination has occurred. Here, the light scanner is, for example, a laser sensor or the like that detects an object by irradiating light such as laser light onto the fall detection area on the track and receiving the reflected light thereof, and is installed in the space under the platform.

[0023] The acquisition of the reference data is carried out, for example, when the train is not at the station, so as to acquire the reflected light of the light irradiated by the light scanner. As a result, if an event such as the light scanner installed under the station platform tilting due to some impact, vibration, etc. occurs, and the sensing function of the light scanner does not work properly, such as the detection area shifting from the fall detection area, the occurrence of such an abnormality can be easily detected. As a result, even when the light scanner is installed in a hard-to-see place such as the lower space of the platform, it is possible to quickly detect and deal with the occurrence of an abnormality in the light scanner.

[0024] The fall detection program according to the twelfth invention is a fall detection program for detecting a person who has fallen from a station platform onto the tracks through which a train passes, and causes a computer to execute a fall detection method comprising an optical scanning step, a reference data acquisition step, a measurement data acquisition step, and a tilt determination step. In the optical scanning step, light is scanned from an optical scanner within a predetermined angular range in a fall detection area set on the tracks, and reflected light is received. In the reference data acquisition step, received data of reflected light from light irradiated under certain conditions is acquired as reference data at predetermined angles. In the measurement data acquisition step, received data of reflected light from light irradiated from the optical scanner is acquired at predetermined angles. In the tilt determination step, the measurement data acquired in the measurement data acquisition step and the reference data acquired in the reference data acquisition step are compared, and the presence or absence of tilt of the optical scanner is determined according to whether the difference exceeds a predetermined threshold at a certain angle.

[0025] Here, for example, with respect to an optical scanner installed under a train station platform, reference data acquired at the time of installation of the optical scanner is saved, and newly acquired measurement data is compared with the reference data. If a difference exceeding a predetermined threshold occurs, it is determined that the sensor has tilted. Here, the optical scanner is, for example, a laser sensor that detects an object by irradiating a fall detection area on the track with light such as laser light and receiving the reflected light, and is installed in the space below the platform.

[0026] The acquisition of reference data is carried out, for example, by acquiring the reflected light from the light irradiated by the optical scanner when the train is not at the station. This makes it easy to detect when an optical scanner installed beneath a station platform tilts due to some kind of shock or vibration, causing the detection area to shift from the fall detection area, or when the sensing function of the optical scanner malfunctions. As a result, even when optical scanners are installed in hard-to-see locations such as the space beneath the platform, it is possible to quickly detect and address any abnormalities in the optical scanners.

[0027] The fall detection method according to the 13th invention is a fall detection method for detecting a person who has fallen from a station platform onto the tracks through which a train passes, and comprises an optical scanning step, a reference data acquisition step, a measurement data acquisition step, and a foreign matter adhesion determination unit. In the optical scanning step, light is scanned from an optical scanner within a predetermined angular range in a fall detection area set on the tracks, and the reflected light is received. In the reference data acquisition step, the received data of reflected light of light irradiated under certain conditions is acquired as reference data at predetermined angles. In the measurement data acquisition step, the received data of reflected light of light irradiated from the optical scanner is acquired at predetermined angles. In the foreign matter adhesion determination unit, the measurement data acquired in the measurement data acquisition step is compared with the reference data acquired in the reference data acquisition step, which is within a predetermined distance range from the surface of the lens part that collects light irradiated from the light source part of the optical scanner, and the presence or absence of foreign matter adhesion to the optical scanner is determined according to whether the difference exceeds a predetermined threshold at a certain angle.

[0028] Here, for example, with respect to an optical scanner installed under a train station platform, reference data acquired at the time of installation of the optical scanner is stored, and newly acquired measurement data within a predetermined distance range from the surface of the lens part that collects light emitted from the light source part of the optical scanner is compared with the reference data. The presence or absence of foreign matter adhering to the optical scanner is determined based on whether or not it exceeds a predetermined threshold.

[0029] Here, the optical scanner is, for example, a laser sensor that detects an object by irradiating a fall detection area on the track with light such as laser light and receiving the reflected light, and is installed in the space below the platform. The acquisition of reference data is carried out, for example, by acquiring the reflected light from the light irradiated by the optical scanner when the train is not at the station.

[0030] This makes it easy to detect when an abnormality occurs, such as when foreign objects like dust adhere to the surface of the optical scanner installed under the station platform, causing a malfunction in the sensing function of a portion of the fall detection area. As a result, even when optical scanners are installed in hard-to-see locations such as the space beneath the platform, it is possible to quickly detect and address any abnormalities in the optical scanners.

[0031] The 14th invention relates to a fall detection program that detects a person who has fallen from a station platform onto the tracks through which a train passes, and causes a computer to execute a fall detection method comprising an optical scanning step, a reference data acquisition step, and a foreign object adhesion determination unit. In the optical scanning step, light is scanned from an optical scanner within a predetermined angular range in a fall detection area set on the tracks, and the reflected light is received. In the reference data acquisition step, the received data of reflected light from light irradiated under certain conditions is acquired as reference data at predetermined angles. In the measurement data acquisition step, the received data of reflected light from light irradiated from the optical scanner is acquired at predetermined angles. The foreign object adhesion determination unit compares the measurement data acquired in the measurement data acquisition step with the reference data acquired in the reference data acquisition step, which is within a predetermined distance range from the surface of the lens part that collects light irradiated from the light source part of the optical scanner, and determines whether or not foreign objects are attached to the optical scanner depending on whether or not the difference exceeds a predetermined threshold at a certain angle.

[0032] Here, for example, with respect to an optical scanner installed under a train station platform, reference data acquired at the time of installation of the optical scanner is stored, and newly acquired measurement data within a predetermined distance range from the surface of the lens part that collects light emitted from the light source part of the optical scanner is compared with the reference data. The presence or absence of foreign matter adhering to the optical scanner is determined based on whether or not it exceeds a predetermined threshold.

[0033] Here, the optical scanner is, for example, a laser sensor that detects an object by irradiating a fall detection area on the track with light such as laser light and receiving the reflected light, and is installed in the space below the platform. The acquisition of reference data is carried out, for example, by acquiring the reflected light from the light irradiated by the optical scanner when the train is not at the station.

[0034] This makes it easy to detect when an abnormality occurs, such as when foreign objects like dust adhere to the surface of the optical scanner installed under the station platform, causing a malfunction in the sensing function of a portion of the fall detection area. As a result, even when optical scanners are installed in hard-to-see locations such as the space beneath the platform, it is possible to quickly detect and address any abnormalities in the optical scanners. [Effects of the Invention]

[0035] According to the fall detection device of the present invention, even when the optical scanner is installed in a hard-to-see location such as the space below the platform, it is possible to quickly detect and address any abnormalities in the optical scanner. [Brief explanation of the drawing]

[0036] [Figure 1] A diagram showing the configuration of a fall detection system according to one embodiment of the present invention. [Figure 2] A control block diagram showing the configuration of the fall detection device included in the fall detection system in Figure 1. [Figure 3] (a) is a plan view showing the scanning range of the optical scanner when there is no train on the station platform. (b) is a plan view showing the scanning range of the optical scanner when there is a train on the station platform. [Figure 4] A cross-sectional view, seen from the direction of the train's movement, showing the positional relationship between the optical scanner installed in the space beneath the station platform and the train stopped at the station. [Figure 5](a) is a perspective view showing the fall detection area when the train is not on the station platform. (b) is a perspective view showing the gap fall detection area when the train is on the station platform. [Figure 6] (a) is a figure showing distance data at time t1 when the train is not on the station platform. (b) is a figure showing distance data at time t2 when the train is not on the station platform. [Figure 7] (a) is a diagram showing distance data when a train is present on the target platform. (b) is a diagram showing distance data when a train is present on the opposite platform. [Figure 8] This figure shows an example of distance data detected when the scanning unit (upper and lower scanners) is tilted. [Modes for carrying out the invention]

[0037] A fall detection system 1, including a fall detection device 4 according to one embodiment of the present invention, will be described below with reference to Figures 1 to 8. In this embodiment, unnecessary details may be omitted. For example, detailed explanations of already well-known matters or redundant explanations of substantially identical configurations may be omitted. This is to avoid the following explanation becoming unnecessarily verbose and to facilitate understanding for those skilled in the art. Furthermore, the applicant provides the accompanying drawings and the following description so that those skilled in the art may fully understand the present invention, and not intends to limit the subject matter described in the claims.

[0038] In the following explanation, "longitudinal direction" refers to the longitudinal direction of the railway station platform P (left-right direction in Figure 3, perpendicular direction in Figure 4). The longitudinal direction is approximately parallel to the extension direction of the track R adjacent to platform P, and the length direction of the vehicle C on track R. "Width direction" refers to the width direction of platform P (up-down direction in Figure 3, left-right direction in Figure 4). The width direction is approximately parallel to the gauge direction of the track R adjacent to platform P, and the width direction of the vehicle C on track R. "Inside" or "inward" in the width direction refers to the side or direction approaching the center of width of platform P. "Outside" or "outward" in the width direction refers to the side or direction away from the center of width of platform P.

[0039] The track R includes a roadbed and a pair of rails placed on it. The train T travels along the rails on the track R. The train T consists of one vehicle C, or two or more vehicles C are connected sequentially via couplers. The platform P is set adjacent to the track R in the width direction, and its upper surface is located above the track R. The states of track R include the "absent state" shown in Figure 3(a) and the "occupied state" shown in Figure 3(b). In the absent state, there is no train T on track R, and the area above track R is wide open. In the absent state, railway users wait for the arrival of train T on the upper surface of platform P. In the occupied state, train T is stopped on track R. In the occupied state, railway users step over the gap D formed between platform P and train T to board train T from the upper surface of platform P, or to disembark from train T onto the upper surface of platform P.

[0040] (1) Configuration of fall detection system 1 The fall detection system 1 according to this embodiment is applied to a railway station equipped with a platform P and detects railway users who have accidentally fallen from the platform P. The detection targets include both "track fallers" who have fallen from the platform P onto the track R while the user is away, and "gap fallers" who have fallen into the gap D while the user is present on the track. Among gap fallers, some may fall all the way onto the track R, while others may become trapped in the gap D and be suspended in mid-air, but both are subject to detection.

[0041] The state of track R includes the "entering state," which is a transitional state from an unoccupied state to an occupied state, and the "exiting state," which is a transitional state from an occupied state to an unoccupied state. Furthermore, as shown in Figure 1, the fall detection system 1 according to this embodiment includes a scanning device (optical scanning unit) 3 installed in the space below the platform P, a fall detection device 4 connected to the scanning device 3, a system status display 5 that displays the results of determining the tilt, dirt, etc., of the upper scanner (optical scanner) 31 and lower scanner (optical scanner) 32, which are installed as a pair above and below the scanner units 3a, 3b, and 3c included in the scanning device 3, and a fall alarm 6 that issues an alarm according to the detection result of the fall detection device 4.

[0042] As shown in Figures 2 to 4, the scanning device 3 is installed in the space below the platform P, along the track R adjacent to the platform P, and has multiple scanning units 3a, 3b, and 3c. Each scanning unit 3a, 3b, and 3c includes an upper scanner 31 and a lower scanner 32 arranged in a pair, one above the other. The multiple scanning units 3a, 3b, and 3c are installed at multiple installation positions set at intervals in the longitudinal direction.

[0043] The upper and lower scanners 31 and 32 are, for example, 2D laser scanners that scan a laser beam within a predetermined angular range, and as shown in Figure 2, they have a light-emitting unit 33, a deflection unit 34, a light-receiving unit 35, a detection unit 36, and a distance calculation unit 37. The light-emitting unit 33 emits scanning light SL, such as laser light. The deflection unit 34 includes a deflector such as a galvanometer mirror and an actuator that rotates the deflector. The scanning light SL emitted from the light-emitting unit 33 is deflected and emitted by the deflection unit 34. This forms a two-dimensional scanning range SR. If an object is present within the scanning range SR, the scanning light SL is reflected by that object.

[0044] The light receiving unit 35 receives the reflected light of the scanning light SL. In addition, the light receiving unit 35 receives the reflected light emitted from the upper and lower scanners 31 and 32 when there are no trains at the station, in order to determine the tilt, dirt, etc., of the upper and lower scanners 31 and 32 of the scanning unit 3a, 3b, and 3c, which will be described later. The detection unit 36 ​​detects whether or not an object exists within the scanning range SR (more precisely, the monitoring area set within the scanning range SR) based on the time from when the light is emitted from the light-emitting unit 33 until the reflected light is received by the light-receiving unit 35.

[0045] The distance calculation unit 37 calculates the distance to the object that reflected the light based on the time information from when the reflected light received by the light receiving unit 35 was received. The distance calculation unit 37 then calculates distance data to the object that reflected the light at predetermined angles based on the time information from when the reflected light emitted from the upper and lower pair of upper and lower scanners 31 and 32 of the optical scanning units 3a, 3b, and 3c was received while there was no train at the station. The distance data calculated based on the time information from when the reflected light emitted while there was no train was received is stored as reference data (RAW data) in the storage unit 17.

[0046] As shown in Figure 4, the upper and lower scanners 31 and 32 are installed below the platform P and above the track R. The upper scanner 31 is installed above the lower scanner 32. The lower scanner 32 primarily detects people who have fallen off the track. Furthermore, the lower scanner 32 may also detect the wheels W of a vehicle C supported on the rails when the vehicle is on the track. On the other hand, the lower scanner 32 is required not to detect components of the track R. The vertical position of the lower scanner 32 is adjusted to an appropriate value for performing this role (for example, approximately 250 mm above the track).

[0047] The upper scanner 31 primarily detects people who have fallen through the gap D and are suspended in mid-air. The vertical position of the upper scanner 31 is adjusted to an appropriate value for this role (for example, approximately 700 mm above the track, or approximately 600 mm below the platform P). As will be described later, the upper scanner 31 according to this embodiment is used not only for its primary role of detecting people who have fallen through the gap, but also to accurately detect people who have fallen through the track when it is not present.

[0048] The upper and lower scanners 31 and 32 are installed further inward in the width direction than the track R, and even further inward in the width direction than the edge of the platform P. Below the platform P, a space may be formed that is set inward in the width direction when viewed from the edge of the platform P. The installation positions of the scanner units 3a, 3b, and 3c are set, for example, within such a space, and the vertical and widthwise positions of the upper and lower scanners 31 and 32 are adjusted within this space.

[0049] The upper and lower scanners 31 and 32 are installed in a position where the scanning light SL is emitted horizontally outward in the width direction and deflected in the horizontal plane. As a result, the upper and lower scanners 31 and 32 form two horizontal scanning ranges SR below the platform P and outward in the width direction as viewed from the upper and lower scanners 31 and 32. The deflection range of the scanning light SL is set to an angular range of approximately -5° to 185°, as shown in Figure 3. The scanning range SR is formed in a semicircular shape that is symmetrical with respect to the reference line RL extending in the width direction from the corresponding upper and lower scanners 31 and 32 in a plan view. Multiple scanning ranges SR are arranged in the longitudinal direction and partially overlap each other, and are formed by multiple scanner units 3a, 3b, and 3c.

[0050] A monitoring area is set within each scanning range SR. The upper and lower scanners 31 and 32 can each detect the presence or absence of objects within the scanning range SR. When the upper and lower scanners 31 and 32 detect the presence of an object within their respective set monitoring areas, they output a detection signal to that effect. The size and location of the monitoring area are changed according to the trajectory conditions. In the upper and lower scanners 31 and 32 according to this embodiment, it is possible to simultaneously set multiple monitoring areas in different areas within the same scanning range SR. It is also possible to partially overlap two or more simultaneously set monitoring areas within the same scanning range SR.

[0051] In this embodiment, the installation positions of the scanner units 3a, 3b, and 3c are set at intervals corresponding to the length of two vehicles in the longitudinal direction. Each installation position is located opposite the vehicle coupling section of the stationary train T in the width direction. The scanner unit 3a, located at the end of one longitudinal side (the left side of the page in Figure 3), faces the coupling section between the first and second cars. The scanner unit 3b, located next to it, is separated from the end scanner unit 3a by the length of two cars and faces the coupling section between the third and fourth cars.

[0052] The monitoring areas set for the upper and lower scanners 31 and 32, respectively, have a length equivalent to two vehicles in the longitudinal direction. The monitoring area corresponds to the area where two vehicles, one vehicle C on one side in the longitudinal direction and the other vehicle C on the other side (right side of the page in Figure 3), are stopped, as viewed from the installation position. The multiple monitoring areas set in the multiple scanner units 3a, 3b, and 3c are aligned longitudinally. Therefore, the entire area where train T stops is subject to monitoring.

[0053] However, the number of scanner units 3a, 3b, and 3c may be singular or plural, and is not particularly limited. The number of scanner units 3a, 3b, and 3c can be appropriately changed depending on the longitudinal dimensions of the monitoring area, the effective length of the platform P, and the maximum length of the train T that is assumed to stop on the track R. As shown in Figure 2, the fall detection device 4 is connected to the scanning device 3 and detects people who have fallen from the platform P based on the detection results output from the scanning device 3. When the fall detection device 4 detects a person who has fallen, it causes the fall alarm 6 to activate in order to notify the relevant personnel.

[0054] The system status indicator 5 displays the details of any abnormalities that have occurred in the upper and lower scanners 31 and 32 of the scanner units 3a, 3b, and 3c, according to the results of the determination process for the tilt and presence or absence of dirt in each scanner unit 3a, 3b, and 3c, which will be described later. This allows the system to detect if the upper and lower scanners 31 and 32 have tilted due to vibration or shock, and to notify the user of the abnormality in the upper and lower scanners 31 and 32, enabling them to take corrective action such as correcting the tilt.

[0055] Similarly, if dirt is detected adhering to the surfaces of the upper and lower scanners 31 and 32, the system will notify the user of the abnormality in the upper and lower scanners 31 and 32, allowing them to take appropriate action, such as wiping off the dirt. The fall warning device 6 includes a warning device installed in a control center that manages train operations and emits a warning to the control center operator; a warning device installed in a railway station and emits a warning to station staff; and a warning device installed in the control car of train T and emits a warning to the driver or conductor. The warning device may be a speaker or buzzer that outputs sound information such as a warning sound, a display that shows a warning message, or a lamp that emits a warning light. Based on the warning, those involved can take measures to deal with the fall and prevent secondary accidents that may result from the fall.

[0056] (2) Fall detection device 4 The fall detection device 4 is, for example, composed of a computer equipped with a CPU, memory such as ROM, RAM, and EEPROM, and an input / output interface. The computer may be a single unit or a combination of multiple physically distributed computers. The memory stores a fall detection program that causes such a computer to execute the fall detection method. The CPU reads the fall detection program stored in the memory and performs information processing related to the fall detection method according to the fall detection program. In addition to the fall detection program, the memory can also temporarily store information or data necessary for executing the fall detection method.

[0057] The fall detection device 4 has a control unit 10, a signal receiving unit (reference data acquisition unit, measurement data acquisition unit) 11, a track information acquisition unit 12, a monitoring area setting unit 13, a scanning data acquisition unit 14, a fall detection unit 15, an output unit 16, and a storage unit 17, which are configured by a CPU that reads and executes a fall detection program. The control unit 10 is connected to the signal receiving unit 11, the track information acquisition unit 12, the monitoring area setting unit 13, the scanning data acquisition unit 14, the fall detection unit 15, the output unit 16, and the storage unit 17, and controls each of these units.

[0058] The signal receiving unit 11 receives data from the upper and lower scanners 31 and 32, such as the time until the light receiving unit 35 receives reflected light, the detection result detected by the detection unit 36, and the distance data to the object located within the fall detection area calculated by the distance calculation unit 37. In particular, the signal receiving unit 11 receives distance data to the object that reflected the light at predetermined angles, calculated based on information about the time it takes to receive reflected light from the upper and lower scanners 31 and 32 of the optical scanner units 3a, 3b, and 3c when no trains are present at the station, in order to determine the tilt and presence or absence of dirt on the upper and lower scanners 31 and 32, which will be described later. This data is used as reference data.

[0059] The track information acquisition unit 12 acquires information indicating the state of the track. In this embodiment, the track information acquisition unit 12 acquires information indicating the state of the track, such as whether it is in a occupying state, an absent state, or neither of these two states (a transient state). The monitoring area setting unit 13 selects one of a predetermined pattern of monitoring areas to be set on the upper and lower scanners 31 and 32, respectively, according to the acquired trajectory status, and sets the selected pattern of monitoring area on the upper and lower scanners 31 and 32, respectively. The monitoring area setting unit 13 switches the pattern of the monitoring area, the target of detection by the fall detection system 1, or the operating mode of the fall detection system 1, according to the trajectory status.

[0060] The scanning data acquisition unit 14 acquires the detection results regarding the presence or absence of objects within the monitoring area output by each scanning unit 3a to 3c (upper and lower scanning units 31 and 32). The fall detection unit 15 determines whether or not a person has fallen from the platform P, based on the detection results acquired by the scanning data acquisition unit 14, according to a predetermined determination logic. The output unit 16 outputs a command to the fall alarm 6 to activate an alarm when the fall detection unit 15 detects a person who has fallen. The output unit 16 also outputs and displays the results of its determination of the tilt and presence or absence of dirt on the upper and lower scanners 31 and 32 of the scanner units 3a, 3b, and 3c, which will be described later, to the system status display unit 5.

[0061] The memory unit 17 stores various signals received by the signal receiving unit 11, track information acquired by the track information acquisition unit 12, monitoring areas set by the monitoring area setting unit 13, scanning data acquired by the scanning data acquisition unit 14, and the results of the fall detection unit 15. In particular, the memory unit 17 stores distance data for predetermined angles, calculated based on information about the time from when the signal receiving unit 11 receives the light received by the signal receiving unit 11 until the reflected light from the optical scanning unit 3a, 3b, 3c is received when there is no train at the station, as reference data for determining the tilt and presence or absence of dirt on the upper and lower scanners 31, 32, which will be described later.

[0062] (monitoring area) In the fall detection device 4 of this embodiment, as shown in Figure 3, the following patterns of monitoring areas are set to be selectively set in the scanning device 3 according to the track conditions: a track monitoring area AR, which is set when the vehicle is absent, and a gap monitoring area AD, which is set when the vehicle is present.

[0063] As shown in Figure 3(a), the orbital monitoring area AR is set to cover the space above the orbit R. A person who falls off the orbit enters the orbital monitoring area AR during the process of falling. Therefore, based on the detection result that an object is present within the orbital monitoring area AR, it is possible to detect the person who fell off the orbit across the entire width of the orbit R. As shown in Figure 3(b), the gap monitoring area AD is narrower in width than the trajectory monitoring area AR and is set within the gap D. Those who fall through the gap and reach trajectory R enter the gap monitoring area AD during their fall. Those who become suspended in mid-air also remain within the gap monitoring area AD (particularly the upper gap monitoring area ADU). Therefore, based on the detection result that an object is present within the gap monitoring area AD, those who have fallen through the gap can be detected.

[0064] (Trajectory monitoring area) The scanning device 3 is composed of multiple scanning units 3a, 3b, and 3c arranged in the longitudinal direction. As shown in Figure 3(a), the orbital monitoring area AR is constructed by arranging orbital monitoring areas ARa, ARb, and ARc, which are set for each of the multiple scanner units 3a, 3b, and 3c, in a longitudinal direction.

[0065] Each scanning unit 3a, 3b, and 3c consists of an upper and lower scanning unit 31 and 32, which are provided as a pair, one above the other, as described above. The orbital monitoring area ARa of the scanner unit 3a consists of the upper orbital monitoring area ARaU, which is set on the upper scanner 31, and the lower orbital monitoring area ARaL, which is set on the lower scanner 32. The same applies to the orbital monitoring areas ARb and ARc of the other scanner units 3b and 3c.

[0066] In other words, multiple upper scanners 31 are arranged along the longitudinal direction, and multiple lower scanners 32 are arranged along the longitudinal direction. The orbital monitoring area AR of the scanning device 3 consists of an upper orbital monitoring area ARU and a lower orbital monitoring area ARL. The upper orbit monitoring area ARU is formed by arranging multiple upper orbit monitoring areas ARaU, ARbU, and ARcU, which are set on multiple upper scanners 31, in a longitudinal direction. The lower orbit monitoring area ARL is set at a lower position than the upper orbit monitoring area ARU and is formed by arranging multiple lower orbit monitoring areas ARaL, ARbL, and ARcL, which are set on multiple lower scanners 32, in a longitudinal direction.

[0067] The upper orbit monitoring area ARU of the scanning device 3, or the upper orbit monitoring areas ARaU, ARbU, and ARcU of the upper scanner 31 that constitute it, are examples of the "first monitoring area". The lower orbit monitoring area ARL of the scanning device 3, or the lower orbit monitoring areas ARaL, ARbL, and ARcL of the lower scanner 32 that constitute it, are examples of the "second monitoring area" that is set at a lower position than the first monitoring area.

[0068] Multiple upper orbit monitoring regions ARaU, ARbU, ARcU (multiple first monitoring regions) are set to be aligned longitudinally. Similarly, multiple lower orbit monitoring regions ARaL, ARbL, ARcL (multiple second monitoring regions) are set to correspond to each of the multiple upper orbit monitoring regions ARaU, ARbU, ARcU. Each lower orbit monitoring region ARaL, ARbL, ARcL is set to be approximately the same position longitudinally as its corresponding upper orbit monitoring region ARaU, ARbU, ARcU.

[0069] Figure 5(a) is a perspective view showing the track monitoring area ARa set on the scanner unit 3a when no train is present. In this embodiment, the upper track monitoring area ARaU is formed by arranging multiple upper segments ARaU1, ARaU2, ARaU3, ARaU4 in the longitudinal direction within a single scanning range SR formed by the upper scanner 31 of the scanner unit 3a. The lower track monitoring area ARaL is also formed by arranging multiple lower segments ARaL1, ARaL2, ARaL3, ARaL4 in the longitudinal direction within a single scanning range SR formed by the lower scanner 32 of the scanner unit 3a.

[0070] In this way, multiple upper segments ARaU1, ARaU2, ARaU3, ARaU4 (multiple first monitoring areas) are configured to be aligned along the longitudinal direction. Furthermore, multiple lower segments ARaL1, ARaL2, ARaL3, ARaL4 (multiple second monitoring areas) are configured to correspond to each of the multiple upper segments ARaU1, ARaU2, ARaU3, ARaU4. Each lower segment ARaL1, ARaL2, ARaL3, ARaL4 is configured to be approximately in the same position along the longitudinal direction as its corresponding upper segment ARaU1, ARaU2, ARaU3, ARaU4.

[0071] The same applies to the other scanning units 3b and 3c. The number of segments can be set in any way, as long as the top and bottom segments are the same in a single scanning unit. In this embodiment, as just one example, the number of segments is 4 in each of the scanning units 3a, 3b, and 3c. As an example, the upper segments ARaU1, ARaU2, ARaU3, and ARaU4 are formed by dividing the upper track monitoring area ARaU into equal parts along its longitudinal direction. In this example, the upper track monitoring area ARaU is rectangular in shape with its longer side running along its longitudinal direction, and the length of its longer side is approximately the length of two vehicles (about 40m). The upper segments ARaU1, ARaU2, ARaU3, and ARaU4 are also roughly rectangular in shape when viewed from above, and the length of their longer sides is roughly equal to half the length of a vehicle. The same applies to the lower segments ARaL1, ARaL2, ARaL3, and ARaL4.

[0072] (Gap monitoring area) The gap monitoring area AD is similar to the orbit monitoring area AR. The gap monitoring area AD is constructed by arranging gap monitoring areas ADa, ADb, and ADc, which are set for each of the multiple scanner units 3a, 3b, and 3c, in a longitudinal direction. The gap monitoring area ADa of the scanner unit 3a consists of an upper gap monitoring area ADaU set on the upper scanner 31 and a lower gap monitoring area ADaL set on the lower scanner 32. The same applies to the gap monitoring areas ADb and ADc of the other scanner units 3b and 3c. The gap monitoring area AD of the scanning device 3 consists of an upper gap monitoring area ADU and a lower gap monitoring area ADL. The upper gap monitoring area ADU is formed by arranging multiple upper gap monitoring areas ADaU, ADbU, and ADcU set on multiple upper scanners 31 in the longitudinal direction. The lower gap monitoring area ADL is set at a lower position than the upper gap monitoring area ADU and is formed by arranging multiple lower gap monitoring areas ADaL, ADbL, and ADcL set on multiple lower scanners 32 in the longitudinal direction.

[0073] Multiple upper gap monitoring regions ADaU, ADbU, ADcU (multiple first monitoring regions) are configured to be aligned along the longitudinal direction. Similarly, multiple lower gap monitoring regions ADaL, ADbL, ADcL (multiple second monitoring regions) are configured to correspond to each of the multiple upper gap monitoring regions ADaU, ADbU, ADcU. Each lower gap monitoring region ADaL, ADbL, ADcL is configured to be approximately at the same longitudinal position as its corresponding upper gap monitoring region ADaU, ADbU, ADcU.

[0074] Figure 5(b) is a perspective view showing the gap monitoring area ADa set on the scanner unit 3a when the train is on track. In this embodiment, as merely an example, the gap monitoring area ADa of the scanner unit 3a is not subdivided into multiple segments, unlike the track monitoring area ARa (see Figure 5(a)). However, multiple upper gap monitoring areas ADaU, ADbU, ADcU may partially overlap each other. Accordingly, multiple lower gap monitoring areas ADaL, ADbL, ADcL may also partially overlap each other.

[0075] <Tilting detection of scanner units 3a, 3b, and 3c by fall detection device 4> In the fall detection device 4 according to this embodiment, as described above, distance data for predetermined angles calculated based on information about the time from when a train is absent from the station (time t1) until the reflected light of the light emitted from the optical scanning units 3a, 3b, 3c (upper and lower scanners 31, 32) is received is used as reference data. Subsequently (time t2), it is compared with distance data (measurement data) for the same angle acquired when the train was absent, and if the difference is greater than or equal to a predetermined threshold, it is determined that the upper and lower scanners 31, 32 are tilted.

[0076] Figure 6(a) shows distance data (RAW data) for predetermined angles calculated based on the time information from the time t1 when the train is not on the platform until the reflected light from the optical scanning units 3a, 3b, 3c (upper and lower scanners 31, 32) is received. In Figure 6(a), the origin of the vertical axis showing distance (m) is the position where the scanner units 3a, 3b, and 3c are installed. The vertical axis from 0 to 1 represents the fall detection area in the gap between platform P and the train. The vertical axis from 1 to 7 represents the area where a train may be present when the train is on the track (the area on the track). The vertical axis from 7 to 10 represents the detection area where an object on the opposite platform side was detected.

[0077] Similarly, the origin of the horizontal axis, which represents distance (m), is the position where the scanning units 3a, 3b, and 3c are installed, which is approximately directly in front of the connection point between train cars when the train is on the tracks. The negative side of the horizontal axis (left side in the diagram) represents the left side of the scanning units 3a, 3b, and 3c, and the positive side (right side in the diagram) represents the right side of the scanning units 3a, 3b, and 3c. In the fall detection device 4 of this embodiment, the distance data acquired at time t1 shown in Figure 6(a) is stored in the storage unit 17 as reference data for determining the tilt and presence or absence of dirt on the upper and lower scanners 31 and 32.

[0078] More specifically, for the scanning units 3a, 3b, and 3c (upper and lower scanners 31 and 32) installed under the station platform, RAW data (distance data for each angle θ: for example, θ = -5° to 185° in increments of 0.1667°) is acquired for a predetermined time Hp or longer when no trains are present, such as when the sensors are installed. Then, for angles θ where the proportion of valid data is greater than or equal to a predetermined value Pp, and the variation (standard deviation) of the measured distance values ​​for the valid data is within a predetermined value σth, the average value M(θ) and standard deviation σ(θ) of the respective distance data are stored in the storage unit 17 as reference data (RAW data).

[0079] In other words, if the variability (standard deviation) of the distance measurement values ​​is large, for example, the angle distance data that flickers and is sometimes detected and sometimes not detected over time, as shown in parts A1, A2, and A3 in Figure 6(b), will be excluded from the reference data. Here, if the reference data (RAW data) is ∞ (infinity), that is, if no reflected light was received from the object, that data is invalidated, and the rest is saved as valid data in the storage unit 17.

[0080] Furthermore, let Na be the number of angles θ that satisfy the above conditions. Furthermore, the minimum value Lmin(θ) and maximum value Lmax(θ) of distance data for that angle θ in the detection area and the area where a train may be present when a train is located are stored in the storage unit 17. Here, the area where a train may be present when a train is located includes the track area of ​​a train that has entered the opposite platform, as well as the entire track area up to the opposite platform.

[0081] In addition, a value Ls obtained by adding a predetermined value α to the distance from the light source (light-emitting part 33) included in the upper and lower scanners 31 and 32 to the lens surface is also stored in the storage unit 17. Figure 7(a) shows the distance data (RAW data) acquired by the scanner units 3a, 3b, and 3c when a train is present on the platform targeted for fall detection. In this case, as shown in Figure 7(a), data that appears to be of a train is detected on the origin side (lower side in the figure) of the area where a train may be present when a train is present.

[0082] Furthermore, Figure 7(b) shows the distance data (RAW data) acquired by the scanner units 3a, 3b, and 3c when a train is located on the platform opposite to the platform for fall detection. In this case, as shown in Figure 7(b), data that appears to be of a train is detected on the side (upper side in the figure) away from the origin in the area where a train may be located when a train is present.

[0083] Furthermore, as shown in Figures 7(a) and 7(b), regardless of which platform the train is located on, the distance data (measurement data) detected near the platform and on the opposite platform side remains unchanged compared to the reference data, indicating that the upper and lower scanners 31 and 32 are not tilted. Furthermore, due to building clearance regulations, there is a minimum distance of 50 mm between the train and the platform. Therefore, as shown in Figure 8, the distinctive shape of the opposing platform appears at a point more than 50 mm away from the area where a train may be present when it is on the track.

[0084] Therefore, if angle data with a small range measurement variation and a standard deviation of 5 mm or less is used as "reference data," then if the characteristic shape of the platform appears at the point indicated by the dotted circle in Figure 8 (the point at an angle θ from the upper and lower scanners 31 and 32), it can be determined that the detection is due to the tilt of the upper and lower scanners 31 and 32, because it is a detection in an area where the platform does not actually exist.

[0085] However, since detection may be due to other factors such as rainfall, detection is performed over a predetermined period of time to eliminate such other factors as much as possible, and the presence or absence of tilt is finally determined. In the fall detection device 4 of this embodiment, the control unit 10 compares the reference data (RAW data) stored in the memory unit 17 with the distance data received by the signal receiving unit 11 from the scanner units 3a, 3b, and 3c for each angle, and determines whether or not the upper and lower scanners 31 and 32 are tilted depending on whether or not the difference exceeds a predetermined threshold.

[0086] For example, while the fall detection system 1 is in operation, the presence or absence of tilt in the upper and lower scanners 31 and 32 is repeatedly determined at predetermined time intervals Hi by comparing the time-series value of the distance measurement data L(θ) at a predetermined time Hb with reference data (RAW data) stored in the storage unit 17. Here, the predetermined time Hb is set to, for example, 30 seconds. Note that the predetermined time Hb should be sufficiently greater than the predetermined time Hp for data acquisition, and should be a time during which it is considered possible to determine whether the distance measurement data L(θ) is within or outside the average value M(θ) ± 3σ(θ).

[0087] The predetermined time interval Hi is set to, for example, 1 minute. Note that the predetermined time interval Hi only needs to be a value greater than the predetermined time Hb. The control unit 10 determines that a tilt has occurred in either the upper or lower scanner 31 or 32 that acquired the distance measurement data L(θ) if Nt is the number of angles θ for which the following condition (1) is satisfied for a predetermined time Ht or longer within a predetermined time Hb, and Nt / Na is equal to or greater than a predetermined value (or Nt may be equal to or greater than a predetermined value).

[0088] L(θ)>M(θ)+3σ(θ), or L(θ) <M(θ)-3σ(θ)···(1) (However, if L(θ) is invalid data (i.e., no reflected light was received from the object), the above equation is not considered to be satisfied.) Here, the predetermined time Ht is set to, for example, 20 seconds. Note that in cases where L(θ) deviates from M(θ)±3σ(θ) due to rainfall, etc., it will deviate discretely, not continuously. Therefore, in order to avoid misinterpreting rainfall, etc. as sensor tilt, the predetermined time Ht should be set to a value sufficiently larger than the predetermined time Hb × 0.5.

[0089] Furthermore, Nt / Na is, for example, 0.3, which corresponds to a state where detection in the same planar area is considered impossible due to the tilt of the upper and lower scanners 31 and 32. The control unit 10 then outputs to the system status indicator 5 via the output unit 16 that the upper and lower scanners 31 and 32 are tilted, and also outputs to the fall alarm 6 to provide a warning or alarm by illuminating a patrol light (registered trademark) and sounding a buzzer.

[0090] The determination of whether or not the upper and lower scanners 31 and 32 are tilted is performed by excluding data acquired when an object is detected entering the fall detection area, data acquired when a train entering the station is detected, and, if there is any dust or other debris on the sensor lens surface as described later, the data of that angle. For example, if condition (a) below is met, the angle data at that time will not be used to determine the tilt of the upper and lower scanners 31 and 32. Instead, the determination of whether or not there is a tilt will be made using valid data L(θ) other than the angle data that satisfies condition (a) below.

[0091] In other words, even while a train is stationed on the platform, the process of determining whether or not there is a tilt in the upper and lower scanners 31 and 32 continues, although the amount of data used for the determination decreases. (a) When measurement data is output within the detection area and the area where a train may be present when a train is located (Lmax(θ)≧L(θ)≧Lmin(θ)) Furthermore, this tilt detection process is performed using only the measurement data corresponding to the angle for which reference data exists.

[0092] <Detection of dirt on scanning units 3a, 3b, and 3c by fall detection device 4> In the fall detection device 4 according to this embodiment, as described above, distance data (measurement data) for predetermined angles calculated based on information about the time from when a train is absent from the station (time t1) until the reflected light of the light emitted from the optical scanning units 3a, 3b, 3c (upper and lower scanners 31, 32) is received is compared and compared with reference data within a predetermined distance range from the surface of the lens part that collects the light emitted from the light-emitting part 33 of the upper and lower scanners 31, 32. The presence or absence of foreign matter attached to the upper and lower scanners 31, 32 is determined according to whether or not the difference exceeds a predetermined threshold at a certain angle.

[0093] In other words, the predetermined distance range from the surface of the lens portion that collects the light emitted from the light-emitting portion 33 of the upper and lower scanners 31 and 32 refers to the area near the surface of the upper and lower scanners 31 and 32. Therefore, the control unit 10 compares the reference data in the area near the surface with the measurement data at the same angle, and if the difference is greater than a predetermined threshold, it determines that dirt, debris, etc. are present.

[0094] Furthermore, if the conditions in (b) below are met, the presence or absence of dirt or other contaminants will be determined using angle data that satisfies the conditions in (b) below. (b) When the measurement data is output within an area where a predetermined value α is added to the distance from the sensor laser light source to the sensor lens surface (L(θ)≦Ls) Here, if Ng is the number of angles θ for which condition (b) is satisfied for a predetermined time Hg or longer within a predetermined time Hb, then when Ng exceeds a predetermined value, the control unit 10 determines that dirt or other debris has accumulated on the lens surfaces of the upper and lower scanners 31 and 32, and outputs this information to the system status indicator 5 and the fall alarm 6 via the output unit 16 to issue a warning or alarm.

[0095] In other words, if the conditions in (b) above are met, there is a high probability that dust, dirt, etc. are adhering to the sensor lens surface, and if this high probability of adhesion continues for a predetermined period of time or longer, it is determined that dust, etc. is adhering to the sensor lens surface. Here, the process of determining whether dust, dirt, etc., is adhering to the sensor lens surface is a determination process performed near the sensors of the upper and lower scanners 31 and 32, and is therefore always carried out using data from all angles, regardless of whether a train is present or absent.

[0096] The predetermined time Hg is set to, for example, 20 seconds. The predetermined time Hg should be set to a value sufficiently larger than predetermined time Hb × 0.5, similar to the predetermined time Ht. Furthermore, the number of angles θ Ng that satisfy condition (b) is, for example, 1. This is because even one undetectable angle would affect fall detection, particularly at points far from the upper and lower scanners 31 and 32. Furthermore, the check to see if condition (b) is met is also performed for angles for which no reference data has been set.

[0097] <Main Feature 1> The fall detection device 4 of this embodiment is a device for detecting a person who has fallen from a station platform onto the tracks through which a train passes, and as shown in Figure 2, it comprises a signal receiving unit 11 and a control unit 10. The signal receiving unit 11 acquires RAW data of the reflected light of light irradiated under certain conditions from scanner units 3a, 3b, 3c, which scan light within a predetermined angular range in a fall detection area set on the tracks and receive the reflected light, as reference data at predetermined angles, and also acquires received data of the reflected light of light irradiated from scanner units 3a, 3b, 3c at predetermined angles. The control unit 10 compares the distance data acquired by the signal receiving unit 11 with the reference data and determines whether or not there is an inclination of the scanner units 3a, 3b, 3c (upper and lower scanners 31, 32) depending on whether or not the difference exceeds a predetermined threshold at a certain angle.

[0098] As a result, if the scanning units 3a, 3b, and 3c (upper and lower scanners 31 and 32) installed under the station platform are tilted due to some kind of impact or vibration, or if the detection area shifts away from the fall detection area, or if the sensing function of the scanning units 3a, 3b, and 3c (upper and lower scanners 31 and 32) malfunctions, the occurrence of such an abnormality can be easily detected. As a result, even if the scanner units 3a, 3b, and 3c are installed in hard-to-see locations such as the space beneath the platform, any abnormality in the scanner units 3a, 3b, and 3c can be quickly detected and addressed.

[0099] <Main Feature 2> The fall detection device 4 of this embodiment is a device for detecting a person who has fallen from a station platform onto the tracks through which a train passes, and as shown in Figure 2, it comprises a signal receiving unit 11 and a control unit 10. The signal receiving unit 11 acquires RAW data of the reflected light of light irradiated under certain conditions from scanner units 3a, 3b, 3c (upper and lower scanners 31, 32) that scan light within a predetermined angular range in a fall detection area set on the tracks and receive the reflected light, as reference data at predetermined angles, and also acquires received data of the reflected light of light irradiated from the optical scanner at predetermined angles. The control unit 10 compares the distance data (measurement data) acquired by the signal receiving unit 11 with the reference data and determines whether or not foreign matter is attached to the scanner units 3a, 3b, 3c (upper and lower scanners 31, 32) depending on whether or not the difference exceeds a predetermined threshold at a certain angle.

[0100] As a result, if foreign objects such as dirt adhere to the surface of the scanning units 3a, 3b, and 3c (upper and lower scanners 31 and 32) installed under the station platform, and this causes a malfunction in the sensing function of a part of the fall detection area, the occurrence of the abnormality can be easily detected. As a result, even if the scanner units 3a, 3b, and 3c are installed in hard-to-see locations such as the space beneath the platform, it is possible to quickly detect and address any abnormalities in the scanner units 3a, 3b, and 3c (upper and lower scanners 31 and 32).

[0101] [Other embodiments] Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the invention.

[0102] (A) In the above embodiments, examples of the present invention were described as a fall detection device and a fall detection method. However, the present invention is not limited thereto. For example, the present invention may be implemented as a fall detection program that causes a computer to execute the fall detection method of the fall detection device described above.

[0103] This fall detection program is stored in the memory (storage unit) installed in the fall detection device. The CPU reads the fall detection program stored in memory and causes the hardware to execute each step. More specifically, the CPU reads the fall detection program and executes the aforementioned reference data acquisition step and the inclination determination step or foreign object adhesion determination step, thereby achieving the same effect as described above. Furthermore, the present invention may be implemented as a recording medium that stores a fall detection program for a fall detection device.

[0104] (B) In the above embodiment, an example was described in which distance data calculated from the received light data of reflected light emitted from scanning units 3a, 3b, and 3c (upper and lower scanners 31 and 32) when no trains are present at the station is acquired as reference data at predetermined angles. However, the present invention is not limited to this. For example, the data acquired by the fall detection device may not be distance data, but rather data indicating the time from when light is shone on the object until the reflected light is received. In other words, in this invention, the calculation of distance data by the distance calculation unit is not essential.

[0105] (C) In the above embodiment, an example was given in which the tilt of the upper and lower scanners 31 and 32 included in the optical scanner units 3a, 3b, and 3c, and the presence or absence of dirt adhering to their surfaces were determined. However, the present invention is not limited thereto. For example, the system may be configured to determine the tilt, presence or absence of dirt, etc., of either the upper or lower scanner in a pair of scanners installed vertically.

[0106] (D) In the above embodiment, an example was given in which a warning message is displayed on the system status indicator 5 when tilting or dirt is detected in the scanning units 3a, 3b, 3c (upper and lower scanners 31, 32). However, the present invention is not limited thereto. For example, in addition to displaying the above-mentioned warning message, warnings may also be issued by an audio output device such as a speaker, or by outputting an alarm buzzer, if the scanner unit is found to be tilted or dirty.

[0107] (E) In the above embodiment, an example was described in which the scanning device 3 for monitoring track derailment has scanning units 3a, 3b, and 3c, including upper and lower scanners 31 and 32, arranged along the longitudinal direction of the platform. However, the present invention is not limited to this. For example, the number of scanners placed along the platform is not limited to three; an appropriate number should be installed depending on the length of the train and the platform. Furthermore, the scanners do not necessarily need to be provided in a pair, one above the other. For example, if the only purpose is to detect a person falling onto the track, only the lower scanner may be provided. [Industrial applicability]

[0108] The fall detection device of the present invention has the effect of being able to quickly detect and address any abnormalities in the optical scanner, even when the optical scanner is installed in a hard-to-see location such as the space beneath the platform. Therefore, it can be widely applied to fall detection systems installed at railway stations. [Explanation of Symbols]

[0109] 1. Fall detection system 3 Scanning device 3a, 3b, 3c Scanner Unit 4. Fall detection device 5. System status indicator (1st and 2nd warning units) 6. Fall alarm 10 Control Unit (Inclination Determination Unit, Foreign Matter Adhesion Determination Unit) 11. Signal receiving unit (reference data acquisition unit, measurement data acquisition unit) 12 Orbit information acquisition section 13 Monitoring area setting section 14 Scanning data acquisition unit 15. Fall detection unit 16 Output section 17 Memory section 31. Upper Scanner (Optical Scanner) 32. Lower Scanner (Optical Scanner) 33 Light-emitting part 34 Polarizing part 35 Light receiving part 36 Detection unit 37 Distance Calculation Unit AD gap monitoring area AR trajectory monitoring area C Vehicle D Gap P Platform R orbit SR scanning range T train

Claims

1. A fall detection device that detects a person who has fallen from a station platform onto the tracks through which a train passes, A reference data acquisition unit acquires reference data for each predetermined angle from an optical scanner that scans light within a predetermined angular range in a fall detection area set on the aforementioned track and receives the reflected light of the said light, under certain conditions. A measurement data acquisition unit acquires light reception data of reflected light emitted from the optical scanner at predetermined angles, A tilt determination unit compares the data acquired by the measurement data acquisition unit with the reference data acquired by the reference data acquisition unit, and determines whether or not the optical scanner is tilted based on whether the difference exceeds a predetermined threshold at a certain angle. Equipped with, The optical scanner has a distance calculation unit that calculates the distance from the optical scanner according to the time from when the light is irradiated until the reflected light is received. The data acquisition unit acquires distance data calculated for each predetermined angle as reference data. Fall detection device.

2. A fall detection device that detects a person who has fallen from a station platform onto the tracks through which a train passes, A reference data acquisition unit acquires reference data for each predetermined angle from an optical scanner that scans light within a predetermined angular range in a fall detection area set on the aforementioned track and receives the reflected light of the said light, under certain conditions. A measurement data acquisition unit acquires light reception data of reflected light emitted from the optical scanner at predetermined angles, A foreign matter adhesion determination unit compares the data acquired by the measurement data acquisition unit with the reference data acquired by the reference data acquisition unit within a predetermined distance range from the surface of the lens portion that collects light emitted from the light source portion of the optical scanner, and determines whether or not foreign matter is attached to the optical scanner depending on whether or not the difference exceeds a predetermined threshold at a certain angle. Equipped with, The optical scanner has a distance calculation unit that calculates the distance from the optical scanner according to the time from when the light is irradiated until the reflected light is received. The data acquisition unit acquires distance data calculated for each predetermined angle as reference data. Fall detection device.

3. The aforementioned reference data acquisition unit acquires the received light data of the reflected light emitted from the optical scanner when there are no trains at the station, as reference data at predetermined angles. The fall detection device according to claim 1 or 2.

4. The system further includes a first warning unit that issues a warning to the user when the tilt determination unit determines that the optical scanner is tilted. The fall detection device according to claim 1.

5. The first warning unit causes a warning message to be displayed on a display device, or causes a warning sound to be output from an audio output device. The fall detection device according to claim 4.

6. The determination is made by excluding data acquired when an object is detected entering the fall detection area, or data acquired when a train entering the station is detected. A fall detection device according to any one of claims 1 to 5.

7. The device further includes a second warning unit that issues a warning to the user when the foreign matter adhesion detection unit determines that a foreign matter is present on the optical scanner. The fall detection device according to claim 2.

8. The determination is performed by excluding infinite distance data from the distance data acquired by the data acquisition unit. The fall detection device according to claim 7.

9. A fall detection device according to any one of claims 1 to 8, An optical scanner that scans light within a predetermined angular range in a fall detection area set on the aforementioned track and receives reflected light from the said light, A fall detection system equipped with a fall detection system.

10. A fall detection method for detecting a person who has fallen from a station platform onto the tracks through which a train passes, A light scanning step involves scanning light from an optical scanner within a predetermined angular range in a fall detection area set on the aforementioned track, and receiving the reflected light of the aforementioned light. A reference data acquisition step in which the received light data of reflected light from light irradiated under certain conditions is acquired as reference data at predetermined angles, A measurement data acquisition step in which the received light data of the reflected light emitted from the optical scanner is acquired at predetermined angles, A tilt determination step involves comparing the data acquired in the measurement data acquisition step with the reference data acquired in the reference data acquisition step, and determining whether or not the optical scanner is tilted based on whether the difference exceeds a predetermined threshold at a certain angle. Equipped with, The optical scanner further comprises a distance calculation step that calculates the distance from the optical scanner according to the time from when the light is irradiated until the reflected light is received, In the measurement data acquisition step, distance data calculated for each predetermined angle is acquired as the reference data. Fall detection method.

11. A fall detection program that detects a person who has fallen from a station platform onto the tracks where a train passes, A light scanning step involves scanning light from an optical scanner within a predetermined angular range in a fall detection area set on the aforementioned track, and receiving the reflected light of the aforementioned light. A reference data acquisition step in which the received light data of reflected light from light irradiated under certain conditions is acquired as reference data at predetermined angles, A measurement data acquisition step in which the received light data of the reflected light emitted from the optical scanner is acquired at predetermined angles, A tilt determination step involves comparing the data acquired in the measurement data acquisition step with the reference data acquired in the reference data acquisition step, and determining whether or not the optical scanner is tilted based on whether the difference exceeds a predetermined threshold at a certain angle. Equipped with, The optical scanner further comprises a distance calculation step that calculates the distance from the optical scanner according to the time from when the light is irradiated until the reflected light is received, In the measurement data acquisition step, distance data calculated for each predetermined angle is acquired as the reference data. A fall detection program that uses a computer to execute fall detection methods.

12. A fall detection method for detecting a person who has fallen from a station platform onto the tracks through which a train passes, A light scanning step in which light is scanned from an optical scanner within a predetermined angular range in a fall detection area set on the aforementioned track and reflected light is received, A reference data acquisition step in which the received light data of reflected light from light irradiated under certain conditions is acquired as reference data at predetermined angles, A measurement data acquisition step in which the received light data of the reflected light emitted from the optical scanner is acquired at predetermined angles, A foreign matter adhesion determination step involves comparing the data acquired in the measurement data acquisition step with the reference data acquired in the reference data acquisition step, which is obtained within a predetermined distance range from the surface of the lens portion that collects light emitted from the light source portion of the optical scanner, and determining whether or not foreign matter is attached to the optical scanner depending on whether or not the difference exceeds a predetermined threshold. Equipped with, The optical scanner further comprises a distance calculation step that calculates the distance from the optical scanner according to the time from when the light is irradiated until the reflected light is received, In the measurement data acquisition step, distance data calculated for each predetermined angle is acquired as the reference data. Fall detection method.

13. A fall detection program that detects a person who has fallen from a station platform onto the tracks where a train passes, A light scanning step in which light is scanned from an optical scanner within a predetermined angular range in a fall detection area set on the aforementioned track and reflected light is received, A reference data acquisition step in which the received light data of reflected light from light irradiated under certain conditions is acquired as reference data at predetermined angles, A measurement data acquisition step in which the received light data of the reflected light emitted from the optical scanner is acquired at predetermined angles, A foreign matter adhesion determination step involves comparing the data acquired in the measurement data acquisition step with the reference data acquired in the reference data acquisition step, which is obtained within a predetermined distance range from the surface of the lens portion that collects light emitted from the light source portion of the optical scanner, and determining whether or not foreign matter is attached to the optical scanner depending on whether or not the difference exceeds a predetermined threshold. Equipped with, The optical scanner further comprises a distance calculation step that calculates the distance from the optical scanner according to the time from when the light is irradiated until the reflected light is received, In the measurement data acquisition step, distance data calculated for each predetermined angle is acquired as the reference data. A fall detection program that uses a computer to execute fall detection methods.

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