Train control system and method for controlling train control system

Abstract

Provided is a technology capable of performing an operation for resuming traveling only by a trainman without dispatching a driver after stopping driving due to an obstacle that cannot be tracked. This train control system comprises: an external sensor that is mounted on a train and senses the outside of the train; a detection unit that detects the entry of an animal onto the track from sensor information acquired by the external sensor; a recording unit that records the sensor information about having detected the entry of the animal onto the track; a display device that displays the sensor information played back from the recording unit; and a slow switch that instructs the switching of an operation mode of the train. The slow switch can be operated when the detection unit has detected the entry of the animal onto the track but the animal could not be tracked by the sensor information displayed on the display device.

Description

Train control system and control method for train control system

[0001] The present invention relates to a train control system and a control method for a train control system.

[0002] Conventionally, one example of technology for assisting train operation is the technology described in Japanese Patent No. 7137714. This publication describes a train control system that controls a train to operate in an automatic or manual mode, comprising a monitoring device, on-board equipment, and ground equipment, the monitoring device having a monitoring device that monitors the running direction of the train and / or various on-board equipment and outputs monitoring data, the on-board equipment having an on-board control system including an on-board radio device that wirelessly communicates various information and commands with the ground equipment, and an on-board control device that receives various information and commands from the ground equipment via the on-board radio device and controls the train to operate automatically or manually, the ground equipment wirelessly communicating various information and commands with the on-board equipment, The invention discloses a train control system that includes a ground control system including a ground wireless device that communicates via wires, an obstacle / obstacle detection device that receives monitoring data from the monitoring device and detects from the monitoring data whether there are any objects that may hinder the running of the train and / or any malfunctions in various devices on the train, and an operation command device that transmits operation commands or instructions to the train via the ground wireless device based on the results of the obstacle / obstacle detection detected by the obstacle / obstacle detection device, and that, when an object that may hinder the train's running on the tracks is detected, notifies a device on the ground side of the detection and enables remote control commands to be given to the train from the ground.

[0003] Patent No. 7137714

[0004] The technology disclosed in Patent Document 1 realizes technology that enables safer operation management by the driver by notifying and sharing various onboard monitoring data with ground-based devices via wireless communication and by notifying the train driver of various ground-based fault conditions. However, during automated driving such as GOA2.5, only a train attendant is on board the train, and under normal circumstances, there is no driver to check the road ahead. Therefore, if the system detects an obstacle on the tracks and automatically stops the train, it becomes difficult to respond after the incident because a human is not aware of what happened.

[0005] In particular, when an obstacle is a moving object such as a wild animal, even if the obstacle temporarily moves off the track, there is a possibility that it will re-enter the track. For this reason, in such cases, slow-speed operation is necessary, but tour guides generally do not have the skills to operate the train, and a driver must be dispatched to the site, which takes a considerable amount of time. Therefore, there is a need for a train control system equipped with a cab switch that can be operated by tour guides who do not have the skills to operate the train and do not understand the details of the automatic stop, and that can safely and automatically control slow-speed operation and continue operation.

[0006] To provide a technology that enables a tour conductor to resume operation without dispatching a driver after operation has been stopped due to a moving obstacle such as a wild animal.

[0007] In order to solve the above problems, one representative train control system of the present invention is equipped with an external sensor that is mounted on a train and senses the outside world of the train, a detection unit that detects an animal entering the track from sensor information acquired by the external sensor, a recording unit that records the sensor information that detects an animal entering the track, a display device that displays the sensor information played back from the recording unit, and a slow-motion switch that instructs the train's operating mode to be switched, and the slow-motion switch can be operated when the detection unit detects an animal entering the track but the animal cannot be tracked using the sensor information displayed on the display device.

[0008] According to the present invention, after operation has been stopped due to a moving obstacle such as a wild animal, operation can be resumed by the tour conductor alone, without the need to dispatch a driver.

[0009] Problems, configurations, and effects other than those described above will become apparent from the following description of the preferred embodiments of the invention.

[0010] FIG. 1 is a diagram illustrating an overview of a train control system according to a first embodiment of the present invention. FIG. 2 is a diagram illustrating an example of the configuration of a forward monitoring device. FIG. 3 is a block diagram illustrating an example of a control device. FIG. 4 is a flowchart illustrating an example of processing by an image acquisition unit. FIG. 5 is a diagram illustrating an example of an output area of ​​the image acquisition unit. FIG. 6 is a flowchart illustrating another example of processing by the image acquisition unit. FIG. 7 is a diagram illustrating another example of the output area of ​​the image acquisition unit. FIG. 8 is a flowchart illustrating an example of processing by a detection unit. FIG. 9 is a flowchart illustrating an example of processing by a tracking unit. FIG. 10 is a flowchart illustrating an example of processing by a determination unit. FIG. 11 is a flowchart illustrating an example of processing by a recorded image creation unit. FIG. 12 is a logic circuit diagram illustrating an example of an on-board signaling device. FIG. 13 is a diagram illustrating an example of operation when a wild animal invades a track on a railway to which a train control system is applied. FIG. 14 is a diagram illustrating an example of a forward image history stored in a recording unit, which is played back by a history playback unit. FIG. 15 is a diagram illustrating an example of the configuration of a forward monitoring device according to a second embodiment of the present invention. FIG. 16 is a block diagram illustrating an example of a control device according to the second embodiment. FIG. 17 is a flowchart illustrating an example of processing by a detection unit according to the second embodiment. FIG. 18 is a flowchart illustrating an example of processing by the tracking unit according to the second embodiment.

[0011] Hereinafter, an embodiment will be described with reference to the drawings.

[0012] An overview of a train control system according to a first embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a diagram showing an overview of the train control system according to the first embodiment of the present invention. The train control system is composed of a forward monitoring device 101, a display device 102, an on-board signaling device 103, and the like. The forward monitoring device 101 outputs display information 106 relating to the forward monitoring situation to the display device 102, and can output a brake request 105 to the on-board signaling device 103 as necessary. The display device 102 can display the display information 106. The on-board signaling device 103 has a slow-go switch and can output a slow-go switch-on status 104 to the forward monitoring device 101, which indicates whether the train is in a slow-go state or not.

[0013] Next, the configuration of the forward monitoring device 101 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the configuration of the forward monitoring device 101. The forward monitoring device 101 is composed of a camera 201 as an external sensor, a control device 202, and the like. The camera 201 can capture an image 203 of the area in front of the vehicle and output the image 203 as sensor information to the control device 202. The control device 202 can output a brake request 105 in accordance with the image 203, which is information from the camera 201.

[0014] Next, the configuration of the control device 202 will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of the control device 202. The control device 202 is composed of an image acquisition unit 301, a detection unit 302, a tracking unit 303, a determination unit 304, a recorded image creation unit 305, a recording unit 306, a history playback unit 307, etc.

[0015] The image acquisition unit 301 can create a detection image frame 311 from the image 203 from the camera 201 and the slow-down switch on state 104 , which is control information from the on-board signaling device 103 .

[0016] The detection unit 302 receives the detection image frame 311 as input, extracts an object, and generates detection information 321 including information on the 2D area that the object occupies on the image and the type of the object.

[0017] The tracking unit 303 receives the detection information 321 as input and can generate tracking information 331 that includes the 2D region information and type of the object as well as a unique ID for identifying the individual.

[0018] The determination unit 304 receives the tracking information 331 as input, determines whether braking is required, and can output a brake request 105 to the on-board signaling device 103 .

[0019] The recorded image creation unit 305 can create a superimposed image 351 by superimposing the tracking information 331 on the detection image frame 311 and store it in the recording unit 306 .

[0020] The history playback unit 307 can play back the superimposed image 351 stored in the recording unit 306 and output it to the display device 102 as display information 106 .

[0021] This allows the tour conductor to view the playback images and understand the situation after the vehicle has been stopped due to a moving obstacle such as a wild animal.

[0022] Next, the operation of the image acquisition unit 301 will be described with reference to Fig. 4 and Fig. 5. Fig. 4 is a flowchart showing an example of the processing of the image acquisition unit 301. Fig. 5 is a diagram showing an example of the output area of ​​the image acquisition unit 301.

[0023] Step 401: The image acquisition unit 301 refers to the slow-down switch on state 104, which is the control information, and determines whether or not the vehicle is in a slow-down state.

[0024] Step 402: If the vehicle is not moving slowly, the image acquisition unit 301 extracts a rail area from the camera image 203. As a method for extracting the rail area, for example, a neural network that has learned rail feature amounts in advance can be applied.

[0025] Step 403: The image acquisition unit 301 outputs the image area near the rail as the detection image frame 311 (FIG. 5B).

[0026] Step 404: If the vehicle is moving slowly, the image acquisition unit 301 outputs the entire screen area as the detection image frame 311 (FIG. 5C).

[0027] This allows the detection unit 302 to limit the area of ​​sensor information used to detect an animal's intrusion into the track to the rail area when the animal is not moving slowly, and when the animal is moving slowly, it can respond to a situation where an animal has once left the camera's imaging range and then re-enters the camera's imaging range.

[0028] Next, the operation of the image acquisition unit 301 will be described with reference to Fig. 6 and Fig. 7. Fig. 6 is a flowchart showing another example of the processing of the image acquisition unit 301. Fig. 7 is a diagram showing another example of the output area of ​​the image acquisition unit 301. This example is an example in which the camera is installed facing farther away than in the example shown in Fig. 4.

[0029] Step 401: The image acquisition unit 301 refers to the slow-down switch on state 104, which is the control information, and determines whether or not the vehicle is in a slow-down state.

[0030] Step 405: If the vehicle is not moving slowly, the image acquisition unit 301 outputs the entire screen area as the detection image frame 311 (FIG. 7B).

[0031] Step 406: If the vehicle is moving slowly, the image acquisition unit 301 extracts the rail area from the image 203 of the camera.

[0032] Step 407: The image acquisition unit 301 outputs the image area near the rail as the detection image frame 311 (FIG. 7C).

[0033] This allows the area of ​​sensor information used by the detection unit 302 to detect an animal's intrusion into the track to be limited to the rail area when the vehicle is moving slowly.

[0034] As described above, the image acquisition unit 301 of the present disclosure can switch the area of ​​sensor information that the detection unit uses to detect an animal's intrusion into its trajectory depending on the installation direction of the camera and whether the animal is moving slowly or not, thereby making efficient use of the capabilities of the detection unit.

[0035] Next, the operation of the detection unit 302 will be described with reference to Fig. 8. Fig. 8 is a flowchart showing an example of processing by the detection unit 302.

[0036] Step 501: The detection unit 302 extracts an image area containing a wild animal as an object and the type of animal in the image area from the detection image frame 311. As a method for extracting the image area and the type, for example, a neural network that has previously learned the feature amounts of animals can be applied.

[0037] Step 502: The detection unit 302 determines whether or not an image area including a wild animal has been extracted. If an image area including a wild animal has not been extracted, the detection unit 302 ends the process.

[0038] Step 503 : If an image area containing a wild animal is extracted, the detection unit 302 outputs the image area and the type as detection information 321 .

[0039] Next, the operation of the tracking unit 303 will be described with reference to Fig. 9. Fig. 9 is a flowchart showing an example of processing by the tracking unit 303.

[0040] Step 601: The tracking unit 303 compares the 2D area information and type of the wild animal contained in the most recent tracking information 331 output by the tracking unit 303 with the 2D area information and type of the wild animal contained in the detection information 321 input to the tracking unit 303.

[0041] Step 602: The tracking unit 303 determines whether or not there is overlap in the areas of the same type for the 2D area information and types of these wild animals.

[0042] Step 603: If there is overlap in areas of the same type, the tracking unit 303 assigns the unique ID output in the most recent tracking information 331 to the 2D area information of the input wild animal, and outputs the tracking information 331.

[0043] Step 604: If there is no overlap, the tracking unit 303 assigns an unused new ID as a unique ID to the input 2D region information of the wild animal, and outputs tracking information 331.

[0044] This makes it easier for the tour conductor to track individual wild animals by referring to the unique ID when viewing the reproduced images.

[0045] Next, the operation of the determining unit 304 will be described with reference to Fig. 10. Fig. 10 is a flowchart showing an example of the process of the determining unit 304.

[0046] Step 701: The determination unit 304 determines whether or not there is a wild animal by referring to the tracking information 331. If there is no wild animal, the determination unit 304 ends the process.

[0047] Step 702: If a wild animal is present, the determination unit 304 outputs a brake request 105.

[0048] This allows trains to be stopped if wild animals are present.

[0049] Next, the operation of the recorded image creation unit 305 will be described with reference to Fig. 11. Fig. 11 is a flowchart showing an example of the process of the recorded image creation unit 305.

[0050] Step 801: The recorded image creation unit 305 selects a drawing style such as the color and thickness of the frame according to the type and ID of the tracking information 331.

[0051] Step 802: The recorded image creation unit 305 uses the selected drawing style to draw a frame indicating the 2D area of ​​the tracking information 331 on the detection image frame 311. Step 803: The recorded image creation unit 305 may further write the type and ID near the frame.

[0052] Step 804: The recorded image creation unit 305 draws a frame for the tracking information 331 and records the detection image frame 311 indicating the type and ID in the recording unit 306 as a superimposed image 351.

[0053] Next, the configuration of the on-board signaling device 103 that outputs the slow switch ON state 104 and the brake output 1001 based on the state of the slow switch 901 and the brake request 105 will be described with reference to Fig. 12. Fig. 12 is a logic circuit diagram showing an example of the on-board signaling device 103.

[0054] In on-board signaling device 103, when slow switch 901 is in the "on" state, relay SW910 is energized and contact SW911 is closed, thereby inputting a DI (digital input) signal to logic unit 902. While receiving the DI signal, logic unit 902 energizes relay IMG920 and closes contact IMG921, thereby outputting slow switch on state 104 as a DO (digital output) signal.

[0055] In the on-board signaling device 103, when a brake request 105 is input from the forward monitoring device 101, the relay BRIN 930 is energized and the contact BRIN 931 is closed, thereby inputting a DI signal to the logic unit 902. While receiving the DI signal, the logic unit 902 energizes the relay BROUT 940 to open the contact BROUT 941, turns the DO signal, which is normally output at High, to the Off state (Low state), and outputs a brake output 1001 to the car body side.

[0056] In the on-board signaling device 103, when the relay SW910 is energized, the second contact SW912 is closed and a slow-down switch "on" signal is input to the recording unit 903. When the relay BRIN930 is energized, the second contact BRIN932 is closed and a brake request signal is input to the recording unit 903.

[0057] This allows the recording unit 903 to record the history of the slow-down switch "on" signal and the brake request signal.

[0058] As described above, by utilizing the on-board signaling device that has been conventionally used, reliable operation is possible, and the state of the slow switch 901 and the brake request 105 can be used to output the slow switch on state 104 and brake output 1001 without incurring excessive costs. Also, by recording the history of the slow switch "on" signal and the brake request signal in the recording unit 903, it becomes possible to review the operation status of the slow switch and the occurrence status of the brake request 105 at a later time, if necessary.

[0059] The contact IMG921 may be normally in an On state (closed state), and when the relay IMG920 is pressurized, it may be in an Off state (open state), and the Off state may be the slow switch-on state 104.

[0060] Next, with reference to Figures 13 and 14, operations when a wild animal invades the track on a railway to which a train control system is applied will be described. Figure 13 is a diagram showing an example of operations when a wild animal invades the track on a railway to which a train control system is applied, and Figure 14 is a diagram showing an example of a forward image history stored in the recording unit 306, played back by the history playback unit 307. When an animal invades the track and the train control system detects the animal, the train will sound its whistle and apply the brakes to stop. During this time, the wild animal may come into strong contact with the train and fall on the spot, or it may avoid contact or make minor contact and escape.

[0061] If the train attendant finds that a wild animal has collapsed on the spot, or if the train attendant can confirm that contact has occurred based on the forward image history included in the recording unit 306, the train attendant will report this to the control center and, depending on the situation, will carry out on-site work such as removing the wild animal. If the train attendant can confirm that no contact has occurred based on the forward image history, the train attendant will report this to the control center and the train attendant will resume operation by operating the resume button. If the train attendant is unable to track the wild animal based on the forward image history, for example, if the wild animal leaves the screen (enters a blind spot) before leaving the tracks, the train attendant will switch the slow-motion switch to the "on" state and resume operation. The train attendant may be configured so that the slow-motion switch cannot be switched to the "on" state until the train attendant has checked the forward image history.

[0062] 14 shows the process from when a wild animal enters the track and tracking of the wild animal begins, to when the wild animal crosses the track, the train approaches the wild animal, and the wild animal immediately before it leaves the screen. For example, it is determined whether the wild animal has come into contact with the train from the image immediately before the wild animal leaves the screen.

[0063] As described above, according to the technology disclosed herein, an attendant on board the train can resume operation by himself or herself by operating the slow-down switch.

[0064] The configuration of a forward monitoring device 101 according to a second embodiment of the present invention will be described with reference to Fig. 15 . Fig. 15 is a diagram illustrating an example of the configuration of a forward monitoring device 101 according to the second embodiment of the present invention. The second embodiment differs from the first embodiment in the following respects. A LiDAR 2001 is added as an external sensor, and 3D point cloud information 2002 is added as sensor information to the input of the control device 202. This makes it possible to improve tracking performance based on the 3D point cloud information 2002.

[0065] Next, the configuration of the control device 202 in Example 2 will be described with reference to Fig. 16. Fig. 16 is a block diagram showing an example of the control device 202 in Example 2. Example 2 differs from Example 1 in that 3D point cloud information 2002 is added to the input to the detection unit 302, and 3D coordinates are added to the detection information 321 that the detection unit 302 outputs to the tracking unit 303.

[0066] Next, the operation of the detection unit 302 in Example 2 will be described with reference to Fig. 17. Fig. 17 is a flowchart showing an example of the processing of the detection unit 302 in Example 2. The processing up to the point where the detection unit 302 determines whether an image area including a wild animal has been extracted (Step 502) is the same as in Example 1.

[0067] Step 504: When an image area including a wild animal is extracted, the detection unit 302 refers to the 3D point cloud information 2002 corresponding to the image area and extracts the corresponding 3D coordinates.

[0068] Step 505: The detection unit 302 can output the detection information 321 by adding 3D coordinates to the image area and type.

[0069] Next, the operation of the tracing unit 303 in the second embodiment will be described with reference to Fig. 18. Fig. 18 is a flowchart showing an example of processing by the tracing unit 303 in the second embodiment.

[0070] Step 605: The tracking unit 303 compares the 3D coordinates of the wild animal contained in the most recent tracking information 331 output by the tracking unit 303 with the 3D coordinates of the wild animal contained in the detection information 321 input to the tracking unit 303.

[0071] Step 606: The tracking unit 303 determines whether the distance between the 3D coordinates of these wild animals is within a predetermined distance.

[0072] Step 603 : If the distance is within the predetermined distance, the tracking unit 303 assigns the unique ID output in the most recent tracking information 331 to the input 2D region information of the wild animal, and outputs the tracking information 331 .

[0073] Step 604 : If the distance is not within the predetermined distance, the tracking unit 303 assigns an unused new ID as a unique ID to the input 2D region information of the wild animal, and outputs the tracking information 331 .

[0074] The present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

[0075] Furthermore, the above-described configurations, functions, processing units, processing means, etc. may be partially or entirely implemented in hardware, for example, by designing them as integrated circuits. The above-described configurations, functions, etc. may also be implemented in software, with a processor interpreting and executing a program that implements each function. Information such as the program, table, and file that implements each function can be stored in a memory, a recording device such as a hard disk or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.

[0076] 101: forward monitoring device, 102: display device, 103: on-board signal device, 104: slow down switch on status, 105: brake request, 201: camera, 202: control device, 203: video, 301: image acquisition unit, 311: detection image frame, 302: detection unit, 321: detection information, 303: tracking unit, 331: tracking information, 304: judgment unit, 305: recorded image creation unit, 351: superimposed image, 306: recording unit , 307: History playback unit, 901: Slow switch, 902: Logic unit, 903: Recording unit, 910: Relay SW, 911: Contact SW, 912: Second contact SW, 920: Relay IMG, 921: Contact IMG, 930: Relay BRIN, 931: Contact BRIN, 932: Second contact BRIN, 940: Relay BROUT, 941: Contact BROUT, 2001: LiDAR, 2002: 3D point cloud information.

Claims

1. An external sensor mounted on the train, which senses the outside world of the train, A detection unit that detects intrusion of an animal into its trajectory based on sensor information acquired by the aforementioned external sensor, A recording unit that records the sensor information that detects the intrusion of an animal into the track, A display device that displays the sensor information reproduced from the recording unit, A slow-speed switch that instructs the train to switch its operating mode, Equipped with, The aforementioned slow-down switch is a train control system that can be operated when the detection unit detects an animal entering the track, but the sensor information displayed on the display device does not allow the train to track the animal.

2. A train control system according to claim 1, The system comprises the aforementioned display device, a forward monitoring device for monitoring the area in front of the train, and an on-board signaling device for controlling the movement of the train. The external sensor, the detection unit, and the recording unit are provided in the forward monitoring device. The aforementioned slow-down switch is a train control system provided in the on-board signaling device.

3. A train control system according to claim 1, The aforementioned external sensor is a camera, which is part of the train control system.

4. A train control system according to claim 3, A train control system with LiDAR added as an external sensor.

5. A train control system according to claim 1, A train control system in which the area of ​​sensor information used to detect an animal's intrusion into the track is switched by operating the aforementioned slow-down switch.

6. An external sensor mounted on the train performs an external sensing step in which it senses the environment outside the train, The detection unit performs a detection step in which it detects the intrusion of an animal into its trajectory from sensor information acquired by the external sensor, The recording unit records the sensor information that detected the animal's intrusion into the track, The display device performs a display step in which it displays the sensor information reproduced from the recording unit, The slow-speed switch instructs the switching of the train's operating mode in a driving mode switching step, Equipped with, A control method for a train control system in which the aforementioned slow-down switch can be operated when the detection unit detects an animal entering the track, but the sensor information displayed on the display device does not allow the train to track the animal.

7. A control method for a train control system according to claim 6, The train control system comprises the display device, a forward monitoring device for monitoring the area in front of the train, and an on-board signaling device for controlling the movement of the train. The external sensor, the detection unit, and the recording unit are provided in the forward monitoring device. The aforementioned slow-down switch is a control method for a train control system provided in the on-board signaling device.

8. A control method for a train control system according to claim 6, The aforementioned external sensor is a camera, and the control method is for a train control system.

9. A control method for a train control system according to claim 8, A control method for a train control system in which LiDAR is added as the aforementioned external sensor.

10. A control method for a train control system according to claim 6, A control method for a train control system in which the region of sensor information used to detect an animal's intrusion into the track is switched by operating the aforementioned slow-down switch.

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