Switch image distinction device, switch image distinction system, and switch image distinction method

Abstract

A switch image distinction device (20) comprises: a rail detection unit (21) that detects a rail from image information; a switch detection unit (22) that detects, from the detection result obtained by the rail detection unit (21), a first rail formed by a combination of two rails and a second rail formed by a combination of two rails different from the first rail, and, when one rail of the first rail and one rail of the second rail intersect, detects a switch where one rail of the first rail and the other rail of the second rail or the other rail of the first rail and the one rail of the second rail come into contact at a contact point; and a determination unit (23) provided with an auxiliary line at a position within a specified range from the contact point and where an intersection point is obtained between the first rail and the second rail, the determination unit (23) determining whether a maintenance vehicle (2) can pass through the switch on the basis of the relationship between the contact point and the auxiliary line.

Description

Switch image discrimination device, switch image discrimination system, and switch image discrimination method

[0001] The present disclosure relates to a point image discrimination device, a point image discrimination system, and a point image discrimination method that are mounted on a vehicle that runs on rails.

[0002] Traditionally, railway companies and other organizations that operate trains perform maintenance work to keep railway facilities, such as rails on which trains run, in an appropriate state. Dedicated maintenance vehicles are sometimes used for maintenance work. When a worker manually operates a switch to determine the rail to travel on during work using a maintenance vehicle, an operator error or a maintenance vehicle driver's failure to check can cause the maintenance vehicle to derail depending on the diverging rail. To prevent such accidents, Patent Document 1 discloses technology for a forward monitoring system that uses image processing to determine the direction of traffic opening based on the difference in width between the left rail point cloud and the right rail point cloud when a switch is present on the rail.

[0003] Japanese Patent Application Laid-Open No. 2023-136585

[0004] However, with the above-mentioned conventional technology, it is necessary to acquire point cloud information of the rails, which requires a highly accurate sensor and a device that performs advanced image processing, which increases costs and the size of the device.

[0005] The present disclosure has been made in view of the above, and aims to provide a switch image discrimination device that can determine whether or not a vehicle can pass through a switch with a simple configuration and processing.

[0006] In order to solve the above-mentioned problems and achieve the object, the present disclosure provides a switch image discrimination device mounted on a vehicle running on rails. The switch image discrimination device is characterized by comprising: a rail detection unit that detects rails from image information of photographed rails; a switch detection unit that detects a first rail formed by a combination of two rails and a second rail formed by a combination of two rails different from the first rail from the detection result of the rail detection unit, and that, when one of the first rails intersects with one of the second rails, detects a switch with which one of the first rails and the other of the second rails, or the other of the first rails and one of the second rails, come into contact at a contact point; and a determination unit that sets an auxiliary line within a specified range from the contact point and at a position where an intersection point is obtained between the first rail and the second rail, and determines whether the vehicle can pass through the switch based on the relationship between the contact point and the auxiliary line.

[0007] The switch image discrimination device of the present disclosure has the advantage of being able to determine whether or not a vehicle can pass through a switch with a simple configuration and processing.

[0008] FIG. 1 is a diagram showing an example of the configuration of a switch image discrimination system according to embodiment 1; FIG. 2 is a flowchart showing the operation of a switch image discrimination device according to embodiment 1; FIG. 3 is a diagram showing the flow of operation in which a rail detection unit provided in the switch image discrimination device according to embodiment 1 detects a rail; FIG. 4 is a diagram showing the flow of operation in which a switch detection unit provided in the switch image discrimination device according to embodiment 1 detects a switch; FIG. 2 is a diagram showing the determination result for the example of FIG. 6 in the determination unit provided in the switch image discrimination device according to the first embodiment. FIG. 1 is a diagram showing the determination result for the example of FIG. 7 in the determination unit provided in the switch image discrimination device according to the first embodiment. FIG. 2 is a diagram showing the determination result for the example of FIG. 7 in the determination unit provided in the switch image discrimination device according to the first embodiment. FIG. 3 is a diagram showing an example in which a processing circuit realizing the switch image discrimination device according to the first embodiment is configured with a processor and a memory. FIG. 4 is a diagram showing an example in which a processing circuit realizing the switch image discrimination device according to the first embodiment is configured with dedicated hardware. FIG. 5 is a diagram showing an example of the configuration of a switch image discrimination system according to the second embodiment.

[0009] Hereinafter, a switch image discrimination device, a switch image discrimination system, and a switch image discrimination method according to embodiments of the present disclosure will be described in detail with reference to the drawings.

[0010] Embodiment 1. Fig. 1 is a diagram showing an example of the configuration of a switch image discrimination system 1 according to embodiment 1. The switch image discrimination system 1 includes an imaging device 10 and a switch image discrimination device 20. The switch image discrimination system 1 is mounted on a maintenance vehicle 2. The maintenance vehicle 2 is a vehicle used by railway companies and the like for maintenance work to keep railway equipment such as rails in an appropriate condition. In the following, an example in which the switch image discrimination system 1 is mounted on the maintenance vehicle 2 will be described, but the use of the switch image discrimination system 1 is not limited to this. The switch image discrimination system 1 may also be mounted on vehicles other than the maintenance vehicle 2, such as vehicles that make up a train carrying passengers or vehicles that run on rails, such as construction vehicles. The situation in which the switch image discrimination system 1 is used is, for example, assumed to be one in which, after trains carrying normal passengers have finished operating, the system that manages train operations is stopped and the switch must be manually operated to allow the maintenance vehicle 2 to run, but is not limited to this.

[0011] The imaging device 10 captures images of rails on which a maintenance vehicle 2, a vehicle equipped with the switch image discrimination device 20, travels, and outputs image information of the captured rails to the switch image discrimination device 20. The imaging device 10 is, for example, a visible light camera. The image information of the captured rails is a still image captured by the visible light camera installed on the maintenance vehicle 2. Note that the imaging device 10 is not limited to a visible light camera. The imaging device 10 may use other sensors, such as LiDAR (Light Detection and Ranging), as long as image information capable of detecting rails, switches, etc. can be obtained through the operation of the switch image discrimination device 20, which will be described later. The imaging device 10 may also capture moving images using a visible light camera and output the moving images as image information to the switch image discrimination device 20. In this case, the switch image discrimination device 20 can capture still images as image information required for the operation by extracting images from the moving images for each operating cycle during which the operation, which will be described later, is performed.

[0012] The switch image discrimination device 20 is mounted on a maintenance vehicle 2, which is a vehicle that travels on rails. The configuration and operation of the switch image discrimination device 20 will be described in detail. As shown in Fig. 1, the switch image discrimination device 20 comprises a rail detection unit 21, a switch detection unit 22, a determination unit 23, and an output unit 24. Fig. 2 is a flowchart showing the operation of the switch image discrimination device 20 according to the first embodiment.

[0013] The rail detection unit 21 acquires image information from the imaging device 10. The rail detection unit 21 detects rails from the image information in which the rails are photographed (step S11). FIG. 3 is a diagram showing the flow of operations performed by the rail detection unit 21 included in the switch image discrimination device 20 according to the first embodiment to detect rails. When the rail detection unit 21 acquires image information such as that shown in FIG. 3( a) from the imaging device 10, the rail detection unit 21 performs binarization processing on the image information to obtain image information such as that shown in FIG. 3( b). The rail detection unit 21 performs line segment extraction processing on the image information shown in FIG. 3( b) to obtain image information such as that shown in FIG. 3( c). The rail detection unit 21 detects rails from the image information shown in FIG. 3( c). The rail detection unit 21 outputs the detection result to the switch detection unit 22. Note that the method by which the rail detection unit 21 detects rails from the image information acquired from the imaging device 10 may be the same as an existing method.

[0014] The switch detection unit 22 acquires the detection results from the rail detection unit 21. The switch detection unit 22 detects switches from the detection results of the rail detection unit 21 (step S12). Specifically, the switch detection unit 22 determines whether or not a first rail formed by a combination of two rails and a second rail formed by a combination of two rails different from the first rail have been detected from the detection results of the rail detection unit 21. If the switch detection unit 22 is unable to detect two sets of rails, the first rail and the second rail, it determines that no switches exist within the range indicated by the image information and terminates operation. If the switch detection unit 22 is able to detect two sets of rails, the first rail and the second rail, it determines whether or not one of the first rails intersects with one of the second rails. If one of the first rails and one of the second rails do not intersect, the switch detection unit 22 determines that there is no switch within the range indicated by the image information and terminates operation. If one of the first rails and one of the second rails intersect, the switch detection unit 22 detects a switch where one of the first rails and the other of the second rails, or the other of the first rails and one of the second rails, are in contact at a contact point.

[0015] 4A and 4B are diagrams showing the flow of operations performed by the switch detection unit 22 included in the switch image discrimination device 20 according to the first embodiment to detect a switch. In Fig. 4A, the rail to the left of the first rail is one of the first rails, and the rail to the right of the first rail is the other of the first rails. Also in Fig. 4A, the rail to the right of the second rail is one of the second rails, and the rail to the left of the second rail is the other of the second rails. As shown in Fig. 4B, the switch detection unit 22 performs a search by extracting line segments from the front to the back to detect the first rail, the second rail, contact points, etc. The switch detection unit 22 determines that the two rails that are closer to each other are in contact at a contact point, for example, based on the distance between one of the first rails and the other of the second rails, and the distance between the other of the first rails and one of the second rails. In the example of FIG. 4 , the switch detection unit 22 determines that the left side of the switch is closed because the distance between the left rail of the first rail and the left rail of the second rail is shorter than the distance between the right rail of the first rail and the right rail of the second rail. As a result, the switch detection unit 22 can identify the contact point between the left rail of the first rail and the left rail of the second rail, as shown in FIG. 4( b). The switch detection unit 22 outputs the detection result to the determination unit 23. The method by which the switch detection unit 22 detects switches, contact points, etc. from the detection results acquired from the rail detection unit 21 may be the same as an existing method.

[0016] The determination unit 23 acquires the detection result from the switch detection unit 22. Using the detection result from the switch detection unit 22, the determination unit 23 determines whether the maintenance vehicle 2 can pass through the switch (step S13). A case in which the maintenance vehicle 2 can pass through the switch is when the maintenance vehicle 2 does not run off the track at the switch even when traveling in the direction of the switch. A case in which the maintenance vehicle 2 cannot pass through the switch is when the maintenance vehicle 2 runs off the track at the switch when traveling in the direction of the switch. Specifically, the determination unit 23 sets an auxiliary line within a specified range from the contact point and at a position where an intersection is obtained between the auxiliary line and the four rails included in the first rail and the second rail. The determination unit 23 determines whether the maintenance vehicle 2 can pass through the switch based on the relationship between the contact point and the auxiliary line. The relationship between the contact points and the auxiliary lines refers to the arrangement of a triangle in the image information that is specified by the two intersections of the two rails and the auxiliary lines that are in contact at the contact points, and the contact points.

[0017] The operation of the determination unit 23 will be described in detail. Fig. 5 is a flowchart showing the operation of the determination unit 23 included in the switch image discrimination device 20 according to embodiment 1. The determination unit 23 identifies a triangle formed by the two intersections and contact points between the two rails and the auxiliary line that are in contact at the contact points (step S21).

[0018] FIG. 6 is a first diagram showing an example in which the determination unit 23 included in the switch image discrimination device 20 according to the first embodiment sets an auxiliary line. FIG. 7 is a second diagram showing an example in which the determination unit 23 included in the switch image discrimination device 20 according to the first embodiment sets an auxiliary line. Although the illustrations in FIGS. 6 and 7 are simplified, all of the circles at the intersections of the auxiliary lines and the rails represent intersections. This also applies to the subsequent figures. The solid areas in FIGS. 6 and 7 correspond to triangles formed by the two intersections and contact points between the auxiliary lines and the two rails that are in contact at the aforementioned contact points. Furthermore, in FIGS. 6 and 7, the traveling direction of the maintenance vehicle 2 is from the front to the back, i.e., from the bottom to the top of the figures. The example in Figure 6 shows a case where maintenance vehicle 2 travels in the direction of switch 30 where rail 43 branches into rails 41 and 42, and the example in Figure 7 shows a case where maintenance vehicle 2 travels in the direction of switch 30 where rails 51 and 52 merge into rail 53.

[0019] As shown in FIGS. 6 and 7 , the determination unit 23 may provide an auxiliary line that intersects at a right angle with any of the four rails included in the first rail and the second rail, or may provide an auxiliary line that does not intersect at a right angle with any of the four rails included in the first rail and the second rail. The determination unit 23 may also provide an auxiliary line that intersects the other of the first rails, one of the second rails, one of the first rails, and the other of the second rails in this order, or in reverse. In the example of FIG. 6 , rail 41 is the first rail and rail 42 is the second rail, but this may be reversed. In the example of FIG. 7 , rail 51 is the first rail and rail 52 is the second rail, but this may be reversed.

[0020] The determination unit 23 determines whether the position of the contact point included in the identified triangle is in front of the auxiliary line (step S22). If the position of the contact point included in the identified triangle is in front of the auxiliary line (step S22: Yes), the determination unit 23 determines that the maintenance vehicle 2 can pass through the switch 30 (step S23). FIG. 8 is a diagram showing the determination result for the example of FIG. 6 by the determination unit 23 included in the switch image discrimination device 20 according to the first embodiment. In FIG. 8, the arrow indicates the direction in which the maintenance vehicle 2 wants to travel. The determination unit 23 determines that the maintenance vehicle 2 can pass from the rail 43 toward the rail 41 on the right side of the switch 30 in FIG. 8(a), i.e., FIG. 6(a), and determines that the maintenance vehicle 2 can pass from the rail 43 toward the rail 42 on the left side of the switch 30 in FIG. 8(b), i.e., FIG. 6(b). In this way, in the example of Figure 8, where the position of the contact point included in the identified triangle is in front of the auxiliary line, the judgment unit 23 judges that the maintenance vehicle 2 can pass from rail 43 in the direction of either rail 41 or rail 42.

[0021] If the position of the contact point included in the identified triangle is behind the auxiliary line (step S22: No), the determination unit 23 determines whether or not a triangle exists outside the two rails on which the maintenance vehicle 2 is located or traveling (step S24). If a triangle exists outside the two rails on which the maintenance vehicle 2 is located or traveling (step S24: Yes), the determination unit 23 determines that the maintenance vehicle 2 can pass through the switch 30 (step S25). If a triangle exists inside the two rails on which the maintenance vehicle 2 is located or traveling (step S24: No), the determination unit 23 determines that the maintenance vehicle 2 cannot pass through the switch 30 (step S26).

[0022] Fig. 9 is a first diagram showing the determination result for the example of Fig. 7 made by the determination unit 23 provided in the switch image discrimination device 20 according to the first embodiment. Fig. 10 is a second diagram showing the determination result for the example of Fig. 7 made by the determination unit 23 provided in the switch image discrimination device 20 according to the first embodiment. In Figs. 9 and 10, the direction in which the maintenance vehicle 2 wants to travel is indicated by an arrow. That is, Fig. 9 shows a situation in which the maintenance vehicle 2 travels from the lower right rail 52 to the switch 30, and Fig. 10 shows a situation in which the maintenance vehicle 2 travels from the lower left rail 51 to the switch 30. As shown in Figures 9(b) and 10(a), the judgment unit 23 judges that the maintenance vehicle 2 can pass through the switch 30 when a triangle exists on the outside of the two rails on which the maintenance vehicle 2 is located or traveling, and judges that the maintenance vehicle 2 cannot pass through the switch 30 when a triangle exists on the inside of the two rails on which the maintenance vehicle 2 is located or traveling, as shown in Figures 9(a) and 10(b).

[0023] 8 to 10 , the determination unit 23 determines that the maintenance vehicle 2 can pass through the switch 30 when a triangle exists on the outside of the two rails on which the maintenance vehicle 2 is located or traveling, regardless of the position of the contact point with the extension line, and determines that the maintenance vehicle 2 cannot pass through the switch 30 when a triangle exists on the inside of the two rails on which the maintenance vehicle 2 is located or traveling. Therefore, the determination unit 23 may not determine the position of the contact point with the extension line, but may determine whether the maintenance vehicle 2 can pass through the switch 30 based on the positions of the two intersections of the two rails in contact at the contact point and the extension line and the triangle specified by the contact points. In other words, the determination unit 23 may specify a triangle formed by the two intersections of the two rails in contact at the contact point and the extension line, and determine whether the maintenance vehicle 2 can pass through the switch 30 based on the positions of the specified triangles.

[0024] 6 and 8 , rail 41, which is the first rail, and rail 42, which is the second rail, are rails that branch off at switch 30, and rail 43, on which maintenance vehicle 2 is located, is the third rail before branching off at switch 30. In this case, when the triangle is located outside the two rails of rail 41, which is the first rail, determination unit 23 determines that maintenance vehicle 2 can pass through switch 30 from rail 43, which is the third rail, in the direction of rail 41, which is the first rail, and when the triangle is located outside the two rails of rail 42, which is the second rail, determination unit 23 determines that maintenance vehicle 2 can pass through switch 30 from rail 43, which is the third rail, in the direction of rail 42, which is the second rail.

[0025] 7, 9, and 10, rail 51, which is a first rail, and rail 52, which is a second rail, are rails that converge at switch 30 and connect to rail 53, which is a third rail, and the rail on which maintenance vehicle 2 is located is rail 51, which is the first rail. In this case, when the triangle is located outside the two rails of rail 51, which is the first rail, the determination unit 23 determines that maintenance vehicle 2 can pass through switch 30 in the direction from rail 51, which is the first rail, to rail 53, which is the third rail. When the triangle is located inside the two rails of rail 51, which is the first rail, the determination unit 23 determines that maintenance vehicle 2 cannot pass through switch 30 in the direction from rail 51, which is the first rail, to rail 53, which is the third rail. Alternatively, rail 51, which is a first rail, and rail 52, which is a second rail, are rails that converge at switch 30 and connect to rail 53, which is a third rail, and the rail on which maintenance vehicle 2 is located is rail 52, which is the second rail. In this case, when the triangle is located outside the two rails of rail 52, which is the second rail, the determination unit 23 determines that maintenance vehicle 2 can pass through switch 30 in the direction from rail 52, which is the second rail, to rail 53, which is the third rail. When the triangle is located inside the two rails of rail 52, which is the second rail, the determination unit 23 determines that maintenance vehicle 2 cannot pass through switch 30 in the direction from rail 52, which is the second rail, to rail 53, which is the third rail.

[0026] Returning to the description of the operation of the switch image discrimination device 20, the determination unit 23 outputs the determination result obtained by the above-described operation to the output unit 24.

[0027] The output unit 24 acquires the determination result from the determination unit 23. The output unit 24 outputs the determination result of the determination unit 23 to the outside of the switch image discrimination device 20 (step S14). The output unit 24 outputs the determination result, for example, to at least one of a display device that can be visually confirmed by the driver of the maintenance car 2, an audio output device that can be audibly confirmed by the driver, or an on-board device that controls to stop the maintenance car 2. A determination result of "passable" means that the maintenance car 2 can proceed in the direction of the switch 30. A determination result of "impossible to pass" means that if the maintenance car 2 continues to proceed in the direction of the switch 30, the maintenance car 2 will derail at the switch 30, and therefore the maintenance car 2 cannot proceed in the direction of the switch 30.

[0028] As a result, the display device displays that passage is permitted if the determination result acquired from the output unit 24 indicates passage is permitted, and displays a message that passage is not permitted, an alert, or the like, if the determination result acquired from the output unit 24 indicates that passage is not permitted. Furthermore, the audio output device outputs a message that passage is permitted if the determination result acquired from the output unit 24 indicates passage is permitted, and outputs a message that passage is not permitted, an alert, or the like, if the determination result acquired from the output unit 24 indicates that passage is not permitted. Furthermore, the on-board device of the maintenance car 2 causes the maintenance car 2 to proceed in the direction of the switch 30 if the determination result acquired from the output unit 24 indicates passage is permitted, and stops the maintenance car 2 and controls the maintenance car 2 not to proceed in the direction of the switch 30 if the determination result acquired from the output unit 24 indicates that passage is not permitted.

[0029] In addition, assuming that a worker is performing maintenance work around the maintenance vehicle 2, the output unit 24 may output the determination result to at least one of a display device that can be visually confirmed by the worker performing maintenance work around the maintenance vehicle 2, an audio output device that can be audibly confirmed by the worker, or a terminal device carried by the worker. The output contents of the display device, audio output device, and terminal device for the worker performing maintenance work around the maintenance vehicle 2 may be the same as the output contents of the display device, audio output device, etc. for the driver described above.

[0030] The switch image discrimination device 20 repeatedly performs the above-described operation of the flowchart shown in FIG. 2 at a specified cycle.

[0031] Next, a description will be given of the hardware configuration of the switch image discrimination device 20. In the switch image discrimination device 20, the rail detection unit 21, the switch detection unit 22, the determination unit 23, and the output unit 24 are realized by processing circuits. The processing circuit may be a processor and memory that executes a program stored in a memory, or may be dedicated hardware.

[0032] FIG. 11 is a diagram illustrating an example in which a processing circuit 90 for implementing the switch image discrimination device 20 according to the first embodiment is configured with a processor 91 and a memory 92. When the processing circuit 90 is configured with the processor 91 and the memory 92, each function of the processing circuit 90 of the switch image discrimination device 20 is implemented by software, firmware, or a combination of software and firmware. The software or firmware is written as a program and stored in the memory 92. The processor 91 reads and executes the program stored in the memory 92 to implement each function of the processing circuit 90. That is, the processing circuit 90 includes the memory 92 for storing the program that results in the processing of the switch image discrimination device 20. It can also be said that these programs cause a computer to execute the procedures and methods of the switch image discrimination device 20.

[0033] The program includes a rail detection step in which the rail detection unit 21 detects rails from image information of photographed rails, and a switch detection unit 22 detects a first rail formed by a combination of two rails and a second rail formed by a combination of two rails different from the first rail from the detection result of the rail detection unit 21, and when one of the first rails and one of the second rails intersect, detects one of the first rails and the other of the second rails, or the other of the first rails and It can also be said that this is a program that causes the switch image discrimination device 20 to execute the following steps: a switch detection step in which the switch 30 is detected at which one of the first and second rails is in contact at a contact point; a judgment step in which the judgment unit 23 sets an auxiliary line within a specified range from the contact point and at a position where an intersection is obtained between the auxiliary line and the four rails included in the first and second rails, and judges whether the maintenance vehicle 2 can pass through the switch 30 based on the relationship between the contact point and the auxiliary line; and an output step in which the output unit 24 outputs the judgment result of the judgment unit 23.

[0034] Here, the processor 91 may be a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor), etc. The memory 92 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD (Digital Versatile Disc).

[0035] 12 is a diagram showing an example in which the processing circuit 93 that realizes the switch image discrimination device 20 according to the first embodiment is configured with dedicated hardware. When the processing circuit 93 is configured with dedicated hardware, the processing circuit 93 shown in FIG. 12 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each function of the switch image discrimination device 20 may be realized by the processing circuit 93 separately for each function, or all functions may be realized together by the processing circuit 93.

[0036] It should be noted that some of the functions of the switch image recognition device 20 may be realized by dedicated hardware and some by software or firmware. In this way, the processing circuit can realize each of the above-mentioned functions by dedicated hardware, software, firmware, or a combination of these.

[0037] As described above, according to this embodiment, the switch image discrimination device 20 detects the rails and the switch 30 from the image information captured by the imaging device 10, sets an auxiliary line within a specified range from the contact point of the switch 30 and at a position where the auxiliary line intersects with the four rails included in the first rail and the second rail, and determines whether the maintenance vehicle 2 can pass through the switch 30 based on the relationship between the contact point and the auxiliary line. This allows the switch image discrimination device 20 to determine whether the maintenance vehicle 2 can pass through the switch 30 with a simple configuration and processing. The switch image discrimination device 20 does not need to learn in advance the opening and closing patterns of individual switches 30, and can determine whether the maintenance vehicle 2 can pass through the switch 30 regardless of the opening and closing patterns of individual switches 30.

[0038] Second Embodiment In a second embodiment, a case will be described in which the switch image discrimination device 20 stores in advance a discrimination pattern for obtaining a discrimination result by the discrimination unit 23.

[0039] FIG. 13 is a diagram illustrating an example of the configuration of a switch image discrimination system 1 according to the second embodiment. The switch image discrimination system 1 includes an imaging device 10 and a switch image discrimination device 20. The second embodiment differs from the switch image discrimination device 20 of the first embodiment in that a memory unit 25 is added to the switch image discrimination device 20. The memory unit 25 stores a judgment pattern indicating the relationship between the position of the triangle and the judgment result of the judgment unit 23. The judgment pattern may be, for example, the content of FIGS. 8 to 10 described in the first embodiment. The judgment unit 23 acquires the judgment pattern indicating the relationship between the position of the triangle and the judgment result from the memory unit 25. The judgment unit 23 makes a judgment based on the acquired judgment pattern. By using the judgment pattern, the judgment unit 23 can simplify the processing of the flowchart described in the first embodiment. The judgment result of the judgment unit 23 in the second embodiment is the same as the judgment result of the judgment unit 23 in the first embodiment.

[0040] As described above, according to this embodiment, the switch image discrimination device 20 is provided with the storage unit 25 that stores the discrimination patterns used for discrimination in the discrimination unit 23. This allows the switch image discrimination device 20 to reduce the processing load on the discrimination unit 23 while achieving the same effects as in the first embodiment.

[0041] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention.

[0042] 1 Switch image discrimination system, 2 Maintenance vehicle, 10 Imaging device, 20 Switch image discrimination device, 21 Rail detection unit, 22 Switch detection unit, 23 Determination unit, 24 Output unit, 25 Memory unit, 30 Switch, 41 to 43, 51 to 53 Rail, 90, 93 Processing circuit, 91 Processor, 92 Memory.

Claims

1. A switch image recognition device mounted on a vehicle that runs on rails, A rail detection unit that detects the rail from the image information of the rail that has been captured, Based on the detection results of the rail detection unit, a first rail formed by a combination of two rails and a second rail formed by a combination of two rails different from the first rail are detected, and when one rail of the first rail and one rail of the second rail intersect, a switch detection unit detects a switch where the one rail of the first rail and the other rail of the second rail, or the other rail of the first rail and the one rail of the second rail, are in contact at a contact point. An auxiliary line is provided within a defined range from the contact point and at a position where an intersection is obtained between the first rail and the second rail, and a determination unit determines whether the vehicle can pass through the switch based on the relationship between the contact point and the auxiliary line, A switch machine image discrimination device characterized by comprising the following:

2. The determination unit identifies the two intersection points of the two rails in contact at the contact point and the auxiliary line, and the triangle formed by the contact point. If the position of the contact point included in the triangle is in front of the auxiliary line, the unit determines that the vehicle can pass through the switch. If the position of the contact point included in the triangle is behind the auxiliary line, the unit determines that the vehicle can pass through the switch if the triangle is outside the two rails on which the vehicle is located or moving. If the triangle is inside the two rails on which the vehicle is located or moving, the unit determines that the vehicle cannot pass through the switch. The switch machine image discrimination device according to feature 1.

3. The determination unit identifies the two intersection points of the two rails in contact at the contact point and the auxiliary line, as well as the triangle formed by the contact point, and determines whether the vehicle can pass through the switch based on the location where the triangle exists. The switch machine image discrimination device according to feature 1.

4. The first rail and the second rail are rails that are branched by the switch, and the rail on which the vehicle is located is designated as the third rail before branching by the switch. The determination unit determines that if the triangle is located outside the two rails of the first rail, the vehicle can pass the switch from the third rail towards the first rail, and if the triangle is located outside the two rails of the second rail, the vehicle can pass the switch from the third rail towards the second rail. The switch machine image discrimination device according to feature 3.

5. The first rail and the second rail are rails that merge at the switch and connect to the third rail, and the rail on which the vehicle is located is referred to as the first rail. The determination unit determines that if the triangle is located outside the two rails of the first rail, the vehicle can pass the switch in the direction from the first rail to the third rail, and determines that if the triangle is located inside the two rails of the first rail, the vehicle cannot pass the switch in the direction from the first rail to the third rail. or The first rail and the second rail are rails that merge at the switch and connect to the third rail, and the rail on which the vehicle is located is the second rail. The determination unit determines that if the triangle is located outside the two rails of the second rail, the vehicle can pass the switch in the direction from the second rail to the third rail, and determines that if the triangle is located inside the two rails of the second rail, the vehicle cannot pass the switch in the direction from the second rail to the third rail. The switch machine image discrimination device according to feature 3.

6. The determination unit makes a determination based on a determination pattern that shows the relationship between the position of the triangle and the determination result of the determination unit. The switch machine image discrimination device according to feature 2.

7. The determination unit provides the auxiliary line so as to intersect at a right angle with any of the four rails included in the first rail and the second rail. The switch machine image discrimination device according to feature 1.

8. The determination unit provides the auxiliary lines so as to intersect in the order or reverse order of the other rail of the first rail, one rail of the second rail, one rail of the first rail, and the other rail of the second rail. The switch machine image discrimination device according to feature 1.

9. The switch detection unit determines, based on the distance between one rail of the first rail and the other rail of the second rail, and the distance between the other rail of the first rail and the one rail of the second rail, that the two rails that are closer together are in contact at the contact point. The switch machine image discrimination device according to feature 1.

10. An output unit that outputs the determination result of the determination unit, Equipped with, The output unit outputs the determination result to at least one of the following: a display device that can be visually confirmed by the vehicle driver, an audio output device that can be audibly confirmed by the driver, or an on-board device that controls the vehicle to stop. The switch machine image discrimination device according to feature 1.

11. The aforementioned vehicle is a maintenance vehicle used for maintenance work. The output unit outputs the determination result to at least one of the following: a display device that can be visually confirmed by a worker performing maintenance work around the vehicle, an audio output device that can be audibly confirmed by the worker, or a terminal device carried by the worker. The switch machine image discrimination device according to feature 10.

12. The image information of the rail is a still image taken by a visible camera installed on the vehicle. The switch machine image discrimination device according to feature 1.

13. A switch image discrimination device according to any one of claims 1 to 12, A photographing device that photographs the rails on which the vehicle equipped with the aforementioned switch image discrimination device is running, and outputs the image information of the rails to the switch image discrimination device, A switch machine image discrimination system characterized by comprising the following:

14. A method for discriminating a switch image for a switch image discrimination device mounted on a vehicle that runs on rails, The rail detection unit performs a rail detection step in which it detects the rail from image information of the rail that has been captured, A switch detection step in which the switch detection unit detects a first rail formed by a combination of two rails and a second rail formed by a combination of two rails different from the first rail, and when one rail of the first rail and one rail of the second rail intersect, the switch detection unit detects a switch in which the one rail of the first rail and the other rail of the second rail, or the other rail of the first rail and the one rail of the second rail, are in contact at a contact point, The determination unit provides an auxiliary line within a defined range from the contact point and at a position where an intersection is obtained between the first rail and the second rail, and determines whether the vehicle can pass through the switch based on the relationship between the contact point and the auxiliary line. A method for discriminating images of a switch machine, characterized by including the following.

15. In the determination step, the determination unit identifies the two intersection points of the two rails in contact at the contact point and the auxiliary line, and the triangle formed by the contact point. If the position of the contact point included in the triangle is in front of the auxiliary line, the determination unit determines that the vehicle can pass through the switch. If the position of the contact point included in the triangle is behind the auxiliary line, the determination unit determines that the vehicle can pass through the switch if the triangle is outside the two rails on which the vehicle is located or moving, and determines that the vehicle cannot pass through the switch if the triangle is inside the two rails on which the vehicle is located or moving. The switch machine image discrimination method according to feature 14.

16. In the determination step, the determination unit identifies the two intersection points of the two rails in contact at the contact point and the auxiliary line, and the triangle formed by the contact point, and determines whether the vehicle can pass through the switch based on the location where the triangle exists. The switch machine image discrimination method according to feature 14.