FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
[See section 10, Rule 13]
TRAIN CONTROL SYSTEM AND OBSTACLE DETECTION DEVICE
MITSUBISHI ELECTRIC CORPORATION, A CORPORATION ORGANISED
AND EXISTING UNDER THE LAWS OF JAPAN, WHOSE ADDRESS IS 7-3,
MARUNOUCHI 2-CHOME, CHIYODA-KU, TOKYO 100-8310, JAPAN
THE FOLLOWING SPECIFICATION PARTICULARLY DESCRIBES THE
INVENTION AND THE MANNER IN WHICH IT IS TO BE PERFORMED.
2
DESCRIPTION
5 Field
[0001] The present invention relates to a train control
system that performs obstacle detection.
Background
10 [0002] There is known a technique for detecting an
obstacle on a track of a train by capturing an image of an
area in front of the train with a camera mounted on the
train and comparing the captured image with an image
recorded in the past (for example, see Patent Literature 1).
15
Citation List
Patent Literature
[0003] Patent Literature 1: Japanese Patent Application
Laid-open No. 2010-63260
20
Summary
Technical Problem
[0004] However, conventional obstacle detection stores
the captured image in a storage device installed in the
25 train, thereby having had a problem of increase in the
capacity of the storage device for recording images.
[0005] The present invention has been made to solve the
above problem, and an object of the present invention is to
reduce the capacity of a storage device mounted on a train
30 for performing obstacle detection.
Solution to Problem
[0006] A train control system according to a first
3
aspect of the invention includes: an image information
conversion device mounted on a train to output first image
information that is obtained by adding train information to
image information imaged by an imaging device capable of
capturing an area in front of the train; 5 and an obstacle
detection device installed on the ground and including: an
image information storage unit to record the first image
information output from the image information conversion
device; an image information comparison unit to compare the
10 first image information with second image information
recorded in the image information storage unit; and an
image information result output unit to output a result
from the image information comparison unit.
[0007] An obstacle detection device according to a
15 second aspect of the invention includes: an image
information storage unit that is installed on the ground
and records first image information; an image information
comparison unit that determines a degree of match of image
information by comparing the first image information with
20 second image information recorded in the image information
storage unit, and performs a second round of obstacle
detection when the degree of match is greater than or equal
to a second threshold and less than a first threshold; and
an image information result output unit that outputs a
25 result from the image information comparison unit.
Advantageous Effects of Invention
[0008] The train control system according to the present
invention includes: the image information conversion device
30 that is mounted on the train and outputs the first image
information obtained by adding the train information to the
image information imaged by the imaging device which is
mounted on the train and capable of capturing the area in
4
front of the train; and the obstacle detection device that
is installed on the ground and includes the image
information storage unit recording the first image
information output from the image information conversion
device, the image information comparison 5 unit comparing the
first image information with the second image information
recorded in the image information storage unit, and the
image information result output unit outputting the result
from the image information comparison unit. Therefore, the
10 train control system according to the present invention can
reduce the capacity of the storage device mounted on the
train for performing obstacle detection.
[0009] Furthermore, the obstacle detection device
according to the present invention includes: the image
15 information storage unit that is installed on the ground
and records the first image information; the image
information comparison unit that determines the degree of
match of the image information by comparing the first image
information with the second image information recorded in
20 the image information storage unit, and performs the second
round of obstacle detection when the degree of match is
greater than or equal to the second threshold and less than
the first threshold; and the image information result
output unit that outputs the result from the image
25 information comparison unit. Therefore, the obstacle
detection device according to the present invention can
reduce the capacity of the storage device mounted on the
train for performing obstacle detection.
30 Brief Description of Drawings
[0010] FIG. 1 is a diagram illustrating a schematic
configuration of a train control system according to a
first embodiment.
5
FIG. 2 is a diagram illustrating a schematic
configuration of a car of the train control system
according to the first embodiment.
FIG. 3 is a diagram illustrating a configuration of an
obstacle detection device of the train 5 control system
according to the first embodiment.
FIG. 4 is a flowchart illustrating an operation of the
obstacle detection device of the train control system
according to the first embodiment.
10 FIG. 5 is a diagram illustrating an example of onboard
image information of the train control system
according to the first embodiment.
FIG. 6 is a diagram illustrating another example of
the on-board image information of the train control system
15 according to the first embodiment.
FIG. 7 is a diagram illustrating yet another example
of the on-board image information of the train control
system according to the first embodiment.
FIG. 8 is a flowchart illustrating an operation of an
20 operation management device of the train control system
according to the first embodiment.
FIG. 9 is a flowchart illustrating an operation of a
ground control device of the train control system according
to the first embodiment.
25 FIG. 10 is a diagram illustrating a configuration of
an obstacle detection device of the train control system
according to a second embodiment.
FIG. 11 is a flowchart illustrating an operation of
the obstacle detection device of the train control system
30 according to the second embodiment.
FIG. 12 is a diagram illustrating a configuration of
an obstacle detection device of the train control system
according to a third embodiment.
6
FIG. 13 is a flowchart illustrating an operation of
the obstacle detection device of the train control system
according to the third embodiment.
FIG. 14 is a diagram illustrating an example of onboard
image information of the train 5 control system
according to the third embodiment.
FIG. 15 is a table illustrating a history of the onboard
image information of the train control system
according to the third embodiment.
10 FIG. 16 is a diagram illustrating a configuration of
an obstacle detection device of the train control system
according to a fourth embodiment.
FIG. 17 is a flowchart illustrating an operation of
the obstacle detection device of the train control system
15 according to the fourth embodiment.
FIG. 18 is a diagram illustrating an example of a
general configuration of hardware that implements the train
control system according to each of the first to fourth
embodiments.
20
Description of Embodiments
[0011] First Embodiment
FIG. 1 is a diagram illustrating a schematic
configuration of a train control system 1 according to a
25 first embodiment of the present invention. The train
control system 1 illustrated in FIG. 1 includes a train 10,
an operation management device 11, ground control devices
13 connected to the operation management device 11 via a
train control system network 12, wireless base stations 15
30 each connected to a corresponding one of the ground control
devices 13 via a corresponding one of base networks 14, and
an obstacle detection device 100.
[0012] In the train control system 1, a track 17 is
7
divided into a plurality of control areas, and the ground
control devices 13 manage the train 10 in the control areas.
[0013] The operation management device 11 monitors an
operating status of the entire train control system 1,
changes settings thereof, and so on. 5 For example, the
operation management device 11 sets a temporary speed limit.
[0014] The train control system network 12 is a network
across the entire train control section, and connects the
operation management device 11, the obstacle detection
10 device 100, and the ground control devices 13.
[0015] One ground control device 13 is provided for each
area. The ground control devices 13 each receive train
location information from the train 10 via corresponding
ones of the wireless base stations 15 and the base networks
15 14, grasp the location of each train 10 from the train
location information received, and transmit the information
to the operation management device 11 via the train control
system network 12. Also, the ground control devices 13
each receive operation management information of the train
20 10 from the operation management device 11, and transmit
the operation management information received to the train
10 via the corresponding one of the base networks 14.
[0016] The ground control devices 13 each calculate a
limit of movement authority (a position corresponding to a
25 limit at which the train 10 is to be stopped) of the train
10 in the area on the basis of the train location
information and course opening information from an
interlocking control device (not illustrated). Information
on the limit of movement authority calculated is
30 transmitted to the train 10 via the corresponding one of
the wireless base stations 15.
[0017] Here, the information on the limit of movement
authority is information that is based on the location of
8
the train 10 ahead and the position at which the train 10
is to be stopped, and that indicates, to the train 10
behind, the position being the limit at which the train 10
can be stopped safely. For example, when an obstacle or
the like is on the track 17 on which the 5 train 10 runs, the
position of the obstacle is set as the position at which
the train 10 is to be stopped.
[0018] The base networks 14 are each a network provided
for each area, and connect corresponding ones of the ground
10 control devices 13 and the wireless base stations 15.
[0019] The track 17 is a structure on the roadbed on
which the train 10 runs. The operation of the train 10 is
controlled by the train control system 1 illustrated in FIG.
1. On the track 17, a plurality of ground units 16 or
15 position correcting ground units 16 to which IDs (ground
unit information) are set is installed at intervals.
[0020] The wireless base stations 15 each communicate
with an on-board wireless device 24, which is described
later, of the train 10. In FIG. 1, two of the wireless
20 base stations 15 are installed for one of the ground
control devices 13, but the number thereof is not limited
to two. One or three or more of the wireless base stations
15 may be installed for one of the ground control devices
13.
25 [0021] The obstacle detection device 100 is connected to
the operation management device 11 and the train control
system network 12. The obstacle detection device 100
detects an obstacle on the track 17 on which the train 10
runs. Details will be described later.
30 [0022] FIG. 2 is a diagram illustrating a configuration
of a car of the train 10 running in the train control
system 1 according to the first embodiment. Note that
although FIG. 2 illustrates only devices required for
9
describing the train control system 1 according to the
first embodiment, other devices and functions may be
mounted.
[0023] The car illustrated in FIG. 2 includes the onboard
wireless device 24, an on-board 5 antenna 25, an onboard
unit 27, an on-board control device 26, a tachometer
generator 28, an imaging device 21, an image information
conversion device 22, and an on-board information
input/output device 23. The on-board control device 26
10 includes a train control unit 30, a ground unit information
receiving unit 31, and a storage unit 32.
[0024] The storage unit 32 stores an on-board database
(not illustrated). The on-board database stores
information (track information) of the track 17 on which
15 the train 10 runs. The information of the track 17
includes information on the kilometer distance at which
each of the ground units 16 is installed (ground unit
location information).
[0025] The on-board unit 27 detects the ID of any of the
20 ground units 16 when passing over the ground unit 16 (when
the on-board unit 27 and the ground unit 16 overlap). The
ID is received by the ground unit information receiving
unit 31 as the ground unit information. The ground unit
information is output from the ground unit information
25 receiving unit 31 to the train control unit 30.
[0026] The tachometer generator 28 generates a pulse
corresponding to the rotational speed of a wheel,
calculates the amount of travel and speed of the train 10,
and outputs the calculated amount of travel and speed to
30 the train control unit 30.
[0027] The train control unit 30 calculates the location
of the train 10 on the basis of the amount of travel of the
train 10 output from the tachometer generator 28 and the
10
ground unit location information stored in the storage unit
32. The location of the train 10 calculated here is
treated as the train location information. The train
location information includes kilometer information,
inbound/outbound line information, track 5 number information
in station premises, and the like. Moreover, the speed of
the train 10 output from the tachometer generator 28 is
treated as train speed information. The train control unit
30 is connected to the on-board information input/output
10 device 23 and outputs the train location information, the
train speed information, and the like to the on-board
information input/output device 23.
[0028] The imaging device 21 is mounted on the first car
and can capture an image of an area in front of the train
15 10. Specifically, the image of the area in front of the
train 10 is captured at regular intervals and output to the
image information conversion device 22. As the imaging
device 21, for example, a camera, a video camera, or the
like is suitable. Also, the number of the imaging devices
20 21 may be one or two or more. The imaging device 21
captures the image at every predetermined kilometer or
every predetermined time set in advance. Moreover, the
angle of image capture of the imaging device 21 is adjusted
with respect to the head position of the train 10 such that
25 the center of the image includes a position at which the
train 10 can be stopped even if a certain extra distance is
added when the train 10 travels at the maximum speed
determined for the route, for example.
[0029] The image information conversion device 22 is
30 connected to the imaging device 21, and can receive image
information captured by the imaging device 21 from the
imaging device 21. The image information conversion device
22 is also connected to the on-board control device 26, and
11
can receive train information such as a train ID, the train
location information, the train speed information, and
train acceleration information from the on-board control
device 26. The image information conversion device 22
generates new image information by 5 adding the train
information, which is received from the on-board control
device 26, and the date and time of image capture to the
image information received from the imaging device 21.
Here, the new image information generated by the image
10 information conversion device 22 is referred to as on-board
image information. The image information conversion device
22 is connected to the on-board information input/output
device 23, and outputs the on-board image information
generated to the on-board information input/output device
15 23.
[0030] The on-board information input/output device 23
is connected to the on-board control device 26 and the
image information conversion device 22. The on-board
information input/output device 23 can receive the train
20 information output from the on-board control device 26 and
the like. The on-board information input/output device 23
can also receive the on-board image information output from
the image information conversion device 22. The on-board
information input/output device 23 outputs the train
25 information and on-board image information received to the
on-board wireless device 24.
[0031] The on-board wireless device 24 communicates with
the wireless base station 15 corresponding to the current
location of the train 10. Specifically, the information
30 output from the on-board information input/output device 23
is transmitted to the corresponding wireless base station
15 via the on-board antenna 25. Also, the on-board
wireless device 24 receives information output from a
12
corresponding one of the ground control devices 13 via the
corresponding wireless base station 15 using the on-board
antenna 25, and outputs the information to the on-board
information input/output device 23.
[0032] FIG. 3 is a diagram illustrating 5 a configuration
of the obstacle detection device 100 of the train control
system 1 according to the first embodiment. Note that
although FIG. 3 illustrates only devices required for
describing the train control system 1 according to the
10 first embodiment, other devices and functions may be
mounted.
[0033] The obstacle detection device 100 illustrated in
FIG. 3 includes an input unit 102, an image information
storage unit 103, an image information comparison unit 101,
15 and an image information result output unit 104.
[0034] The input unit 102 is connected to the train
control system network 12, and can receive the on-board
image information output from the train 10.
[0035] The image information storage unit 103 is
20 connected to the input unit 102 and the image information
comparison unit 101. The image information storage unit
103 stores and accumulates the on-board image information
received by the input unit 102.
[0036] The image information comparison unit 101 is
25 connected to the input unit 102 and the image information
storage unit 103. The image information comparison unit
101 can receive the on-board image information from the
input unit 102. The image information comparison unit 101
can also receive past on-board image information from the
30 image information storage unit 103. The image information
comparison unit 101 compares the on-board image information
received from the input unit 102 with the past on-board
image information received from the image information
13
storage unit 103, and makes a determination on obstacle
detection.
[0037] Here, the on-board image information received
from the input unit 102 is referred to as on-board image
information A, and the past on-board 5 image information
received from the image information storage unit 103 is
referred to as on-board image information B. The on-board
image information A and the on-board image information B
have the same train location information. That is, the on10
board image information A and the on-board image
information B are image information captured at the same
train location. Moreover, the on-board image information B
may be image information captured by the train 10 that has
generated the on-board image information A, or may be image
15 information captured by a preceding train running in front
of the train 10 that has generated the on-board image
information A. In other words, train ID information added
to the on-board image information A and B may be the same
or different.
20 [0038] The image information comparison unit 101
compares the on-board image information A with the on-board
image information B, and makes a determination on obstacle
detection. In the determination on obstacle detection, it
is determined whether or not an obstacle affecting the
25 running of the train 10 is in front of the train. The
image information comparison unit 101 is connected to the
image information result output unit 104. When an obstacle
has been detected, the image information comparison unit
101 outputs a result indicating the obstacle detection to
30 the image information result output unit 104. In FIG. 3,
the image information comparison unit 101 is configured to
receive the on-board image information A from the input
unit 102, but may receive the on-board image information A
14
from the image information storage unit 103. When no
obstacle has been detected, the image information
comparison unit 101 may output a result indicating that no
obstacle has been detected to the image information result
5 output unit 104.
[0039] The image information result output unit 104 is
connected to the image information comparison unit 101, and
receives a result indicating obstacle detection when the
image information comparison unit 101 has detected an
10 obstacle. The image information result output unit 104
also outputs the result indicating the obstacle detection
to the operation management device 11. The image
information result output unit 104 and the operation
management device 11 may be connected directly or may be
15 connected via the train control system network 12.
[0040] Next, an operation of obstacle detection
performed by the obstacle detection device 100 used in the
train control system 1 according to the first embodiment
will be described.
20 [0041] FIG. 4 is a flowchart illustrating the operation
of obstacle detection performed by the obstacle detection
device 100 used in the train control system 1 according to
the first embodiment. First, the input unit 102 receives
the on-board image information A output from the train 10
25 (S101). Next, the on-board image information A output from
the input unit 102 and the on-board image information B
output from the image information storage unit 103 are
input to the image information comparison unit 101 (S102).
The image information comparison unit 101 compares the on30
board image information A with the on-board image
information B, and makes a determination on obstacle
detection (S103). If the image information comparison unit
101 has not detected an obstacle (No in S104), the obstacle
15
detection is ended. If the image information comparison
unit 101 has detected an obstacle (Yes in S104), a result
indicating the obstacle detection is output to the image
information result output unit 104 (S105).
[0042] Next, the determination on 5 obstacle detection
made by the obstacle detection device 100 used in the train
control system 1 according to the first embodiment will be
described.
[0043] FIG. 5 is a diagram illustrating the
10 determination on obstacle detection made by the obstacle
detection device 100 used in the train control system 1
according to the first embodiment. FIG. 5 is a diagram
illustrating a case where the obstacle detection device 100
does not detect an obstacle. FIG. 5(a) corresponds to the
15 on-board image information A input to the image information
comparison unit 101. FIG. 5(b) corresponds to the on-board
image information B input to the image information
comparison unit 101.
[0044] The image information comparison unit 101 divides
20 the on-board image information into a plurality of areas to
compare the on-board image information. FIG. 6 is a
diagram illustrating the on-board image information divided
into the plurality of areas. FIG. 6(a) is a diagram
illustrating an example in which the on-board image
25 information A input to the image information comparison
unit 101 is divided into the plurality of areas. FIG. 6(b)
is a diagram illustrating an example in which the on-board
image information B input to the image information
comparison unit 101 is divided into the plurality of areas.
30 In FIG. 6, the on-board image information is divided into
ten parts in each of vertical and horizontal directions to
be divided into 100 areas. The number of divided areas is
set as appropriate.
16
[0045] Among the divided areas in FIG. 6, the area that
is first from the left and first from the bottom is denoted
as (1, 1). The area that is second from the left and first
from the bottom is denoted as (2, 1). Similarly, each of
the divided areas is denoted 5 distinctively.
[0046] The image information comparison unit 101
compares (1, 1) of the on-board image information A with (1,
1) of the on-board image information B. Similarly, the 100
divided areas are compared. If a predetermined percentage
10 or more of the image information matches as a result of
comparing the divided areas, it is determined that there is
no obstacle. In other words, the on-board image
information A is compared with the on-board image
information B, and if the degree of match therebetween is
15 greater than or equal to a predetermined percentage, it is
determined that there is no obstacle. If the degree of
match is less than a predetermined percentage, it is
determined that an obstacle has been detected. In other
words, it is determined that there is no obstacle if the
20 degree of match is greater than or equal to a predetermined
first threshold, or that an obstacle has been detected if
the degree of match is less than the first threshold.
[0047] FIG. 7 is a diagram illustrating a case where the
obstacle detection device 100 detects an obstacle. FIG.
25 7(a) corresponds to the on-board image information A input
to the image information comparison unit 101. FIG. 7(b)
corresponds to the on-board image information B input to
the image information comparison unit 101. Here, the
degree of match for determining that an obstacle has been
30 detected is set to 98% or higher.
[0048] As described above, the image information
comparison unit 101 compares (1, 1) of the on-board image
information A with (1, 1) of the on-board image information
17
B. Similarly, the 100 divided areas are compared. As a
result of comparing the divided areas, the on-board image
information does not match in seven areas being (3, 4), (4,
4), ..., and (9, 4). In this case, the degree of match is
93%, which is less than the degree of 5 match of 98% for
determining that an obstacle has been detected, whereby the
image information comparison unit 101 determines that “an
obstacle has been detected” and outputs the result to the
image information result output unit 104. The image
10 information result output unit 104 outputs the output
result to the operation management device 11.
[0049] As described above, the determination on obstacle
detection by the obstacle detection device 100 used in the
train control system 1 according to the first embodiment is
15 performed by the image information comparison unit 101
dividing each of the on-board image information A and the
on-board image information B into the plurality of areas
and comparing the areas between the on-board image
information A and B. If the degree of match is greater
20 than or equal to the predetermined percentage as a result
of comparison between the on-board image information A and
the on-board image information B, it is determined that
there is no obstacle. If the degree of match is less than
the predetermined percentage, it is determined that an
25 obstacle has been detected, and the result is output to the
image information result output unit 104. The image
information result output unit 104 outputs the output
result that “an obstacle has been detected” to the
operation management device 11.
30 [0050] As described above, in the train control system 1
according to the first embodiment, the obstacle detection
device 100 installed on the ground makes the determination
on obstacle detection using the on-board image information
18
captured by the train 10 and the past on-board image
information. Therefore, the capacity of the storage device
mounted on the train 10 can be reduced.
[0051] Next, an operation of the operation management
device 11 when the obstacle detection 5 device 100 has
detected an obstacle will be described. FIG. 8 is a
flowchart illustrating the operation of the operation
management device 11 used in the train control system 1
according to the first embodiment.
10 [0052] First, it is detected whether or not a result
indicating the obstacle detection has been received from
the obstacle detection device 100 (S201). The processing
is ended if the result indicating the obstacle detection
has not been received from the obstacle detection device
15 100 (No in S201). If the result indicating the obstacle
detection has been received from the obstacle detection
device 100 (Yes in S201), a protected range is set for the
train 10 for which the obstacle has been detected (S202).
Here, the protected range refers to a range where the train
20 10 can stop safely or a range where the train 10 can run
safely. For example, the protected range for the train 10
is set up to just before the obstacle detected ahead in the
direction of travel. Next, protected range information
regarding the protected range being set is transmitted to a
25 corresponding one of the ground control devices 13 via the
train control system network 12 (S203).
[0053] The protected range may be set for the train 10
for which the obstacle has been detected and for a
following train that runs behind the train 10 for which the
30 obstacle has been detected.
[0054] By the operation management device 11 detecting
that the obstacle has been detected, the safety of the
train 10 running on the track 17 can be ensured.
19
[0055] Next, an operation of the ground control device
13 when the obstacle detection device 100 has detected an
obstacle will be described. FIG. 9 is a flowchart
illustrating the operation of the ground control device 13
used in the train control system 1 according 5 to the first
embodiment.
[0056] First, it is detected whether or not the
protected range information has been received from the
operation management device 11 (S301). The processing is
10 ended if the protected range information has not been
received from the operation management device 11 (No in
S301). If the protected range information has been
received from the operation management device 11 (Yes in
S301), protection command information is generated (S302).
15 Here, the protection command information refers to
information which is transmitted to the train 10 and with
which the train 10 can stop safely or run safely. The
protection command information includes, for example,
protected position information indicating a position that
20 allows the train 10 to stop safely. Next, the protection
command information generated is transmitted to the train
10 via a corresponding one of the base networks 14 (S303).
Here, although the protection command information is
transmitted to the train 10 wirelessly as illustrated in
25 FIG. 1, the protection command information generated may be
transmitted from the ground control device 13 to the train
10 via the ground unit(s) 16.
[0057] The protection command information may be
transmitted to the train 10 for which the obstacle has been
30 detected and to a following train that runs behind the
train 10 for which the obstacle has been detected.
[0058] The on-board control device 26 of the train 10
that has received the protection command information
20
generates a speed check pattern for the train 10 to
decelerate and stop at the position at which the train can
stop safely on the basis of the protected position
information included in the protection command information.
The train 10 decelerates according 5 to the speed check
pattern and stops before the obstacle in the direction of
travel.
[0059] The train control system 1 according to the first
embodiment includes: the image information conversion
10 device 22 that is mounted on the train 10 and outputs first
image information obtained by adding the train information
to the image information imaged by the imaging device 21
which is mounted on the train 10 and capable of capturing
the area in front of the train 10; and the obstacle
15 detection device 100 that is installed on the ground and
includes the image information storage unit 103 recording
the first image information output from the image
information conversion device 22, the image information
comparison unit 101 comparing the first image information
20 with second image information recorded in the image
information storage unit 103, and the image information
result output unit 104 outputting a result from the image
information comparison unit 101. Therefore, the train
control system 1 according to the first embodiment can
25 reduce the capacity of the storage device mounted on the
train 10 for performing obstacle detection.
[0060] Moreover, in the train control system 1 according
to the first embodiment, the image information result
output unit 104 outputs a result indicating obstacle
30 detection when an obstacle lies in front of the train 10,
whereby the capacity of the storage device mounted on the
train 10 for performing obstacle detection can be reduced.
[0061] Furthermore, in the train control system 1
21
according to the first embodiment, the image information
comparison unit 101 determines the degree of match of the
image information, whereby the capacity of the storage
device mounted on the train 10 for performing obstacle
detection 5 can be reduced.
[0062] Furthermore, in the train control system 1
according to the first embodiment, the image information
comparison unit 101 determines that an obstacle has been
detected when the degree of match is less than the first
10 threshold, whereby the capacity of the storage device
mounted on the train 10 for performing obstacle detection
can be reduced.
[0063] Furthermore, the train control system 1 according
to the first embodiment further includes the operation
15 management device 11 that manages the operation of the
train 10 and sets the protected range for the train 10 when
receiving the result that an obstacle has been detected
from the image information result output unit 104, whereby
the capacity of the storage device mounted on the train 10
20 for performing obstacle detection can be reduced.
[0064] Second Embodiment
A second embodiment is characterized in that an
obstacle detection device compares the on-board image
information a plurality of times. FIG. 10 is a diagram
25 illustrating a configuration of an obstacle detection
device 200 of the train control system according to the
second embodiment. Note that although FIG. 10 illustrates
only devices required for describing the train control
system according to the second embodiment, other devices
30 and functions may be mounted. The basic configuration of
FIG. 10 is similar to that of FIG. 3. The image
information comparison unit 101 in FIG. 3 compares the onboard
image information once, whereas an image information
22
comparison unit 201 in FIG. 10 compares the on-board image
information a plurality of times.
[0065] An operation of obstacle detection performed by
the obstacle detection device 200 used in the train control
system according to the second embodiment will 5 be described.
FIG. 11 is a flowchart illustrating the operation of
obstacle detection performed by the obstacle detection
device 200 used in the train control system according to
the second embodiment. First, the input unit 102 receives
10 the on-board image information A output from the train 10
(S401). Next, the image information comparison unit 201
compares the on-board image information A with on-board
image information C, and makes a determination on obstacle
detection (S402).
15 [0066] The on-board image information C is past on-board
image information received from the image information
storage unit 103. The on-board image information A and the
on-board image information C have the same train location
information. That is, the on-board image information A and
20 the on-board image information C are image information
captured at the same train location. Moreover, the onboard
image information C may be image information captured
by the train 10 that has generated the on-board image
information A, or may be image information captured by a
25 preceding train running in front of the train 10 that has
generated the on-board image information A. In other words,
train ID information added to the on-board image
information A and C may be the same or different. In the
following description, the past image information captured
30 by the preceding train running in front of the train 10
that has generated the on-board image information A will be
referred to as the on-board image information C.
[0067] The image information comparison unit 201
23
compares the on-board image information A with the on-board
image information C, and makes a determination on obstacle
detection in accordance with the degree of match.
Specifically, the on-board image information A is compared
with the on-board image information C, and 5 it is determined
whether or not the degree of match therebetween is greater
than or equal to a predetermined first threshold. If the
degree of match is greater than or equal to the first
threshold (Yes in S403), the obstacle detection is ended
10 determining that there is no obstacle. If the degree of
match is less than the first threshold (No in S403), it is
determined whether or not the degree of match is greater
than or equal to a predetermined second threshold (S404).
The second threshold is a value smaller than the first
15 threshold. If the degree of match is less than the second
threshold (No in S404), it is determined that an obstacle
has been detected, and a result indicating the obstacle
detection is output to the image information result output
unit 104 (S407). The processing after the result
20 indicating the obstacle detection has been output to the
image information result output unit 104 is similar to that
of the first embodiment. If the degree of match is greater
than or equal to the second threshold (Yes in S404), the
on-board image information A is compared with on-board
25 image information D, and a determination on obstacle
detection is made (S405).
[0068] The on-board image information D is past on-board
image information received from the image information
storage unit 103, and is on-board image information
30 different from the on-board image information C. The onboard
image information A and the on-board image
information D have the same train location information.
That is, the on-board image information A and the on-board
24
image information D are image information captured at the
same train location. Moreover, the on-board image
information D may be image information captured by the
train 10 that has generated the on-board image information
A, or may be image information captured 5 by a preceding
train running in front of the train 10 that has generated
the on-board image information A. In the following
description, the image information captured by the train 10
that has generated the on-board image information A will be
10 referred to as the on-board image information D.
[0069] The image information comparison unit 201
compares the on-board image information A with the on-board
image information D and determines whether or not the
degree of match therebetween is greater than or equal to a
15 predetermined third threshold. If the degree of match is
greater than or equal to the third threshold (Yes in S406),
the obstacle detection is ended determining that there is
no obstacle. The third threshold is a value greater than
or equal to the second threshold. If the degree of match
20 is less than the third threshold (No in S406), it is
determined that an obstacle has been detected, and a result
indicating the obstacle detection is output to the image
information result output unit 104 (S407).
[0070] The train control system according to the second
25 embodiment makes the determination on obstacle detection a
plurality of times using the different image information
having the same train location information. Although the
above description has illustrated the example in which the
determination on obstacle detection is made twice, the
30 determination may be made three times or more. The
determination made the plurality of times reduces false
detection, and thus enables a more accurate determination
on obstacle detection.
25
[0071] The train control system according to the second
embodiment uses the on-board image information with the
different train ID information in the first determination
on obstacle detection and in the second and subsequent
determinations on obstacle detection, thereby 5 being able to
eliminate false detection due to the angle of installation
of the imaging device that is different depending on the
train. False detection due to a deviation in the angle of
installation of the imaging device depending on the train
10 can be eliminated.
[0072] In the train control system according to the
second embodiment, the image information comparison unit
201 performs obstacle detection by comparing the first
image information with third image information recorded in
15 the image information storage unit 103 when the degree of
match is greater than or equal to the second threshold and
less than the first threshold, whereby the capacity of the
storage device mounted on the train 10 for performing
obstacle detection can be reduced. Also, the determination
20 made the plurality of times reduces false detection, and
thus enables a more accurate determination on obstacle
detection.
[0073] Furthermore, in the train control system
according to the second embodiment, the image information
25 comparison unit 201 determines that an obstacle has been
detected when the degree of match is less than the third
threshold, whereby the capacity of the storage device
mounted on the train 10 for performing obstacle detection
can be reduced. Also, the determination made the plurality
30 of times reduces false detection, and thus enables a more
accurate determination on obstacle detection.
[0074] Furthermore, the obstacle detection device 200
according to the second embodiment includes: the image
26
information storage unit 103 that is installed on the
ground and records the first image information; the image
information comparison unit 201 that determines the degree
of match of the image information by comparing the first
image information with second image information 5 recorded in
the image information storage unit 103, and performs a
second round of obstacle detection when the degree of match
is greater than or equal to the second threshold and less
than the first threshold; and the image information result
10 output unit 104 that outputs the result from the image
information comparison unit 201. Therefore, the obstacle
detection device 200 according to the second embodiment can
reduce the capacity of the storage device mounted on the
train 10 for performing obstacle detection. Also, the
15 determination made the plurality of times reduces false
detection, and thus enables a more accurate determination
on obstacle detection.
[0075] Furthermore, in the obstacle detection device 200
according to the second embodiment, the image information
20 comparison unit 201 performs obstacle detection by
comparing the first image information with the third image
information recorded in the image information storage unit
103, whereby the capacity of the storage device mounted on
the train 10 for performing obstacle detection can be
25 reduced. Also, the determination made the plurality of
times reduces false detection, and thus enables a more
accurate determination on obstacle detection.
[0076] Third Embodiment
A third embodiment is characterized in that an
30 obstacle detection device 300 uses on-board image
information having different train location information,
the on-board image information being captured by the train
10 for which a determination on obstacle detection is made.
27
FIG. 12 is a diagram illustrating a configuration of the
obstacle detection device 300 of the train control system
according to the third embodiment. Note that although FIG.
12 illustrates only devices required for describing the
train control system according to the 5 third embodiment,
other devices and functions may be mounted.
[0077] The obstacle detection device 300 illustrated in
FIG. 12 includes the input unit 102, the image information
storage unit 103, a comparison result storage unit 305, an
10 image information comparison unit 301, and the image
information result output unit 104. The comparison result
storage unit 305 is connected to the image information
comparison unit 301, and stores a result of comparison
performed in the past by the image information comparison
15 unit 301. The result of comparison performed in the past
includes a record of the degree of match of the comparison
performed in the past and the like. Here, the comparison
result storage unit 305 is configured separately, but the
image information storage unit 103 may include the
20 comparison result storage unit 305.
[0078] An operation of obstacle detection performed by
the obstacle detection device 300 used in the train control
system according to the third embodiment will be described.
FIG. 13 is a flowchart illustrating the operation of
25 obstacle detection performed by the obstacle detection
device 300 used in the train control system according to
the third embodiment. First, the input unit 102 receives
the on-board image information A output from the train 10
(S501). Next, the on-board image information A is compared
30 with on-board image information E in the image information
comparison unit 301, which then makes a determination on
obstacle detection (S502).
[0079] The on-board image information E is past on-board
28
image information received from the image information
storage unit 103. The on-board image information A and the
on-board image information E have the same train location
information. That is, the on-board image information A and
the on-board image information E are 5 image information
captured at the same train location. Moreover, the onboard
image information E may be image information captured
by the train 10 that has generated the on-board image
information A, or may be image information captured by a
10 preceding train running in front of the train 10 that has
generated the on-board image information A. In other words,
train ID information added to the on-board image
information A and E may be the same or different. In the
following description, the past image information captured
15 by the train 10 that has generated the on-board image
information A will be referred to as the on-board image
information E.
[0080] The image information comparison unit 301
compares the on-board image information A with the on-board
20 image information E, and makes a determination on obstacle
detection in accordance with the degree of match.
Specifically, the on-board image information A is compared
with the on-board image information E, and it is determined
whether or not the degree of match therebetween is greater
25 than or equal to a predetermined first threshold. If the
degree of match is greater than or equal to the first
threshold (Yes in S503), the obstacle detection is ended
determining that there is no obstacle. If the degree of
match is less than the first threshold (No in S503), it is
30 determined whether or not the degree of match is greater
than or equal to a predetermined second threshold (S504).
The second threshold is a value smaller than the first
threshold. If the degree of match is less than the second
29
threshold (No in S504), it is determined that an obstacle
has been detected, and a result indicating the obstacle
detection is output to the image information result output
unit 104 (S507). The processing after the result
indicating the obstacle detection has 5 been output to the
image information result output unit 104 is similar to that
of the first embodiment. If the degree of match is less
than the first threshold but greater than or equal to the
second threshold (Yes in S504), the image information
10 comparison unit 301 makes a determination on obstacle
detection according to a transition of the degree of match
(S505).
[0081] The image information comparison unit 301 refers
to past comparison results stored in the comparison result
15 storage unit 305. Specifically, the image information
comparison unit 301 refers to results of image information
comparison for on-board image information A1 generated
immediately before the on-board image information A, and
for on-board image information A2 generated before the on20
board image information A and A1. For example, results of
the degree of match are referred to as the results of image
information comparison. The train ID information added to
the on-board image information A, A1, and A2 is the same.
[0082] For example, it is assumed that the results of
25 image information comparison (the degrees of match) for the
on-board image information A, A1, and A2 are 94%, 95%, and
96%, respectively. In other words, it is assumed that the
degree of match for the on-board image information A2
compared before the on-board image information A and A1 is
30 96%, the degree of match for the on-board image information
A1 compared immediately before the on-board image
information A is 95%, and the degree of match for the onboard
image information A compared this time is 94%. In
30
this case, the degree of match decreases in value as time
passes.
[0083] The image information comparison unit 301 refers
to the past comparison results stored in the comparison
result storage unit 305, and determines 5 that an obstacle
has been detected if the degree of match decreases in value
as time passes (Yes in S506), whereby a result indicating
the obstacle detection is output to the image information
result output unit 104 (S507). The image information
10 comparison unit 301 refers to the past comparison results
stored in the comparison result storage unit 305, and
determines that there is no obstacle if the degree of match
does not decrease in value as time passes (No in S506),
whereby the obstacle detection is ended.
15 [0084] FIG. 14 is a diagram for explaining obstacle
detection by the train control system according to the
third embodiment. FIG. 14(a) is a diagram illustrating the
on-board image information A. FIG. 14(b) is a diagram
illustrating the on-board image information A1. FIG. 14(c)
20 is a diagram illustrating the on-board image information A2.
[0085] The image information comparison unit 301
performs image information comparison on the on-board image
information A and determines, as a result, that the onboard
image information does not match in six areas
25 corresponding to (3, 4), (4, 4), ..., and (8, 4) and that
the degree of match is 94%. Similarly, the image
information comparison unit 301 performs image information
comparison on the on-board image information A1 and
determines, as a result, that the on-board image
30 information does not match in five areas corresponding to
(3, 6), (4, 6), ..., and (7, 6) and that the degree of
match is 95%. Similarly, the image information comparison
unit 301 performs image information comparison on the on31
board image information A2 and determines, as a result,
that the on-board image information does not match in four
areas corresponding to (4, 8), (5, 8), (6, 8), and (7, 8)
and that the degree of match is 96%.
[0086] FIG. 15 is a table illustrating 5 a history of the
on-board image information of the train control system
according to the third embodiment. FIG. 15 illustrates an
example of the time at which each of the on-board image
information A, A1, and A2 is captured, an example of the
10 train location at which each of the on-board image
information A, A1, and A2 is captured, and an example of
the degree of match for each of the on-board image
information A, A1, and A2. As can be seen from FIG. 15,
the pieces of on-board image information A, A1, and A2 are
15 captured at different times and train locations. Also, the
pieces of on-board image information in FIG. 15 are
captured in the order of the on-board image information A2,
A1, and A.
[0087] As can be seen from FIG. 14, since the train 10
20 is running, the distance between the train 10 and an
obstacle gets shorter as time passes. As the distance
between the train 10 and the obstacle gets shorter, the
number of areas of the image information of the obstacle
with respect to all the image information areas increases.
25 In a comparison between the on-board image information A2
and A1 in FIG. 14, the number of areas of the image
information of the obstacle with respect to all the image
information areas is larger in the on-board image
information A1. Moreover, in a comparison between the on30
board image information A1 and A, the number of areas of
the image information of the obstacle with respect to all
the image information areas is larger in the on-board image
information A. As time passes, the number of areas of the
32
image information of the obstacle with respect to all the
image information areas increases. That is, the degree of
match with the case where there is no obstacle decreases as
time passes.
[0088] The third embodiment makes the 5 determination on
obstacle detection using the on-board image information
having the same train ID information and different train
location information. Specifically, the obstacle is
detected by making the determination on obstacle detection
10 using the transition of the results of comparison (degrees
of match) of the image information that is generated by the
train 10 having the same train ID information and has
different train locations. The use of the image
information having the same train ID information allows for
15 comparison based on the image information obtained by the
same imaging device, so that more accurate obstacle
detection can be performed.
[0089] In the above description, the determination is
made using the transition of the three degrees of match,
20 which includes the degree of match preceding the current
and previous degree of match up to the current degree of
match, but the transition of two or four or more degrees of
match may be used. In order to reduce false determinations,
it is preferable to use the transition of three or more
25 degrees of match. As for the decrease in value of the
degree of match as time passes, the value need not decrease
continuously but need only decrease overall.
[0090] In the train control system according to the
third embodiment, the image information comparison unit 301
30 performs obstacle detection on the basis of the transition
of the degrees of match when the degree of match is greater
than or equal to the second threshold and less than the
first threshold, whereby the capacity of the storage device
33
mounted on the train 10 for performing obstacle detection
can be reduced. Also, the comparison can be made on the
basis of the image information from the same imaging device,
whereby more accurate obstacle detection can be performed.
[0091] Furthermore, in the train 5 control system
according to the third embodiment, the image information
comparison unit 301 determines that an obstacle has been
detected when the degree of match decreases as time passes,
whereby the capacity of the storage device mounted on the
10 train 10 for performing obstacle detection can be reduced.
Also, the comparison can be made on the basis of the image
information from the same imaging device, whereby more
accurate obstacle detection can be performed.
[0092] Fourth Embodiment
15 A fourth embodiment is characterized in that, when
comparing the on-board image information, an obstacle
detection device 400 compares train speed information and
train acceleration information added to the on-board image
information.
20 [0093] FIG. 16 is a diagram illustrating a configuration
of the obstacle detection device 400 of the train control
system according to the fourth embodiment. Note that
although FIG. 16 illustrates only devices required for
describing the train control system according to the fourth
25 embodiment, other devices and functions may be mounted.
[0094] The obstacle detection device 400 illustrated in
FIG. 16 includes the input unit 102, the image information
storage unit 103, an image information comparison unit 401,
and the image information result output unit 104. The
30 basic configuration of FIG. 16 is similar to that of FIG. 3.
[0095] An operation of obstacle detection performed by
the obstacle detection device 400 used in the train control
system according to the fourth embodiment will be described.
34
FIG. 17 is a flowchart illustrating the operation of
obstacle detection performed by the obstacle detection
device 400 used in the train control system according to
the fourth embodiment. First, the input unit 102 receives
the on-board image information A output 5 from the train 10
(S601). Next, the on-board image information A is compared
with on-board image information F in the image information
comparison unit 401, which then makes a determination on
obstacle detection (S602).
10 [0096] The on-board image information F is past on-board
image information received from the image information
storage unit 103. The on-board image information A and the
on-board image information F have the same train ID
information and train location information.
15 [0097] The image information comparison unit 401
compares the on-board image information A with the on-board
image information F, and makes a determination on obstacle
detection in accordance with the degree of match.
Specifically, the on-board image information A is compared
20 with the on-board image information F, and it is determined
whether or not the degree of match therebetween is greater
than or equal to a predetermined first threshold. If the
degree of match is greater than or equal to the first
threshold (Yes in S603), the obstacle detection is ended
25 determining that there is no obstacle. If the degree of
match is less than the first threshold (No in S603), it is
determined whether or not the degree of match is greater
than or equal to a predetermined second threshold (S604).
The second threshold is a value smaller than the first
30 threshold. If the degree of match is less than the second
threshold (No in S604), it is determined that an obstacle
has been detected, and a result indicating the obstacle
detection is output to the image information result output
35
unit 104 (S607). The processing after the result
indicating the obstacle detection has been output to the
image information result output unit 104 is similar to that
of the first embodiment. If the degree of match is less
than the first threshold but greater than 5 or equal to the
second threshold (Yes in S604), a determination on obstacle
detection is made using the train speed information and the
train acceleration information added to the on-board image
information A and the on-board image information F (S605).
10 [0098] The image information comparison unit 401
compares the train speed information between the on-board
image information A and the on-board image information F,
and calculates a difference. Similarly, the image
information comparison unit 401 compares the train
15 acceleration information between the on-board image
information A and the on-board image information F, and
calculates a difference. Here, the difference value
calculated for the train speed information and the
difference value calculated for the train acceleration
20 information are denoted as D1 and D2, respectively.
[0099] The image information comparison unit 401
determines whether or not the difference value D1 in the
train speed information is less than or equal to a
predetermined fourth threshold. Similarly, the image
25 information comparison unit 401 determines whether or not
the difference value D2 in the train acceleration
information is less than or equal to a predetermined fifth
threshold. If the difference value D1 in the train speed
information is less than or equal to the fourth threshold,
30 and the difference value D2 in the train acceleration
information is less than or equal to the fifth threshold
(Yes in S606), it is determined that an obstacle has been
detected, and a result indicating the obstacle detection is
36
output to the image information result output unit 104
(S607). If the difference value D1 in the train speed
information is greater than the fourth threshold (No in
S606), or if the difference value D2 in the train
acceleration information is greater 5 than the fifth
threshold (No in S606), it is determined that there is no
obstacle, and the obstacle detection is ended.
[0100] When the difference value D1 in the train speed
information is less than or equal to the fourth threshold
10 and the difference value D2 in the train acceleration
information is less than or equal to the fifth threshold,
there is not much difference in the values of the train
speed information and the values of the train acceleration
information at the time the on-board image information A
15 and the on-board image information F are generated, which
means there is not much difference in the image capture
conditions regarding the train speed and the train
acceleration. That is, it is acknowledged that the pieces
of image information with not much difference in the image
20 capture conditions are compared. Therefore, although the
degree of match is greater than or equal to the second
threshold, the image information comparison unit 401
determines that an obstacle has been detected since the
degree of match is less than the first threshold that is
25 the threshold for determining obstacle detection.
[0101] The train control system according to the fourth
embodiment compares the train speed information and the
train acceleration information added to the on-board image
information, and can thus take into consideration the
30 difference in the image capture conditions for the on-board
image information and improve the reliability of the result
of comparison of the on-board image information.
[0102] In the train control system according to the
37
fourth embodiment, when the degree of match is greater than
or equal to the second threshold and less than the first
threshold, the image information comparison unit 401
performs obstacle detection by comparing the train speed
information between the first image information 5 and the
second image information as well as the train acceleration
information between the first image information and the
second image information, whereby the capacity of the
storage device mounted on the train 10 for performing
10 obstacle detection can be reduced. Also, the difference in
the image capture conditions for the on-board image
information can be considered, so that the reliability of
the result of comparison of the on-board image information
can be improved.
15 [0103] Note that in the first to fourth embodiments
described above, the image information conversion device 22
and the obstacle detection device 100 (200, 300, 400) each
include at least a processor 1003, a storage circuit, a
receiver 1004, and a transmitter 1001, and the operation of
20 each device can be implemented by software. FIG. 18 is a
diagram illustrating an example of a general configuration
of hardware that implements each of the image information
conversion device 22 and the obstacle detection device 100
(200, 300, 400) of the train control system according to
25 each of the first to fourth embodiments. A device
illustrated in FIG. 18 includes the processor 1003, a
memory 1002, the receiver 1004, and the transmitter 1001,
and the processor 1003 performs calculation and control by
software using received data. The memory 1002 stores
30 received data or data necessary when the processor 1003
performs calculation and control, and also stores software.
The receiver 1004 is an interface that receives a signal or
information input to the image information conversion
38
device 22 or the obstacle detection device 100 (200, 300,
400). The transmitter 1001 is an interface that transmits
a signal or information output from the image information
conversion device 22 or the obstacle detection device 100
(200, 300, 400). Note that a plurality 5 of each of the
processors 1003, the memories 1002, the receivers 1004, and
the transmitters 1001 may be provided.
[0104] Moreover, the embodiments can be combined as
appropriate. For example, a combination of the second
10 embodiment and the third embodiment can perform the
determination twice using different pieces of image
information with the same train location information, and
can perform the determination based on the transition of
the degrees of match for the image information that is
15 generated by the train 10 having the same train ID
information and has different train locations.
[0105] Note that the present invention is not limited to
the above embodiments, and the embodiments can each be
modified or omitted as appropriate without departing from
20 the scope of the concept of the present invention.
Reference Signs List
[0106] 1 train control system; 10 train; 11 operation
management device; 12 train control system network; 13
25 ground control device; 14 base network; 15 wireless base
station; 16 ground unit; 17 track; 21 imaging device; 22
image information conversion device; 23 on-board
information input/output device; 24 on-board wireless
device; 25 on-board antenna; 26 on-board control device;
30 27 on-board unit; 28 tachometer generator; 30 train
control unit; 31 ground unit information receiving unit;
32 storage unit; 100, 200, 300, 400 obstacle detection
device; 101, 201, 301, 401 image information comparison
39
unit; 102 input unit; 103 image information storage unit;
104 image information result output unit; 305 comparison
result storage unit; 1001 transmitter; 1002 memory; 1003
processor; 1004 receiver.
5
40
We Claim :
1. A train control system comprising:
an image information conversion device mounted on a
train to output first image information that is obtained by
adding train information to image information 5 imaged by an
imaging device capable of capturing an area in front of the
train; and
an obstacle detection device installed on the ground
and including: an image information storage unit to record
10 the first image information output from the image
information conversion device; an image information
comparison unit to compare the first image information with
second image information recorded in the image information
storage unit; and an image information result output unit
15 to output a result from the image information comparison
unit.
2. The train control system according to claim 1, wherein
the image information result output unit outputs a
20 result indicating obstacle detection when an obstacle lies
in front of the train.
3. The train control system according to claim 1 or 2,
wherein
25 the image information comparison unit determines a
degree of match of the image information.
4. The train control system according to claim 3, wherein
the image information comparison unit determines that
30 an obstacle is detected when the degree of match is less
than a first threshold.
5. The train control system according to claim 3, wherein
41
when the degree of match is greater than or equal to a
second threshold and less than a first threshold, the image
information comparison unit performs obstacle detection by
comparing the first image information with third image
information recorded in the image information 5 storage unit.
6. The train control system according to claim 5, wherein
the image information comparison unit determines that
an obstacle is detected when the degree of match is less
10 than a third threshold.
7. The train control system according to claim 3, wherein
when the degree of match is greater than or equal to a
second threshold and less than a first threshold, the image
15 information comparison unit performs obstacle detection on
the basis of transition of the degree of match.
8. The train control system according to claim 7, wherein
the image information comparison unit determines that
20 an obstacle is detected when the degree of match decreases
as time passes.
9. The train control system according to claim 3, wherein
when the degree of match is greater than or equal to a
25 second threshold and less than a first threshold, the image
information comparison unit performs obstacle detection by
comparing train speed information between the first image
information and the second image information, and comparing
train acceleration information between the first image
30 information and the second image information.
10. The train control system according to any one of
claims 1 to 9, further comprising
42
an operation management device to perform operation
management on the train, wherein
the operation management device sets a protected range
for the train when receiving the result indicating obstacle
detection output by the image information 5 result output
unit.
11. An obstacle detection device comprising:
an image information storage unit installed on the
10 ground to record first image information;
an image information comparison unit to determine a
degree of match of image information by comparing the first
image information with second image information recorded in
the image information storage unit, and perform a second
15 round of obstacle detection when the degree of match is
greater than or equal to a second threshold and less than a
first threshold; and
an image information result output unit to output a
result from the image information comparison unit.
20
12. The obstacle detection device according to claim 11,
wherein
the image information comparison unit performs
obstacle detection by comparing the first image information
25 with third image information recorded in the image
information storage unit.
13. The obstacle detection device according to claim 11 or
12, wherein
30 the image information comparison unit performs
obstacle detection on the basis of transition of the degree
of match.
14. The obstacle detection device accor
claims 11 to 13, wherein
the image information comparison unit performs
obstacle detection by comparing train speed information
between the first image information and 5 the second image
information, and comparing train acceleration infor
between the first image information and the second image
information.