Patent ID: 12243312

DESCRIPTION OF EMBODIMENTS

Hereinafter, an example embodiment of the present invention is described by use of the drawings. Note that, a similar reference sign is assigned to a similar component in all the drawings, and description thereof will not be repeated accordingly.

FIG.1is a diagram illustrating a usage environment of a station monitoring apparatus10according to an example embodiment. The station monitoring apparatus10is an apparatus that senses that a person or belongings of the person are caught in a door50of a vehicle40at a station, and is used together with a capture apparatus20. The capture apparatus20is placed in a platform, and repeatedly generates an image. A frame rate of the capture apparatus20is any frame rate. A capture range of the capture apparatus20includes at least the door50of the vehicle40stopping at a platform, and a vicinity of the door50. Thus, in an image generated by the capture apparatus20, the door50, persons getting into and out of the door50, and a person having himself/herself or belongings caught in the door50are captured. Then, the station monitoring apparatus10processes the image generated by the capture apparatus20, and thereby senses that the person or the belongings of the person are caught in the door50of the vehicle40. In this instance, the station monitoring apparatus10uses a relation between a position of the person on the platform and a position of the door50.

Then, the station monitoring apparatus10outputs a sensing result to an output apparatus30. The output apparatus30is, for example, a display apparatus intended for a person concerned in an operation of a train. The display apparatus may be placed on the same track side of the same platform as the capture apparatus20, or may be placed in a monitoring center. Moreover, the output apparatus30may be a portable terminal carried by a station employee. Moreover, the output apparatus30may be a speaker placed in the same platform as the capture apparatus20. Note that, when the output apparatus30is a display apparatus, the output apparatus30may further display an image generated by the capture apparatus20.

FIG.2is a diagram illustrating a first arrangement example of the capture apparatus20. In the example illustrated in the present drawing, a capture direction of the capture apparatus20is directed obliquely to vehicles40. Thus, a plurality of the vehicles40are captured in an image generated by one capture apparatus20. However, when the number of the vehicles40constituting one train is large, a plurality of the capture apparatuses20are placed for each single boarding place (track) of a platform.

FIG.3is a diagram illustrating a second arrangement example of the capture apparatus20. In the example illustrated in the present drawing, a plurality of the capture apparatuses20are provided for one vehicle40. The plurality of the capture apparatuses20capture the vehicle40from directions differing from each other. As one example, a first capture apparatus20is directed in a direction along a travel direction of the vehicle40, and a second capture apparatus20is directed to a side opposite to the travel direction of the vehicle40. Thus, the door50of the vehicle40can be restrained from becoming a blind spot due to a person or the like on a platform.

FIG.4is a diagram illustrating one example of a functional configuration of the station monitoring apparatus10. The station monitoring apparatus10includes an image processing unit110and a decision unit120. The image processing unit110determines a position of the door50of the vehicle40and a position of a person by analyzing an image generated by the capture apparatus20, i.e., an image capturing a platform of a station. The decision unit120decides, after the vehicle40has begun to move, by use of the position of the door50and the position of the person, whether to perform predetermined processing.

In the example illustrated in the present drawing, the decision unit120uses data stored in a history data storage unit122. The history data storage unit122stores at least one of history data of a position of a person and a position of a door determined by the image processing unit110, and history data of a relative position of a position of a person and a position of a door. The decision unit120decides, by use of the history data, whether to perform predetermined processing. Details of processing performed by the image processing unit110and processing performed by the decision unit120are described by use of other drawings. Note that, the history data storage unit122may be a part of the station monitoring apparatus10, or may be located outside of the station monitoring apparatus10.

FIG.5(A)illustrates a first example of processing in which the image processing unit110senses a position of a person on a platform. In the example illustrated in the present drawing, the image processing unit110performs, for example, feature value matching, and thereby detects a region where a person is present. Then, the image processing unit110determines a center of the detected region as a position of a person. In the example illustrated in the present drawing, a region where a person is present is illustrated by a rectangle. Then, the image processing unit110determines, as a position of the person, a center of the rectangle, i.e., an intersection point of two diagonal lines.

FIG.5(B)illustrates a second example of processing in which the image processing unit110senses a position of a person on a platform. In the example illustrated in the present drawing, the image processing unit110estimates a skeleton of a person, and further estimates a position of a joint. Then, the image processing unit110determines, as a position of the person, a closest position to the door50(e.g., an end52or an end54described later) among the estimated positions of the joint, i.e., a position of the closest joint to the door50.

FIG.6(A)illustrates a first example of processing in which the image processing unit110senses a position of the door50of the vehicle40. In the example illustrated in the present drawing, the image processing unit110performs, for example, feature value matching, and thereby senses the end52of the door50. Then, the sensed end52is determined as a position of the door. Herein, while the door50has four ends, the image processing unit110preferably uses the upper end52of the door50as a position of the door. In this way, for example, even when a lower portion of the door50is hidden by a platform door or the like, the image processing unit110can sense a position of the door50.

FIG.6(B)illustrates a second example of processing in which the image processing unit110senses a position of the door50of the vehicle40. The door50of the vehicle40is a double-leaf door in many cases. In such a case, the image processing unit110performs, for example, feature value matching, and thereby senses the end54of a part (hereinafter, referred to as a tangent line) in which two door leaves constituting the door50contact each other. Then, the sensed end54is determined as a position of the door. In the present example as well, the image processing unit110preferably uses the upper end54of the tangent line as a position of the door.

FIG.7is a diagram illustrating a hardware configuration example of the station monitoring apparatus10. The station monitoring apparatus10includes a bus1010, a processor1020, a memory1030, a storage device1040, an input/output interface1050, and a network interface1060.

The bus1010is a data transmission path through which the processor1020, the memory1030, the storage device1040, the input/output interface1050, and the network interface1060transmit/receive data to/from one another. However, a method of mutually connecting the processor1020and the like is not limited to bus connection.

The processor1020is a processor achieved by a central processing unit (CPU), a graphics processing unit (GPU), or the like.

The memory1030is a main storage apparatus achieved by a random access memory (RAM), or the like.

The storage device1040is an auxiliary storage apparatus achieved by a hard disk drive (HDD), a solid state drive (SSD), a memory card, a read only memory (ROM), or the like. The storage device1040stores a program module that achieves each of functions (e.g., the image processing unit110and the decision unit120) of the station monitoring apparatus10. The processor1020reads each of the program modules onto the memory1030, executes the read program module, and thereby achieves each of the functions being related to the program module. Moreover, the storage device1040also functions as the history data storage unit122.

The input/output interface1050is an interface for connecting the station monitoring apparatus10and various kinds of input/output equipment (e.g., the capture apparatus20and the output apparatus30).

The network interface1060is an interface for connecting the station monitoring apparatus10to a network. The network is, for example, a local area network (LAN) or a wide area network (WAN). A method of connecting the network interface1060to a network may be wireless connection or may be wired connection. Note that, the station monitoring apparatus10may be connected to at least one of the capture apparatus20and the output apparatus30via the network interface1060.

FIG.8is a flowchart illustrating a first example of processing performed by the station monitoring apparatus10. The processing illustrated in the present drawing is performed after the vehicle40has begun to move. Note that, beginning of movement of the vehicle40is sensed by, for example, processing an image generated by the capture apparatus20(e.g., sensing of a change in a position of the end52), but may be sensed by use of another method.

When having generated an image, each of the capture apparatuses20transmits the image to the station monitoring apparatus10. The station monitoring apparatus10acquires the image from the capture apparatus20together with date and time information indicating a generation date and time of the image (step S10). Next, the image processing unit110and the decision unit120perform the following processing for each of all the doors50that the vehicle40has.

First, the image processing unit110senses a position of a person and a position of the door50included in the image, and stores a sensing result in the history data storage unit122as data being associated with the date and time information, i.e., the history data described above (step S20). Herein, the decision unit120preferably limits a person to be a sensing target to a person located within a predetermined distance (e.g., within 2 m) from the door50. For example, the decision unit120senses a position of the door50by processing the image first. Next, the decision unit120decides, as a region of a sensing processing target of a person, a region located within a predetermined distance from the door50sensed in the image. In this way, a processing load of the station monitoring apparatus10can be reduced.

Then, the decision unit120computes a movement velocity of a position of the door50by use of the history data stored by the history data storage unit122, and a position of the door50currently generated by the image processing unit110. Moreover, the decision unit120computes a movement velocity of a position of a person by use of the history data stored by the history data storage unit122, and a position of the person currently generated by the image processing unit110(step S30). A velocity of the door50and a velocity of a person are indicated by, for example, the number of movement pixels/one frame (or a unit time), or an actual movement distance/one frame (or a unit time). Then, when a difference of the two computed movement velocities is within a criterion (step S40: Yes), the decision unit120increases a value of a counter, i.e., a continuation time by one frame (step S50). Then, when the value of the counter has reached a criterion, i.e., when a state in which a difference between the movement velocity of the door50and the movement velocity of the person is within a criterion continues for a time equal to or more than a criterion time (step S60: Yes), a possibility that a person or belongings of the person are caught in the door50is high, and, therefore, the decision unit120executes predetermined processing (step S70). A criterion (criterion time) in the step S60is, for example, equal to or more than 1/30 seconds. Moreover, the criterion is preferably equal to or less than one second. Moreover, processing performed in the step S70is, for example, processing of stopping the vehicle40having the door50. In this instance, the decision unit120may cause a speaker placed in a station to output a caution sound.

Note that, in the step S60, a criterion time may not be a fixed value, and may vary in response to a movement distance (the number of movement pixels) per unit time. Specifically, as a movement distance per unit time becomes long, a criterion time is shortened. For example, when the number of movement pixels of the door50between a certain time T and a time T+α exceeds the predetermined number of pixels (e.g., equal to or more than 10 pixels), a time interval α is set to a criterion time. In other words, the time interval α taken for the number of movement pixels of the door50to exceed a predetermined number of pixels is set to a criterion time. By allowing a criterion time to be dynamic in this way, the criterion time can be prolonged at a time point when an electric train begins to run, and the criterion time can be shortened when the electric train reaches a given velocity. This reduces such a risk that a criterion time is too short and an influence of minute noise is received, or a criterion time is too long and a decision becomes excessively late, and enables an optimum criterion time to be set in response to a running speed of an electric train.

Moreover, in the step S40, the decision unit120computes a difference of the two movement velocities as a vector. Then, a component (e.g., a movement direction of the vehicle40) in a particular direction of the vector is preferably a basis for decision. For example, when a component in the movement direction of the vehicle40is less than a criterion regarding a vector representing a difference of the two movement velocities, movement amounts of a person and an electric train may be decided to be equal. An influence of noise resulting from a body movement of a person can be eased by making decision only based on a component in a movement direction of the vehicle40.

Moreover, the decision unit120preferably outputs, to the output apparatus30, information (hereinafter, referred to as door position information) indicating a position of the door50being high in a possibility of catching a person or belongings of the person (i.e., the door50decided to have reached a criterion in the step S60). As described above, the output apparatus30is, for example, a portable terminal carried by a station employee and/or a display apparatus placed in a station. In this way, an action of a station employee can be accelerated. Note that, door position information output to the output apparatus30is generated by use of, for example, a position of the door50(e.g., positions of the ends52and54) sensed by the image processing unit110.

Herein, door position information output to the output apparatus30may include, for example, a position of the capture apparatus20that has generated an image in which the door50is captured. In this case, the capture apparatus20transmits identification information of the capture apparatus20to the station monitoring apparatus10together with the image. Then, the station monitoring apparatus10previously stores the identification information of the capture apparatus20in association with a position of the capture apparatus20. Then, the decision unit120determines, by use of the stored information, a position being related to the identification information transmitted from the capture apparatus20.

Note that, when the difference of the movement velocities is more than the criterion in the step S40, the decision unit120resets a value of the counter (step S52), and returns to the step S10.

FIG.9is a flowchart illustrating a second example of processing performed by the station monitoring apparatus10. In the example illustrated in the present drawing, the decision unit120performs the following processing, instead of the step S30of computing a movement velocity of a door and a movement velocity of a person, and the step S40of using a difference thereof for decision.

When the image processing unit110senses a position of a door and a position of a person (step S20), the decision unit120computes a difference between the two positions. The difference indicates a relative distance between the door and the person (step S32). Then, when a relative position is equal to or less than a criterion value (step S42: Yes), the decision unit120performs processing in and after step S50. Moreover, when a relative position is more than the criterion value (step S42No), the decision unit120resets a counter (step S52), and returns to step S10.

As above, according to the present example embodiment, the station monitoring apparatus10determines a position of the door50of the vehicle40and a position of a person by analyzing an image capturing a platform of a station. Then, whether to perform predetermined processing is decided by use of the positions. For example, even when a person moves at a velocity close to the vehicle40at a place being distant from the door50, the station monitoring apparatus10does not decide that the person or belongings of the person are caught in the door50. Moreover, even when belongings of a person caught in the door50are thin belongings, such a fact can be sensed. Thus, a fact that a person or belongings of the person are caught in the door50can be accurately sensed.

While an example embodiment of the present invention has been described above with reference to the drawings, the example embodiment is an exemplification of the present invention, and various configurations other than the configuration described above can also be adopted.

Moreover, although a plurality of processes (pieces of processing) are described in order in a plurality of flowcharts used in the above description, an execution order of processes executed in each example embodiment is not limited to the described order. In each example embodiment, an order of illustrated processes can be changed to an extent that causes no problem in terms of content. Moreover, each of the example embodiments described above can be combined to an extent that content does not contradict.

Some or all of the above-described example embodiments can also be described as, but are not limited to, the following supplementary notes.

1. A station monitoring apparatus including:

an image processing unit that determines a position of a door of a vehicle and a position of a person by analyzing an image capturing a platform of a station; anda decision unit that decides, after the vehicle has begun to move, by use of the position of the door and the position of the person, whether to perform predetermined processing.
2. The station monitoring apparatus according to supplementary note 1, in whichthe decision unit performs the predetermined processing when deciding that a difference between a movement velocity of any of the persons and a movement velocity of the door is within a criterion continuously for a criterion time.
3. The station monitoring apparatus according to supplementary note 1, in whichthe decision unit performs the predetermined processing when deciding that a relative distance between any of the persons and the door is within a criterion continuously for a criterion time.
4. The station monitoring apparatus according to supplementary note 2 or 3, in whichthe criterion time is equal to or more than 1/30 seconds.
5. The station monitoring apparatus according to any one of supplementary notes 1 to 4, in whichthe position of the door is an end of the door.
6. The station monitoring apparatus according to any one of supplementary notes 1 to 4, in whichthe door is a double-leaf door, andthe position of the door is an end of a tangent line of two door leaves.
7. The station monitoring apparatus according to any one of supplementary notes 1 to 6, in whichthe image processing unit determines, as the position of the person, a center of a region where the person is present.
8. The station monitoring apparatus according to any one of supplementary notes 1 to 6, in whichthe image processing unit estimates a position of a joint of the person, and determines, as the position of the person, a closest position to the position of the door among the estimated positions of the joints.
9. The station monitoring apparatus according to any one of supplementary notes 1 to 8, in whichthe predetermined processing includes processing of stopping the vehicle.
10. The station monitoring apparatus according to any one of supplementary notes 1 to 9, in whichthe predetermined processing includes output of information indicating the position of the door.
11. The station monitoring apparatus according to supplementary note 10, in whichthe decision unit outputs information indicating the position of the door to a portable terminal carried by a station employee.
12. A station monitoring method including:by a computer,determining a position of a door of a vehicle and a position of a person by analyzing an image capturing a platform of a station; anddeciding, after the vehicle has begun to move, by use of the position of the door and the position of the person, whether to perform predetermined processing.
13. The station monitoring method according to supplementary note 12, further including,by the computer,performing the predetermined processing when deciding that a difference between a movement velocity of any of the persons and a movement velocity of the door is within a criterion continuously for a criterion time.
14. The station monitoring method according to supplementary note 12, further including,by the computer,performing the predetermined processing when deciding that a relative distance between any of the persons and the door is within a criterion continuously for a criterion time.
15. The station monitoring method according to supplementary note 13 or 14, in whichthe criterion time is equal to or more than 1/30 seconds.
16. The station monitoring method according to any one of supplementary notes 12 to 15, in whichthe position of the door is an end of the door.
17. The station monitoring method according to any one of supplementary notes 12 to 15, in whichthe door is a double-leaf door, andthe position of the door is an end of a tangent line of two door leaves.
18. The station monitoring method according to any one of supplementary notes 12 to 17, further including,by the computer,determining, as the position of the person, a center of a region where the person is present.
19. The station monitoring method according to any one of supplementary notes 12 to 17, further including,by the computer,estimating a position of a joint of the person, and determining, as the position of the person, a closest position to the position of the door among the estimated positions of the joints.
20. The station monitoring method according to any one of supplementary notes 12 to 19, in whichthe predetermined processing includes processing of stopping the vehicle.
21. The station monitoring method according to any one of supplementary notes 12 to 20, in whichthe predetermined processing includes output of information indicating the position of the door.
22. The station monitoring method according to supplementary note 21, further including,by the computer,outputting information indicating the position of the door to a portable terminal carried by a station employee.
23. A program causing a computer to execute:processing of determining a position of a door of a vehicle and a position of a person by analyzing an image capturing a platform of a station; andprocessing of deciding, after the vehicle has begun to move, by use of the position of the door and the position of the person, whether to perform predetermined processing.
24. The program according to supplementary note 23, further causing the computer to executethe predetermined processing when deciding that a difference between a movement velocity of any of the persons and a movement velocity of the door is within a criterion continuously for a criterion time.
25. The program according to supplementary note 23, further causing the computer to executethe predetermined processing when deciding that a relative distance between any of the persons and the door is within a criterion continuously for a criterion time.
26. The program according to supplementary note 24 or 25, in whichthe criterion time is equal to or more than 1/30 seconds.
27. The program according to any one of supplementary notes 23 to 26, in whichthe position of the door is an end of the door.
28. The program according to any one of supplementary notes 23 to 26, in whichthe door is a double-leaf door, andthe position of the door is an end of a tangent line of two door leaves.
29. The program according to any one of supplementary notes 23 to 28, further causing the computer to executedeciding, as the position of the person, a center of a region where the person is present.
30. The program according to any one of supplementary notes 23 to 28, further causing the computer to executeestimating a position of a joint of the person, and deciding, as the position of the person, a closest position to the position of the door among the estimated positions of the joints.
31. The program according to any one of supplementary notes 23 to 30, in whichthe predetermined processing includes processing of stopping the vehicle.
32. The program according to any one of supplementary notes 23 to 31, in whichthe predetermined processing includes output of information indicating the position of the door.
33. The program according to supplementary note 32, further causing the computer to executeoutputting information indicating the position of the door to a portable terminal carried by a station employee.

REFERENCE SIGNS LIST

10Station monitoring apparatus20Capture apparatus30Output apparatus40Vehicle50Door52End54End110Image processing unit120Decision unit122History data storage unit