JP2001206223A - Moving body control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving body control device capable of easily testing and modifying functions. SOLUTION: This moving body control device is used for the control of traveling of plural moving bodies traveling on the same road. Signals T(Lij)-T (Lij1) that non-existence of moving body is confirmed and a detecting signal Aij(Lj) that non-existence of progressing moving body is confirmed are input to a progress allowing signal generating unit 101, and the unit 10 generates the progress allowing signal P(Iij) as an AND. A command signal generating unit 102 generates the progress command signal I(Lij). An AND computing unit AND generates the AND signal Sij of the progress allowing signal P(Lij) and the progress command signal I(Lij), and outputs it.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving body control device for controlling the running of a plurality of moving bodies sharing a traveling path and controlling a branching device set on the traveling path of the moving body. Examples of the branching device to be handled here include a gate control of a bridge, a control of a moving body passing over the bridge, a control of a moving body moving on a river over the bridge, and a branching device of a tracked system such as a railway.

[0002]

2. Description of the Related Art In mobile body control, in order to avoid collision of a plurality of mobile bodies sharing a travel path, it is essential to secure an interlock function by mutual interlock, self-interlock, and a combination thereof. . Mutual interlock is a control that allows only one of multiple moving objects sharing the intersection to run and prohibits the running of other moving objects, and is a safety-related control that avoids collision at the intersection. is there.

[0003] Self-interlocking means that the moving body is driven by confirming that there is no obstacle such as another moving body in front of the moving body or that the front of the running path is not at the end of the running path. This refers to safety-related control for avoiding a rear-end collision or departure from the traveling road by permitting the vehicle. A feature of the self-interlock is that a dangerous error is not allowed in the front safety confirmation means.

In actual mobile unit control, collision of a plurality of mobile units sharing a travel path is avoided by mutual interlock, self interlock, and a combination thereof.
To realize the interlock function, an electromagnetic relay is generally used.

[0005] The above-described interlock is also applied to a case where the traveling path includes a branch. The moving body can change the traveling direction along the opening direction of the turnout. The conditions under which the branching device may be operated are that there is no moving body traveling toward the branching device and that no moving body exists on the branching device. A condition under which the moving object can proceed is that the branching device is reliably configured.

[0006] In a railway system, a large number of branching devices are provided, and a control system in which an interlock function between the branching device and a moving body and an interlock function between moving bodies are complicatedly combined is used. A control system consisting of an electric circuit using an electromagnetic relay is called a relay interlock
Is called an electronic interlocking device. The relay interlocking device is characterized in that an event is used in which the a-contact and the b-contact of the electromagnetic relay are not simultaneously turned on. Such a combination of signals is called a dual signal.
As a result, it is possible to realize a mutual interlock function that can not be mistaken on the dangerous side in the event of a failure. The feature of the electronic interlocking device is that the configuration of the redundant system and the operation matching confirmation of the plurality of CPUs are used.

[0007] As described above, in the case of realizing the interlock function in the moving body control, conventionally, generally,
An electromagnetic relay was used. However, when the traveling route becomes complicated, the number of opponents on which the interlock function must be provided increases, and the number of contacts of the electromagnetic relay for realizing the interlock function increases. When the number of contacts of the relay is increased, the force for operating a large number of contact springs is also increased, and the power consumption of the relay and the size of the relay are increased.

In addition, the ON-side error is not allowed in the contact output for reporting the confirmation result of the absence of the moving body. In order to avoid an ON-side error, silver carbon having no welding failure may be used as the contact material. However, if the number of required contacts is large, a plurality of silver-carbon relays must be used. In general, silver-carbon has a large contact resistance compared to a metal contact, and is used with a large electrode area of the contact in order to secure a predetermined life time. However, there is a problem that the lifetime is shorter than that of a normal metal contact. Further, in order to realize the mutual interlock function, for example, in the relay interlocking in the railway system, it is realized by using a dual signal as in the case of realizing the mutual interlock function.

As described above, when a control circuit based on mutual interlock is configured to compensate for a dangerous failure of the circuit itself, a check function of the circuit itself is added in addition to the inherent function of the interlock, and the circuit becomes complicated. turn into.

Further, in a redundant configuration using a CPU, such as an electronic interlocking device, verification of software becomes much more complicated than an electric circuit using a relay. In addition, when modifying software, it is often necessary to perform verification work equivalent to system startup.

[0011]

[Problems to be solved by the invention]

An object of the present invention is to provide a mobile interlock control device capable of simplifying an electric circuit configuration and ensuring high reliability.

Another object of the present invention is to provide a mobile interlock control device which can be easily verified and modified.

[0014]

In order to solve the above-mentioned problems, the present invention discloses a mobile control apparatus according to two aspects.

<Moving Object Control Device According to First Aspect>
The moving body control device according to the aspect is used for traveling control of a plurality of moving bodies that share a traveling path. A moving object control device according to a first aspect includes a progress permission signal generation unit, a command signal generation unit, and a logical product operation unit.

The progress permission signal generation unit receives the moving object absence confirmation signal and the traveling moving object absence confirmation signal, and generates a progress permission signal which is a logical product of the signals. The signal for confirming the absence of a moving object is a signal indicating that no other moving object is present in the area where the moving object is traveling, and the signal for confirming the absence of the moving object is a signal indicating that the moving object is traveling toward the area. This signal indicates that there is no moving object. The command signal generator generates a progress command signal. The AND operation unit generates and outputs an AND signal of the progress permission signal and the progress instruction signal.

As described above, the moving body control device according to the first aspect includes a traveling permission signal generating unit in addition to the command signal generating unit that generates the traveling command signal. The traveling permission signal generation unit receives the moving object absence confirmation signal and the traveling moving object absence confirmation signal, and generates a traveling permission signal that is a logical product of the signals. The signal for confirming the absence of a moving object is a signal indicating that there is no other moving object in the area from the start point to the end point of the course of the moving object, and the signal for confirming the absence of a moving object proceeds toward the area. This signal indicates that there is no other moving object. Therefore, the generation of the traveling permission signal means that there is no relation that causes a collision between a plurality of moving objects sharing the traveling path. Conversely, the fact that the traveling permission signal has not been generated means that there is a relationship that causes a collision between a plurality of moving objects sharing the travel path.

The AND operation unit generates and outputs an AND signal of the progress permission signal generated by the progress permission signal generation unit and the progress command signal generated by the command signal generation unit. Therefore, the AND operation unit generates and outputs a signal corresponding to the progress command signal on condition that the progress permission signal is supplied from the progress permission signal generation unit.

[0019] Even if a plurality of mobile units sharing a traveling path are in a relationship of causing a collision, even if a command signal generation unit erroneously supplies a progress command signal to the logical product operation unit, the process permission signal generation unit generates a collision command signal. If the progress permission signal is not supplied, the logical product operation unit does not generate a signal corresponding to the progress command signal. For this reason, it is possible to prevent a plurality of moving bodies sharing the traveling path from colliding.

As described above, since the travel permission signal generation section is included separately from the command signal generation section for generating the travel command signal, attention is focused on only the portion of the mobile interlock function that is essentially related to safety. This part can be separated from a command signal generator for generating a progress command signal as a progress permission signal generator. The progress permission signal generation unit can be realized by an electronic circuit that does not generate an output signal when a failure occurs, by using a unique signal transmission. Unique signal transmission refers to signal transmission that generates high-level output energy when high-level energy is input.

As a result, the back check function performed in the relay circuit can be omitted, and the circuit has only the interlock function that is originally required, and the circuit configuration is simplified. Also, since only the part essentially related to safety is separated as the progress permission signal generation unit, the other part, the command signal generation unit, is not concerned with safety.

Since the command signal generator for generating the progress command signal is essentially a part not related to safety, it can be realized by a programmable electronic device. In this case, there is no need to verify the safety of the software applied in the command signal generation unit, and
There is no need for safety verification at the time of renovation. In some cases, site renovation is possible. Even if there is an error in the software, the safety is guaranteed in terms of hardware by the progress permission signal generation unit, so that a dangerous error output that may lead to an accident due to the error can be avoided.

<Moving Object Control Apparatus According to Second Aspect>
The mobile object control device according to the aspect is used for controlling a branching device set on a traveling path of the mobile object. A moving object control device according to a second aspect includes an operation permission signal generation unit, an operation command signal generation unit, and a logical product operation unit. The operation permission signal generating unit receives the moving object absence confirmation signal and the traveling moving object absence confirmation signal, and generates an operation permission signal that is a logical product of the signals. The moving object absence confirmation signal is a signal indicating that there is no moving object in a certain area of the branching device, and the traveling moving object absence confirmation signal has no moving body traveling toward the area of the branching device. It is a signal that means. The operation command signal generator generates an operation command signal for the branching device. The AND operation unit generates and outputs an AND signal of the operation permission signal and the operation command signal.

The moving object control device according to the second aspect also includes:
The same operation and effect as those of the interlock device according to the first aspect are exhibited. Also, in the interlock device according to the second aspect, the operation permission signal generation unit can be realized by an electronic circuit that does not generate an output signal when a failure occurs, by using a unique signal transmission.

The moving object control apparatus according to the present invention can be applied not only to a tracked system such as a railway system but also to a trackless system. Next, safety-related functions required for the tracked system and the trackless system will be described.

<Safety-Related Functions of Tracked System> In the following description, a system will be described in which a traveling path is divided into a plurality of sections, and the presence of one moving body in the section is permitted using the section as a management unit. Blocking system) is assumed. Forks and intersections are handled by one management unit. Condition F1 As a condition for permitting a route to the next area, there must be no other moving objects in the next area in progress. Condition F2: Conditions for permitting the moving body to proceed to the intersection F2-1: No moving body traveling from another direction exists. F2-2: No other moving objects exist in the intersection area.

There is no guarantee that the branch path follows the operation control on the branch path. If a trouble occurs in the course of the branching direction change operation, the traveling path may be interrupted. The following shows the essential functions of branch control. 1) No unintended operation permission signal is generated. However, in traveling on a tracked vehicle, an error such as continuation of the once-permitted operation permission signal by mistake is permitted. 2) No error is allowed in the detection of a branch road state (opening direction or a state in which neither is open). That is, although it is possible to maintain the direction once opened,
It is difficult to ensure that the opening is performed in another direction or that the non-open state is restored to the open state. Condition F3: Condition for permitting operation of branch road F3-1: No moving body traveling to the branch road exists. F3-2: There is no moving object in the branch road area. Condition F4: Condition for permitting proceeding to fork F4-1: The fork is open in any direction. F4-2: There is no other moving body traveling to the branch road. F4-3: No other moving object exists on the branch road.

The condition for permitting progress to the moving object is given as the condition for permitting progress from the start point to the end point of the area to be permitted as follows. Condition F5: Progress permission condition when traveling in a plurality of continuous areas F5-1: No other moving object exists in the relevant area. F5-2: There is no other moving object traveling in the area. F5-3: The branch road in the area is open in a predetermined direction.

<Safety-Related Functions of Trackless System> In the following description, a blockage system is assumed as in the case of the tracked system. In the trackless system, the steering function of the moving body itself has the function of the branch road in the tracked system.
In the following description, the mobile body steering function of the trackless system will be described in relation to the branching function of the tracked system.

The only difference from the tracked system is the part related to branching. In tracked systems, there are events where the runway is interrupted by divergence, whereas in trackless systems such events do not occur. Therefore, the branch road operation condition in the tracked system is not necessary as a function of the system, but there is no guarantee that the steering control is always executed,
When a branch is to be made, an error that goes straight ahead is generated.

Errors that branch when going straight ahead are excluded.
The reason is that it is originally difficult to avoid the collision of a moving object whose branch time is unknown. However, when the above error occurs, it is assumed that the moving object can always be stopped in the area. By the modeling described above, the conditions under which the mobile body may be permitted to branch are determined as follows, in accordance with the conditions for permitting the moving body to proceed to the branch road. Condition F6: Branch permission condition F6-1: There is no other moving object traveling in the branch area. F5-2: No other moving objects exist in the branch area.

In the trackless system, it is not necessary to confirm the opening direction of the branch road. Therefore, the traveling permission condition in the trackless system is as follows. Condition F7: Progress permission condition when traveling in a plurality of continuous areas F7-1: No other moving object exists in the relevant area. F7-2: There is no other moving object traveling in the area. The difference from the tracked system is that it is not necessary to confirm the direction of opening of the branch road.

The moving object control device according to the first aspect of the present invention satisfies the conditions F1 and F2, satisfies the conditions F6 and F7 in the trackless system, and further, in the tracked system, furthermore, the traveling permission signal generation unit By using a switch opening confirmation signal indicating that a switch in the area is open as an input condition and generating a traveling permission signal, the condition F
4 and 5 can be satisfied.

The moving object control device according to the second aspect of the present invention can satisfy the condition F3.

[0035]

FIG. 1 is a diagram showing an example of a moving body traveling road to which a moving body control device according to a first embodiment of the present invention is applied. In FIG. 1, it is assumed that the moving body MB takes a route RU1 starting from the area Li and reaching the area Lj. The number of areas existing from the area Li to the area Lj is defined as nij, and each area (Li), (Lij
1), (Lij2),. . . (Lijnij) and Lj. The moving object MB is located in the area Li → Lij1 →
Lij2 →... Lijnij → Lj.

FIG. 2 is a block diagram of a moving object control device corresponding to the moving object traveling route of FIG. The moving object control device shown in the figure includes a traveling permission signal generating unit 101, a traveling command signal generating unit 201, and an AND operation unit AND.

The traveling permission signal generation unit 101 includes a moving object absence confirmation signal T (Lij) and a traveling moving object absence confirmation signal A
(Lij) is input, and a progress permission signal P (Lij), which is a logical product thereof, is generated. Moving object absence confirmation signal T (Li
j) are the areas (Lij1), (L) that are the paths of the moving object MB.
ij2),. . . (Lijnij) is a signal indicating that there is no other moving object in Lj.

In the example shown in FIG. 1, the moving object MB is a section (Lij) included in the route from the section Li to the section Lj.
1), (Lij2),. . . (Lijnij) and Lj, the absence of a moving body is detected, and the detection signals of the absence of the moving body are represented by T (Lij1), T (Lij2),. . . T
(Lijnij) and T (Lj). These detection signals T (Lij1) to T (Lj) are generated as high energy level signals when no moving object is present, and are generated as low energy level or no energy signals when a moving object is present. . In the present invention, a signal with a high energy level is assigned to a logical value 1 and a signal with a low energy level and no energy is assigned to a logical value 0.

Detection signal T of the moving body absence confirmation signal on the course
(Lij1) to T (Lj) are the progress permission signal generation unit 10
The signal is input to the AND 21 provided in 1. The AND 21 generates and outputs a traveling-body-absence confirmation signal T (Lij) which is a logical product signal of the input detection signals T (Lij1) to T (Lj). Confirmation signal T (Li
j) is represented by the following logical expression (1). T (Lij) = T (Lij1) · T (Lij2) ·· T (Lijnij) · T (Lj) (1)

The traveling mobile object absence confirmation signal A (Lij) is
Areas (Li), (Lij1) to be the courses of the moving object MB,
(Lij2),. . . (Lijnij) is a signal indicating that there is no other moving body traveling toward Lj. The areas (Lij1), (Lij2),. . . , Lij
The detection signal confirming that the moving body traveling from other than the relevant route is absent in nij and Lj is output to each area (Lij
1), (Lij2),. . . , Lijnij, Lj, Aij (Lij1), Aij (Lij2),. . .
Aij (Lijnij) and Aij (Lj). These detection signals Aij (Lij1) to Aij (Lj) are
Given as a logical value 1 when the traveling mobile is absent,
When a moving object exists, the logical value is 0. Detection signals Aij (Lij1) to Aij (L
j) is the AND provided in the progress permission signal generation unit 101
22. AND22 is the input detection signal A
A traveling mobile object absence confirmation signal A (Lij) which is a logical product signal of ij (Lij1) to Aij (Lj) is generated and output. The moving object absence confirmation signal A (Lij) is represented by the following logical expression (2). A (Lij) = Aij (Lij1) Aij (Lij2) Aij (Lijnij) Aij (Lj) (2)

The progress permission signal generation unit 101 further includes
D13. The AND 13 is provided with an on-track moving object absence confirmation signal T (LiJ) supplied from the AND 21 and A
The traveling mobile object absence confirmation signal A (L
ij), and generates a progress permission signal P (Lij) which is a logical product of the progress permission signal P (Lij). The progress permission signal P (Lij) having the logical value 1 is transmitted to the moving body MB by the route RU1 from the section Li to the section Lj.
This is a signal that allows taking

The progress command signal generator 201 generates a progress command signal I (Lij). Progress command signal generator 201
Uses a moving object absence confirmation signal T (Lij), a traveling moving object absence confirmation signal A (Lij), a control signal, and the like as input signals,
A progress command signal I (Lij) is generated.

The AND operation unit AND includes a progress permission signal P (Lij) generated by the progress permission signal generation unit 101 and the progress command signal I supplied from the progress command signal generation unit 201.
A logical product signal Sij with (Lij) is generated and output.
The logical product signal Sij is, for example, the area (Lij1) to Lj
Is supplied to the traffic light provided in the vehicle, and the present status of the traffic light is changed to the display of the progress permission. Thereby, the moving object MB is moved from the area Li to the areas (Lij1), (Lij2),. . . (Lij
nij), a route RU1 to the area Lj can be taken.

As described above, the moving object control apparatus according to the present invention is different from the traveling command signal generating section 201 for generating the traveling command signal I (Lij) separately from the traveling permission signal generating section 101.
including. The progress permission signal generation unit 101 receives the moving object absence confirmation signal T (Lij) and the traveling moving object absence confirmation signal A (Lij) having a logical value of 1, and the progress permission signal P having a logical value of 1 as a logical product thereof. (Lij) is generated. Logical value 1
Is a signal indicating that no other moving object exists in the area (Lij1) to Lj from the start point to the end point of the path of the moving object MB, and has a logical value of 1
Of the moving object absent confirmation signal A (Lij)
1) This signal indicates that there is no other moving object traveling toward Lj. Therefore, the generation of the progress permission signal P (Lij) having the logical value 1 means that there is no relation that causes a collision between a plurality of moving objects sharing the traveling path. In addition, the fact that the traveling permission signal P (Lij) having the logical value 1 is not generated means that there is a relationship that causes a collision between a plurality of moving objects sharing the traveling path.

The AND operation unit AND outputs the progress permission signal P of the logical value 1 generated by the progress permission signal generation unit 101.
A signal Sij having a logical value of 1 is generated and output as a logical product of (Lij) and the progress command signal I (Lij) having a logical value of 1 generated by the progress command signal generating section 201. Therefore, the logical product operation unit AND includes the progress permission signal generation unit 10
Under the condition that the progress permission signal P (Lij) having the logical value 1 from 1 is supplied, the signal Sij having the logical value 1 corresponding to the progress command signal I (Lij) is generated and output.

Although a plurality of moving bodies sharing a traveling path are in a relationship of causing a collision, the traveling command signal
1 to the AND operation part AND
Even if (Lij) is supplied, the progress permission signal generation unit 101
, The logical product operation signal AND (logical value 1) corresponding to the progress instruction signal I (Lij) is not generated in the logical product operation unit AND. For this reason, it is possible to prevent a plurality of moving bodies sharing the traveling path from colliding.

Further, separately from the progress command signal generating section 201 for generating the progress command signal, the progress permission signal generating section 101
Of the mobile interlock function, and focuses on only a part essentially related to safety, and uses this part as a progress permission signal generation unit 101 to generate a progress command signal I (Lij). 201 can be separated. For this reason, the advance permission signal generation unit 101 uses an unified signal transmission (such as generating high-level energy as an output when high-level energy is input) to generate an electronic circuit that does not generate a failure-time output signal. Can be realized. As a result, the back check function performed in the relay circuit can be omitted, and the circuit has only the originally required interlock function, and the circuit configuration is simplified. In addition, by making only the part essentially related to safety into a hard wired configuration, the other parts are not concerned with safety. The AND operation unit AND is also implemented by an electronic circuit that does not generate a failure output signal by using a unique signal transmission.

The progress command signal generating section 201 for generating the progress command signal I (Lij) can be realized by a programmable electronic device as a part essentially not related to safety. In this case, it is not necessary to verify the security applied to the software applied in the progress command signal generation unit 201, and it is not necessary to verify the safety at the time of repair. In some cases, site renovation is possible. Even if there is an error in the software, the security is guaranteed in terms of hardware by the progress permission signal generation unit 101, so that a dangerous error output that may lead to an accident due to the error can be avoided.

Since logic operation circuits such as an AND gate, a level test circuit, a self-holding circuit, and an ON delay circuit to which a unique signal transmission is applied are already known, a process for performing a unique signal transmission by using them is known. The permission signal generation unit 101 and the logical product operation unit AND can be realized.

FIG. 3 is a diagram showing a simplified example of a moving body traveling road to which the moving body control device according to the first embodiment of the present invention is applied. In FIG. 3, the moving object MB is located in the area L5.
And the route RU1 that reaches the area L1 is assumed. Therefore, the moving object MB is located in the area L5 → L4 → L
Take the route RU2 of 2 → L1.

FIG. 4 is a block diagram of a moving body control device corresponding to the moving body traveling route of FIG. In the moving object control device shown in the figure, the progress permission signal generation unit 101 includes detection signals T (L4), T (L2), T (L) for confirming the absence of a moving object.
1) and a signal A51 (L4), A for confirming the absence of the moving object
51 (L2) and A51 (L1) are inputted, and a progress permission signal P (L51), which is a logical product thereof, is generated.

Detection signals T (L4), T for confirming the absence of a moving object
(L2) and T (L1) are signals indicating that there is no other moving object in the sections L4, L2, and L1 which are the route RU2 of the moving object MB. These detection signals T (L4), T
(L2) and T (L1) are given as a signal of logical value 1 when the traveling moving object is absent, and are signals of logical value 0 when the traveling moving object is present.

The detection signals T (L4), T (L2), T (L
1) is an AND provided in the progress permission signal generation unit 101
41 is input. AND41 is the input detection signal T
(L4), T (L2), and T (L1) are generated and output as an on-path moving object absence confirmation signal T (L51) which is a logical product signal. The on-track moving object absence confirmation signal T (L51) is represented by a logical expression of T (L51) = T (L4) · T (L2) · T (L1).

Next, a detection signal A5 for confirming the absence of the traveling moving object.
1 (L4), A51 (L2), and A51 (L1) are sections L4 and L that are paths RU2 of the moving body MB when the moving body MB takes a path RU2 from the section L5 to the section L1.
2. This signal indicates that there is no other moving body traveling toward L1.

These detection signals A51 (L4), A51
(L2), A51 (L1) is the area L to be the course RU2
4, when there is no other moving body traveling toward L2, L1, the signal is given as a signal of logical value 1; Detection signals A51 (L4), A51 (L2), and A51 (L1) for confirming the absence of a moving object
Is AND42 provided in the progress permission signal generation unit 101
Is input to AND42 outputs a detection signal A51 (L
4) Generate and output a traveling-moving-body-absence confirmation signal A (L51), which is an AND signal of A51 (L2) and A51 (L1). The traveling-moving-body absence confirmation signal A (L51) is expressed as follows: A (L51) = A51 (L4) · A51 (L2) · A5
1 (L1).

The progress permission signal generation unit 101 further includes
D43. The AND 43 is provided with an on-route moving object absence confirmation signal T (L51) supplied from the AND 41,
The traveling mobile object absence confirmation signal A (L
51) to generate a progress permission signal P (L51) which is a logical product of the progress permission signal P (L51). The progress permission signal P (L51) having the logical value 1 is transmitted to the moving body MB by the route RU2 from the section L5 to the section L1.
This is a signal that allows taking

The progress command signal generator 201 generates a progress command signal I (L51). Progress command signal generator 201
Receives a moving object absence confirmation signal T (L51), a traveling moving object absence confirmation signal A (L51), a control signal, and the like as input signals,
A traveling command signal I (L51) is generated.

The AND operation unit AND includes a progress permission signal P (L51) generated by the progress permission signal generation unit 101 and the progress command signal I supplied from the progress command signal generation unit 201.
A logical product signal S51 with (L51) is generated and output.
The logical product signal S51 is supplied to, for example, a traffic signal S51 provided at a boundary between the section L5 and the section L4, and the signal S5 is provided.
1 is changed to a progress permission display. Thereby, the moving body M
B passes from section L5 through sections L4 and L2 to section L1.
Can be taken.

FIG. 5 shows an example of a circuit for confirming by time management that there is no other moving body entering the area L1 from the area L9. The circuit shown is a level test circuit LD
51, a level test circuit LD52, an on-delay circuit OND51, and an OR51. Level test circuit LD
51 receives the advance command signal I (L91) and outputs a signal X91 corresponding to the advance command signal I91. The progress command signal I (L91) becomes the logical value 1 when there is another moving body traveling from the section L9 to the section L1. Signal X
91 also has the logical value 1 when there is another moving body traveling from the section L9 to the section L1.

The level test circuit LD52 receives the progress command signal I (L91) and outputs a signal Xb91. The signal Xb91 output from the level test circuit LD52 is
The signal X91 output from the level test circuit LD51 has a negative relationship. In other words, the signal Xb91 has a logical value of 0 when another moving body traveling from the section L9 to the section L1 exists and the traveling command signal I91 and the signal X91 have the logical value 1, and the signal Xb91 proceeds from the section L9 to the section L1. When another moving object is absent, the logical value becomes 1.

The on-delay circuit OND51 is provided for performing an operation similar to the approach locking circuit in the railway system. When the progress command signal I91 becomes the logical value 0 without the progress command, the signal Xb91 output from the level test circuit LD52 becomes the logical value 1. Signal Xb
When the state of the logical value 1 is continued for a predetermined time after the logical value of the logical value 1 becomes 91, it is considered that the moving object traveling from the section L9 to the section L1 has stopped, and the signal TON of the logical value 1 has been stopped.
(Xb91) is output.

In the circuit of FIG. 5, when the signal Xb91 has a logical value of 1, the progress command signal I (L91) has a logical value of 0, which means that the progress signal S91 is not generated. When the signal Xb91 becomes the logical value 1, the signal TON (Xb91) having the logical value 1 is supplied to the OR gate OR51 after an ON delay time by the on-delay circuit OND51. As a result, the detection signal A51 (L1) for confirming the absence of the traveling moving object having the logical value 1 is output from the OR 51.
Is output. As described above, the detection signal A51 (L1) indicates that when the moving body MB takes the route RU2 from the section L5 to the section L1 (see FIG. 3), no other moving body traveling to the section L1 is present. This is a signal that has been confirmed.
In the case of this embodiment, since the detection signal T (L9) for confirming the absence of a moving object in the area L9 is input to the OR 51, if there is no moving object in the area L9, the OR 51 confirms the absence of the moving object having a logical value of 1. The detection signal A51 (L1) is output. Although not shown, the other detection signals A51 (L2), A
The same applies to 51 (L4).

FIG. 6 shows another example of a circuit for confirming that there is no other moving body entering the area L1 from the area L9. This circuit includes an AND 61 and an OR 61. AND61 has a moving object detection signal ST (L9),
Signal Xb91 output from level test circuit 52 in FIG.
Is entered. The axle detector can be used for the moving object detection signal ST (L9) when the stop of the moving object in the area is confirmed from the traveling road side. When performing from the car,
Means for wirelessly transmitting the speed signal detected by the tachogenerator or the like to the mobile control device may be used. In this case, the transmitter mounted on the moving body side transmits a signal when the moving body stops, and if the transmission signal is transmitted as energy by the receiver installed on the traveling road side, the moving body stop confirmation can be performed. It can be configured based on unique signaling.

The AND 61 generates a signal that is the logical product of the moving object detection signal ST (L9) obtained by actually detecting the stopping of the moving object and the signal Xb91 obtained by managing the time, Output. The signal output from AND61 is supplied to OR61. When the signal supplied from the AND 61 or the signal T (L9) for confirming the absence of the moving object has the logical value 1, the OR 61 outputs the detection signal A51 (L1) for confirming the absence of the moving object having the logical value 1.

In the present invention, the progress command signal generator 2 treats the progress command signal I (L91) as a part that is not directly involved in safety, and recognizes an error in the progress command signal I (L91). , Signal X91 and signal Xb
91 must be configured as a circuit that does not occur at the same time. In addition, it is necessary to configure a circuit that performs unique signal transmission.

FIG. 7 shows an example of a level test circuit in which a dual signal that cannot generate an output at the same time is formed by using a unique signal transmission. In the illustrated circuit, the portion indicated by the relay RY71 and its contact SW71 is a circuit for receiving the progress command signal I (L). Contact SW71
Constitutes a series loop with the resistor R71, the photodiode PD71, the phototransistor PH71, and the power supply E71. The photodiode PD71 is optically coupled to the phototransistor PH72. The collector of the phototransistor PH72 is connected via a resistor R72 to
The power supply voltage Vcc is supplied. The collector of the phototransistor PH72 is connected to a voltage doubler rectifier circuit RE71 including a capacitor C71, a diode D71, a diode D72 and a capacitor C72.

The phototransistor PH71 is optically coupled to the photodiode PD72. One end of the photodiode PD72 is connected to a power supply voltage V via a resistor R73.
cc is applied. The other end of the photodiode PD72 is connected to the collector of the transistor TR71. The base of the transistor TR71 is excited by the signal source SG71. The power supply voltage Vcc is applied to the signal source SG72.

The collector of the transistor TR71 includes a capacitor C73, a diode D773, and a diode D7.
4 and a voltage doubler rectifier circuit R composed of a capacitor C74.
E72 is connected. The power supply voltage Vcc is supplied to the voltage doubler rectifier circuit RE72. The output voltage of the voltage doubler rectifier circuit RE72 is
Supplied to

The output side of the voltage doubler rectifier circuit RE71 is commonly connected to the level determination unit W71 and the input side of the level determination unit W72. A rectifier circuit LD71 is connected to the output side of the level determination unit W71, and a rectifier circuit LD7 is provided.
1 outputs a signal Xa1. The power supply voltage Vcc is supplied to the rectifier circuit LD71.

A rectifier circuit LD72 is connected to the output side of the level determination section W72, and the rectifier circuit LD72 outputs a signal Xb1.

The level determining section W71 and the level determining section W7
2, the level determination unit W71 has a lower limit threshold between the voltage value 2Vcc and the voltage value 3Vcc with respect to the power supply voltage Vcc, and the level determination unit W72 has the voltage value 2Vcc.
It has an upper threshold value between cc and 3Vcc.

In the circuit configuration shown in FIG. 7, when the switch SW71 is off and the energy of the detection signal T (L) is zero, that is, when it is confirmed that the traveling command is present, the photodiode PD71 operates. Not
The phototransistor PH72 also does not operate. On the other hand, the transistor TR71 is turned on at the frequency generated by the signal source SG71 because the power supply voltage Vcc is supplied through the resistor R73 and the photodiode PD72.
Turn off. Therefore, a signal obtained by modulating the power supply voltage Vcc with the signal frequency of the signal source SG71 appears on the collector side of the transistor TR71. This signal is subjected to voltage doubler rectification (about 2 Vcc) by the voltage doubler rectifier circuit RE72.
Then, it is supplied to the input side P11 of the level determination units W71 and W72.

The level determining section W71 and the level determining section W7
2, the level determination unit W71 has a lower threshold value between the voltage value 2Vcc and the voltage value 3Vcc.
Even if a voltage value of 2 Vcc is supplied, no output is generated. Therefore, the signal Xa1 has the logical value 0.

Since level determination section W72 has an upper threshold value between voltage value 2Vcc and voltage value 3Vcc,
When a voltage value of 2 Vcc is supplied, a signal of logical value 1 (logical value 0) is generated. This signal is rectified by the rectifier circuit LD72, and a signal Xb1 having a logical value of 1 is output.

Next, when the switch SW71 is turned on and the detection signal T (L) is a signal of logical value 1, that is, when there is an advance command, the contact SW71, the resistor R71, the photodiode PD71, the phototransistor A series loop of PH71 and power supply E71 is configured. Therefore, the phototransistor PH71 optically coupled to the photodiode PD72 is driven by the photodiode PD72. The photodiode PD72 is connected to the signal source SG.
Since the photo transistor PH71 blinks according to the signal frequency of the signal source 71, the phototransistor PH71 is turned on and off according to the signal frequency of the signal source SG71.

The photodiode PD71 is driven according to the ON / OFF operation of the phototransistor PH71, and the phototransistor PH72 optically coupled to the photodiode PD71 is driven according to the blinking operation of the photodiode PD71. A signal obtained by modulating the power supply voltage Vcc with the signal frequency of the signal source SG71 appears on the collector side of the phototransistor PH72. This signal is rectified by the voltage doubler rectifier circuit RE71, is superimposed on the voltage supplied from the voltage doubler rectifier circuit RE72, and a voltage of about 3 Vcc is supplied to the input side P11 of the level determination units W71 and W72.

The level determining section W71 and the level determining section W7
2, the level determination unit W71 has a lower threshold value between the voltage value 2Vcc and the voltage value 3Vcc.
When a voltage value of 3 Vcc is supplied, a signal of logical value 1 (logical value 1) is generated. This signal is rectified by the rectification circuit LD71, and a signal Xa1 having a logical value of 1 is output.

Since level determination section W72 has an upper threshold value between voltage value 2Vcc and voltage value 3Vcc,
Even if a voltage value of 3 Vcc is supplied, no output is generated. Therefore, the signal Xb1 has the logical value 0.

The above-described signal Xa1 corresponds to signal X91 in FIG. 5, and signal Xb1 corresponds to signal Xb91. These signals Xa1 and Xb1 do not occur at the same time. In addition, when a failure occurs in the circuit of FIG.
The voltage appearing at the input terminal P11 of the level determination unit W72 is 0 V or Vcc (V), which is different from the voltage value 2 Vcc or 3 Vcc when the circuit is normal. Therefore, according to the circuit configuration of FIG. 7, it is possible to perform a unique signal transmission in which the signal Xa1 and the signal Xb1 do not occur at the same time.

FIG. 8 is a diagram showing an example of a moving body traveling road to which the moving body control device according to the first embodiment of the present invention is applied. In FIG. 8, the moving objects V1, which are connected to each other,
V2 are separated from each other. After being separated, the moving body V2 takes a route RU3 in the section L1, L2, L4, and L5, and the moving body V2 takes a course RU4 in the section L1, L2, and L3. It is assumed that the moving object V2 is started by displaying the departure signal of the departure signal S13, and the moving object V1 is started by the departure signal of the departure signal S15.

According to the general method of controlling the separated moving body as shown in FIG. 8, even if the moving body V2 that has started first passes through the area L2, a predetermined time has not passed after the passing. The signal A13 (L2) for confirming that the moving object V2 does not exist in the area L2 is not generated. Therefore, the moving body V1
Can not be given to the departure traffic light S15, which hinders the improvement of the moving body operation density.

FIG. 9 shows a circuit configuration which can solve the above-mentioned problem. The circuit shown in FIG. 9 includes level test circuits LD91 to LD94, AND91 to AND93, self-hold circuits M91 and M92, one-shot circuit SH91, and off-delay capacitor C91.

The level test circuit LD91 and the level test circuit LD92 are paired with each other. Level test circuit L
D91 outputs the signal XT (L2) of the logical value 1 when the moving object absence confirmation detection signal T (L2) of the logical value 1 which has confirmed that the moving object is absent in the area L2 is supplied. The level verification circuit LD92 includes a level verification circuit LD9.
A signal XbT (L2) that has a negative relationship with the signal XT (L2) output from 1 is generated.

The level test circuit LD93 and the level test circuit LD93 are paired with each other. Level test circuit L
D93 outputs a signal XT (L3) having a logical value of 1 when the moving object absence confirmation detection signal T (L3) having a logical value of 1 which has confirmed that the moving object is absent in the area L3 is supplied. The level test circuit LD94 is provided with a level test circuit LD9.
3 generates a signal XbT (L3) having a negative relationship with the signal XT (L3) output from the signal XbT3.

AND91 is connected to signal XT (L2) output from level test circuit LD91 and level test circuit LD
A logical AND with the signal XbT (L3) output from the node 94 is obtained and the signal is output. The AND 92 calculates the logical product of the signal XbT (L2) supplied from the level test circuit LD91 and the signal XT (L3) output from the level test circuit LD94, and outputs the signal.

The self-holding circuit M91 is provided with a level verification circuit LD.
The signal Xb (L2) supplied from the level detection circuit LD93 is used as a trigger signal,
A self-hold operation using (L3) as a hold signal is performed.

The self-holding circuit M92 is provided with a self-holding circuit M91.
The self-holding signal supplied from the
A self-holding operation is performed using the signal supplied from 92 as a hold signal.

The AND 93 takes the logical product of the signal supplied from the AND 91 and the self-holding signal supplied from the self-holding circuit M92, and outputs the signal. One-shot circuit SH91 generates and outputs a one-shot pulse RA from a signal supplied from AND93.

FIG. 10 is a time chart for explaining the operation of the circuit shown in FIG. In FIG. 8, the moving object V1,
In the initial state where V2 exists in the section L2, the signal XT (L
2), XT (L3) is a logical value 1. The signal XbT (L
2) and XbT (L3) are signals XT (L2) and XT (L
Since it is the negative signal of 3), the logical value is 0 (low energy level). Since the signal XbT (L2) serving as a trigger signal has a logical value of 0, the output of the self-holding circuit M91 has a logical value of 0. The self-holding circuit M92 is a self-holding circuit M
Since the output signal of 91 is used as a trigger signal, its output is a logical value 0. AND91 is a signal X which is one of the inputs.
Since bT (L3) is logical 0, its output is logical 0. AND92 is a signal XbT which is one of the inputs.
Since (L2) is logical 0, its output is logical 0. The output of the AND 93 is a logical value 0 because the output signal of the AND 91 and the output signal of the self-holding circuit M92 which are input signals have the logical value 0. The output signal RA of the one-shot circuit SH91 also has the logical value 0.

Next, when the moving body V2 separated from the moving body V1 enters the area L2 at t11, the known moving body detecting means confirms that the moving body V2 exists in the area L2. The signal XT (L2) output from the level test circuit LD91 has a logical value 0, as shown in FIG. Since signal XbT (L2) output from level test circuit LD92 is the negation of signal XT (L2), signal XT (L2) is output as shown in FIG.
When 2) becomes logical 0, it becomes logical 1.

The signal XbT (L2) having the logical value 1 is supplied to the self-holding circuit M91 as a trigger signal. The self-holding circuit M91 has already been supplied with the signal XT (L3) of the logical value 1 from the level test circuit LD93 (FIG. 10).
Therefore, at time t11 when the signal XbT (L2) of the logical value 1 is supplied as the trigger signal from the level test circuit LD92, a self-holding output of the logical value 1 is generated as shown in FIG. .

At time t12 when the moving body V2 travels along the course RU4 and a part of the moving body V2 enters the section L3, the known moving body detecting means confirms that the moving body V2 exists in the section L3. Will be As a result, the level test circuit LD9
The signal XT (L3) output from No. 3 has a logical value 0 as shown in FIG. Level test circuit LD94
Signal XbT (L3) output from signal XT (L3)
Since the result of 3) is negative, as shown in FIG. 10D, when the signal XT (L3) becomes a logical value 0, it becomes a logical value 1.

When the signal XbT (L3) becomes a logical value 1,
On the input side of the AND 92, the signal XbT (L 2) has a logical value of 1 and the signal XbT (L 3) has a logical value of 1, so that a signal having a logical value of 1 is output from the AND 92. A
Since the signal of logical value 1 output from the ND 92 is a hold signal of the self-holding circuit M92, the self-holding circuit M9
2 performs a self-holding operation, and generates a self-holding output of a logical value 1 as shown in FIG.

When the signal XT (L3) has a logical value of 0, the hold signal supplied to the self-holding circuit M91 has a logical value of 0.
, The output signal of the self-holding circuit M91 has the logical value 0.
And the trigger signal of the self-holding circuit M92 becomes a logical value 0, and before the trigger signal becomes a logical value 0, AND92
There is no problem if the hold signal is supplied to the self-holding circuit M92 from.

At time t1 when the moving body V2 further proceeds along the course RU4 and the whole moving body V2 exits the section L2 and enters the section L3, the signal XT (L2) becomes as shown in FIG. 10 (a). , Logical value 1 and signal XbT (L2) becomes logical value 0.

Since the signal XT (L2) has reached the logical value 1 and the signal XbT (L3) maintains the logical value 1, the input logic is established on the input side of the AND91. As a result, a signal of logical value 1 is output from AND91.
The signal of the logical value 1 is supplied to the AND 93.

Since the signal XbT (L2) has a logical value of 0, the output signal of the AND 92 has a logical value of 0, and the hold signal of the self-holding circuit M92 has a logical value of 0. Therefore, the self-holding output of the self-holding circuit M92 is
As shown in (f), the logic value becomes 0 at t13.

The AND 93 has a capacitor C91 connected to an input terminal to which a self-holding output is supplied from the self-holding circuit M92.
The self-holding circuit M92 is connected to the self-holding circuit M92 during the time set by the off-delay circuit by the capacitor C91 even if the self-holding output of the self-holding circuit M92 becomes a logical value 0 at t13. The signal seen at the input terminal indicated holds the logical value 1. For this reason, AND93 is a logical value 1 supplied from AND91.
And a signal of logical value 1 supplied from the off-delay circuit by the capacitor C91, a signal of logical value 1 is output.

After a lapse of time set by the off-delay circuit constituted by the capacitor C91, AND9
At time t14 when the output of No. 3 becomes logical value 0, the one-shot circuit SH91 generates the one-shot signal RA as shown in FIG. The one-shot signal RA is a signal indicating that the entire moving body V2 has exited the section L2 and entered the section L3. Therefore, based on the generation of the signal RA, the moving object V1 can be advanced.

FIG. 11 is a circuit diagram showing a use form of the signal RA obtained by the circuit shown in FIG. Signal I
A signal b (13) is a signal having a logical value of 1 when there is no command to proceed from the section L1 to the section L3. The signal T (L
1) becomes a logical value 1 when the moving objects V1 and V2 are not present in the area L1. The signal RA is obtained by the circuit configuration of FIG. 9, and the entire moving body V2 exits the area L2,
This is a signal indicating that the vehicle has entered the area L3.

The signal Ib (13) is supplied to the self-holding circuit M111.
, And supplied to the OR 111 via the on-delay circuit OND111. The signal T (L1) and the signal RA are supplied to the OR 111. The output of the OR 111 is the self-holding circuit M1
Used as 11 trigger signals. Self-holding circuit M1
11 outputs a signal A13 (L2).

In the circuit shown in FIG.
Has advanced from the section L1, the progress command signal Ib (13) in the direction from the section L1 to the section L3 has the logical value 1 (no progress command). Therefore, the trigger signal of the self-holding circuit M111 has the logical value 1. Progress command signal Ib (13)
Are also supplied to the on-delay circuit OND111.
The on-delay circuit OND111 outputs the progress command signal Ib
A signal Ton (Ib13) having a logical value of 1 is generated after a predetermined time from the input of (13). This signal Ton (Ib13) is supplied to the OR111.

The OR 111 outputs the signal Ton (I
When b13) is supplied, an output signal of logical value 1 is generated. This signal is used as a trigger signal for the self-holding circuit M111.

Since the hold signal Xb (13) of the logical value 1 has already been supplied to the self-holding circuit M111,
From the self-holding circuit M111, the signal A13 (L
2) is generated.

The signal A13 (L2) indicates that when the moving object V2 takes a route from the section L1 to the section L2,
Is a signal indicating that there is no other moving body traveling toward the section L2 which is the course of the vehicle. The use of this signal is as described above with reference to FIG.

The self-holding circuit M111 outputs the logical value 1 when the progress command signal Ib (13) in the direction from the section L1 to the section L3 is
(No progress command), the signal T (L1)
Becomes a logical value 1, that is, when it is confirmed that no moving object is present in the area L1, the signal A1 of the logical value 1
3 (L2) is output.

The signal A of logical value 1 is supplied to the self-holding circuit M111.
13 (L2) and the signal T (L1), even if the moving object V2 that has started earlier passes through the area L2, if a predetermined time has not passed after passing, Not generated. Therefore, the generation timing of the signal A13 (L2) is also affected by the time delay.

As means for solving this problem, in the circuit shown in FIG. 11, a signal RA is supplied to the OR 111. The signal RA is, as described with reference to FIGS.
When the whole of 2 exits the area L2, the logical value becomes 1. When the signal RA becomes a logical value 1, a trigger signal having a logical value of 1 is supplied from the OR 111 to the self-holding circuit M111. Therefore, the signal A13 (L
2) is output. Accordingly, the departure signal S of the mobile unit V1
The timing at which the advance permission signal is given to the vehicle 15 is advanced, and the operating density of the moving object can be improved.

By the way, in a tracked mobile traveling system such as a railway system, a branching device (converter) is set on the moving body route. In setting the route, the operating conditions of the branching device must be considered. No. Next, the operating condition of the branching device, particularly the opening condition, will be described.

FIG. 12 is a diagram showing a simplified example of a moving body traveling road to which the moving body control device according to the present invention is applied. The section L2 has a branching device W2. Switch W2
Is opened in the direction a, through the section L2, the section L1
And the section L3 are connected via the section L2 and the section L1 when the switch W2 is opened in the direction b.
Are linked. When the branching device W2 is open in the direction a, an opening signal W (L2) having a logical value 1 is generated, and when the branching device W2 is opening in the direction b, an opening signal W '(L2) having a logical value 1 is generated. .

The section L4 has a branching device W4. When the branching device W4 is opened in the direction a, via the section L4,
When the section L5 and the section L2 are connected and the branching device W4 is opened in the direction b, the section L5 and the section L are connected via the section L4.
7 are connected. When the branching device W4 is opened in the direction a, an opening signal W (L4) of logical value 1 is generated, and when the branching device W4 is opened in direction b, the opening signal W '(L4) of logical value 1 is generated.
Is generated.

The section L7 has a branching device W7. When the branching device W7 is opened in the direction a, via the section L7,
The section L4 and the section L11 are connected via the switch L7.
Is opened in the direction b, through the section L7, the section L8
And the section L11 are connected. When the branching device W7 is opened in the direction a, an opening signal W (L7) having a logical value 1 is generated, and when the branching device W7 is opened in the direction b, the opening signal W having a logical value 1 is generated.
'(L7) is generated.

As means for detecting the direction of opening of the branching devices W2 to W7, a forced separation type switch circuit currently used in railway signals can be used. This forced release type switch circuit is electrically operated only when both switches of the tongue rail switching mechanism and the locking mechanism for suppressing the movement of the tong rail are mechanically connected, are normal at the switching position, and are locked. In the switch circuit in which the contacts are turned on, when the tongue rail moves or the locking mechanism shifts to the unlocked state, the electrical contacts always shift to the off state.

In FIG. 12, the moving object MB is located in the area L5.
, And take a course to reach the area L1. Therefore, the moving object MB is located in the area L5 → L4 → L2 → L1.
Take the course. Since this route includes the branching devices W4 and W2, the opening condition of the branching devices W2 and W4 is added to the condition for generating the traveling permission signal.

FIG. 13 is a block diagram of the mobile control apparatus in which the conditions for generating the traveling permission signal are added to the conditions for opening the branching devices W2 and W4. FIG. 13 has basically the same configuration as that of the moving object control device shown in FIG. The progress permission signal generation unit 101 detects the detection signals T (L4), T
(L2), T (L1), opening signal W (L4) of the branch,
W (L2) and the signal A51 (L
4), A51 (L2) and A51 (L1) are input.

The detection signals T (L4), T (L2), T (L
1) is input to the AND 131. AND131 is the input detection signal T (L4), T (L2), T (L1)
On-path moving object absence confirmation signal T (L5
1) is generated and output. On-track moving object absence confirmation signal T
(L51) is represented by a logical expression of T (L51) = T (L4) · T (L2) · T (L1).

The opening signals W (L4) and W (L2) are
D134 is input. The AND 134 outputs the opening signal W
(L4), a branching device opening signal W which is a logical product of W (L2)
(L4, 2) is generated.

The on-route moving object absence confirmation signal T (L51) and the branching device opening signal W (L4, 2) are input to the AND 135. The AND 135 generates a moving object absence / turnout opening signal TW (L51), which is a logical product of the AND. The moving object absent / branch device opening signal WT (L51) is represented by a logical expression of TW (L51) = T (L51) · Wa (L4, 2).

Next, the detection signal A5 for confirming the absence of the moving object is detected.
1 (L4), A51 (L2), and A51 (L1)
D132 is input. The AND 132 outputs the detection signal A5
1 (L4), A51 (L2), and A51 (L1) are generated and output as a moving object absence confirmation signal A (L51) which is a logical product signal. The traveling-moving-body absence confirmation signal A (L51) is expressed as follows: A (L51) = A51 (L4) · A51 (L2) · A5
1 (L1).

The progress permission signal generation unit 101 further includes
D133. AND 133 is AND 135
Absence / switch open signal WT (L5
1) and a traveling permission signal P which is a logical product of the traveling moving object absence confirmation signal A (L51) supplied from the AND 132
(L51) is generated.

The AND operation unit AND includes a progress permission signal P (L51) generated by the progress permission signal generation unit 101 and a progress command signal I supplied from the progress command signal generation unit 201.
A logical product signal S51 with (L51) is generated and output.
The logical product signal S51 is supplied to, for example, a traffic signal S51 provided at a boundary between the section L5 and the section L4, and the signal S5 is provided.
1 is changed to a progress permission display. Thereby, the moving body M
B passes from section L5 through sections L4 and L2 to section L1.
You can take the route to.

In FIGS. 12 and 13, two branching devices W2 and W
4 taking into account only the opening conditions of
The opening conditions of all the switches included in the route from the starting point to the landing point are considered.

<Moving Object Control Apparatus According to Second Aspect> Second Embodiment
The interlock device according to the aspect of the present invention relates to the operating condition of the branching device. FIG. 14 is a diagram illustrating an example of a moving body traveling road to which the moving body control device according to the second aspect is applied. In the figure, the section Lp including the branching device Wp is defined as sections Lpa and Lpb.
And Lpc. The branching device Wp is connected to the section Lpa.
Has an opening direction a connecting the section Lpc via the section Lp to the section Lpc, and an opening direction b connecting the section Lpb to the section Lpc via the section Lp.

FIG. 15 is a block diagram showing the configuration of the mobile unit control apparatus according to the second embodiment. This mobile unit control device is used for controlling a branching device WP set on a traveling path of a mobile unit, and includes an operation permission signal generation unit 1, a traveling command signal generation unit 201, a logical product operation unit AND.

The operation permission signal generator 1 generates a moving object absence confirmation signal T (Lp) and a traveling moving object absence confirmation signal Apb.
(Lp), Apa (Lp), and Apc (Lp) are input, and an operation permission signal W (Lp), which is a logical product thereof, is generated.

The moving object absence confirmation signal T (Lp) is a signal indicating that the moving object does not exist in a certain section Lp of the branching device Wp. The signal T (Lp) for confirming the absence of a moving object is
When the absence of the moving object is confirmed, the logical value becomes 1, and when the absence cannot be confirmed, the signal becomes the logical value 0.

The signal Apb (L
p), Apa (Lp), Apc (Lp)
Is a signal indicating that there is no moving object traveling toward a certain area Lp. Signal Apb for confirming the absence of a moving object
(Lp), Apa (Lp), and Apc (Lp) are signals of logical value 1 when confirming the absence of the moving object, and signals of logical value 0 when confirming the existence of the moving object.

More specifically, the signal Apa (Lp)
Becomes a logical value 1 when it is confirmed that there is no moving body traveling from the section Lpa to the section Lp, and becomes a signal having a logical value 0 when it is confirmed that such a moving body exists.

The signal Apb (Lp) becomes a logical value 1 when it is confirmed that there is no moving body traveling from the section Lpb to the section Lp, and when it is confirmed that such a moving body exists, It becomes a signal of logical value 0.

The signal Apc (Lp) becomes a logical value 1 when it is confirmed that there is no moving body traveling from the section Lpc to the section Lp, and when it is confirmed that such a moving body exists, It becomes a signal of logical value 0.

The signal Apb (L
p), Apa (Lp) and Apc (Lp) are AND1
51 is input. The AND 151 outputs the signal Apb (L
p), when Apa (Lp) and Apc (Lp) have a logical value of 1, the traveling mobile object absence confirmation signal AW (Lp) having a logical value of 1
Is output.

Signal AW (Lp) and signal T (Lp) are A
ND152. AND 152 outputs the signal AW (L
When the signal p (p) and the signal T (Lp) have a logical value of 1, an operation permission signal W (Lp) having a logical value of 1 is generated and output.

[0133] The traveling command signal generation unit 201 includes a branching device Wp.
Command signal IW (Lp) is generated. This operation command signal IW (Lp) includes an unlock command signal. Further, the traveling command signal generator 201 outputs the turning direction command signals Ia (Lp) and Ib (Lp). The turning direction command signals Ia (Lp) and Ib (Lp) output the branching device Wp to a
Since it is a command signal for changing the direction or the direction b, it is not related to safety.

The logical product operation unit AND outputs the operation permission signal W
When (Lp) and the operation command signal IW (Lp) have a logical value of 1, a conversion enable signal SW (Lp) having a logical value of 1 is generated and output. The conversion permission signal SW (Lp) is supplied to the branch control circuit CTR151. The turning direction command signal Ia (Lp) or Ib (Lp) is input from the traveling command signal generation unit 201 to the branching device control circuit CTR 151. The switch control circuit CTR 151 turns the switch Wp in the direction a or b based on the input turning direction command signal Ia (Lp) or Ib (Lp).
In FIG. 15, AND 151 to AND 153 perform unique signal transmission.

FIG. 16 shows an example of the configuration of the branching device control circuit (CTR 151 in FIG. 15). The illustrated branch control circuit includes a branch control relay LpW and a relay WRL.
p, inverter elements LD161 and 162, semiconductor switch elements TR161 to TR164, and the like.

Semiconductor switch elements TR161 and TR1
Reference numeral 64 indicates that the main circuits are connected to each other in series. A change direction command signal Ia (Lp) for changing the branch in the direction a is input to the control electrode of the semiconductor switch element TR161. The turning direction command signal Ia (Lp) is input to the control electrode of the semiconductor switch element TR164 via the inverter element LD161.

Semiconductor switch elements TR163 and TR1
Reference numeral 62 denotes main circuits connected in series to each other. A change direction command signal Ib (Lp) for changing the branch in the direction b is input to the control electrode of the semiconductor switch element TR163. A turning direction command signal Ib (Lp) is input to the control electrode of the semiconductor switch element TR162 via the inverter element LD162.

Semiconductor switch elements TR161 and TR1
64 connection points and the semiconductor switch elements TR163 and T163.
Between the connection point of R162 and the switch control relay LpW
And a series circuit of contacts SW161 and 162 of the relay WRLp.

The conversion permission signal SW is provided to the relay WRLp.
(Lp) is supplied. The relay WRLp operates when the conversion permission signal SW (Lp) has the logical value 1, and its contact S
Close W161 and SW162.

In the state where the contacts SW161 and SW162 are closed, for example, the turning direction command signal Ia (Lp) of logical value 1
Is input, the semiconductor switch element TR161 is turned on. The semiconductor switch element TR164 is off because the output signal of the inverter element LD161 has the logical value 0. The conversion command signal Ib (Lp) has a logical value of 0.
Therefore, the semiconductor switching element TR163 is off and the semiconductor switching element TR162 is on.

Therefore, when the turning direction command signal Ia (Lp) is input, the semiconductor switch element TR
The current ja flows in the direction indicated by the arrow through the reference numeral 161, the contact SW 161, the branching control relay LpW, the contact SW 162, and the semiconductor switch element TR 162. The switch control relay LpW operates in accordance with the direction of the current ja. When the turning direction command signal Ib (Lp) is input to the switch, the semiconductor switch element TR163, the contact SW162, and the switch control are supplied from the power source E. Relay LpW, contact SW161
Then, a current jb flows in the direction indicated by the arrow through the semiconductor switch element TR164. The switch control relay LpW operates in accordance with the direction of the current jb, and turns the switch in the direction b.

The relay WRLp does not operate unless the conversion permission signal SW (Lp) having the logical value 1 is supplied. Therefore, the operation of the branching device can be controlled depending on whether or not to generate the conversion permission signal SW (Lp) having the logical value 1.

FIG. 17 is a diagram showing a moving body traveling road having a slightly complicated branch road structure. In the figure, a branch Lq is provided in a section Lq, and a branch Wp is provided in a section Lp. When the switch Wq is turned in the direction a, the section Wq
The section Lqa and the section Lqc are connected via q. Further, when the branching device Wq is turned in the direction b, the section Lq
, The section Lqb and the section Lqc are connected. The branching device Wp connects the section Lqc and the section Lpb via the section Lp when the switch is turned in the direction a. In addition, the branching device W 'connects the section Lqc and the section Lpc via the section Lp when the switch is performed in the direction b.

FIG. 18 shows a specific example of generating the non-existence confirmation signal Aqa (Lp) of the moving body traveling from the section Lqa to the section Lp on the moving body traveling road shown in FIG. The conversion signal W ′ (Lq) is a signal that becomes a logical value 1 when the branching device Wq is changed in the b direction. Signal A
qapc (Lqc) is the area Lqa with respect to the area Lqc.
And when there is no moving object traveling from Lpc. The signal T (Lq) is a signal having a logical value of 1 when no moving object exists in the area Lq.

The conversion signal W (Lq) is a signal which becomes a logical value 1 when the branching device Wq is changed in the direction a.
The signal Aqbpc (Lqc) is a signal having a logical value of 1 when there is no moving object traveling from the sections Lqb and Lpc to the section Lqc. The signal T (Lq) is a signal having a logical value of 1 when no moving object exists in the area Lq.

The signal Aqapc (Lqc) corresponds to the area Lqc
On the other hand, when there is no moving body traveling from the sections Lqa and Lpc and no moving body exists in the section Lq, the signal Aqapc (Lqc) and the signal T (Lq) both have the logical value 1, so that AND181 Has a logical value of 1. When the signal output from the AND 181 has the logical value 1, the signal output from the OR 181 connected to the subsequent stage has the logical value 1.

The signal Aqbpc (Lqc) corresponds to the area Lqc
On the other hand, when there is no moving object traveling from the sections Lqb and Lpc and no moving object exists in the section Lq, the signal Aqbpc (Lqc) and the signal T (Lq) both have the logical value 1, so AND182 Has a logical value of 1. When the signal output from the AND 182 has the logical value 1, the signal output from the OR 182 connected to the subsequent stage has the logical value 1.

The signal of logical value 1 generated by OR 181 and OR 182 is supplied to AND 183 and AND 18
3 outputs a signal Aqc (Lp) having a logical value of 1. The signal Aqc (Lp) having the logical value 1 is obtained from the section Lqc to the section Lq.
This is a signal confirming that there is no moving object traveling toward p.

The OR 181 has a b-direction change signal W 'which becomes a logical value 1 when the branching device Wq is changed in the b direction.
(Lq) is input. The OR signal 182 is supplied with the conversion signal W (Lq) in the a-direction which becomes a logical value 1 when the branching device Wq is changed in the a-direction.

When the branching device Wq is turned in the b direction, the turning signal W '(Lq) in the b direction has a logical value of one.
At this time, the sections Lqa, La, Lqc, L
Since it is possible to take the course of p and Lpc, it is not necessary to check the signal Aqapc (Lqc) and the signal T (Lq). In this case, it is necessary to check the presence or absence of a moving body that advances from the section Lqb and the section Lpc to the section Lqc, and the presence or absence of a moving body in the section Lq. The AND 182 and the OR 182 perform the confirmation. The signal Aqbpc (Lqc) and the signal T (Lq)
When both have the logical value 1, AND182 and OR1
The signal input to the AND 183 through 82 becomes a signal having a logical value of 1 meaning that there is no moving object traveling from the section Lqb and the section Lpc to the section Lqc.

AND 183 is provided by AND 182 and OR 1
82, and a b-direction conversion signal W ′ (L) of the logical value 1 obtained through the OR 181 and the logical value 1 obtained through the OR 181.
q) and the signal Aq of logical value 1
c (Lp) is output. Signal Aqc (Lp) of logical value 1
Is a signal confirming that there is no moving object traveling from the section Lqc toward the section Lp.

When the branching device Wq is turned in the a direction, the turning signal W (Lq) in the a direction is a logical value of one. At this time, the signal Aqbpc can be taken along the sections Lqb, Lq, Lqc, Lp, and Lpc.
(Lqc) and the signal T (Lq) need not be confirmed.
In this case, it is necessary to confirm the presence or absence of a moving body that advances from the section Lqa and the section Lpc to the section Lqc, and the presence or absence of a moving body in the section Lq. AN
D181 and OR181 perform the confirmation. Signal Aqa
pc (Lqc) and signal T (Lq) both have a logical value of 1
, Through AND 181 and OR 181
The signal input to the AND 183 is a signal having a logical value of 1 indicating that there is no moving object traveling from the section Lqa and the section Lpc to the section Lqc.

AND 183 is provided by AND 181 and OR 1
81, and a logical value 1 conversion signal W (Lq) of the logical value 1 obtained through the OR 182 in the a direction.
And a signal Aqc of logical value 1
(Lp) is output. Signal Aqc (Lp) of logical value 1
Is a signal confirming that there is no moving object traveling from the section Lqc toward the section Lp.

FIG. 19 shows an example of a moving body traveling road to which the moving body control device according to the second aspect of the present invention is applied. FIG.
In 9, running is collectively permitted from the area Li to the area Lj. In the middle of this route, a route Lpa → Lp including a branch is interposed. The route from the section Li to the section Lpa is represented by the section Li → Lij1 → Lij2.
ij (npa) → Lij (pa). In this route, an area including a branch is defined as Lij {k (1)}, Lij
{K (2)},..., Lij {k (m)}. 1
≦ k (1) <k (2),..., <K (m) ≦ npa.

When the route from the area Li to Lpa is formed, the turning direction confirmation signal of the area is given by Wφ [Lij
{K (1)}],. . . , Wφ [Lij {k (m)}]
Expressed by φ represents the turning direction a or b. This is
Conversely, the confirmation signal in the direction in which the course is not formed is given by W'φ [Li
j {k (1)}],. . . , W'φ [Lij ｛k
(M)｝].

When it can be confirmed that the section Lij ｛k (l)｝ (1 ≦ l ≦ m) does not form a route from the section Li to the section Lpa, that is, W′φ [Lij ｛k
In the case of (l) {] = 1, the area Lij {k is obtained from the area Lij {k (l)} regardless of the situation on the area Li side.
(L) A moving body traveling from｝ to the area Lpa cannot exist.

Accordingly, from the area Lij {k (l) +1} next to the area Lij {k (l)}, if it is confirmed that no moving object exists in the area Lij (npa) immediately before the area Lpa, It is possible to confirm the absence of a moving object that proceeds to the area Lpa. The same configuration can be applied to other branch areas. When all of the branch areas have turned to the path forming side, there is no moving object traveling from the area Li (Aij (Lij1) = 1) and the area Lij1
The absence of the moving object in all the areas from to the area Lij (npa) must be confirmed.

FIG. 20 is a diagram showing the absence-of-moving-body confirming signal Apa (Lp) on the moving body traveling path shown in FIG.
Is shown below. In FIG. 20, signal 60
1 is the area Li, Lij {1},. . . Lij @ k
(1) If the absence of the moving object is not present in｝, the logical value becomes 1.

The signal 602 has a logical value of 1 if no moving object traveling from the area Lij {k (i)} is present. The signal 603 comprises the areas Lij @ k (1) +1,. . . Lij @ k
(2) If there is no moving object in｝, the logical value becomes 1. The signal 604 has a logical value of 1 if there is no moving object traveling from the area Lij {k (2)}. The signal 701 has a logical value of 1 if no moving object traveling from the area Lij {k (m-1)} is present.

In the same manner, the absence of the moving object is confirmed. Then, in the final stage, the signal 703 is output to the area Li.
When there is no moving object traveling from j {k (m)},
The logical value is 1, and the signal 704 is in the area Lij @ k (m) +
1,. . . When the moving object is not present in Lij (npa), the logical value becomes 1. The signals 703 and 704 have the logical value 1
At this time, a signal Apa (Lp) having a logical value of 1 indicating that the moving object traveling from the section Lpa to the section LP is absent is generated.

If there is another route to the area Lpa, FIG.
It can be configured in the same way as the case of 0, and by calculating the logical product of all such confirmation signals, it is possible to generate the absence confirmation signal of the moving object that is traveling.

FIG. 21 is a block diagram of an interlocking device using the moving object control device according to the present invention. In the figure, the portion indicated by the reference numeral 100 indicates the moving object control device according to the present invention. The mobile control device 100 includes a safety-related unit 110 configured with a fail-safe logic circuit, a non-safety-related unit 120 configured with a logic processing circuit, an AND operation unit AND21, and an AND operation unit AND22. In.

The safety-related section 110 includes a progress permission signal generation section shown in FIGS. 2 and 4 and an operation permission signal generation section shown in FIG. 13 and the like. A progress permission signal generation unit, and
The details of the operation permission signal generation unit are as described above, and perform a unique signal transmission. A signal is input to the safety-related unit 110 via the track circuit 23 and the track relay 24. This signal is used as a moving body (hereinafter referred to as a train) absence confirmation signal for each track circuit and a traveling train absence confirmation signal indicating that a train traveling to a certain track circuit is absent. Further, the safety-related unit 11
0 indicates a switch display unit 2 for detecting the opening direction of the switch 21.
2, the opening direction signals a and b of the switch are input. The safety-related unit 110 generates and outputs a progress permission signal, a conversion permission signal, and the like.

The non-safety-related section 120 includes the progress command signal generating section shown in FIGS. 2, 4 and the like, and the command signal generating section shown in FIG. 13 and the like. The non-safety related unit 120 is not related to safety and is configured as a programmable logic device using a normal logic processing circuit. The non-safety related unit 120
A track condition, a switch condition, a manual control signal, a centralized monitoring control signal, and the like are input, and a traveling command signal, an unlock command signal, a conversion control signal, and the like are generated and output.

The route command signal generated by the non-safety related section 120 is supplied to the safety related section 110. Safety related part 1
10 confirms the absence of a train in the track circuit included in the course and the absence of the traveling train based on the course command signal.

The progress permission signal generated by the safety-related section 110 and the progress command signal generated by the non-safety-related section 120 are supplied to an AND operation section AND21. The AND operation unit AND21 outputs the progress permission signal and the progress command signal
In both cases, when the logic value is 1, the signal of the logic value 1 is supplied to the control unit 25 such as a signal lamp. Then, according to the output of the control unit 25, the corresponding signal light is caused to display the progress permission display. The control unit 25 may generate an ATC speed signal corresponding to the signal indication.

The conversion permission signal generated by the safety-related unit 110 and the unlock command signal generated by the non-safety-related unit 120 are supplied to the AND operation unit AND22. The AND operation unit AND22 outputs the conversion permission signal and the unlock command signal,
In both cases, when the logic value is 1, the signal of the logic value 1 is supplied to the switching lock relay 28. Thereby, the lock relay 2
8 is operated, and the switch 21 can be changed.

The turning direction control unit 27 includes the non-safety related unit 12
0 and a lock switch relay 28.
The switch 21 is changed to a predetermined direction a or b based on the signal supplied from the switch. The contact condition of the switching lock relay 27 is supplied to the safety-related unit 110 as a lock confirmation signal. The non-safety related unit 120 has a display for displaying input / output data in addition to performing train communication.

As described above, in the interlock function of the interlocking device, the safety-related unit 110 that generates the progress permission signal and the conversion permission signal is essentially a part related to safety.
Since the safety related unit 110 is separated from the non-safety related unit 120 that generates the progress command signal, the conversion control signal, the unlock command signal, and the like, the safety related unit 110 uses a unique signal transmission and does not generate an output signal when a failure occurs. It can be realized by an electronic circuit.

As a result, the back check function performed by the relay circuit can be omitted, and the circuit has only the interlock function that is originally required, and the circuit configuration is simplified.

In addition, only the parts essentially related to safety
Since the safety-related unit 110 is separated, the command signal generation unit, which is another unit, is not concerned with safety.

Since the non-safety related section 120 is essentially a section not related to safety, it can be realized by a programmable electronic device. In this case, it is not necessary to verify the security applied to the software applied in the non-safety-related unit 120, and it is not necessary to verify the safety at the time of repair. In some cases, site renovation is possible. Even if there is an error in the software, the safety is ensured in terms of hardware by the safety-related unit 110, so that a dangerous error output that may cause an accident due to the error can be avoided.

[0173]

As described above, the following effects can be obtained. (A) It is possible to provide a mobile interlock control device that can simplify the electric circuit configuration and can ensure high reliability. (B) It is possible to provide a mobile interlock control device that is easy to verify and repair.

[Brief description of the drawings]

FIG. 1 is a diagram showing an example of a moving body traveling road to which a moving body control device according to a first embodiment of the present invention is applied.

FIG. 2 is a block diagram of a moving object control device corresponding to the moving object traveling route in FIG. 1;

FIG. 3 is a diagram illustrating a simplified example of a moving body traveling road to which the moving body control device according to the first embodiment of the present invention is applied.

FIG. 4 is a block diagram of a moving object control device corresponding to the moving object traveling route in FIG. 1;

FIG. 5 is a diagram showing an example of a circuit for confirming, by time management, that there is no other moving body entering the area L1 from the area L9.

FIG. 6 is a diagram showing another example of a circuit for confirming that another moving body that enters the area L1 from the area L9 is absent.

FIG. 7 is a diagram illustrating an example of a level test circuit in which a dual signal that cannot simultaneously generate an output is configured using unity signal transmission.

FIG. 8 is a diagram illustrating another example of the moving body traveling road to which the moving body control device according to the first embodiment of the present invention is applied.

FIG. 9 includes a level test circuit, a self-holding circuit, a one-shot circuit, and an off-delay capacitor.

FIG. 10 is a time chart for explaining the operation of the circuit shown in FIG. 9;

FIG. 11 is a circuit diagram showing a use form of a signal obtained by the circuit shown in FIG. 9;

FIG. 12 is a diagram showing a simplified example of a moving object traveling path to which the moving object control device according to the present invention is applied.

FIG. 13 is a block diagram of the moving object control device in which a branching device opening condition is added to a generation condition of a progress permission signal.

FIG. 14 is a diagram illustrating an example of a moving body traveling road to which the moving body control device according to the second aspect of the present invention is applied.

FIG. 15 is a block diagram illustrating a configuration of a moving object control device according to a second embodiment of the present invention.

FIG. 16 is a diagram illustrating a configuration example of a branching device control circuit.

FIG. 17 is a diagram showing a moving body traveling road having a slightly complicated branch road configuration.

18 is a diagram illustrating a specific example of generating a non-existence confirmation signal Aqa (Lp) of a moving body traveling from the section Lqa to the section Lp on the moving body traveling road illustrated in FIG. 17;

FIG. 19 is a diagram showing another example of the moving body traveling road to which the moving body control device according to the second aspect of the present invention is applied.

20 is a diagram illustrating an example of a general generation circuit of an absent confirmation signal Apa (Lp) of a moving object traveling on the moving object traveling path illustrated in FIG. 19;

FIG. 21 is a block diagram of an interlocking device using the moving object control device according to the present invention.

[Explanation of symbols]

Reference Signs List 101 progress permission signal generation section 201 progress command signal generation section 102 operation permission signal generation section 202 operation command signal generation section 110 safety related section 120 non-safety related section AND, AND21, AND22 AND operation section

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Akira Morisada 1-13-8 Kamikizaki, Urawa-shi, Saitama Japan Signaling Co., Ltd. Yono Office (72) Inventor Minato Shirai 1-chome Kamikizaki, Urawa-shi, Saitama 13-8 Japan Signal Corporation Yono Office (72) Inventor Yoshiaki Yaguchi 1-13-8 Kamikizaki, Urawa-shi, Saitama Japan Signal Corporation Yono Office F-term (reference) 5H161 AA01 AA10 BB01 DD02 EE11

Claims (6)

[Claims] 1. A moving object control device provided for running control of a plurality of moving objects sharing a traveling path, comprising a traveling permission signal generating unit, a command signal generating unit, and a logical product operation unit. The traveling permission signal generation unit receives the signal of the moving object absence confirmation and the signal of the traveling moving object absence confirmation, and generates a traveling permission signal that is a logical product of the signals, and the signal of the moving object absence confirmation is a signal of the moving object. It is a signal that means that there is no other moving body in the area to be the course, the signal of the traveling moving body absence confirmation is a signal that means that there is no other moving body traveling toward the area, The moving object control device, wherein the command signal generation unit generates a progress command signal, and the logical product operation unit generates and outputs a logical product signal of the progress permission signal and the progress command signal. 2. The moving object control device according to claim 1, wherein the traveling permission signal generation unit and the logical product operation unit operate at a high energy level only when an input signal has a high energy level. A mobile body control device having an error characteristic that generates a signal of (1) and does not generate output energy when a failure occurs in itself. 3. The moving object control device according to claim 1, wherein the traveling permission signal generating unit is used in a tracked moving object traveling system, A moving object control device that generates the advance permission signal, using a switch opening confirmation signal, which indicates that the switch is opened in a predetermined direction, as an input condition. 4. A moving object control device provided for controlling a branching device set on a traveling path of a moving object, comprising: an operation permission signal generating unit, a command signal generating unit, and an AND operation unit. The operation permission signal generation unit receives the signal for confirming the absence of a moving object and the signal for confirming the absence of a moving object, and generates an operation permission signal that is a logical product of the signals. A signal indicating that no moving object is present in a certain area, and the signal of confirming the absence of the moving object is a signal indicating that there is no moving object traveling toward an area where the branching device is located. A command signal generation unit generates an operation command signal for the branching device, and the AND operation unit generates and outputs a logical product signal of the operation permission signal and the operation command signal, and outputs the output. . 5. The moving object control device according to claim 4, wherein the operation permission signal generation unit and the logical product operation unit perform a high energy level only when an input signal has a high energy level. A mobile body control device having an error characteristic that generates a signal of (1) and does not generate output energy when a failure occurs in itself. 6. The mobile control device according to claim 1, wherein the command signal generation unit is a programmable logic device.