JP2005124291A - Control unit and travel body equipped with the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control optimally with safety a travel body such as a train. <P>SOLUTION: A train 10 moves on travel paths 12a, 12b using an electric power. A remaining electric power of a power storage means that stores the electric power is measured, and a travel plan of the train 10 is made based on the detected remaining electric power or the like. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  TECHNICAL FIELD The present invention relates to a train such as a train railway system, a new transportation system, a distribution system, etc., a train, a car, a transport vehicle, etc., which are travel bodies traveling on a travel route, and a travel body provided with the control device.

Conventionally, there is a technique for making an operation plan for reducing break energy loss of a traveling body and preventing wasteful consumption of brake shoes, and this technique performs control in consideration of energy consumption distribution of the traveling body. For this control, a technique of using a database created in advance and performing control based on this database is disclosed.
JP2003-134604A.

  However, with such a configuration, a specific database creation method for an operation plan that can optimally control the traveling body is not disclosed. In addition, it is impossible to make an operation plan in consideration of the safety of the traveling body.

  The objective of this invention provides the traveling body provided with the control apparatus and control apparatus which can control the traveling body optimal and safe.

  The present invention solves such a problem, and is a control device that controls a traveling body that moves on a traveling path using electric power, and that stores the remaining power of an electric power storage unit that stores electric power used by the traveling body. An operation plan creating means for making a travel plan for the traveling body based on the remaining power amount detected by the remaining power detection means for measuring power is provided.

  Therefore, according to the present invention, the remaining storage power of the power storage means for storing the power used by the traveling body moving on the traveling road using the electric power is measured, and the traveling plan of the traveling body is determined based on the detected remaining power amount. Can be stood. For this reason, it is possible to control the traveling body that is optimal and safe.

  ADVANTAGE OF THE INVENTION According to this invention, the traveling body provided with the control apparatus and control apparatus which can control the traveling body which was optimal and was rich in safety can be provided.

(First embodiment)
Next, a first embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows an embodiment of a traveling body control system to which a control device provided in a traveling body according to the first embodiment of the present invention is applied. In this traveling body control system, the traveling body 10 such as a vehicle is a so-called double track line including two traveling paths 12a and 12b that can travel only in a single direction. This traveling body control system includes traveling roads 12a and 12b and stopping places 16a and 16b, and is configured to travel traveling bodies 10a and 10b such as vehicles on the traveling paths 12a and 12b.

  FIG. 2 is a functional block diagram showing the configuration of the traveling body 10 such as a vehicle. The traveling body 10 includes a storage unit 20, a control unit 22, power storage means 24 that is mounted on the traveling body 10 and can store power energy that can be used for traveling of the traveling body, and an output from the control unit 22. And a driving / decelerating means 26 capable of accelerating / decelerating the traveling body 10 based on the above.

  The storage unit 20 includes a route database storage area 20a in which data relating to a travel path such as a gradient and a curve speed limit are stored, a predetermined operation schedule data storage area 20b, and a travel performance in which travel performance of the travel body is stored. A database storage area 20c and the like are stored.

  The control unit 22 includes a remaining power detection unit 22a that can detect the amount of power energy remaining in the power storage unit 24, a traveling body position detection unit 22b that detects the position of the traveling body, and a traveling body speed that detects the speed of the traveling body. It comprises detection means 22c.

  The traveling body 10 is equipped with a secondary battery as power storage means 24 for accumulating power supplied from an overhead wire or the like, and power is supplied from the secondary battery to the drive / deceleration means 26. For this reason, the traveling body 10 can be caused to travel even when power is not supplied from the outside of the traveling body 10. Further, when the traveling body 10 is decelerated, power is regenerated by the driving / decelerating means 26 and the power is stored in the power storage means 24 mounted on the traveling body 10.

  Further, the traveling body 10 is equipped with, for example, a GPS (Global Positioning System) receiver as the traveling body position detecting means 22b so that the traveling position of the traveling body can be detected, and as the traveling body speed detecting means 22c, For example, the traveling speed of the traveling body 10 is detected by a speed generator connected to the axle. Further, although the GPS is used as the traveling body position detecting means 22b, the present invention is not limited to this. For example, a signal from a speed generator mounted on the traveling body is processed and used for position detection, or a track An approach check method using a circuit, a transponder, a limit switch, or a combination of some of them may be used. Similarly, a speed generator is used for the traveling body speed detecting means 22c. However, the present invention is not limited to this. For example, a pulse generator, a laser radar, or a millimeter wave radar can be used as long as it can detect the speed of the traveling body. Anything such as use may be used.

  The control operation of the traveling body in the traveling body control system to which the control device provided in the traveling body according to the first embodiment of the present invention configured as described above is applied will be described.

  The traveling body 10a shown in FIG. 1 leaves the stop 16a, travels along the travel path 12a, and then arrives at the stop 16b. On the other hand, the traveling body 10b leaves the stop 16b, travels along the travel path 12b, and then arrives at the stop 16a. The traveling units 10a and 10b are each equipped with a control unit 22, and the control unit 22 realizes the operation plan (operation plan from departure to stop) created by the operation plan creation means 22d. In this manner, the driving / decelerating means 26 is operated to automatically run the traveling bodies 10a and 10b.

  Based on the information obtained from the remaining power detection means 22a, the traveling body position detection means 22b, and the traveling body speed detection means 22c, the control unit 22 operates the driving plan for traveling body travel by the operation plan creation means 22d at an arbitrary timing. Create The operation plan creation means 22d outputs an operation plan creation instruction signal. The operation plan creation means 22d that has received this operation plan creation instruction signal creates appropriate operation plan information based on the route database storage area 20a, the operation schedule data storage area 20b, and the traveling body performance database storage area 20c. Based on the operation plan information created by the operation plan creation means 22d, the control unit 22 performs the remaining power detection means 22a, the traveling body position detection means 22b, the traveling body speed detection means so as to realize this operation plan as much as possible. With reference to the information obtained from 22c, the drive / deceleration means 26 is controlled to automatically drive the traveling bodies 10a, 10b.

  Further, the operation plan creation means 22d creates an operation plan so as to observe the operation schedule as much as possible. At this time, it is possible to create an operation plan based on a plurality of guidelines such as a driving method suitable for energy-saving traveling and a driving method for traveling between stops at the shortest possible travel time.

  Further, the control unit 22 determines which operation plan creation means 22d creates the operation plan information based on which information obtained according to the situation, and switches this creation guideline by the operation plan creation instruction signal.

  In the first embodiment, the operation plan creation unit 22d uses the elapsed time from the departure of the stop 16a, the travel positions of the traveling bodies 10a and 10b, the travel positions of the travel bodies 10a and 10b, and their positions as the operation plan information. A so-called driving curve, which is a relationship of the traveling body speed at, is created and stored in a storage area (not shown) of the storage unit 20 constituting the control unit 22. The above-mentioned driving curve is, for example, as shown in FIG. 3, which shows the relationship between the position and speed of the traveling bodies 10a, 10b when the traveling bodies 10a, 10b travel from the stop 16a to the stop 16b. It is the shown operation curve. In this driving curve, the traveling bodies 10a and 10b depart from the stop 16a, accelerate, travel at a constant speed at the maximum speed, decelerate to pass the speed limit section while maintaining the speed limit, and accelerate after passing. Then, after traveling at a constant speed at the maximum speed, the vehicle is decelerated in order to stop at the stop 16b and stops at a predetermined stop position.

  Next, based on these data, the control unit 22 uses the amount of power consumed by the driving / decelerating means 26 when the traveling bodies 10a and 10b are accelerated or travels at a constant speed, and when the traveling bodies 10a and 10b are decelerated. The amount of power regenerated by the drive / deceleration means 26 and stored in the power storage means 24 is calculated and stored in a storage area (not shown) of the storage unit 20.

  When the traveling body 10a departs from the stop 16a, first, a signal for the traveling body 10a is a signal for allowing the traveling body 10a to proceed. When the traveling body 10a departs from the stop 16a, the control unit 22 of the traveling body 10a. However, the driving plan creation means 22d outputs a driving plan creation instruction signal for creating a driving plan up to the stop 16b, which is the next stop that the traveling body should aim for. The operation plan creation means 22d that has received the operation plan creation instruction signal is a route database storage area 20a in which data relating to the travel road such as a gradient and a curve speed limit is stored, and a travel body performance database storage area in which the travel performance of the travel body is stored. 20c, an operation plan is created based on data relating to the amount of power energy stored in the power storage means 24 output by the predetermined operation schedule data storage area 20b and the remaining power detection means 22a.

  As a constraint condition when the operation plan creation means 22d creates an operation plan at this time, there are constraints from the aspect of equipment and safety such as a speed limit section when passing through a gradient curve part or a branching part on the roadway, -Physical constraints such as traveling performance of the traveling body, gradient of the traveling path, and the time at which the traveling body 10a departs from the stop 16a stored in the operation diagram data storage area 20b, and then the traveling body 10a is stopped. There is an arrival time of the traveling body at the stop 16b.

  In particular, it is necessary to create it so that the arrival time at the next stop 16b of the traveling body 10a stored in the operation diagram data storage area 20b is observed as much as possible from the point of timeliness of traveling body operation. In general, the operation schedule of a traveling body is an appropriate time margin that is considered necessary for the operation of the traveling body during the standard operation time, which is the shortest travel time required for the traveling body to travel between certain stops. Basically, it is created by adding extra time. This standard operation time is a value that can be uniquely determined from the constraints from facilities and safety aspects and physical constraints such as the performance of the vehicle and the route shape of the road. Absorbs fluctuations in travel time due to individual differences in the performance of the vehicle and variations in the driving operation of the driver, or delays to the following vehicle when there is a delay in operation due to some reason It is used to make a margin for preventing the influence, recovering the delay, and adjusting the operation.

  In this way, time schedules are added to the schedule, so if you leave the traveling body from the stop on time, if you try to arrive at the next stop as determined by the schedule Drive the actual speed of the traveling body lower than the traveling speed that realizes the standard driving time, adjust the acceleration when the traveling body accelerates and the deceleration when stopping at the stop, and run between stops It is necessary to adjust the running time by driving operation, such as driving with the body coasting.

  In addition, it is possible to reduce the power consumption of the traveling body by performing driving operations such as driving at a lower maximum speed or driving with a coasting section using such spare time. It is.

Now, the traction force of the traveling body 10a is Fd [Newton, hereinafter abbreviated as N], the air resistance is Ra [N], the traveling resistance due to the gradient of the traveling path 12a is Rg [Nl, traveling that the traveling body receives from the traveling road at the curved portion. When the resistance is Rr [N], the acceleration of the traveling body 10a is α [m / s ² ], and the weight is W [kilogram = kg], the equation of motion of the traveling body 10a when the traveling body 10a travels is Fd− ( Ra + Rg + Rr) = Wxα. As an example, when the traveling body 10a is traveling at a constant speed, since the acceleration α of the traveling body 10a is 0 at the constant speed traveling, the equation of motion of the traveling body 10a is Fd− (Ra + Rg + Rr). In other words, in order to make the traveling body 10a travel at a constant speed, it is necessary to provide the traveling body 10a with a traction force Fd that balances the total traveling resistance acting on the traveling body 10a. Since the air resistance Ra is substantially proportional to the square of the speed, if the traveling body 10a is operated so as to reduce the traveling speed of the traveling body 10a, particularly the maximum speed, the traction force Fd required for the traveling body 10a and the traction force It is possible to greatly reduce the amount of power required to generate

  Further, by reducing the maximum speed at which the traveling body 10a is driven, the time required for accelerating the traveling body 10a can be shortened, and the effect of reducing the power consumption can be obtained at the same time. Therefore, in the first embodiment of the present invention, when the operation plan is created by the operation plan creation means 22d, the amount of power stored in the power storage means 24 is detected and stored by the remaining power detection means 22a. Based on the information regarding the amount of electric power, an energy saving operation plan is created so that the power consumption can be reduced as much as possible within a range in which the arrival time at the next stop 16b stored in the operation diagram data storage area 20b can be observed.

  For example, when it is detected that the remaining power amount stored in the power storage unit 24 by the remaining power detection unit 22a is lower than a predetermined value, the arrival at the next stop on the service schedule As long as the time is in time, the speed of the section where the vehicle is driven at the maximum speed between the stops is reduced, or a driving curve using a higher deceleration is planned when the traveling body 10a is decelerated. By using a high deceleration, the time required for deceleration is shortened. However, if the traveling time between the stops does not change, the acceleration time needs to be shortened. As a result, the power consumption can be reduced.

  Also, for example, while traveling between stops, the train may be slowed or delayed with respect to the arrival time on the schedule of operations to the target stop by reducing or stopping the train due to obstacles etc. When expected, the operation plan is created again by the operation plan creation means 22d according to a command from the control unit 22 so as to recover the delay or shorten the delay time as much as possible. In addition to this, for example, when the distance between the stops is long, a failure may occur between the stops and a delay may occur with respect to the travel plan of the traveling body, so until it approaches the arrival stop as much as possible There are also cases in which you want to operate while keeping enough time. In such a case, when the remaining power detection means 22a detects that the remaining power amount stored in the power storage means 24 is greater than or equal to a predetermined value, the control unit 22 operates the operation plan creation means. An instruction for creating a travel plan that arrives at the next stop earlier than the scheduled time is output to 22d.

  For example, an operation plan is created so that the vehicle travels at a high acceleration when accelerating the vehicle and travels at a high speed when traveling at a constant speed so that the vehicle can travel in the shortest possible travel time until it approaches the arrival stop. Then, when there is sufficient time with respect to the estimated arrival time at the stop when it is sufficiently close to the arrival stop, the control unit 22 sends the operation plan creation means 22d to the next stop on time. An instruction to create a travel plan that arrives is output. Based on this instruction, the operation plan creation means 22d shortens the spare time, such as coasting the traveling body, decreasing the traveling speed, or decreasing the deceleration of the traveling body when stopping at the next stop. Recreate an operation plan like this.

  Further, when the remaining power detection means 22a of the control unit 22 detects that the remaining power amount stored in the power storage means 24 is less than the specified value, the deceleration at the time of deceleration of the traveling body is compared with the case where the remaining power is greater than the specified value. An operation plan is created in which the vehicle speed is increased, the traveling speed during constant speed traveling is decreased, or the acceleration during traveling body acceleration is decreased. When the operation plan is created by the operation plan creation means 22d, the control unit 22 operates the driving / deceleration means 26 to start the traveling body 10a from the stop 16a. At this time, for example, a GPS receiver mounted on the traveling body 10a is used as the traveling body position detection unit 22b, and the traveling position of the traveling body 10a is detected at a certain sampling period. The traveling body speed detection means 22c detects, for example, a traveling speed of the traveling body 10a by acquiring a signal of a speed generator mounted on the traveling body 10a at a certain sampling period.

  The controller 22 receives the travel position and travel speed of the traveling body 10a detected in this way and the operation plan created by the operation plan creation means 22d as inputs, and drives so as to realize the operation plan as much as possible. -Operate the speed reduction means 26 and drive the traveling body 10a. In actual traveling, for example, the number of passengers who have traveled on the traveling body 10a, the difference between the data stored in the traveling performance database storage area 20c and the traveling performance of the actual traveling body 10a, the driving / decelerating means 26 Usually, the driving performance differs from the driving plan due to various factors such as fluctuations in the voltage for driving the vehicle and the weather. The control unit 22 controls the output command to the driving / decelerating unit 26 in real time so as not to cause such an error between the operation plan and the actual operation as much as possible, but the power supply voltage supplied to the driving / decelerating unit 26 is controlled. It is not always possible to make corrections due to various restrictions such as restrictions. In addition, for example, when there is an operation delay in the preceding traveling body, there is a case where the traveling body cannot be operated as planned, such as stopping the traveling body to prevent a collision or operating at a reduced traveling speed. Sometimes it happens.

  Therefore, when the error between the operation plan and the operation result becomes large in this way (for example, when an error threshold value is set and exceeds the threshold value), the operation plan creation means 22d is provided as needed. The operation plan can be recreated.

  With the above configuration, when the amount of power stored in the power storage unit 24 is detected in real time by the remaining power detection unit 22a, and the remaining power amount stored in the power storage unit 24 falls below a specified value. Can output an operation plan creation instruction signal for instructing the operation plan creation means 22d to recreate the operation plan, and can recreate an operation plan with less power consumption within a range in which the arrival time at the stop 16b can be protected. Further, based on the output command to the driving / decelerating means 26, the amount of power consumed when the traveling body 10a is accelerated or traveling at a constant speed, and the electric power is regenerated by the driving / decelerating means 26 when the traveling body is decelerated. The power amount stored in 24 is calculated, stored as a power consumption amount actual value on a memory constituting the control unit 22, and compared with information on the power consumption amount calculated in advance by the operation plan creating means 22d. When the actual power consumption value is larger than the set value, an operation plan creation instruction signal for instructing the operation plan creation means 22d to recreate the operation plan is output, and the arrival time at the stop 16b can be protected. In range, it is possible to re-create an operation plan with less power consumption.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings. In the second embodiment of the present invention, in addition to the configuration of the first embodiment, the safety control means 22e that detects the presence or absence of a failure on the travel path shown in FIG. 22 is prepared. In addition, a branching / merging part is provided in the traveling path 12a and the traveling path 12b, and a branching device 34 is installed in each of the branching / merging parts. Further, these branching devices 34 are connected to security control ground devices 181 and 182 that are ground facilities, and the branch device 34 can be remotely operated from the security control ground devices 180a and 180b. The safety control ground devices 180a and 180b are installed on the ground in the vicinity of the traveling road 12a12b, and detect the presence or absence of obstacles on the traveling road to instruct the traveling operation of the traveling body. In addition, the same code | symbol is attached | subjected to the thing similar to 1st Embodiment, and detailed description is left to the above-mentioned.

  As shown in FIG. 5, is the security control means 22e provided in the traveling body 10 such as a vehicle set appropriately in the direction in which the branching unit present in the branching junction of the traveling paths 12a and 12b should travel? It is detected whether there is no other traveling body ahead of the traveling direction of the traveling body, and the traveling body 10 is instructed to stop or travel speed. Further, the security control ground devices 181 and 182 are also connected to the radio signal device 184 installed on the travel paths 12a and 12b shown in FIG. 6, and receive signals from the traveling body 10 received by the radio signal device 184. It can be done.

  The security control ground device 181 is connected to at least one radio signal device 184 installed in the vicinity of the travel paths 12a and 12b, and the security control means 22e has a radio signal device (not shown). Can communicate with each other by radio signals.

  The traveling body 10 detects the position and traveling speed of the traveling body for every fixed period based on information from, for example, a GPS device and a speed generator mounted on the traveling body 10. Information on the detected position and traveling speed of the traveling body is transmitted to the wireless signal device 184 by the security control means 22e as traveling body traveling state data. The transmitted traveling body traveling state data is received by the wireless signal device 184 and transmitted to the security control ground device 181.

  In addition, the traveling body 10 switches the branching device 34 in an appropriate direction based on the operation schedule data stored in the storage unit 20 mounted on the traveling body 10 with respect to the branching device 34 existing on the traveling road. To the branch device control request data. The transmitted branch device control request data is received by the radio signal device 184 and transmitted to the security control ground device 181. The security control ground device 181 performs control so that the branching direction of the branching device 34 is appropriately switched based on the received branching device control request data, and after confirming that the branching device 34 has been properly switched, The branch device control confirmation data is transmitted to the traveling body 10 using the signal device 184.

  As described above, the security control ground device 181 can obtain the traveling state such as the position and speed of the traveling body 10 on the traveling paths 12a and 12b, the opening information of the branching device 34, and the like. The security control ground device 181 travels with respect to the plurality of traveling bodies 10 existing on the traveling paths 12a and 12b based on the traveling state of the traveling body 10 obtained in this way and the opening information of the branching device 34. A traveling state instruction data for instructing a limit position and a speed limit at which the body 10 can travel safely is created and transmitted to each traveling body 10 traveling on the traveling paths 12a and 12b via the wireless signal device 184.

  On the other hand, as shown in FIG. 7, the safety control means 22e of the traveling body 10 receives the traveling state instruction data, and the traveling body 10 receives the traveling necessary for safe traveling based on the traveling state instruction data. An operation plan that is information on the speed limit for the travel position of the body 10a is created. The operation plan creation method at this time is set in consideration of the position of the preceding traveling body 10b, the position detection error of the traveling body position detecting means 22b, the delay in information transmission, the processing time of the control unit 22, and the like. The safety control target stop position 52 is obtained from the safety control margin distance 54 which is a surplus distance for safety. Then, using the deceleration performance of the traveling body 10a, the obtained safety control target stop position 52 is used as a reference point, and the reverse control is performed from the safety control target stop position 52 to the current traveling position 51 of the traveling body 10a.

  In the second embodiment, as the deceleration performance of the traveling body 10a, not only the braking performance of the traveling body 10a but also the traveling resistance due to the gradient value and curve radius of the traveling path, the traveling speed of the traveling body 10a, and the tunnel portion are traveled. Data based on running resistance that varies depending on whether the vehicle is traveling in the middle or light section is used. The control unit 22 of the traveling body 10 is based on the information obtained from the traveling body position detecting means 22b and the traveling body speed detecting means 22c mounted on the traveling body 10 and the speed limit data included in the operation plan. The driving / decelerating means 26 of 10a is operated to control the traveling speed of the traveling body 10. In the second embodiment described above, the traveling body 10a is configured such that the control unit 22 performs an operation based on the operation plan. This is a traveling body control system to which the present embodiment is applied. Any configuration may be used as long as the control unit 22 can use the data related to the operation plan. For example, an automatic train control unit (ATC: Automatic Train Control) or the like may be mounted as in a normal railway system, and an operation plan may be created thereby to control the traveling body 10.

  With the above configuration, in addition to the effects of the first embodiment, the power storage unit 24 mounted on the traveling body 10 supplies power to the driving / decelerating unit 26. It is not necessary to lay an overhead line for supplying power to the traveling body 10 over the entire length of the vehicle. However, an overhead wire is intermittently laid in a part of the stop or on the traveling road, and power is stored in the power storage means 24 via a pantograph attached to the traveling body 10 where the overhead wire is laid. To be able to. In this way, installation of overhead lines for supplying power from the outside of the traveling body 10 can be suppressed to only the minimum necessary locations, so that ground facilities can be reduced or new overhead lines can be laid due to restrictions due to buildings, etc. It is also possible to realize an LRT (Light Rail Transit) system in suburban areas where it is difficult to do so.

  Further, in the present embodiment, the overhead line is intermittently laid in a stop or a part of the traveling path, but the configuration of the traveling body control system to which the present embodiment is applied is not limited at all. As long as the amount of power that can be stored in the power storage unit 24 mounted on the vehicle 10 is sufficient for the traveling body 10 to travel, a configuration in which no overhead line is installed on the traveling path may be used. Moreover, the structure which lays an overhead line over the full length of a traveling path like a normal electric railway may be sufficient. In this case, ground facilities such as a substation that supplies power to the overhead line can be reduced, and facilities on the traveling body 10 side such as the power storage means 24 are also small compared to the configuration shown in the first embodiment. It can be scaled. As an application example of such a configuration, for example, a transportation system in a metropolitan area where the operation density of the traveling body is high can be considered. In such a line section, when a plurality of traveling bodies depart at the same time in the same electromotive section, the traveling body cannot obtain sufficient acceleration force due to a decrease in electromotive voltage, or to supply electric power. Problems such as insufficient capacity of the substation may occur, but these problems can be solved by mounting the power storage means 24 on the traveling body and using it as a power source.

(Third embodiment)
Next, a second embodiment of the present invention will be described with reference to the drawings. In 3rd Embodiment of this invention, the structure of the traveling body 10 is the same as that of 2nd Embodiment. When the safety control means 22e is instructed to change the traveling speed of the traveling body, the control unit 22 outputs an operation plan creation instruction signal to the operation plan creation means 22d. To be recreated. In addition, the same code | symbol is attached | subjected to the thing similar to 1st Embodiment, and detailed description is left to the above-mentioned.

  8 to 12 show a state in which the following traveling body 10a and the preceding traveling body 10b travel from the stop 16a toward the stop 16b. In FIG. 8, the preceding traveling body 10b is traveling between the stops from the stop 16a to the stop 16b, and the subsequent traveling body 10a is stopped at the stop 16a. When the subsequent traveling body 10a arrives at a time earlier than the scheduled time at which the stop 16a departs from the stop 16a, an operation plan creation instruction signal is output by the control unit 22, and the operation plan creating means 22d of the traveling body 10a that has received this outputs the travel plan creation means 22d. A travel plan for the body 10a is created. The operation plan created at this time is the operation plan 80.

  In the driving plan 80, the traveling bodies 10a and 10b start accelerating from the stop position A of the stop 16a, and when they reach the speed limit section, run at a constant speed and accelerate again from the point where they passed the speed limit section. To reach the highest speed section. After traveling at a constant speed between the stop 16a and the stop 16b for a while, at a point approaching the stop 16b, the acceleration of the traveling body 10a is stopped and coasting operation is performed. Further, when approaching the speed limit section existing just before the stop 16b, the vehicle starts decelerating toward the speed limit. In the speed limit section, the vehicle travels at a constant speed at the speed limit, and finally decelerates again to stop at the stop position B of the stop 16b. When such an operation plan 80 is created, the traveling body 10a starts traveling according to the operation plan 80 when the departure time of the traveling body 10a at the stop 16a has elapsed.

  As shown in FIG. 9, when the preceding traveling body 10b exists ahead of the following traveling body 10a in the traveling direction, the security control ground device 181 of the following traveling body 10a operates to prevent a collision with the preceding traveling body 10b. A plan 92 is created. Currently, for example, the preceding traveling body 10b is stopped for some reason between the stops, the subsequent traveling body 10a approaches the preceding traveling body 10b, and the traveling position of the subsequent traveling body 10a is changed from the safety control stop target position 96. When the traveling position 94, which is a position separated by the safety control approach distance 98, is reached, as shown in FIG. 10, the control unit 22 mounted on the traveling body 10a transmits an operation plan creation instruction signal to the operation plan creation means 22d. And instruct to recreate the operation plan. When the operation plan creation means 22d receives the operation plan creation instruction signal, it creates an operation plan 93 from the current travel position 94 of the traveling body 10a to the stop 16b. The operation plan 93 takes the operation plan 92 and creates an operation plan 93 ahead of the safety control stop target position 96 of the operation plan 92. In the operation plan 93, since a deceleration operation that does not exist in the operation plan 80 planned at the departure of the stop 16a is performed, it can be predicted that the time for the traveling body 10a to reach the safety control stop target position 96 is delayed. Therefore, with respect to the driving plan ahead of the safety control stop target position 96, for example, even in the section where the coasting operation is performed in the driving plan 80, the constant speed driving is performed after accelerating to the maximum speed so as to recover this delay. Create a driving plan that

  However, when traveling according to the re-created operation plan 93, depending on conditions, it may be possible to arrive earlier than the arrival time at the stop 16b determined in the operation schedule. However, since the stop time after the traveling body 10a stops at the safety control stop target position 96 is unknown at the time of FIG. 10, it can travel from the safety control stop target position 96 to the stop 16b in the shortest travel time. Create an operation plan. When the traveling body 10a actually stops at the safety control stop target position 96, after the driving plan 80 is canceled, for example, when the preceding traveling body 10b resumes traveling, the traveling body 10a moves from the safety control stop target position 96. When the driving is resumed, the operation plan is created again.

  Further, FIG. 11 shows that the traveling plan 10a is decelerated according to the driving plan 92 and reaches the traveling position 94b. The driving plan 92 is canceled and updated to the driving plan 99 when the traveling body 10b resumes traveling. Shows the case. Since the driving plan 92 is canceled at the driving position 94b, the traveling body 10a re-creates the driving plan here. The traveling plan 10a is created such that the traveling body 10a finishes decelerating at the traveling position 94b and is accelerated until it intersects with the updated operational plan 99.

  In the driving plan 100 ahead of the safety control stop target position 94c, after the traveling body 10a is accelerated, the speed limit zone in front of the stop 16b is decelerated toward the speed limit, and the speed limit zone is operated at a constant speed. After traveling, the vehicle is decelerated toward the stop 16b. Note that the operation plan creation method described above is basic, and in the third embodiment as well, the control unit 22 detects the remaining power of the power storage unit 24 at any time by the remaining power detection unit 22a, and the remaining power is defined. In the case where the value is lower than the value, an operation plan for performing energy saving driving is created. For example, in FIG. 11, the driving plan ahead of the safety control stop target position 94c is the driving plan 100, but when the remaining power is equal to or less than a specified value at the safety control stop target position 94c, the control unit of the traveling body 10a. 22 outputs an operation plan creation instruction signal for creating an operation plan for realizing energy saving travel to the operation plan creation means 22d. As a result, the operation plan creation means 22d creates an energy saving operation plan 101 as shown in FIG. 12, and the control unit 22 performs the energy saving operation of the traveling body 10a.

  With the above configuration, in addition to the effects of the first and second embodiments, it is possible to perform accurate traveling of the traveling body that is energy saving and without delay.

The schematic diagram which shows the traveling body control system to which the control apparatus with which the traveling body which concerns on 1st Embodiment of this invention is provided is applied. The functional block diagram which showed the structure of the traveling body which concerns on 1st Embodiment of this invention. The schematic diagram which showed the driving | running | working curve of the traveling body which concerns on 1st Embodiment of this invention. The functional block diagram which showed the structure of the traveling body which concerns on 2nd Embodiment of this invention. The schematic diagram which showed the form of the process of the security control means which concerns on 2nd Embodiment of this invention. The schematic diagram which showed the form of the process of the security control means which concerns on 2nd Embodiment of this invention. The schematic diagram which showed one form of the driving | operation plan which concerns on 2nd Embodiment of this invention. The schematic diagram which showed one form of the operation plan which concerns on 3rd Embodiment of this invention. The schematic diagram which showed one form of the operation plan which concerns on 3rd Embodiment of this invention. The schematic diagram which showed one form of the operation plan which concerns on 3rd Embodiment of this invention. The schematic diagram which showed one form of the operation plan which concerns on 3rd Embodiment of this invention. The schematic diagram which showed one form of the operation plan which concerns on 3rd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10, 10a, 10b ... Traveling body, 12a, 12b ... Traveling road, 16a, 16b ... Stop, 20 ... Memory | storage part, 20a ... Route database storage area, 20b ... Travel schedule data storage area, 20c ... Traveling body performance database storage area , 22e: safety control means, 22: control unit, 22a: remaining power detection means, 22b: traveling body position detection means, 22c ... traveling body speed detection means, 22d ... operation plan creation means, 24 ... power storage means, 26 ... Drive / deceleration means

Claims (14)

A control device that controls a traveling body that moves on a traveling road using electric power,
It comprises an operation plan creation means for making a travel plan for the traveling body based on the remaining power amount detected by the remaining power detection means for measuring the remaining power of the power storage means for storing the power used by the traveling body. Control device. The control device according to claim 1,
The operation plan creation means, when accelerating the traveling body, sets an operation plan by changing the maximum speed of the traveling body based on the remaining power amount detected by the remaining power detection means. . The control device according to claim 1,
The control device is characterized in that the operation plan creation means sets an operation plan by changing the acceleration of the traveling body based on the remaining power amount detected by the remaining power detection means when the traveling body is accelerated. The control device according to claim 1,
The control device is characterized in that, when the traveling body decelerates, the operation plan creation means changes the deceleration of the traveling body based on the remaining power amount detected by the remaining power detection means and makes an operation plan. . The control device according to claim 1,
The operation plan creation means incorporates a section that travels only with the inertial force of the traveling body without consuming electric power based on the remaining power amount detected by the remaining power detection means when the traveling body is decelerated. A control device characterized by making an operation plan. The control device according to claim 1,
The control device characterized in that the operation plan creation means determines whether or not to make an operation plan for the traveling body at regular intervals, and makes an operation plan when determining that it is necessary to make an operation plan. The control device according to claim 1,
A control device further comprising a security control means 22e for judging whether or not the traveling body has a problem on a traveling path and giving an instruction to the traveling body. A traveling body that moves on the road using electric power,
Power storage means for storing power used by the traveling body;
A remaining power detection means for measuring a remaining storage power of the power storage means;
A control device comprising an operation plan creation means for making a travel plan of the traveling body based on the remaining power amount detected by the remaining power detection means;
A traveling body comprising: The traveling body according to claim 7,
The driving plan creation means sets the driving plan by changing the maximum speed of the traveling body based on the remaining power amount detected by the remaining power detection means during acceleration of the traveling body. . The traveling body according to claim 7,
The traveling plan is characterized in that the driving plan creating means changes the acceleration of the traveling body based on the remaining power amount detected by the remaining power detection means when the traveling body is accelerated, and makes a driving plan. The traveling body according to claim 7,
The driving plan creation means sets the driving plan by changing the deceleration of the traveling body based on the remaining power amount detected by the remaining power detection means when the traveling body decelerates. . The traveling body according to claim 7,
The operation plan creation means incorporates a section that travels only with the inertial force of the traveling body without consuming electric power based on the remaining power amount detected by the remaining power detection means when the traveling body is decelerated. A traveling body characterized by making an operation plan. The traveling body according to claim 7,
The driving body is characterized in that the operation plan creating means determines whether or not to make an operation plan for the traveling body at regular intervals, and sets the operation plan when it is determined that it is necessary to make an operation plan. The traveling body according to claim 7,
A traveling body characterized in that the control device further includes security control means for judging whether or not the traveling body has a trouble on a traveling path and giving an instruction to the traveling body.

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