JP2012112794A5 - - Google Patents

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JP2012112794A5
JP2012112794A5 JP2010261920A JP2010261920A JP2012112794A5 JP 2012112794 A5 JP2012112794 A5 JP 2012112794A5 JP 2010261920 A JP2010261920 A JP 2010261920A JP 2010261920 A JP2010261920 A JP 2010261920A JP 2012112794 A5 JP2012112794 A5 JP 2012112794A5
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road surface
surface shape
shape data
speed
speed measuring
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JP2010261920A
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JP5550532B2 (en
JP2012112794A (en
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Priority to JP2010261920A priority Critical patent/JP5550532B2/en
Priority claimed from JP2010261920A external-priority patent/JP5550532B2/en
Priority to US13/296,837 priority patent/US9052392B2/en
Publication of JP2012112794A publication Critical patent/JP2012112794A/en
Publication of JP2012112794A5 publication Critical patent/JP2012112794A5/ja
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本発明の速度計測装置によれば、
路面に対する移動体の速度を計測する速度計測装置であって、上記速度計測装置は、
上記移動体に設けられ、上記路面断面の上部形状を表す路面形状データを取得する路面形状センサと、
上記路面形状センサによって取得された路面形状データを格納するメモリと、
上記メモリに格納された上記路面形状データに基づいて、上記移動体の速度を計算する演算手段とを備え、
上記路面形状センサは、上記路面に電波を放射し、上記路面形状センサからの距離が異なる上記路面上の複数の構造物によって反射された各反射波の信号レベルと、上記路面形状センサから上記各構造物までの伝搬距離とを測定することで、上記路面形状データを取得し、上記路面形状センサは、少なくとも第１及び第２の測定時間を含む複数の測定時間において上記路面形状データを取得し、上記第１の測定時間において第１の路面形状データを取得し、上記第２の測定時間において第２の路面形状データを取得し、
上記演算手段は、上記第１及び第２の路面形状データのそれぞれの伝搬距離を、上記路面に射影した水平距離に変換し、上記第１の路面形状データと類似する上記第２の路面形状データが取得されるときの上記第１の路面形状データと上記第２の路面形状データとの水平距離の差を決定し、上記水平距離の差を上記第１及び第２の測定時間の差で除算して上記移動体の速度を計算することを特徴とする。
According to the speed measuring device of the present invention,
A speed measuring device that measures the speed of a moving body relative to a road surface, wherein the speed measuring device is
A road surface shape sensor that is provided in the moving body and acquires road surface shape data representing an upper shape of the road surface section;
A memory for storing road surface shape data acquired by the road surface shape sensor;
Based on the road shape data stored in said memory, and an arithmetic means for calculating the velocity of the moving object,
The road surface shape sensor radiates radio waves to the road surface and is reflected by a plurality of structures on the road surface having different distances from the road surface shape sensor. The road surface shape data is obtained by measuring the propagation distance to the structure, and the road surface shape sensor obtains the road surface shape data at a plurality of measurement times including at least the first and second measurement times. The first road surface shape data is acquired at the first measurement time, the second road surface shape data is acquired at the second measurement time,
The arithmetic means converts the propagation distance of each of the first and second road surface shape data into a horizontal distance projected onto the road surface, and the second road surface shape data similar to the first road surface shape data. Determining a difference in horizontal distance between the first road surface shape data and the second road surface shape data when the vehicle is acquired, and dividing the horizontal distance difference by the difference between the first and second measurement times. Then, the speed of the moving body is calculated.

Claims (6)

路面に対する移動体の速度を計測する速度計測装置であって、上記速度計測装置は、
上記移動体に設けられ、上記路面断面の上部形状を表す路面形状データを取得する路面形状センサと、
上記路面形状センサによって取得された路面形状データを格納するメモリと、
上記メモリに格納された上記路面形状データに基づいて、上記移動体の速度を計算する演算手段とを備え、
上記路面形状センサは、上記路面に電波を放射し、上記路面形状センサからの距離が異なる上記路面上の複数の構造物によって反射された各反射波の信号レベルと、上記路面形状センサから上記各構造物までの伝搬距離とを測定することで、上記路面形状データを取得し、上記路面形状センサは、少なくとも第１及び第２の測定時間を含む複数の測定時間において上記路面形状データを取得し、上記第１の測定時間において第１の路面形状データを取得し、上記第２の測定時間において第２の路面形状データを取得し、
上記演算手段は、上記第１及び第２の路面形状データのそれぞれの伝搬距離を、上記路面に射影した水平距離に変換し、上記第１の路面形状データと類似する上記第２の路面形状データが取得されるときの上記第１の路面形状データと上記第２の路面形状データとの水平距離の差を決定し、上記水平距離の差を上記第１及び第２の測定時間の差で除算して上記移動体の速度を計算することを特徴とする速度計測装置。 A speed measuring device that measures the speed of a moving body relative to a road surface, wherein the speed measuring device is
A road surface shape sensor that is provided in the moving body and acquires road surface shape data representing an upper shape of the road surface section;
A memory for storing road surface shape data acquired by the road surface shape sensor;
Based on the road shape data stored in said memory, and an arithmetic means for calculating the velocity of the moving object,
The road surface shape sensor radiates radio waves to the road surface and is reflected by a plurality of structures on the road surface having different distances from the road surface shape sensor. The road surface shape data is obtained by measuring the propagation distance to the structure, and the road surface shape sensor obtains the road surface shape data at a plurality of measurement times including at least the first and second measurement times. The first road surface shape data is acquired at the first measurement time, the second road surface shape data is acquired at the second measurement time,
The arithmetic means converts the propagation distance of each of the first and second road surface shape data into a horizontal distance projected onto the road surface, and the second road surface shape data similar to the first road surface shape data. Determining a difference in horizontal distance between the first road surface shape data and the second road surface shape data when the vehicle is acquired, and dividing the horizontal distance difference by the difference between the first and second measurement times. And calculating the speed of the moving body. 上記演算手段は、複数の測定時間における路面形状データに対してカルマンフィルタを適用することを特徴とする請求項１記載の速度計測装置。   The speed measuring apparatus according to claim 1, wherein the arithmetic means applies a Kalman filter to road surface shape data at a plurality of measurement times. 上記路面は、枕木及び締結装置を含む鉄道線路であることを特徴とする請求項１〜２のうちのいずれか１つに記載の速度計測装置。   The speed measuring device according to claim 1, wherein the road surface is a railroad track including a sleeper and a fastening device. 上記路面は、レールを含む鉄道線路であり、上記路面形状センサは、上記レールの長手方向に対して直交する偏波を有する電波を放射することを特徴とする請求項１〜３のうちのいずれか１つに記載の速度計測装置。   The road surface is a railroad track including a rail, and the road surface shape sensor radiates a radio wave having a polarization orthogonal to the longitudinal direction of the rail. The speed measuring device according to claim 1. 上記路面形状センサは、波長１０〜３０ｍｍを有する電波を放射することを特徴とする請求項１〜４のうちのいずれか１つに記載の速度計測装置。   The speed measurement device according to claim 1, wherein the road surface shape sensor emits a radio wave having a wavelength of 10 to 30 mm. 上記演算手段は、上記計算された速度に基づいて所定時間の走行距離を計算し、上記計算された走行距離を積算することにより、所定の基準点からの上記移動体の積算走行距離を計算することを特徴とする請求項１〜５のうちのいずれか１つに記載の速度計測装置。   The calculation means calculates a travel distance for a predetermined time based on the calculated speed, and calculates the cumulative travel distance of the moving body from a predetermined reference point by integrating the calculated travel distance. The speed measuring device according to any one of claims 1 to 5, wherein
JP2010261920A 2010-11-25 2010-11-25 Speed measuring device Expired - Fee Related JP5550532B2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2010261920A JP5550532B2 (en) 2010-11-25 2010-11-25 Speed measuring device
US13/296,837 US9052392B2 (en) 2010-11-25 2011-11-15 Velocity measurement apparatus capable of accurately measuring velocity of moving object relative to ground surface

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2010261920A JP5550532B2 (en) 2010-11-25 2010-11-25 Speed measuring device

Publications (3)

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JP2012112794A JP2012112794A (en) 2012-06-14
JP2012112794A5 true JP2012112794A5 (en) 2013-04-11
JP5550532B2 JP5550532B2 (en) 2014-07-16

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Publication number Priority date Publication date Assignee Title
WO2018154167A1 (en) * 2017-02-23 2018-08-30 Auto Drive Solutions S.L. Speed control and track change detection device suitable for railways
JP6768150B2 (en) 2017-04-26 2020-10-14 三菱電機株式会社 Travel distance measuring device

Family Cites Families (13)

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JPS5633557A (en) * 1979-08-29 1981-04-04 Japanese National Railways<Jnr> Noncontact measuring method of speed
JPS58206991A (en) * 1982-05-27 1983-12-02 Mitsubishi Electric Corp Ground speed detecting device for vehicle
JPS6442457U (en) * 1987-09-09 1989-03-14
JPH05100020A (en) * 1991-10-11 1993-04-23 Mitsubishi Heavy Ind Ltd Target capturing method for missile
DE4223119A1 (en) * 1991-11-28 1993-06-03 Telefunken Systemtechnik Road vehicle speed measurement for in vehicle use - having pair of microwave doppler sensor coupled to correlator to determine propagation delay related to true road speed
JPH07198834A (en) * 1993-12-28 1995-08-01 Nippon Signal Co Ltd:The Doppler-type speed measuring apparatus
JPH1039013A (en) * 1996-07-19 1998-02-13 Matsushita Electric Ind Co Ltd Rader equipment arranged above road
JP3297983B2 (en) * 1996-09-13 2002-07-02 三井造船株式会社 Under-track exploration equipment
JP4329240B2 (en) * 2000-07-24 2009-09-09 三菱電機株式会社 Vehicle position detection device and vehicle speed detection device
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DE102005030295B4 (en) * 2005-06-24 2008-11-20 Siemens Ag Vehicle speed sensor
US7403157B2 (en) * 2006-09-13 2008-07-22 Mitsubishi Electric Research Laboratories, Inc. Radio ranging using sequential time-difference-of-arrival estimation
JP5388997B2 (en) * 2010-11-25 2014-01-15 三菱電機株式会社 Speed measuring device

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