JP2016128830A - Travel body speed measurement method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a speed measurement method and a device of a travel body which travels along a travel path, capable of acquiring precise speed.SOLUTION: Two sensors mounted on a travel body (railway vehicle) detect two passage times TN, TN+1 of two hangers (targets), then determine travel body speed (target speed) VmN, VmN+1. Then, travel body speed (other principle speed) Vb calculated by other principles such as positional change of the travel body, travel body acceleration, and wheel rotation number is determined, and considering variation of the other principle speed Vb, speed of the travel body between the passage times TN, TN+1 is determined.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a method and an apparatus for measuring the speed of a traveling body including a vehicle such as a railway or an automobile.

  Generally, the speed of a vehicle such as a railroad or an automobile is calculated using the number of rotations of an axle and the diameter of a wheel or a tire. Other methods include using GPS or integrating acceleration. For example, the method described in Patent Document 1 detects acceleration and the rotational speed of a wheel, passes only the high-frequency component of the detected acceleration and integrates the time, and passes only the low-frequency component of the rotational speed. The travel speed is calculated from When integrating the acceleration, the low frequency component of the acceleration is cut in order to remove the drift. Therefore, in the low frequency region, the speed is calculated from the rotation speed.

JP 2000-221207 A

  When calculating from the rotation speed of an axle and the diameter of a wheel or a tire, it is necessary to attach a sensor for measuring these at a predetermined position of the vehicle. There is no problem when the sensor is attached to the vehicle in advance. However, when the sensor is retrofitted, it takes time to install the sensor itself and to lay a signal line attached to the sensor. In addition, measurement errors may occur due to wheel diameter changes due to wheel slipping or wear.

When integrating the acceleration, the low frequency component of the acceleration is cut in order to remove the drift as described above, and therefore, the speed change in the low frequency region cannot be measured.
In addition, when GPS data is used, it cannot be calculated in a place where GPS does not reach such as a tunnel.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a traveling body speed measuring method and apparatus capable of obtaining a more accurate speed with an apparatus that can be easily retrofitted.

  A traveling body speed measuring method as a base of the present invention is a method for measuring the speed of a traveling body traveling along a traveling route, and is arranged so as to repeatedly appear along the traveling route. The vehicle is calculated by a separate principle such as the vehicle acceleration, wheel rotation speed, and vehicle body position change. The speed of the traveling body is obtained by considering or correcting the speed (another principle speed) and the target speed.

  The target speed determined by the method of the present invention is discrete data obtained for each existing target pitch. Therefore, the data existing discretely is interpolated with continuous (less discrete) data such as acceleration and wheel rotation speed among other principle speeds. In other words, the target speed obtained by the method of the present invention is used as it is as a speed at a certain time, and the speed between discrete times is used by considering or correcting another principle speed. It should be noted that there is no need for correction if data that is discrete but sufficiently practical can be obtained.

  In the traveling body speed measuring method of one embodiment of the present invention, two target sensors (first sensor and second sensor) capable of detecting the target at an interval L in the traveling direction on the traveling body. The time T1 when the target was detected by the first sensor was measured, the time T2 when the target was detected by the second sensor was measured, and the travel measured from the detection time of the target The body speed (target speed) Vm can be obtained by Vm = L / (T2-T1). The first sensor and the second sensor can be easily attached to an existing measuring device for equipment inspection. In addition, when another principle speed is measured with an accelerometer, it can be measured up to a high frequency, so a change in speed up to a high frequency range can also be measured. Note that the number of sensors can be three or more.

  A train speed measuring method as a base of the present invention is a method for measuring the speed of a train traveling along a train track, and a trolley wire hanger or dropper that repeatedly appears along the route on the train track. A target such as a power pole exists, and the train speed (target speed) Vm when passing through the target is calculated, and the travel is calculated based on separate principles such as travel body acceleration, wheel speed, and travel body position change. The speed of the traveling body is obtained by considering or correcting the body speed (another principle speed) and the target speed.

In the present invention, the correction speed at each time point from the Nth target passage time TN to the (N + 1) th target passage time TN + 1 is
At time TN, the target speed VmN measured for the Nth target is set.
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set, and at time T between the two times, the time proportional distribution value for the time T between the target speed VmN and the target speed VmN + 1 is set to another principle speed Vb. It can be obtained by taking fluctuations into account.

  In the present invention, when the time TN + 1 is reached, the speed between the time TN and the time TN + 1 is corrected in consideration of another principle speed. That is, at the time TN and the time TN + 1, the target speeds VmN and VmN + 1 are assumed to be correct, and the fluctuation tendency between the two times takes into account the fluctuation of the different principle speed Vb as correct. This method corrects the speed at a certain time with a slight time delay from the time. However, between both times, since the fluctuation amount of another principle speed is added to the time proportional distribution value of the target speed VmN and the target speed VmN + 1, an accurate value can be obtained.

Specifically, when calculating the correction speed (Vh) at each time point from the Nth target passage time TN to the (N + 1) th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set as the correction speed VhN,
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set as the correction speed VhN + 1, and the correction speed (VhT) at time T from the Nth target passage time to the (N + 1) th target passage time is It can be determined by the following method:
1) The target speed VmT at time T is a speed obtained by proportionally allocating coordinates (TN, VmN) and coordinates (TN + 1, VmN + 1) in the time / speed plane at time T.
2) Another principle speed at time T is approximated as a speed VbT ′ obtained by proportionally distributing coordinates (TN, VbN) and coordinates (TN + 1, VbN + 1) in the time / speed plane at time T.
3) A difference Δy1 between another principle speed VbT and the approximate another principle speed VbT ′ at time T is obtained.
4) The correction speed VhT at time T is set to a speed obtained by adding the difference Δy1 to the target speed VmT at time T.

In the present invention, the correction speed at each time point from the Nth target passage time TN to the (N + 1) th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set.
At the time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set, and the correction speed can be obtained by adding the fluctuation of the different principle speed Vb to the target speed VmN between the two times.

  In the present invention, when the time T is reached, the fluctuation of the different principle speed Vb from the time TN to the time T is added to the target speed VmN at the time TN, so that the correction can be performed in real time.

Specifically, when obtaining the speed (corrected speed Vh) at each time point from the Nth target passage time TN to the (N + 1) th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set as the correction speed VhN,
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set as the correction speed VhN + 1, and the correction speed VhT at time T from the Nth target passage time to the (N + 1) th target passage time is You can ask by method:
1) Find the difference Δy2 between the different principle speed VbT at time T and the different principle speed VbN at time TN (the variation of the different principle speed from time TN to time T).
2) The correction speed VhT at time T is set to the target speed VmN at time TN plus a variation Δy2 of another principle speed from time TN to time T.

  A traveling body speed measuring device that is a base of the present invention is a device that measures the speed of a traveling body that travels along a travel route, and is arranged to repeatedly appear along the route in the travel route. A target speed measuring means for measuring a traveling body speed (target speed) Vm when passing through the target disposed on the traveling body, and an acceleration of the traveling body. And a traveling body speed (another principle speed) measuring means calculated on the basis of another principle such as a wheel rotational speed, a traveling body position change, etc., and taking into account or correcting the another principle speed and the target speed It is a device that determines the speed of the body and measures the speed of the traveling body that travels along the travel route.

  A train speed measuring device as a base of the present invention is a device for measuring the speed of a train traveling along a train track, and a trolley wire hanger or dropper that repeatedly appears along the route on the train track. A target object such as a utility pole, and a target speed measuring means disposed on the train for measuring a traveling body speed (target speed) Vm when passing through the target; Train speed measuring means calculated on the basis of a separate principle such as acceleration, wheel rotation speed, train position change, etc., taking into consideration the train speed (another principle speed) measured by the train speed measuring means and the target speed Or it correct | amends and calculates | requires the speed of the said train.

  As is apparent from the above description, according to the present invention, data obtained for each existing pitch of the adjacent target is used, and the data existing for each pitch is replaced with acceleration or wheel among other principle speeds. Interpolate with continuous data such as rotation speed. Since the data obtained for each pitch of the target is highly accurate, a more accurate speed can be obtained. Also, the sensor can be easily attached to an existing measuring device for equipment inspection.

It is a figure explaining the outline | summary of the traveling body speed measuring method which concerns on embodiment of this invention, FIG. 1 (A) is a figure which shows typically the driving | running | working state of an electric railway vehicle, FIG.1 (B) is speed measurement. It is a figure explaining a principle. It is a graph which shows an example of the result of having measured the speed of the electric railway vehicle. FIGS. 3A and 3B are graphs for explaining an example of a traveling body speed measurement correction method. FIG. 3A illustrates a case where the speed is calculated with a slight delay, and FIG. 4 is a graph showing speed corrected by the present invention. It is a figure which shows the traveling body speed measuring apparatus which concerns on embodiment of this invention, FIG. 5 (A) is a perspective view, FIG.5 (B) is a block diagram.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
With reference to FIG. 1, the outline | summary of the traveling body speed measuring method which concerns on embodiment of this invention is demonstrated. In this example, as shown in FIG. 1A, the traveling body 1 is an electric railway vehicle that travels along a rail 10 (traveling route). A trolley wire 13 is disposed along the rail 10. The trolley wire 13 is suspended from the gantry wire 15 by a hanger 17 provided at a predetermined interval (for example, 5 m), and the gantry wire 15 is supported by a support 19 (provided at a predetermined interval (for example, 50 m)). Supported by utility poles and beams).
The railway vehicle 1 is provided with a first sensor 3 (front in the traveling direction) and a second sensor 5 (rear) for detecting the hanger 17 (target object) with an interval L in the traveling direction.

As shown in FIG. 1B, it is assumed that the railway vehicle 1 travels in the direction of the arrow in the figure, and the first sensor 3 and the second sensor 5 mounted on the vehicle detect a hanger 17 that is a target. . The time when the hanger 17 is detected by the first sensor 3 is T1, and the time when the hanger 17 is detected by the second sensor 5 is T2. From these times T1, T2 and the interval T between the first sensor 3 and the second sensor 5, the speed Vm at which the vehicle 1 has passed the hanger 17 is
Vm = L / (T2-T1)
It becomes.

When this measurement is performed for each hanger 17 provided along the rail 10, the obtained passing speed becomes discrete (it exists for each position of the hanger 17 and is not continuous). An example of the measurement result is shown in FIG. FIG. 2 is a graph showing changes in speed, where the vertical axis represents speed and the horizontal axis represents distance (position).
As shown in the upper half of the graph, the passing speed obtained by the above-described method is a passing speed at a certain point (position), and is a non-continuous graph existing at each position. For example, since the pitch of the hanger is typically 5 m, when the speed is 10 m / s (36 km / h), the speed obtained within one second is twice, when the speed is 30 m / s (108 km / h), the speed is 100 m / s. In the case of 360 km / h), it is 20 times.

  On the other hand, the lower half of the graph shows a passing speed measured in accordance with a principle different from the above-described method (passing speed measured using a general accelerometer in this example). As shown in the graph, it is a continuous graph rather than a discrete one, but it falls to the right due to drift or the like, and cannot be said to be an accurate measurement.

  Next, an example of a method for correcting the passing speed (referred to as a target speed) obtained by the method of the present invention using a speed (referred to as another principle speed) measured based on a principle different from the method is shown in FIG. A description will be given with reference to A). FIG. 3A is a graph showing an example of a change in speed, where the vertical axis indicates speed and the horizontal axis indicates time. Another principle speed is indicated by a solid line L, and the target speed is indicated by points P1 and P2. The different principle speed is a curve as indicated by a solid line L, but such a displacement cannot be confirmed from the target speed. Therefore, the target speed obtained by the method of the present invention is used as it is, and between the discrete target speeds is corrected with another principle speed.

  As shown in the graph of FIG. 3A, the time when the Nth target is passed is TN, and the time when the N + 1th target is passed is TN + 1. The target speed at time TN is VmN, and the target speed at time TN + 1 is VmN + 1. As described above, these velocities are discrete values obtained for each position of the target. In order to make these continuous, a correction speed VhT at time T between time TN and time TN + 1 is obtained from another principle speed.

The different principle speed at time TN is VbN, and the different principle speed at time TN + 1 is VbN + 1. First, an approximate straight line AL1 connecting another principle speed VbN at time TN and another principle speed VbN + 1 at time TN + 1 is drawn. The speed at time T on this approximate straight line AL1 is VbT ′. The speed VbT ′ is a speed obtained by proportionally distributing the coordinates (TN, VbN) and the coordinates (TN + 1, VbN + 1) in the time / speed plane at the time T.
Then, a difference Δy1 between another principle speed VbT at time T and speed VbT ′ at time T on the approximate straight line AL1 is obtained.

Next, an approximate straight line AL2 connecting the target speed VmN at time TN and the target speed VmN + 1 at time TN + 1 is drawn. The speed at time T on the approximate straight line AL2 is set to VmT. The speed VmT is a speed obtained by proportionally distributing the coordinates (TN, VmN) and the coordinates (TN + 1, VmN + 1) in the time / speed plane at the time T.
A speed obtained by adding the above-described difference Δy1 to the target speed VmT at time T on the approximate straight line AL2 is set as a correction speed VhT. That is, the speed (VhT) (point P3) at a certain time (T) is obtained by adding the fluctuation (Δy1) obtained from the different principle speed to the target speed VmT at time T.

  Eventually, the points P1 and P2 obtained by the target velocity measurement and the corrected point P3 are connected to draw a curve representing the speed change. In order to approximate with high accuracy, it is preferable to set the time T between the points P1 and P2 (between the time TN and the time TN + 1) in as short a time unit as possible.

  In this method, an approximate straight line T2 obtained by connecting a target speed VmN at a time TN when passing through the Nth target and a target speed VmN + 1 at a time TN + 1 after passing through the N + 1th target using a straight line, The correction speed at time T between both times was determined. At this time, since the accuracy decreases as the interval between the time TN and the time TN + 1 increases, it is preferable that the target for obtaining the target velocity appears as narrow as possible.

  In this method, after passing the (N + 1) th target, the speed VmN that has passed through the Nth target and the speed VmN + 1 that has passed through the (N + 1) th target are used to correct the speed between the two times. Therefore, after the vehicle travels in the section, data processing is performed to obtain a correction speed.

  With reference to FIG. 3B, another example of a method for correcting the target speed using another principle speed will be described. In this example, a method for obtaining the correction speed in real time will be described. Similar to the method of FIG. 3A, a correction speed VhT at time T between time TN and time TN + 1 is obtained from another principle speed.

Another principle speed at time TN is VbN, and another principle speed at time T is VbT. First, another principle speed variation VbT−VbN (Δy2) from time TN to time T is obtained.
Then, a speed obtained by adding the variation Δy2 of the different principle speed to the target speed VmN at time TN is set as a corrected speed (VhT) (point P3) at time T.

  Finally, similarly to the method of FIG. 3A, the points P1 and P2 obtained by the target velocity measurement and the corrected point P3 are connected to draw a curve representing the speed change.

In this method, the correction speed VhT at time T is obtained by adding the variation in another principle speed from time TN to time T as it is to the target speed VmN at time TN. Since the correction speeds at the times TN and TN + 1 are the target speeds VmN and VmN + 1 at the same time, the correction speed between the two times and the target speeds VmN and VmN + 1 may not always be smoothly interpolated. For example, the corrected target speed VhTx at the time Tx whose time unit is one time before the time TN + 1 is a variation of another principle speed from the time Tm to the time Tx, and this value is the target speed at the time TN + 1. It may be larger than the object speed VmN + 1. In this case, as shown by the alternate long and short dash line in FIG.
However, in this method, the correction speed can be obtained using the target speed obtained when the vehicle passes through a certain target and the different principle speed, so that near real-time measurement is possible.

A graph of FIG. 4 shows an actual measurement example of the target speed, the different principle speed, and the corrected speed corrected by the former method. The vertical axis of the graph represents speed, and the horizontal axis represents time. The line segment extending in the Y direction shown in the upper half of the graph shows the target speed, and the lower half shows another principle speed. A line indicated by a solid line in the upper half of the graph indicates a correction speed. A maintenance vehicle was used as the traveling body. The target speed was calculated using a hanger provided at an interval of about 5 m with a sensor interval of 260 mm as a target. Another principle velocity was measured using an accelerometer.
As described above, the target speed is applied as it is at the position (time) where the target exists, and the discrete target speed is smoothly connected by applying the speed converted from the different principle speed in the non-existing section. Can do. For example, it represents a fluctuation that increases after the speed decreases even at a position near the time 270 seconds where the target does not exist.
In the experiment, even when acceleration / deceleration was repeatedly performed within a measurement distance of 50 m, the error of the travel distance (obtained from the obtained speed × time) was about 0.2%.

Next, an example of the traveling body speed measuring apparatus according to the embodiment of the present invention will be described with reference to FIG. It is assumed that a target that appears repeatedly is arranged on the travel route of the traveling body. In this example, the traveling body is an electric railway vehicle, and the target is a hanger that suspends a trolley wire.
As this speed measuring device, a device 20 for detecting wear of a trolley wire as shown in FIG. The trolley wire wear detection device 20 has a base 21 mounted on the roof of a railway vehicle (maintenance vehicle). A frame 23 extending in a direction orthogonal to the traveling direction is attached to the base 21. The frame 23 is provided with a trolley wire wear detection sensor 25 (for example, a laser sensor). The sensors 25 are installed on both sides in the rail width direction on the upper surface of the frame 23 so as to sandwich the trolley wire 13.

  Brackets 27 extending in the traveling direction are attached to both ends of the frame 23 in the rail width direction. The first sensor 3 and the second sensor 5 are attached to each bracket 27. Laser sensors can be used as both sensors. A laser sensor generally has a projector and a light receiver. The first sensor 3 and the second sensor 5 are respectively attached to both ends of the upper surfaces of the brackets 27 in the traveling direction so that the projector and the light receiver face each other. The distance between the first sensor 3 and the second sensor 5 is, for example, 260 mm. The longer the sensor interval, the higher the accuracy, but the lower the resolution with respect to distance (time). Therefore, when the sensor sensitivity is high, the sensor interval should be as short as possible. For example, the sampling period is preferably about 1000 Hz. Since the first and second sensors 3 and 5 are located above the trolley wire wear detection sensor 25, the hanger 17 that suspends the trolley wire 13 can be detected.

  As such a sensor, a reflective laser sensor or the like can be used in addition to the above laser sensor.

  Further, the base 21 is provided with speed measuring means 31. As the speed measuring means 31, an accelerometer generally used for speed measurement can be used.

  The measured values of the first and second sensors 3 and 5 and the speed measuring means 31 are output to the control unit 33 mounted on the vehicle as shown in FIG. From the first and second sensors 3 and 5, the time when the predetermined hanger is passed is input, and the speed (target speed) when passing through the hanger is determined from these times and the interval between the two sensors. Calculated. When the speed measuring means 31 is an accelerometer, the data measured by the accelerometer is integrated after passing through the high-pass filter to calculate a speed (another principle speed). The target speed and the different principle speed are corrected by the above-described method in the arithmetic device to calculate a corrected speed VhT.

In the present embodiment, the railway vehicle has been described. However, the traveling body traveling along the traveling route includes an automobile traveling along the vehicle exclusive road.
In addition, the target object appears repeatedly while its position is known, and in the case of an electric railway vehicle, in addition to a hanger, it includes a dropper, a utility pole, a beam, and the like. In the case of an automobile, a guide rail column, a distance display column, and the like are included.

Further, the number of sensors may be three or more, and a plurality of measurement values may be processed. Further, in this embodiment, the target is detected at an interval L in the traveling direction. Two sensors may be placed apart by L, a target may be installed on the traveling body, and the target may be detected by both sensors. Alternatively, the same target may be detected when the detection angle of the sensor is changed and the traveling body advances by a certain distance L.

  In addition to the acceleration, the different principle speed may be measured by using a type calculated from the number of rotations of the wheel as long as the speed can be continuously measured.

  Furthermore, when calculating the distance from the speed and time, the distance and position can be obtained with high accuracy. Further, when a speedometer for calculating the speed from the rotational speed of the wheel is provided, the speedometer can also be corrected by calculating the rotational speed from the obtained distance.

DESCRIPTION OF SYMBOLS 1 Vehicle 3, 5 Sensor 10 Rail 13 Trolley wire 15 Conveying wire 17 Hanger 19 Support object 20 Trolley wire wear detection device 21 Base 23 Frame 25 Sensor 27 Bracket 31 Speed measurement means 33 Control part

Claims (10)

A method of measuring the speed of a traveling body traveling along a traveling route,
In the travel route, there are targets that are arranged to repeatedly appear along the route,
A traveling body speed (target speed) Vm when the target passes is obtained,
The speed of the traveling body is obtained by taking into account or correcting the traveling body speed (another principle speed) calculated by a separate principle such as traveling body acceleration, wheel rotation speed, traveling body position change, and the target speed,
here,
The correction speed at each time point from the Nth target passage time TN to the (N + 1) th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set.
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set, and at time T between the two times, the time proportional distribution value for the time T between the target speed VmN and the target speed VmN + 1 is set to another principle speed Vb. A speed measurement method for a traveling body obtained by taking fluctuation into account. A method of measuring the speed of a traveling body traveling along a traveling route,
In the travel route, there are targets that are arranged to repeatedly appear along the route,
A traveling body speed (target speed) Vm when the target passes is obtained,
The speed of the traveling body is obtained by taking into account or correcting the traveling body speed (another principle speed) calculated by a separate principle such as traveling body acceleration, wheel rotation speed, traveling body position change, and the target speed,
here,
When calculating the correction speed (Vh) at each time point from the Nth target passage time TN to the (N + 1) th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set as the correction speed VhN,
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set as the correction speed VhN + 1, and the correction speed (VhT) at time T from the Nth target passage time to the (N + 1) th target passage time is A speed measurement method for a traveling body characterized by the following method:
1) The target speed VmT at time T is a speed obtained by proportionally allocating coordinates (TN, VmN) and coordinates (TN + 1, VmN + 1) in the time / speed plane at time T.
2) Another principle speed at time T is approximated as a speed VbT ′ obtained by proportionally distributing coordinates (TN, VbN) and coordinates (TN + 1, VbN + 1) in the time / speed plane at time T.
3) A difference Δy1 between another principle speed VbT and the approximate another principle speed VbT ′ at time T is obtained.
4) The correction speed VhT at time T is set to a speed obtained by adding the difference Δy1 to the target speed VmT at time T. A method of measuring the speed of a traveling body traveling along a traveling route,
In the travel route, there are targets that are arranged to repeatedly appear along the route,
A traveling body speed (target speed) Vm when the target passes is obtained,
The speed of the traveling body is obtained by taking into account or correcting the traveling body speed (another principle speed) calculated by a separate principle such as traveling body acceleration, wheel rotation speed, traveling body position change, and the target speed,
here,
The correction speed at each time point from the Nth target passage time TN to the (N + 1) th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set.
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set,
Between both times, the speed measurement method for a traveling body is characterized in that a correction speed is obtained by adding a fluctuation of another principle speed Vb to a target speed VmN. A method of measuring the speed of a traveling body traveling along a traveling route,
In the travel route, there are targets that are arranged to repeatedly appear along the route,
A traveling body speed (target speed) Vm when the target passes is obtained,
The speed of the traveling body is obtained by taking into account or correcting the traveling body speed (another principle speed) calculated by a separate principle such as traveling body acceleration, wheel rotation speed, traveling body position change, and the target speed,
here,
When calculating the speed (correction speed Vh) at each time point from the Nth target passage time TN to the N + 1th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set as the correction speed VhN,
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set as the correction speed VhN + 1, and the correction speed VhT at time T from the Nth target passage time to the (N + 1) th target passage time is A method for measuring the speed of a traveling body characterized by the method:
1) Find the difference Δy2 between the different principle speed VbT at time T and the different principle speed VbN at time TN (the variation of the different principle speed from time TN to time T).
2) The correction speed VhT at time T is set to the target speed VmN at time TN plus a variation Δy2 of another principle speed from time TN to time T. The traveling body is a train that travels along a train track,
5. The traveling body speed measuring method according to claim 1, wherein the target is a trolley wire hanger, dropper, or utility pole that repeatedly appears along the train line. A device for measuring the speed of a traveling body traveling along a traveling route,
In the travel route, there are targets that are arranged to repeatedly appear along the route,
A target speed measuring means for measuring a traveling body speed (target speed) Vm when passing through the target, disposed on the traveling body;
A traveling body speed (another principle speed) measuring means calculated on the basis of a separate principle such as acceleration of the traveling body, wheel rotational speed, and traveling body position change;
The following calculation device for obtaining the speed of the traveling body by considering or correcting the different principle speed and the target speed, and
The correction speed at each time point from the Nth target passage time TN to the (N + 1) th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set.
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set, and at time T between the two times, the time proportional distribution value for the time T between the target speed VmN and the target speed VmN + 1 is set to another principle speed Vb. A speed measurement device for a traveling body obtained by taking fluctuation into account. A device for measuring the speed of a traveling body traveling along a traveling route,
In the travel route, there are targets that are arranged to repeatedly appear along the route,
A target speed measuring means for measuring a traveling body speed (target speed) Vm when passing through the target, disposed on the traveling body;
A traveling body speed (another principle speed) measuring means calculated on the basis of a separate principle such as acceleration of the traveling body, wheel rotational speed, and traveling body position change;
The following calculation device for obtaining the speed of the traveling body by considering or correcting the different principle speed and the target speed, and
When calculating the correction speed (Vh) at each time point from the Nth target passage time TN to the (N + 1) th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set as the correction speed VhN,
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set as the correction speed VhN + 1, and the correction speed (VhT) at time T from the Nth target passage time to the (N + 1) th target passage time is A speed measuring device for a traveling body characterized by:
1) The target speed VmT at time T is a speed obtained by proportionally allocating coordinates (TN, VmN) and coordinates (TN + 1, VmN + 1) in the time / speed plane at time T.
2) Another principle speed at time T is approximated as a speed VbT ′ obtained by proportionally distributing coordinates (TN, VbN) and coordinates (TN + 1, VbN + 1) in the time / speed plane at time T.
3) A difference Δy1 between another principle speed VbT and the approximate another principle speed VbT ′ at time T is obtained.
4) The correction speed VhT at time T is set to a speed obtained by adding the difference Δy1 to the target speed VmT at time T. A device for measuring the speed of a traveling body traveling along a traveling route,
In the travel route, there are targets that are arranged to repeatedly appear along the route,
A target speed measuring means for measuring a traveling body speed (target speed) Vm when passing through the target, disposed on the traveling body;
A traveling body speed (another principle speed) measuring means calculated on the basis of a separate principle such as acceleration of the traveling body, wheel rotational speed, and traveling body position change;
The following calculation device for obtaining the speed of the traveling body by considering or correcting the different principle speed and the target speed, and
The correction speed at each time point from the Nth target passage time TN to the (N + 1) th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set.
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set,
A speed measurement apparatus for a traveling body characterized in that a correction speed is obtained by adding a fluctuation of another principle speed Vb to a target speed VmN between both times. A device for measuring the speed of a traveling body traveling along a traveling route,
In the travel route, there are targets that are arranged to repeatedly appear along the route,
A target speed measuring means for measuring a traveling body speed (target speed) Vm when passing through the target, disposed on the traveling body;
A traveling body speed (another principle speed) measuring means calculated on the basis of a separate principle such as acceleration of the traveling body, wheel rotational speed, and traveling body position change;
The following calculation device for obtaining the speed of the traveling body by considering or correcting the different principle speed and the target speed, and
When calculating the speed (correction speed Vh) at each time point from the Nth target passage time TN to the N + 1th target passage time TN + 1,
At time TN, the target speed VmN measured for the Nth target is set as the correction speed VhN,
At time TN + 1, the target speed VmN + 1 measured at the (N + 1) th target is set as the correction speed VhN + 1, and the correction speed VhT at time T from the Nth target passage time to the (N + 1) th target passage time is A speed measuring device for a traveling body characterized by:
1) Find the difference Δy2 between the different principle speed VbT at time T and the different principle speed VbN at time TN (the variation of the different principle speed from time TN to time T).
2) The correction speed VhT at time T is set to the target speed VmN at time TN plus a variation Δy2 of another principle speed from time TN to time T. The traveling body is a train that travels along a train track,
The traveling object speed measuring device according to any one of claims 6 to 9, wherein the target is a trolley wire hanger, dropper, or utility pole that repeatedly appears along the train line.

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