JP2019162957A - Obstacle detection system and obstacle detection method - Google Patents

Abstract

To provide an obstacle detection system capable of improving reliability and safety while suppressing increase in costs.SOLUTION: The obstacle detection system includes: a plurality of detection devices 211, 212, 213, 221, 222, 223 provided along a track 51 to detect the existence of an object on the track; transmission lines 40, 41, 42, 43 provided along the track and connected with the plurality of detection devices to transmit detection results of the plurality of detection devices; and ground radio devices 10, 11, 12 connected with one end of both ends of the transmission line to perform radio communication with a train 3 traveling on the track. The ground radio device includes: a detection result acquisition unit for acquiring detection results of the plurality of detection devices through the transmission lines; an obstacle determination unit for determining whether or not an object detected by the detection device is an obstacle by using the detection results; and a ground radio unit for transmitting obstacle determination information including information of specifying a position of the obstacle to the train when it is closer to the train than the ground radio device connected to the other end of both ends of the transmission line.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an obstacle detection system and an obstacle detection method.

  As background art of this technical field, there is JP-A-2005-162167 (Patent Document 1). In this publication, when a plurality of sensors are provided along the track and a plurality of sensors are provided along the track to transmit detection data indicating that when an obstacle on the track is detected, and when the detection data is received A plurality of wireless information storage means for transmitting detection data, position data in which the detection data is arranged and ID data indicating the self, and transmitting the position data and the ID data to the non-reception side when the position data and ID data are received. An obstacle detection system is described.

JP 2005-162167 A

  In the technique described in Patent Document 1, obstacle detection data on a track is relayed by a plurality of wireless information storage means and transmitted to an information reading storage means installed in a railway vehicle. For this reason, if even one wireless information storage means between the obstacle and the railway vehicle breaks down, there arises a reliability problem that the railway vehicle cannot receive the obstacle detection data.

  In the above technique, the information reading storage means installed in the railway vehicle transmits a vehicle recognition signal. When each wireless information storage means receives the vehicle recognition signal, the obstacle data is transmitted even if the detection data is received. By performing control that is not performed, the railway vehicle itself is prevented from being detected as an obstacle. This means that an obstacle cannot be detected within a distance where the vehicle recognition signal can be received, and the installation interval of the wireless information storage means is necessarily limited to a certain interval or less. For example, if the distance at which the vehicle recognition signal can be received is 1 km (km), an obstacle within 1 km cannot be detected from the vehicle, and cannot be put into practical use. Therefore, in the above technique, the distance at which the vehicle recognition signal can be received needs to be sufficiently shorter than the distance at which the obstacle is detected.

  An object of the present invention is to provide an obstacle detection system in which reliability and safety are further improved while suppressing an increase in cost.

  The present application includes a plurality of means for solving at least a part of the above-described problems. Examples of such means are as follows. In order to solve the above problems, an obstacle detection system according to an aspect of the present invention is provided along a trajectory, and includes a plurality of detection devices that detect the presence of an object on the trajectory, and the trajectory. The transmission line connected to the plurality of detection devices and transmitting the detection results of the plurality of detection devices, and connected to one end of both ends of the transmission line, and performs wireless communication with a train traveling on the track A terrestrial radio device, wherein the terrestrial radio device detects the detection results of the plurality of detection devices via the transmission line, and the detection device uses the detection results to detect the detection results. An obstacle determination unit that determines whether the detected object is an obstacle, and the object when the object is closer to the train than the ground radio device connected to the other end of the transmission line. Obstacles that contain information that identifies the location of Things determination information, characterized in that it comprises a terrestrial radio unit for transmitting to the train.

  According to the present invention, it is possible to provide an obstacle detection system with improved reliability and safety while suppressing an increase in cost. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

It is a figure showing an example of composition of an obstacle detection system concerning a first embodiment of the present invention. It is a figure showing an example of composition of an obstacle detection device concerning a first embodiment of the present invention. It is a figure which shows the example of a data structure of the detection result transmitted from a detection apparatus. It is a figure which shows the example of a data structure of the train operation information transmitted from a train. It is a figure which shows the example of a data structure of the obstacle determination information produced | generated in a ground radio apparatus. It is a figure which shows the hardware structural example of an obstruction detection apparatus. It is a figure which shows the positional relationship example of a shield and a detection apparatus. It is a figure which shows the operation | movement flow of the obstacle determination process in a ground radio apparatus. It is a figure which shows the operation | movement flow of the obstacle determination process in the terrestrial radio | wireless apparatus which concerns on 2nd embodiment. It is a figure which shows the structural example of the obstruction detection system which concerns on 3rd embodiment. It is a figure which shows the positional relationship example of the shielding object and detection apparatus which concern on 3rd embodiment. It is a figure which shows the operation | movement flow of the obstacle determination process which concerns on 3rd embodiment. It is a figure which shows the example of a data structure of the obstacle determination information which concerns on 3rd embodiment. It is a figure which shows the structural example of the obstruction detection system which concerns on 4th embodiment.

  Embodiments according to the present invention will be described below with reference to the drawings. Note that components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiment, and the repetitive description thereof will be omitted. Further, in the following embodiments, the constituent elements (including element steps) are not necessarily indispensable unless otherwise specified and clearly considered essential in principle. Needless to say. In addition, when referring to “consisting of A”, “consisting of A”, “having A”, and “including A”, other elements are excluded unless specifically indicated that only that element is included. It goes without saying that it is not what you do. Similarly, in the following embodiments, when referring to the shapes, positional relationships, etc. of the components, etc., the shapes are substantially the same unless otherwise specified, or otherwise apparent in principle. And the like are included.

  [First Embodiment] FIG. 1 is a diagram showing a configuration example of an obstacle detection system according to a first embodiment of the present invention. The first detection device 211, the second detection device 212, the third detection device 213, the fourth detection device 221, the fifth detection device 222, and the sixth detection device 223 are tracks on which the train 3 is operated. 51 are arranged. Examples of the detection device include a sensor using a laser, a sensor using a millimeter wave, a sensor using a camera, a sensor using an ultrasonic wave, and the like, but the detection device is not limited thereto, and the train 3 As long as the state of the trajectory 51 through which the vehicle passes can be monitored. In addition, the plurality of detection devices are arranged at equal intervals in FIG. 1, but are not limited thereto, and may be arranged at different intervals according to the installation environment of the track 51, for example.

  The first detection device 211, the second detection device 212, and the third detection device 213 are connected to the first transmission line 41, and the first terrestrial radio device 10 is connected to both ends of the first transmission line 41. And a second terrestrial radio device 11 is provided. Therefore, the first detection device 211, the second detection device 212, and the third detection device 213 send detection result information via the first transmission line 41 to the first terrestrial radio device 10 and the second terrestrial device. It can be transmitted to the wireless device 11.

  Similarly, the fourth detection device 221, the fifth detection device 222, and the sixth detection device 223 are connected to the second transmission line 42, and the second transmission line 42 has both ends connected to the second ground radio. A device 11 and a third terrestrial radio device 12 are provided. Therefore, the fourth detection device 221, the fifth detection device 222, and the sixth detection device 223 send the detection result information via the second transmission line 42 to the second ground radio device 11 and the third ground device. It can be transmitted to the wireless device 12.

  In other words, the first terrestrial radio device 10 and the second terrestrial radio device 11 are connected to both ends of the first transmission line 41, and the second terrestrial radio device 11 and the second terrestrial radio device 11 are connected to both ends of the second transmission line 42. The third terrestrial radio device 12 is connected, and it can be said that the terrestrial radio device is always connected to both ends of the transmission line. Note that the transmission line 40, the first transmission line 41, the second transmission line 42, and the transmission line 43 are wired transmission networks, so long as a plurality of detection devices and terrestrial wireless devices can communicate with each other. Any transmission method can be used.

  The first terrestrial radio apparatus 10 is also connected to the transmission line 40 although only a part is shown in the figure. A plurality of detection devices are also connected to the transmission line 40, and the first terrestrial radio device 10 receives detection results from the plurality of detection devices. Similarly, the third ground radio apparatus 12 is also connected to the transmission line 43. A plurality of detection devices are connected to the transmission line 43, and the third terrestrial radio device 12 receives detection results from the plurality of detection devices. FIG. 3 shows an example of the data structure of such a detection result.

  FIG. 3 is a diagram illustrating an example of a data structure of a detection result transmitted from the detection device. In the detection result, distance information from the detection device to the shield on the orbit, angle information indicating in which direction of the detection range of the detection device the shield exists, speed information of the shield, size information of the shield, The detected time information is included. The information included in the detection result may differ depending on the type of the detection device. For example, since the size and speed of the shield cannot be detected with a normal ultrasonic sensor, the information is not included in the detection result. However, the present invention is not limited to these pieces of information, and may include additional information, for example, an elapsed time since the presence of a shield is detected, that is, an accumulated cumulative time.

  As described above, each terrestrial radio apparatus can transmit and receive detection results of a plurality of detection apparatuses through a plurality of transmission lines. For example, the second terrestrial wireless device 11 includes a first detection device 211, a second detection device 212, a third detection device 213 connected to the first transmission line 41, and a second transmission line 42. The detection results of the connected fourth detection device 221, fifth detection device 222, and sixth detection device 223 can be received.

  As shown in FIG. 1, assuming that the shielding object 61 exists in a range that the first detection device 211 can detect, the detection result of the first detection device 211 is the first terrestrial radio device 10 and the first detection device 211. Is transmitted to the second terrestrial radio apparatus 11.

  The first terrestrial radio device 10, the second terrestrial radio device 11, and the third terrestrial radio device 12 acquire the train operation information of the train 3 by wireless communication from the on-board radio device 31 installed in the train 3. FIG. 4 shows the data contents of the train operation information.

  FIG. 4 is a diagram illustrating a data structure example of train operation information transmitted from a train. The train operation information includes position information indicating the distance at which the train 3 is present from the reference point of the track 51 and operation direction information for specifying the traveling direction of the train 3 on the track 51.

  The first terrestrial radio device 10 and the second terrestrial radio device 11 use the train operation information and the detection results transmitted and received from the plurality of detection device groups, so that the shield 61 exists on the track 51. It is determined whether or not the obstacle is an obstacle to the operation of the train 3. The first ground radio device 10 and the second ground radio device 11 to which the first detection device 211 that has detected the shield 61 is connected in a wired manner are obstacles that obstruct the operation of the train 3. If it is determined that the obstacle 61 is present, the obstacle determination information in which the shield 61 exists is transmitted from the person (second terrestrial wireless device 11) closer to the on-vehicle wireless device 31 to the on-vehicle wireless device 31 via wireless communication. Send.

  The on-board wireless device 31 that has received the obstacle determination information transmits the obstacle determination information to the operation control device 32, and the operation control device 32 uses the obstacle determination information to perform a predetermined operation of the train 3, particularly speed control. I do. Specifically, the operation control device 32 calculates the train speed that does not collide with the shielding object 61 based on the distance between the shielding object 61 and the train 3, the speed of the train 3, and the braking performance of the train 3, and at that speed The braking force or power is controlled to run. For example, the operation control device 32 sets the traveling target speed lower as the distance between the shield 61 and the train 3 is shorter, and performs necessary control on the speed. Next, the detailed configuration and operation of the terrestrial radio apparatus will be described with reference to FIG.

  FIG. 2 is a diagram illustrating a configuration example of the obstacle detection device according to the first embodiment of the present invention. The first terrestrial radio device 10, the second terrestrial radio device 11, and the third terrestrial radio device 12 detect obstacles on the trajectory 51, and thus can be said to be obstacle detection devices. The obstacle detection device 1 includes a first wired communication unit 101 and a second wired communication unit 102, and each wired communication unit includes a first transmission line 41 and a second transmission line 42, respectively. It is connected to the.

  As described above, the detection result information of the first detection device 211, the second detection device 212, and the third detection device 213, which are a plurality of detection devices connected to the first transmission line 41, The wired communication unit 101 acquires.

  Similarly, the second wired communication unit 102 detects the fourth detection device 221, the fifth detection device 222, and the sixth detection device 223, which are a plurality of detection devices connected to the second transmission line 42. Get the result information. The first wired communication unit 101 and the second wired communication unit 102 do not communicate directly, and the detection result transmitted through the first transmission line 41 is transmitted onto the second transmission line 42. The detection result transmitted through the second transmission line 42 is not transmitted onto the first transmission line 41.

  For this reason, since the distant detection result unnecessary for the operation control of the train 3 is not transmitted to other transmission lines and unnecessary transmission can be suppressed, the upper limit transmission speed of the transmission line is suppressed. (Minimize equipment expansion).

  Information of detection results received by the first wired communication unit 101 and the second wired communication unit 102 is aggregated in the aggregation unit 110 and stored in a storage unit (not shown). Next, the obstacle determination unit 120 may interfere with the operation of the train 3 by using the information on the detection result stored in the storage unit by the aggregation unit 110 and the obstacle 61 is present on the track 51. If it is determined as an obstacle, obstacle determination information is generated.

  The generated obstacle determination information determines whether the distance determination unit 130 exists at a position where the operation of the train 3 is hindered. When it is determined that the vehicle 3 is present at a position that hinders the operation of the train 3, the obstacle determination information is transmitted to the on-board wireless device 31 installed in the train 3 by the wireless communication unit 140. Used for control.

  FIG. 5 is a diagram illustrating a data structure example of the obstacle determination information generated in the terrestrial wireless device. The obstacle determination information includes obstacle position information, obstacle size information, and detected time information. Since the obstacle determination information is generated based on the detection result of the detection device, it may be different depending on the type of the detection device. For example, if the detection device is an ultrasonic sensor and the detection result does not include size information, the obstacle determination information may not include size information. Conversely, additional information, such as obstacle presence accuracy information, may be included.

  FIG. 6 is a diagram illustrating a hardware configuration example of the obstacle detection apparatus. The obstacle detection device 1 which is the first terrestrial radio device 10, the second terrestrial radio device 11, and the third terrestrial radio device 12, a central processing unit (CPU) 81, a memory 82, Other computers via an external storage device 83 such as a hard disk drive (HDD) or SSD (Solid State Drive), and a wireless communication network using electromagnetic waves of a predetermined frequency by a wireless LAN (Local Area Network) or the like. A computer including a wireless communication device 84 that communicates with a wireless communication device 84 and a wired communication device 85 that communicates with another device connected to the transmission line 40 or the first transmission line 41, or a computer system including a plurality of such computers. realizable.

  For example, the aggregation unit 110, the obstacle determination unit 120, and the distance determination unit 130 can be realized by loading a predetermined program stored in the external storage device 83 into the memory 82 and executing it by the CPU 81. The storage unit can be realized by the CPU 81 using the memory 82 or the external storage device 83.

  The predetermined program may be stored in the external storage device 83 and then loaded on the memory 82 and executed by the CPU 81.

  However, the present invention is not limited to this, and the obstacle detection device may be realized by, for example, an ASIC (Application Specific Integrated Circuit) or a microcomputer.

  Next, details of processing in the terrestrial radio apparatus 1 will be described. FIG. 7 shows the positional relationship between the detection device and the shield used for the description of the obstacle determination process. In FIG. 7, the shield 61 exists on the track 51 that hinders train operation, and the shield 62 is sufficiently away from the track 51 and exists in a location that does not hinder train operation. To do.

  The first detection device 211 and the second detection device 212 are installed at 100 m (meter) intervals along the track 51, and the shield 61 is within the detection range of the first detector 211 and the shield 62. Are present within the detection ranges of the first detection device 211 and the second detection device 212, respectively. The detection center line 29 indicates a line that is the center of the detection range of the first detection device 211 and the second detection device 212. The first detection device 211 and the second detection device 212 specify the deviation of the angle from the center line of the detection range and include it in the detection result when detecting the shielding object.

  FIG. 8 is a diagram illustrating an operation flow of the obstacle determination process in the terrestrial wireless device. First, the wired communication unit 101 acquires detection results from a plurality of detection devices connected to the transmission line 41, for example, the first detection device 211 and the second detection device 212 (step S100). Similarly, the wired communication unit 102 acquires detection results from a plurality of detection devices connected to the transmission line 42.

  Table 1 shows the detection results of the first detection device 211 in the situation shown in FIG.

  As shown in Table 1 above, since the first detection device 211 has the shielding object 61 and the shielding object 62 within the detection range, the detection results of the shielding object 61 and the shielding object 62 are “No. 1” and “ It is generated as “No. 2”. In the situation of FIG. 7, the shield 61 is an object having a distance of 10 m from the first detection device 211, an angle of −42 degrees, a speed of 8 km / h (km / h), and a size of reflection of 10 dBsm (decibel square meter). Is detected at 10:12:36. Similarly, the shield 62 was detected at 10:12:36 as an object having a distance of 115 m, an angle of +20 degrees, a speed of 0 km / h, and a size of 30 dBsm from the first detection device 211. It is shown.

  Similarly, the detection results of the second detection device 212 are shown in Table 2.

  As shown in Table 2 above, the second detection device 212 generates the detection result of the shielding object 62 as “No. 1” because the shielding object 62 exists in the detection range. In the situation of FIG. 7, the shield 62 is detected at 10:12:36 as an object having a distance of 15 m from the second detection device 212, an angle of +45 degrees, a speed of 0 km / h, and a size of 30 dBsm of reflection. It has been shown. The detection results in Table 1 and Table 2 are collected in the aggregation unit 110 in FIG. 2, stored in the storage unit, and used for the determination by the obstacle determination unit 120.

  The wireless communication unit 140 acquires train operation information from the train 3 via the on-board wireless device 31 (step S101). The train operation information includes position information of the train 3 and operation direction information.

  Then, the obstacle determination unit 120 determines whether or not the obstacle included in the detection result is an obstacle (step S102). Specifically, the obstacle determination unit 120 determines whether or not the obstacle exists on the track 51 and obstructs the train operation for each detection result No among the information stored in the storage unit by the aggregation unit 110. Determine. For example, the obstacle determination unit 120 uses the distance information, the angle information, and the detection range center line information of the first detection device 211 for the “NO. By determining the relative position of the object, it is determined whether or not the object is in an obstacle position.

  The direction of the detection center line 29 of the first detection device 211 is stored in advance in the storage unit of the obstacle determination unit 120 when the first detection device 211 is installed. For the “NO.1” shield in Table 1 above, the obstacle determination unit 120 has the shield at a distance of 10 m from the first detection device 211 and at an angle of − (minus) 42 degrees, and the trajectory. Since it is in the position on 51, it determines with an obstruction. On the other hand, the “NO.2” shield in Table 1 above is determined not to be an obstacle because it is at a distance of 115 m and an angle is +20 degrees and is not on the track 51. Similarly, the shield of “No. 2” in Table 2 above is determined not to be an obstacle because it is not on the track 51 at a distance of 15 m and an angle of +45 degrees.

  In this way, the obstacle determination is performed for all the detection results, and when there is no detection result determined to be an obstacle (in the case of “No” in step S102), the obstacle determination unit 120 Control is returned to step S100. When there is even one detection result determined as an obstacle (in the case of “Yes” in step S102), the obstacle determination unit 120 advances the control to step S103. The information on the detection center line of each detection means is stored in advance by the obstacle determination unit 120 in a storage unit (not shown), and is also stored when each detection device is installed. Each time the detection result is output, it may be included in the detection result.

  The obstacle determination unit 120 generates obstacle information from the detection result determined as an obstacle in step S102 (step S103). In the above example, since “No. 1” in Table 1 is information determined as an obstacle, the obstacle determination unit 120 generates obstacle determination information shown in Table 3 using this detection result.

  The obstacle determination information includes obstacle position information, obstacle size, and time. The obstacle position information is obtained by the obstacle determination unit 120 using the distance from the reference point of the trajectory 51 of the detection device and the distance from the detection device to the obstacle. For example, if the reference point of the track 51 is on the left extension of the track 51 in FIG. 1 and the distance from the reference point to the detection device 211 is 21.6 km (kilometers), “No. By adding “10 m” which is the distance information of the detection result shown in “1”, the position information of the obstacle is calculated as “21.61 km”.

  The position information of each detection device may be stored in advance by the obstacle determination unit 120 or may be stored in advance by each detection device and added each time a detection result is output. In addition, the information included in the obstacle determination information is not limited to the obstacle size information. For example, information that specifies the moving speed of the obstacle is included, or obstacle presence accuracy information is added. It may be. Alternatively, the obstacle determination information may include only the obstacle position information without including the obstacle size information. Whether or not the obstacle determination information includes information other than the position information may be changed according to information required by the operation control device 32 of the train 3.

  The distance determination unit 130 calculates the distance between the obstacle and the train 3 (step S104). Specifically, the distance determination unit 130 calculates the distance along the track 51 between the obstacle determined in step S103 and the train 3. Strictly speaking, the distance determination unit 130 obtains the distance to the obstacle and does not obtain the straight distance. However, when the calculation of the distance is complicated, the straight distance is simply substituted. It may be.

  The distance determination unit 130 determines whether or not the distance between the train 3 and the obstacle is greater than a predetermined margin distance (step S105). Here, as an example of the predetermined margin distance, there is a distance including a certain grace period with respect to the braking distance by the emergency brake from the maximum traveling speed of the train 3, but not limited thereto, the maximum traveling speed is not limited thereto. Regardless of the distance, a certain margin distance may be used, or a distance including a predetermined braking distance and a delay depending on the actual traveling speed of the train 3 may be used as the margin distance.

  If the distance between train 3 and the obstacle is greater than the predetermined margin distance (in the case of “Yes” in step S105), distance determination unit 130 returns control to step S100, and otherwise (in step S105). In the case of “No”, the distance determination unit 130 advances the control to step S106.

  And the distance determination part 130 determines whether an own apparatus is an end close | similar to a train (step S106). Specifically, the distance determination unit 130 determines whether or not the own apparatus is a terrestrial radio apparatus at a short distance from the train 3 among the terrestrial radio apparatuses at both ends connected to the same transmission line. For example, in the example of FIG. 7, the second terrestrial radio device 11 is a terrestrial radio device that is closer to the train 3 than the first terrestrial radio device 10.

  When the own device is an end close to the train (in the case of “Yes” in Step S106), the distance determination unit 130 transmits the obstacle determination information (Step S107). Specifically, the distance determination unit 130 transmits obstacle determination information to the wireless communication unit 140. The wireless communication unit 140 transmits obstacle determination information to the on-board wireless device 31 of the train 3 by wireless communication.

  Then, the distance determination unit 130 notifies the completion of transmission to the terrestrial radio apparatus at the other end (step S108). Specifically, the distance determination unit 130 receives information indicating that the obstacle determination information has been transmitted to the train 3 via the wired communication unit 101 or the wired communication unit 102 and receives the same detection result from the terrestrial radio at the other end. Transmit to device 10.

  When the own device is not the end close to the train (in the case of “No” in Step S106), the distance determination unit 130 determines whether or not the obstacle determination information has been transmitted from the other end (Step S109). Specifically, the distance determination unit 130 determines whether or not a notification indicating that the obstacle determination information has been transmitted has been received from the terrestrial radio device at the other end connected to the same transmission line after a predetermined time has elapsed. To do. When the obstacle determination information has been transmitted from the other end (in the case of “Yes” in step S109), the distance determination unit 130 ends the obstacle determination process.

  When the obstacle determination information has not been completely transmitted from the other end (in the case of “No” in step S109), the distance determination unit 130 advances the control to step S107, and the wireless communication unit 140 is located at the end closer to the train. The obstacle determination information is transmitted to the train 3 on behalf of the ground wireless device.

  The above is the flow of the obstacle determination process. According to the obstacle determination process, the on-board wireless device 31 receives the obstacle determination information transmitted by the wireless communication unit 140, and transmits the received obstacle determination information to the driving control device 32. Can control the speed of the train 3 based on the obstacle determination information.

  According to the first embodiment, the terrestrial radio device is connected to both ends of the transmission line, and the detection result of any detection device is transmitted to the plurality of terrestrial radio devices connected to the transmission line to which the detection device belongs. Therefore, the obstacle determination and the transmission of the obstacle determination information can be performed by the ground radio apparatuses at both ends. Therefore, even when a certain terrestrial radio apparatus breaks down, the terrestrial radio apparatus connected to the other end of the transmission line can transmit obstacle determination and obstacle determination information, and can ensure system reliability at a high level. It can be said. Further, compared to a configuration in which a terrestrial radio device is connected to each detection device, the number of terrestrial radio devices can be reduced, so that the cost of system introduction and maintenance can be reduced.

  Furthermore, even if compared with the prior art (Patent Document 1), there are no restrictions on the installation interval or wireless reachable distance of the radio devices on the ground side. Therefore, the cost of the system can be reduced.

  In step S108, a transmission completion notification is transmitted to the terrestrial radio apparatus at the other end, but this is not an essential process. For example, when the wireless communication transmitted in step S107 is received, the terrestrial wireless device at the other end can be omitted so as to detect that the obstacle information has been transmitted.

  [Second Embodiment] The second embodiment has basically the same structure as that of the first embodiment, but is partially different. Hereinafter, the difference will be mainly described.

  In the first embodiment, the obstacle determination process is performed by the terrestrial wireless device. In the second embodiment, the obstacle is determined by each detection device. In the present embodiment, the detection apparatus performs the process of determining whether or not the detected obstacle is an obstacle, as shown in step S102 of the obstacle determination process in the first embodiment. For this reason, the detection device is provided with a control unit such as a CPU to perform the processing. Specifically, as in the first embodiment, the control unit of the inspection apparatus determines, for each detected object, whether a shielding object exists on the track 51 and hinders train operation. The direction of the detection center line is held in advance in the detection device.

  Each detection device in the second embodiment performs obstacle determination for all the obstacles detected by itself, and does not generate obstacle determination information when there is no detection result for which the obstacle determination is made. When there is at least one obstacle detection result, the control unit generates obstacle information from the obstacle detection result shown in step S103 of the obstacle determination process in the first embodiment. I do. Next, the processing flow of the terrestrial radio apparatus according to the second embodiment will be described with reference to FIG.

  The terrestrial radio apparatus in the second embodiment is substantially the same as the terrestrial radio apparatus shown in FIG. 2, but does not include the obstacle determination unit 120. In addition, the aggregation unit 110 and the distance determination unit are directly connected. The aggregating unit 110 aggregates and stores the obstacle determination information obtained from the detection device, not the detection result obtained from the detection device.

  First, the wired communication unit 101 acquires obstacle determination information from a plurality of detection devices connected to the transmission line 41 (step S110). Similarly, the wired communication unit 102 acquires obstacle determination information from a plurality of detection devices connected to the transmission line 42.

  And after performing the process of step S101 and acquiring operation information from a train, the distance determination part 130 performs the process (step S104) which calculates the distance of a train and an obstruction using obstruction determination information, and is subsequent. The process is the same as the obstacle determination process of the first embodiment.

  As described above, according to the second embodiment, terrestrial radio devices are connected to both ends of the transmission line, and obstacle determination information of any detection device is transmitted to a plurality of terrestrial radio devices. In both terrestrial radio apparatuses at both ends, distance determination and obstacle determination information can be transmitted. Therefore, even when a certain terrestrial radio apparatus fails, the obstacle determination information can be transmitted by the terrestrial radio apparatus connected to the other end of the transmission line. Thus, since the obstacle determination information can be received from the ground radio apparatus in which the train has not failed and the train operation can be controlled based on the obstacle determination information, the reliability is improved. In addition, similar to the first embodiment, there are advantages that the system cost can be reduced and there is no restriction on the installation interval of the ground side wireless device and the wireless reachable distance.

  [Third Embodiment] The third embodiment uses a detection device that simultaneously monitors two tracks when the track is a double track (when there is a track for a traveling train in one direction and its opposite direction). It is an obstacle detection system. The third embodiment is basically provided with substantially the same configuration as that of the first embodiment, but since there is a difference in part, the difference will be mainly described. In FIG. 10, the whole structure of the obstacle detection system in a present Example is shown.

  FIG. 10 is a diagram illustrating a configuration example of an obstacle detection system according to the third embodiment. In the third embodiment, in addition to the track 51 also in the first embodiment, there is a double track in which an opposing track 52 in the facing direction exists. That is, it differs from the first embodiment in that the direction in which the train 3 and the oncoming train 300 that runs in the facing direction travel is uniquely determined. In the example of FIG. 10, it is assumed that the train 3 on the track 51 travels from the right to the left in the drawing, and the oncoming train 300 on the facing track 52 runs from the left to the right in the drawing.

  The first detection device 211, the second detection device 212, the third detection device 213, the fourth detection device 221, the fifth detection device 222, and the sixth detection device 223 are configured so that the track 51 and the opposite track The detection center line is parallel to the track 51 and the counter track 52. Thereby, each detection apparatus can detect the shielding object of both the track | orbit 51 and the opposing track | orbit 52. FIG. Further, it is assumed that the shield 61 is present in the detectable region of the third detector 213 on the track 51 and the shield 62 is present in the detectable region of the first detector 211 on the opposite track 52. In the third embodiment, the obstacle determination is not performed by the ground wireless device but by each detection device as in the second embodiment.

  In the third embodiment, as in the second embodiment, an obstacle determination unit that performs an operation of determining whether or not the detection result is an obstacle is provided in each detection device. The obstacle determination unit in the detection device determines whether or not the shielding object is present on the track for each shielding object as a detection result, and whether the obstacle is present on the track 51 or the opposite track 52. judge. This example will be described with reference to FIG.

  FIG. 11 is a diagram illustrating an example of a positional relationship between the shielding object and the detection device according to the third embodiment. In FIG. 11, it is assumed that the shielding object 61 exists on the track 51 and the shielding object 62 exists on the opposing track 52. The first detection device 211, the second detection device 212, and the third detection device 213 are installed at intervals of 100 m, the shield 61 is within the detection range of the third detection device 213, and the shield 62 is It is assumed that it exists within the detection range of the first detection device 211. The detection center line 29 indicates the center line of the detection range of the first detection device 211 and the third detection device 213. Further, it is assumed that the train 3 travels on the track 51 from the right side of the drawing to the left side of the drawing, and the opposing train 300 runs on the counter track 52 from the left side of the drawing to the right side of the drawing.

  FIG. 12 is a diagram illustrating an operation flow of the obstacle determination process according to the third embodiment. The control unit of the detection device acquires a detection result by the own device and transmits the detection result to the obstacle determination unit of the own device (step S200).

  The detection results of the first detection device 211 in the example of FIG. 11 are shown in Table 4, and the detection results of the third detection device 213 are shown in Table 5.

  The shield 62 is “10:12:36” as an object having a distance of “20 m” from the first detection device 211, an angle of “+35 degrees”, a speed of “4 km / h”, and a reflection amount of “15 dBsm”. Table 4 shows that it was detected at “second”. Similarly, the shield 61 is “10 km” as an object having a distance of “14 m” from the third detection device 213, an angle of “−22 degrees”, a speed of “6 km / h”, and a size of reflection of “−5 dBsm”. Table 5 shows that it was detected at “time 12 minutes 36 seconds”.

  Then, the obstacle determination unit determines whether the detection result is an obstacle (step S201). Specifically, the obstacle determination unit uses the distance information, the angle information, and the information of the detection center line 29 of the detection device to determine the relative positions of the trajectory 51, the opposing trajectory 52, and the shielding object. If it is on track, it is determined as an obstacle. For example, the shield in Table 4 exists at a position of a distance “20 m” and an angle “+35 degrees”, which is on the opposite trajectory 52, so that the obstacle determination unit of the first detection device 211 detects the obstacle. Determined.

  Similarly, the third detection device 213 has a detection result in which the shielding object is located at a distance of “14 m” and an angle of “−22 degrees”, and this is on the track 51. It is determined as an obstacle by the obstacle determination unit 213.

  In this way, each detection device performs obstacle determination for all self detection results, and each of the detection devices has no self detection result determined to be an obstacle ("No" in step S201). In this case, the obstacle determination unit returns the control to step S200. When there is at least one self-detection result determined as an obstacle (in the case of “Yes” in step S201), the obstacle determination unit advances the control to step S203.

  Then, the obstacle determination unit generates obstacle information from the detection result determined as the obstacle in step S201 (step S203). In FIG. 13, an example of the data content of the obstacle determination information in this embodiment is shown.

  FIG. 13 is a diagram illustrating a data structure example of the obstacle determination information according to the third embodiment. In addition to the data structure of the obstacle determination information shown in FIG. 5, the obstacle determination information shown in FIG. 13 is added with orbit information for specifying the orbit where the obstacle exists.

  In the above example, in the first detection device 211, since “No. 1” in Table 4 is information determined as an obstacle, the obstacle determination unit uses the detection result to indicate the obstacle shown in Table 6. Object determination information is generated.

  That is, the position of the obstacle is “21.62 km” from the reference point, the size of the obstacle is “15 dBsm”, and the existing trajectory is the identifier “2” indicating the opposing trajectory 52. Similarly, in the third detection device 213, since “No. 1” in Table 5 is information determined as an obstacle, the obstacle determination unit uses the detection result to check the obstacle determination information shown in Table 7. Is generated.

  That is, the position of the obstacle is “21.814 km” from the reference point, the size of the obstacle is “−5 dBsm”, and the existing trajectory is the identifier “1” indicating the trajectory 51.

  Then, the obstacle determination unit of the detection device selects the terrestrial wireless device that is the transmission destination of the obstacle determination information (step S220). Specifically, there are two terrestrial radio devices that can transmit the detection device (each terrestrial radio device connected to both ends of the transmission line to be connected). In the third embodiment, the obstacle determination unit determines only the terrestrial wireless device in the direction close to the train as the transmission destination. For example, the first detection device 211 transmits the obstacle determination information shown in Table 6 to one of the first terrestrial wireless device 10 or the second terrestrial wireless device 11, but the shielding object determined to be an obstacle. 62 is on the opposite track 52 and the opposite train 300 travels from the left side of the figure to the right side of the figure, so that only the first terrestrial radio device 10 that is the direction in which the train approaches (the direction closer to the train) is the transmission destination. select.

  Similarly, according to the obstacle determination information shown in Table 7, the third detection device 213 has the obstacle 61 determined to be an obstacle on the track 51, and the train 3 traveling on the track 51 is shown in FIG. Drive from right to left. Therefore, the obstacle determination unit selects only the second terrestrial radio device 11 in the direction in which the train approaches (the direction close to the train) as the transmission destination.

  Then, the obstacle determination unit of the detection device transmits the obstacle determination information to the terrestrial wireless device selected in step S220, and the obstacle determination process is completed (step S206). Specifically, the first detection device 211 provides the first ground radio device 10 with the obstacle determination information for the shield 62, and the third detection device 213 provides the second ground radio device 11 for the shield 61. Obstacle determination information is sent.

  The first terrestrial radio apparatus 10 and the second terrestrial radio apparatus 11 transmit the obstacle determination information about the obstacle on the track to the oncoming train 300 and the train 3, respectively. 3 can perform speed control of the oncoming trains 300 and 3 using the received obstacle determination information. In addition, about this speed control, an appropriate well-known technique can be used according to the specification regarding the control method of a train.

  According to the third embodiment, the obstacle determination information transmitted by the detection device is only the ground wireless device in the direction in which the train approaches, thereby transmitting information unnecessary for train travel control through the transmission line. Can be prevented.

  In addition, according to the third embodiment, since the obstacle can be detected with the same number of detection devices as that of the single line for the double line including the track 51 and the opposed track 52, the construction cost of the system can be suppressed.

  [Fourth Embodiment] The fourth embodiment is an obstacle detection system in which detection devices are installed on both sides of a track. In FIG. 14, the whole structure of the obstacle detection system in this embodiment is shown.

  FIG. 14 is a diagram illustrating a configuration example of an obstacle detection system according to the fourth embodiment. The fourth embodiment is basically the same as the third embodiment, but there are some differences. Hereinafter, the difference from the third embodiment will be mainly described.

  The difference between the fourth embodiment and the third embodiment is that the first detection device 211, the second detection device 212, the third detection device 213, the fourth detection device 221, and the fifth detection device 222. The sixth detection device 223 is installed outside the counter track 52 (outside of the track 51 and the counter track 52 and the area between them), and the seventh detection device 231 and the eighth detection device are newly added. The device 232, the ninth detection device 233, the tenth detection device 241, the eleventh detection device 242, and the twelfth detection device 243 are located outside the track 51 (the track 51 and the counter track 52 and the region between them). It is a point installed outside.

  In the present embodiment, the first detection device 211, the second detection device 212, the third detection device 213, the seventh detection device 231, the eighth detection device 232, and the ninth detection device 233 are The obstacle determination information can be transmitted to the first terrestrial radio apparatus 10 and the second terrestrial radio apparatus 11 by being connected to one transmission line 41.

  Similarly, the fourth detection device 221, the fifth detection device 222, the sixth detection device 223, the tenth detection device 241, the eleventh detection device 242, and the twelfth detection device 243 are the second. The obstacle determination information can be transmitted to the second terrestrial radio device 11 and the third terrestrial radio device 12.

  In the fourth embodiment, a plurality of detection devices installed outside the track 51 and the opposed track 52 can detect a shield on the track. For example, the shield 62 exists in the detection range of the two detection devices of the first detection device 211 and the seventh detection device 231, and the first detection device 211 and the seventh detection device 231 indicate the detection result as the first detection device. Since transmission to the terrestrial radio apparatus 10 and the second terrestrial radio apparatus 11 is possible, the obstacle determination of the shield 62 can be performed more reliably.

  In addition, according to the fourth embodiment, since the number of installed detection devices can be increased without increasing the number of installed terrestrial radio devices, it is possible to perform reliable obstacle determination while suppressing an increase in the cost of the system. .

  The above is the obstacle detection system according to the fourth embodiment. According to the obstacle detection system according to the fourth embodiment, since the detection target can be detected from a plurality of different viewpoints, the probability of detection omission and false detection is reduced by reducing the cost and the detection reliability is high. Can be.

  In addition, this invention is not limited to said embodiment, Various modifications are included. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described.

  Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment.

  In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  Each of the above-described configurations, functions, processing units, and the like may be realized by hardware, for example, by designing a part or all of them with an integrated circuit. In addition, each of the above-described configurations, functions, and the like may be realized by software control in which a processor performs an operation according to a program that realizes each function. Information such as programs, tables, and files for realizing each function is stored in a recording device such as a memory, a hard disk, and an SSD, or a recording medium such as an IC card, an SD card, and a DVD. (Access Memory) or the like and can be executed by the CPU or the like.

  Further, the control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.

  Each of the above-described configurations, functions, processing units, and the like may be realized in a distributed system by executing a part or all of them on another apparatus and performing integrated processing via a network, for example.

  Further, the technical elements of the above-described embodiments may be applied independently, or may be applied by being divided into a plurality of parts such as program parts and hardware parts.

  In the above, this invention was demonstrated centering on embodiment.

  3 ... train 10, 11, 12 ... ground radio equipment, 31 ... on-vehicle radio equipment, 32 ... operation control equipment, 40, 41, 42, 43 ... transmission line, 51. ..Orbit, 61, 62 ... Shield, 211, 212, 213, 221, 222, 223 ... Detection device.

Claims (11)

A plurality of detection devices provided along a trajectory for detecting the presence of an object on the trajectory;
A transmission line that is provided along the track and that is connected to the plurality of detection devices and transmits detection results of the plurality of detection devices;
A ground radio device connected to one end of both ends of the transmission line and performing radio communication with a train traveling on the track,
The terrestrial wireless device is
A detection result acquisition unit that acquires detection results of the plurality of detection devices via the transmission line, and
An obstacle determination unit that determines whether the object detected by the detection device is an obstacle using the detection result;
A terrestrial radio that transmits obstacle determination information including information identifying the position of the object to the train when it is closer to the train than a terrestrial radio device connected to the other end of both ends of the transmission line And
An obstacle detection system comprising: The obstacle detection system according to claim 1,
The track is a plurality of tracks having different operation directions,
The terrestrial wireless device is
An operation information acquisition unit for acquiring position information for specifying the position of the train and operation direction information for specifying a traveling direction on the track via the ground radio unit;
If the result of the determination by the obstacle determination unit is an obstacle, a distance determination unit that determines a path on the track in the direction of travel between the obstacle and the train, and
The obstacle determination unit determines whether or not the object detected by the detection device is an obstacle using the detection result and the train position information and operation direction information.
The terrestrial radio unit is closer to the train than a terrestrial radio device connected to the other end of both ends of the transmission line when the distance between the obstacle and the train is less than a predetermined distance. In this case, the obstacle determination information including information for specifying the position of the object is transmitted to the train.
Obstacle detection system characterized by that. The obstacle detection system according to claim 1,
The detection device is arranged so that the detection range of the object overlaps between the detection devices,
The obstacle determination unit determines whether or not an object detected by the detection device is an obstacle using detection results of the plurality of detection devices for the overlapping detection ranges.
Obstacle detection system characterized by that. The obstacle detection system according to claim 1,
The terrestrial radio unit is
When the self is farther from the train than the terrestrial radio device connected to the other end of both ends of the transmission line, the failure from the terrestrial radio device connected to the other end of the both ends of the transmission line. If the object determination information is not transmitted, the obstacle determination information including information for specifying the position of the object is transmitted to the train.
Obstacle detection system characterized by that. The obstacle detection system according to claim 1,
The train includes a control device that controls travel of the train,
The controller is
Controlling the traveling speed using the obstacle determination information;
Obstacle detection system characterized by that. The obstacle detection system according to claim 1,
The train includes a control device that controls travel of the train,
The controller is
The travel speed is controlled to be lower as the travel distance to the position of the object included in the obstacle determination information is shorter.
Obstacle detection system characterized by that. The obstacle detection system according to claim 1,
The detection device transmits the detection result to each of the terrestrial radio devices connected to both ends of the transmission line,
Obstacle detection system characterized by that. The obstacle detection system according to claim 1,
The terrestrial wireless device is
Connected to the transmission line provided in two consecutive predetermined sections on the track,
Obstacle detection system characterized by that. A plurality of detection devices provided along the trajectory for detecting the presence of obstacles on the trajectory;
A transmission line that is provided along the trajectory and that transmits the presence of an obstacle detected by the plurality of detection devices connected to the plurality of detection devices;
A ground radio device connected to one end of both ends of the transmission line and performing radio communication with a train traveling on the track,
The detection device is:
An obstacle determination unit for determining whether or not the detected object is an obstacle on the trajectory;
A transmission unit for transmitting obstacle determination information including the position of the obstacle on the transmission line,
The terrestrial wireless device is
An obstacle determination information acquisition unit that acquires the obstacle determination information that is a determination result of the obstacle determination unit via the transmission line;
When the self is closer to the train than the ground radio device connected to the other end of the transmission line, the ground radio unit that transmits the obstacle determination information to the train,
An obstacle detection system comprising: An obstacle detection method by an obstacle detection system,
The obstacle detection system includes
A plurality of detection devices provided along a trajectory for detecting the presence of an object on the trajectory;
A transmission line that is provided along the track and that is connected to the plurality of detection devices and transmits detection results of the plurality of detection devices;
A ground radio device connected to one end of both ends of the transmission line and performing radio communication with a train traveling on the track, and
The terrestrial wireless device is
With a control unit,
The controller is
A detection result acquisition step of acquiring detection results of the plurality of detection devices via the transmission line;
Obstacle determination step for determining whether or not the object detected by the detection device is an obstacle using the detection result;
Wireless transmission for transmitting obstacle determination information including information for specifying the position of the object to the train when the terminal is closer to the train than a ground radio apparatus connected to the other end of the transmission line Steps,
Obstacle detection method characterized by implementing. An obstacle detection method by an obstacle detection system,
The obstacle detection system includes
A plurality of detection devices provided along the trajectory for detecting the presence of obstacles on the trajectory;
A transmission line that is provided along the trajectory and that transmits the presence of an obstacle detected by the plurality of detection devices connected to the plurality of detection devices;
A ground radio device connected to one end of both ends of the transmission line and performing radio communication with a train traveling on the track, and
The detection device is:
With a control unit,
The controller is
An obstacle determination step for determining whether or not the detected object is an obstacle on the trajectory;
Transmitting the obstacle determination information including the position of the obstacle on the transmission line, and
The terrestrial wireless device is
With a control unit,
The controller is
Obstacle determination information acquisition step for acquiring the obstacle determination information that is a determination result in the obstacle determination step via the transmission line;
A wireless transmission step of transmitting the obstacle determination information to the train when the vehicle is closer to the train than a ground radio device connected to the other end of the transmission line; and
Obstacle detection method characterized by implementing.

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