JP3433958B2 - Mobile control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile unit control device, and more particularly, it transmits a control signal including at least its own block number, a block number with a speed limit, and the speed limit information of the block from the ground side. Then, the control signal is decoded on the upper side of the vehicle to calculate the travel distance-allowable speed characteristic from its own closed section to another closed section, and the travel distance of the moving body is calculated from the speed signal to calculate the travel distance-allowable speed characteristic. The present invention relates to a technique for obtaining an allowable speed of a moving object from the vehicle and controlling the traveling speed to be the allowable speed.

[0002]

2. Description of the Related Art As a conventional moving body control technique, Japanese Patent Laid-Open No.
No. 2,820,071 is known. In such a conventional technique, a large number of control points are provided on the ground side, and an appropriate control signal is transmitted from each control point to control a moving body.

[0003]

However, in the conventional moving body control device, in the case of performing precise moving body control, for example, speed control, it is necessary to sequentially transmit the commanded speed signal from the ground side to the upper side of the vehicle. . For this reason, a very large number of terminals (ground elements) are required, and a technique for precisely controlling the speed of a moving body using a small number of terminals has not been disclosed.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems and to provide a moving body control device which enables precise speed control with a few ground elements.

[0005]

In order to solve the above-mentioned problems, the present invention is a mobile body control device including a ground device and an on-board device, wherein the ground device includes a track and a ground child group. Including, the orbit is divided into a plurality of block sections, each ground element constituting the ground element group is provided in each of the block section, at least its own block number, another block number with a speed limit and its A control signal including information on a speed limit for blockage is transmitted, and the on-vehicle device is mounted on a moving body that travels on the track, and includes a car top, a speed detector, and a control circuit. , The car top receives the control signal, the speed detector detects the traveling speed of the moving body and outputs a speed signal, and the control circuit controls the intervals of the respective closed sections and the moving body. The brake characteristic is stored, and the control signal and Serial speed signal is input, together with decodes the control signal and calculates the distance traveled over the allowable speed characteristic from the own block sections to said another block section,
The travel distance of the mobile body is calculated from the speed signal, the permissible speed of the mobile body is obtained from the travel distance-permissible speed characteristic, and the travel speed is controlled to be the permissible speed.

[0006]

In the ground device, the orbit is divided into a plurality of closed sections, and each ground element that constitutes the ground element group is provided in each of the closed sections and transmits the control signal. Information required for mobile control can be transmitted for each.

The ground element transmits a control signal including at least its own block number, another block number with a speed limit, and the speed limit of the block. Then, the control circuit stores the interval of each closed section and the braking characteristic of the moving body, decodes the control signal, and calculates the mileage-allowable speed characteristic from its closed section to another closed section. Therefore, the optimum permissible speed can be predicted including the self-occluded section and the forward closed section. Therefore, it is not necessary to provide a plurality of ground elements in the closed section, and a precise speed command can be given based on information from a few ground elements.

Furthermore, since the above-mentioned operation is obtained in each of the closed sections, it is possible to appropriately cope with a change in the control signal transmitted from the ground equipment.

In the on-vehicle device, the speed detector detects the traveling speed of the moving body traveling on the track and outputs a speed signal, and the control circuit calculates the traveling distance of the moving body from the speed signal to calculate the traveling distance-speed. Since the permissible speed of the mobile body is obtained from the control characteristics and the traveling speed is controlled to be the permissible speed, a mobile body control device capable of enabling precise speed control with a few ground elements can be obtained.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing the configuration of a mobile unit control apparatus according to the present invention, and FIG. 2 is a diagram showing the data configuration of control signals. The figure shows a case where it is applied to an automatic train stop device (ATC device), 1 is a ground device, 2 is an on-board device, and 3 is a train that is a moving body.

The ground device 1 includes an orbit 11 and a ground child group 12
Is included. The track 11 includes a plurality of closed sections 1T, 2
It is divided into T, 3T, 4T, .... The ground element group 12 includes ground elements 121, 122, 123, 124, .... Ground elements 121, 122, 123, 12
.. are provided in the closed sections 1T, 2T, 3T, 4T, ..., respectively, and include a control signal S1 including at least its own closed number, another closed number having a speed limit, and information on the closed speed limit of the closed speed. To send. The control signal S1 is composed of a digital signal. The data of the control signal S1 of this embodiment is composed of 20 bits as shown in FIG.
10 bits are given to specify its own block number, and 1024 block sections can be specified. For example, a binary number “1” is assigned to specify that the ground element 121 is in the closed section 1T. Similarly, a binary number “11” is assigned to specify that the ground element 123 is in the closed section 3T. Five bits are given to specify another block number having a speed limit, and 16 types of block sections can be designated.
For example, in order to specify the closed section 3T, the binary number "1"
1 ”is assigned. Five bits are given to specify the blocking speed limit, and 16 kinds of speed limits can be specified. For example, the binary number "0" is the speed 0k.
m / h, the binary number "1" has a speed of 25 km / h, the binary number "10" has a speed of 45 km / h, and the binary number "11" has a speed of 65 km / h. Therefore, the control signal S1 in FIG. 2 is transmitted by the ground element 121 and commands that there is a speed limit of 25 km / h in the closed section 3T. As for the data structure of the control signal S1, the bit length of each may be set according to the control system.

The on-board device 2 includes an on-board child 21, a speed detector 22, and a control circuit 23. The train carrier 21 receives the control signal S1. The speed detector 22 detects the traveling speed of the train 3 traveling on the track 11 and outputs a speed signal S2. The control circuit 23 controls the closed sections 1T, 2T, 3
The intervals L1, L2, L3, L4 ... Of T, 4T ... And the braking characteristics of the train 3 are stored. Control circuit 23
Is composed of a microcomputer, and receives the control signal S1 and the speed signal S2. The control circuit 23
The control signal S1 is read to calculate the mileage-allowable speed characteristic from its own closed section to another closed section, the mileage of the train 3 is calculated from the speed signal S2, and the train is calculated from the mileage-allowable speed characteristic. 3 is obtained, and a control output S3 for controlling the traveling speed to be the allowable speed is generated.
For example, when the control signal S1 of FIG. 2 is input, the train 3 is set so that the target distance is determined by adding the intervals L1 and L2 of the closed sections 1T and 2T and the speed limit of 25 km / h can be achieved after traveling the target distance. The mileage / allowable speed characteristic is calculated from the brake characteristic of. As an example, the characteristics are as indicated by reference numeral A. The travel distance is obtained from the speed signal S2, the permissible speed corresponding to the travel distance is obtained from the travel distance-permissible speed characteristic (characteristic of reference symbol A), and the travel speed is adjusted so that the travel speed at each traveling position becomes the permissible speed. To do.

As described above, the ground device 1 has the track 11
Are divided into a plurality of closed sections 1T, 2T, 3T, 4T, ...
1, 122, 123, 124 ... are closed sections 1T, 2
The control signal S1 is provided for each of the T, 3T, 4T, ...
Information required for train control can be transmitted every 2T, 3T, 4T, ...

Ground element 121, 122, 123, 124
.. transmits a control signal S1 including at least its own block number, another block number having a speed limit, and the speed limit of the block, and the on-board device 2 controls the on-board child 21 to send a control signal. Upon receiving S1, the control circuit 22 causes the intervals L1, L2, L of the closed sections 1T, 2T, 3T, 4T ...
3, L4 ... and the braking characteristics of the train 3 are stored, the control signal S1 is decoded, and the travel distance-allowable speed characteristics (reference symbol A from the self-blocking section (1T) to another blocking section (3T) (Characteristics of the above) are calculated, the self-occlusion section (1T) and the front closure section (2T, 3T)
It is possible to predict the optimum allowable speed including. Therefore, there is no need to provide a plurality of ground elements in the closed sections 1T, 2T, 3T, 4T, ...

Further, the closed sections 1T, 2T, 3T, 4T.
.. Each of the above effects can be obtained, so the ground device 1
It is possible to appropriately cope with a change in the control signal S1 transmitted from the. For example, before the train 3 enters the closed section 2T, a preceding train (not shown) exits the closed section 5T, and the closed section 2T
When the vehicle enters T and receives the control signal S1 in which the speed limit of the closed section 3T is released, the traveling distance-permissible speed characteristic is updated as indicated by reference sign B. As a result, the train 3 can travel at high speed in the closed section 2T. Even when the mileage-permissible speed characteristic is not updated, when the control signal S1 is received, the mileage obtained based on the speed signal S2 can be corrected. For example, the target distance is set to the interval L2 of the closed section 2T when the control signal S1 is received, regardless of whether or not the traveling distance of the closed section 1T remains.
Set to. As a result, it is possible to prevent an error in the traveling distance of the closed section 1T.

In the on-board device 2, the speed detector 22 has the track 11
The speed signal S2 is detected by detecting the traveling speed of the train 3 traveling above.
Is output, the control circuit 23 calculates the traveling distance of the train 3 from the speed signal S2, obtains the allowable speed of the train 3 from the traveling distance-permissible speed characteristic (characteristic of reference symbol A), and sets the traveling speed to the permissible speed. Therefore, it is possible to obtain a moving body control device that enables precise speed control with a few ground elements.

A control signal S1 having its own block number of binary "1", another block number of binary "100", and a speed limit of binary "0" (stops at block section 4T).
Is assumed to be received. The control circuit 23 controls the intervals L1, L2, L3, L4 of the closed sections 1T, 2T, 3T, 4T.
The target distance is obtained by adding the intervals of, and the traveling distance-permissible speed characteristic is calculated from the brake characteristic of the train 3 as indicated by reference symbol C. The travel distance of the train 3 is calculated from the speed signal S2, the permissible speed of the train 3 is obtained from the travel distance-permissible speed characteristic, and the travel speed is controlled to be the permissible speed. This enables the most efficient train control.

Ground element 121, 122, 123, 124
.., when connecting to the car core 21 at points and in section 1
It is possible to combine them every T, 2T, 3T, 4T .... In the case of point-to-point connection, a ground loop may be arranged at the installation location of the ground element for transmission, or a transponder may be used as a separate system for transmission at a section entrance. In the case of coupling for each section, means for transmitting the control signal S1 via the track can be adopted.

FIG. 3 is a diagram showing a data structure of a control signal by another method. In this embodiment, a digital signal is formed by modulating a fundamental frequency f1 with a frequency Δf0. The signal “1” is represented by the frequency (f1 + Δf0), and the signal “0” is represented by the frequency (f1−Δf0).

It suffices that the control signal S1 be able to specify information such as its own block number, another block number having a speed limit, and the speed limit of the block, and each information is composed of a plurality of frequency signals having different frequencies. You can also

Further, the speed detector 22 of the embodiment shown in FIG.
A tacho generator is included, and the tacho generator detects the rotation speed of the wheels of the train 3. The speed detector 22 may be any speed detector as long as the travel distance can be obtained from the traveling speed, and various speed detectors can be adopted.

[0022]

As described above, according to the present invention, the following effects can be obtained. (A) In the ground device, the orbit is divided into a plurality of closed sections, each ground element forming the ground child group is provided in each of the closed sections, and at least its own closed number and another closed number with a speed limit. And a control signal including information on the speed limit of the blockage, the on-board device receives the control signal on the vehicle top, and the control circuit stores the interval of each block section and the braking characteristic of the moving body. However, since the control signal is decoded and the traveling distance-permissible speed characteristics from its own block section to another block section are calculated, it is only necessary to provide one ground element in each block section, which is very few. It is possible to provide a moving body control device capable of enabling a precise speed command based on information from the ground element. (B) Since the above effect can be obtained in each of the closed sections,
It is possible to provide a mobile body control device that can appropriately respond to a change in a control signal transmitted from a ground device. (C) In the on-vehicle device, the speed detector detects the traveling speed of the moving body traveling on the track and outputs a speed signal, and the control circuit calculates the traveling distance of the moving body from the speed signal to calculate the traveling distance-speed. Since the permissible speed of the mobile body is obtained from the control characteristics and the traveling speed is controlled to be the permissible speed, it is possible to provide a mobile body control device capable of enabling precise speed control with a few ground elements.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a mobile unit control device according to the present invention.

FIG. 2 is a diagram showing a data structure of a control signal.

FIG. 3 is a diagram showing a data structure of a control signal by another method.

[Explanation of symbols]

1 Ground equipment 11 orbits 1T to 5T closed section 12 ground child group 121-125 ground child 2 On-board equipment 21 car child 22 Speed detector 23 Control circuit 3 moving bodies (trains) L1 to L5 closed interval S1 control signal S2 speed signal S3 control output A, B, C Mileage-Allowable speed characteristics

Front page continuation (72) Kenjiro Matsumoto 2-10-1 Yurakucho, Chiyoda-ku, Tokyo Within East Japan Railway Company (72) Inventor Takehiko Hoshino 1-13-8 Kamikizaki, Urawa-shi, Saitama Nihon Signal Inside the Yono Plant (72) Inventor Hidetaka Saegusa 1-13-8 Kamikizaki, Urawa City, Saitama Nihon Signal Co., Ltd. Inside the Yono Plant (56) Reference JP-A-52-153507 (JP, A) HEI 3-128760 (JP, A) JP HEI 2-237403 (JP, A) HEI 1-398906 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) B60L 15 / 40 B61L 3/12

Claims (3)

(57) [Claims] 1. A mobile unit control device including a ground device and an on-board device, wherein the ground device includes a track and a ground child group, and the track is divided into a plurality of closed sections, Each ground child that constitutes a child group is provided in each of the block sections, and transmits a control signal including at least its own block number, another block number with a speed limit, and the speed limit information of the block. The on-board device is mounted on a moving body that travels on the track, and includes a car top, a speed detector, and a control circuit, and the car top receives the control signal, A detector detects the traveling speed of the moving body and outputs a speed signal, the control circuit stores the interval of each closed section and the braking characteristic of the moving body, and the control signal and the speed signal are input. It is, decodes the control signal, Set a target distance serial from its own block section by adding the interval between the other block section, said
In order to reach the speed limit after traveling the target distance,
The travel distance-permissible speed characteristic is calculated from the braking characteristic of the moving body, the travel distance of the moving body is calculated from the speed signal, the permissible speed of the moving body is obtained from the travel distance-permissible speed characteristic, and the traveling A moving body control device for controlling the speed to be an allowable speed. 2. The mobile control device according to claim 1, wherein the control signal is a digital signal. 3. The moving body control device according to claim 1, wherein the speed detector includes a tachogenerator, and the tachogenerator detects a rotation speed of a wheel of the moving body.