JP3744641B2 - Accident detection device - Google Patents

Description

従って、検知判定手段３７は慣性基準装置１１から入力される例えば前後加速度、左右加速度、上下加速度、ロールレート、ピッチレート、ヨーレート、ピッチ角、ロール角及び上下変位量のどれが予め設定された設定値を越えたか、あるいはどういう組合せのデータが同時に設定値を越えたか等を判断することによって事故モードを判定することができる。
【００２５】
この図４に示した事故検知装置によれば、事故発生により防護無線が自動発報され、かつ列車無線により位置データ、列車情報と共に事故モードが中央指令所に自動通報されるため、直ちに事故状況を把握することが可能となる。
以上述べた各実施例においては、前後、左右、上下加速度は図１におけるＸ_H ，Ｙ_H ，Ｄ加速度を用いているが、例えばこれに代えて車両軸のＸ，Ｙ，Ｚ加速度を用いることも可能である。なお、この場合には列車が上り勾配あるいは下り勾配にある時に、重力加速度成分が測定値に含まれることになり、その分Ｘ_H ，Ｙ_H ，Ｄ加速度を用いる場合に比し、事故検知設定値と測定値とのマージンが少なくなるため、検知精度は劣るものとなる。
【００２６】
【発明の効果】
以上説明したように、請求項１の発明によれば自動的に事故が検知され、乗務員が操作できない状況でも防護無線が自動発報されるため、２次的事故を防止することができる。
また、請求項２の発明では防護無線の自動発報に加え、列車無線により各種事故情報が中央へ自動通報されるため、適確かつ速やかに対策をとることが可能となる。
【００２７】
さらに、請求項３の発明ではどのような事故が発生したか、その事故モードが通報されるため、直ちに事故状況を把握することが可能となる。
なお、この発明によれば３軸ジャイロと３軸加速度計とを使用して、あらゆる事故に対応した各種データ（検知パラメータ）を測定演算して得ることができ、つまり列車の状態の遷移を逐一正確に把握することができるので、正確な事故検知を行うことができる。
【図面の簡単な説明】
【図１】この発明における基本検出部である慣性基準装置の一構成を示すブロック図。
【図２】請求項１の発明の実施例を示すブロック図。
【図３】請求項２の発明の実施例を示すブロック図。
【図４】請求項３の発明の実施例を示すブロック図。[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an accident detection apparatus that can automatically detect a train accident when an accident such as a railway train occurs.
[0002]
[Prior art]
For example, when a train accident such as derailment occurs, a crew member conventionally activates a protection radio provided to the train, and uses the train radio to report the situation of the accident to the central command office.
By issuing the protection radio, nearby trains can know the occurrence of the accident, and thus prevent secondary accidents. In addition, measures can be taken promptly by notification by train radio.
[0003]
[Problems to be solved by the invention]
However, depending on the degree of the accident, a crew member may be injured and the protection radio and train radio may not be operated. For example, even if the injury is avoided, a situation may occur in which the driver is upset and cannot operate.
In such a case, the crew of the train traveling in the vicinity cannot know the occurrence of the accident, and for example, it may cause a secondary accident by thrusting into the scene, leading to a major accident. It was.
[0004]
In view of the above-described problems, an object of the present invention is an accident detection apparatus that automatically detects the occurrence of an accident, automatically issues a protective radio, and can notify the occurrence of the accident without the crew operating. It is to provide.
[0005]
[Means for Solving the Problems]
According to the first aspect of the present invention, an accident detection apparatus mounted on a train for detecting a train accident measures a three-axis accelerometer that measures three-axis acceleration orthogonal to each other, and measures an angular velocity around three orthogonal axes. 3 axis gyro, and calculation means for calculating the horizontal forward acceleration, the horizontal right acceleration, the vertical acceleration, the vertical displacement amount and the attitude angle of the train using the measured values of the 3-axis accelerometer and the 3-axis gyro And detecting means for detecting a train accident using the calculated values of the calculating means and the measured values of the three-axis accelerometer and the three-axis gyro, and when the detecting means detects the accident, it is provided in the train. Means for activating the protective radio.
[0006]
According to the invention of claim 2, an accident detection device mounted on a train for detecting a train accident measures a three-axis accelerometer that measures three-axis acceleration orthogonal to each other, and measures an angular velocity around three axes that are orthogonal. 3 axis gyro, and calculation means for calculating the horizontal forward acceleration, the horizontal right acceleration, the vertical acceleration, the vertical displacement amount and the attitude angle of the train using the measured values of the 3-axis accelerometer and the 3-axis gyro And means for obtaining the current position, detecting means for detecting a train accident using the calculated value of the calculating means and the measured values of the three-axis accelerometer and the three-axis gyro, and when the detecting means detects the accident Activating the protection radio provided in the train and using the train radio provided in the train, the calculation value of the calculation means, the measurement value of the 3-axis accelerometer and the 3-axis gyro, and the current position together with the train number Central directive It is intended to and means for transmitting to.
[0007]
According to invention of Claim 3, the accident detection apparatus mounted in a train in order to detect a train accident measures the triaxial accelerometer which measures the acceleration of three orthogonal axes, and the angular velocity around the three orthogonal axes 3 axis gyro, and calculation means for calculating the horizontal forward acceleration, the horizontal right acceleration, the vertical acceleration, the vertical displacement amount and the attitude angle of the train using the measured values of the 3-axis accelerometer and the 3-axis gyro And means for obtaining the current position, detection determination means for detecting a train accident using the calculation value of the calculation means and the measurement value of the three-axis accelerometer and the three-axis gyro, and determining the accident mode; When the detection / determination means detects an accident, it activates the protection radio provided to the train, and the accident mode and the current position determined using the train radio provided to the train together with the train number are sent to the central command center. It is intended to and means for transmitting.
[0008]
According to a fourth aspect of the present invention, in any of the second to third aspects of the present invention, the current position is represented by latitude and longitude, and the latitude and longitude are obtained using GPS.
According to a fifth aspect of the present invention, in any of the second to third aspects of the present invention, the current position is represented by a travel distance from the base point, and the travel distance is obtained by integrating the number of wheel rotations of the train.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings.
The accident detection device according to the present invention is used by being mounted on a train, and its basic detection unit is a so-called inertia reference device having a three-axis accelerometer, a three-axis gyro, and a calculation means for performing strapdown inertia calculation. ing. First, the configuration and function of the inertial reference device 11 will be described with reference to FIG.
[0010]
A three-axis gyro 12 mounted on three orthogonal axes measures angular velocities about the X, Y, and Z axes. Here, the X-axis direction is the front of the apparatus (train), the Y-axis direction is the right side, and the Z-axis direction is the lower side. On the other hand, a triaxial accelerometer 13 attached to three orthogonal axes measures accelerations in the X, Y, and Z axis directions.
The coordinate conversion means 14 converts X, Y, Z coordinates into X _H , Y _H , D coordinates, and the X, Y, Z acceleration output from the triaxial accelerometer 13 is input to the coordinate conversion means 14. , X _H , Y _H , and D acceleration. Here, the train ahead on a horizontal plane X _H, train right on the horizontal plane a Y _H, and D and the earth center (vertical) direction.
[0011]
The coordinate transformation matrix of the coordinate transformation means 14 is changed every moment as the posture of the apparatus changes. The coordinate change matrix update value calculation means 15 calculates a change amount for changing the value of this matrix, and the matrix change amount corresponds to the change in posture, that is, the angular velocity, one-to-one, so that the three-axis gyro 12 Using the X, Y, Z angular velocity data, the matrix change is calculated. The calculated change is input to the coordinate conversion means 14, and the matrix value is updated every moment.
[0012]
The X _H , Y _H , D acceleration output from the coordinate conversion means 14 is input to the integration means 16, and the integration means 16 integrates the X _H , Y _H , D acceleration to output X _H , Y _H , D velocities. To do. Of these X _H , Y _H , and D speeds, the D speed is input to the integrating means 18 via the HPF (high pass filter) 17, and the integrating means 18 integrates the D speed to obtain the displacement amount in the vertical direction of the train. calculate. The HPF 17 cuts the DC component in order to avoid error divergence due to integration, and therefore the vertical displacement is the AC variation. Although not shown in the figure, HPF is similarly provided in the integrating means 16 in order to avoid error divergence due to integration.
[0013]
In this example, the speed sensor 19 is used to suppress the drift error of the three-axis gyro 12, and the speed output from the speed sensor 19 and the _XH speed are input to the comparison means 21. The speed sensor 19 is configured to obtain the speed from the number of wheel rotations of the train, for example. Comparing means 21 calculates the X _H speed obtained from acceleration, the difference between the speed of the speed sensor 19. Here, since the integration means 16 also integrates the error, the error of the X _H speed obtained from the acceleration increases gradually, whereas the error of the speed sensor 19 can be ignored, that is, the speed of the speed sensor 19 Since the error does not increase with time, this difference indicates the error of the X _H speed obtained from the acceleration.
[0014]
The main cause of this error is an error in the coordinate transformation matrix due to the error of the three-axis gyro 12. Accordingly, the calculated difference (X _H error) is fed back to the coordinate transformation matrix update value calculation means 15 and an error in the X _H speed is obtained. The coordinate transformation matrix is corrected so that the minute becomes zero. On the other hand, since it is a train, the Y _H speed is an error as it is, and this Y _H error is also fed back to the coordinate conversion matrix update value calculation means 15. Thereby, the error of a coordinate transformation matrix is suppressed.
[0015]
The posture angle (pitch angle) in the front-rear direction of the train with respect to the horizontal plane and the posture angle (roll angle) in the left-right direction are output from the pitch / roll calculation means 22. Since the coordinate conversion matrix in the coordinate conversion means 14 shows the relationship between the X, Y, Z coordinates and the X _H , Y _H , D coordinates, the pitch angle and the roll angle are obtained from this relationship.
According to the configuration described above, an accurate coordinate conversion matrix can be obtained, so that accurate X _H , Y _H , and D acceleration can be obtained, and accurate vertical displacement, pitch angle, and roll angle can be obtained. it can.
[0016]
FIG. 2 shows an embodiment of the accident detection apparatus according to the present invention, which is configured by using the inertia reference apparatus 11 described above. Various measured values and calculated values obtained by the inertial reference device 11 are input to the detection means 23. In the following, X _H , Y _H , and D acceleration are simply referred to as longitudinal, lateral, and vertical acceleration, and X, Y, and Z angular velocities are referred to as roll, pitch, and yaw rate. The vertical displacement amount is referred to as the vertical displacement amount.
[0017]
In this example, the longitudinal acceleration, lateral acceleration, vertical acceleration, roll rate, pitch rate, yaw rate, pitch angle, roll angle, and vertical displacement are used as parameters for grasping the train movement (state transition). Is input from the inertial reference device 11 to the detection means 23. And the detection means 23 detects the train accident occurrence from these input data. Accident detection is performed by comparing preset values and input data for these parameters. For example, if any of these parameters exceeds the set value, it is determined that an accident has occurred. To do.
[0018]
When the detection means 23 detects an accident, the detection means 23 outputs a detection signal, and the protection radio activation means 24 activates the protection radio 25 provided on the train based on the signal. Note that, for example, a relay contact signal is used to activate the protection radio 25 by the protection radio activation means 24.
According to the accident detection apparatus shown in FIG. 2, since the accident is automatically detected and the protective radio is automatically issued even in a situation where the crew cannot operate, the secondary accident can be prevented. . This accident detection device is mounted on at least the leading vehicle of the train. In addition, you may make it attach the inertial reference apparatus 11 which is a basic detection part to all the vehicles, for example.
[0019]
FIG. 3 shows an accident detection apparatus that automatically transmits various types of information to a central command station when an accident is detected through train radio installed in the train, in addition to automatic alerting of the protection radio. In this example, the current position of the train and train information are automatically transmitted together with the above-described data input to the detection means 23 when an accident is detected.
In this example, the current position of the train is represented by both the latitude and longitude obtained using the GPS 26 and the travel distance data from the distance meter 27 that obtains the travel distance from the base point by accumulating the number of wheel rotations of the train. The data is updated every moment and stored in the storage means 28.
[0020]
The train information includes, for example, a train number, a route, an operation section, and the like. In this example, the IC card 29 storing the train information is stored in the storage unit 28 when the crew member inserts and inputs the IC card 29 into the reader 31 before starting operation. The The current time obtained from the time measuring means 32 is also stored in the storage means 28.
When detecting the accident, the detecting unit 23 activates the protective radio starting unit 24 to activate the protective radio 25 as in the case of FIG. Further, the train radio activation means 33 is activated to activate the train radio 34 by, for example, a relay contact signal, and the voice switching means 35 is activated to switch the train radio audio signal from the microphone 36 to a digital signal. Thereby, train information such as position data, mileage data, time and train number stored in the storage means 28 is issued as accident information by the train radio 34, and from the inertial reference device 11 when an accident is detected at the same time. The various input data are reported as accident information. The accident information is an audio signal modulated by a frequency shift method.
[0021]
In this way, the accident information is automatically transmitted to the central command station by the train radio 34, so that the central command station side can know the train where the accident occurred, the position, etc. even if the crew member cannot report, and has been transmitted. It is possible to determine the accident state (accident mode) that occurred from the data. This makes it possible to take an accurate and quick measure.
[0022]
In addition, although the GPS 26 and the distance meter 27 are provided in the example shown in FIG. 3, the position can be specified by only one of them. Moreover, you may make it obtain the position of a train by the sign post (narrow area radio transmission equipment) installed on the ground, for example. The train position error may be reset by the station or the sign post in order to prevent the position error from being accumulated by the distance meter 27, that is, when the travel distance is obtained by integrating the wheel rotation speed and used as the position data. .
[0023]
FIG. 4 shows the accident detection device judging the accident mode such as derailment and collision based on the data obtained from the inertial reference device 11 and transmitting the accident mode instead of the data transmission. The detection means 23 in the apparatus is replaced with a detection determination means 37.
The detection determination means 37 detects the occurrence of an accident based on the data input from the inertial reference device 11, and determines the accident mode. Hereinafter, the determination of the accident mode will be described.
[0024]
Assumed accident modes include derailment, frontal collision with a car, side collision with a car, frontal collision with a train, rollover, rollover, climbing, dropping at a high place, and the like. The relationship between the accident mode, the state transition of the train, and the parameters indicating the state transition are expressed as follows, for example.

Accordingly, the detection determination means 37 is set to any of, for example, a longitudinal acceleration, a lateral acceleration, a vertical acceleration, a roll rate, a pitch rate, a yaw rate, a pitch angle, a roll angle, and a vertical displacement input from the inertial reference device 11 in advance. The accident mode can be determined by determining whether the value has been exceeded or what combination of data has simultaneously exceeded the set value.
[0025]
According to the accident detection apparatus shown in FIG. 4, the protection radio is automatically issued when an accident occurs, and the accident mode is automatically notified to the central command center along with the position data and train information by the train radio. Can be grasped.
Or more at each of the embodiments described, the front and rear, right and left, X _H vertical acceleration is in FIG. 1, Y _H, but using D acceleration, X of the vehicle axis, for example, instead of this, Y, using the Z acceleration Is also possible. In this case, the gravitational acceleration component is included in the measured value when the train is on the uphill or downhill, and the accident detection setting is compared to the case where X _H , Y _H , D acceleration is used accordingly. Since the margin between the value and the measured value is reduced, the detection accuracy is inferior.
[0026]
【The invention's effect】
As described above, according to the first aspect of the present invention, since an accident is automatically detected and a protective radio is automatically issued even in a situation where the crew cannot operate, a secondary accident can be prevented.
Further, in the invention of claim 2, since various accident information is automatically notified to the center by train radio in addition to automatic issuance of protective radio, it is possible to take countermeasures accurately and promptly.
[0027]
Furthermore, in the invention of claim 3, since the accident mode is notified of what accident has occurred, it is possible to immediately grasp the accident situation.
According to the present invention, various data (detection parameters) corresponding to all accidents can be measured and obtained using a three-axis gyro and a three-axis accelerometer, that is, train state transitions are performed one by one. Since it is possible to accurately grasp, accurate accident detection can be performed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an inertial reference device which is a basic detection unit in the present invention.
FIG. 2 is a block diagram showing an embodiment of the invention of claim 1;
FIG. 3 is a block diagram showing an embodiment of the invention of claim 2;
4 is a block diagram showing an embodiment of the invention of claim 3. FIG.

Claims (8)

An accident detection device mounted on a train to detect a train accident,
A three-axis accelerometer that measures orthogonal three-axis acceleration;
A three-axis gyro that measures angular velocities about three orthogonal axes;
Using the measurement values of the three-axis accelerometer and the three-axis gyro, calculation means for calculating the horizontal forward acceleration, the horizontal right acceleration, the vertical acceleration, the vertical displacement amount and the posture angle of the train,
Detecting means for detecting the train accident using the calculated value of the calculating means and the measured values of the 3-axis accelerometer and 3-axis gyro;
When the detection means detects an accident, a means for activating a protective radio installed in the train,
An accident detection device comprising: An accident detection device mounted on a train to detect a train accident,
A three-axis accelerometer that measures orthogonal three-axis acceleration;
A three-axis gyro that measures angular velocities about three orthogonal axes;
Using the measurement values of the three-axis accelerometer and the three-axis gyro, calculation means for calculating the horizontal forward acceleration, horizontal right acceleration, vertical acceleration, vertical displacement and posture angle of the train,
Means for obtaining the current position;
Detecting means for detecting an accident of the train using the calculated values of the calculating means and the measured values of the three-axis accelerometer and the three-axis gyro;
When the detection means detects an accident, it activates the protective radio provided to the train, and uses the train radio provided to the train to calculate the calculation value of the calculation means, the three-axis accelerometer, and 3 Means for transmitting the measured value of the axis gyro, the current position together with the train number to the central command station
An accident detection device comprising: An accident detection device mounted on a train to detect a train accident,
A three-axis accelerometer that measures orthogonal three-axis acceleration;
A three-axis gyro that measures angular velocities about three orthogonal axes;
Using the measurement values of the three-axis accelerometer and the three-axis gyro, calculation means for calculating the horizontal forward acceleration, the horizontal right acceleration, the vertical acceleration, the vertical displacement amount and the posture angle of the train,
Means for obtaining the current position;
Detection determination means for detecting an accident of the train and determining the accident mode using the calculation value of the calculation means and the measurement value of the three-axis accelerometer and the three-axis gyro,
When the detection / determination means detects an accident, it activates the protection radio provided to the train, and the accident mode and the current position determined using the train radio provided to the train together with the train number. Means to send to the central command office;
An accident detection device comprising: The accident detection device according to any one of claims 2 to 3,
An accident detection apparatus characterized in that the current position is represented by latitude and longitude, and the latitude and longitude are obtained using GPS. The accident detection device according to any one of claims 2 to 3,
The accident detection device, wherein the current position is represented by a travel distance from a base point, and the travel distance is obtained by integrating the number of wheel rotations of the train. The accident detection device according to any one of claims 1 to 5,
An accident detection apparatus, characterized in that a speed sensor is provided, and the calculation error of the calculation means is suppressed by the speed obtained from the speed sensor. In the accident detection device according to claim 6,
An accident detection apparatus, wherein the speed sensor is configured to obtain a speed from the number of wheel rotations of the train. In the accident detection device according to claim 6,
An accident detection apparatus, wherein the speed sensor is configured using GPS.

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