WO2006025455A1 - 軌道レール保守システムおよび軌道レール保守方法 - Google Patents
軌道レール保守システムおよび軌道レール保守方法 Download PDFInfo
- Publication number
- WO2006025455A1 WO2006025455A1 PCT/JP2005/015927 JP2005015927W WO2006025455A1 WO 2006025455 A1 WO2006025455 A1 WO 2006025455A1 JP 2005015927 W JP2005015927 W JP 2005015927W WO 2006025455 A1 WO2006025455 A1 WO 2006025455A1
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- Prior art keywords
- positioning
- data
- curve
- track
- track rail
- Prior art date
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- 238000012423 maintenance Methods 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 title claims description 21
- 238000012937 correction Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 16
- 238000007689 inspection Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 238000000547 structure data Methods 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/042—Track changes detection
- B61L23/047—Track or rail movements
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01B—PERMANENT WAY; PERMANENT-WAY TOOLS; MACHINES FOR MAKING RAILWAYS OF ALL KINDS
- E01B35/00—Applications of measuring apparatus or devices for track-building purposes
- E01B35/06—Applications of measuring apparatus or devices for track-building purposes for measuring irregularities in longitudinal direction
Definitions
- the present invention relates to track rail maintenance work by a maintenance vehicle traveling on the track rail, and in particular, a track rail maintenance system that performs maintenance work with high accuracy using a GPS (Global Positioning System) or the like. And a track rail maintenance method.
- GPS Global Positioning System
- GPS receives GPS signals transmitted by GPS satellite power pseudo-noise code that orbits the earth, arrival time of GPS signals to the ground, time information included in GPS signals, navigation messages The position information on the earth is accurately measured by decoding such information.
- GPS-based system captures at least four GPS satellites orbiting the visible space and decodes the GPS signal. In other words, the orbiting satellite is captured alone, and the captured GPS signal is decoded and decoded.
- Patent Document 1 describes a GPS positioning device mounted on a moving body. This device uses a GPS receiver mounted on a mobile body that receives signals from multiple GPS satellites, a route information storage device mounted on the mobile body, and information from the GPS receiver and the route information storage device. An information processing device for capturing and an output device connected to the information processing device are provided, and the position of the moving body on the route is determined along with the shape data in the three-dimensional space of the route from the route information storage device. This is a measurement method that can be specified.
- Patent Document 2 discloses an erroneous placement preventing apparatus for placing a track maintenance vehicle that performs maintenance work while moving on the track. This device uses GPS to measure the position of the base station and the tracked vehicle, and compares the position information to be mounted with the position information that has been positioned to determine the erroneous mounting line.
- Patent Document 1 JP 2001-056234 A
- Patent Document 2 Japanese Patent Application Laid-Open No. 09-164952
- the present invention has been made in view of the above-described circumstances, and uses the positioning data of the maintenance vehicle detected by the positioning system to accurately grasp the starting point of the maintenance work, thereby achieving high accuracy.
- the purpose of the present invention is to provide a track rail maintenance system and a track rail maintenance method capable of performing maintenance work.
- the track rail maintenance system includes positioning signal receiving means for receiving positioning signals transmitted from a plurality of positioning satellite cables, a track shape of the track rail, A track rail maintenance system for performing maintenance work on the track rail by a maintenance vehicle comprising a track shape Z structure database storing data relating to structures existing along the track rail.
- the vehicle includes positioning data acquisition means for decoding the positioning signal to acquire positioning data, position data acquisition means for acquiring own position data based on rotation of a predetermined axle attached to the vehicle, Based on the track shape Z structure database, the maintenance work set up Comparison determination means for comparing the positioning data with the position data at a start point and detecting whether or not the difference is within a predetermined range, and as a result of the comparison determination means, the positioning data and the position data If the difference from the position data is within a predetermined range, the position data is corrected.
- the track rail maintenance method includes a step of receiving positioning signals transmitted from a plurality of positioning satellites, a track shape of the track rail, a structure existing along the track rail, and the like.
- a track rail maintenance system comprising: a step of storing data on the track; and a step of performing maintenance work on the track rail, the step of decoding the positioning signal and obtaining the positioning data, The step of acquiring own position data based on rotation of a predetermined axle is compared with the positioning data and the position data at the maintenance work start point set based on the track shape Z structure database. And detecting whether or not the difference is within a predetermined range, and the difference between the positioning data and the position data is a force within the predetermined range. In this case, the position data is corrected.
- FIG. 1 is a block diagram showing an overall configuration of a track rail maintenance system according to a first embodiment of the present invention.
- FIG. 2 is a block diagram showing a configuration of a control device in the track rail maintenance system according to the first embodiment of the present invention.
- FIG. 3 is a flowchart showing the operation of the track rail maintenance system according to the first embodiment of the present invention.
- FIG. 4 is a schematic diagram showing the types of track shapes.
- (A) is a single curve
- (b) is a double-core curve
- (c) is a reversal curve
- (d) is a total relaxation curve.
- FIG. 5 is a schematic diagram showing the types of track shapes.
- FIG. 6 is a schematic diagram showing the types of track shapes.
- FIG. 7 is a schematic diagram showing types of track shapes.
- FIG. 8 is a schematic diagram showing types of track shapes.
- FIG. 9 is a schematic diagram showing types of track shapes.
- FIG. 10 is a schematic diagram showing a lining and leveling method in vehicle setting.
- FIG. 11 is a diagram showing an apparatus to be used depending on the type of structure.
- FIG. 1 is a schematic block diagram showing an overall configuration of a track rail maintenance system according to an embodiment of the present invention.
- this system includes a GPS satellite 1, a maintenance vehicle 2, a GPS receiver 3, a control device 4, an interface 5, a sequencer 6, an encoder distance meter 7, and audio. It consists of a queue 8, an inspection system 9, and a monitor 10. An analog input unit 11 and an analog output unit 12 are set between the control device 4 and the inspection system 9.
- the GPS satellite 1 uses a plurality of GPS satellites, and each transmits a GPS signal including positioning data. In this embodiment, since three-dimensional positioning data is required, at least four GPS satellites are used.
- the maintenance vehicle 2 travels on the track rail and is equipped with various devices for performing maintenance work on the track rail in a specific section.
- the GPS receiver 3 is mounted on the maintenance vehicle 2, receives the GPS signal transmitted from the GPS satellite 1, and sends the received GPS signal to the control unit of the control device 4 via the interface 5.
- the control device 4 has a control unit, analyzes the GPS signal received from the GPS receiver 3 and converts it into positioning data, and converts the data from the encoder distance meter 7 and the data from the measurement system 9 Process or display the results on the monitor 10. In this embodiment, pan Use a personal computer.
- the interface 5 is disposed in the vicinity of the control device 4 and connects the control device 4 to the GPS receiver 3 or other various external devices.
- the USB interface can be used, and RS-232C 2-port conversion can be added (21 X 12.4 X 3.7).
- the sequencer (PLC) 6 uses CQM, inputs data measured by the encoder distance meter using a high-speed counter, and sends the data to the control device 4.
- the encoder distance meter 7 is a device that measures the travel distance by detecting the rotation of the axle, immediately after a predetermined wheel located at the head of the working direction.
- the voice unit 8 is an optional device that is used to issue a warning by voice or to notify predetermined information by voice when the maintenance vehicle 2 approaches the base point or when other changes occur.
- the inspection system 9 checks the trajectory !, confirms whether the trajectory has been corrected abnormally, and how much the actual correction amount has corrected the trajectory, or cannot be corrected. Correcting when it is hard to save This is a system to save the remaining amount and use it for the next work.
- This system is composed of an inspection truck (wheels X, Y, Z) towed to the rear of the maintenance vehicle and a potentiometer for measuring height and a transducer for measuring the direction of the road. A log signal is obtained.
- the amount of displacement at the center between the two set points normally 10m: 10m chord Masaya, Shinkansen is 40m
- these displacements (finished displacement) are the actual vehicle length. It is converted into displacement so that it can be compared.
- the measured data is transferred to the analog input unit 11, input to the control device 4, and output from the control device 4 via the analog output unit 12.
- the monitor 10 is arranged in the vicinity of the control unit 4 to check the correction state (display the current position, correction value, etc.), and is also used as a touch panel type operating device.
- FIG. 2 is a block diagram showing a functional configuration in the control device of the track rail maintenance system according to the embodiment of the present invention.
- control device 4 includes a control unit 41, a storage unit 42, a communication unit 43, and a track shape Z structure database 44.
- the control unit 41 uses a CPU (Central Processing Unit) and transmits the distance data sent from the encoder 7.
- the position data acquisition unit 411 that automatically corrects the data and acquires the position data
- the positioning data acquisition unit 412 that converts the GPS signal sent from the GPS receiver 3 into the positioning data
- a comparison / determination unit 413 that compares and determines the positioning data obtained by the GPS
- a preliminary notification unit 414 that performs preliminary notification when approaching the base point
- a warning generation unit 415 that generates a warning when an abnormality occurs.
- the storage unit 42 stores the obtained information or notifies the control unit 41 of the stored information using RAM, ROM, or another recording medium.
- the storage unit 42 can also be configured to be detachable using an external storage device.
- the communication unit 43 is connected to the interface 5, monitor 10, analog input unit 11, analog output unit 12, etc., and acquires force information such as GPS receiver 3, encoder distance meter 7, inspection system 9, and so on. Notify and display.
- Track shape Z structure database 44 uses RAM, ROM, or other recording media to store information necessary for maintenance work, such as track rail track shape or structure, and stores this information in a predetermined simple manner. It is made into a database so that it can be retrieved with simple operations.
- FIG. 3 is a flowchart showing the track rail maintenance method of the present invention.
- position information such as the track shape or structure of the track rail is input in advance and converted into a database (step S31). This is to perform correction values (analog) and operation assistance according to the work position (work vehicle).
- manually enter the starting position Step S32.
- the maintenance vehicle receives the GPS signal and acquires GPS positioning data (Step S33), and compares the manually entered value with the GPS positioning data (Step S34). Then, it is determined whether or not the force is within a predetermined range (step S35).
- step S36 determines whether or not the force is within a predetermined range. If it is not within the predetermined range, a warning is issued, the manually input value is corrected (step S36), and the operation is started (step S37). If it is within the predetermined range in step S35, the work is started as it is (step S37).
- a preliminary notification will be made by that time (steps). S38).
- the preliminary notification position can be set differently depending on the type of curve or the type of structure.
- the preliminary notification method can notify the approach of the curve by voice or screen display by, for example, sending a signal to the voice unit before the relaxation curve.
- curve alarms and GPS alarms are provided as types of alarms for preliminary notification. Curve alarms are the first alarm that issues a warning Xm before the start of the curve, and Ym before the start of the curve. Set a second alarm to alert you at the location. Also, the GPS alarm is set to issue a warning by setting the latitude'longitude.
- the encoder distance correction is performed at the relaxation curve start point, and then the start point position is manually input (step S39).
- correction values Y and C are obtained according to the distance traveled and output in analog form.
- the correction value Z is calculated according to the distance traveled and output in analog form.
- the trajectory is entered, it is recorded in a memory, etc. so that it can be used again at the same position.
- the device will be connected to the structure at the same time as an alarm notifying that the device is in trouble. Perform device control (operation lock) to prevent contact.
- step S39 the value is manually entered.
- step S40 a GPS signal is received and GPS data is acquired (step S40), the manually input value is compared with the GPS positioning data (step S41), and it is determined whether or not the difference is within a predetermined range (step S41).
- step S42 the value is manually entered.
- step S35 whether or not the difference is within the predetermined range is determined by preliminarily determining a predetermined threshold value, and if the difference is within the threshold value, it is determined that the difference is within the predetermined range. If the threshold is exceeded, it is judged that it is not within the specified range. If it is not within the predetermined range, a warning is issued, the manually input value is corrected (step S43), and the next operation is started. If it is within the specified range, the next work is started. As described above, the operation after the start of work is repeated. In addition, when manual input is made at the reference position or the relaxation start point, GPS positioning data can be recorded each time, and the average value with the previous data can be used as the recorded data.
- the business distance and work distance are displayed, and the current location is displayed.
- a manual correction switch of “+10 cm” and “ ⁇ 10 cm” is provided as distance correction.
- the distance is automatically corrected at the starting point of the relaxation curve.
- automatic correction can be performed using a distance correction signal (photoelectric switch) input every 100 m (there may be no signal).
- a reflector is attached to the side of the rail every 100 m, and this reflector is used to change the reflectivity of the photoelectric sensor or obtain a signal using a laser sensor.
- the mark since the mark (reflector) is confirmed by using the reflection of light by the reflector, it will malfunction if there is a mirror body or something similar in the rain or when there is dust on the orbit. However, in order to avoid this, only a few meters before and after the planned reference position (maximum correctable distance) are received, and if a signal is received elsewhere, the distance correction process is not performed.
- the track shape and structure data can be created and changed by simple operations. If the work position range is entered on the day of work, a file is automatically created and written to a memory card or the like.
- Planar curves are classified into circular curves and relaxation curves, and from these curves, they are classified into single curves, double-core curves, reversal curves, and total relaxation curves.
- Figure 4 is a schematic diagram showing the types of curves.
- Figure 4 (a) is a single curve
- Figure 4 (b) is a double-core curve
- Figure 4 (c) is a reverse curve
- Figure 4 (d) is a complete curve.
- a relaxation curve is shown.
- BTC beginning of Transition Curve
- BCC beginning of Circle Curve
- ECC End of Use Circle Curve
- ETC End of Transition Curve
- a circular curve with radius R exists between the reference point BTC at the start point of the relaxation curve and the reference point ETC at the end point of the relaxation curve
- the circular curve is the reference point BCC at the start point of the circular curve and the reference point at the end point of the circular curve It is drawn with an arc of radius R connecting the point ECC.
- the river page number passing on the track rail is BTC ⁇ BCC ⁇ ECC ⁇ ETC.
- BTC laxation curve start point
- BCC circular curve start point
- BIT intermediate relaxation curve start point
- EIT intermediate relaxation curve
- End point ECC (circle curve end point)
- ETC laxation curve end point
- Base point BTC for relaxation curve start point There are two circular curves with radius R1 and radius R2 between the reference point ETC and the end point of the relaxation curve, and these circular curves are the reference point BCC at the start point of the circular curve and the reference point at the end point of the circular curve It is drawn as an arc connecting ECC, but in that arc, the arc of radius R1 between the reference point BCC of the start point of the circular curve and the reference point BIT of the start point of the intermediate relaxation curve, and the end point of the intermediate relaxation curve An arc of radius R2 is drawn between the reference point EIT and the reference point ECC of the end point of the circular curve.
- the order of passing on the track rail is BTC ⁇ BCC ⁇ BIT ⁇ EIT ⁇ ECC ⁇ ETC.
- the reference points are BTC (relaxation curve start point), BCC (circular curve start point), BRT (reverse relaxation curve start point), ERT (reverse direction) Use relaxation curve end point), EC C (circular curve end point), ETC (relaxation curve end point).
- BTC laxation curve start point
- BCC circular curve start point
- BRT reverse relaxation curve start point
- ERT reverse direction
- EC C circular curve end point
- ETC laxation curve end point
- BTC laxation curve start point
- JTC laxation curve junction point
- ETC laxation curve end point
- JTC is set as the junction of the relaxation curve between the reference point BTC at the start of the relaxation curve and the reference point ETC at the end of the relaxation curve.
- the order of passing on the track rail is BTC ⁇ JTC ⁇ ETC.
- the relaxation curve has a sharp change in the curvature of the curve part (the value of the curve radius R) at the connection point between the curve part and the straight line part. This is a curve in which the curvature inserted in the connection portion changes because the ride comfort is lowered and the running performance is impaired.
- the reference point of the trajectory shape is BTC (relaxation curve start point), BCC (circle curve start point), ECC (circle curve end point), ETC (relaxation curve end point), BIT (intermediate relaxation curve start point), EIT (During End point), BRT (reverse relaxation curve start point), ERT (reverse relaxation curve end point), JTC (relaxation curve junction point), etc.
- FIG. 5 to FIG. 9 are schematic diagrams showing the types of track shapes.
- Fig. 5 shows a single curve (on)
- Fig. 6 shows a single curve (out)
- Fig. 7 shows a double-core curve
- Fig. 8 shows a reverse curve
- Fig. 9 shows a total relaxation curve.
- a single curve (on) clockwise as shown in Fig. 5 (a) proceed in the order of straight line (2), relaxation curve (4), circular curve (9) and counterclockwise of single curve (on)
- Fig. 5 (b) proceed in the order of straight line (2), relaxation curve (4), circular curve (7).
- Fig. 5 shows a single curve (on) clockwise
- Fig. 5 (a) proceed in the order of straight line (2), relaxation curve (4), circular curve (9)
- Fig. 5 (b) proceed in the order of straight line (2), relaxation curve (4), circular curve (7).
- the types of orbit shapes include a single curve (on), a single curve (out), a double-core curve, a reverse curve, and a total relaxation curve.
- the types of orbit shapes include a single curve (on), a single curve (out), a double-core curve, a reverse curve, and a total relaxation curve.
- there are two types of relaxation “Cubic parabolic relaxation curve (linear decrease)” and “Sine half-wavelength relaxation curve (decrease sign)” in the plane curve, “Linear slope” and “ There are three types: “Slope with slope change point” and “Slope with anticurve”. Next, calculate the maximum cant Cl, the correction value Y, etc.
- Kant will be described below.
- the difference in height between the inner and outer gauges along the gauge line is defined as the cant amount.
- the difference in height at the center distance of 1,500 mZm between the inner and outer gauge rails is defined as the cant.
- the peg work is a work method in which the movement amount is input in advance on a separate sheet and the correction amount is output by switching the peg switch.
- external data data surveyed by other vehicles for track inspection and human survey (human survey) are used.
- each movement amount can be input for each lm at 1500m, and Y lining left and right and Z leveling left and right are performed.
- the correction voltage input from the outside is also taken into consideration. Leveling adjusts the height of the track, and lining corrects the curve of the track.
- FIG. 10 is a schematic diagram showing a lining and leveling method in vehicle setting.
- Fig. 10 (a) shows the lining method.
- the method for obtaining the maximum value of lining Y on the arc is shown below.
- the value of r assumes that the end point of the horizontal curve is an arc and the radius of the arc is r.
- Figure 10 (b) shows the leveling method.
- a method for obtaining the maximum value of the leveling Z on the arc will be described.
- the value of r is set in the same way as the horizontal curve, and the r value is set assuming that the slope end point of the vertical curve is circular.
- a and B in the above calculation formula will be described.
- the values of A and B represent the positional deviation of the wheel base of the vehicle.
- the middle vehicle position is not half of the total length, so the virtual vehicle position B is obtained and the actual deviation A is set from the virtual vehicle position.
- FIG. 11 is a diagram showing an apparatus to be used depending on the type of structure.
- Structures are broadly classified into 10 types: ground children, crossing cables, railroad crossings, rail joints, bridges, impossible sections, obstacles, right side obstacles, left side obstacles, and both side obstacles. Stabilizers are included in impossible sections, and troughs are included in obstacles.
- one of the external setting devices 1 to 6 can be selected, and as the devices 1 to 6, clamps (side (Left) 9, Tamping (Side Right), Compactor Right (Front), Compactor Left (Stabilizer), Sweeper (Bra), Not Used (Sino), etc.
- devices 1 to 5 “ON” is added to the column of the device to be used, and “OFF” is added to the column of the device not to be used.
- device 1 is not used, device 2 is used, device 3 is not used, device 5 is used, and device 6 is not used.
- cables use all of devices 1-5.
- the devices to be used are clearly indicated.
- the maintenance vehicle positioning data detected by the positioning system is used to accurately grasp the starting point of the maintenance work, thereby improving the accuracy and maintenance work. If it can be done, the effect is obtained.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
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- Machines For Laying And Maintaining Railways (AREA)
Abstract
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Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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EP05781528.4A EP1785333B1 (en) | 2004-08-31 | 2005-08-31 | Track rail maintenance system and track rail maintenance method |
Applications Claiming Priority (2)
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JP2004-253408 | 2004-08-31 | ||
JP2004253408A JP3810781B2 (ja) | 2004-08-31 | 2004-08-31 | 軌道レール保守システムおよび軌道レール保守方法 |
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WO2006025455A1 true WO2006025455A1 (ja) | 2006-03-09 |
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EP (1) | EP1785333B1 (ja) |
JP (1) | JP3810781B2 (ja) |
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Cited By (1)
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CN111623796A (zh) * | 2019-09-21 | 2020-09-04 | 梁帆 | 一种基于信息融合的钢轨里程估计方法 |
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JP4828169B2 (ja) * | 2005-06-20 | 2011-11-30 | ジェイアール東日本コンサルタンツ株式会社 | 線路中心線測量方法 |
JP2008008660A (ja) * | 2006-06-27 | 2008-01-17 | Pal System Kk | キロポストデータ取得方法及び装置 |
JP2008074179A (ja) * | 2006-09-20 | 2008-04-03 | Toyo Electric Mfg Co Ltd | 簡易形モニタ記録装置 |
KR101025684B1 (ko) * | 2008-10-31 | 2011-03-30 | 강남훈 | 안내 궤도식 고무차륜 경전철의 안내궤도 선형측정 장치 |
JP5728332B2 (ja) * | 2011-08-26 | 2015-06-03 | 東日本旅客鉄道株式会社 | レール破断検知システム及びレール破断検知装置 |
JP6822800B2 (ja) * | 2016-08-19 | 2021-01-27 | 株式会社東芝 | 列車位置検出装置及び方法 |
JP7348801B2 (ja) * | 2019-10-08 | 2023-09-21 | 株式会社プロテリアル | トロリ線 |
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JPH0814926A (ja) | 1994-06-30 | 1996-01-19 | Matsushita Electric Ind Co Ltd | ナビゲーション装置 |
JP2002067960A (ja) | 2000-08-30 | 2002-03-08 | Kawasaki Heavy Ind Ltd | 車両の走行位置測定方法および走行位置測定装置 |
JP2002225708A (ja) | 2001-02-01 | 2002-08-14 | Omron Corp | 位置検出装置および情報処理装置、並びに位置検出システム |
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JPH09164952A (ja) * | 1995-12-14 | 1997-06-24 | Nishi Nippon Denki Syst Kk | 線路保守用車両の誤載線防止装置および線路保守用車両の誤載線防止方法 |
US5867404A (en) * | 1996-04-01 | 1999-02-02 | Cairo Systems, Inc. | Method and apparatus for monitoring railway defects |
-
2004
- 2004-08-31 JP JP2004253408A patent/JP3810781B2/ja active Active
-
2005
- 2005-08-31 WO PCT/JP2005/015927 patent/WO2006025455A1/ja active Application Filing
- 2005-08-31 EP EP05781528.4A patent/EP1785333B1/en not_active Not-in-force
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0814926A (ja) | 1994-06-30 | 1996-01-19 | Matsushita Electric Ind Co Ltd | ナビゲーション装置 |
JP2002067960A (ja) | 2000-08-30 | 2002-03-08 | Kawasaki Heavy Ind Ltd | 車両の走行位置測定方法および走行位置測定装置 |
JP2002225708A (ja) | 2001-02-01 | 2002-08-14 | Omron Corp | 位置検出装置および情報処理装置、並びに位置検出システム |
Non-Patent Citations (1)
Title |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111623796A (zh) * | 2019-09-21 | 2020-09-04 | 梁帆 | 一种基于信息融合的钢轨里程估计方法 |
CN111623796B (zh) * | 2019-09-21 | 2023-11-21 | 东莞先知大数据有限公司 | 一种基于信息融合的钢轨里程估计方法 |
Also Published As
Publication number | Publication date |
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EP1785333B1 (en) | 2016-12-21 |
EP1785333A1 (en) | 2007-05-16 |
EP1785333A4 (en) | 2009-10-21 |
JP3810781B2 (ja) | 2006-08-16 |
JP2006069306A (ja) | 2006-03-16 |
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