WO2014041626A1 - Onboard device, on-ground device, and door-control method - Google Patents

Onboard device, on-ground device, and door-control method Download PDF

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Publication number
WO2014041626A1
WO2014041626A1 PCT/JP2012/073295 JP2012073295W WO2014041626A1 WO 2014041626 A1 WO2014041626 A1 WO 2014041626A1 JP 2012073295 W JP2012073295 W JP 2012073295W WO 2014041626 A1 WO2014041626 A1 WO 2014041626A1
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WO
WIPO (PCT)
Prior art keywords
train
door
unit
determination
speed
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PCT/JP2012/073295
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French (fr)
Japanese (ja)
Inventor
朋範 板垣
修二 南部
横山　保
Original Assignee
株式会社京三製作所
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Application filed by 株式会社京三製作所 filed Critical 株式会社京三製作所
Priority to PCT/JP2012/073295 priority Critical patent/WO2014041626A1/en
Priority to TW101140514A priority patent/TW201410525A/en
Publication of WO2014041626A1 publication Critical patent/WO2014041626A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
    • B61D19/00—Door arrangements specially adapted for rail vehicles
    • B61D19/02—Door arrangements specially adapted for rail vehicles for carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/021—Measuring and recording of train speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
    • B61L25/02—Indicating or recording positions or identities of vehicles or trains
    • B61L25/025—Absolute localisation, e.g. providing geodetic coordinates

Definitions

  • the present invention relates to control when opening a vehicle door and a platform door.
  • a ground element for door opening / closing control such as a powered ground element, a non-powered ground element, a transponder, etc.
  • the communication range of the ground unit is as narrow as several tens of centimeters. Based on this physical restriction, if the ground unit and the on-board device can be electrically coupled (electrical communication established), it is possible to determine that the train is stopped at the stop position. is there.
  • a door open / close control signal is communicated between the ground side and the vehicle upper side via the ground element, and the vehicle door and the platform door Is controlled to open (see, for example, Patent Documents 1 and 2).
  • the conventional door opening / closing control requires a ground element for door opening / closing control. For this reason, since it is necessary to provide a ground element for every stop position, there existed a problem that ground equipment became enormous. In other words, it is necessary to provide each platform at each platform. Furthermore, even in the same platform, the stop position may differ depending on the train organization. It is also necessary to provide In addition, since the ground unit is connected to a dedicated ground facility for door opening / closing control by a communication cable, the communication cable to be installed becomes enormous as the number of ground units increases. In addition, the installation and maintenance of these facilities required a lot of labor and cost.
  • the first invention for solving the above-described problems is An on-train device for a train that stops at a station where a platform door is installed, A position detector for detecting the traveling position of the train; A speed detector for detecting the traveling speed of the train; A brake state determination unit for determining the brake state of the train; (1) The travel position satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) the train is stopped.
  • a determination unit that determines that the traveling speed satisfies the stop determination condition indicating that, and (3) the brake state satisfies the brake operation condition indicating that the brake is applied, and A vehicle door opening control unit that performs control to open the vehicle door when the determination unit makes a positive determination;
  • a transmission control unit that performs control to transmit an opening instruction signal of the platform door to a ground device that performs opening / closing control of the platform door when the determination unit makes a positive determination; It is an on-vehicle apparatus provided with.
  • a door control method performed by an onboard device of a train that stops at a station where a platform door is installed, (1) The travel position of the train satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) the train stops A determination step of determining that the train traveling speed satisfies a stop determination condition indicating that the vehicle is in a train, and (3) a brake operation condition indicating that the brake is applied satisfies a brake operation condition of the train.
  • a vehicle door opening control step for performing control to open the vehicle door when an affirmative determination is made in the determination step;
  • a transmission control step for performing control to transmit an opening instruction signal for the platform door to a ground device for performing opening / closing control of the platform door when an affirmative determination is made in the determination step;
  • You may comprise the door control method containing.
  • the on-board device of the train determines whether all of (1) to (3) are satisfied, and when it is determined that the conditions are satisfied, the vehicle door is opened and the platform door is opened. A door instruction signal is transmitted to the ground device.
  • (1) to (3) are conditions relating to the train position, the traveling speed, and the brake state, respectively, so that the stop to the stop position can be reliably determined.
  • the determination unit determines (2) as the stop determination condition that a speed condition indicating that the speed of the train is a speed equivalent to a stop is satisfied for a specified time.
  • An on-vehicle device may be configured.
  • the speed condition corresponding to the stop is satisfied continuously for a specified time as the stop determination condition of (2).
  • the speed corresponding to the stop is related to the detection accuracy of the speed detector. For example, if the speed detector is a mechanism that detects the speed based on the number of revolutions of the axle per unit time, if the axle is rotating very slowly, it will stop despite the extremely low speed. It can be detected as a considerable speed. The same applies to the case where the speed detector is a rotation detector such as a pulse generator that detects the peaks and valleys of the gears connected to the axle.
  • the determination unit determines the (2) using a determination result of the relay unit.
  • An on-vehicle device may be configured.
  • the stop determination condition is determined using the determination result of the relay unit that determines that the speed condition indicating that the traveling speed is a speed equivalent to the stop is satisfied.
  • an on-vehicle device according to any one of the first to third aspects of the invention, A corrector for correcting the traveling position detected by the position detection unit is installed on the trajectory between the traffic signal and the stop position, A corrector communication unit that communicates with the corrector; Based on the communication result by the corrector communication unit, a travel position correction unit that corrects the travel position detected by the position detection unit; You may comprise the on-vehicle apparatus provided further.
  • the detected travel position is corrected based on the communication result with the corrector installed on the track.
  • the corrector since the corrector is installed between the signal in the hall and the stop position, the traveling position detected in the on-board device is corrected immediately before the train stops at the stop position, so that the accuracy is more accurate. A stop to the stop position is realized.
  • the fifth invention is: A ground device for controlling opening and closing of a platform door of a station, In the train that stops at the station, a position detection unit that detects the travel position of the train, a speed detection unit that detects the travel speed of the train, a brake state determination unit that determines the brake state of the train, and An on-board device having a communication position for notifying the ground device of a travel position, the travel speed, and the brake state; Based on the notification content from the communication unit, (1) the travel position satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) It is determined that the travel speed satisfies a stop determination condition indicating that the train is stopped, and (3) the brake state satisfies a brake operation condition indicating that the brake is applied.
  • a determination unit A platform door opening control unit that performs control to open the platform door when the determination unit makes a positive determination;
  • a transmission control unit that performs control to transmit an opening instruction signal of the vehicle door to the on-board device when an affirmative determination is made by the determination unit; It is a ground device equipped with.
  • a ground control device is a door control method for controlling opening and closing of a platform door of a station, In the train that stops at the station, a position detection unit that detects the travel position of the train, a speed detection unit that detects the travel speed of the train, a brake state determination unit that determines the brake state of the train, and An on-board device having a communication position for notifying the ground device of a travel position, the travel speed, and the brake state; Based on the notification content from the communication unit, (1) the travel position satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) It is determined that the travel speed satisfies a stop determination condition indicating that the train is stopped, and (3) the brake state satisfies a brake operation condition indicating that the brake is applied.
  • a decision step A platform door opening control step for controlling the opening of the platform door when the determination step makes a positive determination;
  • You may comprise the door control method containing.
  • the ground device determines whether or not all of (1) to (3) are satisfied based on the notification content from the on-board device of the train. And an opening instruction signal for the vehicle door is transmitted to the on-board device.
  • This makes it possible to control the opening of the platform door and the vehicle door by reliably determining the stop of the train at a fixed position without the need for a ground element for door opening / closing control, which was necessary in the past. It becomes.
  • (1) to (3) are conditions relating to the train position, the traveling speed, and the brake state, respectively, so that the stop to the stop position can be reliably determined.
  • FIG. 1 is a configuration diagram of a door control system.
  • FIG. 2 is a configuration diagram of the on-board device.
  • FIG. 3 is an explanatory diagram of the door opening conditions.
  • FIG. 4 is a flowchart of door control processing.
  • FIG. 5 is an explanatory diagram of position confirmation using a corrector.
  • FIG. 6 is a flowchart of position confirmation processing using a corrector.
  • FIG. 7 is a configuration diagram of the door control system when the opening condition is determined on the ground side.
  • FIG. 8 is a configuration diagram of an on-board device having a speed detection relay.
  • FIG. 1 is a schematic diagram of a door control system 1 of the present embodiment.
  • the door control system 1 is used in a train control system that automatically operates the train 10, and controls the opening and closing of the vehicle door of the train 10 and the platform door 52 installed on the platform 50 of the station.
  • the door control system 1 includes a ground device 40 installed at each station and an on-vehicle device 20 mounted on the train 10. The ground device 40 and the on-vehicle device 20 can perform wireless communication via a given wireless communication line.
  • the radio communication line is configured by a loop antenna or a leaky coaxial cable (LCX cable) laid along the track, or a radio base station installed so as to include at least the station premises of each station in the radio communication area. Is done.
  • LCX cable leaky coaxial cable
  • a corrector 3 for position correction is installed on the track.
  • the corrector 3 is a groundless element having no power supply type communication device (IC tag) and realizes wireless communication called a passive tag, for example.
  • the power is supplied by an electromagnetic induction method or a radio wave method based on communication with the power receiver 14 of the train 10, and the identification information (corrector ID) of the corrector 3 is transmitted to the power receiver 14.
  • the corrector 3 is not limited to a non-powered ground element, but may be configured by a grounded power ground element, a transponder, a ground marker, a DSRC (Dedicated Short Range Communication), or the like. As long as the on-board device 20 can communicate with the corrector 3 to correct the position, the corrector 3 may use any ground device.
  • the on-board device 20 controls the opening and closing of the vehicle door of the own train 10 and controls the opening and closing of the platform door 52. Specifically, when it is confirmed that the own train 10 has stopped at a predetermined stop position, the vehicle door of the own train 10 is opened, and an opening instruction signal for instructing opening of the platform door 52 is transmitted to the ground device. 40. And if predetermined time passes since the door opening of the vehicle door 30, these vehicle doors 30 will be closed.
  • the ground device 40 controls the opening and closing of the platform door 52 provided in the platform 50 of the installation station. Specifically, when a door opening instruction signal is received from the on-board device 20, the designated platform door 52 is opened. Then, when a predetermined time elapses after the platform door 52 is opened, the platform door 52 is closed.
  • FIG. 2 is a configuration diagram of the on-board device 20. As illustrated in FIG. 2, the on-board device 20 includes a processing unit 100 and a storage unit 200.
  • the processing unit 100 is realized by an arithmetic device such as a CPU, for example, and performs overall control of the on-board device 20 based on programs and data stored in the storage unit 200, data received via the wireless communication device 18, and the like.
  • the processing unit 100 includes a position detection unit 102, a speed detection unit 104, a travel control unit 106, a door control unit 110, a clock unit 108, and a communication control unit 120. Yes.
  • the position detection unit 102 detects (calculates) the current travel position (travel distance) of the own train based on the measured value of the rotational speed of the speed generator 12 attached to the axle. Further, when passing near the corrector 3, the power receiver 14 identifies the corrector 3 from the corrector ID acquired by wireless communication with the corrector 3, and corrects the traveling position by the corresponding absolute position.
  • the power receiver 14 is an example of a corrector communication unit
  • the position detection unit 102 is an example of a travel position correction unit.
  • the travel position calculated by the position detection unit 102 is stored as travel position data 212.
  • the correspondence between each corrector 3 installed in the track and the installation position (absolute position) is defined as corrector data 210.
  • the corrector 3 transmits its own corrector ID.
  • the corrector 3 may transmit the installation position (absolute position).
  • the position detector 102 does not require the corrector data 210 and corrects the traveling position based on the absolute position received from the corrector 3.
  • the speed detection unit 104 detects (calculates) the traveling speed of the own train based on the measured value of the rotational speed of the speed generator 12 attached to the axle.
  • the travel speed detected by the speed detection unit 104 is stored as travel speed data 214.
  • the traveling control unit 106 controls the traveling of the own train based on the traveling position of the own train detected by the position detecting unit 102 and the traveling speed of the own train detected by the speed detecting unit 104. Performs fixed position stop control to stop at the stop position. Specifically, first, a speed check pattern for stopping at the target position (stop position) at which the own train should stop is generated. The stop position is the stop position of the next station. The stop position at each station is determined as station stop position data 206. Next, the verification speed at the current travel position determined by the speed verification pattern is compared with the current travel speed. If the travel speed exceeds the verification speed, a brake instruction signal is output to the brake mechanism 16 and the brake is Act to slow down.
  • the clock unit 108 is an internal clock and functions as a timer that measures the current time and the elapsed time.
  • the door control unit 110 includes a brake state determination unit 112, a door opening condition determination unit 114, a vehicle door opening / closing control unit 116, and a home door opening instruction unit 118, and includes a vehicle door 30 of the own train, and Controls opening and closing of the platform door 52.
  • the brake state determination unit 112 determines a brake state indicating whether the brake is operating based on the brake instruction signal output from the travel control unit 106.
  • the door opening condition determining unit 114 determines whether or not the door opening condition is satisfied.
  • the door opening condition is a condition representing a state where the train stops at a predetermined position on the platform of the station and is ready to open the door. As shown in FIG. 3, (1) the traveling position satisfies the stop position condition, It comprises three conditions (1) to (3): (2) the traveling speed satisfies the stop determination condition, and (3) the brake state satisfies the brake operation condition.
  • the stop position condition is a condition that the train is located at the stop position, and the traveling position is within a specified range including the stop position.
  • the specified range is defined as an allowable range in which both the vehicle door 30 and the platform door 52 may be opened.
  • the stop determination condition is a condition that the train is stopped, and the traveling speed is a speed corresponding to the stop of the train for a predetermined time (for example, about 2 to 3 seconds). It is.
  • the speed corresponding to the stop is related to the detection accuracy of the speed detection unit 104. For example, if the speed detection unit 104 is a mechanism that detects the speed based on the number of rotations of the axle per unit time, if the axle is rotating very slowly, an extremely low speed (for example, less than 5 km / h) Nevertheless, the speed detection unit 104 can detect the speed corresponding to the stop.
  • the speed detection unit 104 is configured by a pulse generator or the like that detects the peaks and valleys of the gears connected to the axle. Therefore, in order to determine that the vehicle has stopped more reliably, the stop detection condition is satisfied when the speed detection unit 104 continuously detects a low speed corresponding to the stop for a predetermined time.
  • the brake operation condition is a condition that the brake is applied, and is that a brake instruction to the brake mechanism 16 is output from the traveling control unit 106.
  • the door opening condition determining unit 114 determines that the door opening condition is satisfied when all of these conditions (1) to (3) are satisfied.
  • the vehicle door opening / closing control unit 116 opens the vehicle door 30 of the own train 10 when the opening condition determining unit 114 determines that the opening condition is satisfied.
  • the vehicle door opening / closing control unit 116 detects that the vehicle door opening / closing control unit 116 has passed after a predetermined waiting time has elapsed since the transmission of the home door opening instruction signal by the platform door opening instruction unit 118. You may control to open the door 30.
  • the waiting time is a time for matching the opening timings of the vehicle door 30 and the platform door 52, and is a communication time between the on-vehicle device 20 and the ground device 40, and a signal indicating that the door can be opened on the ground device 40.
  • the opening direction of the vehicle door 30 at each station is determined by the door opening direction data 208.
  • the vehicle door opening / closing control unit 116 closes these vehicle doors 30 after a predetermined opening time has elapsed from the opening of the vehicle doors 30.
  • the home door opening instruction unit 118 transmits a home door opening instruction signal to the ground device 40.
  • the storage unit 200 is realized by a storage device such as a ROM, a RAM, or a hard disk, and stores a system program for the processing unit 100 to control the on-board device 20 in an integrated manner, a program and data for realizing various functions, and the like. In addition to being stored, it is used as a work area of the processing unit 100, and temporarily stores calculation results executed by the processing unit 100, data received via the wireless communication device 18, and the like.
  • the storage unit 200 includes an on-board control program 202, a train ID 204, station stop position data 206, door opening direction data 208, corrector data 210, travel position data 212, travel speed. Data 214 is stored.
  • FIG. 4 is a flowchart for explaining the flow of the door opening / closing control process in the door control system 1.
  • FIG. 4 shows the operation when the station stops. Further, the left side shows the processing of the on-board device 20, and the right side shows the processing of the ground device 40.
  • the door opening condition determination unit 114 determines whether the door opening condition is satisfied. If the door opening condition determination unit 114 determines that the door opening condition is satisfied (step A1: YES), the platform door opening instruction unit 118 outputs a door opening instruction signal to the ground device 40 (step A3). Next, the vehicle door opening / closing control unit 116 opens the vehicle door 30 (step A5). On the other hand, when receiving the door opening instruction signal from the on-vehicle device 20, the ground device 40 opens the platform door 52 (step B1).
  • step A7 when a predetermined opening time elapses after the vehicle door 30 is opened (step A7), the vehicle door opening / closing control unit 116 closes the vehicle door 30 (step A9).
  • step B3 when a predetermined opening time elapses after the platform door 52 is opened (step B3), the platform door 52 is closed (step B5).
  • step B7 When it is confirmed that all the platform doors 52 are closed, a closing confirmation signal for the platform door 52 is transmitted to the on-board device 20 (step B7).
  • the on-board device 20 confirms that all the vehicle doors 30 of the own train are closed, and receives the closing confirmation signal of the platform door 52 from the ground device 40, whereby the vehicle door 30 and the platform door are received. It is confirmed that all of 52 are closed (step A11). And it transfers to the departure process by the traveling control part 106 (step A13). The door opening / closing control process is performed in this way.
  • the door control system 1 of the present embodiment includes the on-board device 20 mounted on the train 10 and the ground device 40 installed at each station, and the on-vehicle device 20 and the ground device 40 communicate wirelessly. Is possible.
  • the on-board device 20 determines whether the door opening condition indicating that the vehicle has stopped at a predetermined stop position of the station is satisfied based on the traveling position, traveling speed, and brake state of the own train, and if the opening condition is satisfied
  • the vehicle door 30 is opened, and an opening instruction signal for the platform door 52 is transmitted to the ground device 40.
  • the door opening condition is a condition regarding the train position, the traveling speed, and the brake state, so that it is possible to reliably determine the stop to the stop position.
  • a specified range A centered on the absolute position Pa acquired from the corrector 3 and a specified range B adjacent to the front and back of the specified range A are set. Then, the traveling position by the position detection unit 102 is compared with the specified ranges A and B to confirm whether or not the traveling position is accurate.
  • FIG. 6 is a flowchart for explaining the position confirmation process using the corrector 3.
  • the corrector ID is obtained from the corrector 3 and the corrector data 210 is referred to.
  • the corresponding absolute position Pa is acquired (step C3).
  • the specified ranges A and B based on the acquired absolute position Pa are set (step C5).
  • the traveling position detected by the position detection unit 102 at the time when the corrector 3 passes is compared with the set specified ranges A and B.
  • step C7 YES
  • the flag F is set to “0” (step C9)
  • the travel position is determined to be “normal” and the travel is continued (step C17). ).
  • step C7 If the travel position is outside the specified range A (step C7: NO), the travel position is compared with the specified range B. If the travel position is within the specified range B (step C11: YES), the flag F is determined. If the flag F is “0” (step C13: YES), the flag F is set to “1” (step C15), the traveling position is determined to be “normal”, and the traveling is continued (step C17).
  • step C11: NO If the travel position is outside the specified range B (step C11: NO), or if the travel position is within the specified range B but the flag F is “1” (step C13: NO), the travel position is It is determined as “abnormal” and the process proceeds to abnormality processing (step C19).
  • the case where the flag F is “1” means a case where it is continuously determined that the traveling position is outside the specified range A and within the specified range B when passing through the corrector 3.
  • the abnormal process includes, for example, a process of applying an emergency brake to stop the train.
  • FIG. 7 is a configuration diagram of the door control system when the ground device 40A determines the opening condition.
  • the processing unit 100 includes a vehicle upper side door control unit 122 instead of the door control unit 110.
  • the vehicle upper side door control unit 122 includes a brake state determination unit 112 and a vehicle door opening / closing control unit 116.
  • the vehicle door opening / closing control unit 116 receives the vehicle door opening instruction signal from the ground device 40, the vehicle door opening / closing control unit 116 opens the designated vehicle door 30. And when predetermined opening time passes since opening of this vehicle door 30, the vehicle door 30 will be closed.
  • the vehicle upper side door control unit 122 determines the travel position detected by the position detection unit 102, the travel speed detected by the speed detection unit 104, and the brake state determined by the brake state determination unit 112, as needed. Transmit (notify) to the device 40.
  • the ground device 40A has a ground side door control unit 410.
  • the ground side door control unit 410 includes a door opening condition determination unit 114, a platform door opening / closing control unit 412, and a vehicle door opening instruction unit 414.
  • the door opening condition determining unit 114 determines whether or not the door opening condition (see FIG. 3) is satisfied based on the traveling position, the traveling speed, and the brake state received from the on-board device 20.
  • the home door opening / closing control unit 412 opens the platform door 52 when the opening condition determining unit 114 determines that the opening condition is satisfied. In addition, the platform door 52 is closed after a predetermined opening time has elapsed since the platform door 52 was opened.
  • the vehicle door opening instruction unit 414 transmits a vehicle door opening instruction signal for instructing opening of the vehicle door 30 to the on-vehicle device 20A. To do.
  • the on-board device 20 ⁇ / b> A receives the vehicle door opening instruction signal, the vehicle door opening / closing control unit 116 performs control to open the vehicle door 30.
  • the on-vehicle device 20 may include a relay that detects that the traveling speed is a predetermined low speed.
  • FIG. 8 is a configuration diagram of the on-board device 20 having the low-speed detection relay.
  • the processing unit 100 further includes a relay unit 124.
  • the speed detection unit 104 includes a low speed determination unit 105.
  • the low speed determination unit 105 causes the relay unit 124 to drop when the traveling speed detected by the speed detection unit 104 is equal to or lower than the low speed determined by the door opening condition (see FIG. 3). That is, the output of the relay unit 124 indicates whether or not the traveling speed is lower than the low speed.
  • the door opening condition determination unit 114 determines (2) whether the traveling speed satisfies the stop condition among the door opening conditions based on the output of the relay unit 124.
  • a low-speed detection relay may be provided in the on-board device 20A shown in FIG.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

A door-controlling system (1) is provided with an onboard device (20) mounted in a railcar (10), and an on-ground device (40) installed in individual stations. The onboard device (20) and the on-ground device (40) can communicate wirelessly with one another. The onboard device (20) determines, on the basis of the travel position, travel speed, and braking state of a railcar in which the onboard device (20) is mounted, whether door-opening criteria indicating that the railcar has stopped at a particular position in a station have been fulfilled. If the criteria have been fulfilled, a railcar door (30) is opened, and an instruction signal to open a platform door (52) is transmitted to the on-ground device (40).

Description

車上装置、地上装置及びドア制御方法On-vehicle device, ground device, and door control method
　本発明は、車両ドア及びプラットホームドアを開扉する際の制御に関する。 The present invention relates to control when opening a vehicle door and a platform door.
　ＡＧＴ（Automated Guideway Transit）やモノレールなどの新交通システムでは、ＡＴＯ装置によって列車の速度制御や定位置停止、ドア開閉などの運転操作が自動的に制御され、無人運転やワンマン運転が行われている。また、安全確保のため駅ホームにはプラットホームドアが設置されている。プラットホームドアが設置されている場合、車両ドアがプラットホームドアに対向するように列車を規定位置に停止させる必要があるが、これは、ＡＴＯ装置が有する機能の一つである定位置停止制御（ＴＡＳＣ：Train Automatic Stop Control）によって実現される。 In new transportation systems such as AGT (Automated Guideway モ ノ Transit) and monorail, train speed control, fixed position stop, door opening and closing, etc. are automatically controlled by ATO equipment, and unattended operation and one-man operation are performed. . In addition, platform doors are installed in the station platform to ensure safety. When a platform door is installed, it is necessary to stop the train at a specified position so that the vehicle door faces the platform door. This is a fixed position stop control (TASC) that is one of the functions of the ATO device. : Train Automatic Stop Control)
　定位置停止制御を用いたドアの開閉制御では、規定の停止位置等に、有電源地上子や無電源地上子、トランスポンダ等のドア開閉制御用の地上子の設置が必須となっている。地上子の通信範囲は数１０ｃｍ程度と狭い。この物理的な制約に基づいて、地上子と車上装置とが電気的に結合する（電気通信が確立する）ことができれば、列車が停止位置に停止していることを確定することが可能である。そして、列車が停止位置に停止していることを確定できた場合には、地上子を介して地上側と車上側との間でドアの開閉制御信号を通信し合い、車両ドアとプラットホームドアとを開扉制御していた（例えば、特許文献１，２参照）。 In the door opening / closing control using the fixed position stop control, it is indispensable to install a ground element for door opening / closing control such as a powered ground element, a non-powered ground element, a transponder, etc. at a specified stop position. The communication range of the ground unit is as narrow as several tens of centimeters. Based on this physical restriction, if the ground unit and the on-board device can be electrically coupled (electrical communication established), it is possible to determine that the train is stopped at the stop position. is there. Then, when it can be determined that the train is stopped at the stop position, a door open / close control signal is communicated between the ground side and the vehicle upper side via the ground element, and the vehicle door and the platform door Is controlled to open (see, for example, Patent Documents 1 and 2).
特開平８－１８２１２０号公報JP-A-8-182120 特開２００６－２９８１０９号公報JP 2006-298109 A
　上述のように、従来のドア開閉制御では、ドア開閉制御用の地上子が必要であった。このため、地上子を停止位置毎に設ける必要があるため、地上設備が膨大となるという問題があった。つまり、各駅のホーム毎に設ける必要が有るとともに、更には、同一のホームであっても、列車編成によって停止位置が異なる場合があり、これに対処するためには１つのホームに複数の地上子を設ける必要も有る。また、この地上子は、通信ケーブルによってドア開閉制御のための専用の地上設備と接続されるため、地上子の数が増えるほど、敷設する通信ケーブルが膨大になる。加えて、これらの設備の敷設や保守管理にも多くの手間やコストが必要であった。 As described above, the conventional door opening / closing control requires a ground element for door opening / closing control. For this reason, since it is necessary to provide a ground element for every stop position, there existed a problem that ground equipment became enormous. In other words, it is necessary to provide each platform at each platform. Furthermore, even in the same platform, the stop position may differ depending on the train organization. It is also necessary to provide In addition, since the ground unit is connected to a dedicated ground facility for door opening / closing control by a communication cable, the communication cable to be installed becomes enormous as the number of ground units increases. In addition, the installation and maintenance of these facilities required a lot of labor and cost.
　上記課題を解決するための第１の発明は、
　プラットホームドアが設置された駅に停止する列車の車上装置であって、
　前記列車の走行位置を検知する位置検知部と、
　前記列車の走行速度を検出する速度検出部と、
　前記列車のブレーキ状態を判定するブレーキ状態判定部と、
　（１）前記列車の車両ドアが前記プラットホームドアに対向する位置に前記列車が位置していることを示す停止位置条件を前記走行位置が満たし、且つ、（２）前記列車が停止していることを示す停止判定条件を前記走行速度が満たし、且つ、（３）ブレーキがかかっていることを示すブレーキ作動条件を前記ブレーキ状態が満たしたことを判断する判断部と、
　前記判断部により肯定判断された場合に、前記車両ドアを開扉する制御を行う車両ドア開扉制御部と、
　前記判断部により肯定判断された場合に、前記プラットホームドアの開扉指示信号を、前記プラットホームドアの開閉制御を行う地上装置に送信する制御を行う送信制御部と、
　を備えた車上装置である。 The first invention for solving the above-described problems is
An on-train device for a train that stops at a station where a platform door is installed,
A position detector for detecting the traveling position of the train;
A speed detector for detecting the traveling speed of the train;
A brake state determination unit for determining the brake state of the train;
(1) The travel position satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) the train is stopped. A determination unit that determines that the traveling speed satisfies the stop determination condition indicating that, and (3) the brake state satisfies the brake operation condition indicating that the brake is applied, and
A vehicle door opening control unit that performs control to open the vehicle door when the determination unit makes a positive determination;
A transmission control unit that performs control to transmit an opening instruction signal of the platform door to a ground device that performs opening / closing control of the platform door when the determination unit makes a positive determination;
It is an on-vehicle apparatus provided with.
　また、他の発明として、
　プラットホームドアが設置された駅に停止する列車の車上装置が行うドア制御方法であって、
　（１）前記列車の車両ドアが前記プラットホームドアに対向する位置に前記列車が位置していることを示す停止位置条件を前記列車の走行位置が満たし、且つ、（２）前記列車が停止していることを示す停止判定条件を前記列車の走行速度が満たし、且つ、（３）ブレーキがかかっていることを示すブレーキ作動条件を前記列車のブレーキ状態が満たしたことを判断する判断ステップと、
　前記判断ステップにより肯定判断された場合に、前記車両ドアを開扉する制御を行う車両ドア開扉制御ステップと、
　前記判断ステップにより肯定判断された場合に、前記プラットホームドアの開扉指示信号を、前記プラットホームドアの開閉制御を行う地上装置に送信する制御を行う送信制御ステップと、
　を含むドア制御方法を構成しても良い。 As another invention,
A door control method performed by an onboard device of a train that stops at a station where a platform door is installed,
(1) The travel position of the train satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) the train stops A determination step of determining that the train traveling speed satisfies a stop determination condition indicating that the vehicle is in a train, and (3) a brake operation condition indicating that the brake is applied satisfies a brake operation condition of the train.
A vehicle door opening control step for performing control to open the vehicle door when an affirmative determination is made in the determination step;
A transmission control step for performing control to transmit an opening instruction signal for the platform door to a ground device for performing opening / closing control of the platform door when an affirmative determination is made in the determination step;
You may comprise the door control method containing.
　この第１の発明等によれば、列車の車上装置は、（１）～（３）の全てを満たすかを判断し、満たすと判断すると、車両ドアを開扉するとともに、プラットホームドアの開扉指示信号を地上装置に送信する。これにより、従来は必要であったドア開閉制御用の地上子を必要とすることなく、列車の定位置への停止を確実に判断して、車両ドア及びプラットホームドア両方の開扉制御を行うことが可能となる。また、（１）～（３）は、それぞれ、列車位置、走行速度及びブレーキ状態に関する条件であり、これによって、停止位置への停止を確実に判断することができる。 According to the first aspect of the invention, the on-board device of the train determines whether all of (1) to (3) are satisfied, and when it is determined that the conditions are satisfied, the vehicle door is opened and the platform door is opened. A door instruction signal is transmitted to the ground device. As a result, it is possible to reliably determine the stop of the train at a fixed position and to control the opening of both the vehicle door and the platform door without requiring a ground element for door opening / closing control, which was necessary in the past. Is possible. Further, (1) to (3) are conditions relating to the train position, the traveling speed, and the brake state, respectively, so that the stop to the stop position can be reliably determined.
　また、第２の発明として、第１の発明の車上装置であって、
　前記判断部は、前記列車の速度が停止相当の速度であることを示す速度条件を規定時間継続して満たすことを前記停止判定条件として前記（２）を判断する、
　車上装置を構成しても良い。 Moreover, as 2nd invention, it is an on-vehicle apparatus of 1st invention, Comprising:
The determination unit determines (2) as the stop determination condition that a speed condition indicating that the speed of the train is a speed equivalent to a stop is satisfied for a specified time.
An on-vehicle device may be configured.
　この第２の発明によれば、（２）の停止判定条件として、停止相当の速度である速度条件を規定時間継続して満たすことが判断される。停止相当の速度は、速度検出部の検出精度に関わる。例えば、速度検出部が車軸の単位時間当たりの回転数に基づいて速度を検出する機構であるならば、車軸が極めてゆっくり回転している場合には、極めて低い速度であるにも関わらず、停止相当の速度として検出し得る。速度検出部が、車軸に接続された歯車の山谷を検出するパルスジェネレータ等の回転検出器の場合も同様である。 According to the second aspect of the present invention, it is determined that the speed condition corresponding to the stop is satisfied continuously for a specified time as the stop determination condition of (2). The speed corresponding to the stop is related to the detection accuracy of the speed detector. For example, if the speed detector is a mechanism that detects the speed based on the number of revolutions of the axle per unit time, if the axle is rotating very slowly, it will stop despite the extremely low speed. It can be detected as a considerable speed. The same applies to the case where the speed detector is a rotation detector such as a pulse generator that detects the peaks and valleys of the gears connected to the axle.
　また、第３の発明として、第１又は第２の発明の車上装置であって、
　前記列車の速度が停止相当の速度であることを示す速度条件を、前記速度検出部により検出された走行速度が満たすことを判定するリレー部を更に備え、
　前記判断部は、前記リレー部の判定結果を用いて前記（２）を判断する、
　車上装置を構成しても良い。 Moreover, as 3rd invention, it is the on-vehicle apparatus of 1st or 2nd invention,
A relay unit for determining that the traveling speed detected by the speed detecting unit satisfies a speed condition indicating that the speed of the train is equivalent to a stop;
The determination unit determines the (2) using a determination result of the relay unit.
An on-vehicle device may be configured.
　この第３の発明によれば、（２）停止判定条件は、走行速度が停止相当の速度であることを示す速度条件を満たすことを判定するリレー部の判定結果を用いて判断される。 According to the third aspect of the invention, (2) the stop determination condition is determined using the determination result of the relay unit that determines that the speed condition indicating that the traveling speed is a speed equivalent to the stop is satisfied.
　また、第４の発明として、第１～第３の何れかの発明の車上装置であって、
　場内信号機と前記停止位置との間の軌道に、前記位置検知部が検知する走行位置を補正するための補正子が設置されており、
　前記補正子と通信を行う補正子通信部と、
　前記補正子通信部による通信結果に基づいて、前記位置検知部が検知する走行位置を補正する走行位置補正部と、
　を更に備えた車上装置を構成しても良い。 According to a fourth aspect of the invention, there is provided an on-vehicle device according to any one of the first to third aspects of the invention,
A corrector for correcting the traveling position detected by the position detection unit is installed on the trajectory between the traffic signal and the stop position,
A corrector communication unit that communicates with the corrector;
Based on the communication result by the corrector communication unit, a travel position correction unit that corrects the travel position detected by the position detection unit;
You may comprise the on-vehicle apparatus provided further.
　この第４の発明によれば、軌道に設置された補正子との通信結果に基づいて、検知された走行位置が補正される。また、補正子は、場内信号機と停止位置との間に設置されているため、列車が停止位置に停止する直前に、車上装置において検知されている走行位置が補正されるので、より精確な停止位置への停止が実現される。 According to the fourth aspect of the invention, the detected travel position is corrected based on the communication result with the corrector installed on the track. In addition, since the corrector is installed between the signal in the hall and the stop position, the traveling position detected in the on-board device is corrected immediately before the train stops at the stop position, so that the accuracy is more accurate. A stop to the stop position is realized.
　第５の発明は、
　駅のプラットホームドアの開閉制御を行う地上装置であって、
　前記駅に停止する列車には、前記列車の走行位置を検知する位置検知部と、前記列車の走行速度を検出する速度検出部と、前記列車のブレーキ状態を判定するブレーキ状態判定部と、前記走行位置、前記走行速度及び前記ブレーキ状態を前記地上装置に通知する通信部とを有する車上装置が備えられており、
　前記通信部からの通知内容に基づいて、（１）前記列車の車両ドアが前記プラットホームドアに対向する位置に前記列車が位置していることを示す停止位置条件を前記走行位置が満たし、且つ、（２）前記列車が停止していることを示す停止判定条件を前記走行速度が満たし、且つ、（３）ブレーキがかかっていることを示すブレーキ作動条件を前記ブレーキ状態が満たしたことを判断する判断部と、
　前記判断部により肯定判断された場合に、前記プラットホームドアを開扉する制御を行うプラットホームドア開扉制御部と、
　前記判断部により肯定判断された場合に、前記車両ドアの開扉指示信号を、前記車上装置に送信する制御を行う送信制御部と、
　を備えた地上装置である。 The fifth invention is:
A ground device for controlling opening and closing of a platform door of a station,
In the train that stops at the station, a position detection unit that detects the travel position of the train, a speed detection unit that detects the travel speed of the train, a brake state determination unit that determines the brake state of the train, and An on-board device having a communication position for notifying the ground device of a travel position, the travel speed, and the brake state;
Based on the notification content from the communication unit, (1) the travel position satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) It is determined that the travel speed satisfies a stop determination condition indicating that the train is stopped, and (3) the brake state satisfies a brake operation condition indicating that the brake is applied. A determination unit;
A platform door opening control unit that performs control to open the platform door when the determination unit makes a positive determination;
A transmission control unit that performs control to transmit an opening instruction signal of the vehicle door to the on-board device when an affirmative determination is made by the determination unit;
It is a ground device equipped with.
　また、他の発明として、
　地上装置が駅のプラットホームドアの開閉制御を行うドア制御方法であって、
　前記駅に停止する列車には、前記列車の走行位置を検知する位置検知部と、前記列車の走行速度を検出する速度検出部と、前記列車のブレーキ状態を判定するブレーキ状態判定部と、前記走行位置、前記走行速度及び前記ブレーキ状態を前記地上装置に通知する通信部とを有する車上装置が備えられており、
　前記通信部からの通知内容に基づいて、（１）前記列車の車両ドアが前記プラットホームドアに対向する位置に前記列車が位置していることを示す停止位置条件を前記走行位置が満たし、且つ、（２）前記列車が停止していることを示す停止判定条件を前記走行速度が満たし、且つ、（３）ブレーキがかかっていることを示すブレーキ作動条件を前記ブレーキ状態が満たしたことを判断する判断ステップと、
　前記判断ステップにより肯定判断された場合に、前記プラットホームドアを開扉する制御を行うプラットホームドア開扉制御ステップと、
　前記判断ステップにより肯定判断された場合に、前記車両ドアの開扉指示信号を、前記車上装置に送信する制御を行う送信制御ステップと、
　を含むドア制御方法を構成しても良い。 As another invention,
A ground control device is a door control method for controlling opening and closing of a platform door of a station,
In the train that stops at the station, a position detection unit that detects the travel position of the train, a speed detection unit that detects the travel speed of the train, a brake state determination unit that determines the brake state of the train, and An on-board device having a communication position for notifying the ground device of a travel position, the travel speed, and the brake state;
Based on the notification content from the communication unit, (1) the travel position satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) It is determined that the travel speed satisfies a stop determination condition indicating that the train is stopped, and (3) the brake state satisfies a brake operation condition indicating that the brake is applied. A decision step;
A platform door opening control step for controlling the opening of the platform door when the determination step makes a positive determination;
A transmission control step for performing control to transmit an opening instruction signal for the vehicle door to the on-board device when an affirmative determination is made in the determination step;
You may comprise the door control method containing.
　この第５の発明等によれば、地上装置は、列車の車上装置からの通知内容に基づいて、（１）～（３）の全てを満たすかを判断し、満たすと判断すると、プラットホームドアを開扉するとともに、車両ドアの開扉指示信号を車上装置に送信する。これにより、従来は必要であったドア開閉制御用の地上子を必要とすることなく、列車の定位置への停止を確実に判断してプラットホームドア及び車両ドアの開扉制御を行うことが可能となる。また、（１）～（３）は、それぞれ、列車位置、走行速度及びブレーキ状態に関する条件であり、これによって、停止位置への停止を確実に判断することができる。 According to the fifth invention and the like, the ground device determines whether or not all of (1) to (3) are satisfied based on the notification content from the on-board device of the train. And an opening instruction signal for the vehicle door is transmitted to the on-board device. This makes it possible to control the opening of the platform door and the vehicle door by reliably determining the stop of the train at a fixed position without the need for a ground element for door opening / closing control, which was necessary in the past. It becomes. Further, (1) to (3) are conditions relating to the train position, the traveling speed, and the brake state, respectively, so that the stop to the stop position can be reliably determined.
図１は、ドア制御システムの構成図。FIG. 1 is a configuration diagram of a door control system. 図２は、車上装置の構成図。FIG. 2 is a configuration diagram of the on-board device. 図３は、開扉条件の説明図。FIG. 3 is an explanatory diagram of the door opening conditions. 図４は、ドア制御処理のフローチャート。FIG. 4 is a flowchart of door control processing. 図５は、補正子を用いた位置確認の説明図。FIG. 5 is an explanatory diagram of position confirmation using a corrector. 図６は、補正子を用いた位置確認処理のフローチャート。FIG. 6 is a flowchart of position confirmation processing using a corrector. 図７は、地上側で開扉条件を判断する場合のドア制御システムの構成図。FIG. 7 is a configuration diagram of the door control system when the opening condition is determined on the ground side. 図８は、速度検知リレーを有する車上装置の構成図。FIG. 8 is a configuration diagram of an on-board device having a speed detection relay.
　以下、図面を参照して本発明の実施形態を説明する。但し、本発明の適用可能な実施形態がこれに限定されるものではない。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the applicable embodiment of the present invention is not limited to this.
［構成］
　図１は、本実施形態のドア制御システム１の概要図である。このドア制御システム１は、列車１０を自動運転する列車制御システムに用いられ、列車１０の車両ドアと、駅のプラットホーム５０に設置されたプラットホームドア５２との開閉を制御する。ドア制御システム１は、各駅に設置される地上装置４０と、列車１０に搭載される車上装置２０とを備えて構成される。地上装置４０と車上装置２０とは、所与の無線通信回線を介した無線通信が可能となっている。 [Constitution]
FIG. 1 is a schematic diagram of a door control system 1 of the present embodiment. The door control system 1 is used in a train control system that automatically operates the train 10, and controls the opening and closing of the vehicle door of the train 10 and the platform door 52 installed on the platform 50 of the station. The door control system 1 includes a ground device 40 installed at each station and an on-vehicle device 20 mounted on the train 10. The ground device 40 and the on-vehicle device 20 can perform wireless communication via a given wireless communication line.
　ここで、無線通信回線は、軌道に沿って敷設されたループアンテナや漏洩同軸ケーブル（ＬＣＸケーブル）、或いは、少なくとも各駅の駅構内を無線通信エリア内に含むように設置された無線基地局によって構成される。 Here, the radio communication line is configured by a loop antenna or a leaky coaxial cable (LCX cable) laid along the track, or a radio base station installed so as to include at least the station premises of each station in the radio communication area. Is done.
　また、軌道には、位置補正用の補正子３が設置されている。この補正子３は、無電源型通信機（ＩＣタグ）を有する無電源の地上子であり、例えばパッシブタグと呼ばれる無線通信を実現する。列車１０の受電器１４との通信に基づく電磁誘導方式或いは電波方式で電力が供給されて作動し、当該補正子３の識別情報（補正子ＩＤ）を受電器１４へ送信する。なお、補正子３は、無電源地上子に限らず、有電源地上子やトランスポンダ、地上マーカ、ＤＳＲＣ（Dedicated Short Range Communication：狭域通信）などで構成しても良い。車上装置２０が補正子３と通信を行って位置を補正できれば、補正子３は何れの地上装置を用いても良い。 Also, a corrector 3 for position correction is installed on the track. The corrector 3 is a groundless element having no power supply type communication device (IC tag) and realizes wireless communication called a passive tag, for example. The power is supplied by an electromagnetic induction method or a radio wave method based on communication with the power receiver 14 of the train 10, and the identification information (corrector ID) of the corrector 3 is transmitted to the power receiver 14. The corrector 3 is not limited to a non-powered ground element, but may be configured by a grounded power ground element, a transponder, a ground marker, a DSRC (Dedicated Short Range Communication), or the like. As long as the on-board device 20 can communicate with the corrector 3 to correct the position, the corrector 3 may use any ground device.
　車上装置２０は、自列車１０の車両ドアの開閉制御を行うとともに、プラットホームドア５２の開閉を指示する制御を行う。具体的には、自列車１０が所定の停止位置へ停止したことを確認すると、自列車１０の車両ドアを開扉し、また、プラットホームドア５２の開扉を指示する開扉指示信号を地上装置４０に送信する。そして、車両ドア３０の開扉から所定時間が経過すると、これらの車両ドア３０を閉じる。 The on-board device 20 controls the opening and closing of the vehicle door of the own train 10 and controls the opening and closing of the platform door 52. Specifically, when it is confirmed that the own train 10 has stopped at a predetermined stop position, the vehicle door of the own train 10 is opened, and an opening instruction signal for instructing opening of the platform door 52 is transmitted to the ground device. 40. And if predetermined time passes since the door opening of the vehicle door 30, these vehicle doors 30 will be closed.
　地上装置４０は、設置駅のホーム５０に設けられたプラットホームドア５２の開閉を制御する。具体的には、車上装置２０から開扉指示信号を受信すると、指定されたプラットホームドア５２を開く。そして、プラットホームドア５２の開扉から所定時間が経過すると、プラットホームドア５２を閉じる。 The ground device 40 controls the opening and closing of the platform door 52 provided in the platform 50 of the installation station. Specifically, when a door opening instruction signal is received from the on-board device 20, the designated platform door 52 is opened. Then, when a predetermined time elapses after the platform door 52 is opened, the platform door 52 is closed.
　図２は、車上装置２０の構成図である。図２に示すように、車上装置２０は、処理部１００と、記憶部２００とを備えて構成される。 FIG. 2 is a configuration diagram of the on-board device 20. As illustrated in FIG. 2, the on-board device 20 includes a processing unit 100 and a storage unit 200.
　処理部１００は、例えばＣＰＵ等の演算装置で実現され、記憶部２００に記憶されたプログラムやデータ、無線通信装置１８を介した受信データ等に基づいて、車上装置２０の全体制御を行う。また、本実施形態では、処理部１００は、位置検知部１０２と、速度検出部１０４と、走行制御部１０６と、ドア制御部１１０と、時計部１０８と、通信制御部１２０とを有している。 The processing unit 100 is realized by an arithmetic device such as a CPU, for example, and performs overall control of the on-board device 20 based on programs and data stored in the storage unit 200, data received via the wireless communication device 18, and the like. In the present embodiment, the processing unit 100 includes a position detection unit 102, a speed detection unit 104, a travel control unit 106, a door control unit 110, a clock unit 108, and a communication control unit 120. Yes.
　位置検知部１０２は、車軸に取り付けられた速度発電機１２の回転数の計測値をもとに、自列車の現在の走行位置（走行距離）を検知（算出）する。また、補正子３の近傍を通過時に、受電器１４が補正子３との無線通信によって取得した補正子ＩＤから補正子３を識別し、対応する絶対位置によって走行位置を補正する。受電器１４は補正子通信部の一例であり、位置検知部１０２は走行位置補正部の一例である。位置検知部１０２によって算出された走行位置は、走行位置データ２１２として記憶される。また、軌道に設置された各補正子３と設置位置（絶対位置）との対応関係は、補正子データ２１０として定められている。 The position detection unit 102 detects (calculates) the current travel position (travel distance) of the own train based on the measured value of the rotational speed of the speed generator 12 attached to the axle. Further, when passing near the corrector 3, the power receiver 14 identifies the corrector 3 from the corrector ID acquired by wireless communication with the corrector 3, and corrects the traveling position by the corresponding absolute position. The power receiver 14 is an example of a corrector communication unit, and the position detection unit 102 is an example of a travel position correction unit. The travel position calculated by the position detection unit 102 is stored as travel position data 212. The correspondence between each corrector 3 installed in the track and the installation position (absolute position) is defined as corrector data 210.
　なお、本実施形態では、補正子３は自身の補正子ＩＤを送信することにしたが、設置位置（絶対位置）を送信することにしても良い。この場合、位置検知部１０２は、補正子データ２１０を必要とせず、補正子３から受信した絶対位置によって走行位置を補正する。 In the present embodiment, the corrector 3 transmits its own corrector ID. However, the corrector 3 may transmit the installation position (absolute position). In this case, the position detector 102 does not require the corrector data 210 and corrects the traveling position based on the absolute position received from the corrector 3.
　速度検出部１０４は、車軸に取り付けられた速度発電機１２の回転数の計測値をもとに、自列車の走行速度を検出（算出）する。速度検出部１０４によって検出された走行速度は、走行速度データ２１４として記憶される。 The speed detection unit 104 detects (calculates) the traveling speed of the own train based on the measured value of the rotational speed of the speed generator 12 attached to the axle. The travel speed detected by the speed detection unit 104 is stored as travel speed data 214.
　走行制御部１０６は、位置検知部１０２によって検知された自列車の走行位置、及び、速度検出部１０４によって検出された自列車の走行速度をもとに、自列車の走行を制御し、所定の停止位置に停止させる定位置停止制御を行う。具体的には、先ず、自列車が停止すべき目標位置（停止位置）に停止するための速度照査パターンを生成する。停止位置は、次駅の停止位置である。各駅における停止位置は、駅停止位置データ２０６として定められている。次いで、速度照査パターンで定められる現在の走行位置の照査速度と、現在の走行速度とを比較し、走行速度が照査速度を超える場合には、ブレーキ機構１６にブレーキ指示信号を出力し、ブレーキを作用させて減速させる。 The traveling control unit 106 controls the traveling of the own train based on the traveling position of the own train detected by the position detecting unit 102 and the traveling speed of the own train detected by the speed detecting unit 104. Performs fixed position stop control to stop at the stop position. Specifically, first, a speed check pattern for stopping at the target position (stop position) at which the own train should stop is generated. The stop position is the stop position of the next station. The stop position at each station is determined as station stop position data 206. Next, the verification speed at the current travel position determined by the speed verification pattern is compared with the current travel speed. If the travel speed exceeds the verification speed, a brake instruction signal is output to the brake mechanism 16 and the brake is Act to slow down.
　時計部１０８は、内部時計であり、現在時刻や経過時間を計時するタイマとして機能する。 The clock unit 108 is an internal clock and functions as a timer that measures the current time and the elapsed time.
　ドア制御部１１０は、ブレーキ状態判定部１１２と、開扉条件判断部１１４と、車両ドア開閉制御部１１６と、ホームドア開扉指示部１１８とを有し、自列車の車両ドア３０、及び、プラットホームドア５２の開閉を制御する。 The door control unit 110 includes a brake state determination unit 112, a door opening condition determination unit 114, a vehicle door opening / closing control unit 116, and a home door opening instruction unit 118, and includes a vehicle door 30 of the own train, and Controls opening and closing of the platform door 52.
　ブレーキ状態判定部１１２は、走行制御部１０６から出力されるブレーキ指示信号をもとに、ブレーキが作動しているか否かを示すブレーキ状態を判定する。 The brake state determination unit 112 determines a brake state indicating whether the brake is operating based on the brake instruction signal output from the travel control unit 106.
　開扉条件判断部１１４は、開扉条件を満たすか否かを判断する。開扉条件は、列車が駅のホームの所定位置に停止してドアを開く準備が整った状態を表す条件であり、図３に示すように、（１）走行位置が停止位置条件を満たす、（２）走行速度が停止判定条件を満たす、（３）ブレーキ状態がブレーキ作動条件を満たす、の３つの条件（１）～（３）から構成される。 The door opening condition determining unit 114 determines whether or not the door opening condition is satisfied. The door opening condition is a condition representing a state where the train stops at a predetermined position on the platform of the station and is ready to open the door. As shown in FIG. 3, (1) the traveling position satisfies the stop position condition, It comprises three conditions (1) to (3): (2) the traveling speed satisfies the stop determination condition, and (3) the brake state satisfies the brake operation condition.
　詳細には、（１）停止位置条件とは、列車が停止位置に位置していることの条件であり、走行位置が、停止位置を含む規定範囲内であることである。規定範囲は、車両ドア３０及びプラットホームドア５２の両方を開いても良いとする許容範囲として定められる。 Specifically, (1) The stop position condition is a condition that the train is located at the stop position, and the traveling position is within a specified range including the stop position. The specified range is defined as an allowable range in which both the vehicle door 30 and the platform door 52 may be opened.
　また、（２）停止判定条件とは、列車が停止していることの条件であり、走行速度が、列車の停止に相当する速度が所定時間（例えば、２～３秒間程度）継続されたことである。停止相当の速度は、速度検出部１０４の検出精度に関わる。例えば、速度検出部１０４が車軸の単位時間当たりの回転数に基づいて速度を検出する機構であるならば、車軸が極めてゆっくり回転している場合には、極めて低い速度（例えば、時速５ｋｍ未満）であるにも関わらず、速度検出部１０４は停止相当の速度として検出し得る。速度検出部１０４を、車軸に接続された歯車の山谷を検出するパルスジェネレータ等で構成する場合も同様である。そこで、より確実に停止していることを判断するために、速度検出部１０４が停止相当の低い速度を所定時間継続して検出している状態であることを停止判定条件の成立条件とする。 In addition, (2) the stop determination condition is a condition that the train is stopped, and the traveling speed is a speed corresponding to the stop of the train for a predetermined time (for example, about 2 to 3 seconds). It is. The speed corresponding to the stop is related to the detection accuracy of the speed detection unit 104. For example, if the speed detection unit 104 is a mechanism that detects the speed based on the number of rotations of the axle per unit time, if the axle is rotating very slowly, an extremely low speed (for example, less than 5 km / h) Nevertheless, the speed detection unit 104 can detect the speed corresponding to the stop. The same applies to the case where the speed detection unit 104 is configured by a pulse generator or the like that detects the peaks and valleys of the gears connected to the axle. Therefore, in order to determine that the vehicle has stopped more reliably, the stop detection condition is satisfied when the speed detection unit 104 continuously detects a low speed corresponding to the stop for a predetermined time.
　また、（３）ブレーキ作動条件とは、ブレーキがかかっていることの条件であり、走行制御部１０６からブレーキ機構１６に対するブレーキ指示が出力されていることである。 (3) The brake operation condition is a condition that the brake is applied, and is that a brake instruction to the brake mechanism 16 is output from the traveling control unit 106.
　開扉条件判断部１１４は、これらの条件（１）～（３）の全てが満たされると、開扉条件を満たすと判断する。 The door opening condition determining unit 114 determines that the door opening condition is satisfied when all of these conditions (1) to (3) are satisfied.
　車両ドア開閉制御部１１６は、開扉条件判断部１１４によって開扉条件を満たすと判断されると、自列車１０の車両ドア３０を開く。なお、プラットホームドア５２の開扉タイミングと同期を取るために、ホームドア開扉指示部１１８によるホームドア開扉指示信号の送信から所定の待機時間が経過した後に、車両ドア開閉制御部１１６が車両ドア３０を開くように制御してもよい。待機時間は、車両ドア３０とプラットホームドア５２との開扉タイミングを一致させるための時間であり、車上装置２０と地上装置４０との間の通信時間や、地上装置４０における開扉可能信号の受信からプラットホームドア５２の駆動までの所要時間などに基づいて定められる。また、各駅における車両ドア３０の開方向（進行方向の右側か左側か）は、ドア開方向データ２０８にて定められている。また、車両ドア開閉制御部１１６は、車両ドア３０の開扉から所定の開扉時間が経過した後、これらの車両ドア３０を閉じる。 The vehicle door opening / closing control unit 116 opens the vehicle door 30 of the own train 10 when the opening condition determining unit 114 determines that the opening condition is satisfied. In addition, in order to synchronize with the opening timing of the platform door 52, the vehicle door opening / closing control unit 116 detects that the vehicle door opening / closing control unit 116 has passed after a predetermined waiting time has elapsed since the transmission of the home door opening instruction signal by the platform door opening instruction unit 118. You may control to open the door 30. FIG. The waiting time is a time for matching the opening timings of the vehicle door 30 and the platform door 52, and is a communication time between the on-vehicle device 20 and the ground device 40, and a signal indicating that the door can be opened on the ground device 40. It is determined based on the required time from reception to driving of the platform door 52. The opening direction of the vehicle door 30 at each station (whether it is the right side or the left side of the traveling direction) is determined by the door opening direction data 208. In addition, the vehicle door opening / closing control unit 116 closes these vehicle doors 30 after a predetermined opening time has elapsed from the opening of the vehicle doors 30.
　ホームドア開扉指示部１１８は、開扉条件判断部１１４によって開扉条件を満たすと判断されると、地上装置４０にホームドア開扉指示信号を送信する。 When the door opening condition determining unit 114 determines that the door opening condition is satisfied, the home door opening instruction unit 118 transmits a home door opening instruction signal to the ground device 40.
　記憶部２００は、ＲＯＭやＲＡＭ、ハードディスク等の記憶装置で実現され、処理部１００が車上装置２０を統合的に制御するためのシステムプログラムや、各種機能を実現するためのプログラムやデータ等を記憶しているとともに、処理部１００の作業領域として用いられ、処理部１００が実行した演算結果や、無線通信装置１８を介した受信データ等が一時的に記憶される。本実施形態では、記憶部２００には、車上制御プログラム２０２と、列車ＩＤ２０４と、駅停止位置データ２０６と、ドア開方向データ２０８と、補正子データ２１０と、走行位置データ２１２と、走行速度データ２１４とが記憶される。 The storage unit 200 is realized by a storage device such as a ROM, a RAM, or a hard disk, and stores a system program for the processing unit 100 to control the on-board device 20 in an integrated manner, a program and data for realizing various functions, and the like. In addition to being stored, it is used as a work area of the processing unit 100, and temporarily stores calculation results executed by the processing unit 100, data received via the wireless communication device 18, and the like. In the present embodiment, the storage unit 200 includes an on-board control program 202, a train ID 204, station stop position data 206, door opening direction data 208, corrector data 210, travel position data 212, travel speed. Data 214 is stored.
［動作］
　図４は、ドア制御システム１におけるドア開閉制御処理の流れを説明するフローチャートである。図４では、駅の停車時の動作を示している。また、左側は車上装置２０の処理を示し、右側は地上装置４０の処理を示している。 [Operation]
FIG. 4 is a flowchart for explaining the flow of the door opening / closing control process in the door control system 1. FIG. 4 shows the operation when the station stops. Further, the left side shows the processing of the on-board device 20, and the right side shows the processing of the ground device 40.
　先ず、車上装置２０において、開扉条件判断部１１４が開扉条件を満たすかを判断する。開扉条件判断部１１４が開扉条件を満たすと判断したならば（ステップＡ１：ＹＥＳ）、ホームドア開扉指示部１１８が、地上装置４０に開扉指示信号を出力する（ステップＡ３）。次いで、車両ドア開閉制御部１１６が車両ドア３０を開く（ステップＡ５）。一方、地上装置４０では、車上装置２０から開扉指示信号を受信すると、プラットホームドア５２を開く（ステップＢ１）。 First, in the on-board device 20, the door opening condition determination unit 114 determines whether the door opening condition is satisfied. If the door opening condition determination unit 114 determines that the door opening condition is satisfied (step A1: YES), the platform door opening instruction unit 118 outputs a door opening instruction signal to the ground device 40 (step A3). Next, the vehicle door opening / closing control unit 116 opens the vehicle door 30 (step A5). On the other hand, when receiving the door opening instruction signal from the on-vehicle device 20, the ground device 40 opens the platform door 52 (step B1).
　続いて、車上装置２０において、車両ドア３０を開いてから所定の開扉時間が経過すると（ステップＡ７）、車両ドア開閉制御部１１６が車両ドア３０を閉じる（ステップＡ９）。一方、地上装置４０においても、同様に、プラットホームドア５２を開いてから所定の開扉時間が経過すると（ステップＢ３）、プラットホームドア５２を閉じる（ステップＢ５）。そして、全てのプラットホームドア５２が閉じたことを確認すると、プラットホームドア５２の閉扉確認信号を車上装置２０に送信する（ステップＢ７）。 Subsequently, in the on-board device 20, when a predetermined opening time elapses after the vehicle door 30 is opened (step A7), the vehicle door opening / closing control unit 116 closes the vehicle door 30 (step A9). On the other hand, in the ground apparatus 40 as well, when a predetermined opening time elapses after the platform door 52 is opened (step B3), the platform door 52 is closed (step B5). When it is confirmed that all the platform doors 52 are closed, a closing confirmation signal for the platform door 52 is transmitted to the on-board device 20 (step B7).
　その後、車上装置２０においては、自列車の全ての車両ドア３０が閉じたことを確認し、且つ、地上装置４０からプラットホームドア５２の閉扉確認信号を受信することで、車両ドア３０及びプラットホームドア５２の全てが閉じたことを確認する（ステップＡ１１）。そして、走行制御部１０６による出発処理に移行する（ステップＡ１３）。ドア開閉制御処理は、このように行われる。 Thereafter, the on-board device 20 confirms that all the vehicle doors 30 of the own train are closed, and receives the closing confirmation signal of the platform door 52 from the ground device 40, whereby the vehicle door 30 and the platform door are received. It is confirmed that all of 52 are closed (step A11). And it transfers to the departure process by the traveling control part 106 (step A13). The door opening / closing control process is performed in this way.
［作用効果］
　このように、本実施形態のドア制御システム１は、列車１０に搭載される車上装置２０と、各駅に設置される地上装置４０とを備え、車上装置２０と地上装置４０とは無線通信が可能となっている。車上装置２０は、自列車の走行位置、走行速度及びブレーキ状態をもとに、駅の所定の停止位置に停止したことを示す開扉条件を満たしたかを判断し、開扉条件を満たすと、車両ドア３０を開けるとともに、プラットホームドア５２の開扉指示信号を地上装置４０に送信する。 [Function and effect]
Thus, the door control system 1 of the present embodiment includes the on-board device 20 mounted on the train 10 and the ground device 40 installed at each station, and the on-vehicle device 20 and the ground device 40 communicate wirelessly. Is possible. The on-board device 20 determines whether the door opening condition indicating that the vehicle has stopped at a predetermined stop position of the station is satisfied based on the traveling position, traveling speed, and brake state of the own train, and if the opening condition is satisfied The vehicle door 30 is opened, and an opening instruction signal for the platform door 52 is transmitted to the ground device 40.
　これにより、従来は必要であったドア開閉制御用の地上子を必要とすることなく、列車の定位置への停止を判断してドア制御を行うことが可能となる。また、開扉条件は、列車位置、走行速度及びブレーキ状態に関する条件であり、これによって、停止位置への停止の判断を確実に行うことができる。 This makes it possible to control the door by determining the stop of the train at a fixed position without requiring a ground element for door opening / closing control, which was necessary in the past. In addition, the door opening condition is a condition regarding the train position, the traveling speed, and the brake state, so that it is possible to reliably determine the stop to the stop position.
［変形例］
　なお、本発明の適用可能な実施形態は、上述の実施形態に限定されるものではなく、本発明の趣旨を逸脱しない範囲で適宜変更可能なのは勿論である。 [Modification]
Note that embodiments to which the present invention can be applied are not limited to the above-described embodiments, and it is needless to say that the embodiments can be appropriately changed without departing from the spirit of the present invention.
（Ａ）補正子３による位置確認
　列車１０が駅から出発した後、補正子３から取得される絶対位置をもとに、位置検知部１０２による走行位置が正確であることの確認を更に行うことにしても良い。 (A) Position check by the corrector 3 After the train 10 departs from the station, the position detector 102 further confirms that the traveling position is accurate based on the absolute position acquired from the corrector 3. Anyway.
　具体的には、図５に示すように、補正子３から取得した絶対位置Ｐａを中心とする規定範囲Ａと、この規定範囲Ａの前後に隣り合う規定範囲Ｂとを設定する。そして、位置検知部１０２による走行位置を、この規定範囲Ａ，Ｂと比較することで、走行位置が正確であるか否かの確認を行う。 Specifically, as shown in FIG. 5, a specified range A centered on the absolute position Pa acquired from the corrector 3 and a specified range B adjacent to the front and back of the specified range A are set. Then, the traveling position by the position detection unit 102 is compared with the specified ranges A and B to confirm whether or not the traveling position is accurate.
　図６は、補正子３を用いた位置確認処理を説明するフローチャートである。先ず、受電器１４が補正子３との通信を確立することで補正子３の通過を判断すると（ステップＣ１：ＹＥＳ）、当該補正子３から補正子ＩＤを取得し、補正子データ２１０を参照して該当する絶対位置Ｐａを取得する（ステップＣ３）。次いで、取得した絶対位置Ｐａに基づく規定範囲Ａ，Ｂを設定する（ステップＣ５）。そして、補正子３の通過時点において位置検知部１０２が検知した走行位置を、設定した規定範囲Ａ，Ｂと比較する。 FIG. 6 is a flowchart for explaining the position confirmation process using the corrector 3. First, when the power receiver 14 establishes communication with the corrector 3 and determines that the corrector 3 has passed (step C1: YES), the corrector ID is obtained from the corrector 3 and the corrector data 210 is referred to. Thus, the corresponding absolute position Pa is acquired (step C3). Next, the specified ranges A and B based on the acquired absolute position Pa are set (step C5). Then, the traveling position detected by the position detection unit 102 at the time when the corrector 3 passes is compared with the set specified ranges A and B.
　その結果、走行位置が規定範囲Ａ内ならば（ステップＣ７：ＹＥＳ）、フラグＦを「０」に設定し（ステップＣ９）、走行位置が“正常”と判断して走行を継続する（ステップＣ１７）。 As a result, if the travel position is within the specified range A (step C7: YES), the flag F is set to “0” (step C9), the travel position is determined to be “normal” and the travel is continued (step C17). ).
　また、走行位置が規定範囲Ａ外ならば（ステップＣ７：ＮＯ）、続いて、走行位置と規定範囲Ｂとを比較する。そして、走行位置が規定範囲Ｂ内ならば（ステップＣ１１：ＹＥＳ）、フラグＦを判断する。フラグＦが「０」ならば（ステップＣ１３：ＹＥＳ）、フラグＦを「１」に設定し（ステップＣ１５）、走行位置が“正常”と判断して走行を継続する（ステップＣ１７）。 If the travel position is outside the specified range A (step C7: NO), the travel position is compared with the specified range B. If the travel position is within the specified range B (step C11: YES), the flag F is determined. If the flag F is “0” (step C13: YES), the flag F is set to “1” (step C15), the traveling position is determined to be “normal”, and the traveling is continued (step C17).
　また、走行位置が規定範囲Ｂ外の場合（ステップＣ１１：ＮＯ）、或いは、走行位置が規定範囲Ｂ内であるがフラグＦが「１」の場合には（ステップＣ１３：ＮＯ）、走行位置が“異常”と判断して異常処理に移行する（ステップＣ１９）。フラグＦが「１」の場合とは、補正子３を通過する際に走行位置が規定範囲Ａ外で規定範囲Ｂ内であると判断されたことが連続して生じた場合を意味する。異常処理としては、例えば非常ブレーキをかけて列車を停止させる処理が含まれる。 If the travel position is outside the specified range B (step C11: NO), or if the travel position is within the specified range B but the flag F is “1” (step C13: NO), the travel position is It is determined as “abnormal” and the process proceeds to abnormality processing (step C19). The case where the flag F is “1” means a case where it is continuously determined that the traveling position is outside the specified range A and within the specified range B when passing through the corrector 3. The abnormal process includes, for example, a process of applying an emergency brake to stop the train.
（Ｂ）開扉条件の判断
　また、上述の実施形態では車上装置２０が行っていた開扉条件の判断を、地上装置４０で行うことにしても良い。 (B) Judgment of door opening condition Moreover, you may decide to perform the judgment of the door opening condition which the on-board apparatus 20 performed in the above-mentioned embodiment by the ground apparatus 40. FIG.
　図７は、地上装置４０Ａが開扉条件の判断を行う場合のドア制御システムの構成図である。図７に示すように、車上装置２０Ａにおいて、処理部１００は、ドア制御部１１０に替えて車上側ドア制御部１２２を有する。車上側ドア制御部１２２は、ブレーキ状態判定部１１２と、車両ドア開閉制御部１１６とを有する。車両ドア開閉制御部１１６は、地上装置４０から車両ドア開扉指示信号を受信すると、指定された車両ドア３０を開く。そして、この車両ドア３０の開扉から所定の開扉時間が経過すると、車両ドア３０を閉じる。また、車上側ドア制御部１２２は、随時、位置検知部１０２によって検知された走行位置、速度検出部１０４によって検出された走行速度、及び、ブレーキ状態判定部１１２によって判定されたブレーキ状態を、地上装置４０に送信（通知）する。 FIG. 7 is a configuration diagram of the door control system when the ground device 40A determines the opening condition. As illustrated in FIG. 7, in the on-board device 20 </ b> A, the processing unit 100 includes a vehicle upper side door control unit 122 instead of the door control unit 110. The vehicle upper side door control unit 122 includes a brake state determination unit 112 and a vehicle door opening / closing control unit 116. When the vehicle door opening / closing control unit 116 receives the vehicle door opening instruction signal from the ground device 40, the vehicle door opening / closing control unit 116 opens the designated vehicle door 30. And when predetermined opening time passes since opening of this vehicle door 30, the vehicle door 30 will be closed. Further, the vehicle upper side door control unit 122 determines the travel position detected by the position detection unit 102, the travel speed detected by the speed detection unit 104, and the brake state determined by the brake state determination unit 112, as needed. Transmit (notify) to the device 40.
　また、地上装置４０Ａは、地上側ドア制御部４１０を有する。地上側ドア制御部４１０は、開扉条件判断部１１４と、ホームドア開閉制御部４１２と、車両ドア開扉指示部４１４とを有する。開扉条件判断部１１４は、車上装置２０から受信した走行位置、走行速度及びブレーキ状態をもとに、開扉条件（図３参照）を満たすか否かを判断する。 The ground device 40A has a ground side door control unit 410. The ground side door control unit 410 includes a door opening condition determination unit 114, a platform door opening / closing control unit 412, and a vehicle door opening instruction unit 414. The door opening condition determining unit 114 determines whether or not the door opening condition (see FIG. 3) is satisfied based on the traveling position, the traveling speed, and the brake state received from the on-board device 20.
　ホームドア開閉制御部４１２は、開扉条件判断部１１４によって開扉条件を満たすと判断されると、プラットホームドア５２を開く。また、そして、このプラットホームドア５２の開扉から所定の開扉時間が経過した後、プラットホームドア５２を閉じる。 The home door opening / closing control unit 412 opens the platform door 52 when the opening condition determining unit 114 determines that the opening condition is satisfied. In addition, the platform door 52 is closed after a predetermined opening time has elapsed since the platform door 52 was opened.
　車両ドア開扉指示部４１４は、開扉条件判断部１１４によって開扉条件を満たすと判断されると、車両ドア３０の開扉を指示する車両ドア開扉指示信号を、車上装置２０Ａに送信する。車上装置２０Ａは、車両ドア開扉指示信号を受信すると、車両ドア開閉制御部１１６が車両ドア３０を開扉させる制御を行う。 When the door opening condition determining unit 114 determines that the door opening condition is satisfied, the vehicle door opening instruction unit 414 transmits a vehicle door opening instruction signal for instructing opening of the vehicle door 30 to the on-vehicle device 20A. To do. When the on-board device 20 </ b> A receives the vehicle door opening instruction signal, the vehicle door opening / closing control unit 116 performs control to open the vehicle door 30.
（Ｃ）速度検知リレー
　車上装置２０において、走行速度が所定の低速度であることを検知するリレーを有するように構成しても良い。 (C) Speed detection relay The on-vehicle device 20 may include a relay that detects that the traveling speed is a predetermined low speed.
　図８は、低速度検知リレーを有する車上装置２０の構成図である。図８に示すように、車上装置２０において、処理部１００は、更にリレー部１２４を有する。また、速度検出部１０４は、低速度判定部１０５を有する。低速度判定部１０５は、速度検出部１０４によって検出された走行速度が開扉条件（図３参照）で定められる低速度以下である場合に、リレー部１２４を落下させる。つまり、リレー部１２４の出力は、走行速度が低速度以下であるか否かを示す。そして、開扉条件判断部１１４は、リレー部１２４の出力によって、開扉条件のうち、（２）走行速度が停止条件を満たすかを判断する。 FIG. 8 is a configuration diagram of the on-board device 20 having the low-speed detection relay. As shown in FIG. 8, in the on-board device 20, the processing unit 100 further includes a relay unit 124. In addition, the speed detection unit 104 includes a low speed determination unit 105. The low speed determination unit 105 causes the relay unit 124 to drop when the traveling speed detected by the speed detection unit 104 is equal to or lower than the low speed determined by the door opening condition (see FIG. 3). That is, the output of the relay unit 124 indicates whether or not the traveling speed is lower than the low speed. Then, the door opening condition determination unit 114 determines (2) whether the traveling speed satisfies the stop condition among the door opening conditions based on the output of the relay unit 124.
　同様に、図７に示す車上装置２０Ａに低速度検知リレーを設けることとしてもよいのは勿論である。 Similarly, it is needless to say that a low-speed detection relay may be provided in the on-board device 20A shown in FIG.
１　ドア制御システム
　２０　車上装置
　　１００　処理部
　　　１０２　位置検知部、１０４　速度検出部、１０６　走行制御部、１０８　時計部
　　　１１０　ドア制御部
　　　　　１１２　ブレーキ状態判定部、１１４　開扉条件判断部
　　　　　１１６　車両ドア開閉制御部、１１８　ホームドア開扉指示部
　　　１２０　通信制御部
　　２００　記憶部
　　　２０２　車上制御プログラム、２０４　列車ＩＤ
　　　２０６　駅停止位置データ、２０８　ドア開方向データ、２１０　補正子データ
　　　２１２　走行位置データ、２１４　走行速度データ
　４０　地上装置
１０　列車
　１２　速度発電機、１４　受電器、１６　ブレーキ機構、１８　無線通信装置
５０　プラットホーム、５２　プラットホームドア
３　補正子 DESCRIPTION OF SYMBOLS 1 Door control system 20 On-board apparatus 100 Processing part 102 Position detection part, 104 Speed detection part, 106 Travel control part, 108 Clock part 110 Door control part 112 Brake state determination part, 114 Opening condition determination part 116 Vehicle door opening / closing control 118, home door opening instruction unit 120 communication control unit 200 storage unit 202 on-board control program, 204 train ID
206 Station stop position data, 208 Door opening direction data, 210 Corrector data 212 Travel position data, 214 Travel speed data 40 Ground device 10 Train 12 Speed generator, 14 Power receiver, 16 Brake mechanism, 18 Wireless communication device 50 Platform, 52 Platform Door 3 Corrector

Claims (7)

  1. 　プラットホームドアが設置された駅に停止する列車の車上装置であって、
    　前記列車の走行位置を検知する位置検知部と、
    　前記列車の走行速度を検出する速度検出部と、
    　前記列車のブレーキ状態を判定するブレーキ状態判定部と、
    　（１）前記列車の車両ドアが前記プラットホームドアに対向する位置に前記列車が位置していることを示す停止位置条件を前記走行位置が満たし、且つ、（２）前記列車が停止していることを示す停止判定条件を前記走行速度が満たし、且つ、（３）ブレーキがかかっていることを示すブレーキ作動条件を前記ブレーキ状態が満たしたことを判断する判断部と、
    　前記判断部により肯定判断された場合に、前記車両ドアを開扉する制御を行う車両ドア開扉制御部と、
    　前記判断部により肯定判断された場合に、前記プラットホームドアの開扉指示信号を、前記プラットホームドアの開閉制御を行う地上装置に送信する制御を行う送信制御部と、
    　を備えた車上装置。     An on-train device for a train that stops at a station where a platform door is installed,
    A position detector for detecting the traveling position of the train;
    A speed detector for detecting the traveling speed of the train;
    A brake state determination unit for determining the brake state of the train;
    (1) The travel position satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) the train is stopped. A determination unit that determines that the traveling speed satisfies the stop determination condition indicating that, and (3) the brake state satisfies the brake operation condition indicating that the brake is applied, and
    A vehicle door opening control unit that performs control to open the vehicle door when the determination unit makes a positive determination;
    A transmission control unit that performs control to transmit an opening instruction signal of the platform door to a ground device that performs opening / closing control of the platform door when the determination unit makes a positive determination;
    On-vehicle device with
  2. 　前記判断部は、前記列車の速度が停止相当の速度であることを示す速度条件を規定時間継続して満たすことを前記停止判定条件として前記（２）を判断する、
    　請求項１に記載の車上装置。     The determination unit determines (2) as the stop determination condition that a speed condition indicating that the speed of the train is a speed equivalent to a stop is satisfied for a specified time.
    The on-vehicle device according to claim 1.
  3. 　前記列車の速度が停止相当の速度であることを示す速度条件を、前記速度検出部により検出された走行速度が満たすことを判定するリレー部を更に備え、
    　前記判断部は、前記リレー部の判定結果を用いて前記（２）を判断する、
    　請求項１又は２に記載の車上装置。     A relay unit for determining that the traveling speed detected by the speed detecting unit satisfies a speed condition indicating that the speed of the train is equivalent to a stop;
    The determination unit determines the (2) using a determination result of the relay unit.
    The on-vehicle device according to claim 1 or 2.
  4. 　場内信号機と前記停止位置との間の軌道に、前記位置検知部が検知する走行位置を補正するための補正子が設置されており、
    　前記補正子と通信を行う補正子通信部と、
    　前記補正子通信部による通信結果に基づいて、前記位置検知部が検知する走行位置を補正する走行位置補正部と、
    　を更に備えた請求項１～３の何れか一項に記載の車上装置。     A corrector for correcting the traveling position detected by the position detection unit is installed on the trajectory between the traffic signal and the stop position,
    A corrector communication unit that communicates with the corrector;
    Based on the communication result by the corrector communication unit, a travel position correction unit that corrects the travel position detected by the position detection unit;
    The on-vehicle device according to any one of claims 1 to 3, further comprising:
  5. 　駅のプラットホームドアの開閉制御を行う地上装置であって、
    　前記駅に停止する列車には、前記列車の走行位置を検知する位置検知部と、前記列車の走行速度を検出する速度検出部と、前記列車のブレーキ状態を判定するブレーキ状態判定部と、前記走行位置、前記走行速度及び前記ブレーキ状態を前記地上装置に通知する通信部とを有する車上装置が備えられており、
    　前記通信部からの通知内容に基づいて、（１）前記列車の車両ドアが前記プラットホームドアに対向する位置に前記列車が位置していることを示す停止位置条件を前記走行位置が満たし、且つ、（２）前記列車が停止していることを示す停止判定条件を前記走行速度が満たし、且つ、（３）ブレーキがかかっていることを示すブレーキ作動条件を前記ブレーキ状態が満たしたことを判断する判断部と、
    　前記判断部により肯定判断された場合に、前記プラットホームドアを開扉する制御を行うプラットホームドア開扉制御部と、
    　前記判断部により肯定判断された場合に、前記車両ドアの開扉指示信号を、前記車上装置に送信する制御を行う送信制御部と、
    　を備えた地上装置。     A ground device for controlling opening and closing of a platform door of a station,
    In the train that stops at the station, a position detection unit that detects the travel position of the train, a speed detection unit that detects the travel speed of the train, a brake state determination unit that determines the brake state of the train, and An on-board device having a communication position for notifying the ground device of a travel position, the travel speed, and the brake state;
    Based on the notification content from the communication unit, (1) the travel position satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) It is determined that the travel speed satisfies a stop determination condition indicating that the train is stopped, and (3) the brake state satisfies a brake operation condition indicating that the brake is applied. A determination unit;
    A platform door opening control unit that performs control to open the platform door when the determination unit makes a positive determination;
    A transmission control unit that performs control to transmit an opening instruction signal of the vehicle door to the on-board device when an affirmative determination is made by the determination unit;
    Ground equipment with
  6. 　プラットホームドアが設置された駅に停止する列車の車上装置が行うドア制御方法であって、
    　（１）前記列車の車両ドアが前記プラットホームドアに対向する位置に前記列車が位置していることを示す停止位置条件を前記列車の走行位置が満たし、且つ、（２）前記列車が停止していることを示す停止判定条件を前記列車の走行速度が満たし、且つ、（３）ブレーキがかかっていることを示すブレーキ作動条件を前記列車のブレーキ状態が満たしたことを判断する判断ステップと、
    　前記判断ステップにより肯定判断された場合に、前記車両ドアを開扉する制御を行う車両ドア開扉制御ステップと、
    　前記判断ステップにより肯定判断された場合に、前記プラットホームドアの開扉指示信号を、前記プラットホームドアの開閉制御を行う地上装置に送信する制御を行う送信制御ステップと、
    　を含むドア制御方法。     A door control method performed by an onboard device of a train that stops at a station where a platform door is installed,
    (1) The travel position of the train satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) the train stops A determination step of determining that the train traveling speed satisfies a stop determination condition indicating that the vehicle is in a train, and (3) a brake operation condition indicating that the brake is applied satisfies a brake operation condition of the train.
    A vehicle door opening control step for performing control to open the vehicle door when an affirmative determination is made in the determination step;
    A transmission control step for performing control to transmit an opening instruction signal for the platform door to a ground device for performing opening / closing control of the platform door when an affirmative determination is made in the determination step;
    Including door control method.
  7. 　地上装置が駅のプラットホームドアの開閉制御を行うドア制御方法であって、
    　前記駅に停止する列車には、前記列車の走行位置を検知する位置検知部と、前記列車の走行速度を検出する速度検出部と、前記列車のブレーキ状態を判定するブレーキ状態判定部と、前記走行位置、前記走行速度及び前記ブレーキ状態を前記地上装置に通知する通信部とを有する車上装置が備えられており、
    　前記通信部からの通知内容に基づいて、（１）前記列車の車両ドアが前記プラットホームドアに対向する位置に前記列車が位置していることを示す停止位置条件を前記走行位置が満たし、且つ、（２）前記列車が停止していることを示す停止判定条件を前記走行速度が満たし、且つ、（３）ブレーキがかかっていることを示すブレーキ作動条件を前記ブレーキ状態が満たしたことを判断する判断ステップと、
    　前記判断ステップにより肯定判断された場合に、前記プラットホームドアを開扉する制御を行うプラットホームドア開扉制御ステップと、
    　前記判断ステップにより肯定判断された場合に、前記車両ドアの開扉指示信号を、前記車上装置に送信する制御を行う送信制御ステップと、
    　を含むドア制御方法。     It is a door control method in which a ground device performs opening / closing control of a platform door of a station,
    In the train that stops at the station, a position detection unit that detects the travel position of the train, a speed detection unit that detects the travel speed of the train, a brake state determination unit that determines the brake state of the train, and An on-board device having a communication position for notifying the ground device of a travel position, the travel speed, and the brake state;
    Based on the notification content from the communication unit, (1) the travel position satisfies a stop position condition indicating that the train is located at a position where the vehicle door of the train faces the platform door, and (2) It is determined that the travel speed satisfies a stop determination condition indicating that the train is stopped, and (3) the brake state satisfies a brake operation condition indicating that the brake is applied. A decision step;
    A platform door opening control step for controlling the opening of the platform door when the determination step makes a positive determination;
    A transmission control step for performing control to transmit an opening instruction signal for the vehicle door to the on-board device when an affirmative determination is made in the determination step;
    Including door control method.
PCT/JP2012/073295 2012-09-12 2012-09-12 Onboard device, on-ground device, and door-control method WO2014041626A1 (en)

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JP6001128B1 (en) * 2015-04-13 2016-10-05 株式会社京三製作所 Train arrival and departure control system, on-board equipment and ground equipment
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