JP2010234978A - Speed detecting device and speed detecting method in a speed check-type driving security system for railway vehicles - Google Patents

Abstract

PROBLEM TO BE SOLVED: To check the speed of a railway vehicle in which only one speed generator is used for a speedometer by using speed information and direction information of the railway car corrected by GPS, and the speed generator is used. A speed detection device and a speed detection method thereof are provided.
In a speed detection device in a speed check-type driving security system for a railway vehicle, a speed generator 5 for a speedometer mounted on the railway car, and a compensator 6 connected to the speed generator 5, A GPS antenna 9 installed in the railway vehicle, a GPS receiver 10 to which an output signal from the GPS antenna 9 is input, speed information and direction information of the railway vehicle from the GPS receiver 10, and the compensation An output voltage from the device 6 is input, and a speed detection unit 11 is provided that includes a storage constant of a conversion constant from the input voltage to the speed in the speedometer and a relationship between the input voltage and the speed information.
[Selection] Figure 2

Description

  The present invention relates to a speed detection device and a speed detection method thereof in a speed check-type driving security system for a railway vehicle.

  Conventionally, in the speed detection device in the speed check type driving security system of a railway vehicle, in order to convert the rotation of the wheel into an accurate distance and speed, a speed generator for a safety device is newly added instead of a speed generator for a speedometer. Must be installed on the axle and the wheel diameter must be set accurately. In consideration of the traveling distance and idling safety during wheel idling / sliding, speed generators are installed on two different shafts (see Patent Document 1 below).

  On the other hand, the inventor of the present invention has already described "GPS measurement system for moving body position" (see Patent Document 2 below), "Train travel information detecting device by GPS positioning and its train travel information detecting method" (see Patent Document 3 below). ).

  Further, speed detection by GPS is disclosed in Patent Document 4 below.

JP 2000-302041 A Japanese Patent No. 4204971 Japanese Patent No. 4090852 Japanese Patent Laid-Open No. 9-5417

  As described above, in the speed detection device in the conventional speed check type driving safety system, it is necessary to install speed generators for the safety device on two different shafts and to set the wheel diameters accurately. There were problems with cost and maintenance.

  In view of the above situation, the present invention uses only one speed generator for a speedometer by using speed information and direction information of a railway vehicle obtained by GPS, and uses the speed generator. An object of the present invention is to provide a speed detection device and a speed detection method for a railway vehicle speed check-type driving security system.

In order to achieve the above object, the present invention provides
[1] In a speed detection device in a speed check-type driving security system for a railway vehicle, a speed generator for a speedometer mounted on the railway car, a compensator connected to the speed generator, and the railway car A GPS antenna to be installed, a GPS receiver to which an output signal from the GPS antenna is input, speed information and direction information of the railway vehicle from the GPS receiver, and an output voltage from the compensator are input. And a speed detecting unit comprising a storage constant of a conversion constant from the input voltage to the speed and a relationship between the input voltage and the speed information in the speedometer.

  [2] In the speed detecting device in the rail vehicle speed check-type driving security system according to [1], the GPS receiver is an SBAS receiver with improved accuracy and reliability of information. .

  [3] In a speed detection method in a railway vehicle speed check-type driving security system, a speed generator for a speedometer mounted on the railway car, a compensator connected to the speed generator, and the railway car A GPS antenna to be installed, a GPS receiver to which an output signal from the GPS antenna is input, speed information and direction information of the railway vehicle from the GPS receiver, and an output voltage from the compensator are input. A speed detection unit including a storage constant for a conversion constant from the input voltage to the speed and a relationship between the input voltage and the speed information in the speedometer is arranged to detect the speed of the railway vehicle.

  [4] In the speed detection method in the railway vehicle speed check-type driving security system according to [3], the direction information output simultaneously with the speed information from the GPS receiver while the railway vehicle is traveling is changed. And once the stop of the railway vehicle is recognized, the speed information is corrected to 0 when the fluctuation of the direction information exceeds a certain range with respect to the average value of the direction information immediately before that. Features.

  [5] In the speed detection method in the railway vehicle speed check-type driving security system described in [3] above, the vehicle condition of the notch information or brake information of the railway vehicle is monitored, and the acceleration / deceleration is determined based on the vehicle condition. Speed information exceeding a certain range is corrected within the certain range.

  [6] In the speed detection method in the railway vehicle speed check-type driving security system described in [3] above, the relationship between the output voltage from the speed generator and the speed information from the GPS receiver is (1) drive For the shaft, when the notch and brake are both OFF, for the non-driven shaft, the output voltage exceeding the measurement limit value of the speed generator when the brake is OFF, and (2) the correction described in [5] above. And updating when the speed information from the GPS receiver in which the fluctuation of the azimuth information output at the same time is within a certain range can be acquired at the same time.

  [7] In the speed detection method in the railway vehicle speed check-type driving security system according to [3], the relationship between the rotational speed of the wheel and the output voltage of the speed generator is substantially linear. It is characterized by linearly complementing the blank speed that cannot be dealt with because the described conditions are not satisfied.

  [8] In the speed detection method in the railway vehicle speed check-type driving security system according to [3], the relationship between the speed information obtained from the GPS receiver and the output voltage from the compensator is stored. After the relationship is established, this relationship is used in place of the conversion constant to increase the speed accuracy based on the speed generator.

  [9] In the speed detection method in the railway vehicle speed check-type driving security system according to [3] above, the forward / backward travel direction of the rail car is determined by speed information from a running GPS receiver. And azimuth information are monitored, the average azimuth immediately before the stop is stored, and the azimuth information obtained when starting traveling again is compared with the average azimuth.

  According to the present invention, since the speed generator for the speedometer can be utilized in the introduction of the speed check-type driving security system for the railway vehicle, the installation cost can be increased without newly installing the speed generator for the safety device. Can be reduced. Further, since maintenance other than calibration of the speedometer is not required, maintenance problems can be solved.

  Furthermore, in the driving security system that performs speed check, speed information and distance information based on GPS and speed generator can be used respectively, especially because the information based on GPS is not affected by idling / sliding of wheels, It is possible to improve the safety when the wheel idling / sliding occurs simultaneously on multiple axes.

  Further, in the present invention, the GPS is used only for obtaining speed information and azimuth information, and does not use the measured position coordinates. Therefore, the railway vehicle needs to have route information for converting the latitude and longitude into a position on the route. There is no.

1 is a schematic diagram of a railway vehicle speed check-type driving security system showing an embodiment of the present invention. 1 is a block diagram of a speed detection device in a railway vehicle speed check-type driving security system showing an embodiment of the present invention.

  A speed detection device in a speed check-type driving security system for a railway vehicle according to the present invention includes a speed generator for a speedometer mounted on the railway car, a compensator connected to the speed generator, and the railway car. A GPS antenna to be installed, a GPS receiver to which an output signal from the GPS antenna is input, speed information and direction information of the railway vehicle from the GPS receiver, and an output voltage from the compensator are input. And a speed detection unit comprising a storage constant for the conversion constant from the input voltage to the speed and the relationship between the input voltage and the speed information in the speedometer.

  Hereinafter, embodiments of the present invention will be described in detail.

  FIG. 1 is a schematic diagram of a railroad vehicle speed check-type driving security system showing an embodiment of the present invention, and FIG. 2 is a block diagram of a speed detector in the railroad vehicle speed-checking type driving security system.

  In these drawings, 1 is a railway vehicle, 2 is a cab of the railway vehicle 1, 3 is a wheel near the cab 2, 4 is an axle of the wheel 3, and 5 is a speedometer installed on the axle 4. The speed generator 6 is a compensator for adjusting the output of the speed generator 5 so that the error of the speedometer is minimized, and this compensator 6 is also connected to a speed detector (described later). The Reference numeral 7 denotes a speedometer which is input to the output voltage from the compensator 6 and is installed on the driver's cab for display to the driver. The tolerance is specified within ± 2% of the maximum scale value of the speed by the “Technical Standards Ministry Ordinance”, and the railway operators generally adjust ± 2 km / h and ± 3 km / h as management reference values. . 8 is an on-board controller for a speed check type driving safety system, 9 is a GPS antenna installed on the roof of the railway vehicle 1, and 10 is a GPS receiver (SBAS reception) to which an output signal from the GPS antenna 9 is input , 11 is a speed detection unit to which the speed / azimuth information, which is output information from the GPS receiver (SBAS receiver) 10, is input and the output voltage from the compensator 6 is input. The unit 11 includes a storage unit that stores a conversion constant from the input voltage to the speed in the speedometer 7 and a relationship between the input voltage and speed information from the GPS receiver 10. Further, 12 is a ground element arranged on the ground side of the speed check type driving security system, 13 is a vehicle upper element arranged on the bottom surface of the railway vehicle 1, 14 is a speed check pattern generated by the on-vehicle controller 8, 15 is a traffic light.

  In the speed check-type driving security system, when the railway vehicle 1 reaches the ground element 12 installed at a predetermined position along the rail, the on-board controller 8 causes the ground element 12 to pass through the on-vehicle element 13. The predetermined signal, for example, the traffic light 15 provided in front receives the signal indicating the R indication, and the speed check pattern 14 up to the traffic light 15 is generated. Therefore, even if the driver overlooks the R indication of the traffic light 15, the on-board controller 8 outputs a brake command so that the speed of the railway vehicle 1 is less than or equal to the generated speed check pattern 14. The railway vehicle 1 can be stopped before 15.

  When calculating the distance traveled by a speed generator, the speed of the axle is currently measured using the speed generator, and the travel distance is measured by integrating the value obtained by multiplying the circumference of the wheel from the current position. ing. However, an error occurs when the wheel slides or slips. For this reason, a non-drive shaft with as little power as possible is selected as the axle to be detected so as not to be affected by idling. Further, when the value of the output signal is greatly different from a predetermined value, it is determined that the wheel is idling or sliding, or it is determined that a failure has occurred.

  In the present invention, first, based on the speed / azimuth information from the GPS receiver (SBAS receiver) 10, the speed detector 11 obtains the travel distance for each processing cycle. In addition, the speed detection unit 11 has a conversion constant from the input voltage to the speed in the speedometer 7 and obtains the speed from the output voltage from the compensator 6 for each processing cycle, and at the same time obtains the travel distance from the speed and the processing cycle. . Thereby, two speed information and two distance information are obtained similarly to installing a speed generator in two different axes. However, the speed error is accumulated as a distance error when the travel distance is integrated. Therefore, the relationship between the speed information obtained from the GPS receiver (SBAS receiver) 10 and the output voltage from the compensator 6 is stored, and after this relationship is established, this relationship is used instead of the conversion constant. Increase speed accuracy, based on speed generator. It is to be noted that when the two speed information are compared and the difference becomes large, it is determined that the wheel has slipped or slid, or it is determined that a failure has occurred as in the conventional case.

  Next, GPS speed information will be described.

The principle of speed detection by GPS is described in, for example, Patent Document 4 described above. According to this, first, the speed of the GPS satellite can be obtained from the orbit information of the navigation message. If the oscillator of the receiving device is accurate, the relative velocity between the GPS satellite and the receiving device can be obtained from the Doppler shift frequency of the received radio wave. Accordingly, since the speed of the receiving device in each GPS satellite direction can be obtained, if three or more GPS satellites are received, the three-dimensional speed of the receiving device can be obtained. However, since there is actually an error in the oscillator of the receiving device, it is necessary to receive four or more GPS satellites in order to make this oscillator error an unknown. When four GPS satellites are received, the speed of the receiving device can be obtained by solving the following equation (1).

here,
(Α _i , β _i , γ _i ): each coordinate component of the direction cosine of the line of sight to the GPS satellite i viewed from the assumed position,
(Vx, Vy, Vz): Each coordinate component of the speed of the receiving device Vt: Error of the oscillator of the receiving device V _i : Speed of the receiving device in the direction of GPS satellite i The direction can also be obtained. In GPS positioning, errors due to multipath caused by buildings and the like become a problem, but unlike measuring the delay time of arrival of radio waves for positioning, the Doppler shift frequency is stationary like a building. Since the frequency is the same as that of a direct wave if it is a reflected wave from an object, it is considered that GPS speed information and azimuth information are unlikely to be affected by multipath.

  On the other hand, development of SBAS (Satellite Based Augmentation System), which is a system that provides a signal for correcting GPS errors for aircraft using geostationary satellites, is in progress. In Japan, MSSAT (MTSAT Satellite-based Augmentation System) has been in operation by the Ministry of Land, Infrastructure, Transport and Tourism's Air Station since September 27, 2007, and correction of GPS satellite orbital information necessary for calculation is performed using MSAS. Is called. Therefore, it is considered that the speed information and the direction information obtained from the Doppler shift frequency based on the information corrected by the MSAS are highly reliable. The geostationary satellites used by MSAS are always available, unlike mobile GPS satellites, and are highly reliable because they are redundant including ground facilities.

In the present invention, the following points should be noted.
[1] Since the speed information based on GPS / MSAS may vary depending on the radio wave reception environment, the following method corrects speed information that may include a larger error.
(1) While driving the railway vehicle, the azimuth information obtained simultaneously with the speed information and its fluctuation are monitored, and the average azimuth immediately before the stop is excluded in order to exclude the speed detected due to rolling or the like while the railway vehicle is stopped. Is stored, and after stopping, if an orientation that does not fall within a certain range (for example, ± 20 °) is detected with this average orientation as a reference, the velocity information is corrected to 0 by assuming that the velocity is caused by rolling or the like. To do.
(2) Based on vehicle conditions, speed information whose acceleration / deceleration exceeds a certain range is corrected.

When notch is ON → Within maximum acceleration (power performance) When brake is ON → Within maximum deceleration (brake performance) When notch and brake are both OFF → Change rate of change rate is within a certain range, and speed information exceeding a certain range is constant Correct within the range.
[2] The relationship between the output voltage from the speed generator and the speed information from the GPS / MSAS is updated when the following information can be acquired simultaneously.

(1) Output voltage that exceeds the measurement limit value of the speed generator when both the notch and brake are OFF (2) A range of fluctuations in the azimuth information that is output simultaneously without correction of [1] and (2) above If the speed generator is installed on the non-driven shaft, there is no need to consider the effect of idling, the output voltage from the speed generator and the speed information from the GPS / MSAS The relationship is determined during the speed increase if the above (2) is obtained. Therefore, when performing the speed check, the relationship below the current speed has already been determined, and speed information with improved accuracy based on the output voltage of the speed generator can be used.

  Further, since the relationship between the rotational speed of the wheel and the output voltage of the speed generator is almost linear, the blank speed that cannot be dealt with because the above condition is not satisfied can be linearly complemented. Further, the validity of the speed for newly determining the relationship can be evaluated from the already determined relationship.

Regarding the speedometer error, the technical standard ordinance specifies that the allowable error is within ± 2% of the maximum speed scale value, and railway operators generally adjust ± 2 km / h and ± 3 km / h as management reference values. Therefore, even if the relationship between the output voltage from the speed generator and the speed information from the GPS / MSAS cannot be determined, the error between the two speeds and the distance can be limited to a certain range. Therefore, there is no safety problem if an allowance distance is estimated in advance as a driving security system.
[3] For forward / reverse discrimination, speed information and direction information from the running GPS are monitored, the average direction immediately before stopping is stored, and the direction information obtained when starting again is compared with the average direction. By doing. The direction information is indefinite when stopped, but it is possible to determine forward / reverse if it is within the detection speed range of the speed generator (for example, 2 km / h or more).
[4] If information based on GPS and MSAS is not obtained in the section where the speed check needs to be performed (from the ATS ground unit or the like through the traffic light or speed limit section), it is regarded as a system abnormality.

  In addition, because of the above [4], the present invention provides (1) ATS for distance measurement start or position correction at the beginning of the place where the speed check needs to be performed (brake distance + α before the traffic light and before the speed limit). It must be a speed detection device for a driving security system that installs a ground unit, etc. (2) As a driving security system, the sky must be open in places where speed check is required (from three or more GPS satellites). It is a prerequisite that a signal can be received and that two MTSAT signals can be received).

  Moreover, since the speed generator side is always 0 km / h, the disconnection detection of the speed generator can be determined by comparing two speed information based on the GPS and the speed generator.

  Further, the detection of the compensator failure can be determined in the same manner because an abnormal speed is obtained when the conversion constant from the input voltage to the speed in the speedometer is used.

  In this way, the speed check-type driving security system side has two speed information, two distance information, and traveling direction information (forward / reverse discrimination based on the GPS and speed generator obtained by the speed detector of the present invention, respectively. ) Can be used. In the present invention, since the GPS is used only for obtaining speed information and azimuth information and does not use the position coordinates obtained by positioning, the railway vehicle needs to have route information for converting the latitude / longitude into a position on the route. There is no.

  From the above, the speed check-type driving security system according to the present invention functions sufficiently in the section where the sky is open.

  According to the present invention, when introducing a speed check-type driving security system for a railway vehicle, a speed generator for a speedometer can be utilized without newly installing a speed generator for a safety device. Can be reduced. Also, maintenance is easy because no maintenance beyond calibration of the speedometer is required.

  Furthermore, out of the speed information and distance information based on the speed generator and GPS receiver, the information based on GPS is not affected by the idling / sliding of the wheel, so that the idling / sliding of the wheel occurs on multiple axes. In addition, the safety can be improved as compared with the conventional technique in which the speed generators are installed on two different axes.

  Further, it is possible to notify the driver of an abnormality in the display speed of the speedometer due to a failure of the compensator.

  In a relatively new vehicle, there is a pulse output type speed generator similar to that for a safety device (the wheel diameter is set instead of a compensator), but the present invention is also applicable to such a device. can do.

  Further, the present invention is not limited to the above-described embodiments, and various modifications can be made based on the gist of the present invention, and these are not excluded from the scope of the present invention.

  The speed detection device in the speed check-type driving security system for railway vehicles of the present invention can be used as a speed detection device in a speed check-type driving security system that is low in cost and easy to maintain.

DESCRIPTION OF SYMBOLS 1 Railcar 2 Driver's cab 3 Wheel near the driver's cab 4 Wheel axle 5 Speed generator for speedometer 6 Compensator 7 Speedometer 8 On-board controller 9 GPS antenna 10 GPS receiver (SBAS receiver )
11 Speed detection unit 12 Ground element 13 Vehicle upper element 14 Speed check pattern 15 Traffic light

Claims (9)

(A) a speed generator for a speedometer mounted on a railway vehicle;
(B) a compensator connected to the speed generator;
(C) a GPS antenna installed in the railway vehicle;
(D) a GPS receiver to which an output signal from the GPS antenna is input;
(E) Speed information and direction information of the railway vehicle from the GPS receiver, and an output voltage from the compensator are input, a conversion constant from input voltage to speed in the speedometer, and the input voltage and the speed A speed detection device in a speed check-type driving security system for a railway vehicle, comprising: a speed detection unit including a storage means for relation to information.   The speed detection apparatus for a railway vehicle speed check-type driving security system according to claim 1, wherein the GPS receiver is a SBAS receiver with improved accuracy and reliability of information. Speed detector in the check-type driving security system.   In a speed detection method in a railway vehicle speed check-type driving security system, a speed generator for a speedometer mounted on the railway car, a compensator connected to the speed generator, and the railway car are installed. A GPS antenna, a GPS receiver to which an output signal from the GPS antenna is input, speed information and direction information of the railway vehicle from the GPS receiver, and an output voltage from the compensator are input, and the speed A speed of a railway vehicle, characterized in that a speed detection unit comprising a storage constant of a conversion constant from input voltage to speed and a relationship between the input voltage and the speed information is arranged to detect the speed of the railway vehicle. Speed detection method in a check-type driving security system.   In the speed detection method in the railway vehicle speed check-type driving security system according to claim 3, during the travel of the railway vehicle, the change of the direction information output simultaneously with the speed information from the GPS receiver is monitored, Once the stop of the railway vehicle is recognized, the speed information is corrected to a speed of 0 when the fluctuation of the direction information exceeds a certain range with respect to the average value of the direction information immediately before the stop. A speed detection method in a vehicle speed check-type driving security system.   4. The speed detection method for a railway vehicle speed check-type driving security system according to claim 3, wherein the vehicle condition of the notch information or brake information of the railway vehicle is monitored, and the acceleration / deceleration exceeds a certain range based on the vehicle condition. A speed detection method for a railway vehicle speed check-type driving security system, wherein the speed information is corrected within a certain range.   4. The speed detection method in the speed check-type driving security system for a railway vehicle according to claim 3, wherein a relationship between an output voltage from the speed generator and speed information from the GPS receiver is (1) a drive shaft. Is the output voltage greater than the measurement limit value of the speed generator when the notch and the brake are both OFF, and the non-drive shaft is when the brake is OFF, and (2) without being subjected to the correction according to claim 5 and A speed check-type operation of a railway vehicle, characterized in that it is updated when speed information from the GPS receiver in which fluctuations in direction information output at the same time are within a certain range can be acquired simultaneously. Speed detection method in security system.   In the speed detection method in the railway vehicle speed check-type driving security system according to claim 3, the relationship between the rotational speed of the wheel and the output voltage of the speed generator is substantially linear. A speed detection method in a speed check-type driving security system for a railway vehicle, characterized by linearly complementing a blank speed that was not established and could not be dealt with.   4. A speed detection method in a speed check-type driving security system for a railway vehicle according to claim 3, wherein a relationship between speed information obtained from the GPS receiver and an output voltage from the compensator is stored, and the relationship is determined. After that, the speed detection method in the speed check-type driving security system for a railway vehicle is characterized in that the relation is used instead of the conversion constant to improve the speed accuracy based on the speed generator.   The speed detection method in the speed check-type driving security system for a railway vehicle according to claim 3, wherein the forward / reverse determination, which is the traveling direction of the railway vehicle, is determined by speed information and direction information from a running GPS receiver. , Memorize the average azimuth just before the stop, and compare the azimuth information obtained when starting again with the average azimuth, speed detection in the speed check-type driving security system of railway vehicles Method.

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