JP2017088024A - Train control system, control information generation device, control method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a train control system capable of suppressing vibrations more to each car of one organized train.SOLUTION: The train control system is a train control system including a control information generation device and an on-board device. The control information generation device includes a sensing information acquisition part for acquiring sensing information detected by a sensor of a train and storing the sensing information in a database, and a control information generation part for generating control information for controlling the train on the basis of the sensing information. The on-board device includes an actuator control part for controlling a control mechanism of each car by using the control information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a train control system, a control information generation device, a control method, and a program.

For vehicles that transport passengers such as railway vehicles, it is necessary to improve the ride comfort.
In Patent Document 1, as a related technique, the vibration of the leading vehicle of the train train or the preceding vehicle with respect to the control target vehicle is analyzed, and the vibration of the control target vehicle is controlled using the analysis result. A technique for suppressing vehicle vibration is described.

JP-A-5-213195

  By the way, the technique which can suppress a vibration more is calculated | required with respect to each vehicle which comprises a train.

  Accordingly, an object of the present invention is to provide a train control system, a control information generation device, a control method, and a program that can solve the above-described problems.

  According to the first aspect of the present invention, the train control system is a train control system having a control information generation device and an on-board device, and the control information generation device uses the sensing information detected by the train sensor. A sensing information acquisition unit that acquires and accumulates in a database; and a control information generation unit that generates control information for controlling the train based on the sensing information, and the on-board device trains using the control information. An actuator control unit for controlling the control mechanism of each vehicle.

  According to the second aspect of the present invention, in the train control system according to the first aspect, the control information generating device is configured to detect past sensing information stored in the database and a running train. A sensing information determination unit that determines whether or not an abnormality has occurred in at least one of the running train and the running track of the running train based on the acquired sensing information Good.

  According to a third aspect of the present invention, in the train control system according to the second aspect, the sensing information determination unit is based on the same sensing information stored in the database and having different detection times. You may determine whether abnormality has generate | occur | produced in the vehicle which a vehicle shows.

  According to a fourth aspect of the present invention, in the train control system according to the second aspect or the third aspect, the sensing information determination unit is based on sensing information including the same traveling position stored in the database. Then, it may be determined whether or not an abnormality has occurred in the track corresponding to the travel position.

  According to the fifth aspect of the present invention, the control information generation device acquires the sensing information detected by the train sensor and accumulates it in the database, and the control for controlling the train based on the sensing information. Based on the control information generation unit that generates information, the sensing information that has been determined to be normal in the past, and the sensing information that is acquired from the running train, and the running train and the running A sensing information determination unit that determines whether or not an abnormality has occurred in at least one of the tracks on which the train is traveling.

  According to the sixth aspect of the present invention, the control method acquires sensing information detected by a train sensor, accumulates the sensing information in a database, generates control information for controlling the train based on the sensing information, and controls the control. Controlling the control mechanism of each vehicle in the train using the information.

  According to the seventh aspect of the present invention, the program acquires sensing information detected by a train sensor in a computer, accumulates it in a database, and generates control information for controlling the train based on the sensing information. To do that.

  According to the train control system according to the embodiment of the present invention, it is possible to further suppress the vibration for each vehicle of the single train.

It is a figure which shows the structure of the train control system by 1st embodiment of this invention. It is a figure which shows the structure of the control information generation apparatus by this embodiment. It is a figure which shows the structure of the on-board apparatus by this embodiment. It is a figure which shows the processing flow of the train control system by this embodiment. It is a figure which shows the structure of the train control system by 2nd embodiment of this invention. It is a figure which shows the processing flow of the train control system by this embodiment. It is a figure which shows the structure of the train control system by 3rd embodiment of this invention. It is a figure which shows the structure of the train control system by 4th embodiment of this invention. It is a figure which shows the processing flow of the train control system by this embodiment. It is a figure for demonstrating the production | generation of the control information in this embodiment. It is a figure for demonstrating determination of the abnormality of the vehicle in 5th embodiment of this invention. It is a figure for demonstrating the determination of the abnormality of the track | orbit in this embodiment.

<First embodiment>
Hereinafter, the structure of the train control system 100 by 1st embodiment of this invention is demonstrated.
A train control system 100 according to this embodiment is provided in a railway system 3 as shown in FIG.
The train control system 100 includes a control information generation device 10 and an on-board device 20.
FIG. 1 shows an A station SA, a B station SB, a C station SC, and a D station SD together with the railway system 3.

  Each of the 1st train 1 and the 2nd train 2 is provided with each sensor which acquires sensing information. Sensing information includes the load detected by each sensor for each travel position, indicating the total weight of passengers, luggage, and other objects carried by the train, train speed, train acceleration, actuator displacement, This information includes the speed displaced per unit time, the load generated by the actuator, and control information.

  The control information generation device 10 acquires sensing information detected by each sensor provided in each of the first train 1 and the second train 2. The control information generation device 10 accumulates the acquired sensing information in the database 30. The control information generation device 10 adds a train organization information such as an identifier of the train and the number of vehicles to each sensing information so that the sensing information is information about the train of the train. Accumulate at 30.

  The database 30 stores sensing information detected by each sensor provided in each of the first train 1 and the second train 2 each time the first train 1 and the second train 2 travel. The database 30 accumulates past sensing information for various trains including trains other than the first train 1 and the second train 2.

  The control information generation device 10 performs frequency analysis on sensing information corresponding to the traveling position of each traveling train using a technique such as spectrum analysis based on Fourier transform. The control information generation device 10 generates control information for suppressing vibration for each train based on the result of frequency analysis and past sensing information accumulated in the database 30. The control information is information including control parameters for performing feedback control and feedforward control, for example. The control information generation device 10 transmits the generated control information to each running train (for example, the first train 1 and the second train 2).

The on-board device 20 is provided in each of the first train 1 and the second train 2. The on-board device 20 receives control information from the control information generating device 10. The on-board device 20 controls the actuator provided in the head vehicle of the own train using the received control information.
The train control system 100 according to the first embodiment applies the actual vibration data included in the past sensing information accumulated in the database 30 to the leading vehicle of the traveling train, thereby leading the leading vehicle of the traveling train. Suppresses vibration and improves the ride comfort of the train.

Next, the configuration of the control information generation device 10 according to the present embodiment will be described.
As illustrated in FIG. 2, the control information generation device 10 includes a sensing information acquisition unit 101, a control information generation unit 102, a communication unit 103, a control unit 104, and a storage unit 105.

The sensing information acquisition unit 101 acquires sensing information detected by each sensor of the first train 1 and the second train 2 from each sensor and accumulates it in the database 30.
The control information generation unit 102 generates control information for controlling each of the first train 1 and the second train 2 based on the sensing information.

The communication unit 103 communicates with other devices. For example, the communication unit 103 performs wireless communication with the on-board device 20 and the database 30.
The control unit 104 performs various controls necessary for processing performed by the control information generation device 10. For example, the control unit 104 controls transmission / reception of information performed by the communication unit 103. In the following description, the control unit 104 transmits / receives information performed by the communication unit 103 even if the control unit 104 does not specifically describe that the communication unit 103 controls transmission / reception of information. Is controlling.

  The storage unit 105 stores information necessary for various processes performed by the control information generation apparatus 10. For example, the storage unit 105 stores sensing information detected by each sensor in a running train.

Next, the configuration of the on-board device 20 according to the present embodiment will be described.
As illustrated in FIG. 3, the on-board device 20 includes an actuator control unit 201, a communication unit 202, a control unit 203, a storage unit 204, and a travel position acquisition unit 205.

The actuator control unit 201 controls an actuator that is a control mechanism of each vehicle of the train using the control information.
The communication unit 202 communicates with other devices. For example, the communication unit 202 performs wireless communication with the control information generation device 10 and the database 30.

  The control unit 203 performs various controls necessary for processing performed by the on-board device 20. For example, the control unit 203 controls transmission / reception of information performed by the communication unit 202. In the following description, even if it is not specifically described that the control unit 203 controls transmission / reception of information performed by the communication unit 202, the control unit 203 transmits / receives information performed by the communication unit 202. Is controlling.

The storage unit 204 stores information necessary for various processes performed by the on-board device 20. For example, the storage unit 204 stores sensing information detected by each sensor in a running train, for example.
The travel position acquisition unit 205 acquires the travel position of a train including the on-board device 20. The traveling position acquisition unit 205 acquires the traveling position of the train by, for example, calculating the traveling distance by integrating the speed indicated by the speed sensor with time. The travel position acquisition unit 205 communicates with a ground unit such as ATO (Automatic Train Operation) via the communication unit 202, and calculates a travel distance based on the position of the ground unit to thereby calculate the travel position of the train. To get.

Next, the process which the train control system 100 by this embodiment performs is demonstrated.
Here, the process flow shown in FIG. 4 performed by the train control system 100 that suppresses the vibration of the first train 1 traveling between the A station SA and the B station SB will be described.

A train runs between A station SA and B station SB.
Each sensor with which each running train detects sensing information for each train (step S1). Moreover, the traveling position acquisition unit 205 acquires the traveling position of each train (step S2).

  The actuator control unit 201 acquires sensing information detected by each sensor. In addition, the actuator control unit 201 acquires a travel position from the travel position acquisition unit 205. The actuator control unit 201 associates the acquired sensing information with the travel position and records them in the storage unit 204. For example, every time a train arrives at a station, the actuator control unit 201 reads sensing information associated with the travel position from the previous station to the current station from the storage unit 204. The actuator control unit 201 transmits the associated sensing information and the travel position to the control information generation device 10 via the communication unit 202.

The sensing information acquisition unit 101 receives the sensing information and the travel position associated with each other from the actuator control unit 201 via the communication unit 103. The sensing information acquisition unit 101 accumulates the associated sensing information and the travel position in the database 30 (step S3).
In addition, the process of above-mentioned step S1-step S3 is a process performed with respect to each train which drive | worked in the past.

  The control information generation unit 102 included in the first train 1 that is traveling from the A station SA toward the B station SB reads the sensing information associated with the travel position between the A station SA and the B station SB from the database 30. . The control information generation unit 102 performs frequency analysis on the sensing information corresponding to the traveling position of the traveling first train 1 (step S4). For example, the control information generation unit 102 performs frequency analysis on vibration data (train acceleration in the lateral direction, acceleration in the vertical direction of the train) included in the sensing information using a technique such as spectrum analysis based on Fourier transform. Just do it.

The control information generation unit 102 generates control information for suppressing vibrations for each train based on the analysis result of the frequency analysis and past sensing information accumulated in the database 30 (step S5). For example, the control information generation unit 102 includes each of the boarding load, the train traveling speed, the train traveling direction acceleration, the actuator displacement, the actuator displaced speed per unit time, and the actuator generated load included in the sensing information. The frequency analysis is performed using the values of the above, and the control information for determining the gain for each frequency is determined and corrected to suppress the vibration. For example, the correction of the gain includes a sensor that detects the boarding load of the train, and the gain with respect to a different boarding load (boarding load such as an empty car or a full car) for each vehicle of each train determined in advance based on past control results. The storage unit stores the correction value. The control information generation unit 102 reads the correction value of the gain of the boarding load corresponding to each vehicle of the running train from the storage unit. The control information generation unit 102 generates control information by correcting the gain determined for each frequency using the read gain correction value.
The control information generation unit 102 transmits the generated control information to the first train 1 via the communication unit 103.

The actuator control unit 201 included in the first train 1 receives control information from the control information generation device 10 via the communication unit 202. The actuator control part 201 with which the 1st train 1 is provided controls the actuator of the head vehicle of the 1st train 1 using the received control information (step S6), and suppresses the vibration in the head vehicle of the 1st train 1.
The actuator control part 201 with which the 1st train 1 is provided controls each actuator of each vehicle after the 2nd vehicle of the 1st train 1 using the received control information similarly to the leading vehicle (step S7). Suppresses vibration.
Note that a part or all of the control information generation device 10 may be provided in a control target train that suppresses vibration. The suppression of vibrations in the second and subsequent vehicles of the first train 1 performed by the actuator control unit 201 is performed by the first train 1 including the control information generation unit 102 and the first vehicle 1 that is running or the second and subsequent vehicles. You may perform using the control information which the control information generation part 102 produced | generated based on the vibration data of the preceding vehicle with respect to the vehicle of control object. The control information generation unit 102 may correct the control information using vibration data stored in the database 30. When all of the control information generation device 10 is provided in a control target train that suppresses vibrations, the train control system 100 may be configured by a single device or distributed among a plurality of devices. It may be configured.

  Further, the actuator of the leading vehicle of the first train 1 may be controlled using control information generated by feeding back the state of the leading vehicle of the traveling first train 1. The suppression of vibrations in the second and subsequent vehicles of the first train 1 performed by the actuator control unit 201 is based on the vibration data of the preceding vehicle with respect to the leading vehicle of the first train 1 or the second and subsequent vehicles to be controlled. Thus, the control information generation unit 102 generates control information. Then, the control information generation unit 102 may generate control information by correcting the control information using vibration data stored in the database 30.

  In addition, if the control information generation unit 102 generates the control information using the vibration data of the train having the same organization as the train to be controlled as the vibration data stored in the database 30, the vibration of each vehicle is more accurately detected. Can be suppressed.

In addition, communication between each of the control information generation device 10, the on-board device 20, and the database 30 is performed via a relay device provided at, for example, the A station SA, the B station SB, the C station SC, the D station SD, It may be done.
In addition, each train may always transmit sensing information during traveling to the database 30, or after storing it in the storage unit included in the own train, collectively transmit the sensing information stored when the vehicle is stopped to the database 30. May be.

  In addition, since secular changes such as road surfaces and guide rails are generally gentle, the control information generation unit 102 does not need to generate control information every time the train travels. For example, the control information generation unit 102 generates control information every other day. And the actuator of each vehicle may be controlled using the control information produced | generated at the past timing different from the time of driving | running | working.

The processing flow of the train control system 100 according to the first embodiment of the present invention has been described above. In the train control system 100, the sensing information acquisition unit 101 acquires sensing information detected by a train sensor and accumulates it in the database 30. The control information generation unit 102 generates control information for controlling each train to be controlled based on the sensing information. The actuator control unit 201 controls an actuator that is a control mechanism of each vehicle of the train using the control information.
In this way, the train control system 100 suppresses vibration with high accuracy for each vehicle of the train set without causing a control delay that occurs when the current state is fed back and controlled. Can do. As a result, the ride comfort of the train can be improved.

<Second Embodiment>
Next, the configuration of the train control system 100 according to the second embodiment of the present invention will be described.
Similar to the train control system 100 according to the first embodiment of the present invention, the train control system 100 according to the present embodiment includes the control information generation device 10 and the on-board device 20. However, as shown in FIG. 5, the control information generation device 10 further includes a sensing information determination unit 106 in addition to the sensing information acquisition unit 101, the control information generation unit 102, the communication unit 103, the control unit 104, and the storage unit 105. Is provided.

  The sensing information determination unit 106 compares the sensing information stored in the database 30 with the sensing information acquired by the traveling first train 1. The sensing information determination unit 106 determines an abnormality of the traveling vehicle or an abnormality of the track based on the comparison result.

Next, the process which the train control system 100 by this embodiment performs is demonstrated.
Here, the process flow shown in FIG. 6 performed by the train control system 100 that suppresses the vibration of the first train 1 traveling between the A station SA and the B station SB will be described.
Similar to the train control system 100 according to the first embodiment of the present invention, when the processing of step S1 to step S3 is performed, the following processing is performed in parallel with the processing of step S4 to step S7.

  When the sensing information acquisition unit 101 determines that the sensing information detected by the train sensor is the same as the sensing information when the train and the track are both normal within an error range, the sensing information is added with a normal flag. And stored in the database 30. The sensing information determination unit 106 compares the sensing information determined to be normal based on the normal flag stored in the database 30 and the sensing information acquired by the traveling first train 1, and the two pieces of sensing information are the same. It is determined whether or not (step S8).

  If the sensing information determination unit 106 determines that the two pieces of sensing information are the same (YES in step S8), the sensing information determination unit 106 determines that the first train 1 is normal (step S9), and ends the process. Specifically, the sensing information determination unit 106 determines from the database 30 that the sensing information determined to be normal in the past of the running train itself or the past normal of a train of the same type as the running train. Read sensing information. The sensing information determination unit 106 compares the sensing information acquired from the traveling train with the sensing information corresponding to the traveling position during traveling in the read past sensing information determined to be normal. When the difference between the two pieces of sensing information is within a predetermined error range, the sensing information determination unit 106 determines that the running train is normal and ends the process.

When the sensing information determination unit 106 determines that the two pieces of sensing information are not the same (NO in step S8), the sensing information determination unit 106 determines whether the period in which the two pieces of sensing information are not the same is continuous for a predetermined period. (Step S10).
If the sensing information determination unit 106 determines that the period in which the two pieces of sensing information are not the same is continuous for a predetermined period (YES in step S10), an abnormality has occurred in the first train 1. Determination is made (step S11).
Sensing information determination unit 106 determines that the two sensing information is not the same when it is determined that the period during which the two sensing information is not the same is not continuous for a predetermined period (NO in step S10). It is determined that an abnormality has occurred in the trajectory corresponding to (step S12).
When the sensing information determination unit 106 determines that an abnormality has occurred in the first train 1, the sensing information determination unit 106 notifies that there is a possibility that an abnormality has occurred in the first train 1.
In addition, when the sensing information determination unit 106 determines that an abnormality has occurred in the track, the sensing information determination unit 106 notifies the administrator in charge of managing the track that there may be an abnormality in the track. .

The processing flow of the train control system 100 according to the second embodiment of the present invention has been described above. In the train control system 100, the sensing information determination unit 106 compares the sensing information stored in the database 30 with the sensing information acquired by the traveling first train 1. The sensing information determination unit 106 determines an abnormality of the traveling train or an abnormality of the track based on the comparison result. When it is determined that an abnormality has occurred in the first train 1, the sensing information determination unit 106 notifies that there is a possibility that an abnormality has occurred in the first train 1. In addition, when the sensing information determination unit 106 determines that an abnormality has occurred in the trajectory, the sensing information determination unit 106 notifies the department that manages the trajectory that there may be an abnormality in the trajectory.
In this way, the train control system 100 does not cause a control delay that occurs when the current state is fed back and controlled, and at the same time suppresses vibrations accurately for each vehicle of the train. It is possible to determine the abnormality of the running train or the abnormality of the track. As a result, the ride comfort of the train can be improved and the train can be run safely.

<Third embodiment>
Next, the configuration of the train control system 100 according to the third embodiment of the present invention will be described.
Similar to the train control system 100 according to the first embodiment of the present invention, the train control system 100 according to the present embodiment includes a control information generation device 10 and an on-board device 20. However, in addition to the sensing information acquisition unit 101, the control information generation unit 102, the communication unit 103, the control unit 104, and the storage unit 105, the control information generation device 10 further includes a disturbance prediction unit 107 as illustrated in FIG. Prepare.

The disturbance prediction unit 107 is provided in the control information generation unit 102 and predicts in advance the disturbance generated at each travel position based on the sensing information stored in the database 30.
The control information generation unit 102 integrates the train speed data to identify the travel position. The control information generation unit 102 generates control information using the disturbance predicted by the disturbance prediction unit 107 for the identified travel position.
The control information generation unit 102 generates control information at each time from a train speed pattern based on a predetermined speed at each travel position and control information at each travel position.

  Note that the processing flow of the train control system 100 according to the present embodiment is as shown in FIG. 4 except that the control information generation unit 102 generates control information using the disturbance predicted by the disturbance prediction unit 107 as described above. It is the same as the process flow of the train control system 100 by 1st embodiment of this invention shown.

The train control system 100 according to the third embodiment of the present invention has been described above. In the train control system 100, the disturbance prediction unit 107 predicts in advance the disturbance generated at each travel position based on the sensing information stored in the database 30. The control information generation unit 102 integrates the train speed data to identify the travel position. The control information generation unit 102 generates control information using the disturbance predicted by the disturbance prediction unit 107 and the frequency analysis result for each travel position. The control information generation unit 102 generates control information at each time from a train speed pattern based on a predetermined speed at each travel position and control information at each travel position.
In this way, the train control system 100 corrects the influence of disturbance on each vehicle of the train set without causing a control delay that occurs when the current state is fed back and controlled. Therefore, vibration can be suppressed with high accuracy. As a result, the ride comfort of the train can be improved.

<Fourth embodiment>
Next, the configuration of the train control system 100 according to the fourth embodiment of the present invention will be described.
Similar to the train control system 100 according to the third embodiment of the present invention, the train control system 100 according to the present embodiment includes the control information generation device 10 and the on-board device 20. However, as shown in FIG. 8, the control information generation apparatus 10 includes, in addition to the sensing information acquisition unit 101, the control information generation unit 102, the communication unit 103, the control unit 104, the storage unit 105, and the disturbance prediction unit 107, A band pass filter 108 is provided.

The bandpass filter 108 is provided in the control information generation unit 102 and limits the frequency range to be controlled.
The control information generation unit 102 reads sensing information from the database 30. The control information generation unit 102 divides the vibration data (the lateral acceleration of the train and the vertical acceleration of the train) of each train included in the read sensing information for each section (for example, between stations). The band pass filter 108 limits the frequency to be controlled. The control information generation unit 102 performs frequency analysis on the frequency to be controlled limited by the bandpass filter 108. The control information generation unit 102 generates control information using the disturbance predicted by the disturbance prediction unit 107 and the frequency analysis result for each travel position for each section. The control information generation unit 102 generates control information at each time from a train speed pattern based on a predetermined speed at each travel position and control information at each travel position.

Next, the process which the train control system 100 by this embodiment performs is demonstrated.
Here, the process flow shown in FIG. 9 performed by the train control system 100 that suppresses the vibration of the first train 1 traveling between the A station SA and the B station SB will be described.

Similar to the train control system 100 according to the first embodiment of the present invention, the control information generation unit 102 reads the sensing information from the database 30 when the processes of step S1 to step S3 are performed. The control information generation unit 102 divides the vibration data (train lateral acceleration, train vertical acceleration) of each train included in the read sensing information into sections (for example, between stations) ( Step S13). The band pass filter 108 limits the frequency to be controlled (step S14). The control information generation unit 102 performs frequency analysis on the frequency to be controlled limited by the bandpass filter 108 (step S4). For example, the control information generation unit 102 integrates the train speed data (part (b) in FIG. 10), converts it into a distance (part (c) in FIG. 10), and specifies the travel position. The control information generation unit 102 divides the vibration data of each train of the train (part (a) in FIG. 10) for each section (part (d) in FIG. 10). The control information generation unit 102 performs frequency analysis for each divided section. The control information generation unit 102 generates control information using the disturbance and the frequency analysis result predicted by the disturbance prediction unit 107 for each travel position for each section (part (e) of FIG. 10). The control information generation unit 102 generates control information at each time from a train speed pattern based on a predetermined speed at each travel position and control information at each travel position.
And the process of step S5-step S7 is performed similarly to the train control system 100 by 1st embodiment of this invention.
In addition, the process which divides | segments the vibration data of step S13 which the above-mentioned control information generation part 102 performs for every area does not necessarily need to be performed.

The train control system 100 according to the fourth embodiment of the present invention has been described above. In the train control system 100, the bandpass filter 108 is provided in the control information generation unit 102 and limits the frequency range to be controlled. The control information generation unit 102 reads sensing information from the database 30. The control information generation unit 102 divides the vibration data of each train included in the read sensing information for each section. The band pass filter 108 limits the frequency to be controlled. The control information generation unit 102 performs frequency analysis on the frequency to be controlled limited by the bandpass filter 108. The control information generation unit 102 generates control information using the disturbance predicted by the disturbance prediction unit 107 and the frequency analysis result for each travel position for each section. The control information generation unit 102 generates control information at each time from a train speed pattern based on a predetermined speed at each travel position and control information at each travel position.
In this way, the train control system 100 corrects the influence of disturbance on each vehicle of the train set without causing a control delay that occurs when the current state is fed back and controlled. Therefore, vibration can be suppressed with high accuracy. As a result, the ride comfort of the train can be improved.

<Fifth embodiment>
Next, the configuration of the train control system 100 according to the fifth embodiment of the present invention will be described.
Similar to the train control system 100 according to the second embodiment of the present invention, the train control system 100 according to the present embodiment includes the control information generation device 10 and the on-board device 20. However, the sensing information determination unit 106 according to the present embodiment is different from the sensing information determination unit 106 according to the second embodiment of the present invention.

  The sensing information determination unit 106 according to the present embodiment compares sensing information with different detection times of the same vehicle stored in the database 30. Sensing information determination unit 106 determines abnormality of the vehicle based on the comparison result. Specifically, the sensing information determination unit 106 performs vibration data (train acceleration in the lateral direction of the train, acceleration in the vertical direction of the train) at each time corresponding to the control information shown in the part (a) of FIG. ) Are calculated, and the target vehicle is determined to be normal when it falls within the standard value range as shown in part (b) of FIG. In addition, the sensing information determination unit 106 calculates the standard value, average value, and deviation of the vibration data of each vehicle of the train at each time, and as shown in FIG. It is determined that an abnormality has occurred in the target vehicle.

In addition, the sensing information determination unit 106 according to the present embodiment compares the sensing information including the same traveling position stored in the database 30. The sensing information determination unit 106 determines a trajectory abnormality based on the comparison result. Specifically, the sensing information determination unit 106 uses vibration data of each vehicle at each time corresponding to the control information shown in the part (a) of FIG. , (C), and converted into vibration data at each traveling position. The sensing information determination unit 106 calculates a standard value, an average value, and a deviation for the vibration data after conversion. The sensing information determination unit 106 compares vibration data at each travel position, and generates vibration data that exceeds a standard value at the same travel position as indicated by circles in each of the parts (b) and (c) of FIG. If detected, it is determined that an abnormality has occurred in the track corresponding to the travel position.
In addition, the comparison between the sensing information including the same traveling position accumulated in the database 30 by the sensing information determination unit 106 may be a comparison between the sensing information of the same vehicle or a comparison of the sensing information of different vehicles.
Note that the sensing information determination unit 106 according to the present embodiment may perform the above-described processing in parallel with the processing of the sensing information determination unit 106 according to the second embodiment of the present invention.

The process of the train control system 100 according to the fifth embodiment of the present invention has been described above. In the train control system 100, the sensing information determination unit 106 compares sensing information with different detection times of the same vehicle stored in the database 30. Sensing information determination unit 106 determines abnormality of the vehicle based on the comparison result. In addition, the sensing information determination unit 106 according to the present embodiment compares the sensing information including the same traveling position on the same track stored in the database 30.
In this way, the train control system 100 can determine a train abnormality or a track abnormality. If the sensing information determination unit 106 performs this determination while the train is running, the control delay that occurs when the current state is fed back and controlled does not occur, the ride comfort of the train is improved, and the safety is ensured. You can run a train.

  In the processing flow according to the embodiment of the present invention, the order of processing may be changed within a range where appropriate processing is performed.

  Each of the storage unit 105, the storage unit 204, and the database 30 in the present invention may be provided anywhere within a range where appropriate information is transmitted and received. In addition, each of the storage unit 105, the storage unit 204, and the database 30 may exist in a plurality of ranges within a range where appropriate information is transmitted and received, and may store data in a distributed manner.

  Although the embodiment has been described, each of the above-described control information generation device 10 and on-vehicle device 20 may have a computer system therein. The process described above is stored in a computer-readable recording medium in the form of a program, and the above process is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may realize part of the functions described above. Further, the program may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

  Although several embodiments of the present invention have been described, these embodiments are examples and do not limit the scope of the invention. These embodiments may be variously omitted, replaced, and changed without departing from the gist of the invention.

DESCRIPTION OF SYMBOLS 1 ... 1st train 2 ... 2nd train 3 ... Railway system 10 ... Control-information production | generation apparatus 20 ... On-board apparatus 30, 30a, 30b, 30c, 30d ... Database 101 ··· Sensing information acquisition unit 102 ··· Control information generation units 103 and 202 ··· Communication units 104 and 203 ··· Control units 105 and 204 ··· Storage unit 106 ··· Sensing information determination unit 107 ··· Disturbance prediction unit 108 ... band pass filter 201 ... actuator control unit 205 ... travel position acquisition unit

Claims (7)

A train control system having a control information generation device and an on-board device,
The control information generation device includes:
A sensing information acquisition unit that acquires sensing information detected by a train sensor and stores it in a database;
A control information generator for generating control information for controlling the train based on the sensing information;
With
The on-board device is:
An actuator controller that controls the control mechanism of each vehicle of the train using the control information;
A train control system. The control information generation device includes:
Based on sensing information determined to be normal in the past stored in the database and sensing information acquired from a running train, at least of the running train and the track on which the running train is running A sensing information determination unit for determining whether an abnormality has occurred on one side,
The train control system according to claim 1, comprising: The sensing information determination unit
Based on sensing information of different detection times of the same vehicle stored in the database, it is determined whether an abnormality has occurred in the vehicle indicated by the same vehicle,
The train control system according to claim 2. The sensing information determination unit
Based on sensing information including the same travel position stored in the database, it is determined whether or not an abnormality has occurred in the track corresponding to the travel position,
The train control system according to claim 2 or claim 3. A sensing information acquisition unit that acquires sensing information detected by a train sensor and stores it in a database;
A control information generator for generating control information for controlling the train based on the sensing information;
Based on sensing information determined to be normal in the past stored in the database and sensing information acquired from a running train, at least of the running train and the track on which the running train is running A sensing information determination unit for determining whether an abnormality has occurred on one side;
A control information generating device comprising: Sensing information detected by train sensors is acquired and stored in a database.
Generate control information for controlling the train based on the sensing information,
Control the control mechanism of each vehicle of the train using the control information,
A control method comprising: On the computer,
Sensing information detected by train sensors is acquired and stored in a database.
Generating control information for controlling the train based on the sensing information;
A program that lets you do that.

Images