JP7137714B2 - train control system - Google Patents

Description

The present invention relates to train control systems.

Conventionally, as a technology for assisting train operation, for example, there is a technology described in JP-A-2017-87978 (Patent Document 1). In this publication, it is described that ``an on-board device mounted on a train running on a railroad track, an imaging device for capturing an image of the inside of a railroad crossing provided on the railroad track to generate image information, and the image information or information based on the image information. a ground device for wirelessly transmitting to the on-board device as railroad crossing information; and a display device for displaying information inside a railroad crossing", an invention is disclosed that assists the operation of a train by reducing the burden on the driver, particularly when passing through a railroad crossing.

JP-A-2017-87978

In Patent Document 1, when a train reaches a position in front of a railroad crossing, information (images) inside the railroad crossing captured by an imaging device is collected by a ground device. Then, the collected railroad crossing information is transmitted from the ground equipment to the on-board equipment and displayed on the display device of the on-board equipment so that the driver can check the conditions inside the railroad crossing. However, in Patent Document 1, when an obstacle that hinders the running of the train or a failure of various devices on the train is detected from the image captured by the imaging device, the presence or absence of the obstacle or obstacle, that is, the site situation It is not assumed that remote control of trains from the ground will be centrally managed according to the requirements. Therefore, the invention of Patent Document 1 is limited to the effect that the driver can display and check the information (image) inside the railroad crossing on the vehicle.

Conventionally, even if the driver can confirm the site situation in the railroad crossing with an image, the final judgment depends on the driver and the conductor, and the driver and the conductor are the commanders of the command center on the ground side. It is the actual situation that countermeasures against obstacles and troubles are taken by wireless communication between them.

Therefore, in the present invention, when an obstacle such as a falling object, a fallen tree, an overhead wire vinyl, an intrusion of a person or an animal (entering the track), or the like is detected as an obstacle to the train running on the track, The purpose is to provide a technology that notifies the ground equipment on the ground side of the detected troubles, such as failures of various on-board equipment, and enables commands for remote control of the train from the ground as needed. and

For example, in the present invention, in view of the above problems, when an obstacle is detected, depending on the state of whether or not the train runs on the track, the operation mode is changed from the automatic mode to the manual mode. It is possible to issue a command to automatically switch to , a control command to stop, or an evacuation guidance command.

For this reason, in the present invention, for example, obstacles on the track are detected based on surveillance camera images (images) of surveillance cameras (front camera, side camera, in-vehicle camera, in-vehicle camera, etc.) installed on the train side. When it detects that there is something wrong with the closed state of the door (such as door jamming), the control center in the ground equipment sends a command to switch the operation mode to the onboard equipment on the train side, and the onboard equipment A device is provided to enable the operation mode to be switched from automatic to manual.

In order to solve the above problems, one representative train control system of the present invention is
In a train control system that controls trains in automatic or manual operation mode,
Equipped with a monitoring device, an on-board device, and a ground device,
The monitoring device
A monitoring device that monitors the running direction of the train and / or various devices on the train and outputs monitoring data,
The on-vehicle device
an on-board radio device that wirelessly communicates various information and commands with the ground device;
An on-board control device that receives various information and commands received from the ground device via the on-board radio device and controls the automatic or manual operation of the train,
The ground equipment includes:
a ground radio device that wirelessly communicates various information and commands with the on-board device;
an obstacle/impediment detection device that receives monitoring data from the monitoring device and detects from the monitoring data whether an object that hinders the running of the train and/or the presence or absence of failures in various devices on the train;
an operation command device that transmits an operation command or instruction to the train via the ground radio device based on the result of the presence or absence of an obstacle/hinder detected by the obstacle/hinder detection device;
When an object that hinders the running of the train and/or a failure of various devices on the train is detected, it is characterized in that it is determined whether automatic operation can be continued or whether the operation should be switched to manual operation.

According to the present invention, it is possible to confirm the detection state of obstacles, obstacles, and failures of various devices on the train while the train is running, and to control the mode according to the detection state. In addition, running control of trains can be centrally managed.
Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

1 is a block diagram showing a schematic configuration of a first embodiment of the train control system of the present invention; FIG. FIG. 2 is a block diagram showing a configuration example of an on-board control device in the on-board device of Embodiment 1; FIG. 2 is a block diagram showing a configuration example of a ground control system in the ground equipment of Embodiment 1; 4 is a flowchart for explaining a processing procedure for operation mode switching in the train control system of the first embodiment; FIG. 2 is a block diagram showing a configuration example of an on-board control system of a second embodiment in the train control system of the present invention; FIG. 8 is a block diagram showing a configuration example of a ground control system in the ground equipment of Embodiment 2; 10 is a flow chart for explaining a processing procedure of operation mode switching in the train control system of the second embodiment;

An embodiment will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a schematic configuration of the train control system of the present invention.
The train control system has a function of detecting the position of the own train with the on-board device 2 and automatically controlling the interval between trains using radio. For example, a section in which a train is present and the position of the train are detected, the detected position is transmitted to the ground device 3 by radio, information indicating how far the train 1 can travel is calculated by the ground device 3, and the calculated travel is performed. is sent to the on-board device 2, the on-board device 2 creates a speed pattern based on the information from the ground, and controls the brake of the train 1.
According to this technique, it is possible to streamline the equipment, improve safety, and control railroad crossings based on the position and running speed of the train.

In the present embodiment, a train control system equipped with such technology will be described below as an example.
The train control system has an on-board device 2 mounted on a train 1 and a ground device 3 installed on the ground.

The on-board device 2 includes an on-board control system 21 . The on-board control system 21 has an on-board control device 211 , an on-board wireless device 212 , an on-board monitoring device 5 attached to the train 1 (vehicle), and a monitor device 2116 installed in a driver's seat 2117 . The on-board monitoring devices 5 are provided at necessary locations outside and inside the train 1 (vehicle).

The in-vehicle monitoring device 5 is, for example, a monitoring camera, an equipment sensor 218, or the like.
Surveillance cameras include, for example, a front camera 51 for photographing the front of the train 1, a rear camera 53 for photographing the rear of the train 1, a side camera 54 for photographing the surroundings and sides of the train 1, and a pantograph 52 for photographing pantographs. , a door of the train 1 (car), an in-vehicle camera 55 for setting up the inside of the car, and the like.
The monitoring camera images of the front camera 51 and the rear camera 53 are used for remote driving operation or confirmation of local conditions (front obstacle detection). The monitoring camera video of the vehicle interior camera 55 is used to confirm the vehicle interior conditions such as when a suspicious person or an emergency evacuation occurs.

Equipment sensors 218 include, for example, an overhead wire detection sensor, a wayside equipment detection sensor, a track detection sensor, and the like.

The on-board control device 211 receives a speed signal from the speed generator 214, a position signal from the on-board coil 215, and the like, and controls the on-board device 2. FIG.

The on-board radio device 212 is a device that wirelessly communicates data with the ground radio device 312. For example, the on-vehicle monitoring device 5 has a camera video (railway crossing image) captured by a surveillance camera, a railroad crossing position, and other devices. Sensor data detected by the sensor 218 is wirelessly transmitted from the antenna 213 to the ground radio equipment 312 of the ground equipment 3 .

The ground equipment 3 comprises a ground control system 31 . The ground control system 31 has a ground control device 311, a ground radio device 312, a monitor device 314, an operation command device 320, and the like.

The ground control device 311 receives, for example, camera images from the monitoring camera of the ground monitoring device 6 installed on the ground side and various sensor data from the equipment sensors 218 on the vehicle side, and outputs them to the ground wireless device 312 and the monitor device 314. do.

The ground monitoring device 6 includes, for example, a wayside camera 62 that photographs the area along the track 216, a railroad crossing camera 61 that photographs the inside of the railroad crossing, a home camera 63 that photographs the platform, and the like.

The ground wireless device 312 wirelessly receives camera images (railway crossing images and railroad crossing positions) captured by the monitoring camera of the ground monitoring device 6 and sensor data detected by the device sensor 218 , and transmits the data to the onboard device 2 via the antenna 313 . It wirelessly transmits to the on-board wireless device 212 .

The monitor device 314 displays camera images captured by the monitoring cameras of the ground monitoring device 6 and/or camera images captured by the monitoring cameras of the on-vehicle monitoring device 5 and sensor data detected by various equipment sensors 218 . indicate. As a result, the operation command staff at the operation command center can confirm the occurrence of obstacles on the ground side, that is, the presence or absence of obstacles and obstacles, and can issue operation commands according to the results.

FIG. 2 is a block diagram showing a configuration example of the on-board control device 211 in the on-board device 2. As shown in FIG.
The on-board control device 211 is a device that transmits and receives a notch command, vehicle information, and the like to and from a braking/driving control device 2115 (brake control device) of the on-board device 2 to control the braking/driving control device 2115 .

The on-board control device 211 has a main controller (master controller: hereinafter referred to as a master controller) 2111 , an ATO device 2112 , an operation mode switching device 2113 , a vehicle information control device 2114 and a braking/drive control device 2115 .

ATO (Automatic Train Operation), although not shown, operates under the presence of an automatic train control device/ATC (Automatic Train Operation), and based on the ATC device, departure control (after the train stops at the platform, door opening and closing until train departure), scheduled operation control (train acceleration/deceleration, constant speed control, and running control to the next station in a specified time), fixed position stop control (train at a specified position on the platform) (automatic deceleration and stop control), and has a function to run the train from departure to stop. For example, when the driver presses a start instruction button, the device automatically performs power running, constant speed or coasting, braking, and a fixed point stop of the train.

ATC is one of the safety devices that automatically apply the brakes according to the speed information (ATC speed control signal) from the ground, and loosen the brakes when the speed drops below the speed limit. By transmitting the position and speed of the train 1 between the ground and the train, when the set speed limit is exceeded, the brakes are automatically applied, and when the speed falls below the limit, A device that automatically releases the brakes.
Since these are well-known, detailed description thereof will be omitted.

The master computer 2111 and the ATO device 2112 output a braking/driving command (notch command or torque command) including the braking/driving force based on the speed signal and the position signal, and the vehicle information of the train 1 in the vehicle information control device 2114 (operation pattern , timetable information), the output and speed of the train 1 (vehicle) are controlled via the braking/driving control device 2115 .

Also, the master controller 2111 is a switch device that manually performs power running, constant speed or coasting, braking, and stopping of the train 1 by operating the steering wheel, for example, when the driver operates the start button.

The ATO device 2112 is a device that receives an automatic operation command from the ATO central system 316 of the ground device 3 and automatically performs power running, constant speed or coasting, braking, and stopping of the train 1 .

The operation mode switching device 2113 is a device that receives an operation mode switching command transmitted from the ground device 3 and switches between the master computer 2111 and the ATO device 2112, that is, switches the operation mode of the train 1 between the manual mode and the automatic mode.

FIG. 3 is a block diagram showing a configuration example of a ground control system 31 in the ground equipment 3. As shown in FIG.
The ground control system 31 includes a ground control device 311, a ground radio device 312, a train detection device 318, an interlocking device 319, an operation management system 315, an ATO central system 316, a monitoring central system 317, a monitor device 314, and an operation command unit. It has an operation command device 320 and the like.

For example, when train 1 approaches a preceding train (not shown), train detection device 318 outputs train detection information (falling/raising) indicating the position of each train.

The interlocking device 319 changes the point instrument in a predetermined direction in response to a route setting request, and if there is no other train (vehicle) on the route, the traffic signal indicates progress (green light) indicating permission. , which guarantees the safety of train operation in the station premises, and outputs train detection information detected by the train detection device 318 to the ground control device 311 .

The ground control device 311 calculates the stop limit position based on each information such as the train position received by the ground radio device 312, the stop limit position, the train detection by the interlocking device 319, and the running section stored inside. It is transmitted to the on-board device 2 via the antenna 313 of the radio device 312 .

The ground radio equipment 312 transmits and receives various information to and from the onboard equipment 2 via a radio base station (not shown).

The operation management system 315 manages the operation of the train 1 as described above, and in addition to automatically controlling the route via the interlocking device of each station according to the planned operation schedule, means for acquiring information on the location of the train. If there is a service disruption, it will issue commands such as changing the order of evacuation at the station.

As described above, the ATO central system 316 operates under the presence of a safety device (ATC device) in response to commands from the operation command unit of the operation command device 320 by the operation of the operation commander, and performs departure control (train After the train stops at the platform, the door is opened and closed until the train departs), fixed-time operation control (train acceleration/deceleration, constant speed control, and control of running to the next station in a predetermined time), fixed position stop (platform (control to automatically decelerate and stop the train at a predetermined position), that is, to command the running of the train 1 from start to stop.

The monitoring central system 317, for example, wirelessly receives camera images from the monitoring cameras (61 to 63) of the ground monitoring device 6 and sensor data from various equipment sensors 218, and detects obstacles in running the train 1. Obstacle/obstacle monitoring device that monitors/detects the presence or absence of obstacles (including people, objects, cars, etc.) and trouble occurrence (device failure), and outputs the monitoring/detection results to the monitor device 314 and the ground radio device 312 (or an obstacle/hinder detection device) 3171 and a storage device (not shown) for storing camera images and the like. Failure and trouble occurrence detection may be performed on the ground side or on the vehicle side.

A monitor device 314 displays and monitors camera video (images) and monitor data. As a result, the command staff at the operation command center on the ground side can determine whether there is an obstacle or obstacle, and can issue an operation command (operation mode, change of operation mode, etc.) to the ground side according to the result. That is, when an obstacle is detected, it is possible to determine whether the automatic operation can be continued or whether the operation should be switched to the manual operation.

The traffic management system 315, the ATO central system 316, and the monitoring central system 317 are configured to operate in conjunction with each other. Also, the monitor device 314, the operation management system 315, the ATO central system 316, the monitoring central system 317, and the operation command device 320 constitute an operation command system at the operation command center.

FIG. 4 is a flowchart for explaining the processing procedure for switching operation modes in the train control system.

The operation based on the flowchart of FIG. 4 is as follows.
Step S3101:
The monitoring central system 317 receives the camera video (image) of the monitoring camera of the ground monitoring device 6 .

Step S3102:
The monitoring central system 317 determines the presence or absence of obstacles or obstacles using the obstacle/hinder detection device 3171 and outputs the result to the monitor device 314 .

Step S3103:
The monitor device 314 displays the judgment result of the presence/absence of an obstacle/impediment by the obstacle/impediment detection device 3171 . In this display, for example, images or sensor data of a specific train may be preferentially displayed.
As a result, in the train command system on the ground side, for example, the train dispatcher can identify obstacles (including people, objects, cars, etc.) that hinder the running of the train 1 based on the monitor screen of the monitor device 314. Check the camera image of the train that detected the trouble (equipment failure) and the obstacle detection result, and judge the presence or absence of obstacles and obstacles. Here, the judgment of the presence or absence of an obstacle or a hindrance may be made automatically by an obstacle/hinder detection device instead of a commander. That is, when an obstacle is detected, it is possible to determine whether the automatic operation can be continued or whether the operation should be switched to the manual operation.

Step S3104:
If the ATO central system 316 detects the presence or absence of obstacles and/or obstacles in step S4103 (yes), the operation command device 320 instructs the operation commander to switch the operation mode of the train 1 from automatic to manual. I do. If the obstacle or hindrance is serious, a stop command may be issued to stop the train 1 . Further, for example, when the train 1 stops inside the air section, a command is issued to temporarily move the train 1 out of the air section in the manual operation mode. When evacuating, the operation command system on the ground side gives instructions to remote evacuation guidance announcements or tour conductors.

Step S3105:
The monitor device 314 displays the camera video (image) of the surveillance camera that detected the obstacle and/or the obstacle detection result. Here, the camera video (image) of the surveillance camera and/or the obstacle detection result may be transmitted to the on-board device 2 via the ground radio device 312 and displayed on the monitor device 2116 of the on-board device 2. good.

Step S3106:
In the train command system on the ground side, for example, a train commander identifies obstacles that may hinder train operation based on the monitor screen of the monitor device 314, which monitors the camera image of the surveillance camera that has detected the obstacle. Confirm the safety of things (including people, goods, vehicles, etc.) and obstacles (device failures). That is, for example, once an obstacle is detected, if the obstacle is removed after that, it is determined that the vehicle is safe.

Step S3107:
The ATO central system 316 receives an instruction from an operation dispatcher in the operation command system, and issues a command to the on-board device 2 via the ground radio device 312 to switch the operation mode of the train 1 from manual to automatic, for example.

This embodiment detects the presence or absence of an obstacle or hindrance on the vehicle side.
5 to 7, only the configurations and steps that are changed from the first embodiment are shown below.

FIG. 5 is a block diagram showing a configuration example of an on-board control system according to the second embodiment. The on-board control system 21 further has an obstacle detection device 2118 .

The obstacle detection device 2118 receives the railroad crossing image and the railroad crossing ID (position) on the ground side, determines whether there is an obstacle, and transmits the result to the ground via the monitor device 2116, the on-board radio device 212, and the ground radio device 312. It outputs to the monitor device 314 of the control system 31 . The monitor device 2116 and the monitor device 314 display, that is, monitor the obstacle presence/absence determination result. As a result, the driver and the dispatcher can grasp the presence or absence of an obstacle on the side of the vehicle.

FIG. 6 is a block diagram showing a configuration example of a ground control system in the ground equipment of the second embodiment. When an obstacle is detected on the vehicle side, the monitoring central system 317 in the ground control system 31 can omit the obstacle/failure detection device 3171 .

FIG. 7 is a flowchart for explaining the operation mode switching processing procedure in the train control system of the second embodiment. The operation based on the flowchart of FIG. 7 is as follows.

Step S4111:
The on-vehicle control system 21 receives the camera video (image) of the monitoring camera of the ground monitoring device 6 .

Step S4112:
The obstacle detection device 2118 in the on-vehicle control system 21 detects the presence or absence of obstacles and/or obstacles based on the camera video (image) of the surveillance camera, and determines the presence or absence of obstacles and obstacles. The result of whether or not there is an obstacle/hinder in the obstacle detection device 2118 is transmitted to the ground radio device 312 via the on-board radio device 212 .

Step S4113:
The monitor device 2116 in the on-board control system 21 and the monitor device 314 in the ground control system 31 display the judgment result of the obstacle detection device 2118 as to whether or not there is an obstacle.

Step S4104:
If an obstacle and/or obstacle is detected in step S4103 (yes), the ATO device 2112 automatically changes the operation mode of the train 1 in response to the instruction of the operation commander or the operation designation of the driver from the operation command device 320. Command to switch from to manual.

Step S4105:
In response to the obstacle/hinder judgment result from the on-board control system, the monitor device 314 displays the camera video (image) of the surveillance camera that detected the obstacle and/or the obstacle detection result. Here, the camera video (image) of the surveillance camera and/or the obstacle detection result may be transmitted to the on-board device 2 via the ground radio device 312 and displayed on the monitor device 2116 of the on-board device 2. good.

Step S4106:
In the train command system on the ground side, for example, a train commander identifies obstacles that may hinder train operation based on the monitor screen of the monitor device 314, which monitors the camera image of the surveillance camera that has detected the obstacle. Confirm the safety of things (including people, goods, vehicles, etc.) and obstacles (device failures). That is, for example, once an obstacle is detected, if the obstacle is removed after that, it is determined that the vehicle is safe.

Step S4107:
If safety can be confirmed in step S4106, the ATO central system 316 receives instructions from the train dispatcher in the train command system and, for example, issues a command to switch the train 1 operation mode from manual to automatic by sending the ground radio device 312 on-board device 2 via the

In the above-described embodiment, the presence or absence of an obstacle or hindrance is determined after the operation commander in the operation command system on the ground side checks the monitor screen of the monitor device 314. For example, the monitoring central system In 317, image recognition technology or AI (artificial intelligence) technology may be used to automatically perform this. In this case, an operation dispatcher becomes unnecessary, and the number of personnel at the ground control center can be reduced. In addition, train running control can be centrally managed at the control center on the ground side.

It should be noted that the present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations.

1 train (vehicle)
2 on-board device 21 on-board control system 211 on-board control device 212 on-board radio device 2111 master computer 2112 ATO device 2113 driving mode switching device 2114 vehicle information control device 2115 braking/drive control device 3 ground device 31 ground control system 311 ground control device 312 ground wireless device 314 monitor device 315 operation management system 316 ATO central system 317 monitoring central system 3171 obstacle/failure detection device (obstacle/failure monitoring device)
318 train detection device 319 interlocking device 320 operation command device 5 on-board monitoring device 6 ground monitoring device

Claims (16)

In a train control system that controls trains in automatic or manual operation mode,
Equipped with a monitoring device, an on-board device, and a ground device,
The monitoring device
A monitoring device that monitors the running direction of the train and / or various devices on the train and outputs monitoring data,
The on-vehicle device
an on-board radio device that wirelessly communicates various information and commands with the ground device;
An on-board control system including an on-board control device that receives various information and commands received from the ground device via the on-board radio device and controls automatic or manual operation of the train,
The ground equipment includes:
a ground radio device that wirelessly communicates various information and commands with the on-board device;
an obstacle/impediment detection device that receives monitoring data from the monitoring device and detects from the monitoring data whether an object that hinders the running of the train and/or the presence or absence of failures in various devices on the train;
a ground control system including an operation command device that transmits an operation command or instruction to the train via the ground radio device based on the obstacle/hinder presence/absence result detected by the obstacle/hinder detection device;
When the obstacle/hinder detection device detects an object that hinders the running of the train and/or a failure of various devices on the train, the ground control system outputs instructions from the train dispatcher from the train command device. In response, a command to switch the operation mode of the train from automatic to manual is issued, and if it is possible to confirm the safety of obstacles and obstacles in running the train based on the monitoring data of the monitoring device, the operation is performed. In response to the instruction of the operation dispatcher from the command device, issue a command to switch the operation mode of the train from manual to automatic,
The on-board control system switches the operation mode of the train to the manual mode when receiving a command from the ground equipment to switch the operation mode from automatic to manual, and issues a command from the ground equipment to switch the operation mode from manual to automatic. A train control system characterized by switching the operation mode of the train to an automatic mode when receiving the request. In a train control system that controls trains in automatic or manual operation mode,
A monitoring device for monitoring the running direction of the train and / or various devices on the car, an on-board device, and a ground device,
The monitoring device
A monitoring device that monitors the running direction of the train and / or various devices on the train and outputs monitoring data,
The on-vehicle device
an on-board radio device that wirelessly communicates various information and commands with the ground device;
An on-board control system that receives various information and commands received from the ground equipment via the on-board radio equipment and controls the train for automatic operation or manual operation,
The ground equipment includes:
a ground radio device that wirelessly communicates various information and commands with the on-board device;
a driving command device that transmits a driving command or instruction to the on-board control system via the ground wireless device;
The on-board control system further includes:
an obstacle detection device that receives monitoring data from the monitoring device and detects from the monitoring data whether an object that hinders the running of the train and/or the presence or absence of failures in various devices on the train;
a monitor device that displays objects that hinder travel and/or failure data detected by the obstacle detection device,
When the obstacle monitoring device detects an object that hinders the running of the train and/or a failure of various devices on the train, the train receives an operation command or instruction from the operation command device of the ground equipment. A train control system characterized by switching the operation mode of the train to automatic operation or manual operation. In the train control system according to claim 1 or 2,
The monitoring device is
A camera for monitoring any one or more of the front, side, top, and bottom of the train, and / or sensors for monitoring various devices on the train,
The operation command device is
A command to switch the operation mode of the train from automatic to manual when the camera and/or sensor and obstacle/hinder detection device detect an object that hinders the running of the train and/or a failure of various equipment on the train. and issuing a command to stop the train when it is difficult for the train to run due to a failure of an object that hinders the running of the train and/or a failure of various devices on the train. In the train control system according to claim 3,
The operation command device is
A train control system, wherein after switching the operation mode of the train to manual operation, the train is remotely moved from the predetermined position when the train is stopped at a predetermined position. In the train control system according to claim 4,
The operation command device is
A train control system that remotely moves the train to a position outside the air section when the predetermined position is within the air section and the train stops within the air section. In the train control system according to claim 3,
The operation command device is
A train control system characterized in that after the operation mode is switched to manual operation, evacuation guidance announcements or instructions are given to tour conductors at the time of evacuation. In a train control system that controls trains in automatic or manual operation mode,
Equipped with a monitoring device, an on-board device, and a ground device,
The monitoring device
A monitoring device that monitors the running direction of the train and / or various devices on the train and outputs monitoring data,
The on-vehicle device
an on-board radio device that wirelessly communicates various information and commands with the ground device;
An on-board control device that receives various information and commands received from the ground device via the on-board radio device and controls the automatic or manual operation of the train,
The ground equipment includes:
a ground radio device that wirelessly communicates various information and commands with the on-board device;
an obstacle/impediment detection device that receives monitoring data from the monitoring device and detects from the monitoring data whether an object that hinders the running of the train and/or the presence or absence of failures in various devices on the train;
an operation command device that transmits an operation command or instruction to the train via the ground radio device based on the obstacle/hinder presence/absence result detected by the obstacle/hinder detection device;
A train control system that determines whether automatic operation can be continued or whether to switch to manual operation when an object that hinders the running of the train and / or a failure of various devices on the train is detected,
The monitoring device is
It consists of a camera that captures the running direction of the train and equipment sensors that detect failures of various equipment on the train,
The on-board control device includes:
A master controller, an automatic operation device, and an operation mode switching device that switches between the master controller and the automatic operation device, and in response to a command from the ground device, the manual operation mode by the master controller and the automatic operation mode by the automatic operation device It has a function to switch the automatic operation mode,
The ground control device further
Having a monitor device that displays monitoring data of the monitoring device that detects an obstacle or hindrance,
The obstacle/hinder detection device is
A train control system characterized by having an obstacle/failure presence/absence determination/judgment function for judging or judging presence/absence of an obstacle/hinder based on monitoring data of the monitoring device. In the train control system,
A surveillance camera installed on the ground and / or on the train to photograph the front and sides of the train and / or a sensor that detects failures of various devices on the train, an on-board device, and a ground device,
The on-vehicle device
An operation control device that receives an automatic operation command or a manual operation command and controls the train by automatic operation or manual operation;
an operation mode switching device that receives an operation mode switching command from the ground equipment and switches the operation mode of the operation control device to an automatic mode or a manual mode;
an on-board wireless device that receives the automatic driving command and the driving mode switching command from the ground device,
a monitoring device that receives camera images taken by the surveillance cameras and/or sensor data detected by the sensors, and detects the presence or absence of obstacles and/or train failures from the camera images and/or sensor data;
a driving command device that outputs the automatic driving command and the driving mode switching command;
a ground radio device that transmits the automatic driving command and the driving mode switching command to the on-vehicle radio device;
In the ground equipment, when the monitoring equipment detects obstacles and/or obstructions of the train,
In response to instructions from a train dispatcher from the train command device, a command is issued to switch the train operation mode from automatic to manual, and based on the monitoring data of the monitoring device, obstacles and hindrances are detected in running the train. If safety can be confirmed, the operation command device receives instructions from the operation commander and issues a command to switch the operation mode of the train from manual to automatic,
When the on-board control device receives a command to switch the operation mode from automatic to manual from the ground device, the on-board control device switches the operation mode of the train to the manual mode, and issues a command from the ground device to switch the operation mode from manual to automatic. A train control system characterized by switching the operation mode of the train to an automatic mode when receiving the request. A surveillance camera installed on the ground and / or on the train to photograph the front and sides of the train and / or a sensor that detects failures of various devices on the train, an on-board device, and a ground device,
The on-vehicle device
An operation control device that receives an automatic operation command or a manual operation command and controls the train by automatic operation or manual operation;
an operation mode switching device that receives an operation mode switching command from the ground equipment and switches the operation mode of the operation control device to an automatic mode or a manual mode;
an on-board wireless device that receives the automatic driving command and the driving mode switching command from the ground device,
a monitoring device that receives camera images taken by the surveillance cameras and/or sensor data detected by the sensors, and detects the presence or absence of obstacles and/or train failures from the camera images and/or sensor data;
a driving command device that outputs the automatic driving command and the driving mode switching command;
A ground radio device that transmits the automatic operation command and the driving mode switching command to the on-vehicle radio device,
In the train control system for determining whether automatic operation can be continued or whether to switch to manual operation when the monitoring device in the ground equipment detects an obstacle and/or a trouble with the train, the ground equipment further comprises:
a monitor device that, when the monitoring device detects an obstacle and/or a train obstruction, displays a camera image of a surveillance camera that has detected an obstacle and/or a train obstruction and/or monitor data of a monitor;
Equipped with a driving command device that switches the driving mode switching device of the on-board equipment from the automatic driving mode to the manual mode when safety can be confirmed based on the camera image and/or monitor data displayed on the monitoring device. A train control system characterized by: A surveillance camera installed on the ground and / or on the train to photograph the front and sides of the train and / or a sensor that detects failures of various devices on the train, an on-board device, and a ground device,
The on-vehicle device
An operation control device that receives an automatic operation command or a manual operation command and controls the train by automatic operation or manual operation;
an operation mode switching device that receives an operation mode switching command from the ground equipment and switches the operation mode of the operation control device to an automatic mode or a manual mode;
an on-board radio device that receives the automatic driving command and the driving mode switching command from the ground device;
The ground equipment includes:
a monitoring device that receives camera images taken by the surveillance cameras and/or sensor data detected by the sensors, and detects the presence or absence of obstacles and/or train failures from the camera images and/or sensor data;
a driving command device that outputs the automatic driving command and the driving mode switching command;
A ground radio device that transmits the automatic operation command and the driving mode switching command to the on-vehicle radio device,
In the train control system for determining whether automatic operation can be continued or whether to switch to manual operation when the monitoring device detects an obstacle and/or a train failure in the ground equipment,
The surveillance camera includes one or more of a front camera, a rear camera, a side camera, a wayside camera, a railroad crossing camera, a pantograph camera, and an in-vehicle camera,
The sensor includes one or more of an overhead wire inspection sensor, a trackside equipment inspection sensor, and a track inspection sensor,
The operation control device includes a master controller, an ATO device, a braking and driving control device,
The operation mode switching device comprises a switch for switching between the master controller and the ATO device,
The train control system, wherein the operation command device includes an ATO central system that outputs an operation command for commanding automatic operation, an operation control system that manages operation control information, and an operation command unit that commands operation. In the train control system,
A surveillance camera installed on the ground and / or on the train, capturing the front of the train and outputting camera images, an on-board device, and a ground device,
The on-board device
an on-vehicle radio device that receives an automatic driving command and an automatic driving command from the ground device;
an automatic driving device that receives the automatic driving command and outputs a braking/driving command;
a master controller that receives a manual operation command from a driver and outputs a braking/driving command;
an operation mode switching device that switches the operation mode to the master controller or the automatic operation device in accordance with an operation mode switching command;
a control device that receives the braking/driving command and controls the train;
The ground equipment includes:
a receiving device for receiving a camera image captured by the surveillance camera;
an obstacle detection device that receives a camera image of the surveillance camera and detects an obstacle based on the camera image;
a monitor device for monitoring camera images monitored by the obstacle detection device;
a ground radio device that transmits the operation mode switching command to the on-vehicle device when an obstacle is detected by the obstacle detection device;
The operation mode switching device is
A train control system characterized by determining whether automatic operation can be continued or whether to switch to manual operation when an obstacle is detected. In the train control system,
A surveillance camera installed on the ground and / or on the train, capturing the front of the train and outputting camera images, an on-board device, and a ground device,
The on-vehicle device
an on-vehicle radio device that receives an automatic driving command and an automatic driving command from the ground device;
an automatic driving device that receives the automatic driving command and outputs a braking/driving command;
a master controller that receives a manual operation command from a driver and outputs a braking/driving command;
an operation mode switching device that switches the operation mode of the operation control device to an automatic mode or a manual mode in accordance with an operation mode switching command;
A control device for controlling the train in response to the braking/driving command, and an on-board control system including
The ground equipment includes:
a receiving device for receiving a camera image captured by the surveillance camera;
a monitor device for monitoring camera images monitored by the obstacle monitoring device;
a ground control system including a ground wireless device that transmits the operation mode switching command to the on-board device when an obstacle is detected by the obstacle detection device;
The on-board control system further includes:
an obstacle detection device that receives a camera image of the surveillance camera and monitors and detects an object that hinders the running of the train based on the camera image;
a monitor device that displays an object that hinders travel detected by the obstacle detection device,
The operation mode switching device is
A train control system characterized in that, when an obstacle is detected by the obstacle detection device, it is determined whether automatic operation can be continued or whether the operation should be switched to manual operation. In the train control system according to claim 11 or 12,
The surveillance camera
A camera for monitoring one or more of the front, side, top, and bottom of the train,
The automatic driving device is
When the surveillance camera and the obstacle detection device detect an object that hinders the running of the train and/or a failure of various devices on the train, a command is issued to switch the operation mode of the train from automatic to manual, and the train a train control system that issues a command to stop the train when it is difficult for the train to run due to an object that hinders the running of the train and/or a failure of various on-board equipment. A train control system according to claim 13,
The automatic driving device is
A train control system, wherein after switching the operation mode of the train to manual operation, the train is remotely moved from the predetermined position when the train is stopped at a predetermined position. A train control system according to claim 13,
The automatic driving device is
A train control system that remotely moves the train to a position outside the air section when the predetermined position is within the air section and the train stops within the air section. In a train control system that controls trains in automatic or manual operation mode,
A monitoring device for monitoring the running direction of the train and / or various devices on the car, an on-board device, and a ground device,
The monitoring device
A monitoring device that monitors the running direction of the train and / or various devices on the train and outputs monitoring data,
The on-vehicle device
an on-board radio device that wirelessly communicates various information and commands with the ground device;
An on-board control system that receives various information and commands received from the ground equipment via the on-board radio equipment and controls the train for automatic operation or manual operation,
The ground equipment includes:
a ground control system that transmits ground operation commands or instructions to the on-board control system via the ground wireless device, for wirelessly communicating various information and commands with the on-board device; have
The on-board control system further includes:
an obstacle detection device that receives monitoring data from the monitoring device and detects from the monitoring data whether an object that hinders the running of the train and/or the presence or absence of failures in various devices on the train;
a monitor device that displays objects that hinder travel and/or failure data detected by the obstacle detection device,
A train control system that determines whether automatic operation can be continued or whether to switch to manual operation when the obstacle monitoring device detects an object that hinders the running of the train and/or a failure of various devices on the train. There is
The monitoring device is
It consists of a camera that captures the running direction of the train and equipment sensors that detect failures of various equipment on the train,
The on-board control device includes:
A master controller, an automatic operation device, and an operation mode switching device that switches between the master controller and the automatic operation device, and in response to a command from the ground device, the manual operation mode by the master controller and the automatic operation mode by the automatic operation device It has a function to switch the automatic operation mode,
The ground control device further
Having a monitor device that displays monitoring data of the monitoring device that detects an obstacle or hindrance,
The obstacle/hinder detection device is
A train control system characterized by having an obstacle/failure presence/absence determination/judgment function for judging or judging presence/absence of an obstacle/hinder based on monitoring data of the monitoring device.

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