JP2015035896A - On-vehicle device - Google Patents
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Abstract
Description
本発明は、車上子と地上子との電磁結合から地上子の位置情報を取得する車上装置に関し、特に、地上子の位置認定精度を向上しようとする車上装置に係るものである。 The present invention relates to an on-board apparatus that acquires position information of a ground element from electromagnetic coupling between the on-board element and the ground element, and more particularly to an on-board apparatus that attempts to improve the position recognition accuracy of the ground element.
従来の車上装置は、車上子と、レールに沿って所定の距離毎に設置され自己の位置情報を記憶する地上子との電磁結合により、地上子の位置情報を取得するようになっていた（例えば、特許文献１参照）。 The conventional on-board device acquires the position information of the ground element by electromagnetic coupling between the vehicle element and the ground element that is installed at a predetermined distance along the rail and stores its own position information. (For example, see Patent Document 1).
しかし、このような従来の車上装置においては、車上子と地上子との電磁結合の開始位置及び電磁結合の終了位置のいずれか一方を地上子の位置と認定していた。したがって、車上子と地上子との間の鉛直距離のばらつきや地上子の電磁波の出力のばらつき等により、車上子と地上子との電磁結合の開始位置又は電磁結合の終了位置が一定せず、地上子の位置を正しく認定することができない場合があった。そのため、車輪の円周長さ（以下「車輪径」という）を正確に計測することができず、列車の正確な走行距離を算出することができなかった。また、列車の正確な走行距離が算出できないため、列車の停止位置の正確な制御をすることもできなかった。 However, in such a conventional on-vehicle apparatus, either the start position of electromagnetic coupling between the vehicle upper element and the ground element or the end position of electromagnetic coupling is recognized as the position of the ground element. Therefore, the start position of electromagnetic coupling between the vehicle upper element and the ground element or the end position of electromagnetic coupling is made constant by variations in the vertical distance between the vehicle upper element and the ground element, variations in the electromagnetic wave output of the ground element, etc. In some cases, the position of the ground unit could not be recognized correctly. For this reason, the circumferential length of the wheel (hereinafter referred to as “wheel diameter”) cannot be measured accurately, and the exact travel distance of the train cannot be calculated. Moreover, since the exact travel distance of the train cannot be calculated, the train stop position cannot be accurately controlled.
そこで、本発明は、このような問題点に対処し、地上子の位置認定精度を向上しようする車上装置を提供することを目的とする。 SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an on-vehicle apparatus that addresses such problems and improves the accuracy of position determination of the ground unit.
上記目的を達成するために、本発明による車上装置は、列車の車両下部に設置された車上子と軌道上に設置された地上子との電磁結合の開始位置と終了位置との間の中点により前記地上子の中心位置を求め、該中心位置を前記地上子の位置と認定するものである。 In order to achieve the above object, an on-board device according to the present invention is provided between a start position and an end position of electromagnetic coupling between a vehicle upper element installed at a lower part of a train and a ground element installed on a track. The center position of the ground element is obtained from the midpoint, and the center position is recognized as the position of the ground element.
本発明によれば、車上子と地上子との電磁結合開始位置及び電磁結合終了位置間の中点により地上子の中心位置を求め、該中心位置を地上子の位置として認定するようにしているので、車上子と地上子との間の鉛直距離のばらつきや地上子の電磁波の出力のばらつき等があっても、地上子の位置認定精度を向上することができる。したがって、列車の走行中に車輪径を精度よく算出することができ、算出された車輪径により列車の走行距離及び走行速度を算出することができる。 According to the present invention, the center position of the ground element is obtained from the midpoint between the electromagnetic coupling start position and the electromagnetic coupling end position of the vehicle upper element and the ground element, and the center position is recognized as the position of the ground element. Therefore, even if there is a variation in the vertical distance between the vehicle upper element and the ground element, a variation in the output of electromagnetic waves from the ground element, etc., the position identification accuracy of the ground element can be improved. Therefore, the wheel diameter can be calculated with high accuracy while the train is traveling, and the traveling distance and traveling speed of the train can be calculated based on the calculated wheel diameter.
以下、本発明の実施形態を添付図面に基づいて詳細に説明する。図１は本発明による車上装置の実施形態の概略構成を示す正面図である。この車上装置は、車上子と地上子の電磁結合から地上子の位置情報を取得するもので、制御装置１と、車上子２と、速度発電機３とを備えて構成されている。 Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a front view showing a schematic configuration of an embodiment of an on-vehicle apparatus according to the present invention. This on-board device acquires the position information of the ground element from the electromagnetic coupling between the vehicle upper element and the ground element, and is configured to include a control device 1, an on-vehicle element 2, and a speed generator 3. .
上記制御装置１は、後述の車上子２と軌道４上に設置された後述の地上子５との電磁結合の開始位置と終了位置との間の中点により地上子５の中心位置を求め、該中心位置を地上子５の位置と認定し、軌道４に沿って設置された複数の上記地上子５にて、隣接する地上子５の両中心位置間で計測された列車の車軸の回転数と、予め設定して保存された隣接する上記地上子５間の設置距離とに基づいて列車の車輪６の円周長さ（車輪径）を算出する機能を有するものである。また、上記制御装置１は、算出された上記車輪径により列車の走行距離を演算する機能をも有している。なお、車輪６の円周長さの代わりに車輪６の直径（又は半径）を算出してもよい。本発明においては、車輪６の円周長さ及び直径を含めて「車輪径」と定義する。そして、以下の説明においては、「車輪径」が円周長さの場合について述べる。 The control device 1 obtains the center position of the ground unit 5 from the midpoint between the start position and the end position of the electromagnetic coupling between the below-described vehicle upper unit 2 and the later-described ground unit 5 installed on the track 4. The center position is recognized as the position of the ground element 5, and the rotation of the axle of the train measured between the center positions of the adjacent ground elements 5 by the plurality of ground elements 5 installed along the track 4. It has a function of calculating the circumferential length (wheel diameter) of the train wheel 6 based on the number and the installation distance between the adjacent ground elements 5 set and stored in advance. The control device 1 also has a function of calculating the travel distance of the train based on the calculated wheel diameter. Note that the diameter (or radius) of the wheel 6 may be calculated instead of the circumferential length of the wheel 6. In the present invention, the “wheel diameter” is defined including the circumferential length and diameter of the wheel 6. In the following description, the case where the “wheel diameter” is a circumferential length will be described.
上記制御装置１は、さらに、車上子２と地上子５との電磁結合の開始位置又は電磁結合の終了位置に基づいて検出された列車走行距離を上記地上子５の中心位置と電磁結合開始位置又は電磁結合終了位置との間の距離により補正する機能も有している。この場合、地上子５が互いに異なる間隔で設置された複数の自動列車運転装置（以下「ＡＴＯ（Automatic Train Operation）」という）地上子５であり、列車の走行方向に沿って隣接する上記ＡＴＯ地上子５の中心間距離を計測し、予め記憶された上記ＡＴＯ地上子５間の距離と比較して定点停止位置直前のＡＴＯ地上子５を検出し、該ＡＴＯ地上子５検出後の列車の上記補正された走行距離が予め定められた距離に合致すると列車を停止させるように列車の走行を自動制御する機能も備えている。 The control device 1 further determines the train travel distance detected based on the electromagnetic coupling start position or the electromagnetic coupling end position between the vehicle upper element 2 and the ground element 5 and the center position of the ground element 5 and the electromagnetic coupling start. It also has a function of correcting by the distance between the position and the electromagnetic coupling end position. In this case, the ground unit 5 is a plurality of automatic train operation devices (hereinafter referred to as “ATO (Automatic Train Operation)”) ground unit 5 installed at different intervals, and is adjacent to the above-mentioned ATO ground along the traveling direction of the train. The center-to-center distance of the child 5 is measured, and the ATO ground element 5 immediately before the fixed point stop position is detected in comparison with the distance between the ATO ground elements 5 stored in advance. When the corrected travel distance matches a predetermined distance, there is also a function of automatically controlling the travel of the train so that the train is stopped.
上記制御装置１に電気的に接続して車上子２が設けられている。この車上子２は、軌道４上に設置された地上子５と電磁結合して該地上子５との間で情報の送受信を行うものであり、軌道４面からの高さｈが予め定められた所定値となるように列車の車両７の下部に設置されている。 A vehicle upper element 2 is provided in electrical connection with the control device 1. The vehicle upper element 2 electromagnetically couples with the ground element 5 installed on the track 4 to transmit / receive information to / from the ground element 5, and the height h from the surface of the track 4 is determined in advance. It is installed in the lower part of the train vehicle 7 so that the predetermined value is obtained.
上記制御装置１に電気的に接続して速度発電機３が設けられている。この速度発電機３は、列車の車軸の回転数に応じたパルス信号を出力するもので、タコジェネレータと呼ばれるものである。そして、速度発電機３から出力されるパルス信号のパルス数のカウント値（以下、単に「パルス数」という）と、予め記憶された車輪径とに基づいて列車の走行距離及び走行速度が算出できるようになっている。 A speed generator 3 is provided in electrical connection with the control device 1. The speed generator 3 outputs a pulse signal corresponding to the number of revolutions of the train axle, and is called a tacho generator. The train travel distance and travel speed can be calculated based on the count value of the number of pulses of the pulse signal output from the speed generator 3 (hereinafter simply referred to as “number of pulses”) and the wheel diameter stored in advance. It is like that.
次に、このように構成された車上装置の動作について説明する。ここでは先ず、本発明の車上装置による地上子５の位置認定動作について図２を参照して説明する。
地上子５から放出される自己の位置情報等を含む電磁界は、図２に示すように、地上子５の中心位置を中心として断面略半円形の強度分布を有している。したがって、列車の走行中に車上子２によって、地上子５の電磁界が予め定められた所定の閾値を超えて検出されたタイミングを電磁結合開始位置として認定することができる。一方、上記地上子５の電磁界が検出される電磁結合状態から、上記所定の閾値を下回って電磁界が検出されなくなった電磁結合切れタイミングを電磁結合終了位置として認定することができる。
Next, the operation of the on-board device configured as described above will be described. Here, first, the position recognition operation | movement of the ground element 5 by the on-board apparatus of this invention is demonstrated with reference to FIG.
As shown in FIG. 2, the electromagnetic field including the position information of the self emitted from the ground unit 5 has an intensity distribution with a substantially semicircular cross section centered on the center position of the ground unit 5. Therefore, the timing at which the electromagnetic field of the ground element 5 is detected by the vehicle upper member 2 exceeding a predetermined threshold value during traveling of the train can be recognized as the electromagnetic coupling start position. On the other hand, from the electromagnetic coupling state in which the electromagnetic field of the ground unit 5 is detected, the electromagnetic coupling break timing at which the electromagnetic field is no longer detected below the predetermined threshold can be recognized as the electromagnetic coupling end position.
この場合、前述したように、例えば車上子２の取り付け精度の問題から、車上子２の軌道４面からの高さｈが予め定められた所定値からずれているとき、又は地上子５から放出される電界強度がばらついているときには、車上子２と地上子５との電磁結合開始位置及び電磁結合終了位置がずれることがある。したがって、従来のように、上記電磁結合開始位置又は電磁結合終了位置により地上子５の位置を認定する方法では、地上子５の位置を正確に認定することができない。なお、地上子５の軌道４面への設置高さ位置がばらついている場合にも同様の問題がある。 In this case, as described above, for example, when the height h of the vehicle upper member 2 from the track 4 surface is deviated from a predetermined value due to the mounting accuracy of the vehicle upper member 2, or the ground child 5 When the electric field intensity emitted from the vehicle varies, the electromagnetic coupling start position and the electromagnetic coupling end position between the vehicle upper element 2 and the ground element 5 may shift. Therefore, the conventional method for determining the position of the ground element 5 based on the electromagnetic coupling start position or the electromagnetic coupling end position cannot accurately determine the position of the ground element 5. The same problem arises when the installation height position of the ground element 5 on the surface of the track 4 varies.
これに対して、本発明の車上子２においては、先ず、車上子２と地上子５Ａとの電磁結合開始位置Ａにおいて取得された地上子５Ａの位置情報から地上子５Ａの位置を仮認定した後、列車が走行して車上子２が電磁結合終了位置Ｂに達するまでの走行距離を速度発電機３のパルス信号のパルス数ｂと記憶部から読みだした車輪径ＣＬとを用いてＣＬ×ｂを演算する。そして、地上子５Ａの位置を上記仮認定した電磁結合開始位置Ａに対してＣＬ×ｂ／２だけプラス補正する。これにより、地上子５の位置認定精度を向上することができる。なお、電磁結合終了位置Ｂにより地上子５Ａの位置を仮認定してもよい。この場合は、地上子５Ａの位置を上記仮認定した電磁結合終了位置Ｂに対してＣＬ×ｂ／２だけマイナス補正すればよい。 In contrast, in the vehicle upper element 2 of the present invention, first, the position of the ground child 5A is temporarily determined from the position information of the ground child 5A acquired at the electromagnetic coupling start position A between the vehicle upper element 2 and the ground child 5A. After the certification, the travel distance from when the train travels until the vehicle upper 2 reaches the electromagnetic coupling end position B is determined using the pulse number b of the pulse signal of the speed generator 3 and the wheel diameter CL read from the storage unit. To calculate CL × b. Then, the position of the ground element 5A is positively corrected by CL × b / 2 with respect to the provisionally certified electromagnetic coupling start position A. Thereby, the position recognition accuracy of the ground unit 5 can be improved. Note that the position of the ground element 5A may be provisionally recognized by the electromagnetic coupling end position B. In this case, the position of the ground element 5A may be negatively corrected by CL × b / 2 with respect to the temporarily recognized electromagnetic coupling end position B.
次に、本発明の車上装置による車輪径の算出動作について説明する。
列車の車輪６は走行中のレールとの摩擦により摩耗し、車輪径が経時的に変化する。したがって、車輪６の摩耗により変化する車輪径を適宜補正しないと、列車の走行距離及び列車の走行速度に計測誤差が生じ、重大な事故を招くおそれがある。そこで、本発明の車上装置においては、軌道４に沿って設置された複数の地上子５にて、隣接する地上子５Ａ，５Ｂの中心位置間で計測された列車の車軸の回転数と、予め設定して保存された隣接する地上子５Ａ，５Ｂ間の設置距離（中心間距離）とに基づいて列車の車輪径を算出するようになっている。以下に、車輪径の算出動作について詳細に説明する。
Next, the wheel diameter calculating operation by the on-board device of the present invention will be described.
The wheels 6 of the train are worn by friction with the running rail, and the wheel diameter changes with time. Therefore, if the wheel diameter that changes due to the wear of the wheels 6 is not corrected as appropriate, measurement errors may occur in the travel distance of the train and the travel speed of the train, which may cause a serious accident. Therefore, in the on-vehicle apparatus of the present invention, the number of rotations of the train axle measured between the center positions of the adjacent ground elements 5A and 5B in the plurality of ground elements 5 installed along the track 4, The wheel diameter of the train is calculated based on the installation distance (center-to-center distance) between the adjacent ground elements 5A and 5B that are set and stored in advance. Below, the calculation operation | movement of a wheel diameter is demonstrated in detail.
隣接する地上子５Ａ，５Ｂ間の距離を、車上子２と地上子５Ａとの電磁結合終了位置Ｂ及び地上子５Ｂとの電磁結合終了位置Ｄ間における速度発電機３のパルス信号のパルス数ａ、又は地上子５Ａとの電磁結合開始位置Ａ及び地上子５Ｂとの電磁結合開始位置Ｃ間における速度発電機３のパルス信号のパルス数に基づいて計測した場合には、前述したように、車上子２の取り付け高さ位置のばらつきや地上子５の電界強度のばらつき等により計測距離に誤差が生じることがある。したがって、上記パルス信号のパルス数ａと予めメモリに記憶された上記隣接する地上子５Ａ，５Ｂ間の距離Ｌとに基づいて車輪径を演算したときには、車輪径の演算結果に誤差が生じることになる。 The distance between the adjacent ground elements 5A and 5B is defined as the number of pulses of the pulse signal of the speed generator 3 between the electromagnetic coupling end position B between the vehicle upper element 2 and the ground element 5A and the electromagnetic coupling end position D between the ground element 5B. a, or when measured based on the number of pulses of the pulse signal of the speed generator 3 between the electromagnetic coupling start position A with the ground element 5A and the electromagnetic coupling start position C with the ground element 5B, as described above, An error may occur in the measurement distance due to variations in the mounting height position of the vehicle upper element 2 and variations in the electric field strength of the ground element 5. Therefore, when the wheel diameter is calculated based on the pulse number a of the pulse signal and the distance L between the adjacent ground elements 5A and 5B stored in the memory in advance, an error occurs in the calculation result of the wheel diameter. Become.
そこで、本発明の車上装置においては、車上子２と地上子５Ａとの電磁結合開始位置Ａから電磁結合終了位置Ｂまでの速度発電機３のパルス信号のパルス数ｂ、車上子２と地上子５Ａとの電磁結合終了位置Ｂから地上子５Ｂとの電磁結合開始位置Ｃまでの上記パルス信号のパルス数ｃ、及び車上子２と地上子５Ｂとの電磁結合開始位置Ｃから電磁結合終了位置Ｄまでの上記パルス信号のパルス数ｄにより、ｃ＋（ｂ＋ｄ）／２を演算して地上子５Ａの中心位置Ｍと地上子５Ｂの中心位置Ｎとの間における速度発電機３のパルス信号のパルス数を算出する。 Therefore, in the on-board device of the present invention, the number b of pulses of the pulse signal of the speed generator 3 from the electromagnetic coupling start position A to the electromagnetic coupling end position B between the vehicle upper 2 and the ground element 5A, the vehicle upper 2 From the electromagnetic coupling end position B of the ground element 5A to the electromagnetic coupling start position C of the ground element 5B, and from the electromagnetic coupling start position C of the vehicle element 2 and the ground element 5B. The pulse of the speed generator 3 between the center position M of the ground element 5A and the center position N of the ground element 5B is calculated by calculating c + (b + d) / 2 based on the pulse number d of the pulse signal up to the coupling end position D. Calculate the number of pulses of the signal.
この場合、求める車輪径をＣＬとすると、隣接する地上子５Ａ，５Ｂ間の距離はＣＬ×｛ｃ＋（ｂ＋ｄ）／２｝で表され、予めメモリに記憶された上記隣接する地上子５Ａ，５Ｂ間の距離Ｌに一致する。したがって、正しい車輪径ＣＬは、ＣＬ＝Ｌ／｛ｃ＋（ｂ＋ｄ）／２｝を演算して求めることができる。それ故、予め記憶部に記憶された車輪径は、以降、上記算出された正しい車輪径ＣＬに置き換えられて記憶される。そして、地上子５Ｂの中心位置Ｎを基準とする列車走行距離は、以後、上記算出された正しい車輪径ＣＬと速度発電機３のパルス信号のパルス数とに基づいて算出される。なお、地上子５Ｂの中心位置Ｎは、電磁結合開始位置Ｃ又は電磁結合終了位置Ｄに対してＣＬ×ｄ／２だけ補正された位置に相当する。また、算出された正しい車輪径ＣＬに基づいて列車の走行速度も算出することができる。 In this case, if the desired wheel diameter is CL, the distance between the adjacent ground elements 5A and 5B is represented by CL × {c + (b + d) / 2}, and the adjacent ground elements 5A and 5B stored in the memory in advance. It corresponds to the distance L between. Therefore, the correct wheel diameter CL can be obtained by calculating CL = L / {c + (b + d) / 2}. Therefore, the wheel diameter stored in the storage unit in advance is stored after being replaced with the calculated correct wheel diameter CL. The train travel distance based on the center position N of the ground element 5B is then calculated based on the calculated correct wheel diameter CL and the number of pulses of the pulse signal of the speed generator 3. The center position N of the ground element 5B corresponds to a position corrected by CL × d / 2 with respect to the electromagnetic coupling start position C or the electromagnetic coupling end position D. Further, the traveling speed of the train can be calculated based on the calculated correct wheel diameter CL.
本発明の車上装置は、上述したように地上子５の位置認定精度を向上することができ、また列車走行中に正しい車輪径を算出して列車の走行距離を補正することができる特徴を有しているので、該特徴を利用して列車の定点停止位置精度の向上を図ることもできる。 As described above, the on-board device of the present invention can improve the accuracy of position determination of the ground element 5 and can calculate the correct wheel diameter and correct the travel distance of the train during train travel. Therefore, it is possible to improve the fixed point stop position accuracy of the train using this feature.
以下、列車の定点停止位置精度の向上について図３を参照して説明する。
地上子５が互いに異なる間隔Ｌ１，Ｌ２，Ｌ３で設置された複数のＡＴＯ地上子５Ａ，５Ｂ，５Ｃ，５Ｄであるとき、列車が走行中に、車上子２とＡＴＯ地上子５Ａとの電磁結合開始位置Ａ及び電磁結合終了位置Ｂを検出し、ＡＢ間における速度発電機３のパルス信号のパルス数を求める。
Hereinafter, improvement of the fixed point stop position accuracy of the train will be described with reference to FIG.
When the ground element 5 is a plurality of ATO ground elements 5A, 5B, 5C, 5D installed at different intervals L 1 , L 2 , L 3 , while the train is running, the vehicle upper element 2 and the ATO ground element 5A The electromagnetic coupling start position A and the electromagnetic coupling end position B are detected, and the number of pulses of the pulse signal of the speed generator 3 between AB is obtained.
また、車上子２と地上子５Ａとの電磁結合終了位置Ｂ及び車上子２と地上子５Ｂとの電磁結合開始位置Ｃを検出し、ＢＣ間における速度発電機３のパルス信号のパルス数を求める。 Further, the electromagnetic coupling end position B between the vehicle upper element 2 and the ground element 5A and the electromagnetic coupling start position C between the vehicle upper element 2 and the ground element 5B are detected, and the number of pulses of the pulse signal of the speed generator 3 between BC. Ask for.
さらに、車上子２とＡＴＯ地上子５Ｂとの電磁結合開始位置Ｃ及び電磁結合終了位置Ｄを検出し、ＣＤ間における速度発電機３のパルス信号のパルス数を求める。そして、前述と同様にして、上記求めた各区間のパルス信号のパルス数に基づいてＡＴＯ地上子５Ａの中心位置ＭとＡＴＯ地上子５Ｂの中心位置Ｎとの間における速度発電機３のパルス信号のパルス数を算出し、該パルス数で予め記憶されたＭＮ区間の距離Ｌ１を除算して車輪径ＣＬを求める。 Further, the electromagnetic coupling start position C and electromagnetic coupling end position D between the vehicle upper element 2 and the ATO ground element 5B are detected, and the number of pulses of the pulse signal of the speed generator 3 between the CDs is obtained. Then, in the same manner as described above, the pulse signal of the speed generator 3 between the center position M of the ATO ground element 5A and the center position N of the ATO ground element 5B based on the pulse number of the pulse signal of each section obtained as described above. of calculating the number of pulses to determine the wheel diameter CL by dividing the distance L 1 of prestored MN interval in the pulse number.
次に、前述と同様にして、地上子５Ｂの中心位置Ｎと地上子５Ｃの中心位置Ｏとの間における速度発電機３のパルス信号のパルス数を求め、該パルス数に上記算出された車輪径ＣＬを乗算してＮＯ区間の距離を算出する。そして、該距離が予め記憶された距離Ｌ２と一致したとき、ＡＴＯ地上子５Ｃを定点停止位置直前のＡＴＯ地上子と認定する。 Next, in the same manner as described above, the number of pulses of the pulse signal of the speed generator 3 between the center position N of the ground element 5B and the center position O of the ground element 5C is obtained, and the calculated wheel is calculated as the number of pulses. The distance of the NO section is calculated by multiplying the diameter CL. Then, if they match the distance L 2 which the distance is stored in advance, to certify ATO balise 5C and ATO balise fixed point stop position immediately before.
続いて、前述と同様にして、定点停止位置直前のＡＴＯ地上子５Ｃの中心位置Ｏを検出してから後の速度発電機３のパルス信号のパルス数に上記算出された車輪径ＣＬを乗算して列車の走行距離を演算し、該走行距離がＬ３となったときに列車を停止させる。これにより、列車は、車上子２が定点停止位置におけるＡＴＯ地上子５Ｄの中心位置Ｐに合致して定点停止する。したがって、本発明によれば、上述のようにして、列車の定点停止位置精度を向上することができる。 Subsequently, in the same manner as described above, after the center position O of the ATO ground element 5C immediately before the fixed point stop position is detected, the number of pulses of the pulse signal of the subsequent speed generator 3 is multiplied by the calculated wheel diameter CL. It calculates the travel distance of the train Te, stopping the train when the running distance becomes L 3. As a result, the train stops at a fixed point when the vehicle upper part 2 matches the center position P of the ATO ground element 5D at the fixed point stop position. Therefore, according to the present invention, the fixed point stop position accuracy of the train can be improved as described above.
１…制御装置
２…車上子
３…速度発電機
４…軌道
５，５Ａ〜５Ｄ…地上子
６…車輪
７…車両
DESCRIPTION OF SYMBOLS 1 ... Control apparatus 2 ... Car upper part 3 ... Speed generator 4 ... Track 5, 5A-5D ... Ground element 6 ... Wheel 7 ... Vehicle
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Citations (4)
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|---|---|---|---|---|
| JPS54144605A (en) * | 1978-04-28 | 1979-11-12 | Nippon Signal Co Ltd:The | Position detecting information processor |
| JPH0767204A (en) * | 1993-08-27 | 1995-03-10 | Matsushita Electric Ind Co Ltd | Ats speed check system |
| JPH08340607A (en) * | 1995-06-09 | 1996-12-24 | Toshiba Corp | Operation support system for electric vehicle |
| JP2011061975A (en) * | 2009-09-10 | 2011-03-24 | Toshiba Corp | Home position stop control device and home position stopping support device of vehicle |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54144605A (en) * | 1978-04-28 | 1979-11-12 | Nippon Signal Co Ltd:The | Position detecting information processor |
| JPH0767204A (en) * | 1993-08-27 | 1995-03-10 | Matsushita Electric Ind Co Ltd | Ats speed check system |
| JPH08340607A (en) * | 1995-06-09 | 1996-12-24 | Toshiba Corp | Operation support system for electric vehicle |
| JP2011061975A (en) * | 2009-09-10 | 2011-03-24 | Toshiba Corp | Home position stop control device and home position stopping support device of vehicle |
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