JPH0519364B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention provides absolute address setting members that are installed at appropriate intervals on the running route of a train, and that absolute address setting members are installed on the train side from the absolute address setting members. This invention relates to a running control device for an electric train, which is provided with a reading means for reading the absolute address and a controller for controlling the running of the electric train based on a comparison result between the read absolute address and a set destination address.

(Prior Art and its Problems) Various methods can be considered for controlling the running of a train using the absolute addresses set on the running route as described above. For example, in the embodiment of the present invention described later, distance data for each address is created from the absolute address read by the address reading means on the train and the distance between each address setting member measured on the train, and this is When the destination is given, the total distance traveled is calculated based on the distance data, and this total distance traveled is compared with the actual distance measured by the encoder method to automatically bring the train to the desired stopping position. The vehicle is controlled to stop.

Furthermore, in a conventionally well-known method, the absolute address read by the address reading means on the train side is compared with the set destination address, and the train is automatically stopped at the location where they match or after traveling a certain distance from the location where they match. Control methods are also known.

In the travel control method described above, it is essential that the address reading from each absolute address setting member is performed normally, and if the absolute address given to the address setting member and the reading result are different, etc. If a reading error occurs, control will be performed according to the incorrectly read address, so normal control cannot be expected.

Previously, it was not possible for the train to determine that a reading error like the one described above had occurred.
It was not possible to prevent abnormalities such as the train not stopping at the set destination stop position.

(Means for Solving the Problems) The present invention proposes a travel control device that can solve the conventional problems as described above, and its features include: the controller, the absolute address setting member, and the like. a function of storing information on the order of absolute addresses given by the reading means; a function of comparing the order of reading absolute addresses of the reading means with the stored information to determine whether the order is correct; and when the order is incorrect. The present invention is characterized in that it has a function of making an emergency stop of the train, and the following.

(Operation of the invention) According to the above-mentioned control device of the present invention, the train itself can
From the information on the absolute address order (hereinafter referred to as MAP information), it is possible to know in what order the addresses on the travel route are arranged, for example, the next address after address 5 is address 6, and the one before it is address 4. Of course, the order of the addresses increases by 1 as described above (decreases by 1 in places where the train moves backward).
However, the order of addresses may change irregularly, for example, if the number of absolute address setting members is increased or decreased due to layout changes, or in places where the main line side and subline side diverge, etc. However, regardless of how the addresses are arranged, the train itself owns the arrangement order, that is, the MAP information.

When the train runs, the reading means will read addresses sequentially from each absolute address setting member that it passes, but the absolute address read is the next address after the absolute address read immediately before. If the order is not correct, it is a reading error and the train will be brought to an emergency stop.

As a result, it is possible to prevent further control from being performed based on an absolute address that has been read in error.

(Example) An example of the present invention will be described below based on the attached illustrative drawings.

In FIGS. 1 and 2, reference numeral 1 indicates a plurality of trains running on the same running route, and drive wheels 2
an inverter 4 for controlling the speed of the motor 3 that drives the
a pulse encoder 5 interlocked with the drive wheel 2;
It is provided with a photoelectric switch 6 for detecting a code plate, which constitutes address reading means together with the pulse encoder 5, a controller 7 consisting of a microcomputer, and a slave station 8 for multiplex signal transmission connected to the controller 7.

A slave station 8 for multiplex signal transmission of each train 1 connects a collector 10 to two signal lines 9 installed along the running route.
and is connected to a multiplex signal transmission master station 11 on the ground side via the two signal lines 9. 12 to the master station 11 for multiplexed signal transmission.
This is a sequencer connected via a communication means 13 such as RS232C. 14 is a host controller that gives commands to the sequencer 12, and 15 is a monitor display. Reference numeral 16 denotes a power supply power source, which supplies power to the motor 3 of each electric train 1 via a current collector 17 and an inverter 4.

An example of the layout of the traveling route of the electric train 1 is shown in FIG. As shown in FIG. 2, address code plates 18, which serve as address setting members and are detected by the code plate detection photoelectric switch 6, are installed at appropriate intervals along this travel route. Although not shown, each code plate 18 is configured to have a unique code number, and 1 to 23 shown in FIG. 2 are address numbers assigned to each code plate 18. . S1 to S10 indicate stopping positions determined during the travel route regardless of the code plate 18.

The running route is divided by each address code plate 18, and the address number unique to each address code plate 18 becomes the division zone number of each code 18 in the train running direction. Therefore, the layout of the entire driving route is
For example, the next address after 23 is number 1, the next one is number 22, the next one is number 3 or 4, the next one after number 9 is number 17, and so on. ) can be replaced with
This MAP information is created on the ground side. Each train 1 placed on the running route receives the MAP information from the ground side via the multiplex signal transmission master station 11, the signal line 9, and the multiplex signal transmission slave station 8, and stores it in the memory of the controller 7. Remember.

Once the MAP information is given to the train 1, the train 1 is run over the entire travel route, the distance between the code plates 18 for each address is measured, and the distance data for each address number (for each zone number) is obtained. Create and said
It is stored in the memory of the controller 7 together with the MAP information. This distance data is unique to the address code plate 18 by the function programmed in the controller 7, that is, by determining the detection signal of the photoelectric switch 6 based on the emitted pulse of the pulse encoder 5, as shown in FIG. address number reading function 19 for reading the address number, and address code board 1
The pulse encoder 5 starts counting the pulses sent by the pulse encoder 5 by reading the address number from the code plate 18 for the next address, and ends the counting by reading the address number from the code plate 18 for the next address. You can.

Further, the controller 7 is programmed with a reading address number check function, which will be explained next.
That is, when the train 1 is running, the address number reading function 19 sequentially reads the address numbers from each address code board 18 that it passes, and the address numbers read in this way are shown in the flowchart of FIG. It is compared with the MAP information held by the train 1, and it is determined whether the address number is outside the address number that should come next after the address number read last time. If the address number is correct, the current address number is updated to be replaced with the previously read address number stored as the current address number. Further, if the address number is not the next address number, it is assumed that there is a reading error and the train 1 is brought to an emergency stop at that spot.

The current address number (the location address of the train) stored as described above is sent from the multiplex signal transmission slave station 8 to the multiplex signal transmission master station 11 via the signal line 9 along with the device-specific code number unique to each train 1. Sent. Then, the master station 11 sends the information to the sequencer 12 via the communication means 13, and as a result, the sequencer 12
You can find out what zone the address is in.
Furthermore, if there is a request from the ground side, the distance measured by the code board distance measurement function 20, that is, the distance from the starting point of the address (zone) to which the train 1 belongs to the train 1, is sent to the train 1. The current detailed position information can be sent to the ground side via the multiplex signal transmission system. In this case, since the distance is processed by the number of pulses, it is desirable to convert it into units of mm and send it to the ground side, for example.

On the other hand, on the ground side, stop position data consisting of a combination of the address number (zone number) belonging to each stop position S1 to S10 and the distance from the address code plate 18 which is the starting point of the zone is created,
It is stored in the memory of the host controller 14. The distance from the address code plate 18 to the stop position is actually measured in mm and input.

Next, to specifically explain the running control method of the train 1, as shown in FIG. When the destination setting for the vehicle to travel to the stop position S3 in number 6) is performed, as shown in FIG. 1800mm] is searched, and this data is sent from the ground side to the train 1 to be controlled, which is stopped at the stop position S2, via the multiplex signal transmission system.

A total distance calculation function 23 is programmed in the controller 7 of the electric train 1, and the above-mentioned stop position S
3 data [6th address, 1800 mm], the distance 4L of the 4th address retrieved from the distance data 22 created and stored as described above, and the current position of the train 1 obtained from the code board distance measurement function 20 (the 4th address data). Based on the number of pulses corresponding to the distance 2200 mm from the starting point to the stop position S2) and the distance 5L of address 5, the total traveling distance TL from the stop position S2 to the stop position S3 =
4L - 2200 (mm) + 5L + 1800 (mm) is calculated.

Incidentally, since all internal processing including storage data is performed using pulse numbers, the distance value (1800 mm) given from the stop position data 21 is converted to the pulse number. The total travel distance TL calculated in this way is preset in the subtraction function 25 for calculating the remaining travel distance.

On the other hand, the controller 7 of each train 1 is provided with each speed value of high speed (conveyance speed), medium speed (turning and transfer speed), and low speed (positioning speed), acceleration and Deceleration is set.
Therefore, when the total travel distance TL is calculated as described above, the speed control position calculation function 24 programmed in the controller 7 calculates the speed control position calculation function 24 based on the preset travel speed condition and the total travel distance TL as described above. For example, the distance Ls from the destination stop position S3 to the deceleration start position shown in FIG. 6 is calculated.

The stop position S is transmitted from the upper controller 14 on the ground side to the sequencer 12 and the multiplex signal transmission system.
When a start command is given to the stopped train 1 at 2, the train 1 starts running. At the same time as the train 1 starts running, the total traveling distance TL preset in the subtraction function 25 is subtracted by the number of pulses sent from the pulse encoder 5, and the remaining traveling distance is calculated.
Lt is output. When the remaining travel distance Lt becomes equal to the calculated distance Ls, a predetermined deceleration and stop control is performed, and the train 1 finally reaches the destination stop position S3 at a predetermined low speed (positioning speed), and the train 1 reaches the destination stop position S3 at a predetermined low speed (positioning speed). It will automatically stop at S3. Of course, at this time, the remaining mileage Lt in the subtraction function 25
is zero or a value within the allowable error range.

The controller 7 controls the inverter 4 by a feedback method using pulses sent from the pulse encoder 5 so that the train 1 travels accurately under the travel speed conditions set as described above.

Further, the MAP information held in each train 1 can also be used in the following manner. That is, as shown in the flowchart of Fig. 8, when a destination command is received from the ground side, it is checked against the MAP information to determine whether the given destination stop position (address number) exists. By referring to the MAP information, the shortest travel route (a sequence of street address numbers to be passed) can be determined, and the total travel distance TL described above can be calculated according to this travel route. If there is no given destination stop position (address number), this fact can be transmitted to the ground side as a destination command error, and a new destination command can be made to wait.

(Effects of the Invention) As described above, according to the travel control device of the present invention,
To determine whether or not the unique address held by each address setting member matches the address actually read by a reading means on the train side from information on the order of addresses held in the train, that is, MAP information. is possible,
If the read address is incorrect, the train will be brought to an emergency stop on the spot, so it is possible to prevent accidents caused by control based on the wrong read address, and to take necessary measures for trains that have made an emergency stop. It is possible to quickly restore normal operating conditions by taking appropriate measures.

Furthermore, since the train can determine the shortest travel route according to a given destination by referring to the MAP information, it is also possible to reduce the load on the ground side.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram explaining the signal transmission system between the ground side control device and each train, Fig. 2 is a schematic diagram explaining the configuration of the train, and Fig. 3 is a diagram showing the layout of the running route. Figures 4 and 7 are block diagrams explaining the functions of the control device, Figures 5 and 8 are flowcharts explaining the control method, and Figure 6 is a diagram explaining specific sections in the travel route. be. 1... Train, 2... Driving wheels, 3... Motor,
4...Inverter, 5...Pulse encoder, 6
. . . Photoelectric switch for code plate detection, 7 . . . Controller, 8 . . . Slave station for multiple signal transmission, 9 . , 14... Upper controller, 16... Power supply line, 18... Address code plate (address setting member).

Claims (1)

[Scope of Claims] 1. Absolute address setting members 18 are installed at appropriate intervals on the running route of the train 1, and reading means 6, 19 are provided on the train 1 side for reading absolute addresses from the absolute address setting members 18. and a controller 7 that controls the running of the train 1 based on a comparison result between the read absolute address and the set destination address, the controller 7 having the absolute address. A function of storing information on the order of absolute addresses given by the setting member 18, and a function of comparing the order of absolute address reading by the reading means 6 and 19 with the stored information to determine whether or not the order is correct. A train running control device comprising: and a function of bringing the train 1 to an emergency stop when the order is incorrect.