JP2017081257A - Moving body position detection system - Google Patents
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Abstract
Description
本発明は、所定のルート上における移動体の位置（より具体的には、存在区間）を検出する移動体位置検出システムに関し、特に、移動体が前記ルート上を走行していない状態においても当該移動体の前記ルート上における存在区間を検出することのできる移動体位置検出システムに関する。 The present invention relates to a mobile body position detection system that detects the position (more specifically, the existence section) of a mobile body on a predetermined route, and in particular, even when the mobile body is not traveling on the route. The present invention relates to a moving body position detection system capable of detecting an existing section of a moving body on the route.
移動体位置検出システムの一例として、速度発電機（ＴＧ）式列車位置検出システムが知られている。このＴＧ式列車位置検出システムの多くは、地上子の設置位置と列車の車軸に接続された速度発電機（タコジェネレータ：ＴＧ）の出力信号とに基づいて列車の位置を検知するようにしている。しかし、前記ＴＧ式列車位置検出システムは、前記列車が走行して前記地上子を通過しなければ、前記列車の位置を検出することはできない。 A speed generator (TG) type train position detection system is known as an example of a moving body position detection system. Many of the TG type train position detection systems detect the position of the train based on the installation position of the ground element and the output signal of the speed generator (tacho generator: TG) connected to the train axle. . However, the TG type train position detection system cannot detect the position of the train unless the train travels and passes through the ground element.
一方、特許文献１に記載された無線測距式列車位置検出システムは、列車に搭載された車上無線機と地上に設けられた地上無線機との間の無線伝播時間に基づいて列車の位置を検知している。このため、無線測距式列車位置検出システムは、列車が走行しなくても当該列車の位置を検出することが可能である。 On the other hand, the radio ranging train position detection system described in Patent Document 1 is based on the position of the train based on the radio propagation time between the on-board radio mounted on the train and the ground radio installed on the ground. Is detected. For this reason, the radio ranging train position detection system can detect the position of the train even if the train does not travel.
しかし、一般に、汎用の無線機は無線測距機能を有していないため、前記無線測距式列車位置検出システムを構築するためには、無線測距機能を有した専用の無線機が必要となる。このため、無線機のコストが高くならざるを得ず、また、使用する無線周波数などを変更する必要が生じた場合に、その対応が容易ではないという課題がある。 However, in general, a general-purpose wireless device does not have a wireless distance measuring function, and thus a dedicated wireless device having a wireless distance measuring function is required to construct the wireless distance measuring train position detection system. Become. For this reason, there is a problem that the cost of the radio device is inevitably high, and when it is necessary to change the radio frequency to be used, it is not easy to cope with it.
そこで、本発明は、無線測距機能を有した専用の無線機を必要とせず、列車等の移動体が走行しなくても当該移動体の位置を検出することができ、かつ、使用する無線周波数などの変更にも比較的容易に対応することのできる移動体位置検出システムを提供することを目的とする。 Therefore, the present invention does not require a dedicated wireless device having a wireless distance measuring function, can detect the position of the moving body even when the moving body such as a train does not travel, and is used. An object of the present invention is to provide a moving body position detection system that can cope with changes in frequency and the like relatively easily.
本発明の一側面によると、移動体位置検出システムは、所定のルートを走行可能な移動体に搭載された移動体無線機と、前記ルートに沿って間隔を開けて配置された複数の固定無線機と、前記複数の固定無線機から送信された無線信号の前記移動体無線機による受信レベル又は前記移動体無線機から送信された無線信号の前記複数の固定無線機による受信レベルに基づいて、前記ルートにおける前記移動体の存在区間を検出する存在区間検出部と、を含む。 According to one aspect of the present invention, a mobile body position detection system includes a mobile radio device mounted on a mobile body capable of traveling on a predetermined route, and a plurality of fixed radio devices arranged at intervals along the route. And the reception level by the mobile radio of the radio signal transmitted from the plurality of fixed radios or the reception level by the plurality of fixed radios of the radio signal transmitted from the mobile radio, An existing section detecting unit that detects an existing section of the moving body in the route.
前記移動体検出システムにおいて、前記存在区間検出部は、前記複数の固定無線機から送信された無線信号の前記移動体無線機による受信レベル又は前記移動体無線機から送信された無線信号の前記複数の固定無線機による受信レベルに基づいて、前記ルートにおける前記移動体の存在区間を検出する。このため、前記移動体検出システムは、前記移動体が前記ルート上を走行しなくても、前記移動体無線機と前記複数の固定無線機との間で無線通信が行われることにより、前記ルートにおける前記移動体の存在区間を検出することが可能である。また、前記移動体無線機及び前記複数の固定無線機として無線測距機能を有しない汎用の無線機を用いることが可能であり、使用する無線周波数の変更等への対応も比較的容易に行える。 In the mobile object detection system, the existence section detection unit includes a reception level of the wireless signal transmitted from the plurality of fixed wireless devices by the mobile wireless device or the plurality of wireless signals transmitted from the mobile wireless device. Based on the reception level of the fixed wireless device, the existence section of the moving body in the route is detected. For this reason, the mobile body detection system performs the wireless communication between the mobile body radio and the plurality of fixed radios even when the mobile body does not travel on the route, thereby It is possible to detect the existing section of the moving body at. Moreover, it is possible to use a general-purpose radio that does not have a radio ranging function as the mobile radio and the plurality of fixed radios, and it is relatively easy to cope with a change in radio frequency to be used. .
以下、添付図面を参照して本発明の実施形態について説明する。図１は、本発明の第１実施形態に係る移動体位置検出システムの概略構成を示している。第１実施形態に係る移動体位置検出システム１は、所定のルートＲにおける移動体２の位置（存在区間）を検出する。図１に示すように、移動体位置検出システム１は、ルートＲに沿って配置された複数の固定無線機ＷＲＳ１〜ＷＲＳｎと、複数の固定無線機ＷＲＳ１〜ＷＲＳｎに接続された第１処理装置３と、ルートＲを走行可能な移動体２に搭載された移動体無線機ＶＲＳと、移動体２に搭載されて移動体無線機ＶＲＳに接続された第２処理装置４と、を含む。 Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 shows a schematic configuration of a moving body position detection system according to the first embodiment of the present invention. The mobile body position detection system 1 according to the first embodiment detects the position (existing section) of the mobile body 2 in a predetermined route R. As shown in FIG. 1, the moving body position detection system 1 includes a plurality of fixed wireless devices WRS1 to WRSn arranged along a route R, and a first processing device 3 connected to the plurality of fixed wireless devices WRS1 to WRSn. And a mobile radio device VRS mounted on the mobile body 2 capable of traveling on the route R, and a second processing device 4 mounted on the mobile body 2 and connected to the mobile radio device VRS.
複数の固定無線機ＷＲＳ１〜ＷＲＳｎは、互いに間隔（例えば１００〜１０００ｍ）をあけて配置されている。本実施形態において、複数の固定無線機ＷＲＳ１〜ＷＲＳｎは、ルートＲの一側方に配置されている。但し、これに限るものではなく、複数の固定無線機ＷＲＳ１〜ＷＲＳｎは、ルートＲの一側方と他側方とに（例えば、交互に）配置されてもよい。 The plurality of fixed wireless devices WRS1 to WRSn are arranged with an interval (for example, 100 to 1000 m) from each other. In the present embodiment, the plurality of fixed wireless devices WRS1 to WRSn are arranged on one side of the route R. However, the present invention is not limited to this, and the plurality of fixed wireless devices WRS1 to WRSn may be arranged on one side and the other side of the route R (for example, alternately).
複数の固定無線機ＷＲＳ１〜ＷＲＳｎのそれぞれは、あらかじめ設定された無線チャンネルを使用して移動体無線機ＶＲＳとの間で通信を行うことが可能である。また、本実施形態において、複数の固定無線機ＷＲＳ１〜ＷＲＳｎのそれぞれは、自身に設定された無線チャンネルを使用して、一定周期（例えば、１００ｍｓ）で自身の識別情報を含む無線信号（例えば、ビーコン信号）を送信するように構成されている。さらに、複数の固定無線機ＷＲＳ１〜ＷＲＳｎは、移動体無線機ＶＲＳから無線送信された情報又は信号を受信すると、受信した情報又は信号を第１処理装置３に出力するように構成されている。 Each of the plurality of fixed radio devices WRS1 to WRSn can communicate with the mobile radio device VRS using a preset radio channel. Further, in the present embodiment, each of the plurality of fixed wireless devices WRS1 to WRSn uses a wireless channel set to itself, and uses a wireless signal including its own identification information (for example, 100 ms) at a certain period (for example, 100 ms). Beacon signal). Further, the plurality of fixed wireless devices WRS1 to WRSn are configured to output the received information or signal to the first processing device 3 when receiving the information or signal wirelessly transmitted from the mobile wireless device VRS.
本実施形態において、複数の固定無線機ＷＲＳ１〜ＷＲＳｎにおける隣り合う固定無線機にはそれぞれ異なる無線チャンネルが設定されている。二つの無線チャンネルが交互に用いられてもよいが、好ましくは、三つ以上の無線チャンネルが使用される。各固定無線機に設定される無線チャンネルは、特に制限されないが、本実施形態においては、固定無線機ＷＲＳ１、ＷＲＳ５、ＷＲＳ９・・・には無線チャンネル「ＣＨ１」が設定され、固定無線機ＷＲＳ２、ＷＲＳ６、ＷＲＳ１０・・・には無線チャンネル「ＣＨ２」が設定され、固定無線機ＷＲＳ３、ＷＲＳ７、ＷＲＳ１１・・・には無線チャンネル「ＣＨ３」が設定され、固定無線機ＷＲＳ４、ＷＲＳ８、ＷＲＳ１２・・・には無線チャンネル「ＣＨ４」が設定されている。 In the present embodiment, different wireless channels are set in adjacent fixed wireless devices in the plurality of fixed wireless devices WRS1 to WRSn. Two radio channels may be used alternately, but preferably three or more radio channels are used. The radio channel set for each fixed radio is not particularly limited, but in the present embodiment, the radio channels “CH1” are set for the fixed radios WRS1, WRS5, WRS9,. The radio channel “CH2” is set for WRS6, WRS10..., And the radio channel “CH3” is set for the fixed radios WRS3, WRS7, WRS11..., And the fixed radios WRS4, WRS8, WRS12. Is set with a wireless channel “CH4”.
移動体無線機ＶＲＳは、移動体２の前部に配置された前部無線機ＶＲＳｆと、移動体２の後部に配置された後部無線機ＶＲＳｒと、を含む。前部無線機ＶＲＳｆのアンテナは、移動体２の前方、好ましくは、それよりも複数の固定無線機ＷＲＳ１〜ＷＲＳｎ寄りに傾斜した斜め前方に指向性を有するように配置され、後部無線機ＶＲＳｒのアンテナは、移動体２の後方、好ましくは、それよりも複数の固定無線機ＷＲＳ１〜ＷＲＳｎ寄りに傾斜した斜め後方に指向性を有するように配置されている。但し、これに限るものではなく、前部無線機ＶＲＳｆのアンテナ及び／又は後部無線機ＶＲＳｒのアンテナは、いわゆる全方向性アンテナであってもよい。 The mobile radio device VRS includes a front radio device VRSf disposed at the front portion of the mobile body 2 and a rear radio device VRSr disposed at the rear portion of the mobile body 2. The antenna of the front radio unit VRSf is arranged so as to have directivity in front of the mobile unit 2, preferably diagonally forward inclined toward the plurality of fixed radio units WRS1 to WRSn, and the rear radio unit VRSr The antenna is arranged so as to have directivity behind the moving body 2, preferably obliquely behind the plurality of fixed wireless devices WRS1 to WRSn. However, the present invention is not limited to this, and the antenna of the front radio unit VRSf and / or the antenna of the rear radio unit VRSr may be a so-called omnidirectional antenna.
前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒは、使用する無線チャンネルを切り替えることにより、複数の無線チャンネルの無線信号を受信すること及び複数の無線チャンネルを使用して無線信号を送信することが可能に構成されている。 The front radio unit VRSf and the rear radio unit VRSr can receive radio signals of a plurality of radio channels and transmit radio signals using a plurality of radio channels by switching radio channels to be used. It is configured.
また、本実施形態において、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒは、電源が投入されると、複数の固定無線機ＷＲＳ１〜ＷＲＳｎのそれぞれから送信される前記無線信号（前記ビーコン信号）を受信するためのスキャン処理を行うように構成されている。具体的には、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒは、電源が投入されると、所定周期毎に、使用する無線チャンネルをＣＨ１〜ＣＨ４に順次切り替えて複数の固定無線機ＷＲＳ１〜ＷＲＳｎのそれぞれから送信される前記無線信号の受信を待つように構成されている。ここで、前記所定周期は、任意に設定され得るが、好ましくは、複数の固定無線機ＷＲＳ１〜ＷＲＳｎによる前記無線信号の送信周期、すなわち、前記一定周期（例えば１００ｍｓ）よりも長い周期（例えば、１５０ｍｓ）に設定される。 In the present embodiment, the front radio unit VRSf and the rear radio unit VRSr receive the radio signal (the beacon signal) transmitted from each of the plurality of fixed radio units WRS1 to WRSn when the power is turned on. It is comprised so that the scanning process for performing may be performed. Specifically, when power is turned on, the front radio unit VRSf and the rear radio unit VRSr sequentially switch the radio channel to be used to CH1 to CH4 for each predetermined period, and thereby change the plurality of fixed radio units WRS1 to WRSn. It is configured to wait for reception of the radio signal transmitted from each. Here, the predetermined period can be arbitrarily set, but preferably, the transmission period of the wireless signal by a plurality of fixed wireless devices WRS1 to WRSn, that is, a period (for example, a period longer than the fixed period (for example, 100 ms)) 150 ms).
例えば、前部無線機ＶＲＳｆ及び前記後部無線機ＶＲＳｒは、電源が投入されると、時刻０〜１５０ｍｓの間、無線チャンネルを「ＣＨ１」に設定しての前記無線信号の受信を待ち、時刻１５０〜３００ｍｓの間、無線チャンネルを「ＣＨ２」に設定しての前記無線信号の受信を待ち、時刻３００〜４５０ｍｓの間、無線チャンネルを「ＣＨ３」に設定しての前記無線信号の受信を待ち、時刻４５０〜６００ｍｓの間、無線チャンネルを「ＣＨ４」に設定して前記無線信号の受信を待つ。 For example, when power is turned on, the front radio unit VRSf and the rear radio unit VRSr wait for reception of the radio signal with the radio channel set to “CH1” between time 0 and 150 ms, and at time 150 Wait for reception of the radio signal with the radio channel set to “CH2” for ˜300 ms, wait for reception of the radio signal with the radio channel set to “CH3” for time 300 to 450 ms, Between time 450 and 600 ms, the wireless channel is set to “CH4” and reception of the wireless signal is awaited.
そして、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒは、前記スキャン処理において複数の固定無線機ＷＲＳ１〜ＷＲＳｎから送信された前記無線信号を受信すると、受信した前記無線信号を第２処理装置４に出力する。ここで、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒは、前記スキャン処理を複数回実行してもよい。この場合、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒは、前記スキャン処理を実行する毎に、各無線チャンネルでの受信待ち時間を変更したり、無線チャンネルの設定順序を変更したりしてもよい。 Then, when the front radio unit VRSf and the rear radio unit VRSr receive the radio signals transmitted from the plurality of fixed radio units WRS1 to WRSn in the scan process, the received radio signals are output to the second processing device 4. To do. Here, the front radio unit VRSf and the rear radio unit VRSr may execute the scan process a plurality of times. In this case, the front radio unit VRSf and the rear radio unit VRSr may change the reception waiting time in each radio channel or change the setting order of the radio channels every time the scan process is executed. .
第２処理装置４は、複数の固定無線機ＷＲＳ１〜ＷＲＳｎの位置を記憶している。第２処理装置４は、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒから前記無線信号を入力すると、入力した前記無線信号の受信レベルを検知すると共に入力した前記無線信号から前記識別情報を抽出して、これらを関連付けて記憶する。 The second processing device 4 stores the positions of the plurality of fixed wireless devices WRS1 to WRSn. When receiving the radio signal from the front radio unit VRSf and the rear radio unit VRSr, the second processing device 4 detects a reception level of the input radio signal and extracts the identification information from the input radio signal. These are stored in association with each other.
その後、第２処理装置４は、前部無線機ＶＲＳｆから入力した前記無線信号、つまり、前部無線機ＶＲＳｆが受信した前記無線信号のそれぞれの受信レベルを比較し、前部無線機ＶＲＳｆによる受信レベルが最大となる前記無線信号を送信した固定無線機（以下「第１固定無線機」という）を特定する。同様に、第２処理装置４は、後部無線機ＶＲＳｒから入力した前記無線信号、すなわち、後部無線機ＶＲＳｒが受信した前記無線信号の受信レベルを比較し、後部無線機ＶＲＳｒによる受信レベルが最大となる前記無線信号を送信した固定無線機（以下「第２固定無線機」という）を特定する。 Thereafter, the second processing device 4 compares the reception level of the radio signal input from the front radio unit VRSf, that is, the radio signal received by the front radio unit VRSf, and receives the radio signal received by the front radio unit VRSf. A fixed radio (hereinafter referred to as “first fixed radio”) that transmits the radio signal having the maximum level is specified. Similarly, the second processing device 4 compares the reception level of the radio signal input from the rear radio unit VRSr, that is, the radio signal received by the rear radio unit VRSr, and the reception level by the rear radio unit VRSr is the maximum. The fixed wireless device (hereinafter referred to as “second fixed wireless device”) that has transmitted the wireless signal is specified.
例えば、図２に示すように、前部無線機ＶＲＳｆが固定無線機ＷＲＳ５〜ＷＲＳ８のそれぞれから送信された前記無線信号を受信し、固定無線機ＷＲＳ６から送信された前記無線信号の受信レベルが最大である場合、第２処理装置４は、固定無線機ＷＲＳ６を第１固定無線機として特定する。同様に、後部無線機ＶＲＳｒが固定無線機ＷＲＳ２〜ＷＲＳ５のそれぞれから送信された前記無線信号を受信し、固定無線機ＷＲＳ４から送信された前記無線信号の受信レベルが最大である場合、第２処理装置４は、固定無線機ＷＲＳ４を第２固定無線機として特定する。 For example, as shown in FIG. 2, the front radio unit VRSf receives the radio signal transmitted from each of the fixed radio units WRS5 to WRS8, and the reception level of the radio signal transmitted from the fixed radio unit WRS6 is the maximum. The second processing device 4 identifies the fixed wireless device WRS6 as the first fixed wireless device. Similarly, when the rear radio unit VRSr receives the radio signal transmitted from each of the fixed radio units WRS2 to WRS5 and the reception level of the radio signal transmitted from the fixed radio unit WRS4 is the maximum, the second process The device 4 identifies the fixed radio WRS4 as the second fixed radio.
そして、第２処理装置４は、特定した前記第１固定無線機と前記第２固定無線機とに挟まれたルートＲ上の区間、図２に示す例では、固定無線機ＷＲＳ６に対応するルートＲ上の位置Ｐ１と固定無線機ＷＲＳ４に対応するルート上の位置Ｐ２と間の区間Ｂを、移動体２の存在区間として検出する。前記第１固定無線機は、前部無線機ＶＲＳｆ（すなわち、移動体２の前部）に最も近い固定無線機に相当し、前記第２固定無線機は、後部無線機ＶＲＳｒ（すなわち、移動体２の後部）に最も近い固定無線機に相当する。そのため、第２処理装置４は、前記第１固定無線機と前記第２固定無線機とに挟まれたルートＲ上の区間を移動体２の存在区間として判定している。 Then, the second processing device 4 is a section on the route R sandwiched between the identified first fixed wireless device and the second fixed wireless device, in the example shown in FIG. 2, the route corresponding to the fixed wireless device WRS6. A section B between a position P1 on R and a position P2 on the route corresponding to the fixed wireless device WRS4 is detected as an existing section of the moving body 2. The first fixed radio corresponds to the fixed radio closest to the front radio VRSf (that is, the front of the moving body 2), and the second fixed radio is the rear radio VRSr (that is, the mobile). 2 corresponds to the fixed wireless device closest to the rear). Therefore, the second processing device 4 determines a section on the route R sandwiched between the first fixed wireless device and the second fixed wireless device as an existing section of the mobile body 2.
その後、第２処理装置４は、検出した移動体２の存在区間を示す情報と当該移動体２の識別情報（移動体識別情報）とを含む移動体位置情報を作成し、作成した移動体位置情報を前部無線機ＶＲＳｆ及び／又は後部無線機ＶＲＳｒを介して送信する。このとき、前部無線機ＶＲＳｆ及び／又は後部無線機ＶＲＳｒは、使用する無線チャンネルをＣＨ１〜ＣＨ４に順次切り替えて前記移動体位置情報の送信を行う。 Thereafter, the second processing device 4 creates mobile body position information including information indicating the detected section of the mobile body 2 and identification information (mobile body identification information) of the mobile body 2, and creates the mobile body position thus created. Information is transmitted via the front radio unit VRSf and / or the rear radio unit VRSr. At this time, the front radio unit VRSf and / or the rear radio unit VRSr transmits the mobile body position information by sequentially switching the radio channel to be used from CH1 to CH4.
前部無線機ＶＲＳｆ及び／又は後部無線機ＶＲＳｒを介して送信された前記移動体位置情報は、複数の固定無線機ＷＲＳ１〜ＷＲＳｎの少なくとも一つによって受信され、第１処理装置３へと出力される。これにより、第１処理装置３は、ルートＲ上における移動体２の存在区間（移動体２がルートＲ上に複数ある場合には各移動体２の存在区間）を把握することができる。 The mobile body position information transmitted via the front radio unit VRSf and / or the rear radio unit VRSr is received by at least one of the plurality of fixed radio units WRS1 to WRSn and output to the first processing device 3. The Thereby, the 1st processing apparatus 3 can grasp | ascertain the existing area of the moving body 2 on the route R (when there are a plurality of moving bodies 2 on the route R, the existing section of each moving body 2).
以上説明したように、第１実施形態に係る移動体位置検出システム１は、前部無線機ＶＲＳｆによって受信され且つその受信レベルが最大となる前記無線信号を送信した前記第１固定無線機（ここでは、ＷＲＳ６）と、後部無線機ＶＲＳｒによって受信され且つその受信レベルが最大となる前記無線信号を送信した前記第２固定無線機（ここでは、ＷＲＳ４）とによって挟まれたルートＲ上の区間（ここでは、区間Ｂ）を移動体２の存在区間として検出している。このため、移動体位置検出システム１は、移動体２が走行しなくても（すなわち、停止中であっても）、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｎに電源が投入されることによって、ルートＲにおける移動体２の存在区間を検出することが可能である。また、複数の固定無線機ＷＲＳ１〜ＷＲＳｎ、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒは、無線測距機能を有する必要がなく、汎用の無線機が、複数の固定無線機ＷＲＳ１〜ＷＲＳｎ、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒとして使用され得る。このため、移動体位置検出システム１全体のコストが抑制されると共に、使用する無線の周波数の変更等にも比較的容易に対応し得る。 As described above, the mobile body position detection system 1 according to the first embodiment is configured to transmit the wireless signal received by the front wireless device VRSf and having the maximum reception level (here, the first fixed wireless device). Then, a section on the route R sandwiched between the WRS 6) and the second fixed radio (here, WRS 4) that has received the radio signal that is received by the rear radio VRSr and that has the maximum reception level ( Here, the section B) is detected as an existing section of the mobile body 2. For this reason, even if the moving body 2 does not travel (that is, even when the moving body 2 is stopped), the moving body position detection system 1 is turned on by powering on the front radio unit VRSf and the rear radio unit VRSn. It is possible to detect the existing section of the moving body 2 in the route R. In addition, the plurality of fixed wireless devices WRS1 to WRSn, the front wireless device VRSf, and the rear wireless device VRSr do not need to have a wireless ranging function, and a general-purpose wireless device includes a plurality of fixed wireless devices WRS1 to WRSn, a front portion. It can be used as radio VRSf and rear radio VRSr. For this reason, while the cost of the whole mobile body position detection system 1 is suppressed, it can respond also to the change of the frequency of the radio | wireless used etc. comparatively easily.
なお、上述の実施形態は、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒの電源投入時、すなわち、主に移動体２の停止中（走行前）にルートＲ上における移動体２の存在区間を検出する場合を対象としている。しかし、これに限るものではなく、移動体位置検出システム１は、移動体２がルートＲ上を走行しているときに（主に低速走行が好ましい）、ルートＲ上における移動体２の存在区間を検出するようにしてもよい。この場合、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒは、移動体２の走行中においても前記スキャン処理を繰り返し実行するように構成される。 In the above-described embodiment, the existence section of the moving body 2 on the route R is detected when the front radio unit VRSf and the rear radio unit VRSr are turned on, that is, mainly when the mobile unit 2 is stopped (before traveling). If you want to. However, the present invention is not limited to this, and the moving body position detection system 1 is configured such that when the moving body 2 travels on the route R (mainly, low speed traveling is preferable), the existing section of the moving body 2 on the route R. May be detected. In this case, the front radio unit VRSf and the rear radio unit VRSr are configured to repeatedly execute the scan process even while the mobile body 2 is traveling.
また、上述の実施形態は、前部無線機ＶＲＳｆによる受信レベルが最大となる前記無線信号を送信した固定無線機を前記第１固定無線機とし、後部無線機ＶＲＳｒによる受信レベルが最大となる前記無線信号を送信した固定無線機を前記第２固定無線機とし、前記第１固定無線機と前記第２固定無線機とによって挟まれたルートＲ上の区間を移動体２の存在区間として検出している。しかし、これに限るものではない。前部無線機ＶＲＳｆによる受信レベルが最大となる前記無線信号を送信した固定無線機から移動体２の前方ｎ番目に位置する固定無線機が前記第１固定無線機とされ、及び／又は、後部無線機ＶＲＳｒによる受信レベルが最大となる前記無線信号を送信した固定無線機から移動体２の後方ｍ番目に位置する固定無線機が前記第２固定無線機とされてもよい。検出した移動体２の存在区間がバラツキなどによって実際の移動体２の存在区間よりも小さくなってしまうことを確実に防止し、他の移動体がルートＲ上をより安全に走行できるようにするためである。なお、「ｎ」及び「ｍ」は、例えば固定無線機の間隔に応じて適宜設定され得る。 In the above-described embodiment, the fixed wireless device that has transmitted the wireless signal with the maximum reception level by the front wireless device VRSf is the first fixed wireless device, and the reception level by the rear wireless device VRSr is the maximum. A fixed wireless device that has transmitted a radio signal is defined as the second fixed wireless device, and a section on the route R sandwiched between the first fixed wireless device and the second fixed wireless device is detected as an existing section of the mobile unit 2. ing. However, it is not limited to this. The fixed radio located at the nth front of the moving body 2 from the fixed radio that has transmitted the radio signal with the maximum reception level by the front radio VRSf is the first fixed radio and / or the rear The second fixed wireless device may be a fixed wireless device located at the mth position behind the moving body 2 from the fixed wireless device that has transmitted the wireless signal with the maximum reception level by the wireless device VRSr. The detected section of the moving body 2 is reliably prevented from becoming smaller than the actual section of the moving body 2 due to variations and the like, and other moving bodies can travel on the route R more safely. Because. In addition, “n” and “m” can be appropriately set according to the interval of the fixed wireless device, for example.
また、上述の実施形態において、移動体２には前部無線機ＶＲＳｆと後部無線機ＶＲＳｒとが一つずつ設けられている。しかし、これに限るものではない。一つの移動体無線機ＶＲＳのみが移動体２に設けられてもよい。この場合、移動体無線機ＶＲＳは、移動体２の前部、中央部又は後部に配置され、ルートＲ上における移動体２の存在区間は、例えば、移動体無線機ＶＲＳの移動体2における配置、移動体無線機ＶＲＳによる受信レベルが最大となる前記無線信号を送信した固定無線機の位置及び移動体２の長さに基づいて検出され得る。もちろん、移動体２に前部無線機ＶＲＳｆ及び／又は後部無線機ＶＲＳｒが複数設けられてもよい。 In the above-described embodiment, the mobile unit 2 is provided with one front radio unit VRSf and one rear radio unit VRSr. However, it is not limited to this. Only one mobile radio device VRS may be provided in the mobile unit 2. In this case, the mobile radio device VRS is arranged at the front, center, or rear portion of the mobile device 2, and the existence section of the mobile device 2 on the route R is, for example, the arrangement of the mobile radio device VRS in the mobile device 2 It can be detected based on the position of the fixed radio that has transmitted the radio signal that maximizes the reception level by the mobile radio VRS and the length of the mobile 2. Of course, the mobile unit 2 may be provided with a plurality of front radio units VRSf and / or rear radio units VRSr.
また、上述の実施形態では、第２処理装置４が、前部無線機ＶＲＳｆによる受信レベルが最大となる前記無線信号を送信した前記第１固定無線機を特定し、後部無線機ＶＲＳｒによる受信レベルが最大となる前記無線信号を送信した前記第２固定無線機を特定し、及び、ルートＲ上における移動体２の存在区間を判定している。しかし、これに限るものではない。前部無線機ＶＲＳｆが、受信レベルが最大となる前記無線信号を送信した前記第１固定無線機を特定して複数の固定無線機ＷＲＳ１〜ＷＲＳｎに送信し、後部無線機ＶＲＳｒが、受信レベルが最大となる前記無線信号を送信した前記第２固定無線機を特定して複数の固定無線機ＷＲＳ１〜ＷＲＳｎに送信し、第１処理装置３が複数の固定無線機ＷＲＳ１〜ＷＲＳｎから前記第１固定無線機及び前記第２固定無線機を入力して、ルートＲ上における移動体２の存在区間を検出してもよい。このようにしても、上述の実施形態と同様の効果が得られる。 Further, in the above-described embodiment, the second processing device 4 identifies the first fixed radio device that has transmitted the radio signal that maximizes the reception level of the front radio device VRSf, and receives the reception level of the rear radio device VRSr. The second fixed wireless device that has transmitted the wireless signal with the largest value is identified, and the existence section of the mobile unit 2 on the route R is determined. However, it is not limited to this. The front radio unit VRSf identifies the first fixed radio unit that has transmitted the radio signal having the maximum reception level and transmits the first fixed radio unit to the plurality of fixed radio units WRS1 to WRSn. The rear radio unit VRSr receives the reception level. The second fixed wireless device that has transmitted the wireless signal that is the largest is identified and transmitted to a plurality of fixed wireless devices WRS1 to WRSn, and the first processing device 3 receives the first fixed wireless device from the plurality of fixed wireless devices WRS1 to WRSn. A wireless device and the second fixed wireless device may be input to detect an existing section of the moving body 2 on the route R. Even if it does in this way, the effect similar to the above-mentioned embodiment is acquired.
また、上述の実施形態では、複数の固定無線機ＷＲＳ１〜ＷＲＳｎが前記無線信号（前記ビーコン信号）を送信し、移動体無線機ＶＲＳ（前部無線機ＶＲＳｆ、後部無線機ＶＲＳｒ）が前記無線信号を受信するように構成されている。しかし、これとは逆に、移動体無線機ＶＲＳ（前部無線機ＶＲＳｆ、後部無線機ＶＲＳｒ）が前記無線信号（前記ビーコン信号）を送信し、複数の固定無線機ＷＲＳ１〜ＷＲＳｎが前記無線信号を受信するように構成されてもよい。この場合、移動体位置検出システム１は、例えば、次のように構成され得る。すなわち、移動体無線機ＶＲＳ（前部無線機ＶＲＳｆ、後部無線機ＶＲＳｒ）が無線チャンネルをＣＨ１〜ＣＨ４に順次変更しながら前記無線信号を送信し、送信された前記無線信号を複数の固定無線機ＷＲＳ１〜ＷＲＳｎが受信する。複数の固定無線機ＷＲＳ１〜ＷＲＳｎが受信した前記無線信号は第１処理装置３に出力される。第１処理装置３は、前部無線機ＶＲＳｆから送信された前記無線信号の受信レベルを比較し、前記無線信号の受信レベルが最大となる固定無線機（第１固定無線機）を特定する。同様に、第１処理装置３は、後部無線機ＶＲＳｒから送信された前記無線信号の受信レベルを比較し、前記無線信号の受信レベルが最大となる固定無線機（第２固定無線機）を特定する。そして、第１処理装置３は、特定された前記第１固定無線機と前記第２固定無線機とに挟まれたルートＲ上の区間を移動体２の存在区間として検出する。このようにしても、上述の実施形態と同様の効果が得られる。 In the above-described embodiment, a plurality of fixed wireless devices WRS1 to WRSn transmit the wireless signal (the beacon signal), and the mobile wireless device VRS (front wireless device VRSf, rear wireless device VRSr) transmits the wireless signal. Is configured to receive. However, on the contrary, the mobile radio device VRS (front radio device VRSf, rear radio device VRSr) transmits the radio signal (the beacon signal), and a plurality of fixed radio devices WRS1 to WRSn transmit the radio signal. May be configured to receive. In this case, the moving body position detection system 1 can be configured as follows, for example. That is, the mobile radio device VRS (front radio device VRSf, rear radio device VRSr) transmits the radio signal while sequentially changing the radio channel to CH1 to CH4, and the transmitted radio signal is transmitted to a plurality of fixed radio devices. WRS1 to WRSn receive. The wireless signals received by the plurality of fixed wireless devices WRS <b> 1 to WRSn are output to the first processing device 3. The first processing device 3 compares the reception level of the radio signal transmitted from the front radio unit VRSf, and identifies the fixed radio unit (first fixed radio unit) that maximizes the reception level of the radio signal. Similarly, the first processing device 3 compares the reception level of the radio signal transmitted from the rear radio unit VRSr, and identifies the fixed radio unit (second fixed radio unit) having the maximum radio signal reception level. To do. Then, the first processing device 3 detects a section on the route R sandwiched between the identified first fixed radio and the second fixed radio as an existing section of the mobile body 2. Even if it does in this way, the effect similar to the above-mentioned embodiment is acquired.
次に、本発明の第２実施形態に係る移動体位置検出システムについて説明する。なお、以下の説明において、第１実施形態に係る移動体位置検出システム１と同一の構成要素については同一の符号を用いると共にその説明は省略する。図３は、第２実施形態に係る移動体検出システムの概略構成を示している。図３に示すように、第２実施形態に係る移動体位置検出システム１０は、ルートＲに沿って配置された複数の固定無線機ＷＲＳ１〜ＷＲＳｎと、複数の固定無線機ＷＲＳ１〜ＷＲＳｎに接続された第１処理装置３０と、ルートＲ上を走行可能な移動体２に搭載された移動体無線機ＶＲＳと、移動体２に搭載されて移動体無線機ＶＲＳに接続された第２処理装置４０と、を含む。 Next, a moving body position detection system according to a second embodiment of the present invention will be described. In the following description, the same reference numerals are used for the same components as those of the mobile object position detection system 1 according to the first embodiment, and the description thereof is omitted. FIG. 3 shows a schematic configuration of the moving object detection system according to the second embodiment. As shown in FIG. 3, the mobile body position detection system 10 according to the second embodiment is connected to a plurality of fixed radio devices WRS1 to WRSn and a plurality of fixed radio devices WRS1 to WRSn arranged along a route R. The first processing device 30, the mobile radio device VRS mounted on the mobile body 2 capable of traveling on the route R, and the second processing device 40 mounted on the mobile body 2 and connected to the mobile radio device VRS. And including.
第２処理装置４０は、複数の固定無線機ＷＲＳ１〜ＷＲＳｎの位置を記憶している。また、第２処理装置４０は、複数の固定無線機ＷＲＳ１〜ＷＲＳｎのそれぞれについて、前記無線信号の受信位置（各固定無線機からの距離）と受信レベルとが関連付けられた「受信レベルマップ」を有している。 The second processing device 40 stores the positions of the plurality of fixed wireless devices WRS1 to WRSn. Further, the second processing device 40 creates a “reception level map” in which the reception position (distance from each fixed radio) of the radio signal and the reception level are associated with each of the plurality of fixed radios WRS1 to WRSn. Have.
第２処理装置４０は、前部無線機ＶＲＳｆ及び後部無線機ＶＲＳｒから前記無線信号を入力すると、入力した前記無線信号の受信レベルを検知すると共に入力した前記無線信号から前記識別情報を抽出して、これらを関連付けて記憶する。 When receiving the radio signal from the front radio unit VRSf and the rear radio unit VRSr, the second processing device 40 detects the reception level of the input radio signal and extracts the identification information from the input radio signal. These are stored in association with each other.
その後、第２処理装置４０は、対応する受信レベルマップを参照して、前部無線機ＶＲＳｆと前部無線機ＶＲＳｆから入力した前記無線信号のそれぞれの送信元の固定無線機との距離を算出し、算出した距離に基づいてルートＲ上における前部無線機ＶＲＳｆの位置を検出する。また、第２処理装置４０は、対応する受信レベルマップを参照して、後部無線機ＶＲＳｒと後部無線機ＶＲＳｒから入力した前記無線信号のそれぞれの送信元の固定無線機との距離を算出し、算出した距離に基づいてルートＲ上における後部無線機ＶＲＳｒの位置を検出する。そして、第２処理装置４０は、検出した前部無線機ＶＲＳｆの位置と検出した後部無線機ＶＲＳｒの２位置とに基づいて、ルートＲ上における移動体２の存在区間を検出する。 Thereafter, the second processing device 40 refers to the corresponding reception level map and calculates the distance between the front radio unit VRSf and the fixed radio unit that is the source of each of the radio signals input from the front radio unit VRSf. Then, based on the calculated distance, the position of the front radio unit VRSf on the route R is detected. Further, the second processing device 40 refers to the corresponding reception level map and calculates the distance between the rear radio device VRSr and the fixed radio device of each transmission source of the radio signal input from the rear radio device VRSr, Based on the calculated distance, the position of the rear radio unit VRSr on the route R is detected. Then, the second processing device 40 detects the existence section of the moving body 2 on the route R based on the detected position of the front wireless device VRSf and the detected two positions of the rear wireless device VRSr.
第２処理装置４０は、算出した距離のうち最小距離を採用して前部無線機ＶＲＳｆの位置及び後部無線機ＶＲＳｒの位置を検出することができる。例えば、前部無線機ＶＲＳｆが固定無線機ＷＲＳ５〜ＷＲＳ８のそれぞれから送信された前記無線信号を受信し、前部無線機ＶＲＳｆと固定無線機ＷＲＳ５〜ＷＲＳ８のそれぞれとの距離のうち、前部無線機ＶＲＳｆと固定無線機ＷＲＳ６との距離が最小である場合、第２処理装置４０は、固定無線機ＷＲＳ６の位置と、前部無線機ＶＲＳｆと固定無線機ＷＲＳ６との距離と、に基づいて、ルートＲ上における前部無線機ＶＲＳｆの位置を検出する。同様に、後部無線機ＶＲＳｒが固定無線機ＷＲＳ２〜ＷＲＳ５のそれぞれから送信された前記無線信号を受信し、後部無線機ＶＲＳｒと固定無線機ＷＲＳ２〜ＷＲＳ５のそれぞれとの距離のうち、後部無線機ＶＲＳｒと固定無線機ＷＲＳ４との距離が最小である場合、第２処理装置４０は、固定無線機ＷＲＳ４の位置と、後部無線機ＶＲＳｒと固定無線機ＷＲＳ４との距離と、に基づいて、ルートＲ上における後部無線機ＶＲＳｒの位置を検出する。 The second processing device 40 can detect the position of the front radio unit VRSf and the position of the rear radio unit VRSr by adopting the minimum distance among the calculated distances. For example, the front radio unit VRSf receives the radio signal transmitted from each of the fixed radio units WRS5 to WRS8, and out of the distance between the front radio unit VRSf and each of the fixed radio units WRS5 to WRS8, the front radio unit When the distance between the machine VRSf and the fixed radio WRS6 is the minimum, the second processing device 40 is based on the position of the fixed radio WRS6 and the distance between the front radio VRSf and the fixed radio WRS6. The position of the front radio unit VRSf on the route R is detected. Similarly, the rear radio unit VRSr receives the radio signal transmitted from each of the fixed radio units WRS2 to WRS5, and among the distances between the rear radio unit VRSr and the fixed radio units WRS2 to WRS5, the rear radio unit VRSr. And the fixed wireless device WRS4 is the smallest, the second processing device 40 is on the route R based on the position of the fixed wireless device WRS4 and the distance between the rear wireless device VRSr and the fixed wireless device WRS4. The position of the rear radio device VRSr at is detected.
そして、第２処理装置４０は、検出した前部無線機ＶＲＳｆの位置及び検出した後部無線機ＶＲＳｒの位置に基づいて、ルートＲ上における移動体２の存在区間を検出する。具体的には、第２処理装置４０は、検出した前部無線機ＶＲＳｆの位置を移動体２の前部の位置と推定すると共に、検出した後部無線機ＶＲＳｒの位置を移動体２の後部の位置と推定する。そして、第２処理装置４０は、検出した前部無線機ＶＲＳｆ位置と後部無線機との間の区間を移動体２の存在区間として検出する。好ましくは、第２処理装置４０は、前部無線機ＶＲＳｆの位置よりも所定距離だけ前方の位置と、後部無線機ＶＲＳｒの位置よりも所定距離だけ後方の位置との間の区間を移動体２の存在区間として検出する。この場合、固定無線機ＷＲＳ６が本発明の「第１の任意の固定無線機」に相当し、固定無線機ＷＲＳ４が本発明の「第２の任意の固定無線機」に相当する。 Then, the second processing device 40 detects the existing section of the moving body 2 on the route R based on the detected position of the front wireless device VRSf and the detected position of the rear wireless device VRSr. Specifically, the second processing device 40 estimates the detected position of the front wireless device VRSf as the position of the front portion of the moving body 2 and determines the position of the detected rear wireless device VRSr at the rear portion of the moving body 2. Estimated position. And the 2nd processing apparatus 40 detects the area between the detected front radio | wireless machine VRSf position and rear radio | wireless machine as an existing area of the mobile body 2. FIG. Preferably, the second processing device 40 moves in a section between a position that is a predetermined distance ahead of the position of the front wireless device VRSf and a position that is a predetermined distance behind the position of the rear wireless device VRSr. Is detected as an existing section. In this case, the fixed wireless device WRS6 corresponds to the “first arbitrary fixed wireless device” of the present invention, and the fixed wireless device WRS4 corresponds to the “second arbitrary fixed wireless device” of the present invention.
また、第２処理装置４０は、算出した距離のうち最大距離を採用して前部無線機ＶＲＳｆの位置及び後部無線機ＶＲＳｒの位置を検出することができる。例えば、前部無線機ＶＲＳｆが固定無線機ＷＲＳ５〜ＷＲＳ８のそれぞれから送信された前記無線信号を受信し、算出された前部無線機ＶＲＳｆと固定無線機ＷＲＳ５〜ＷＲＳ８のそれぞれとの距離のうち、前部無線機ＶＲＳｆと固定無線機ＷＲＳ８との距離が最大である場合、第２処理装置４０は、固定無線機ＷＲＳ８の位置と、前部無線機ＶＲＳｆと固定無線機ＷＲＳ８との距離と、に基づいて、ルートＲ上における前部無線機ＶＲＳｆの位置を検出する。同様に、後部無線機ＶＲＳｒが固定無線機ＷＲＳ２〜ＷＲＳ５のそれぞれから送信された前記無線信号を受信し、算出された後部無線機ＶＲＳｒと固定無線機ＷＲＳ２〜ＷＲＳ５のそれぞれとの距離のうち、後部無線機ＶＲＳｒと固定無線機ＷＲＳ２との距離が最大である場合、第２処理装置４０は、固定無線機ＷＲＳ２の位置と、後部無線機ＶＲＳｒと固定無線機ＷＲＳ２との距離と、に基づいて、ルートＲ上における後部無線機ＶＲＳｒの位置を検出する。 In addition, the second processing device 40 can detect the position of the front radio unit VRSf and the position of the rear radio unit VRSr by adopting the maximum distance among the calculated distances. For example, the front radio unit VRSf receives the radio signal transmitted from each of the fixed radio units WRS5 to WRS8, and among the calculated distances between the front radio unit VRSf and the fixed radio units WRS5 to WRS8, When the distance between the front radio unit VRSf and the fixed radio unit WRS8 is the maximum, the second processing device 40 determines the position of the fixed radio unit WRS8 and the distance between the front radio unit VRSf and the fixed radio unit WRS8. Based on this, the position of the front radio unit VRSf on the route R is detected. Similarly, the rear radio unit VRSr receives the radio signal transmitted from each of the fixed radio units WRS2 to WRS5, and out of the calculated distance between the rear radio unit VRSr and each of the fixed radio units WRS2 to WRS5, the rear unit When the distance between the radio VRSr and the fixed radio WRS2 is the maximum, the second processing device 40 is based on the position of the fixed radio WRS2 and the distance between the rear radio VRSr and the fixed radio WRS2. The position of the rear radio device VRSr on the route R is detected.
そして、第２処理装置４０は、検出した前部無線機ＶＲＳｆの位置、検出した後部無線機ＷＲＳｒの位置及び移動体２の長さに基づいて、ルートＲ上における移動体２の存在区間を検出する。具体的には、第２処理装置４０は、検出した前部無線機ＶＲＳｆの位置及び移動体２の長さに基づいて移動体２の後部の位置を推定し、検出した後部無線機ＶＲＳｒの位置及び移動体２の長さに基づいて移動体２の前部の位置を推定し、推定した移動体２の後部の位置及び推定した移動体２の前部の位置との間の区間を移動体２の存在区間として検出する。なお、この場合、固定無線機ＷＲＳ８が本発明の「第１の任意の固定無線機」に相当し、固定無線機ＷＲＳ２が本発明の「第２の任意の固定無線機」に相当する。 Then, the second processing device 40 detects the existing section of the moving body 2 on the route R based on the detected position of the front wireless device VRSf, the detected position of the rear wireless device WRSr and the length of the moving body 2. To do. Specifically, the second processing device 40 estimates the position of the rear part of the moving body 2 based on the detected position of the front wireless device VRSf and the length of the moving body 2, and detects the detected position of the rear wireless device VRSr. And the position of the front part of the moving body 2 is estimated based on the length of the moving body 2, and the section between the estimated rear position of the moving body 2 and the estimated front position of the moving body 2 is 2 is detected as an existing section. In this case, the fixed wireless device WRS8 corresponds to the “first arbitrary fixed wireless device” of the present invention, and the fixed wireless device WRS2 corresponds to the “second arbitrary fixed wireless device” of the present invention.
なお、説明は省略するが、第２処理装置４０は、前記最小距離及び前記最大距離以外の距離を採用して前部無線機ＶＲＳｆの位置及び後部無線機ＶＲＳｒの位置を検出することも可能である。 In addition, although description is abbreviate | omitted, the 2nd processing apparatus 40 can also employ | adopt distances other than the said minimum distance and the said maximum distance, and can also detect the position of front radio | wireless machine VRSf and the position of rear radio | wireless machine VRSr. is there.
その後、第２処理装置４０は、判定した移動体２の存在区間を示す情報と当該移動体２の識別情報（移動体識別情報）とを含む移動体位置情報を作成し、作成した移動体位置情報を前部無線機ＶＲＳｆ及び／又は後部無線機ＶＲＳｒを介して送信する。このとき、前部無線機ＶＲＳｆ及び／又は後部無線機ＶＲＳｒは、前記第１実施形態と同様、使用する無線チャンネルをＣＨ１〜ＣＨ４に順次切り替えて前記移動体位置情報の送信を行う。 Thereafter, the second processing device 40 creates moving body position information including information indicating the determined existence section of the moving body 2 and identification information (moving body identification information) of the moving body 2, and the created moving body position. Information is transmitted via the front radio unit VRSf and / or the rear radio unit VRSr. At this time, as in the first embodiment, the front radio unit VRSf and / or the rear radio unit VRSr sequentially switches the radio channel to be used to CH1 to CH4 and transmits the mobile body position information.
前部無線機ＶＲＳｆ及び／又は後部無線機ＶＲＳｒを介して送信された前記移動体位置情報は、複数の固定無線機ＷＲＳ１〜ＷＲＳｎの少なくとも一つによって受信され、第１処理装置３０へと出力される。これにより、第１処理装置３０は、ルートＲ上における移動体２の存在区間（移動体２がルートＲ上に複数ある場合には各移動体２の存在区間）を把握することができる。 The mobile body position information transmitted via the front radio unit VRSf and / or the rear radio unit VRSr is received by at least one of the plurality of fixed radio units WRS1 to WRSn and output to the first processing device 30. The Thereby, the 1st processing apparatus 30 can grasp | ascertain the existing area of the moving body 2 on the route R (when there are a plurality of moving bodies 2 on the route R, the existing section of each moving body 2).
以上説明したように、第２実施形態に係る移動体位置検出システム１０は、複数の固定無線機ＷＲＳ１〜ＷＲＳｎのうちの第１の任意の固定無線機（ここでは、ＷＲＳ６又はＷＲＳ８）から送信された前記無線信号の前部無線機ＶＲＳｆによる受信レベルに基づいて前部無線機ＶＲＳｆと前記第１の任意の固定無線機との距離を算出してルートＲ上における前部無線機ＶＲＳｆの位置を検出する。また、移動体位置検出システム１０は、複数の固定無線機ＷＲＳ１〜ＷＲＳｎのうちの第２の任意の固定無線機（ここでは、ＷＲＳ４又はＷＲＳ２）から送信された前記無線信号の後部無線機ＶＲＳｒによる受信レベルに基づいて後部無線機ＶＲＳｒと前記第２の任意の固定無線機との距離を算出してルートＲ上における後部無線機ＶＲＳｒの位置を検出する。そして、移動体位置検出システム１０は、検出した前部無線機ＶＲＳｆの位置及び検出した後部無線機ＶＲＳｒの位置に基づいて、あるいは、検出した前部無線機ＶＲＳｆの位置、検出した後部無線機ＶＲＳｒの位置及び移動体２の長さに基づいて、ルートＲ上における移動体２の存在区間を検出している。このため、第２実施形態に係る移動体位置検出システム１０も、上述の第１実施形態に係る移動体位置検出システム１と同様の効果が得られる。 As described above, the mobile body position detection system 10 according to the second embodiment is transmitted from the first arbitrary fixed wireless device (here, WRS6 or WRS8) among the plurality of fixed wireless devices WRS1 to WRSn. Based on the reception level of the radio signal by the front radio unit VRSf, the distance between the front radio unit VRSf and the first arbitrary fixed radio unit is calculated to determine the position of the front radio unit VRSf on the route R. To detect. In addition, the mobile body position detection system 10 uses the rear radio device VRSr of the radio signal transmitted from the second arbitrary fixed radio device (in this case, WRS4 or WRS2) among the plurality of fixed radio devices WRS1 to WRSn. Based on the reception level, the distance between the rear radio unit VRSr and the second arbitrary fixed radio unit is calculated to detect the position of the rear radio unit VRSr on the route R. Then, the moving body position detection system 10 determines whether the detected position of the front wireless device VRSf and the detected position of the front wireless device VRSr are based on the detected position of the front wireless device VRSf or the detected position of the rear wireless device VRSr. The existence section of the mobile body 2 on the route R is detected based on the position of the mobile body 2 and the length of the mobile body 2. For this reason, the moving body position detection system 10 according to the second embodiment can obtain the same effects as those of the moving body position detection system 1 according to the first embodiment.
なお、第１実施形態に係る移動体位置検出システム１についての変形例のうち、適用可能なものは、第２実施形態に係る移動体位置検出システム１０についての変形例となり得る。例えば、第２実施形態に係る移動体位置検出システム１０も、第１実施形態に係る移動体位置検出システム１と同様に、移動体２がルートＲを走行しているときにおいても、ルートＲ上における移動体２の存在区間を検出するように構成され得る。 Note that, among the modifications of the mobile body position detection system 1 according to the first embodiment, the applicable ones can be a modification of the mobile body position detection system 10 according to the second embodiment. For example, the moving body position detection system 10 according to the second embodiment is similar to the moving body position detection system 1 according to the first embodiment even when the moving body 2 is traveling on the route R. It can be configured to detect an existing section of the mobile body 2 at.
また、第２実施形態においても、第１実施形態と同様、移動体無線機ＶＲＳ（前部無線機ＶＲＳｆ、後部無線機ＶＲＳｒ）が前記無線信号（前記ビーコン信号）を送信し、複数の固定無線機ＷＲＳ１〜ＷＲＳｎが前記無線信号を受信するように構成されてもよい。この場合、移動体無線機ＶＲＳ（前部無線機ＶＲＳｆ、後部無線機ＶＲＳｒ）は無線チャンネルをＣＨ１〜ＣＨ４に順次変更しながら前記無線信号を送信し、送信された前記無線信号を複数の固定無線機ＷＲＳ１〜ＷＲＳｎが受信する。複数の固定無線機ＷＲＳ１〜ＷＲＳｎが受信した前記無線信号は第１処理装置３０に出力される。そして、第１処理装置３０が、上述した第２処理装置４０の処理と同様の処理を行って、ルートＲ上における移動体２の存在区間を検出する。すなわち、第１処理装置３０は、前部無線機ＶＲＳｆから送信された前記無線信号の、複数の固定無線機ＷＲＳ１〜ＷＲＳｎのうちの第１の任意の固定無線機による受信レベルに基づいて前部無線機ＶＲＳｆと前記第１の任意の固定無線機との距離を算出してルートＲ上における前部無線機ＶＲＳｆの位置を検出する。また、第１処理装置３０は、後部無線機ＶＲＳｒから送信された送信された無線信号の、複数の固定無線機ＷＲＳ１〜ＷＲＳｎのうちの第２の任意の固定無線機による受信レベルに基づいて後部無線機とＶＲＳｒ前記第２の任意の定無線機との距離を算出してルートＲ上における後部無線機ＶＲＳｒの位置を検出する。そして、第１処理装置３０は、検出した前部無線機ＶＲＳｆの位置及び検出した後部無線機ＶＲＳｒの位置に基づいて移動体２の存在区間を検出する。 Also in the second embodiment, as in the first embodiment, the mobile radio device VRS (the front radio device VRSf, the rear radio device VRSr) transmits the radio signal (the beacon signal), and a plurality of fixed radio waves are transmitted. The machines WRS1 to WRSn may be configured to receive the wireless signal. In this case, the mobile radio unit VRS (front radio unit VRSf, rear radio unit VRSr) transmits the radio signal while sequentially changing the radio channel to CH1 to CH4, and the transmitted radio signal is transmitted to a plurality of fixed radios. The machines WRS1 to WRSn receive. The wireless signals received by the plurality of fixed wireless devices WRS <b> 1 to WRSn are output to the first processing device 30. And the 1st processing apparatus 30 performs the process similar to the process of the 2nd processing apparatus 40 mentioned above, and detects the existing area of the mobile body 2 on the route R. FIG. That is, the first processing device 30 uses the front signal based on the reception level of the radio signal transmitted from the front radio device VRSf by the first arbitrary fixed radio device among the plurality of fixed radio devices WRS1 to WRSn. The distance between the radio device VRSf and the first arbitrary fixed radio device is calculated, and the position of the front radio device VRSf on the route R is detected. In addition, the first processing device 30 has a rear part based on a reception level of a transmitted radio signal transmitted from the rear radio unit VRSr by a second arbitrary fixed radio unit among the plurality of fixed radio units WRS1 to WRSn. The distance between the radio device and VRSr is calculated from the second arbitrary constant radio device, and the position of the rear radio device VRSr on the route R is detected. Then, the first processing device 30 detects the existence section of the moving body 2 based on the detected position of the front wireless device VRSf and the detected position of the rear wireless device VRSr.
また、第２実施形態においては、前記受信レベルマップを用いて前部無線機ＶＲＳｆ又は後部無線機ＶＲＳｒと固定無線機ＷＲＳ１〜ＷＲＳｎとの距離を算出しているが、これに限るものではない。例えば、前記受信レベルマップを用いることなく、送信側無線機の送信電力・アンテナ利得・ケーブルによる損失と受信レベルの関係から送信側無線機−受信側無線機間を電波が伝搬した際の損失を算出し、電波伝搬の理論により前部無線機ＶＲＳｆ又は後部無線機ＶＲＳｒと固定無線機ＷＲＳ１〜ＷＲＳｎとの距離を求めてもよい。 In the second embodiment, the distance between the front radio unit VRSf or the rear radio unit VRSr and the fixed radio units WRS1 to WRSn is calculated using the reception level map, but the present invention is not limited to this. For example, without using the reception level map, the loss when radio waves propagate between the transmission side radio and the reception side radio from the relationship between the transmission power of the transmission side radio, the antenna gain, the loss due to the cable and the reception level is reduced. The distance between the front radio unit VRSf or the rear radio unit VRSr and the fixed radio units WRS1 to WRSn may be calculated by the theory of radio wave propagation.
なお、上述の移動体位置検出システム１、１０は、列車の走行制御を行う列車制御システムにおいて線路上における列車の在線区間を検出するために好適に使用され得る。この場合、停電などの異常によって列車の位置が不明になったとしても、前記異常から復帰した後、速やかに前記列車の在線区間を検出することができるため、列車制御システム全体の安全性の向上が図れるというメリットがある。 In addition, the above-mentioned mobile body position detection systems 1 and 10 can be used suitably in order to detect the on-line section of the train on a track in the train control system that performs train travel control. In this case, even if the position of the train becomes unknown due to an abnormality such as a power failure, it is possible to quickly detect the on-line section of the train after returning from the abnormality, improving the safety of the entire train control system There is an advantage that can be achieved.
以上、本発明の実施形態及びその変形例について説明したが、本発明は上述の実施形態及びその変形例に限定されるものではなく、本発明の技術的思想に基づいて更なる変形や変更が可能である。 As mentioned above, although embodiment of this invention and its modification were demonstrated, this invention is not limited to the above-mentioned embodiment and its modification, Further deformation | transformation and a change are based on the technical idea of this invention. Is possible.
１，１０…移動体位置検出システム
２…移動体
３，３０…第１処理装置
４，４０…第２処理装置
Ｒ…ルート
ＶＲＳ…移動体無線機
ＷＲＳ…固定無線機
DESCRIPTION OF SYMBOLS 1,10 ... Mobile body position detection system 2 ... Mobile body 3,30 ... 1st processing apparatus 4,40 ... 2nd processing apparatus R ... Route VRS ... Mobile radio | wireless machine WRS ... Fixed radio | wireless machine
Claims (8)
前記ルートに沿って間隔を開けて配置された複数の固定無線機と、
前記複数の固定無線機から送信された無線信号の前記移動体無線機による受信レベル又は前記移動体無線機から送信された無線信号の前記複数の固定無線機による受信レベルに基づいて、前記ルート上における前記移動体の存在区間を検出する存在区間検出部と、
を含む、移動体位置検出システム。 A mobile radio device mounted on a mobile body capable of traveling along a predetermined route;
A plurality of fixed radios arranged at intervals along the route;
Based on the reception level of the radio signal transmitted from the plurality of fixed radios by the mobile radio unit or the reception level of the radio signal transmitted from the mobile radio unit by the plurality of fixed radio units, on the route An existing section detecting unit for detecting an existing section of the moving body in
A moving body position detection system.
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