FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
[See section 10, Rule 13]
RAIL YARD TRAIN-SWITCHING SYSTEM, CONTROL DEVICE, CONTROL
METHOD, AND CONTROL PROGRAM;
MITSUBISHI ELECTRIC CORPORATION, A CORPORATION ORGANISED
AND EXISTING UNDER THE LAWS OF JAPAN, WHOSE ADDRESS IS 7-3,
MARUNOUCHI 2-CHOME, CHIYODA-KU, TOKYO 1008310, JAPAN
THE FOLLOWING SPECIFICATION PARTICULARLY DESCRIBES THE
5 INVENTION AND THE MANNER IN WHICH IT IS TO BE PERFORMED
10
2
DESCRIPTION
Field
[0001] The present disclosure relates to a rail yard
5 train-switching system for switching a railroad train
(hereinafter referred to simply as train) in a rail yard of
a railroad system, and to a control device, a control
method, and a control program.
10 Background
[0002] In a rail yard of a railroad system, a train is
conventionally switched by a motorman operating a trainmoving machine. Train switching operation includes, for
example, traction of a train in an end section of a main
15 line to a storage location in the rail yard, movement of a
train stored in the rail yard to a location of a washer or
of an inspection and repair shop in the rail yard, and the
like.
[0003] A technology is also known of performing a train
20 switching operation by controlling the train itself rather
than performing a train switching operation using a trainmoving machine. For example, Patent Literature 1 suggests
a train remote control assistance system that allows an
operator to remotely control a train switching operation.
25
Citation List
Patent Literature
[0004] Patent Literature 1: Japanese Patent Application
Laid-open No. 2007-1519
30
Summary
Technical Problem
[0005] However, the foregoing conventional technology
3
requires a qualified motorman or operator to remotely
control a train switching operation. In addition, remote
control functionality needs to be installed in all the
trains to be switched, which will lead to high cost.
5 [0006] The present disclosure has been made in view of
the foregoing, and it is an object of the present
disclosure to provide a rail yard train-switching system
that enables a train switching operation to be efficiently
performed in a rail yard.
10
Solution to Problem
[0007] To solve the problem and achieve the object
described above, a rail yard train-switching system of the
present disclosure includes a train-moving machine and a
15 control device. The train-moving machine draws a train in
a rail yard. The control device transmits a traction
command to the train-moving machine based on an operation
schedule. The train-moving machine moves, based on the
traction command transmitted from the control device, to a
20 first location specified by the traction command to couple
with the train, and draws the train from the first location
to a second location specified by the traction command.
Advantageous Effects of Invention
25 [0008] The present disclosure provides an advantage in
enabling a train switching operation to be efficiently
performed in a rail yard.
Brief Description of Drawings
30 [0009] FIG. 1 is a diagram illustrating an example
configuration of a rail yard train-switching system
according to a first embodiment.
FIG. 2 is a diagram illustrating an example of
4
configuration of the control device according to the first
embodiment.
FIG. 3 is a diagram illustrating an example of
operation schedule information according to the first
5 embodiment.
FIG. 4 is a diagram illustrating an example of monitor
image displayed on a monitor terminal in a central control
room according to the first embodiment.
FIG. 5 is a diagram illustrating an example of
10 operation schedule management image displayed on the
monitor terminal in the central control room according to
the first embodiment.
FIG. 6 is a diagram illustrating another example of
the monitor image displayed on the monitor terminal in the
15 central control room according to the first embodiment.
FIG. 7 is a diagram illustrating still another example
of the monitor image displayed on the monitor terminal in
the central control room according to the first embodiment.
FIG. 8 is a diagram illustrating an example of
20 configuration of the train-moving machine according to the
first embodiment.
FIG. 9 is a diagram illustrating an example of
procedure of train traction performed by the train-moving
machine according to the first embodiment.
25 FIG. 10 is a diagram illustrating another example of
the procedure of train traction performed by the trainmoving machine according to the first embodiment.
FIG. 11 is a diagram illustrating a process of
detection of an intruder during patrol performed by the
30 train-moving machine according to the first embodiment.
FIG. 12 is a diagram for describing an example of
inspection method performed by the train-moving machine
according to the first embodiment.
5
FIG. 13 is a flowchart illustrating an example of
process performed by the processing unit of the control
device according to the first embodiment.
FIG. 14 is a flowchart illustrating an example of
5 process performed by the processing unit of the trainmoving machine according to the first embodiment.
FIG. 15 is a flowchart illustrating an example of
traction process performed by the processing unit of the
train-moving machine according to the first embodiment.
10 FIG. 16 is a flowchart illustrating an example of
patrol process performed by the processing unit of the
train-moving machine according to the first embodiment.
FIG. 17 is a diagram illustrating an example of
hardware configuration of each of the processing unit of
15 the control device and the processing unit of the trainmoving machine according to the first embodiment.
Description of Embodiments
[0010] A rail yard train-switching system, a control
20 device, a control method, and a control program according
to an embodiment will be described in detail below with
reference to the drawings.
[0011] First Embodiment.
FIG. 1 is a diagram illustrating an example
25 configuration of a rail yard train-switching system
according to a first embodiment. As illustrated in FIG. 1,
a rail yard train-switching system 100 according to the
first embodiment performs switching of multiple trains 11,
12, 13, 14, ..., and 1n in a rail yard 2, where n is, for
30 example, an integer greater than or equal to 5. The
multiple trains 11, 12, 13, 14, ..., and 1n may each be
referred to hereinafter as train 1 when no distinction is
made. Note that the example illustrated in FIG. 1
6
illustrates the trains 1 each as a train formed of multiple
vehicles coupled together, but the trains 1 may be formed
of a single vehicle.
[0012] The rail yard 2 includes multiple tracks 31 to 314,
5 multiple switches 41 to 414, an inspection and repair shop 5,
and a coordinator device 6. On at least part of each of
the multiple tracks 31 to 37, one of the trains 1 is stored
for a purpose such as scheduled inspection of the train 1,
washing of the body of the train 1, replacement of a
10 component of the train 1, or grinding of the body or a
component of the train 1. The multiple tracks 31 to 314 may
each be referred to hereinafter as track 3 when no
distinction is made.
[0013] The coordinator device 6 controls the multiple
15 switches 41 to 414. The multiple switches 41 to 414 may each
be referred to hereinafter as switch 4 when no distinction
is made.
[0014] The rail yard train-switching system 100 includes
a control device 7, multiple train-moving machines 81, 82,
20 83, 84, ..., and 8m, and a monitor terminal 91 of a central
control room 9. The multiple train-moving machines 81, 82,
83, 84, ..., and 8m may each be referred to hereinafter as
train-moving machine 8 when no distinction is made.
[0015] The control device 7 is communicatively connected
25 to each of the coordinator device 6 and the central control
room 9. The control device 7, for example, transmits a
switch command to the coordinator device 6 to drive the
coordinator device 6 to switch the switch 4 corresponding
to the switch command.
30 [0016] In addition, the control device 7 outputs, to the
central control room 9, state information representing the
states of the respective train-moving machines 8, the
states of the respective trains 1, the states of the
7
respective switches 4, and the like. The central control
room 9 includes the monitor terminal 91. The monitor
terminal 91 displays information such as the states of the
respective train-moving machines 8, the states of the
5 respective trains 1, and the states of the respective
switches 4 on a display unit not illustrated. This allows
the operator of the central control room 9 to know
information such as the states of the respective trainmoving machines 8, the states of the respective trains 1,
10 and the states of the respective switches 4. The operator
of the central control room 9 may be hereinafter referred
to simply as operator.
[0017] The monitor terminal 91 of the central control
room 9 has a control portion for receiving an operation of
15 the operator. An operation performed by the operator on
such control portion causes a control command to be
notified from the monitor terminal 91 of the central
control room 9 to the control device 7. The control device
7 controls the multiple train-moving machines 8 and the
20 multiple switches 4 based on a control command notified
from the monitor terminal 91 of the central control room 9.
[0018] The control device 7 controls the multiple trainmoving machines 8 and the multiple switches 4 also based on
a preconfigured operation schedule. For example, the
25 control device 7 transmits a traction command to each
corresponding one of the multiple train-moving machines 8
based on the preconfigured operation schedule. A traction
command includes information such as, for example, a
traction start location, a traction end location, and a
30 travel route. The control device 7 also controls one or
more of the multiple switches 4 to establish the travel
route of one of the train-moving machines 8 based on the
travel route of that train-moving machine 8.
8
[0019] Each of the train-moving machines 8 moves, based
on the traction command transmitted from the control device
7, to a first location specified by the traction command to
couple with a train 1, and draws the train 1 from the
5 traction start location to the traction end location. The
traction start location is the location to make the trainmoving machine 8 start traction of a train 1, while the
traction end location is the location to make the trainmoving machine 8 terminate the traction of the train 1.
10 The traction start location is an example of the first
location, and the traction end location is an example of a
second location.
[0020] For example, when a train 1 on the main line is
to be drawn to the storage location by a train-moving
15 machine 8, the traction start location refers to the
location of the boundary region between an end section of
the main line where the train 1 is parked and an entry-exit
of the rail yard 2, and the traction end location refers to
the location of the train-moving machine 8 when the train 1
20 will have been moved to the storage location.
Alternatively, when a train 1 at the storage location is to
be drawn to an end section of the main line by a trainmoving machine 8, the traction start location refers to the
location where the train-moving machine 8 can couple with
25 the train 1 at the storage location, and the traction end
location refers to the location of the boundary region
between the end section of the main line and an entry-exit
of the rail yard 2. The location of the boundary region
between an end section of the main line and an entry-exit
30 of the rail yard 2 may be hereinafter referred to as
boundary location.
[0021] Still alternatively, when a train 1 at the
storage location is to be drawn to a washing track or to
9
the inspection and repair shop 5 by a train-moving machine
8, the first location is the location where the trainmoving machine 8 can couple with the train 1 located at the
storage location, and the second location is the location
5 of the train-moving machine 8 when the train 1 will have
been moved to a washing track or to the inspection and
repair shop 5.
[0022] As described above, the rail yard train-switching
system 100 enables each of the train-moving machines 8 to
10 draw a train 1 based on the traction command from the
control device 7, thereby enabling a reduction or
elimination of human error as compared to when a motorman
operates the train-moving machine 8 to perform, or an
operator remotely controls, switching of a train 1. Thus,
15 the rail yard train-switching system 100 reduces or
eliminates operational errors each caused by a human error,
thereby enabling a switching operation of a train 1 to be
efficiently performed in the rail yard 2. The rail yard
train-switching system 100 also eliminates the need for
20 operation of a train-moving machine by a qualified person
permitted to operate the train-moving machine unlike a
conventional system, and merely requires to monitor
switching of the multiple trains 1 by a reduced number of
personnel, thereby enabling a reduction in the number of
25 qualified persons in the rail yard 2. The rail yard trainswitching system 100 further eliminates the need for
installation of an automatic train operation (ATO) on the
trains 1. A switching operation of a train 1 may be
hereinafter referred to simply as switching.
30 [0023] A configuration of each of the control device 7
and the train-moving machine 8 included in the rail yard
train-switching system 100 will now be specifically
described below. FIG. 2 is a diagram illustrating an
10
example of configuration of the control device according to
the first embodiment. As illustrated in FIG. 2, the
control device 7 includes a first communication unit 10, a
second communication unit 11, a storage unit 12, and a
5 processing unit 13.
[0024] The first communication unit 10 is
communicatively connected to the coordinator device 6 and
to the monitor terminal 91 by wire or wirelessly via a
network such as a local area network (LAN) or a wide area
10 network (WAN), or via a dedicated line. The second
communication unit 11 is communicatively connected to the
train-moving machines 8 wirelessly via a wireless telephone
communication network, a wide area communication network,
or the like. Note that the second communication unit 11
15 may be communicatively connected to the train-moving
machines 8 wirelessly via a wireless LAN.
[0025] The storage unit 12 stores operation schedule
information, patrol schedule information, moving machine
state information, train image information, train state
20 information, and the like. The operation schedule
information includes information of a schedule of switching
of each of the trains 1. FIG. 3 is a diagram illustrating
an example of operation schedule information according to
the first embodiment.
25 [0026] The operation schedule information illustrated in
FIG. 3 is information including, on a switching-byswitching basis, information about each of an “operation
identifier (ID)”, a “start time”, an “operated train”, a
“traction start location”, and a “traction end location”.
30 The “operation ID” is identification information unique to
each switching operation. The “start time” is information
representing the start time of switching. The “operated
train” is information of the train 1 to be switched, and
11
includes information such as, for example, the train unit
name of the train 1 or the train number of the train 1.
[0027] The “traction start location” is information
representing the location to make an applicable train5 moving machine 8 start traction of a train 1. For example,
when a train 1 on the main line is to be drawn to the
storage location by an applicable train-moving machine 8,
the “traction start location” is information representing
the boundary location, which is the location of the
10 boundary region between an end section of the main line
where the train 1 is parked and an entry-exit of the rail
yard 2.
[0028] The “traction end location” is information
representing the location to make the train-moving machine
15 8 terminate the traction of the train 1. For example, when
a train 1 on the main line is to be drawn to the storage
location by the train-moving machine 8, the “traction end
location” is the location of the train-moving machine 8
that will have drawn the train 1 to the storage location.
20 The storage location is, for example, an inspection
location, a cleaning location, a replacement location, or a
grinding location. The inspection location is a storage
location for inspection. The cleaning location is a
storage location for cleaning, where a washer or a cleaner
25 is provided. The replacement location is a storage
location for replacement of a component included in the
train 1.
[0029] Referring back to FIG. 2, the description of the
storage unit 12 will be continued. The patrol schedule
30 information stored in the storage unit 12 is information of
a patrol schedule of each of the train-moving machines 8 in
the rail yard 2, and includes, for example, information of
the travel route and the movement time of each of the
12
train-moving machines 8. The movement time of each of the
train-moving machines 8 included in the patrol schedule
information is set to, for example, a time during hours in
which no switching is performed.
5 [0030] The moving machine state information includes
state information that is information representing the
state of each of the train-moving machines 8. The train
image information includes information of captured images
of the trains 1, and is used for inspection. The train
10 image information includes information of captured images
of the trains 1 in a normal condition. The train state
information includes state information that is information
representing the state of each of the trains 1. The state
information of a train 1 is information representing the
15 state of that train 1 detected by a train-moving machine 8.
[0031] The processing unit 13 includes an information
acquisition unit 20, an information output unit 21, a
moving machine determination unit 22, a route determination
unit 23, a route establishment unit 24, a command
20 processing unit 25, and an inspection processing unit 26.
The information acquisition unit 20 obtains, from the first
communication unit 10, the state information wirelessly
transmitted from each of the train-moving machines 8 and
received by the second communication unit 11. The
25 information acquisition unit 20 stores the state
information of each of the train-moving machines 8 obtained,
in the storage unit 12.
[0032] The state information of each of the train-moving
machines 8 includes information such as information
30 representing the current location of the train-moving
machine 8, information representing whether the trainmoving machine 8 is in operation or not, information
representing the travel distance of the train-moving
13
machine 8, information representing the operation time of
the train-moving machine 8, information representing the
remaining capacity of the train-moving machine 8, and
information representing the state of each on-board device
5 provided in the train-moving machine 8. The state in which
a train-moving machine 8 is not in operation may be
hereinafter referred to as idle state.
[0033] The travel distance of a train-moving machine 8
is the distance the train-moving machine 8 has moved, and
10 is, for example, a total travel distance or a travel
distance in a unit time period of that train-moving machine
8. The operation time of a train-moving machine 8 is the
time spent by that train-moving machine 8 in switching, and
is for example, is a total time spent by that train-moving
15 machine 8 in switching or a time spent in a unit time
period by that train-moving machine 8 in switching. The
unit time period is, for example, one day, one week, or one
month.
[0034] The remaining capacity of a train-moving machine
20 8 is a remaining battery capacity in a case in which the
train-moving machine 8 is battery-operated, and is a
remaining amount of fuel in a case in which the trainmoving machine 8 is fuel-operated. The state of each onboard device provided in a train-moving machine 8 is, for
25 example, information representing whether the each on-board
device is in operation or not, information representing
whether the each on-board device is operating normally or
not normally, and/or the like.
[0035] Note that the state information of each of the
30 train-moving machines 8 includes information representing
the progress of switching being performed by that trainmoving machine 8 when the train-moving machine 8 is in
operation. The progress of switching includes, for example,
14
the degree of progress of switching and/or the like.
[0036] The information acquisition unit 20 also obtains,
from the second communication unit 11, the state
information of each of the trains 1 wirelessly transmitted
5 from each corresponding one of the train-moving machines 8
and received by the second communication unit 11. The
information acquisition unit 20 stores the state
information of each of the trains 1 obtained, in the
storage unit 12. The state information of a train 1 is
10 information representing the state of that train 1 detected
by the train-moving machine 8, and includes, for example,
information of a captured image of that train 1.
[0037] The information output unit 21 generates a
monitor image that meets a request transmitted from the
15 monitor terminal 91 by an operation of the operator and
received by the first communication unit 10. The
information output unit 21 causes the first communication
unit 10 to transmit information of the monitor image
generated, to the monitor terminal 91. For example, the
20 information output unit 21 generates, based on information
stored in the storage unit 12, a monitor image including an
image indicating the locations of the trains 1 and of the
train-moving machines 8 in the rail yard 2, and causes the
first communication unit 10 to transmit the information of
25 the monitor image generated, to the monitor terminal 91.
[0038] FIG. 4 is a diagram illustrating an example of
monitor image displayed on the monitor terminal in the
central control room according to the first embodiment. A
monitor image 80 illustrated in FIG. 4 is an image
30 including images of the respective trains 1 and images of
the respective train-moving machines 8 superimposed on a
layout image of the rail yard 2. The monitor image 80
illustrated in FIG. 4 enables the operator of the central
15
control room 9 to readily understand the states of the
trains 1 and of the train-moving machines 8. Note that the
monitor image 80 may include identification information of
each of the trains 1, identification information of each of
5 the train-moving machines 8, information representing
whether each of the train-moving machines 8 is performing
switching, and the like.
[0039] The information output unit 21 illustrated in FIG.
2 also generates an operation schedule management image
10 that meets a request transmitted from the monitor terminal
91 by an operation of the operator and received by the
first communication unit 10. The information output unit
21 causes the first communication unit 10 to transmit
information of the operation schedule management image
15 generated, to the monitor terminal 91.
[0040] FIG. 5 is a diagram illustrating an example of
operation schedule management image displayed on the
monitor terminal in the central control room according to
the first embodiment. An operation schedule management
20 image 81 illustrated in FIG. 5 enables the operator of the
central control room 9 to understand the schedule of
switching. Note that the operation schedule management
image 81 may include, for example, information representing
a status of each switching operation. The information
25 representing a status of switching operation is, for
example, information representing whether that switching
operation is complete, information representing whether
that switching operation is in process, or the like.
[0041] In addition, the operator of the central control
30 room 9 can also change an operation schedule, which is the
schedule of switching, through operation on the monitor
terminal 91. The monitor terminal 91 is capable of
transmitting information of the operation schedule
16
resulting from changing by the operator to the control
device 7 as the operation schedule information. The
information acquisition unit 20 of the control device 7 is
capable of storing the operation schedule information
5 transmitted from the monitor terminal 91 and received by
the first communication unit 10, in the storage unit 12.
The operation schedule information stored in the storage
unit 12 is thus updated.
[0042] The information output unit 21 illustrated in FIG.
10 2 is also capable of generating a monitor image indicating
the states of the respective train-moving machines 8 as the
monitor image that meets a request transmitted from the
monitor terminal 91 by an operation of the operator and
received by the first communication unit 10. FIG. 6 is a
15 diagram illustrating another example of the monitor image
displayed on the monitor terminal in the central control
room according to the first embodiment. A monitor image 82
illustrated in FIG. 6 includes images indicating the states
of the respective train-moving machines 81, 82, 83, 84, and
20 8m. The monitor image 82 includes information representing
whether each of the train-moving machines 8 is performing
switching, as the image indicating the state of each of the
train-moving machines 8.
[0043] Note that the monitor image 82 may include
25 information representing in detail the state of each of the
train-moving machines 8 as the image indicating the state
of each of the train-moving machines 8 in addition to, or
in place of, information representing whether the trainmoving machine 8 is performing switching. The information
30 representing in detail the state of each of the trainmoving machines 8 is information including, for example, at
least one of information representing the current location
of the train-moving machine 8, information representing the
17
travel distance of the train-moving machine 8, information
representing the operation time of the train-moving machine
8, information representing the remaining capacity of the
train-moving machine 8, and information representing the
5 state of each on-board device in the train-moving machine 8.
The information output unit 21 is also capable of
generating, instead of the monitor image 82, a monitor
image including the information representing in detail the
states of ones of the train-moving machines 8 selected from
10 the train-moving machines 8 included in the monitor image
82 illustrated in FIG. 6, and causing the first
communication unit 10 to transmit the information of the
monitor image generated, to the monitor terminal 91.
[0044] The information output unit 21 illustrated in FIG.
15 2 is further capable of generating a monitor image
including an image captured by an image sensor of each of
the train-moving machines 8, as the monitor image that
meets a request transmitted from the monitor terminal 91 by
an operation of the operator and received by the first
20 communication unit 10. FIG. 7 is a diagram illustrating
still another example of the monitor image displayed on the
monitor terminal in the central control room according to
the first embodiment. A monitor image 83 illustrated in
FIG. 7 includes front view images captured by the image
25 sensors of the respective train-moving machines 81, 82, and
83 selected from the train-moving machines 81, 82, 83, 84,
and 8m.
[0045] The information output unit 21 illustrated in FIG.
2 is still further capable of generating a monitor image
30 including an image of an intruder or of an intruding
existence into the rail yard 2, detected by one of the
train-moving machines 8 patrolling the rail yard 2, and
causing the first communication unit 10 to transmit
18
information of the monitor image generated, to the monitor
terminal 91.
[0046] As described above, the information output unit
21 is capable of causing the first communication unit 10 to
5 transmit, to the monitor terminal 91, an image that meets a
request transmitted from the monitor terminal 91 by an
operation of the operator and received by the first
communication unit 10. This enables the operator of the
central control room 9 to readily understand the state of
10 the rail yard 2, the states of the respective trains 1, and
the states of the respective train-moving machines 8.
[0047] Note that the information output unit 21 in each
of the foregoing examples transmits the corresponding one
of the monitor images 80, 82, and 83 and the operation
15 schedule management image 81 to the monitor terminal 91,
but the information output unit 21 is also capable of
transmitting, to the monitor terminal 91, image-generating
information for generating the monitor images 80, 82, and
83 and the operation schedule management image 81. In this
20 case, the monitor terminal 91 generates the monitor images
80, 82, and 83 and the operation schedule management image
81 based on the image-generating information, and displays
the monitor images 80, 82, and 83 and the operation
schedule management image 81 generated.
25 [0048] The operator of the central control room 9 can
also operate the monitor terminal 91 to cause the monitor
terminal 91 to transmit various commands such as a traction
command for each of the train-moving machines 8, to the
control device 7. When a command from the monitor terminal
30 91 is received by the first communication unit 10, the
information acquisition unit 20 obtains, from the first
communication unit 10, the command from the monitor
terminal 91, and notifies the command obtained, to the
19
information output unit 21. The information output unit 21
causes the second communication unit 11 to transmit the
command from the monitor terminal 91 to the applicable one
or ones of the train-moving machines 8. This enables the
5 operator to remotely operate the train-moving machines 8,
for example, in case of emergency or the like.
[0049] The moving machine determination unit 22
illustrated in FIG. 2 obtains the operation schedule
information and the state information of each of the train10 moving machines 8 from the storage unit 12. The moving
machine determination unit 22 determines the train-moving
machine 8 that is to perform a particular switching
operation, based on the operation schedule information and
on the state information of each of the train-moving
15 machines 8 that have been obtained. For example, when one
of the train-moving machines 8 is in an idle state, the
moving machine determination unit 22 determines that the
train-moving machine 8 in an idle state is the train-moving
machine 8 that is to perform the switching.
20 [0050] In addition, when multiple ones of the trainmoving machines 8 are in an idle state, the moving machine
determination unit 22 determines that, of the multiple ones
of the multiple train-moving machines 8 that are in an idle
state, the train-moving machine 8 nearest to the traction
25 start location of the switching is the train-moving machine
8 that is to perform the switching.
[0051] Assume here that the operation schedule
information is as illustrated in FIG. 3, and the moving
machine determination unit 22 is to determine the train30 moving machine 8 that is to perform switching assigned the
operation ID “O1”. In this case, the moving machine
determination unit 22 determines the train-moving machine 8
located nearest to the boundary location among the multiple
20
train-moving machines 8 in an idle state to be the trainmoving machine 8 that is to perform switching assigned the
operation ID “O1”.
[0052] The moving machine determination unit 22 is also
5 capable of determining the train-moving machine 8 that is
to perform switching to lead the travel distance or the
operation time of that train-moving machine 8 to be close
to the average value of the travel distances or the average
value of the operation times of all the train-moving
10 machines 8. The moving machine determination unit 22 is
further capable of determining the train-moving machine 8
that is to perform switching, giving preference to a trainmoving machine 8 having a high remaining capacity.
[0053] When multiple ones of the train-moving machines 8
15 are in an idle state, the moving machine determination unit
22 is also capable of determining, for example, the trainmoving machine 8 having a lowest score Sc obtained by
Equation (1) below to be the train-moving machine 8 that is
to perform switching.
20 Sc=k1×x1+k2×x2+k3×x3+k4×x4 ... (1)
[0054] In Equation (1) above, “k1”, “k2”, “k3”, and “k4”
are factors, and “x1”, “x2”, “x3,” and “x4” are parameters
for calculating the score Sc. These parameters can also be
each called feature quantity. The parameter “x1” is a
25 reaching distance, which is the distance from the location
of the train-moving machine 8 for which the score Sc is
being calculated to the traction start location of the
switching. The parameter “x2” is the travel distance of
the train-moving machine 8 for which the score Sc is being
30 calculated. The parameter “x3” is the operation time of
the train-moving machine 8 for which the score Sc is being
calculated. The parameter “x4” is the reciprocal of the
remaining capacity of the train-moving machine 8 for which
21
the score Sc is being calculated. Note that one, two, or
three of “k1”, “k2”, “k3”, and “k4” may be zero.
[0055] Note that in Equation (1) above, the parameters
“x1”, “x2”, “x3,” and “x4” may be, respectively, the
5 reciprocal of the reaching distance, the reciprocal of the
travel distance of the train-moving machine 8, the
reciprocal of the operation time of the train-moving
machine 8, and the remaining capacity. In this case, the
moving machine determination unit 22 determines the train10 moving machine 8 having a highest score Sc to be the trainmoving machine 8 that is to perform switching.
[0056] The moving machine determination unit 22 is
capable of determining the train-moving machine 8 that is
to perform switching based also on, for example, the state
15 of each on-board device provided in that train-moving
machine 8 as another parameter for calculating the score Sc,
in addition to the reaching distance, the travel distance,
the operation time, and the remaining capacity described
above.
20 [0057] In addition, even when none of the train-moving
machines 8 is in an idle state, the moving machine
determination unit 22 is capable of determining the trainmoving machine 8 that is to perform switching based on the
score Sc. In this case, the moving machine determination
25 unit 22 is capable of determining the train-moving machine
8 that is to perform switching using an equation, for
example, further including the time period from the current
time to the estimated switching completion time, as another
parameter for calculating the score Sc, in addition to the
30 parameters in Equation (1) above.
[0058] In addition, the moving machine determination
unit 22 is also capable of causing multiple ones of the
train-moving machines 8 to cooperate with each other to
22
allow those multiple ones of the train-moving machines 8 to
together draw a single train 1. In this case, the moving
machine determination unit 22 determines the multiple ones
of the train-moving machines 8 to be the train-moving
5 machines 8 that are to perform switching in a manner
similar to the manner described above. For example, when
two of the train-moving machines 8 are to be assigned to a
single train 1, the moving machine determination unit 22
determines the train-moving machine 8 having a lowest score
10 Sc and the train-moving machine 8 having a second lowest
score Sc to be the train-moving machines 8 that are to
perform switching on a single train 1.
[0059] The route determination unit 23 obtains the
operation schedule information from the storage unit 12,
15 and obtains, from the storage unit 12, information of the
current location of the train-moving machine 8 that is
determined by the moving machine determination unit 22 to
be the train-moving machine 8 that is to perform switching.
The route determination unit 23 determines the travel route
20 of the train-moving machine 8 that is to perform switching,
based on the operation schedule information and on the
information of the current location of the train-moving
machine 8 obtained. The travel route determined by the
route determination unit 23 includes a first travel route,
25 which is from the current location of the train-moving
machine 8 that is to perform switching to the traction
start location, and a second travel route, which is from
the traction start location to the traction end location.
[0060] Assume here that the operation schedule
30 information is as illustrated in FIG. 3, and the moving
machine determination unit 22 determines the train-moving
machine 8 that is to perform switching assigned the
operation ID “O1”. In this case, the route determination
23
unit 23 determines that a travel route from the current
location of the train-moving machine 8 determined by the
moving machine determination unit 22 to the boundary
location is the first travel route. In addition, the route
5 determination unit 23 determines that a travel route from
the boundary location to the inspection location is the
second travel route.
[0061] The route establishment unit 24 generates a
switch command based on the travel route determined by the
10 route determination unit 23, and causes the first
communication unit 10 to transmit the switch command
generated, to the coordinator device 6. The coordinator
device 6 controls one or more of the switches 4
corresponding to this switch command based on the switch
15 command from the route establishment unit 24. This causes
the travel route determined by the route determination unit
23 to be established in the rail yard 2.
[0062] The route establishment unit 24 also generates a
switch command during hours such as nighttime in which no
20 switching is performed, based on information of the travel
routes of the respective train-moving machines 8 included
in the patrol schedule information, and causes the first
communication unit 10 to transmit the switch command
generated, to the coordinator device 6. The coordinator
25 device 6 controls one or more of the switches 4
corresponding to this switch command based on the switch
command from the route establishment unit 24. This causes
a travel route following the patrol schedule information to
be established in the rail yard 2. Note that in a case in
30 which the first travel route and the second travel route
fail to be simultaneously established, the route
establishment unit 24 causes the first communication unit
10 to transmit a switch command in accordance with the
24
second travel route to the coordinator device 6 after the
second travel route becomes ready to be established, or
after the train-moving machine 8 has traveled the first
travel route.
5 [0063] The command processing unit 25 causes the second
communication unit 11 to transmit a traction command to the
train-moving machine 8 that has been determined, by the
moving machine determination unit 22, to be the trainmoving machine 8 that is to perform switching. A traction
10 command includes information of each of the traction start
location, the traction end location, the travel route
determined by the route determination unit 23, and the like.
A traction command also includes information of a waiting
location of the train-moving machine 8 after performing the
15 switching.
[0064] The train-moving machine 8 moves, based on the
traction command transmitted from the control device 7, to
the traction start location specified by the traction
command, couples with the train 1, and draws the train 1
20 from the traction start location to the traction end
location.
[0065] In addition, when the moving machine
determination unit 22 determines that multiple ones of the
train-moving machines 8 are to together perform switching
25 of a single train 1, the command processing unit 25 causes
the second communication unit 11 to transmit a traction
command to each of these multiple ones of the train-moving
machines 8.
[0066] Moreover, the command processing unit 25 causes
30 the second communication unit 11 to transmit an entry
prohibition command, which prohibits the train-moving
machines 8 other than the train-moving machine 8 that
receives the traction command, among the multiple train-
25
moving machines 8, from entering the travel route of the
train-moving machine 8 that is to perform switching. This
enables the rail yard train-switching system 100 to prevent
a train-moving machine 8 other than the train-moving
5 machine 8 that is to perform switching from entering the
travel route of the train-moving machine 8 that is to
perform switching.
[0067] The command processing unit 25 causes the second
communication unit 11 to transmit a patrol command to each
10 applicable one of the train-moving machines 8 during hours
such as nighttime in which no switching is performed, based
on information of the travel route and of the movement time
of each of the train-moving machines 8 included in the
patrol schedule information. Each of the train-moving
15 machines 8 performs a patrol operation in the rail yard 2
based on the patrol command transmitted from the control
device 7. Such patrol operation is a patrol operation for
detecting an intrusion to be detected into the rail yard 2.
The train-moving machine 8 patrols the rail yard 2 while
20 performing a process of detecting the presence or absence
of an intrusion to be detected. The train-moving machine 8
wirelessly transmits a result of detection of an intrusion
to be detected to the control device 7.
[0068] The inspection processing unit 26 is capable of
25 inspecting a train 1 based on the train state information
of that train 1 transmitted from the corresponding one of
the train-moving machines 8. For example, the inspection
processing unit 26 is capable of detecting an anomaly such
as damage or deformation of a train 1 based on a result of
30 comparison between the train image information stored in
the storage unit 12 and information of a captured image of
that train 1 transmitted from the train-moving machine 8.
The inspection processing unit 26 is also capable of
26
causing the second communication unit 11 to transmit the
train image information stored in the storage unit 12 to
the train-moving machine 8 to allow the train-moving
machine 8 to inspect the applicable train 1.
5 [0069] A configuration of the train-moving machine 8
will next be described. FIG. 8 is a diagram illustrating
an example of configuration of the train-moving machine
according to the first embodiment. As illustrated in FIG.
8, the train-moving machine 8 includes a wireless
10 communication unit 30, multiple sensors 311 to 31k, a
coupling 32, a first drive unit 33, a second drive unit 34,
a storage unit 35, and a processing unit 36, where k is an
integer greater than or equal to 2.
[0070] The wireless communication unit 30 transmits and
15 receives information to and from the control device 7 using
wireless communication via a wireless base station of a
wireless telephone communication network or via a wireless
base station of a wide area communication network. The
sensors 311 to 31k are each, for example, a position sensor
20 that calculates the current location of the train-moving
machine 8, an obstacle sensor that detects an obstacle
around the train-moving machine 8, an image sensor that
captures an image of surroundings of the train-moving
machine 8, a speed sensor that detects the moving speed of
25 the train-moving machine 8, a sensor that detects a radio
frequency identification (RFID) tag or a quick response
(QR) code (registered trademark), or the like. Note that
one of the multiple sensors 311 to 31k may be a sensor that
detects a bar code rather than a sensor that detects a two30 dimensional code such as a QR code.
[0071] A position sensor receives a positioning signal
from, for example, a positioning satellite such as a global
positioning system (GPS) satellite, and calculates the
27
current location of the train-moving machine 8 based on the
positioning signal received. The multiple sensors 311 to
31k may each be referred to hereinafter as sensor 31 when
no distinction is made.
5 [0072] The coupling 32 is a coupling to be coupled with
the coupling of a train 1. The train-moving machine 8
approaches a train 1, and presses the coupling 32 onto the
coupling of that train 1 thus to allow the coupling 32 to
be coupled with the coupling of the train 1.
10 [0073] The first drive unit 33 includes multiple wheels
that roll on the track 3, and a drive source for rotating
at least one or some of these multiple wheels. In addition,
the second drive unit 34 includes multiple tires, a drive
source for rotating at least one or some of these multiple
15 tires, and a moving mechanism. In the case in which the
train-moving machine 8 is battery-operated, the drive
sources of the first drive unit 33 and of the second drive
unit 34 are each a motor. In the case in which the trainmoving machine 8 is fuel-operated, the drive sources of the
20 first drive unit 33 and of the second drive unit 34 are
each an engine.
[0074] When the train-moving machine 8 rests on the
track 3, the moving mechanism of the second drive unit 34
moves the multiple wheels off of the track 3, and moves the
25 train-moving machine 8 transversely. This allows the
train-moving machine 8 to travel in an area off the track 3
using the multiple tires. The transverse direction is a
direction perpendicular to the direction in which the track
3 extends. Conversely, when the train-moving machine 8
30 rests in an area off the track 3, the moving mechanism of
the second drive unit 34 is capable of moving the multiple
tires off of the area off the track 3, and transversely
moving the train-moving machine 8 to place the multiple
28
wheels on the track 3.
[0075] The storage unit 35 stores command information,
moving machine state information, train state information,
train image information, and the like. The command
5 information includes information of a traction command
transmitted from the control device 7, information of a
patrol command, information of an entry prohibition command,
or the like. The moving machine state information is the
foregoing state information of the train-moving machine 8,
10 and is detected by one or some of the multiple sensors 31.
The train state information is the foregoing state
information of each applicable train 1, and is detected by
one or some of the multiple sensors 31. The train image
information is information of a captured image of a train 1
15 in a normal condition.
[0076] The processing unit 36 includes an information
acquisition unit 40, an information output unit 41, a
movement control unit 42, a coupling control unit 43, a
target detection unit 44, and an inspection processing unit
20 45. The information acquisition unit 40 obtains
information transmitted from the control device 7 and
received by the wireless communication unit 30, and stores
the information obtained, in the storage unit 35. The
information acquisition unit 40 also obtains the moving
25 machine state information and the train state information
from the multiple sensors 31, and stores the mobile machine
state information and the train state information obtained,
in the storage unit 35. The information output unit 41
causes the wireless communication unit 30 to transmit the
30 moving machine state information and the train state
information stored in the storage unit 35 to the control
device 7.
[0077] The movement control unit 42 operates the first
29
drive unit 33 based on the command information obtained by
the information acquisition unit 40 to cause the trainmoving machine 8 to move. For example, when the command
information obtained by the information acquisition unit 40
5 is information of a traction command, the movement control
unit 42 controls the first drive unit 33 to move the trainmoving machine 8 along the first travel route specified by
the traction command from the current location to the
traction start location specified by the traction command,
10 and at the traction start location, causes the coupling 32
of the train-moving machine 8 to couple with the coupling
of the train 1. The movement control unit 42 then controls
the first drive unit 33 to move the train-moving machine 8
along the second travel route specified by the traction
15 command from the traction start location to the traction
end location specified by the traction command.
[0078] The rail yard 2 has, for example, an RFID tag, a
QR code, or the like provided at each traction start
location and at each traction end location. When the
20 sensor 31 detects an RFID tag or a QR code corresponding to
the traction start location, the movement control unit 42
detects that the train-moving machine 8 has reached the
traction start location or vicinity of the traction start
location. In addition, when the sensor 31 detects an RFID
25 tag or a QR code corresponding to the traction end location,
the movement control unit 42 detects that the train-moving
machine 8 has reached the traction end location or vicinity
of the traction end location. Moreover, the movement
control unit 42 is also capable of detecting that the
30 train-moving machine 8 has reached the traction start
location, the traction end location, vicinity of the
traction start location, or vicinity of the traction end
location based on the location detected by a position
30
sensor among the multiple sensors 31 instead of using RFID
tag or QR code detection. Note that an RFID tag or a QR
code may be provided in vicinity of the traction start
location or in vicinity of the traction end location.
5 [0079] FIG. 9 is a diagram illustrating an example of
procedure of train traction performed by the train-moving
machine according to the first embodiment. As illustrated
in panel A of FIG. 9, the control device 7 transmits a
traction command to the train-moving machine 82 when the
10 control device 7 determines that the train-moving machine
82 is the train-moving machine 8 that is to draw the train
13. Such traction command includes information of each of
the traction start location, the traction end location, the
first travel route, the second travel route, and the
15 waiting location.
[0080] Upon reception of the traction command from the
control device 7, the train-moving machine 82 moves along
the first travel route specified by the traction command
from the current location to the traction start location
20 specified by the traction command as illustrated in panel B
of FIG. 9.
[0081] A QR code 50 is provided at the traction start
location, and upon detection of the QR code 50, the trainmoving machine 82 temporarily stops, then approaches the
25 train 13, and presses the coupling 32 to the coupling of
the train 13 to couple with the train 13. This allows the
train-moving machine 82 to couple with the train 13 at the
traction start location.
[0082] The train-moving machine 82 next moves along the
30 second travel route specified by the traction command from
the traction start location to the traction end location
specified by the traction command as illustrated in panel C
of FIG. 9. A QR code 51 is provided at the traction end
31
location, and upon detection of the QR code 51, the trainmoving machine 82 stops moving and decouples the train 13.
The train-moving machine 82 then moves to the waiting
location.
5 [0083] Switching of a train 1 may also be performed by
multiple ones of the train-moving machines 8 in conjunction.
In this case, the control device 7 transmits a traction
command to each of the multiple ones of the train-moving
machines 8. The multiple ones of the train-moving machines
10 8 draw the train 1 in conjunction with each other based on
the respective traction commands transmitted from the
control device 7.
[0084] FIG. 10 is a diagram illustrating another example
of procedure of train traction performed by the train15 moving machine according to the first embodiment. As
illustrated in panel A of FIG. 10, the control device 7
transmits a traction command to the train-moving machines
82 and 83 when the control device 7 determines that the
train-moving machines 82 and 83 are each the train-moving
20 machine that is to draw the train 13.
[0085] The traction command for each of the train-moving
machines 82 and 83 includes information of each of the
traction start location, the traction end location, the
travel route, and the waiting location. In the traction
25 command for the train-moving machine 82, the traction start
location is the current location, and the travel route is
the second travel route illustrated in panel A of FIG. 10.
In addition, in the traction command for the train-moving
machine 83, the travel route is a combination of the first
30 travel route and the second travel route illustrated in
panel A of FIG. 10.
[0086] Upon reception of the traction command from the
control device 7, the train-moving machine 83 moves along
32
the first travel route specified by the traction command
from the current location to the traction start location
specified by the traction command as illustrated in panel B
of FIG. 10.
5 [0087] A QR code 53 is provided at the traction start
location, and upon detection of the QR code 53, the trainmoving machine 83 temporarily stops, then approaches the
train 13, and presses the coupling 32 to the coupling of
the train 13 to couple with the train 13. This allows the
10 train-moving machine 83 to couple with the train 13 at the
traction start location.
[0088] The train-moving machines 82 and 83 next move
along the second travel route specified by the traction
command to the traction end location specified by the
15 traction command as illustrated in panel C of FIG. 10. A
QR code (not illustrated) is provided at the traction end
location, and upon detection of the QR code (not
illustrated), the train-moving machines 82 and 83 stop
moving and decouple the train 13. The train-moving
20 machines 82 and 83 then move to the waiting locations.
[0089] As described above, one or multiple train-moving
machines 8 can draw the train 1 based on traction commands.
Note that the location detection performed by the trainmoving machine(s) 8 in FIGS. 9 and 10 is not limited to
25 detection of a QR code, but may be detection of an RFID tag,
or location detection based on a positioning signal from a
positioning satellite.
[0090] A case may occur in which when the train-moving
machine 8 arrives at the traction start location specified
30 by the traction command under control of the movement
control unit 42, the train 1 to be drawn is not present due
to a travel delay or another cause. Upon determination
that the train 1 to be drawn is not present, the
33
information output unit 41 of the train-moving machine 8
causes the wireless communication unit 30 to transmit
information indicating that the train 1 to be drawn is not
present, to the control device 7. The processing unit 13
5 of the control device 7 is capable of changing the
operation schedule information based on the information
indicating that the train 1 to be drawn is not present.
Note that the information output unit 41 is capable of
determining whether the train 1 to be drawn is present
10 based on an image captured at the traction start location
by one of the sensors 31.
[0091] Upon reception, from the train-moving machine 8,
of the information indicating that the train 1 to be drawn
is not present, the processing unit 13 of the control
15 device 7 queries a train traffic control system that
manages the operation of the train 1 about the operational
situation of the train 1. The processing unit 13 of the
control device 7 is capable of changing the operation
schedule information based on the operational situation of
20 the train 1 notified by the train traffic control system.
Note that the processing unit 13 of the control device 7 is
also capable of periodically querying the train traffic
control system about the operational situation of each of
the trains 1, and then changing the operation schedule
25 information based on the operational situation of each of
the trains 1 that is periodically notified by the train
traffic control system.
[0092] A case may also occur in which a train 1
different from the train 1 to be drawn is present when the
30 train-moving machine 8 arrives at the traction start
location specified by the traction command under control of
the movement control unit 42. The information output unit
41 determines whether the train 1 at the traction start
34
location is the train 1 to be drawn based on, for example,
an image captured by a sensor 31. The traction command
includes traction target information, which is information
of the train 1 to be drawn, and a determination is thus
5 made of whether the train 1 at the traction start location
is the train 1 to be drawn by comparison of the traction
target information with information obtained from an image
captured by a sensor 31. When a train 1 different from the
train 1 to be drawn is present, the information output unit
10 41 causes the wireless communication unit 30 to transmit
information indicating that a train 1 different from the
train 1 to be drawn is present at the traction start
location, to the control device 7.
[0093] The processing unit 13 of the control device 7 is
15 capable of changing the operation schedule information
based on the information indicating that a train 1
different from the train 1 to be drawn is present. The
processing unit 13 of the control device 7 changes the
operation schedule information, as described above, based
20 on the operational situation of the train 1 obtained from
the train traffic control system that manages the operation
of the train 1.
[0094] In addition, the train-moving machine 8 includes
an image sensor for capturing a front view image of the
25 train-moving machine 8 and an image sensor for capturing a
rear view image of the train-moving machine 8, each as a
sensor 31. The movement control unit 42 determines that a
distance from another one of the train-moving machines 8
has fallen below a preconfigured distance based on a front
30 view image and on a rear view image of the train-moving
machine 8 output from these sensors 31.
[0095] Upon determination that the distance between the
train-moving machine 8 being moved and another train-moving
35
machine 8 has fallen below the preconfigured distance, the
movement control unit 42 operates the first drive unit 33
to avoid a collision between the train-moving machine 8
being moved and another train-moving machine 8. This
5 enables a collision between the train-moving machines 8 to
be prevented.
[0096] The movement control unit 42 is also capable of
transmitting and receiving information to and from another
train-moving machine 8 via the wireless communication unit
10 30 to operate the first drive unit 33 to avoid a collision
between the train-moving machines 8. For example, the
movement control unit 42 is also capable of obtaining
information about the current location of another trainmoving machine 8 via the wireless communication unit 30 to
15 operate the first drive unit 33 to avoid a collision
between train-moving machines 8 based on the current
location of the train-moving machine 8 being moved and on
the current location of another train-moving machine 8.
[0097] After the train-moving machine 8 has moved to the
20 traction end location, the coupling control unit 43
illustrated in FIG. 8 operates the coupling 32 to cause the
coupling 32 of the train-moving machine 8 to decouple the
coupling of the train 1. After the coupling control unit
43 has caused decoupling of the train 1, the movement
25 control unit 42 operates at least one of the first drive
unit 33 and the second drive unit 34 to move the trainmoving machine 8. The train-moving machine 8 is moved to,
for example, a predetermined location or the waiting
location specified by the traction command.
30 [0098] In addition, when the command information
obtained by the information acquisition unit 40 is
information of a patrol command, the movement control unit
42 causes the train-moving machine 8 to move along a patrol
36
route specified by the patrol command. In addition, when
the information acquisition unit 40 receives information of
an entry prohibition command while the train-moving machine
8 is moved based on a traction command or on a patrol
5 command, the movement control unit 42 prevents the trainmoving machine 8 from entering the travel route specified
by the entry prohibition command.
[0099] When the train-moving machine 8 is patrolling the
rail yard 2, the target detection unit 44 detects an
10 intrusion to be detected into the rail yard 2 based on, for
example, an image captured by an image sensor that is a
sensor 31. The intrusion to be detected is an intrusion by
an animal that has intruded into the rail yard 2, where the
term animal includes a human being. For example, an
15 intrusion to be detected is an intrusion by a human
intruder into the rail yard 2 or an intrusion by an animal
such as a fox or a raccoon dog that has intruded into the
rail yard 2.
[0100] Note that the target detection unit 44 is also
20 capable of detecting an intrusion to be detected into the
rail yard 2 based on, for example, a result of detection
performed by an infrared sensor or by a radar, each of
which is a sensor 31. The target detection unit 44 is also
capable of detecting an intrusion to be detected into the
25 rail yard 2 based on results of detection performed by
multiple ones of the sensors 31. For example, the target
detection unit 44 is capable of detecting an intrusion to
be detected into the rail yard 2 based on an image captured
by an image sensor and on a result of detection performed
30 by an infrared sensor.
[0101] FIG. 11 is a diagram illustrating a process of
detection of an intruder during patrol performed by the
train-moving machine according to the first embodiment. As
37
illustrated in FIG. 11, upon detection of an intruder 60
during traveling along the patrol route specified by the
control device 7, the train-moving machine 8 transmits a
detection result indicating that the intruder 60 has been
5 detected, to the control device 7. The control device 7
notifies the result of detection of the intruder 60 by the
train-moving machine 8 to the central control room 9. This
enables the operator of the central control room 9 to know
about the intruder 60 into the rail yard 2. Note that the
10 train-moving machine 8 is also capable of transmitting, to
the control device 7, a result of detection of the intruder
60 including an image of the intruder 60 captured by a
sensor 31.
[0102] The inspection processing unit 45 illustrated in
15 FIG. 8 is capable of inspecting a train 1 based on the
train state information stored in the storage unit 35. The
inspection processing unit 45 is capable of detecting an
anomaly such as damage or deformation of a train 1 based on,
for example, a result of comparison between an image
20 represented by the train image information stored in the
storage unit 35 and an image of the train 1 captured by a
sensor 31 that is an image sensor.
[0103] FIG. 12 is a diagram for describing an example of
inspection method performed by the train-moving machine
25 according to the first embodiment. As illustrated in FIG.
12, the inspection processing unit 45 compares an image
represented by the train image information with an image of
the train 1 captured by a sensor 31 that is an image sensor.
The train 1 in the image captured by a sensor 31 has damage,
30 which is unobserved in the image of the train 1 in a normal
condition. Thus, the inspection processing unit 45 detects
that the train 1 on inspection has damage.
[0104] Note that when the drive source of the train-
38
moving machine 8 is a battery, and the remaining battery
capacity detected by the sensor 31 is determined to be less
than or equal to a threshold, the movement control unit 42
illustrated in FIG. 8 is also capable of moving the train5 moving machine 8 to a charging station to charge the
battery at the charging station.
[0105] A process performed by the processing unit 13 of
the control device 7 will next be described with reference
to a flowchart. FIG. 13 is a flowchart illustrating an
10 example of process performed by the processing unit of the
control device according to the first embodiment. The
processing unit 13 of the control device 7 repeatedly
performs the process illustrated in FIG. 13.
[0106] As illustrated in FIG. 13, the processing unit 13
15 of the control device 7 determines whether it is time to
provide an instruction to perform switching, based on the
operation schedule information stored in the storage unit
12 (step S10). If it is determined that it is time to
provide an instruction to perform switching (step S10: Yes),
20 the processing unit 13 determines the train-moving machine
8 that is to perform switching based on the operation
schedule information and on the state information of each
of the train-moving machines 8 stored in the storage unit
12 (step S11).
25 [0107] Next, the processing unit 13 determines the
travel route of the train-moving machine 8 that is to
perform switching, based on the operation schedule
information stored in the storage unit 12 and on
information of the current location of the train-moving
30 machine 8 determined by the operation at step S11 (step
S12). The processing unit 13 establishes the travel route
of the train-moving machine 8 determined by the operation
at step S12 (step S13). In the operation at step S13, the
39
processing unit 13 generates a switch command based on the
travel route determined by the operation at step S12, and
causes the first communication unit 10 to transmit the
switch command generated, to the coordinator device 6.
5 This causes the coordinator device 6 to control the
applicable one or ones of the switches 4, thereby
establishing the travel route of the train-moving machine 8
in the rail yard 2.
[0108] Next, the processing unit 13 causes the second
10 communication unit 11 to transmit a traction command to the
train-moving machine 8 determined by the operation at step
S12 (step S14). Such traction command includes, for
example, information of each of the traction start location,
the traction end location, the travel route, and the
15 waiting location.
[0109] When the operation at step S14 is complete, or
when it is determined that it is not time to provide an
instruction to perform switching (step S10: No), the
processing unit 13 determines whether information from the
20 train-moving machine 8 has been received by the second
communication unit 11 (step S15). If it is determined that
information from the train-moving machine 8 has been
received (step S15: Yes), the processing unit 13 obtains
the information from the train-moving machine 8 received by
25 the second communication unit 11, and stores the
information obtained, in the storage unit 12 (step S16).
[0110] When the operation at step S16 is complete, or
when it is determined that no information from the trainmoving machine 8 has been received (step S15: No), the
30 processing unit 13 determines whether a request from the
monitor terminal 91 has been received by the first
communication unit 10 (step S17). If it is determined that
a request from the monitor terminal 91 has been received by
40
the first communication unit 10 (step S17: Yes), the
processing unit 13 obtains, from the first communication
unit 10, the request from the monitor terminal 91,
generates information meeting the request from the monitor
5 terminal 91, and causes the first communication unit 10 to
transmit the information generated, to the monitor terminal
91 (step S18).
[0111] When the operation at step S18 is complete, or
when it is determined that no request from the monitor
10 terminal 91 has been received by the first communication
unit 10 (step S17: No), the processing unit 13 terminates
the process illustrated in FIG. 13.
[0112] A process performed by the processing unit 36 of
the train-moving machine 8 will next be described with
15 reference to a flowchart. FIG. 14 is a flowchart
illustrating an example of process performed by the
processing unit of the train-moving machine according to
the first embodiment. The processing unit 36 of the trainmoving machine 8 repeatedly performs the process
20 illustrated in FIG. 14.
[0113] As illustrated in FIG. 14, the processing unit 36
of the train-moving machine 8 determines whether a traction
command has been received by the wireless communication
unit 30 (step S20). If it is determined that a traction
25 command has been received by the wireless communication
unit 30 (step S20: Yes), the processing unit 36 performs a
traction process (step S21). Such traction process is a
set of operations at steps S30 to S34 illustrated in FIG.
15, which will be described later in detail.
30 [0114] When the operation at step S21 is complete, or
when it is determined that no traction command has been
received (step S20: No), the processing unit 36 determines
whether a patrol command has been received by the wireless
41
communication unit 30 (step S22). If it is determined that
a patrol command has been received (step S22: Yes), the
processing unit 36 performs a patrol process (step S23).
Such patrol process is a set of operations at steps S40 to
5 S43 illustrated in FIG. 16, which will be described later
in detail.
[0115] When the operation at step S23 is complete, or
when it is determined that no patrol command has been
received by the wireless communication unit 30 (step S22:
10 No), the processing unit 36 terminates the process
illustrated in FIG. 14.
[0116] FIG. 15 is a flowchart illustrating an example of
the traction process performed by the processing unit of
the train-moving machine according to the first embodiment.
15 As illustrated in FIG. 15, the processing unit 36 operates
the first drive unit 33 in accordance with the traction
command transmitted from the control device 7 and received
by the wireless communication unit 30 to cause the trainmoving machine 8 to move to the traction start location and
20 to cause the train-moving machine 8 to couple with an
applicable one of the trains 1 at the traction start
location (step S30).
[0117] Next, the processing unit 36 inspects the train 1
based on a result of detection performed by a sensor 31 for
25 detecting the states of the trains 1, and causes the
wireless communication unit 30 to transmit an inspection
result to the control device 7 (step S31). In the
operation at step S31, the processing unit 36 inspects the
train 1 based on, for example, an image of the train 1
30 captured by a sensor 31, and causes the wireless
communication unit 30 to transmit an inspection result to
the control device 7.
[0118] Note that the processing unit 36 is also capable
42
of inspecting a train-moving machine 8 at a location other
than the traction start location in place of, or in
addition to, inspection of the train-moving machine 8 at
the traction start location. For example, the processing
5 unit 36 is capable of inspecting a train 1 that is
approaching the train-moving machine 8 based on a result of
detection performed by a sensor 31 for detecting the states
of the trains 1. The processing unit 36 is also capable of
inspecting a train-moving machine 8, different from one to
10 be drawn, that is moving for switching.
[0119] Next, the processing unit 36 operates the first
drive unit 33 in accordance with the traction command to
cause the train-moving machine 8 to move to the traction
end location (step S32). The processing unit 36 then
15 controls the coupling 32 to cause the train-moving machine
8 to decouple the train 1 (step S33). After decoupling of
the train 1, the processing unit 36 operates at least one
of the first drive unit 33 and the second drive unit 34 to
move the train-moving machine 8 to the waiting location
20 specified by the traction command (step S34), and
terminates the process illustrated in FIG. 15.
[0120] FIG. 16 is a flowchart illustrating an example of
the patrol process performed by the processing unit of the
train-moving machine according to the first embodiment. As
25 illustrated in FIG. 16, the processing unit 36 operates the
first drive unit 33 in accordance with the patrol command
transmitted from the control device 7 and received by the
wireless communication unit 30 to cause the train-moving
machine 8 to start patrol (step S40).
30 [0121] After the train-moving machine 8 starts patrol,
the processing unit 36 determines whether an intrusion to
be detected has been detected based on information obtained
from a sensor 31 (step S41). If it is determined that an
43
intrusion to be detected has been detected (step S41: Yes),
the processing unit 36 causes the wireless communication
unit 30 to transmit a detection result indicating that an
intrusion to be detected has been detected, to the control
5 device 7 (step S42). Note that the processing unit 36 is
also capable of causing the wireless communication unit 30
to transmit, to the control device 7, a detection result
indicating the presence or absence of an intrusion to be
detected regardless of whether an intrusion to be detected
10 has been detected or not.
[0122] When the operation at step S42 is complete, or
when it is determined that no intrusion to be detected has
been detected (step S41: No), the processing unit 36
determines whether the patrol in accordance with the patrol
15 command is complete (step S43). If it is determined that
the patrol is not yet complete (step S43: No), the
processing unit 36 returns the process back to step S41.
If it is determined that the patrol is complete (step S43:
Yes), the processing unit 36 terminates the process
20 illustrated in FIG. 16. Note that the processing unit 36
is also capable of inspecting the train-moving machine 8
during patrol.
[0123] Note that the above example assumes that the
processing unit 13 of the control device 7 determines the
25 travel route, but the travel route can be performed by the
processing unit 36 of the train-moving machine 8 determined
by the control device 7 to be the train-moving machine 8
that is to perform switching. For example, the processing
unit 36 of the train-moving machine 8 is capable of
30 determining the first travel route and the second travel
route based on the traction start location and on the
traction end location included in the traction command.
[0124] In addition, the processing unit 36 of the train-
44
moving machine 8 is capable of transmitting and receiving
information to and from another train-moving machine 8 via
wireless communication using the wireless communication
unit 30. The processing unit 36 of the train-moving
5 machine 8 is capable of determining the first travel route
and the second travel route based on information obtained
from another train-moving machine 8. An example of the
information obtained from another train-moving machine 8 is
information of the travel route for use in switching
10 performed by another train-moving machine 8.
[0125] After determination of the first travel route and
the second travel route, the processing unit 36 of the
train-moving machine 8 is capable of requesting the control
device 7 to establish the first travel route and the second
15 travel route via the wireless communication unit 30. The
control device 7 is capable of generating a switch command
based on the request from the train-moving machine 8, and
causing the first communication unit 10 to transmit the
switch command generated, to the coordinator device 6.
20 Note that the processing unit 36 of the train-moving
machine 8 is also capable of generating a switch command in
accordance with the first travel route and with the second
travel route, and causing the wireless communication unit
30 to transmit the switch command generated, to the
25 coordinator device 6.
[0126] In addition, although the rail yard trainswitching system 100 described above is configured to
include the multiple train-moving machines 8, the number of
the train-moving machines 8 may be one. Moreover, although
30 the rail yard train-switching system 100 described above
manages a single rail yard 2, the rail yard train-switching
system 100 may be configured to manage multiple rail yards
2.
45
[0127] FIG. 17 is a diagram illustrating an example of
hardware configuration of each of the processing unit of
the control device and the processing unit of the trainmoving machine according to the first embodiment. As
5 illustrated in FIG. 17, each of the processing units 13 and
36 includes a computer including a processor 101 and a
memory 102.
[0128] The processor 101 and the memory 102 can exchange
information with each other via, for example, a bus 103.
10 The processor 101 reads and executes a program stored in
the memory 102 to implement the functionality of the
processing unit 13. In addition, the processor 101 reads
and executes a program stored in the memory 102 to
implement the functionality of the processing unit 36. The
15 processor 101 is an example of, for example, a processing
circuit, and includes one of more of a central processing
unit (CPU), a digital signal processor (DSP), and a system
large scale integration (LSI).
[0129] The memory 102 includes one or more of a random
20 access memory (RAM), a read-only memory (ROM), a flash
memory, an erasable programmable read-only memory (EPROM),
and an electrically erasable programmable read-only memory
(EEPROM) (registered trademark). The memory 102 also
includes a recording medium that records a computer25 readable program. Such recording medium includes one or
more of a non-volatile or volatile semiconductor memory, a
magnetic disk, a flexible memory, an optical disk, a
compact disc, and a digital versatile disc (DVD). Note
that each of the processing units 13 and 36 may include an
30 integrated circuit such as an application specific
integrated circuit (ASIC) and a field programmable gate
array (FPGA).
[0130] As described above, the rail yard train-switching
46
system 100 according to the first embodiment includes a
train-moving machine 8 and a control device 7. The trainmoving machine 8 draws a train 1 in the rail yard 2. The
control device 7 transmits a traction command to the train5 moving machine 8 based on an operation schedule. The
train-moving machine 8 moves, based on the traction command
transmitted from the control device 7, to a traction start
location specified by the traction command to couple with
the train 1, and draws the train 1 from the traction start
10 location to a traction end location specified by the
traction command. The traction start location is an
example of a first location. The traction end location is
an example of a second location. This enables the rail
yard train-switching system 100 to reduce or eliminate
15 operational errors each caused by a human error, thereby
enabling a switching operation of a train 1 to be
efficiently performed in the rail yard 2. The rail yard
train-switching system 100 also eliminates the need for
operation of a train-moving machine by a qualified person
20 permitted to operate the train-moving machine unlike a
conventional system, and merely requires to monitor
switching of the multiple trains 1 by a reduced number of
personnel, thereby enabling a reduction in the number of
qualified persons in the rail yard 2.
25 [0131] In addition, the control device 7 includes the
moving machine determination unit 22. The moving machine
determination unit 22 determines the train-moving machine 8
that is to receive the traction command among the multiple
train-moving machines 8, based on the states of the
30 respective multiple train-moving machines 8. This enables
the rail yard train-switching system 100 to determine an
appropriate one of the train-moving machines 8 in
consideration of the states of the respective train-moving
47
machines 8 to be the train-moving machine 8 that is to
perform switching.
[0132] The control device 7 also includes the route
determination unit 23. The route determination unit 23
5 determines a first travel route to the traction start
location of the train-moving machine 8 and a second travel
route from the traction start location to the traction end
location of the train-moving machine 8. This enables the
rail yard train-switching system 100 to manage the travel
10 route of the train-moving machine 8, thereby enabling a
switching operation of a train 1 to be efficiently
performed in the rail yard 2.
[0133] In addition, the control device 7 transmits an
entry prohibition command, which prohibits the train-moving
15 machines 8 other than the train-moving machine 8 that
receives the traction command, among the multiple trainmoving machines 8, from entering the first travel route and
the second travel route. This enables the rail yard trainswitching system 100 to prevent interruption of switching
20 performed by the train-moving machine 8 by another trainmoving machine 8, thereby enabling a switching operation of
a train 1 to be efficiently performed in the rail yard 2.
[0134] In addition, the multiple ones of the trainmoving machines 8 move, based on the traction command, a
25 train 1 specified by the traction command in conjunction
with each other. This enables the rail yard trainswitching system 100 to perform a switching operation of a
train 1 efficiently in the rail yard 2 even when, for
example, a single train-moving machine 8 is insufficient to
30 draw the train 1.
[0135] In addition, the train-moving machine 8 includes
the target detection unit 44 for detecting an intrusion to
be detected into the rail yard 2. The control device 7
48
transmits a patrol command to the train-moving machine 8
based on a preconfigured patrol schedule the train-moving
machine 8 patrols the rail yard 2 while detecting presence
or absence of an intrusion to be detected using the target
5 detection unit 44, based on the patrol command transmitted
from the control device 7. This enables the rail yard
train-switching system 100 to cause the train-moving
machine 8 to function as a security facility, thereby
enabling the security facility that is to be installed in
10 the rail yard 2 to be simplified.
[0136] The train-moving machine 8 also includes the one
or more sensors 31 for inspecting the train 1 specified by
the traction command. The control device 7 or the trainmoving machine 8 inspects the train 1 specified by the
15 traction command, based on a result of detection performed
by the one or more sensors 31. This enables the rail yard
train-switching system 100 to inspect the trains 1 in the
rail yard 2.
[0137] In addition, the one or more sensors 31 include
20 an image sensor. The control device 7 or the train-moving
machine 8 compares an image of the train 1 specified by the
traction command, captured by the image sensor with an
image of the train 1 in a normal condition to detect an
anomaly such as damage or deformation of the train 1. This
25 enables the rail yard train-switching system 100 to inspect
the trains 1 in the rail yard 2 using, for example, the one
or more sensors 31 for use in switching.
[0138] The configurations described in the foregoing
embodiment are merely examples. These configurations may
30 be combined with a known other technology, and a part of
the configurations may be omitted and/or modified without
departing from the spirit thereof.
49
Reference Signs List
[0139] 1, 11, 12, 13, 14, ..., 1n railroad train; 2
rail yard; 3, 31-314 track; 4, 41-414 switch; 5 inspection
and repair shop; 6 coordinator device; 7 control device;
5 8, 81, 82, 83, 84, ..., 8m train-moving machine; 9 central
control room; 10 first communication unit; 11 second
communication unit; 12, 35 storage unit; 13, 36
processing unit; 20, 40 information acquisition unit; 21,
41 information output unit; 22 moving machine
10 determination unit; 23 route determination unit; 24 route
establishment unit; 25 command processing unit; 26, 45
inspection processing unit; 30 wireless communication
unit; 31, 311-31k sensor; 32 coupling; 33 first drive
unit; 34 second drive unit; 42 movement control unit; 43
15 coupling control unit; 44 target detection unit; 50, 51,
53 QR code; 60 intruder; 80, 82, 83 monitor image; 81
operation schedule management image; 91 monitor terminal;
100 rail yard train-switching system.

WE CLAIM:
1. A rail yard train-switching system comprising:
a train-moving machine to draw a railroad train in a
rail yard; and
5 a control device to transmit a traction command to the
train-moving machine based on an operation schedule,
wherein
the train-moving machine
moves, based on the traction command transmitted from
10 the control device, to a first location specified by the
traction command to couple with the railroad train, and
draws the railroad train from the first location to a
second location specified by the traction command.
15 2. The rail yard train-switching system according to
claim 1, comprising:
a plurality of the train-moving machine, wherein
the control device
includes a moving machine determination unit to
20 determine the train-moving machine that is to receive the
traction command among the plurality of the train-moving
machine, based on states of the respective plurality of the
train-moving machine.
25 3. The rail yard train-switching system according to
claim 2, wherein
the control device includes
a route determination unit to determine a first travel
route to the first location of the train-moving machine,
30 and a second travel route from the first location to the
second location of the train-moving machine, and
a route establishment unit to cause a coordinator
device to control a switch in the rail yard, based on the
51
first travel route and on the second travel route
determined by the route determination unit.
4. The rail yard train-switching system according to
5 claim 3, wherein
the control device
transmits an entry prohibition command prohibiting
ones of the plurality of the train-moving machine other
than the train-moving machine that receives the traction
10 command, among the plurality of the train-moving machine,
from entering the first travel route and the second travel
route.
5. The rail yard train-switching system according to any
15 one of claims 2 to 4, wherein
the plurality of train-moving machine
move, based on the traction command, in conjunction
with each other a railroad train specified by the traction
command.
20
6. The rail yard train-switching system according to any
one of claims 1 to 5, wherein
the train-moving machine
includes a target detection unit to detect an
25 intrusion to be detected into the rail yard,
the control device
transmits a patrol command to the train-moving machine
based on a preconfigured patrol schedule, and
the train-moving machine
30 patrols the rail yard while detecting presence or
absence of the intrusion to be detected using the target
detection unit, based on the patrol command transmitted
from the control device.
52
7. The rail yard train-switching system according to any
one of claims 1 to 6, wherein
the train-moving machine
5 includes a sensor for inspecting the railroad train,
and
the control device or the train-moving machine
inspects the railroad train based on a result of
detection performed by the sensor.
10
8. The rail yard train-switching system according to
claim 7, wherein
the sensor
is an image sensor, and
15 the control device or the train-moving machine
compares an image of the railroad train captured by
the image sensor with an image of the railroad train in a
normal condition to detect an anomaly of the railroad train.
20 9. A control device comprising:
an acquisition unit to obtain an operation schedule;
a communication unit to communicate with a trainmoving machine that draws a railroad train in a rail yard;
and
25 a control unit to cause, based on the operation
schedule obtained by the acquisition unit, the
communication unit to transmit a traction command to the
train-moving machine.
30 10. A control method for use by a computer, the control
method comprising:
a first step of obtaining an operation schedule; and
a second step of transmitting, based on the operation
53
schedule obtained in the first step, a traction command to
a train-moving machine that is to draw a railroad train in
a rail yard.
5 11. A control program causing a computer to perform:
a first step of obtaining an operation schedule; and
a second step of transmitting, based on the operation
schedule obtained in the first step, a traction command to
a train-moving machine that is to draw a railroad train in
10 a rail yard.