FORM 2
THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENTS RULES, 2003
COMPLETE SPECIFICATION
[See section 10, Rule 13]
SPINNING AND SLIDING DETECTION DEVICE AND SPINNING AND
SLIDING DETECTION METHOD;
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
INVENTION AND THE MANNER IN WHICH IT IS TO BE PERFORMED
2
DESCRIPTION
Field
[0001] The present disclosure relates to a spinning and
5 sliding detection device and a spinning and sliding
detection method for detecting spinning and sliding
occurring at a train.
Background
10 [0002] To achieve high-density train operation, it has
been required to precisely determine the positions of
trains traveling. However, events such as spinning and
sliding may occur at trains, depending on the state of
contact surfaces between the wheels of the trains and rails.
15 If spinning, sliding, etc. occurs at a train, a train
position calculated using a signal output from a speed
generator etc. deviates from an actual train position. To
correct the train position, therefore, it is also required
to accurately detect spinning, sliding, etc. occurring at
20 the train. For the technique disclosed in patent
Literature 1, an on-board device installed in a train
detects the occurrence of spinning or sliding at the train
from a difference between accelerations obtained from
detected values of a speed generator and an inertial sensor,
25 and corrects travel information including the travel
position of the train etc., on the basis of a difference
between jerks obtained from detected values of the speed
generator and the inertial sensor.
30 Citation List
Patent Literature
[0003] Patent Literature 1: Japanese Patent No. 6279446
3
Summary of Invention
Problem to be solved by the Invention
[0004] The on-board device described in Patent
Literature 1 performs various determinations on the basis
5 of differences between accelerations and jerks obtained
from detected values of the speed generator and the
inertial sensor. A problem with the on-board device
described in Patent Literature 1 is that if a failure
occurs in a sensor, various determinations are performed on
10 the basis of wrong detected values, and thus there is a
possibility of false detection of the occurrence of
spinning, sliding, etc.
[0005] The present disclosure has been made in view of
the above. It is an object of the present disclosure to
15 provide a spinning and sliding detection device that can
prevent a decrease in the accuracy of detection of spinning
and sliding occurring at a train.
Means to Solve the Problem
20 [0006] To solve the above problem and achieve the object,
the present disclosure provides a spinning and sliding
detection device to be installed in a train. The device
comprises: a change detection unit to periodically acquire
a first detected value from a first sensor to detect a
25 rotational state of a wheel of the train, calculate a first
change amount, using the first detected values,
periodically acquire a second detected value from a second
sensor to detect speed or acceleration of the train,
calculate a second change amount, using the second detected
30 values, and select a change mode from a plurality of change
modes defined for determining whether spinning or sliding
has occurred at the train, using the first change amount,
the second change amount, a first threshold, and a second
4
threshold and output the selected change mode; and a
spinning and sliding determination unit to determine
whether spinning or sliding has occurred at the train and
determine whether a failure has occurred in either the
5 first sensor or the second sensor, on a basis of the change
mode acquired from the change detection unit. Effects of the Invention
[0007] The spinning and sliding detection device of the
10 present disclosure has the effect of preventing the
decrease in the accuracy of detection of spinning and
sliding occurring at the train.
Brief Description of Drawings
15 [0008] FIG. 1 is a diagram illustrating an example
configuration of a train equipped with a spinning and
sliding detection device according to a first embodiment.
FIG. 2 is a diagram illustrating an example
configuration of the spinning and sliding detection device
20 according to the first embodiment.
FIG. 3 is a flowchart illustrating the operation of
the spinning and sliding detection device according to the
first embodiment.
FIG. 4 is a diagram illustrating an example of a
25 configuration of processing circuitry when a processor and
memory implement processing circuitry of the spinning and
sliding detection device according to the first embodiment.
FIG. 5 is a diagram illustrating an example of a
configuration of processing circuitry when dedicated
30 hardware constitutes the processing circuitry of the
spinning and sliding detection device according to the
first embodiment.
FIG. 6 is a flowchart illustrating the operation of
5
the spinning and sliding detection device according to a
second embodiment.
FIG. 7 is a diagram illustrating an example
configuration of the spinning and sliding detection device
5 according to a third embodiment.
FIG. 8 is a diagram illustrating an example
configuration of the train equipped with the spinning and
sliding detection device according to a fourth embodiment.
FIG. 9 is a diagram illustrating an example
10 configuration of the train equipped with the spinning and
sliding detection device according to a fifth embodiment.
FIG. 10 is a diagram illustrating an example
configuration of the train equipped with the spinning and
sliding detection device according to a sixth embodiment.
15 FIG. 11 is a diagram illustrating an example
configuration of the train equipped with the spinning and
sliding detection device according to a seventh embodiment.
FIG. 12 is a diagram illustrating an example
configuration of the spinning and sliding detection device
20 according to an eighth embodiment.
Description of Embodiments
[0009] A spinning and sliding detection device and a
spinning and sliding detection method according to
25 embodiments of the present disclosure will be hereinafter
described in detail with reference to the drawings.
[0010] First Embodiment.
FIG. 1 is a diagram illustrating an example
configuration of a train 1 equipped with a spinning and
30 sliding detection device 20 according to a first embodiment.
The train 1 includes a train control device 10, a speed
sensor 50, and an acceleration sensor 60. For the
simplicity of the description, the train 1 in the example
6
of FIG. 1 includes one vehicle but may include two or more
vehicles. The train control device 10 includes the
spinning and sliding detection device 20 and a command
value generation unit 30. The train control device 10,
5 that is, the spinning and sliding detection device 20 and
the command value generation unit 30 are installed in the
train 1. The spinning and sliding detection device 20
determines whether spinning or sliding has occurred at the
train 1, and outputs a determination result to the command
10 value generation unit 30. On the basis of the
determination result acquired from the spinning and sliding
detection device 20, the command value generation unit 30
generates a command value to control the travel of the
train 1.
15 [0011] The speed sensor 50 detects the rotational state
of a wheel 40 of the train 1 and outputs speed information
on the train 1 based on the rotation of the wheel 40 of the
train 1 or a signal for calculating the speed of the train
1. The speed information on the train 1 output by the
20 speed sensor 50 or the signal for calculating the speed of
the train 1 is referred to as a first detected value. The
speed sensor 50 is referred to as a first sensor. The
acceleration sensor 60 detects the acceleration of the
train 1 and outputs acceleration information on the train 1.
25 The acceleration information on the train 1 output by the
acceleration sensor 60 is referred to as a second detected
value. The acceleration sensor 60 is referred to as a
second sensor.
[0012] FIG. 2 is a diagram illustrating an example
30 configuration of the spinning and sliding detection device
20 according to the first embodiment. The spinning and
sliding detection device 20 includes a change detection
unit 21 and a spinning and sliding determination unit 22.
7
The change detection unit 21 periodically acquires the
first detected value from the speed sensor 50, and
calculates a first change amount, using the first detected
values. The change detection unit 21 periodically acquires
5 the second detected value from the acceleration sensor 60
that detects the acceleration of the train 1, and
calculates a second change amount, using the second
detected values. Using the first change amount, the second
change amount, a first threshold, and a second threshold,
10 the change detection unit 21 selects a change mode from a
plurality of change modes defined for determining whether
spinning or sliding has occurred at the train 1, and
outputs the selected change mode. The change detection
unit 21 includes a first change detection unit 211 and a
15 second change detection unit 212.
[0013] The first change detection unit 211 periodically
acquires the first detected value from the speed sensor 50,
and calculates the first change amount, using the first
detected values. On the basis of a comparison result
20 obtained by comparing the first change amount with the
first threshold, the first change detection unit 211
selects one first change mode from a plurality of first
change modes, and outputs the selected first change mode.
The plurality of first change modes, which are the above25 described plurality of change modes, indicate states of
change in the first detected value. In the present
embodiment, specifically, the first change detection unit
211 periodically calculates a first acceleration of the
train 1, using first speeds that are the first detected
30 values of the train 1 acquired from the speed sensor 50,
periodically calculates a first jerk of the train 1, using
the first accelerations, and uses the first jerk as the
first change amount. The first threshold may be one or a
8
plurality of first thresholds. For the first speed of the
train 1, the first change detection unit 211 may calculate
the first speed from pulse information that is the signal
output from the speed sensor 50, or may acquire the first
5 speed as the speed information obtained by converting the
pulse information into a speed output from the speed sensor
50. To simplify the description, the present embodiment is
described taking an example in which the first change
detection unit 211 acquires the first speed as the speed
10 information.
[0014] The second change detection unit 212 periodically
acquires the second detected value from the acceleration
sensor 60, and calculates the second change amount, using
the second detected values. On the basis of a comparison
15 result obtained by comparing the second change amount with
the second threshold, the second change detection unit 212
selects one second change mode from a plurality of second
change modes, and outputs the selected second change mode.
The plurality of second change modes, which are the above20 described change modes, indicate states of change in the
second detected value. In the present embodiment,
specifically, the second change detection unit 212
calculates a second jerk of the train 1, using second
accelerations of the train 1 acquired from the acceleration
25 sensor 60, and uses the second jerk as the second change
amount. The second threshold may be one or a plurality of
second thresholds.
[0015] On the basis of the change mode acquired from the
change detection unit 21, the spinning and sliding
30 determination unit 22 determines whether spinning or
sliding has occurred at the train 1, and determines whether
a failure has occurred in either the speed sensor 50 or the
acceleration sensor 60. In the present embodiment,
9
specifically, on the basis of a combination of the first
change mode and the second change mode, the spinning and
sliding determination unit 22 determines whether spinning
or sliding has occurred at the train 1, and determines
5 whether a failure has occurred in either the speed sensor
50 or the acceleration sensor 60.
[0016] The operation of the spinning and sliding
detection device 20 will be described. FIG. 3 is a
flowchart illustrating the operation of the spinning and
10 sliding detection device 20 according to the first
embodiment.
[0017] The first change detection unit 211 acquires the
first speed, which is the first detected value, from the
speed sensor 50 of the wheel 40 at each period Ts1 (step
15 S101), and holds the acquired first speed (step S102).
Using the held first speeds, the first change detection
unit 211 calculates the first acceleration, which is the
acceleration of the wheel 40, at each period Ta1 (step
S103), and holds the calculated first acceleration (step
20 S104). For example, the first change detection unit 211
calculates the first acceleration from the period Ta1 and a
difference between the time series of the first speeds.
Using the held first accelerations, the first change
detection unit 211 calculates the first jerk, which is the
25 jerk of the wheel 40, at each period Tj1 (step S105). The
first jerk is defined as the first change amount. For
example, the first change detection unit 211 calculates the
first jerk from the period Tj1 and a difference between the
time series of the first accelerations. The first change
30 detection unit 211 compares the first jerk with a
predetermined first threshold J_lim1, and determines the
first change mode at each period Tc, on the basis of the
comparison result (step S106). The first threshold J_lim1
10
as described herein is single. In this case, the number of
the first change modes is two: the first jerk is less than
the first threshold J_lim1; and the first jerk is greater
than or equal to the first threshold J_lim1. The first
5 change detection unit 211 selects one of these two modes,
as the first change mode and outputs the selected mode to
the spinning and sliding determination unit 22.
[0018] Note that in the first change detection unit 211,
the period Ta1 at which to calculate the first acceleration,
10 the period Tj1 at which to calculate the first jerk, and
the period Tc at which to determine the first change mode
do not need to be the same as the period Ts1, i.e., a
sampling period at which to acquire the first speed from
the speed sensor 50, and these periods Ta1, Tj1, Tc may be
15 different from one another. For example, when the period
Tc is P times the period Tj1, the first change detection
unit 211 may determine the first change mode on the basis
of the result of a comparison between the first threshold
J_lim1 and a mean value obtained by averaging P first jerks.
20 The period Ta1 at which to calculate the first acceleration
and the period Tj1 at which to calculate the first jerk may
be variable depending on the speed of the train 1.
[0019] The second change detection unit 212 acquires the
second acceleration, which is the second detected value,
25 from the acceleration sensor 60 of the vehicle of the train
1 at each period Ts2 (step S107), and holds the acquired
second acceleration (step S108). Using the held second
accelerations, the second change detection unit 212
calculates the second jerk, which is the jerk of the
30 vehicle of the train 1, at each period Tj2 (step S109).
The second jerk is defined as the second change amount.
For example, the second change detection unit 212
calculates the second jerk from the period Tj2 and a
11
difference between the time series of the second
accelerations. The second change detection unit 212
compares the second jerk with a predetermined second
threshold J_lim2, and determines the second change mode at
5 each period Tc, on the basis of the comparison result (step
S110). The second threshold J_lim2 described herein is
single. In this case, the number of the second change
modes is two: the second jerk is less than the second
threshold J_lim2; and the second jerk is greater than or
10 equal to the second threshold J_lim2. The second change
detection unit 212 selects one of these two modes as the
second change mode and outputs the selected mode to the
spinning and sliding determination unit 22.
[0020] Note that in the second change detection unit 212,
15 the period Tj2 at which to calculate the second jerk and
the period Tc at which to determine the second change mode
do not need to be the same as the period Ts2, i.e., a
sampling period at which to acquire the second acceleration
from the acceleration sensor 60, and these periods Tj2, Tc
20 may be different from one another. For example, when the
period Tc is P times the period Tj2, the second change
detection unit 212 may determine the second change mode on
the basis of the result of a comparison between the second
threshold J_lim2 and a mean value obtained by averaging P
25 second jerks. The period Tj2 at which to calculate the
second jerk may be variable depending on the speed of the
train 1.
[0021] Although steps S101 to S110 has been described in
this order, the change detection unit 21 may perform the
30 operation of the first change detection unit 211 from steps
S101 to S106 and the operation of the second change
detection unit 212 from steps S107 to S110 in parallel.
[0022] The spinning and sliding determination unit 22
12
determines the state of the train 1 at each period Tc, on
the basis of a combination of the first change mode
acquired from the first change detection unit 211 and the
second change mode acquired from the second change
5 detection unit 212 (step S111). In the present embodiment,
as described above, there are the two first change modes:
the first change amount is less than the first threshold
J_lim1; and the first change amount is greater than or
equal to the first threshold J_lim1. There are the two
10 second change modes: the second change amount is less than
the second threshold J_lim2; and the second change amount
is greater than or equal to the second threshold J_lim2.
Thus, the spinning and sliding determination unit 22
determines the state of the train 1, using 2×2=4 patterns
15 defined by combinations of the first change modes and the
second change modes. The combinations of the first change
modes and the second change modes define four possible
patterns: (1) the first change amount is less than the
first threshold J_lim1, and the second change amount is
20 less than the second threshold J_lim2; (2) the first change
amount is less than the first threshold J_lim1, and the
second change amount is greater than or equal to the second
threshold J_lim2; (3) the first change amount is greater
than or equal to the first threshold J_lim1, and the second
25 change amount is less than the second threshold J_lim2; and
(4) the first change amount is greater than or equal to the
first threshold J_lim1, and the second change amount is
greater than or equal to the second threshold J_lim2.
[0023] When spinning occurs at the train 1, the speed
30 calculated from the number of revolutions of the wheel 40
rapidly increases. When sliding occurs at the train 1, the
speed calculated from the number of revolutions of the
wheel 40 rapidly decreases. As the vehicle of the train 1
13
continues to move by inertia even when spinning or sliding
occurs at the train 1, the acceleration sensor 60 outputs
acceleration considered within a normal travel range. The
spinning and sliding determination unit 22 can therefore
5 determine that: in pattern (1) of the above-described four
combination patterns, the train 1 is in a normal travel
state; in pattern (2), either the speed sensor 50 or the
acceleration sensor 60 has failed; in pattern (3), spinning
or sliding has occurred at the train 1; and in pattern (4),
10 the train 1 has suddenly been accelerated or decelerated
due to a collision of the train 1, etc.
[0024] A description is hereinafter given of the effect
of determination by the spinning and sliding detection
device 20, using sensor outputs, i.e., the change amounts
15 of detected values from the speed sensor 50 and the
acceleration sensor 60 in the present embodiment. When the
travel state of the train 1 is measured using sensors such
as the speed sensor 50 and the acceleration sensor 60, the
absolute amounts of detected values of the sensors include
20 low frequency variation components such as a gravitational
acceleration component due to the gradient of a travel
section of the train 1, an attachment error, a zero point
deviation, a sensitivity error, a temperature change, a
time-varying change, a non-linear error. Consequently, the
25 sensors such as the speed sensor 50 and the acceleration
sensor 60 may output values larger than the actual
acceleration of the train 1. The low frequency variation
components are components that change slowly as compared
with sensor-specific offsets included in outputs, i.e.,
30 detected values from the sensors, or the period Tc of
spinning and sliding determination. Such low frequency
variation components are frequency components lower than
the frequency components of spinning or sliding occurring
14
at the train 1. In view of this, the first change
detection unit 211 and the second change detection unit 212
of the spinning and sliding detection device 20 in the
present embodiment calculate jerks as the change amounts of
5 accelerations that cancel out the above-described low
frequency variation components, and the calculated jerks
are used in the determination by comparison with the
thresholds.
[0025] The spinning and sliding determination unit 22
10 outputs, to the command value generation unit 30 at each
period Tc, the result of a determination from a combination
of the first change mode acquired from the first change
detection unit 211 and the second change mode acquired from
the second change detection unit 212. The period of
15 transmission of a determination result from the spinning
and sliding determination unit 22 to the command value
generation unit 30 does not need to be the same as the
determination period Tc. If the transmission period is Q
times the period Tc, the spinning and sliding determination
20 unit 22 may output one determination result obtained on the
basis of Q determination results. For example, the
spinning and sliding determination unit 22 transmits a
determination result obtained by majority decision among Q
determination results. If chattering occurs in the first
25 change mode and the second change mode, the spinning and
sliding determination unit 22 may output a determination
result in such a manner as to maintain a mode determined by
majority decision if Q determination results include a
certain number or more of any modes other than mode (1),
30 and next, until mode (1) becomes a sufficient majority
compared to the other modes, continue to maintain the mode
other than mode (1), that is, one of the modes (2), (3),
and (4).
15
[0026] The above description has been made in detail as
to an example in which each of the first threshold and the
second threshold is single, but two or more first
thresholds and two or more second thresholds may be used as
5 described above. The first change detection unit 211 may
use R first thresholds (R is an integer greater than or
equal to two), select one first change mode from M first
change modes (M is an integer greater than or equal to
three), and output the selected first change mode. The
10 second change detection unit 212 may use S second
thresholds (S is an integer greater than or equal to two),
select one second change mode from N second change modes (N
is an integer greater than or equal to three), and output
the selected second change mode. In this case, the
15 spinning and sliding determination unit 22 can output the
state of the train 1 more precisely to the command value
generation unit 30, using determination results of M×N=K
patterns.
[0027] For example, in step S106 of the flowchart
20 illustrated in FIG. 3, the first change detection unit 211
can determine the first change mode, using first thresholds
that are a first threshold J_lim11 of the acceleration
change amount for determining a clear spinning or sliding
state, and a first threshold J_lim12 of the acceleration
25 change amount for determining a pre-spinning or -sliding
state. The first threshold J_lim11 > the first threshold
J_lim12. Specifically, the first change detection unit 211
outputs the first change mode varying depending on whether
the first jerk is less than the first threshold J_lim12,
30 whether the first jerk is greater than or equal to the
first threshold J_lim12 and less than the first threshold
J_lim11, and whether the first jerk is greater than or
equal to the first threshold J_lim11. The first change
16
detection unit 211 may count the number of times a
determination result indicating the above-described prespinning or -sliding state continues. When the
determination result has continued a specified number of
5 times or more, for example, the first change detection unit
211 may output a different first change mode, determining
the clear spinning or sliding state. In the case of the
first threshold for determining the clear spinning or
sliding state or the pre-spinning or -sliding state, the
10 first threshold may vary depending upon whether the first
jerk has a positive value or a negative value as the
characteristics of the train 1 is asymmetric between when
the acceleration increases and when the acceleration
decreases.
15 [0028] In step S110 of the flowchart illustrated in FIG.
3, the second change detection unit 212 can determine the
second change mode, using second thresholds that are a
second threshold J_lim21 of the acceleration change amount
for determining a clear sensor failure, and a second
20 threshold J_lim22 of the acceleration change amount for
determining a pre-sensor failure state. The second
threshold J_lim21>the second threshold J_lim22.
Specifically, the second change detection unit 212 outputs
the second change mode varying depending on whether the
25 second jerk is less than the second threshold J_lim22,
whether the second jerk is greater than or equal to the
second threshold J_lim22 and less than the second threshold
J_lim21, and whether the second jerk is greater than or
equal to the second threshold J_lim21. The second change
30 detection unit 212 may count the number of times a
determination result indicating the above-described presensor failure state continues. When the determination
result has continued a specified number of times or more,
17
for example, the second change detection unit 212 may
output a different second change mode, determining the
clear sensor failure.
[0029] As described above, when there are three or more
5 first change modes as the plurality of first change modes,
and there are three or more second change modes as the
plurality of second change modes, the spinning and sliding
determination unit 22 can further determine a sign of
occurrence of spinning or sliding at the train 1, and
10 determine a sign of failure of either the speed sensor 50
or the acceleration sensor 60. For example, when the first
change detection unit 211 have two first thresholds and
outputs first change modes of three patterns, and the
second change detection unit 212 has two second thresholds
15 and outputs second change modes of three patterns, the
spinning and sliding determination unit 22 can expect to
provide determination results of 3×3=9 patterns defined by
combinations of the first change modes and the second
change modes. Note that the spinning and sliding
20 determination unit 22 may not provide different
determination results for all of the nine patterns, but
provide the same determination result for two or more
patterns of the nine patterns.
[0030] Next, a hardware configuration of the spinning
25 and sliding detection device 20 according to the first
embodiment will be described. In the spinning and sliding
detection device 20, the change detection unit 21 and the
spinning and sliding determination unit 22 are implemented
by processing circuitry. The processing circuitry may be
30 memory storing a program and a processor that executes the
program stored in the memory, or may be dedicated hardware.
The processing circuitry is also referred to as a control
circuit.
18
[0031] FIG. 4 is a diagram illustrating an example of a
configuration of processing circuitry 90 when a processor
91 and memory 92 implement processing circuitry included in
the spinning and sliding detection device 20 according to
5 the first embodiment. The processing circuitry 90
illustrated in FIG. 4 is a control circuit and includes the
processor 91 and the memory 92. When the processor 91 and
the memory 92 constitute the processing circuitry 90,
functions of the processing circuitry 90 are implemented by
10 software, firmware, or a combination of software and
firmware. The software or firmware is described as a
program and stored in the memory 92. In the processing
circuitry 90, the processor 91 reads and executes the
program stored in the memory 92, thereby implementing the
15 functions. That is, the processing circuitry 90 includes
the memory 92 for storing the program that results in the
execution of the processing in the spinning and sliding
detection device 20. This program can be said to be a
program for causing the spinning and sliding detection
20 device 20 to perform the functions implemented by the
processing circuitry 90. This program may be provided via
a storage medium on which the program is stored, or may be
provided via another means such as a communication medium.
[0032] The above program can be said to be a program to
25 cause the spinning and sliding detection device 20 to
perform: a first step in which the change detection unit 21
periodically acquires the first detected value from the
speed sensor 50 that detects the rotational state of the
wheel 40 of the train 1, calculates the first change amount,
30 using the first detected values, periodically acquires the
second detected value from the acceleration sensor 60 that
detects the acceleration of the train 1, calculates the
second change amount using the second detected values, and
19
selects a change mode from the plurality of change modes
defined for determining whether spinning or sliding has
occurred at the train 1, using the first change amount, the
second change amount, the first threshold, and the second
5 threshold and outputs the selected change mode; and a
second step in which, on the basis of the change mode
acquired from the change detection unit 21, the spinning
and sliding determination unit 22 determines whether
spinning or sliding has occurred at the train 1 and
10 determines whether a failure has occurred in either the
speed sensor 50 or the acceleration sensor 60.
[0033] Here, the processor 91 is, for example, a central
processing unit (CPU), a processing unit, an arithmetic
device, a microprocessor, a microcomputer, a digital signal
15 processor (DSP), or the like. The memory 92 corresponds,
for example, to nonvolatile or volatile semiconductor
memory such as random-access memory (RAM), read-only memory
(ROM), flash memory, an erasable programmable ROM (EPROM),
or an electrically EPROM (EEPROM) (registered trademark),
20 or a magnetic disk, a flexible disk, an optical disk, a
compact disk, a mini disk, a digital versatile disc (DVD),
or the like.
[0034] FIG. 5 is a diagram illustrating an example of a
configuration of processing circuitry 93 when dedicated
25 hardware constitutes the processing circuitry included in
the spinning and sliding detection device 20 according to
the first embodiment. The processing circuitry 93
illustrated in FIG. 5 corresponds, for example, to a single
circuit, a combined circuit, a programmed processor, a
30 parallel-programmed processor, an application-specific
integrated circuit (ASIC), a field-programmable gate array
(FPGA), or a combination of them. The processing circuitry
93 may be implemented partly by dedicated hardware and
20
partly by software or firmware. Thus, the processing
circuitry 93 can implement the above-described functions by
dedicated hardware, software, firmware, or a combination of
them.
5 [0035] As described above, according to the present
embodiment, in the spinning and sliding detection device 20,
the first change detection unit 211 calculates the first
jerk, using the first detected values acquired from the
speed sensor 50, selects one of the plurality of first
10 change modes on the basis of the result of a comparison
between the first jerk and the first threshold J_lim1, and
outputs the selected first change mode. The second change
detection unit 212 calculates the second jerk, using the
second detected values acquired from the acceleration
15 sensor 60, selects one of the plurality of second change
modes on the basis of the result of a comparison between
the second jerk and the second threshold J_lim2, and
outputs the selected second change mode. On the basis of a
combination of the first change mode and the second change
20 mode, the spinning and sliding determination unit 22
determines whether spinning or sliding has occurred at the
train 1, and determines whether a failure has occurred in
either the speed sensor 50 or the acceleration sensor 60.
Consequently, the spinning and sliding detection device 20
25 can determine the occurrence of spinning or sliding at the
train 1 robustly with respect to disturbance factors in the
sensors, and determine failure of the sensors themselves.
The spinning and sliding detection device 20 can prevent a
decrease in the accuracy of detection of spinning and
30 sliding occurring at the train 1.
[0036] Second Embodiment.
In the first embodiment, the spinning and sliding
detection device 20 calculates jerks as the acceleration
21
change amounts to cancel out or remove low frequency
components included in detected values from the speed
sensor 50 and the acceleration sensor 60. In the second
embodiment, the spinning and sliding detection device 20
5 performs filtering using filters to cancel out or remove
low frequency components included in detected values from
the speed sensor 50 and the acceleration sensor 60.
[0037] In the second embodiment, the configurations of
the spinning and sliding detection device 20 and the train
10 1 equipped with the spinning and sliding detection device
20 are the same as the configurations in the first
embodiment illustrated in FIG. 1. As described above, when
the travel state of the train 1 is measured using sensors
such as the speed sensor 50 and the acceleration sensor 60,
15 the absolute amounts of detected values of the sensors
include low frequency variation components such as a
gravitational acceleration component due to the gradient of
a travel section of the train 1, an attachment error, a
zero point deviation, a sensitivity error, a temperature
20 change, a time-varying change, a non-linear error. In view
of this, the first change detection unit 211 and the second
change detection unit 212 of the spinning and sliding
detection device 20 in the present embodiment perform
filtering on accelerations so as to cancel out low
25 frequency variation components as described above, and the
filtered accelerations are used in the determination by
comparison with thresholds.
[0038] The first change detection unit 211 periodically
calculates the first acceleration of the train 1, using the
30 first speeds of the train 1 acquired from the speed sensor
50, and performs filtering on the first acceleration, using
a filter that cancels out low frequency variation
components, that is, allows desired frequency components to
22
pass therethrough. The first change detection unit 211
uses the filtered first acceleration as the first change
amount. The second change detection unit 212 performs
filtering on the second acceleration of the train 1
5 acquired from the acceleration sensor 60, using a filter
that cancels out low frequency variation components, that
is, allows desired frequency components to pass
therethrough. The second change detection unit 212 uses
the filtered second acceleration as the second change
10 amount.
[0039] The operation of the spinning and sliding
detection device 20 will be described. FIG. 6 is a
flowchart illustrating the operation of the spinning and
sliding detection device 20 according to the second
15 embodiment. In FIG. 6, the operation in steps S101 to S104,
steps S107 to S108, and step S111 is the same as the
operation in the first embodiment illustrated in FIG. 3.
[0040] The first change detection unit 211 performs
filtering on the held first accelerations, and calculates
20 the filtered first acceleration that is the filtered
acceleration of the wheel 40 at each period Tf1 (step S201).
The filtered first acceleration is defined as the first
change amount. The first change detection unit 211 can use
a low-pass filter, a band-pass filter, etc. as the filter
25 for removing low frequency variation components of the
speed sensor 50. A band-pass filter is a combination of a
low-pass filter and a high-pass filter, and can remove the
effect of high-frequency electromagnetic noise in addition
to the low frequency variation components of the sensor.
30 The first change detection unit 211 can also use a movingaverage filter that takes the simple average of the latest
L accelerations, an exponential smoothing filter that
assigns smaller weights to older values, or the like, using
23
the held first accelerations. The first change detection
unit 211 compares the filtered first acceleration with a
predetermined first threshold α_lim1, and determines the
first change mode on the basis of the comparison result at
5 each period Tc (step S202). The first change detection
unit 211 determines the first change mode in the same
manner as discussed in the first embodiment although the
first threshold α_lim1 and an object compared with the
first threshold α_lim1 are different from those discussed
10 in the first embodiment.
[0041] The second change detection unit 212 performs
filtering on the held second accelerations, and calculates,
as the second change amount, the filtered second
acceleration that is the filtered acceleration of the
15 vehicle of the train 1 at each period Tf2 (step S203). The
filtered second acceleration is defined as the second
change amount. The second change detection unit 212 can
use a low-pass filter, a band-pass filter, etc. as the
filter for removing low frequency variation components of
20 the acceleration sensor 60. A band-pass filter is a
combination of a low-pass filter and a high-pass filter,
and can remove the effect of high-frequency electromagnetic
noise in addition to the low frequency variation components
of the sensor. The second change detection unit 212 can
25 also use a moving-average filter that takes the simple
average of the latest L accelerations, an exponential
smoothing filter that assigns smaller weights to older
values, or the like, using the held second accelerations.
The second change detection unit 212 compares the filtered
30 second acceleration with a predetermined second threshold
α_lim2, and determines the second change mode on the basis
of the comparison result at each period Tc (step S204).
The second change detection unit 212 determines the second
24
change mode in the same manner as discussed in the first
embodiment although the second threshold α_lim2 and an
object compared with the second threshold α_lim2 are
different from those discussed in the first embodiment.
5 [0042] As described above, according to the present
embodiment, in the spinning and sliding detection device 20,
the first change detection unit 211 calculates the filtered
first acceleration, using the first detected values
acquired from the speed sensor 50, selects one of the
10 plurality of first change modes on the basis of the result
of a comparison between the filtered first acceleration and
the first threshold α_lim1, and outputs the selected first
change mode. The second change detection unit 212
calculates the filtered second acceleration, using the
15 second detected value acquired from the acceleration sensor
60, and selects one of the plurality of second change modes
on the basis of the result of a comparison between the
filtered second acceleration and the second threshold
α_lim2, and outputs the selected second mode. On the basis
20 of a combination of the first change mode and the second
change mode, the spinning and sliding determination unit 22
determines whether spinning or sliding has occurred at the
train 1, and determines whether a failure has occurred in
either the speed sensor 50 or the acceleration sensor 60.
25 Thus, as in the first embodiment, the spinning and sliding
detection device 20 can determine the occurrence of
spinning or sliding at the train 1 robustly with respect to
disturbance factors in the sensors, and determine failure
of the sensors themselves. The spinning and sliding
30 detection device 20 can prevent a decrease in the accuracy
of detection of spinning and sliding occurring at the train
1.
[0043] Third Embodiment.
25
For the change detection unit 21 in a third embodiment,
the first change detection unit 211 changes the first
threshold according to a travel section of the train 1, and
the second change detection unit 212 changes the second
5 threshold according to a travel section of the train 1.
The third embodiment is applicable to the first embodiment
and the second embodiment. The third embodiment will be
described as being applied to the first embodiment by way
of example.
10 [0044] FIG. 7 is a diagram illustrating an example
configuration of the spinning and sliding detection device
20 according to the third embodiment. The change detection
unit 21 changes the first threshold and the second
threshold on the basis of a travel section of the train 1.
15 Specifically, the first change detection unit 211 of the
change detection unit 21 acquires past travel data that is
data on the past travel of the train 1. The first change
detection unit 211 does not use a fixed first threshold in
all travel sections of the train 1. Rather, using the past
20 travel data, the first change detection unit 211 changes
the first threshold for determining the first change mode,
according to a travel section of the train 1, that is, sets
the first threshold successively by learning. For example,
for a certain travel section, the first change detection
25 unit 211 uses, as the first threshold, a value obtained by
adding a margin to the first jerk during normal travel
derived from the past travel data. The first change
detection unit 211 may learn and set the first threshold
for each travel section by machine learning using the past
30 travel data.
[0045] The second change detection unit 212 acquires
past travel data that is data on the past travel of the
train 1. The second change detection unit 212 does not use
26
a fixed second threshold in all the travel sections of the
train 1. Rather, using the past travel data, the second
change detection unit 212 changes the second threshold for
determining the second change mode, according to a travel
5 section of the train 1, that is, sets the second threshold
successively by learning. For example, for a certain
travel section, the second change detection unit 212 uses,
as the second threshold, a value obtained by adding a
margin to the second jerk during normal travel derived from
10 the past travel data. The second change detection unit 212
may learn and set the second threshold for each travel
section by machine learning using the past travel data.
[0046] The train 1 includes on-board devices such as an
integrated train management device and a safety control
15 device (not illustrated in FIG. 1). Such on-board devices
have a function of constantly storing a travel log,
internal data, etc. of the train 1 for keeping track of
system status, analyzing failures, etc. Data stored in the
above-described on-board devices can be used as the past
20 travel data by the first change detection unit 211 and the
second change detection unit 212. The past travel data
acquired by the first change detection unit 211 and the
second change detection unit 212 may be raw data, i.e.,
data acquired from the train 1. Alternatively, the past
25 travel data may be data processed such as data analyzed by
the on-board devices in such a manner that the processed
data becomes a state required for the present embodiment.
In the former case, the first change detection unit 211 and
the second change detection unit 212 can obtain data
30 equivalent to that in the latter by performing the same
processing on the raw data as the processing such as
analysis performed by the on-board devices.
[0047] As described above, using the past travel data,
27
the spinning and sliding detection device 20 according to
the present embodiment can set the first threshold and the
second threshold to different values in different travel
sections of the train 1. Consequently, the spinning and
5 sliding detection device 20 can improve the accuracy of
detection of spinning or sliding occurring at the train 1
as compared with the first embodiment and the second
embodiment.
[0048] Fourth Embodiment.
10 A description will be made as to a fourth embodiment
where a Doppler radar sensor, which is a non-contact speed
sensor, is used as the second sensor that acquires speed
information on the train 1.
[0049] FIG. 8 is a diagram illustrating an example
15 configuration of the train 1 equipped with the spinning and
sliding detection device 20 according to the fourth
embodiment. The train 1 includes the train control device
10, the speed sensor 50, and a Doppler radar sensor 61.
The spinning and sliding detection device 20 can calculate
20 the speed of the train 1 by using a detected value acquired
from the Doppler radar sensor 61. Compared with the
acceleration sensor 60 illustrated in FIG. 1, the Doppler
radar sensor 61 has the following two advantages. (1) The
Doppler radar sensor 61 has no effect such as a drift in
25 the sensor itself as the Doppler radar sensor 61 receives
reflected waves from the road surface to measure a quantity
based on a displacement due to the actual travel of the
vehicle of the train 1. (2) The Doppler radar sensor 61
can stably output information such as speed and
30 acceleration regardless of changes in gradient at the train
1. However, the Doppler radar sensor 61 provides these
advantages on condition that the train 1 does not pass
through places where it is difficult to obtain responses,
28
such as on bridges.
[0050] By using the configuration as in FIG. 8, the
spinning and sliding detection device 20 can acquire the
second detected value from the second sensor to determine
5 spinning or sliding at the train 1.
[0051] Fifth Embodiment.
A description will be made as to a fifth embodiment
where a camera is used as the second sensor that acquires
speed information on the train 1.
10 [0052] FIG. 9 is a diagram illustrating an example
configuration of the train 1 equipped with the spinning and
sliding detection device 20 according to the fifth
embodiment. The train 1 includes the train control device
10, the speed sensor 50, a camera 62, and an image
15 processing unit 63. The camera 62 periodically captures an
image of the surroundings of the train 1 and outputs the
captured image to the image processing unit 63. The image
processing unit 63 calculates the speed of the train 1 on
the basis of image processing. For example, the image
20 processing unit 63 can calculate the speed of the train 1
from a period in which the camera 62 captures images and a
difference between images captured by the camera 62. The
image processing unit 63 outputs the calculated speed of
the train 1 to the spinning and sliding detection device 20.
25 [0053] By using the configuration as in FIG. 9, the
spinning and sliding detection device 20 can acquire the
second detected value from the second sensor to determine
spinning or sliding at the train 1.
[0054] Sixth Embodiment.
30 A description will be made as to a sixth embodiment
where a receiving apparatus, which is used as the second
sensor that acquires speed information on the train 1,
receives signals transmitted from transmitting apparatuses
29
installed on the ground for performing wireless
communication using ultra-wideband (UWB), which is ultrawideband wireless communication.
[0055] FIG. 10 is a diagram illustrating an example
5 configuration of the train 1 equipped with the spinning and
sliding detection device 20 according to the sixth
embodiment. The train 1 includes the train control device
10, the speed sensor 50, and a receiving apparatus 64.
Transmitting apparatuses 65 that transmit wireless
10 communication signals using UWB are installed on the ground.
The receiving apparatus 64 receives signals transmitted
from the transmitting apparatuses 65 and obtains, from,
e.g., the reception strengths of those signals, a change in
the distance value between the receiving apparatus 64 and
15 each transmitting apparatus 65, such that the receiving
apparatus 64 can calculate the travel distance of the train
1, and calculate the speed of the train 1 from the travel
distance of the train 1 during a specified period. The
receiving apparatus 64 outputs the calculated speed of the
20 train 1 to the spinning and sliding detection device 20.
[0056] By using the configuration as in FIG. 10, the
spinning and sliding detection device 20 can acquire the
second detected value from the second sensor to determine
spinning or sliding at the train 1.
25 [0057] Seventh Embodiment.
A description will be made as to a seventh embodiment
where a receiving apparatus, which is used as the second
sensor that acquires speed information on the train 1,
receives a signal transmitted from a satellite in a global
30 navigation satellite system (GNSS).
[0058] FIG. 11 is a diagram illustrating an example
configuration of the train 1 equipped with the spinning and
sliding detection device 20 according to the seventh
30
embodiment. The train 1 includes the train control device
10, the speed sensor 50, and a receiving apparatus 66. A
GNSS satellite 67 that outputs radio waves including time
information etc. is present in the sky. The receiving
5 apparatus 66 can calculate the speed of the train 1 by
measuring the Doppler shift in radio waves from the GNSS
satellite 67. The receiving apparatus 66 outputs the
calculated speed of the train 1 to the spinning and sliding
detection device 20.
10 [0059] By using the configuration as in FIG. 11, the
spinning and sliding detection device 20 can acquire the
second detected value from the second sensor to determine
spinning or sliding at the train 1.
[0060] Note that the train 1 may include the same or
15 different types of the second sensors described in the
first embodiment and the fourth to seventh embodiments. In
this case, the change detection unit 21 of the spinning and
sliding detection device 20 includes the same number of the
second change detection units 212 as the number of the
20 second sensors. The second sensor installed at the train 1
is at least one of: the acceleration sensor 60; the Doppler
radar sensor 61; the camera 62; the receiving apparatus 64
that receives signals transmitted from the transmitting
apparatuses 65 that perform wireless communication using
25 UWB; and the receiving apparatus 66 that receives a signal
transmitted from the GNSS satellite 67.
[0061] When the second detected value output from the
second sensor is not the second acceleration but a second
speed, the second change detection unit 212 calculates the
30 second acceleration. In an example of the first embodiment,
the second change detection unit 212 periodically
calculates the second acceleration of the train 1, using
the second speeds of the train 1 acquired from the second
31
sensor, periodically calculates the second jerk of the
train 1, using the second accelerations, and uses the
second jerk as the second change amount. In an example of
the second embodiment, the second change detection unit 212
5 periodically calculates the second acceleration of the
train 1, using the second speeds of the train 1 acquired
from the second sensor, performs filtering on the second
acceleration, using a filter that allow desired frequency
components to pass therethrough, and uses the filtered
10 second acceleration as the second change amount.
[0062] Eighth Embodiment.
In an eighth embodiment, the first change detection
unit 211 of the change detection unit 21 of the spinning
and sliding detection device 20 acquires detected values
15 from the speed sensor 50 and the acceleration sensor 60,
selects one change mode from a plurality of change modes,
and outputs the selected change mode. The third embodiment
is applicable to the first embodiment and the second
embodiment. Here, application to the first embodiment will
20 be described as an example.
[0063] FIG. 12 is a diagram illustrating an example
configuration of the spinning and sliding detection device
20 according to the eighth embodiment. The spinning and
sliding detection device 20 includes the change detection
25 unit 21 and the spinning and sliding determination unit 22.
The change detection unit 21 selects and outputs a change
mode on the basis of a comparison result obtained by
comparing, with the first threshold and the second
threshold, a value obtained by adding the first change
30 amount and the second change amount or a value obtained by
subtracting the second change amount from the first change
amount. The change detection unit 21 includes the first
change detection unit 211. The spinning and sliding
32
determination unit 22 determines the state of the train 1
on the basis of the change mode acquired from the change
detection unit 21. For example, the spinning and sliding
determination unit 22 selects one of K state outputs on the
5 basis of Q change modes acquired from the change detection
unit 21, and outputs the selected state output to the
command value generation unit 30.
[0064] The operation of the first change detection unit
211 will be described in detail. The first change
10 detection unit 211 acquires the first speed, which is the
first detected value, from the speed sensor 50 at each
period Ts1, calculates the first acceleration at each
period Ta1, and calculates the first jerk at each period
Tj1. In addition, the first change detection unit 211
15 acquires the second acceleration, which is the second
detected value, from the acceleration sensor 60 at each
period Ts2, and calculates the second jerk at each period
Tj2. In the present embodiment, the first jerk is referred
to as a jerk j1, and the second jerk is referred to as a
20 jerk j2. When a threshold for sliding determination is
referred to as a first threshold jlimA and a threshold for
sensor failure determination is referred to as a second
threshold jlimB, the first change detection unit 211
defines M=4 as the number M of change modes to be output to
25 the spinning and sliding determination unit 22.
Specifically, case (1) is where |j1|<|j2|+jlimA is defined
as a change mode in which the train 1 is in a normal
operating condition. Case (2) is where |j1|>|j2|+jlimA is
defined as a change mode in which the train 1 is in a
30 sliding condition. Case (3) is where |j1|>|j2|+jlimB is
defined as a change mode in which the speed sensor 50 that
is a speed generator of the train 1 is in a fault condition.
Case (4) is where |j1|>jlimA and |j2|>jlimA is defined as a
33
change mode in which the train is in a sudden
acceleration/deceleration condition due to a collision of
the train 1, etc.
[0065] When the first change detection unit 211
5 determines the change mode, it is possible to add case (5)
where |j1|jlimB is defined as a change mode
in which the acceleration sensor 60 is in a fault condition.
That is, the number M of change modes may be five or more.
[0066] Instead of using the first threshold jlimA and
10 the second threshold jlimB fixed in all travel sections of
the train 1, the first change detection unit 211 may
acquire past travel data from on-board devices (not
illustrated) etc., and change the first threshold jlimA and
the second threshold jlimB according to a travel section of
15 the train 1, that is, successively set the first threshold
jlimA and the second threshold jlimB by learning, as in the
third embodiment. For example, for a certain travel
section, the first change detection unit 211 uses, as the
first threshold jlimA and the second threshold jlimB,
20 values obtained by adding margins to the jerks during
normal travel derived from the past travel data. The first
change detection unit 211 may learn and set the first
threshold jlimA and the second threshold jlimB for each
travel section by machine learning using the past travel
25 data. Using time-series data on detected values acquired
from the speed sensor 50 and the acceleration sensor 60,
the first change detection unit 211 may remove noise
components by filtering etc. when a certain amount of error
constantly exists between the two sensor outputs.
30 [0067] In the present embodiment, unlike in the first
embodiment, the first change detection unit 211 outputs a
change mode with content equivalent to that of the spinning
and sliding determination unit 22. The spinning and
34
sliding determination unit 22 outputs the state of the
train 1 to the command value generation unit 30 at each
period Tc, using Q change modes from the first change
detection unit 211. A method by which the spinning and
5 sliding determination unit 22 determines the state of the
train 1, using Q change modes is the same as the method in
the first embodiment by which the spinning and sliding
determination unit 22 outputs one determination result
obtained on the basis of Q determination results.
10 [0068] The present embodiment has been described taking
an example where the first change detection unit 211
determines the change mode using the two thresholds, that
is, the first threshold jlimA and the second threshold
jlimB. However, these operations may be performed by the
15 spinning and sliding determination unit 22. Only the
sharing of the operations between the components in the
spinning and sliding detection device 20 is different, and
processing load in the spinning and sliding detection
device 20 is not changed.
20 [0069] As described above, according to the present
embodiment, the spinning and sliding detection device 20
can set change modes more finely by evaluating the sum of
or difference between two jerks calculated from detected
values of the two sensors or between two filtered
25 accelerations. In the train 1, since the spinning and
sliding detection device 20 can set change modes more
finely, it is possible to detect an anomaly in the state of
the train 1 at an early stage.
[0070] The configurations described in the above
30 embodiments illustrate an example and can be combined with
another known art. The embodiments can be combined with
each other. The configurations can be partly omitted or
changed without departing from the gist.
35
Reference Signs List
[0071] 1 train; 10 train control device; 20 spinning
and sliding detection device; 21 change detection unit; 22
5 spinning and sliding determination unit; 30 command value
generation unit; 40 wheel; 50 speed sensor; 60
acceleration sensor; 61 Doppler radar sensor; 62 camera;
63 image processing unit; 64, 66 receiving apparatus; 65
transmitting apparatus; 67 GNSS satellite; 211 first
10 change detection unit; 212 second change detection unit.

We Claim:
[Claim 1] A spinning and sliding detection device to be
installed in a train, the device comprising:
5 a change detection unit to periodically acquire a
first detected value from a first sensor to detect a
rotational state of a wheel of the train, calculate a first
change amount, using the first detected values,
periodically acquire a second detected value from a second
10 sensor to detect speed or acceleration of the train,
calculate a second change amount, using the second detected
values, and select a change mode from a plurality of change
modes defined for determining whether spinning or sliding
has occurred at the train, using the first change amount,
15 the second change amount, a first threshold, and a second
threshold and output the selected change mode; and
a spinning and sliding determination unit to determine
whether spinning or sliding has occurred at the train and
determine whether a failure has occurred in either the
20 first sensor or the second sensor, on a basis of the change
mode acquired from the change detection unit.
[Claim 2] The spinning and sliding detection device
according to claim 1, wherein
25 the change detection unit includes
a first change detection unit to periodically acquire
the first detected value from the first sensor, calculate
the first change amount, using the first detected values,
and select one first change mode from a plurality of first
30 change modes on the basis of a comparison result obtained
by comparing the first change amount with the first
threshold and output the selected first change mode, the
plurality of first change modes being the change modes and
37
indicating states of change in the first detected value and
a second change detection unit to periodically acquire
the second detected value from the second sensor, calculate
the second change amount using the second detected values,
5 and select one second change mode from a plurality of
second change modes on the basis of a comparison result
obtained by comparing the second change amount with the
second threshold and output the selected second change mode,
the plurality of second change modes being the change modes
10 and indicating states of change in the second detected
value, and
the spinning and sliding determination unit determines
whether spinning or sliding has occurred at the train and
determines whether a failure has occurred in either the
15 first sensor or the second sensor, on the basis of a
combination of the first change mode and the second change
mode.
[Claim 3] The spinning and sliding detection device
20 according to claim 2, wherein
the first change detection unit periodically
calculates a first acceleration of the train, using first
speeds of the train acquired from the first sensor,
periodically calculates a first jerk of the train, using
25 the first accelerations, and uses the first jerk as the
first change amount, and
the second change detection unit periodically
calculates a second acceleration of the train, using second
speeds of the train acquired from the second sensor,
30 periodically calculates a second jerk of the train, using
the second accelerations, and uses the second jerk as the
second change amount, or the second change detection unit
calculates a second jerk of the train, using second
38
accelerations of the train acquired from the second sensor,
and uses the second jerk as the second change amount.
[Claim 4] The spinning and sliding detection device
5 according to claim 2, wherein
the first change detection unit periodically
calculates a first acceleration of the train, using first
speeds of the train acquired from the first sensor,
performs filtering on the first acceleration, using a
10 filter that allows desired frequency components to pass
therethrough, and uses the filtered first acceleration as
the first change amount, and
the second change detection unit periodically
calculates a second acceleration of the train, using second
15 speeds of the train acquired from the second sensor,
performs filtering on the second acceleration, using a
filter that allows desired frequency components to pass
therethrough, and uses the filtered second acceleration as
the second change amount, or the second change detection
20 unit performs filtering on a second acceleration of the
train acquired from the second sensor, using a filter that
allows desired frequency components to pass therethrough,
and uses the filtered second acceleration as the second
change amount.
25
[Claim 5] The spinning and sliding detection device
according to any one of claims 2 to 4, wherein
when the train includes a plurality of the second
sensors,
30 the change detection unit includes the same number of
the second change detection units as the number of the
second sensors.
39
[Claim 6] The spinning and sliding detection device
according to any one of claims 2 to 5, wherein
when there are three or more first change modes as the
plurality of first change modes, and there are three or
5 more second change modes as the plurality of second change
modes,
the spinning and sliding determination unit further
determines a sign of occurrence of spinning or sliding at
the train and determines a sign of failure of either the
10 first sensor or the second sensor.
[Claim 7] The spinning and sliding detection device
according to claim 1, wherein
the change detection unit selects and outputs the
15 change mode, on the basis of a comparison result obtained
by comparing, with the first threshold and the second
threshold, a value obtained by adding the first change
amount and the second change amount or a value obtained by
subtracting the second change amount from the first change
20 amount.
[Claim 8] The spinning and sliding detection device
according to any one of claims 1 to 7, wherein
the second sensor is at least one of: an acceleration
25 sensor; a Doppler radar sensor; a camera; a receiving
apparatus to receive signals transmitted from transmitting
apparatuses to perform wireless communication using ultrawideband that is ultra-wideband wireless communication; and
a receiving apparatus to receive a signal transmitted from
30 a satellite in a global navigation satellite system.
[Claim 9] The spinning and sliding detection device
according to any one of claims 1 to 8, wherein
40
the change detection unit changes the first threshold
and the second threshold on the basis of a travel section
of the train.
5 [Claim 10] A spinning and sliding detection method for
a spinning and sliding detection device to be installed in
a train, the method comprising:
a first step, performed by a change detection unit, of
periodically acquiring a first detected value from a first
10 sensor to detect a rotational state of a wheel of the train,
calculating a first change amount, using the first detected
values, periodically acquiring a second detected value from
a second sensor to detect speed or acceleration of the
train, calculating a second change amount, using the second
15 detected values, and selecting a change mode from a
plurality of change modes defined for determining whether
spinning or sliding has occurred at the train, using the
first change amount, the second change amount, a first
threshold, and a second threshold and outputting the
20 selected change mode; and
a second step, performed by a spinning and sliding
determination unit, of determining whether spinning or
sliding has occurred at the train and determining whether a
failure has occurred in either the first sensor or the
25 second sensor, on a basis of the change mode acquired from
the change detection unit.
[Claim 11] The spinning and sliding detection method
according to claim 10, wherein
30 the change detection unit includes a first change
detection unit and a second change detection unit,
in the first step,
the first change detection unit periodically acquires
41
the first detected value from the first sensor, calculates
the first change amount, using the first detected values,
and selects one first change mode from a plurality of first
change modes, on the basis of a comparison result obtained
5 by comparing the first change amount with the first
threshold and outputs the selected first change mode, the
plurality of first change modes being the change modes and
indicating states of change in the first detected value,
and
10 the second change detection unit periodically acquires
the second detected value from the second sensor,
calculates the second change amount using the second
detected values, and selects one second change mode from a
plurality of second change modes on the basis of a
15 comparison result obtained by comparing the second change
amount with the second threshold and outputs the selected
second change mode, the plurality of second change modes
being the change modes and indicating states of change in
the second detected value and
20 in the second step, the spinning and sliding
determination unit determines whether spinning or sliding
has occurred at the train and determines whether a failure
has occurred in either the first sensor or the second
sensor, on the basis of a combination of the first change
25 mode and the second change mode.
[Claim 12] The spinning and sliding detection method
according to claim 11, wherein
in the first step,
30 the first change detection unit periodically
calculates a first acceleration of the train, using first
speeds of the train acquired from the first sensor,
periodically calculates a first jerk of the train, using
42
the first accelerations, and uses the first jerk as the
first change amount, and
the second change detection unit periodically
calculates a second acceleration of the train, using second
5 speeds of the train acquired from the second sensor,
periodically calculates a second jerk of the train, using
the second accelerations, and uses the second jerk as the
second change amount, or the second change detection unit
calculates a second jerk of the train, using second
10 accelerations of the train acquired from the second sensor,
and uses the second jerk as the second change amount.
[Claim 13] The spinning and sliding detection method
according to claim 11, wherein
15 in the first step,
the first change detection unit periodically
calculates a first acceleration of the train, using first
speeds of the train acquired from the first sensor,
performs filtering on the first acceleration, using a
20 filter that allows desired frequency components to pass
therethrrough, and uses the filtered first acceleration as
the first change amount, and
the second change detection unit periodically
calculates a second acceleration of the train, using second
25 speeds of the train acquired from the second sensor,
performs filtering on the second acceleration, using a
filter that allows desired frequency components to pass
therethrough, and uses the filtered second acceleration as
the second change amount, or the second change detection
30 unit performs filtering on a second acceleration of the
train acquired from the second sensor, using a filter that
allows desired frequency components to pass theretrhough,
and uses the filtered second acceleration as the second
43
change amount.
[Claim 14] The spinning and sliding detection method
according to any one of claims 11 to 13, wherein
5 when the train includes a plurality of the second
sensors,
the change detection unit includes the same number of
the second change detection units as the number of the
second sensors.
10
[Claim 15] The spinning and sliding detection method
according to any one of claims 11 to 14, wherein
when there are three or more first change modes as the
plurality of first change modes, and there are three or
15 more second change modes as the plurality of second change
modes,
in the second step, the spinning and sliding
determination unit further determines a sign of occurrence
of spinning or sliding at the train and determines a sign
20 of failure of either the first sensor or the second sensor.
[Claim 16] The spinning and sliding detection method
according to claim 10, wherein
in the first step, the change detection unit selects
25 and outputs the change mode, on the basis of a comparison
result obtained by comparing, with the first threshold and
the second threshold, a value obtained by adding the first
change amount and the second change amount or a value
obtained by subtracting the second change amount from the
30 first change amount.
[Claim 17] The spinning and sliding detection method
according to any one of claims 10 to 16, wherein
44
the second sensor is at least one of: an acceleration
sensor; a Doppler radar sensor; a camera; a receiving
apparatus to receive signals transmitted from transmitting
apparatuses to perform wireless communication using ultra5 wideband that is ultra-wideband wireless communication; and
a receiving apparatus to receive a signal transmitted from
a satellite in a global navigation satellite system.
[Claim 18] The spinning and sliding detection method
10 according to any one of claims 10 to 17, wherein
in the first step, the change detection unit changes
the first threshold and the second threshold on the basis
of a travel section of the train.