Information processing system, information processing device, information generation method, and program

Abstract

To provide a method by which useful information for management of a track on which a traveling body runs is generated.SOLUTION: On a train 1, a receiver 300, a measuring device 400 and a data logger 500 are mounted. The receiver acquires position information of a plurality of measuring positions 6 along an orbit 2 using a satellite positioning system 200. The measuring device measures orbit diagnosing information which is at least one of an acceleration, an inclination and a track gage. The data logger causes the position information of the measuring positions 6 acquired by the receiver 300 and the orbit diagnosing information measured by the measuring device 400 to be synchronized in time and gathers and stores them. A high precision positioning in centimeter class is achieved by means of an interference positioning by using GNSS (Global Navigation Satellite System) as a satellite positioning system 200. An information processing unit 600 replaces position information of the measuring positions 6 gathered by the data logger 500 with position information of reference points 5 closest thereto. The reference points 5 are set along the orbit 2 with, for example, 25 cm interval and position information of the points is a known value.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an information processing system, an information processing device, an information generating method, and a program for generating information used for managing a track along which a moving body runs. [Background technology]

[0002] As a technology for managing tracks on which trains and other moving objects run, for example, Patent Document 1 discloses a train vibration location detection system using GPS that makes it possible to identify locations where train vibration exceeds a reference value. In Patent Document 1, the distance traveled by the train over time is calculated based on position information, time information, and speed information from the GPS device, as well as reference position information, and the time at which the train vibration exceeds a reference value is made to correspond to the time of the distance traveled, thereby identifying the location where the train vibration exceeds the reference value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4056050 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when positioning is performed using GPS as in Patent Document 1, the positioning accuracy may be poor. If the positioning accuracy is poor, even if an attempt is made to identify a location where train vibration exceeds a reference value during on-site inspection, the location cannot be identified with high accuracy. In addition, although train vibration that is not abnormal may occur due to the track structure such as rail joints, branching sections, and crossing sections, if the positioning accuracy is poor, it is not possible to accurately distinguish whether train vibration caused by the track structure (non-abnormal train vibration) has occurred or train vibration caused by track deterioration (abnormal train vibration) has occurred.

[0005] The present invention has been made in consideration of the above-mentioned points, and an object of the present invention is to make it possible to generate information that is useful for managing the trajectory along which a moving body travels. [Means for solving the problem]

[0006] The information processing system of the present invention is an information processing system that generates information used for managing a track along which a moving body travels, the information processing system including: an acquisition device mounted on the moving body and acquiring position information of a plurality of positioning positions along the track by using a satellite positioning system; and a satellite positioning device mounted on the moving body and acquiring information on acceleration, angular velocity, inclination, Reach a measuring device for measuring track diagnosis information, which is at least one of the gauge and the track width; a collecting means for collecting position information of the positioning position acquired by the acquiring device and the track diagnosis information measured by the measuring device in a time-synchronized manner; and a correcting means for correcting the position information of the positioning position acquired by the collecting means based on position information of a reference point set along the track. and a calculation means for performing a calculation using the orbit diagnosis information collected by the collection means, wherein the correction means replaces the position information of the positioning position collected by the collection means with the position information of the reference point closest thereto, and at that time, allows the position information of a plurality of the positioning positions to be replaced with the position information of one of the reference points, and when the position information of the plurality of the positioning positions is replaced with the position information of one of the reference points, the calculation means calculates an average value of the orbit diagnosis information associated with the position information of the plurality of the positioning positions, and regards this average value as the orbit diagnosis information at the reference point. It is characterized by: The information processing device of the present invention is an information processing device that generates information used for managing a track along which a moving body travels, and includes: an acquisition device that is mounted on the moving body and acquires position information of a plurality of positioning positions along the track by using a satellite positioning system; an input means that inputs time-synchronized position information of the positioning positions and the track diagnosis information collected using a measurement device that is mounted on the moving body and measures at least one of acceleration, angular velocity, inclination, and gauge; and a correction means that corrects the position information of the positioning positions input by the input means based on position information of a reference point set along the track. and a calculation means for performing a calculation using the orbit diagnosis information input by the input means, wherein the correction means replaces the position information of the positioning position input by the input means with the position information of the reference point closest thereto, and at that time, allows the position information of a plurality of the positioning positions to be replaced with the position information of one of the reference points, and when the position information of the plurality of the positioning positions is replaced with the position information of one of the reference points, the calculation means calculates an average value of the orbit diagnosis information associated with the position information of the plurality of the positioning positions, and regards this average value as the orbit diagnosis information at the reference point. It is characterized by: The information generating method of the present invention is an information generating method for generating information used for managing a track on which a moving body runs, and includes: an acquisition device mounted on the moving body and acquiring position information of a plurality of positioning positions along the track using a satellite positioning system; and a measurement device mounted on the moving body and measuring track diagnosis information, which is at least one of acceleration, angular velocity, inclination, and gauge, and collecting the position information of the positioning positions and the track diagnosis information in a time-synchronized manner. collection Step In the collection step The collected position information of the positioning position is corrected based on position information of a reference point set along the trajectory. correction Steps and and a calculation step of performing a calculation using the orbit diagnosis information collected in the collection step, wherein in the correction step, the position information of the positioning position collected in the collection step is replaced with the position information of the reference point closest thereto, and at that time, it is permitted that the position information of a plurality of the positioning positions is replaced with the position information of one of the reference points, and in the calculation step, when the position information of the plurality of the positioning positions is replaced with the position information of one of the reference points, an average value of the orbit diagnosis information associated with the position information of the plurality of the positioning positions is calculated, and the average value is regarded as the orbit diagnosis information at the reference point. It is characterized by: The program of the present invention is a program for generating information used for managing a track on which a moving body runs, and includes an acquisition device mounted on the moving body and acquiring position information of a plurality of positioning positions along the track using a satellite positioning system, and a measurement device mounted on the moving body and measuring track diagnosis information, which is at least one of acceleration, angular velocity, inclination, and gauge, and collecting the position information of the positioning positions and the track diagnosis information in a time-synchronized manner. collection Processing and During collection process The collected position information of the positioning position is corrected based on position information of a reference point set along the trajectory. correction Processing and a calculation process for performing a calculation using the orbit diagnosis information collected in the collection process; Have your computer run In the correction process, the position information of the positioning position collected in the collection process is replaced with the position information of the reference point closest thereto, and at that time, it is permitted that the position information of the plurality of positioning positions is replaced with the position information of one of the reference points. In the calculation process, when the position information of the plurality of positioning positions is replaced with the position information of one of the reference points, an average value of the orbit diagnosis information associated with the position information of the plurality of positioning positions is calculated, and the average value is used as the orbit diagnosis information at the reference point. . Effect of the Invention

[0007] According to the present invention, it is possible to generate information that is useful for managing the trajectory along which a moving object travels. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram showing a schematic configuration of an information processing system according to an embodiment. [Diagram 2] FIG. 2 is a schematic diagram for explaining an outline of a track. [Diagram 3] FIG. 2 is a diagram illustrating an example of management information. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Fig. 1 is a diagram showing a schematic configuration of an information processing system 100 according to an embodiment. Fig. 2 is a schematic diagram for explaining an overview of a track 2 on which a train 1 runs. The track 2 is a structure including rails 3, sleepers 4, etc. The information processing system 100 generates information used for managing the track 2 (hereinafter referred to as management information).

[0010] As shown in FIG. 1, a train 1 is equipped with a receiver 300, a measuring device 400, a data logger 500, and an information processing device 600.

[0011] The receiver 300 is an acquisition device that uses a satellite positioning system 200 to perform positioning and acquires position information consisting of latitude, longitude, and altitude. As shown in FIG. 2, when a train 1 travels, position information of a plurality of positions (referred to as positioning positions in this application) 6 along a track 2 is acquired. The satellite positioning system 200 uses a GNSS (Global Navigation Satellite System) including a GPS (Global Positioning System) satellite and the Quasi-Zenith Satellite System Michibiki. By using the GNSS to perform interferometric positioning using the phase of a carrier wave from an artificial satellite, high-precision positioning on the order of centimeters is performed, making it possible to perform positioning with high accuracy. In an experiment, it was confirmed that by using the Quasi-Zenith Satellite System, position information can be acquired with an accuracy of over 90% and within an error range of less than 20 cm, even during movement, for example, for the horizontal position (latitude, longitude).

[0012] The receiver 300 also has a built-in inertial sensor 301, and is configured to be able to acquire position information of the positioning position 6 based on the train speed pulse of the train 1, assuming a state in which reception from the satellite positioning system 200 is not possible (such as when entering a tunnel). Note that a known technique may be used to acquire position information using an inertial sensor, and detailed description thereof will be omitted here.

[0013] The measuring device 400 measures track diagnostic information, which is at least one of acceleration, angular velocity, inclination, and gauge. That is, the measuring device 400 is equipped with all or some of an acceleration measuring device for measuring the acceleration of the train 1, an angular velocity measuring device for measuring the angular velocity of the train 1, an inclination measuring device for measuring the inclination of the train 1, and a gauge measuring device for measuring the gauge of the track 2. For example, the acceleration measuring device, the angular velocity measuring device, and the inclination measuring device may be configured by appropriately combining an acceleration sensor, an angular velocity sensor, and an inclination sensor. Also, the gauge measuring device may be configured to measure the gauge from the rail edge by a profile meter using a laser beam. The measuring device 400 continuously outputs track diagnostic information at intervals of, for example, several msec to several tens of msec.

[0014] The data logger 500 collects and stores the position information of the positioning position 6 acquired by the receiver 300 and the orbit diagnosis information measured by the measurement device 400 in a time-synchronized manner. The data logger 500 collects the position information of the positioning position 6 acquired by the receiver 300 and the orbit diagnosis information measured by the measurement device 400 in a time-synchronized manner based on the time obtained from the satellite positioning system 200, for example by using a time server (not shown). In this embodiment, the data logger 500 functions as a collecting means as referred to in the present invention.

[0015] The information processing device 600 generates management information based on the position information of the positioning position 6 collected by the data logger 500 and the orbit diagnosis information. The information processing device 600 includes a storage unit 601 , an input unit 602 , a correction unit 603 , a calculation unit 604 , and an output unit 605 .

[0016] 2, the storage unit 601 stores position information of reference points 5 set along the track 2. The reference points 5 are set at intervals of about several tens of centimeters (10 cm to 99 cm), for example, at intervals of 25 cm, along the track 2. The position information of each fixed reference point 5 can be a known value, for example, by using a CAD drawing or the like that includes first-order reference points.

[0017] The storage unit 601 also stores position information of rail joints, position information of branching sections, and position information of railroad crossing sections. The position information of rail joints, branching sections, and railroad crossing sections can be known values ​​by using, for example, a CAD drawing or the like that includes first-order reference points.

[0018] The input unit 602 inputs the position information and orbit diagnosis information of the positioning position 6 collected by the data logger 500. The position information and orbit diagnosis information are associated with each other, and their synchronicity is ensured based on the time obtained from the satellite positioning system 200 as described above.

[0019] The correction unit 603 corrects the position information of the positioning position 6 input by the input unit 602 (i.e., the position information of the positioning position 6 collected by the data logger 500) based on the position information of the reference point 5 stored in the storage unit 601. Specifically, as illustrated by the arrow 7 in FIG. 2, the correction unit 603 replaces the position information of the positioning position 6 collected by the data logger 500 with the position information of the reference point 5 closest thereto. As a result, the position information of the reference point 5 and the orbit diagnosis information are mutually associated. Since highly accurate positioning is possible by performing interference positioning using the GNSS, even if the position information of the positioning position 6 is replaced with the position information of the reference point 5 closest thereto, no large positional deviation occurs. Note that the position information of a plurality of positioning positions 6 may be replaced with the position information of one reference point 5. In this embodiment, the correction unit 603 of the information processing device 600 functions as a correction means as referred to in the present invention.

[0020] As described above, high-precision positioning is possible by performing interferometric positioning using GNSS, but when using a satellite positioning system, fluctuations inevitably occur due to the influence of the ionosphere, etc., so that position information may be slightly shifted even at the same position. Therefore, if the position information obtained using the satellite positioning system 200 is used as is, it becomes difficult to capture the change over time in orbit diagnosis information at a fixed point, for example. Therefore, by replacing the position information obtained using the satellite positioning system 200 with the information obtained at the closest reference point 5, it becomes possible to compare orbit diagnosis information at fixed positions with different dates and times, and it becomes easier to capture the change over time in orbit diagnosis information at a fixed point.

[0021] The calculation unit 604 performs calculations including at least one of averaging processing for calculating an average value of track diagnosis information for each reference point 5, outlier cutting processing by filtering, variance processing, and moving average processing, using the track diagnosis information input by the input unit 602 (i.e., the track diagnosis information collected by the data logger 500), to obtain track diagnosis information at the reference point 5. For example, when position information of a plurality of positioning positions 6 is replaced with position information of one reference point 5, the calculation unit 604 calculates an average value of track diagnosis information associated with the position information of the plurality of positioning positions 6, and sets this average value as the track diagnosis information at the reference point 5. In addition, the track diagnosis information at the reference point 5 may include gauge deviation, alignment deviation, level deviation, flatness deviation, elevation deviation, etc., obtained by outlier cutting processing by filtering, variance processing, and moving average processing.

[0022] The output unit 605 outputs, as the management information, information that identifies the reference point 5 and information that indicates the relationship between the information and the track diagnosis information at the reference point 5, as shown in FIG. 3. The information that identifies the reference point 5 may be, for example, the position information of the reference point 5 itself, or may be the identification information if identification information is given to each reference point 5. The output unit 605 displays the management information on a display unit (not shown). Based on the management information generated in this way, for example, during on-site inspection, an inspector can easily match the inspection position where the inspector is located with the track diagnosis information at the reference point 5 near the inspection position by carrying a portable satellite positioning system receiver, and the position where a change in acceleration, angular velocity, inclination, gauge, etc. appears can be accurately identified. 3, the management information includes position information of rail joints, position information of branching sections, and position information of crossing sections stored in the storage unit 601. This makes it possible to accurately distinguish whether a change in acceleration, angular velocity, inclination, gauge, or the like is due to the structure of the track 2 or due to deterioration of the track 2 when such a change occurs, and to accurately detect deterioration of the track 2.

[0023] The management information shown in Fig. 3 is merely an example and is not limited thereto. For example, a map including the track 2 may be displayed, and track diagnosis information at each reference point 5 may be displayed on the map. For example, a reference point 5 whose track diagnosis information is within a normal range may be displayed in green, a reference point 5 whose track diagnosis information exceeds a predetermined threshold th1 may be displayed in yellow representing "caution," and a reference point 5 whose track diagnosis information exceeds a predetermined threshold th2 (>th1) may be displayed in red representing "abnormal." Although the example in which the management information is displayed on the display unit has been described as an output by the output unit 605, the present invention is not limited to this. For example, the output by the output unit 605 may be such that the management information is stored in a storage area (not shown) or transmitted to another device.

[0024] The information processing device 600 thus configured is configured by a computer device equipped with, for example, a CPU, a ROM, a RAM, etc., and the functions of each of the units 601 to 605 are realized by the CPU reading out a program stored, for example, in the ROM and executing this program. Although the information processing device 600 is mounted on the train 1, this is not limiting and the information processing device 600 may be installed at a location other than the train 1. Information collected by the data logger 500 while the train 1 is traveling may be transmitted to the information processing device 600 installed at a location other than the train 1 via a network such as wireless communication to generate management information. In addition, the management information does not have to be generated in real time, and information collected by the data logger 500 while the train 1 is traveling may be input later to the information processing device 600 installed at a location other than the train 1 to generate management information.

[0025] As described above, by performing interferometric positioning using GNSS and using the position information of the reference point 5, it is easy to match the inspection position where the inspector is located with the track diagnosis information near the inspection position during on-site inspection, and the position where the change in acceleration, angular velocity, inclination, gauge, etc. appears can be accurately specified, making it possible to manage the track on the order of centimeters. In addition, when a change in acceleration, angular velocity, inclination, gauge, etc. appears, it is possible to accurately distinguish whether this is due to the structure of the track 2 or due to deterioration of the track 2, making it possible to accurately grasp the deterioration of the track 2. Moreover, by using the position information of the reference point 5, it becomes easier to grasp the change over time in the track diagnosis information at a fixed point. In this way, information useful for managing the track 2 can be generated.

[0026] Although the present invention has been described above with reference to the embodiments, the above embodiments are merely illustrative of the specific examples of the present invention, and the technical scope of the present invention should not be interpreted as being limited by these embodiments. In other words, the present invention can be embodied in various forms without departing from its technical concept or main features. (Other embodiments) The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions. [Explanation of symbols]

[0027] 1: train, 2: track, 100: information processing system, 200: satellite positioning system, 300: receiver, 400: measuring device, 500: data logger, 600: information processing device, 601: memory unit, 602: input unit, 603: correction unit, 604: calculation unit, 605: output unit

Claims

1. An information processing system for generating information used to manage a track on which a moving object travels, an acquisition device mounted on the vehicle and acquiring position information of a plurality of positioning positions along the track using a satellite positioning system; a measuring device mounted on the traveling body and configured to measure track diagnostic information, which is at least one of acceleration, angular velocity, inclination, and gauge; a collecting means for collecting the position information of the positioning position acquired by the acquiring device and the orbit diagnosis information measured by the measuring device in a time-synchronized manner; a correction means for correcting the position information of the positioning position collected by the collection means based on position information of a reference point set along the trajectory; a calculation means for performing a calculation using the orbit diagnosis information collected by the collection means, The correction means replaces the position information of the positioning position collected by the collection means with the position information of the reference point closest thereto, and at that time, allows the position information of a plurality of the positioning positions to be replaced with the position information of one of the reference points; the calculation means, when position information of the plurality of positioning positions is replaced with position information of one of the reference points, calculates an average value of the orbit diagnosis information associated with the position information of the plurality of positioning positions, and sets the average value as the orbit diagnosis information at the reference point.

2. The information processing system according to claim 1, characterized in that the calculation means performs calculations including at least one of outlier cutting processing by filtering, variance processing, and moving average processing.

3. 3. The information processing system according to claim 1, further comprising a storage means for storing at least one of position information of rail joints, position information of branching sections, and position information of railroad crossing sections.

4. 4. The information processing system according to claim 1, wherein the reference points are set at intervals of about several tens of centimeters along the track.

5. 5. The information processing system according to claim 1, wherein said collecting means performs synchronization based on a time obtained from said satellite positioning system.

6. 6. The information processing system according to claim 1, wherein the global satellite positioning system is used as the satellite positioning system to perform interferometric positioning.

7. An information processing device that generates information used to manage a track on which a moving body runs, an acquisition device mounted on the moving body and configured to acquire position information of a plurality of positioning positions along the track by using a satellite positioning system; and an input means mounted on the moving body and configured to input time-synchronized position information of the positioning positions and the track diagnosis information collected using a measurement device that is mounted on the moving body and configured to measure track diagnosis information, which is at least one of acceleration, angular velocity, inclination, and gauge; a correction means for correcting position information of the positioning position input by the input means based on position information of a reference point set along the trajectory; a calculation means for performing a calculation using the orbit diagnosis information input by the input means, the correction means replaces the position information of the positioning position input by the input means with the position information of the reference point closest thereto, and at that time, allows the position information of a plurality of the positioning positions to be replaced with the position information of one of the reference points; the calculation means, when position information of the plurality of positioning positions is replaced with position information of one of the reference points, calculates an average value of the orbit diagnosis information associated with the position information of the plurality of positioning positions, and sets the average value as the orbit diagnosis information at the reference point.

8. An information generation method for generating information used to manage a track on which a moving object runs, comprising: a collection step of collecting the position information of the positioning positions and the track diagnosis information in a time-synchronized manner using an acquisition device mounted on the moving body and configured to acquire position information of a plurality of positioning positions along the track by using a satellite positioning system, and a measurement device mounted on the moving body and configured to measure track diagnosis information, which is at least one of acceleration, angular velocity, inclination, and gauge; a correction step of correcting the position information of the positioning position collected in the collection step based on position information of a reference point set along the trajectory; a calculation step of performing a calculation using the orbit diagnosis information collected in the collection step, In the correction step, the position information of the positioning position collected in the collection step is replaced with the position information of the reference point closest thereto, and at that time, the position information of a plurality of the positioning positions is allowed to be replaced with the position information of one of the reference points; In the calculation step, when position information of a plurality of the positioning positions is replaced with position information of one of the reference points, an average value of the orbit diagnosis information associated with the position information of the plurality of the positioning positions is calculated, and the average value is set as the orbit diagnosis information at the reference point.

9. A program for generating information used to manage a track on which a moving body runs, a collection process for collecting the position information of the positioning positions and the track diagnosis information in a time-synchronized manner using an acquisition device mounted on the moving body and acquiring position information of a plurality of positioning positions along the track by using a satellite positioning system, and a measurement device mounted on the moving body and measuring track diagnosis information, which is at least one of acceleration, angular velocity, inclination, and gauge; a correction process for correcting the position information of the positioning position collected in the collection process based on position information of a reference point set along the trajectory; a calculation process for performing a calculation using the orbit diagnosis information collected in the collection process; In the correction process, the position information of the positioning position collected in the collection process is replaced with the position information of the reference point closest thereto, and at that time, the position information of a plurality of the positioning positions is allowed to be replaced with the position information of one of the reference points; the program characterized in that, in the calculation process, when position information of a plurality of the positioning positions is replaced with position information of one of the reference points, an average value of the orbit diagnosis information associated with the position information of the plurality of the positioning positions is calculated, and the average value is set as the orbit diagnosis information at the reference point.

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