JP7583564B2 - Door entrapment detection device, railway door device and program - Google Patents

Description

One embodiment of the present invention relates to a door entrapment detection device, a railway door device, and a program.

Automatic door systems are equipped with a door entrapment detection device that detects when a person or object comes into contact with the edge of the door leaf. Conventional door entrapment detection devices include a method that detects entrapment based on the speed at which the door leaf moves, and a method that detects entrapment based on the current (hereinafter referred to as motor current) flowing through a motor that generates the driving force to move the door leaf.

When detecting door entrapment using the movement speed of the door leaf, the movement speed of the door leaf becomes zero when entrapment occurs, and it is determined that entrapment has occurred when the movement speed becomes zero. In addition, when detecting door entrapment using the motor current, the motor current increases sharply when entrapment occurs, and it is determined that entrapment has occurred when the motor current exceeds a predetermined threshold.

JP 2019-93901 A

A rubber edge is attached to the edge of the door leaf to soften the impact with people or objects, and even if a person or object comes into contact with the rubber edge, the speed of the door leaf does not immediately drop to zero, but moves at a slow speed within the range in which the rubber edge can contract. Similarly, when the door is fully closed, even if the rubber edges of the left and right door leaves come into contact with each other, the door leaf continues to move at a slow speed for a while. For this reason, it may not be possible to accurately determine whether or not someone has become trapped based on the door's moving speed alone.

On the other hand, the motor current is also prone to fluctuations due to various factors, and even if you try to detect something being caught in the door by comparing the motor current with a threshold value, accurate detection cannot be performed in situations where the motor current fluctuates greatly.

In one embodiment of the present invention, we provide a door entrapment detection device, railway door device, and program that can easily and accurately detect whether or not a door entrapment has occurred.

In order to solve the above problems, according to one embodiment of the present invention, there is provided a door entrapment detection device for detecting an obstruction in a door when the door is driven in a closing direction by a driving force of a motor, comprising:
a position determination unit that determines whether the door has reached a predetermined position based on at least one of a moving speed, a moving distance, and a moving time during a closing operation of the door;
A door entrapment detection device is provided, which is provided with a door entrapment determination unit that determines whether or not the door has been entrapped based on the current flowing through the motor during the period from when it is determined that the door has reached the specified position to when the door has reached a fully closed position.

The door entrapment determination unit may determine whether or not the door has been entrapped based on the movement speed of the door in parallel with the door entrapment determination based on the current flowing through the motor during the period from when it is determined that the door has reached the predetermined position until when the door has reached the fully closed position.

The door entrapment determination unit is
a first door entrapment determination unit that determines whether or not the door has been trapped, based on whether or not a moving speed of the door or a current value flowing through the motor satisfies a first condition, when it is determined that the door has not reached the predetermined position; and
The device may also have a second door entrapment determination unit that determines whether or not the door has been entrapped based on whether or not the current value satisfies a second condition different from the first condition between the time it is determined that the door has reached the specified position and the time the door has reached a fully closed position.

The second door entrapment determination unit may determine that the door has been trapped between when it is determined that the door has reached the predetermined position and when it is determined that the current value satisfies the second condition or when it is determined that the door has been trapped based on the door speed.

a first acquisition unit that acquires a first current value flowing through the motor during a first period during a closing operation of the door;
a threshold setting unit that sets a threshold for determining whether the object is caught in the door based on the acquired first current value;
a second acquisition unit that acquires a second current value flowing through the motor during a second period that is after the first period during the closing operation of the door,
The second door entrapment determination unit may determine whether or not the second condition is satisfied by comparing the acquired second current value with the set threshold value.

The threshold setting unit may set the threshold based on at least one of the average, median, mode, or integral value of the current value flowing through the motor during the first period.

a storage unit that stores a correspondence relationship between at least one of a mean value, a median value, a mode value, and an integral value of a current value flowing through the motor when the door is driven in a closing direction and no object is caught in the door, and a reference threshold value based on the measured value;
The threshold setting unit may set the threshold based on the correspondence stored in the memory unit and at least one of the average value, median, mode, or integral value of the current value flowing to the motor within the first period.

The threshold setting unit may set the threshold based on the drive voltage of the motor during the first period.

In another aspect of the present invention, a door provided in a railway vehicle;
A motor for opening and closing the door;
A door opening/closing control unit that controls the motor;
A door entrapment detection device that detects an obstruction when the door is driven in a closing direction by the driving force of the motor,
The door entrapment detection device is
a position determination unit that determines whether the door has reached a predetermined position based on at least one of a moving speed, a moving distance, or a moving time of the door in a closing direction during a closing operation of the door;
a first door entrapment determination unit that determines whether or not the door has been trapped, based on whether or not a moving speed of the door or a current value flowing through the motor satisfies a first condition, when it is determined that the door has not reached the predetermined position; and
A railway door device is provided, the device having a second door entrapment determination unit that determines whether or not the door has been trapped based on whether or not the current value satisfies a second condition different from the first condition during the period from when it is determined that the door has reached the specified position to when the door has reached a fully closed position.

In another aspect of the present invention, there is provided a program for causing a computer to detect an object caught in a door when a door is driven in a closing direction by a driving force of a motor, the program comprising:
a step of determining whether or not the door has reached a predetermined position based on at least one of a moving speed, a moving distance, or a moving time of the door in a closing direction during a closing operation of the door;
a step of determining whether or not the door has been caught, based on whether or not a moving speed of the door or a value of a current flowing through the motor satisfies a first condition, when it is determined that the door has not reached the predetermined position;
and a procedure for determining whether or not the door has become trapped based on whether or not the current value satisfies a second condition different from the first condition during the period from when it is determined that the door has reached the specified position to when the door has reached a fully closed position.

The threshold setting unit may set the threshold based on the drive voltage of the motor during the first period.

According to another aspect of the present invention, a door;
A motor for opening and closing the door;
A door opening/closing control unit that controls the motor;
A door entrapment detection device that detects an obstruction when the door is driven in a closing direction by the driving force of the motor,
The door entrapment detection device is
a position determination unit that determines whether the door has reached a predetermined position based on at least one of a moving speed, a moving distance, or a moving time of the door in a closing direction during a closing operation of the door;
a first door entrapment determination unit that determines whether or not the door has been trapped, based on whether or not a moving speed of the door or a current value flowing through the motor satisfies a first condition, when it is determined that the door has not reached the predetermined position; and
A railway door device is provided, which has a second door entrapment determination unit that, when it is determined that the door has reached the specified position, determines whether or not the door entrapment has occurred based on whether or not the current value satisfies a second condition different from the first condition.

According to one aspect of the present invention, there is provided a program for causing a computer to detect an object caught in a door when a door is driven in a closing direction by a driving force of a motor, the program comprising:
a step of determining whether or not the door has reached a predetermined position based on at least one of a moving speed, a moving distance, or a moving time of the door in a closing direction during a closing operation of the door;
a step of determining whether or not the door has been caught, based on whether or not a moving speed of the door or a value of a current flowing through the motor satisfies a first condition, when it is determined that the door has not reached the predetermined position;
When it is determined that the door has reached the specified position, a procedure for determining whether or not the door has become trapped is provided based on whether or not the current value satisfies a second condition different from the first condition.

According to one aspect of the present invention, it is possible to easily and accurately detect whether or not a door entrapment has occurred.

1 is an external view of an automatic door system incorporating an obstruction detection device according to a first embodiment; FIG. 4 is a diagram showing the peripheral structure of the motor in more detail. FIG. 2 is a block diagram showing the schematic configuration of a control system of the automatic door system shown in FIG. 1 . 1 is a block diagram showing an internal configuration of a door entrapment detection device according to a first embodiment; Graph showing changes in stroke, travel speed, and motor current. 4 is a flowchart showing a processing procedure of the door entrapment detection device according to the first embodiment. 10 is a flowchart showing a processing procedure of a door entrapment detection device according to a second embodiment. FIG. 13 is a block diagram showing an internal configuration of a door entrapment detection device according to a third embodiment.

Below, an embodiment of a door entrapment detection device, a railway door device, and a program will be described with reference to the drawings. The following will focus on the main components of the door entrapment detection device, the railway door device, and the program, but the door entrapment detection device, the railway door device, and the program may have components and functions that are not shown or described. The following description does not exclude components and functions that are not shown or described.

First Embodiment
Fig. 1 is an external view of an electric door device 2 incorporating a door entrapment detection device 1 according to a first embodiment. The electric door device 2 in Fig. 1 is mounted on a railway vehicle. The electric door device 2 according to this embodiment can be widely used for applications other than railway vehicles. For example, the electric door device 2 according to this embodiment can be applied to automatic door devices for vehicles, buildings, and facilities, as well as platform doors for houses. In the following, this specification will mainly explain the electric door device 2 mounted on a railway vehicle.

The electric door device 2 in FIG. 1 has a pair of sliding door leaves 3R, RL. The door leaves 3R, 3L are movable in the left-right direction as shown in the figure. Above the door leaves 3R, 3L are arranged a guide rail 4, a door hanging device 5R that supports the right door leaf 3R, and a door hanging device L that supports the left door leaf 3L.

The door hanging device 5R and the door leaf 3R are movable together along the guide rail 4. The door hanging device 5L and the door leaf 3L are movable together along the guide rail 4. In this specification, at least one of the pair of door leaves 3R, 3L may be simply referred to as a door.

As shown by the dashed lines in FIG. 1, multiple door rollers 6 are provided inside the door hanging devices 5R and 5L. Each door roller 6 rolls while in contact with the upper or lower surface of the guide rail 4.

A rubber tip 7 made of soft synthetic rubber material is attached to the door tip of each door leaf 3R, 3L. When the pair of door leaves 3R, 3L are fully closed, the rubber tips 7 come into contact with each other, and while in contact, the rubber tips 7 contract to a certain extent before the door leaves 3R, 3L stop.

A right rack gear 8R and a left rack gear 8L are provided above the guide rail 4 along the direction in which the guide rail 4 extends. A right bracket 9R is connected to the right rack gear 8R, and when the right rack gear 8R moves left and right, the right connecting bracket 9R moves left and right accordingly. Similarly, a left bracket 9L is connected to the left rack gear 8L, and when the left rack gear 8L moves left and right, the left connecting bracket 9L moves left and right accordingly. A door hanging device 5R is connected to the right connecting bracket 9R, and the door hanging device 5R and the door leaf 3R move left and right together in accordance with the left and right movement of the right connecting bracket 9R. In addition, a door hanging device 5L is connected to the left connecting bracket 9L, and the door hanging device 5L and the door leaf 3L move left and right together in accordance with the left and right movement of the left connecting bracket 9L.

The right rack gear 8R and the left rack gear 8L mesh with the pinion gear 10 and act to convert the rotational motion of the pinion gear 10 into linear motion. The pinion gear 10 rotates by the driving force of the motor 11.

Figure 2 is a diagram showing the structure around the motor 11 in more detail. There is a sun gear 13 attached to the rotating shaft 12 of the motor 11, a number of planetary gears 14 arranged around the sun gear 13 and meshing with the sun gear 13, and a pinion gear 10, which is an outer gear arranged outside the planetary gears 14 and meshing with the planetary gears 14.

In this way, when the motor 11 rotates, its rotational force is transmitted to the rack gears 8R, 8L via the pinion gear 10, and when the rack gears 8R, 8L move left and right in response to the rotation of the motor 11, the pair of door leaves 3R, 3L move left and right along the guide rails 4 via the right bracket 9R and left bracket 9L. The motor 11 is driven by a motor drive unit 23 in the controller 15 in FIG. 3, which will be described later.

The opening and closing method of the electric door device 2 does not necessarily have to be the rack and pinion method described above, but may be any other method (e.g., belt type, screw type, linear motor type, etc.).

Figure 3 is a block diagram showing the schematic configuration of the control system of the electric door device 2 in Figure 1. The control system of the electric door device 2 according to this embodiment includes a controller 15 incorporating the door entrapment detection device 1, a power supply unit 16, and a motor monitor unit 17.

The power supply unit 16 has a built-in power supply device that converts AC voltage supplied from the overhead line into DC voltage. The controller 15 has a door opening/closing control unit 18 and a command unit 19. The command unit 19 outputs a command signal to the door opening/closing control unit 18 to open and close the door leaves 3R and 3L. The door opening/closing command unit 19 controls the opening and closing of the door leaves 3R and 3L based on the command signal.

The door opening/closing control unit 18 includes a power supply voltage detection unit 21, a PWM control unit 22, a motor drive unit 23, and a Hall signal detector 24.

The power supply voltage detection unit 21 detects the voltage level of the DC voltage output from the power supply unit 16. The PWM control unit 22 generates a PWM signal for driving the motor 11 based on the voltage level of the DC voltage detected by the power supply voltage detection unit 21 and the command signal from the command unit 19. More specifically, the PWM control unit 22 generates a PWM signal for controlling the duty ratio of the voltage supplied to the motor 11 based on a reference voltage command pattern corresponding to the command signal and the voltage level of the DC signal detected by the power supply voltage detection unit 21.

The motor drive unit 23 controls the on/off of the transistors that drive the motor 11 based on the PWM signal. For example, if the motor 11 is a three-phase motor 11, the motor drive unit 23 generates gate signals for turning on or off each of the U-phase, V-phase, and W-phase transistors.

A Hall element 25 is attached near the rotating shaft 12 of the motor 11, and the Hall element 25 detects the rotation speed of the motor 11. A motor monitor unit 17 is also provided near the motor 11. In addition to the Hall element 25 described above, the motor monitor unit 17 has a motor current detector 26 for detecting the motor current, and a motor voltage detector 27 for detecting the voltage applied to the motor 11.

The Hall signal detector 24 detects the rotation speed of the motor 11 based on the detection signal of the Hall element 25. The motor drive unit 23 can feedback control the control timing of turning on or off each transistor that drives the motor 11 based on the rotation speed of the motor 11 detected by the Hall signal detector 24.

The door entrapment detection device 1 detects that the door leaves 3R and 3L are pinched at the door tip when the door leaves 3R and 3L are driven in the closing direction by the driving force of the motor 11.

The electric door device 2 according to this embodiment may include a transmission unit 28. When the door entrapment detection device 1 detects an object being trapped in the door, the transmission unit 28 notifies a management device (not shown) or a mobile terminal carried by a maintenance worker that an object is trapped in the door.

Figure 4 is a block diagram showing the internal configuration of the door entrapment detection device 1 according to the first embodiment. As shown in Figure 4, the door entrapment detection device 1 includes a door entrapment determination unit 31.

The door entrapment determination unit 31 determines whether or not a door has been caught based on at least one of the movement speed, movement distance, or movement time during the closing operation of the door leaves 3R and 3L, and the current flowing through the motor. In parallel with the door entrapment determination of the door leaves 3R and 3L based on the current flowing through the motor, the door entrapment determination unit 31 may continue to perform a process of determining whether or not a door has been caught based on the movement speed of the door leaves 3R and 3L after the door leaves 3R and 3L start to move in the closing direction until the door leaves 3R and 3L reach the fully closed position.

In this way, the door entrapment determination unit 31 can detect entrapment more accurately by combining the door entrapment determination based on the motor current and the door entrapment determination based on the movement speed of the door leaves 3R and 3L.

The door entrapment detection device 1 according to this embodiment includes a position determination unit 32. The position determination unit 32 determines whether the door leaves 3R and 3L have reached a predetermined position based on at least one of the moving speed, moving distance, or moving time in the closing direction of the door during the closing operation of the door leaves 3R and 3L. The position determination unit 32 determines whether the door leaves 3R and 3L are located close to being fully closed, and the predetermined position is set, for example, to a position several centimeters before the fully closed position. The door entrapment determination unit 31 determines whether the door leaves 3R and 3L have been entrapped based on the current flowing through the motor 11 from when it is determined that the door leaves 3R and 3L have reached the predetermined position until the door leaves 3R and 3L reach the fully closed position. In this way, when the door leaves 3R and 3L have moved close to being fully closed, the door entrapment determination unit 31 determines whether the door leaves 3R and 3L have been entrapped based on the motor current.

The door entrapment determination unit 31 may switch the door entrapment determination method depending on whether the door leaves 3R and 3L have reached a predetermined position. For example, as shown in FIG. 4, the door entrapment determination unit 31 may include a first door entrapment determination unit 31a and a second door entrapment determination unit 31b.

When it is determined that the door leaves 3R and 3L have not reached a predetermined position, the first door entrapment determination unit 31a determines whether or not door entrapment has occurred based on whether or not the movement speed of the door leaves 3R and 3L or the current value flowing through the motor satisfies a first condition.

The second door entrapment determination unit 31b determines whether or not a door entrapment has occurred based on whether or not the current value satisfies a second condition different from the first condition during the period from when it is determined that the door leaves 3R, 3L have reached a predetermined position until the door leaves 3R, 3L reach the fully closed position. The second door entrapment determination unit 31b may determine that a door entrapment has occurred at least when it is determined that the current value satisfies the second condition during the period from when it is determined that the door leaves 3R, 3L have reached a predetermined position until the door leaves 3R, 3L reach the fully closed position, or when it is determined that the door leaves 3R, 3L have been entrapped based on the speed of the door leaves 3R, 3L.

In addition, the door entrapment determination unit 31 according to this embodiment may include a speed detector 33 that detects the movement speed of the door leaves 3R and 3L. The door entrapment determination unit 31 according to this embodiment may also include a door closing detector 34 that detects when the pair of door leaves 3R and 3L are fully closed. Furthermore, the door entrapment determination unit 31 according to this embodiment may also include a stroke detector 35 that detects the movement position (stroke) of the door leaves 3R and 3L.

Figure 5 is a graph showing the changes in stroke w1, movement speed w2, and motor currents w3a and w3b of the door leaves 3R and 3L as they move from the fully open position to the fully closed position. The horizontal axis of Figure 5 shows the door tip position of the door leaves 3R and 3L, while the vertical axis shows waveform w1, stroke amount, waveform w2, movement speed, and waveform w3, motor current. The stroke amount indicates the distance traveled by the door leaves 3R and 3L. As for the motor current, waveform w3a when there is no door entrapment and waveform w3b when there is door entrapment are shown.

As shown in waveform w2, the movement speed of the door leaves 3R, 3L is in an acceleration region immediately after the door leaves 3R, 3L start to move, and the movement speed increases linearly with time. After that, when a certain speed is reached, it transitions to a constant speed region where that speed is maintained for a specified period, and then transitions to a deceleration region where the movement speed decreases with time. In the deceleration region, the movement speed decreases in stages. As the movement speed changes, the stroke of the door leaves 3R, 3L changes in a nonlinear curve as shown in waveform w1.

The motor current fluctuates greatly due to the influence of external disturbances immediately after the door leaves 3R, 3L start to move in the closing direction from the fully open position. The motor current then decreases in stages, and as the moving speed of the door leaves 3R, 3L enters the deceleration range, the motor current fluctuates greatly once and then decreases in stages. When the door leaves 3R, 3L reach the fully closed position, the door tip rubbers of the door leaves 3R, 3L come into contact with each other, causing the motor current to increase rapidly.

In addition, the motor current differs significantly between when the door leaves 3R and 3L are fully closed and when they are pinched (waveform w3b) and when they are not (waveform w3a), and when the door is pinched (waveform w3b) the motor current is much larger than when the door is not pinched (waveform w3a).

The door entrapment detection device 1 according to this embodiment detects the occurrence of door entrapment by comparing the motor current with a predetermined threshold value when the door leaves 3R and 3L are near the fully closed state based on the waveform shapes of each waveform in Figure 5. The threshold value is set, for example, near the midpoint between the peak value of the waveform w3a and the peak value of the waveform w3b when the door leaves 3R and 3L are near the fully closed state in Figure 5.

Figure 6 is a flowchart showing the processing procedure of the door entrapment detection device 1 according to the first embodiment. The processing of the flowchart in Figure 6 is started when the door leaves 3R, 3L start to move in the closing direction. First, it is determined whether the door leaves 3R, 3L have reached the fully closed position (step S1). Whether the door leaves 3R, 3L have reached the fully closed position may be detected, for example, by a signal from the stroke detector 35. The signal from the stroke detector 35 can detect the movement distance of the door leaves 3R, 3L, so it is possible to determine whether the door leaves 3R, 3L have reached the fully closed position. Alternatively, it may be determined whether the door leaves 3R, 3L are moving by a signal from the door closing detector 34. The door closing detector 34 detects that the door leaves 3R, 3L have reached the fully closed position.

When it is determined in step S1 that the door leaves 3R, 3L have reached the fully closed position, the process in FIG. 6 ends. When it is determined in step S1 that the door leaves 3R, 3L have not reached the fully closed position, it is next determined whether the movement speed of the door leaves 3R, 3L has become zero (step S2). The movement speed of the door leaves 3R, 3L is detected, for example, by a speed detector 33. Alternatively, the movement speed of the door leaves 3R, 3L may be detected from a signal detected by a hall signal detector.

If it is determined in step S2 that the moving speed of the door leaves 3R and 3L is not zero, it is determined whether the door leaves 3R and 3L have reached a predetermined position before being fully closed (step S3). The predetermined position before being fully closed may be, for example, a few centimeters.

If it is determined in step S3 that the predetermined position has not yet been reached, the process returns to step S2. If it is determined in step S3 that the predetermined position has been reached, it is determined whether the motor current is greater than a predetermined threshold value (step S4). If it is determined in step S4 that the motor current is greater than the threshold value, it is determined that a door entrapment has occurred, and door entrapment is detected (step S5). Also, if in step S2 the door leaves 3R, 3L have not yet reached the fully closed position, but the movement speed of the door leaves 3R, 3L becomes zero, the process proceeds to step S5 and door entrapment is detected. Information on the detection of door entrapment is transmitted, for example, via the transmission unit 28 to a management device (not shown) or a mobile terminal of a maintenance worker, etc.

In this way, in the first embodiment, when the door leaves 3R and 3L start moving in the closing direction and reach the fully closed position, it is determined that a door entrapment has occurred when the door speed becomes zero. Also, when the door leaves 3R and 3L reach a predetermined position just before the fully closed position, the motor current is compared with a threshold value, and if the motor current exceeds the threshold value, it is determined that a door entrapment has occurred. As described above, the door end rubber 7 is attached to the door ends of the door leaves 3R and 3L, and even if a person or object comes into contact with the door end rubber 7, the door leaves 3R and 3L continue to move as long as the door end rubber 7 can contract. Therefore, there is a risk that door entrapment cannot be detected quickly and accurately based on the door speed alone. Therefore, in this embodiment, door entrapment is detected based on not only the motor speed but also the motor current, so that door entrapment can be detected quickly and accurately.

Second Embodiment
The door entrapment detection device 1 according to the second embodiment has a block configuration similar to that shown in FIG. 4, but the processing procedure of the door entrapment detection device 1 is different from that of the first embodiment.

Figure 7 is a flowchart showing the processing procedure of the door entrapment detection device 1 according to the second embodiment. The processing in the flowchart of Figure 7 starts when the door leaves 3R and 3L start to move in the closing direction.

First, it is determined whether the door edges of the door leaves 3R and 3L have reached a predetermined position (step S11). The predetermined position is, for example, a position several centimeters before the door is fully closed, and this position can be set arbitrarily.

If the door edges of the door leaves 3R and 3L have not yet reached the predetermined position in step S11, it is determined whether the movement speed of the door leaves 3R and 3L or the current value flowing through the motor satisfies a first condition (step S12). The first condition is, for example, when the movement speed of the door leaves 3R and 3L or the current value flowing through the motor is equal to or greater than a predetermined threshold value.

The specific content of the first condition can be set arbitrarily, but when the door edges of the door leaves 3R and 3L have not reached a predetermined position, as can be seen from graphs w3a and w3b in FIG. 5, the motor current fluctuates significantly, so the threshold value of the motor current may be set low. Also, instead of determining that door entrapment has occurred based on the motor current alone, the condition may be that the movement speed of the door leaves 3R and 3L becomes zero.

If the first condition is not met in step S12, it is determined that there is no door entrapment, and the process of step S11 is performed again. In step S11, it is determined whether the current value flowing through the motor satisfies the second condition during the period from when it is determined that the door ends of the door leaves 3R and 3L have reached a predetermined position until the door leaves 3R and 3L reach the fully closed position (step S13). The second condition is, for example, a threshold value for comparison with the motor current set to a value greater than the threshold value under the first condition. More specifically, for example, the threshold value may be set near the midpoint between the peak value of the waveform w3a and the peak value of the waveform w3b near the fully closed position in FIG. 5. The second condition may include a motor speed condition. Regarding the motor speed, it may be determined that there is door entrapment if the motor speed becomes zero, for example, in either the first or second condition. The second condition is determined to be satisfied within a predetermined range (arrow line in FIG. 5) just before the fully closed position.

If it is determined in step S13 that the second condition is not met, it is determined whether the door has reached the fully closed position (step S14), and if the door has not reached the fully closed position, the processing from step S11 onwards is performed again. If the door has reached the fully closed position, the processing ends.

If it is determined in step S12 that the first condition is satisfied, or if it is determined in step S13 that the second condition is satisfied, it is determined that a door entrapment has occurred (step S15), and after performing a predetermined process, the process in FIG. 7 is terminated. The predetermined process is, for example, a process of notifying a management device or a maintenance worker that a door entrapment has occurred.

In this way, in the second embodiment, the criteria for determining whether or not the door is trapped in the door are changed depending on the position of the door leaves 3R, 3L while they are moving in the closing direction, making it possible to quickly and accurately determine whether or not the door is trapped in the door.

Third Embodiment
In the first and second embodiments described above, when the door leaves 3R, 3L are positioned near the fully closed position, the motor current is compared with a threshold value to determine whether or not there is an obstruction in the door. However, in the third embodiment described below, the threshold value is optimized.

Figure 8 is a block diagram showing the internal configuration of a door entrapment detection device 1 according to a third embodiment. In addition to the configuration of Figure 4, the door entrapment detection device 1 in Figure 8 includes a first acquisition unit 36, a threshold setting unit 37, and a second acquisition unit 38.

The first acquisition unit 36 acquires a first current value flowing through the motor during a first period during the closing operation of the door leaves 3R, 3L. The first period is, for example, a period including a constant speed region of the movement speed of the door leaves 3R, 3L shown in FIG. 5. As shown in FIG. 5, during the constant speed region, the motor current is relatively stable, and by acquiring the motor current during this period, it is possible to acquire a motor current that is less affected by external disturbances.

The first period may be a period in the acceleration region after the door starts moving in the closing direction, or a period in the constant speed region after the acceleration region. As shown in FIG. 5, the motor current fluctuates greatly immediately after the acceleration region begins, so it is better not to acquire the motor current in the period immediately after the acceleration region begins, but the motor current fluctuates little from the middle to the end of the acceleration region. Therefore, the first period may include a part of the period in the acceleration region. Similarly, when the moving speed transitions from the constant speed region to the deceleration region, as shown in FIG. 5, the motor current fluctuates little for a while after the transition to the deceleration region, so the first period may include a part of the period in the deceleration region of the moving speed of the door leaves 3R, 3L.

The threshold setting unit 37 sets a threshold for determining whether the door is caught, based on the first current value acquired by the first acquisition unit 36. The threshold set by the threshold setting unit 37 is a threshold that is compared with the motor current in the flowcharts of FIG. 6 and FIG. 7 described above. This threshold is a threshold that is compared with the motor current when the door leaves 3R, 3L are positioned near the fully closed position. In this way, the threshold setting unit 37 sets a threshold for the motor current when the door leaves 3R, 3L are positioned near the fully closed position, based on the actual value of the motor current when the door leaves 3R, 3L have not yet reached near the fully closed position.

The reason for providing the threshold setting unit 37 is as follows. During operation of an electric door, the sliding resistance gradually changes and the driving force of the motor 11 decreases, so even if the door leaves 3R, 3L are moved at the same speed, the motor current is not necessarily the same. Therefore, the threshold value of the motor current is set based on the actual value of the motor current.

When setting the threshold value in the threshold value setting unit 37, multiple weights of different weights are attached to the door hanging devices 5R, 5L in turn, and the door leaves 3R, 3L are moved to simulate changes in sliding resistance. The heavier the weight of the weight, the greater the sliding resistance. In this way, the sliding resistance of the door leaves 3R, 3L may be changed in multiple ways, and the threshold value may be set in the threshold value setting unit 37 based on the results of obtaining the motor current within the first period.

The threshold setting unit 37 may set the threshold based on at least one of the average value, median value, mode value, and integral value of the current value flowing through the motor during the first period. For example, the threshold may be a value obtained by multiplying the average value of the cumulative sum of the motor current during the first period by a predetermined coefficient. The predetermined coefficient is a value greater than 0 and less than 1, and is set, for example, based on the past operation record of the electric door device 2. Alternatively, the threshold may be a value obtained by multiplying the median value of the motor current during the first period by a predetermined coefficient. Alternatively, the motor current values during the first period may be classified in order of frequency, and the most frequent motor current may be multiplied by a predetermined coefficient to set the threshold. Alternatively, the threshold may be a value obtained by multiplying the cumulative sum (integral value) of the motor current during the first period by a predetermined coefficient. In this case, the coefficient is set to a value smaller than the coefficient used when determining the threshold from the average value.
The motor current varies depending on the sliding resistance of the door leaves 3R and 3L and the driving force of the motor, as well as environmental conditions such as temperature and power supply voltage. For this reason, the threshold setting unit 37 may determine the motor current to be compared with the threshold, anticipating that the motor current will change within the first period. For example, if the motor current does not vary significantly temporarily within the first period, it is sufficient to take the average value. Conversely, if the motor current varies significantly temporarily within the first period, taking the average value will be affected by the temporary fluctuation of the motor current. Therefore, in such a case, it is desirable to take the median or the mode. Also, if the motor current itself is small, an integral value may be taken.

When the power supply voltage supplied to the motor 11 fluctuates, this may affect the motor current. Therefore, the threshold setting unit 37 may set the threshold taking into account the power supply voltage detected by the motor voltage detector 27. In other words, the threshold setting unit 37 may set the threshold based on the drive voltage of the motor 11 during the first period. In general, the higher the drive voltage of the motor 11, the larger the motor current, so it is desirable for the threshold setting unit 37 to set a higher threshold value the higher the drive voltage.

The second acquisition unit 38 acquires a second current value flowing through the motor 11 during a second period following the first period during the closing operation of the door leaves 3R, 3L. The second period is, for example, as shown in FIG. 5, a period during which the door leaves 3R, 3L are near full closing and the motor current increases rapidly. The position of the door leaves 3R, 3L just before full closing at which the motor current increases rapidly differs for each electric door device 2, so it is desirable to set the second period individually for each electric door device 2. The second period is, for example, a period located within a range of several tens of millimeters to several millimeters just before full closing.

The first acquisition unit 36 may acquire the first current value within the first period each time the door leaves 3R, 3L are moved in the closing direction from the fully open position. In this case, the threshold setting unit 37 may reset the threshold based on the first current value acquired by the first acquisition unit 36 each time the door leaves 3R, 3L are moved in the closing direction from the fully open position. In this way, by resetting the threshold each time the door leaves 3R, 3L are moved in the closing direction from the fully open position, it is possible to set an optimal threshold without being affected by deterioration over time of the electric door device 2.

The first acquisition unit 36 may acquire a first current value during a first period when the door leaves 3R, 3L are driven in the closing direction immediately after the door leaves 3R, 3L are activated. The threshold setting unit 37 may set a threshold based on the first current value acquired by the first acquisition unit 36 when the door leaves 3R, 3L are driven in the closing direction immediately after the door leaves 3R, 3L are activated. In the case of an electric door device 2 for railways, there are passengers leaning against the electric door and passengers pressed against the electric door due to crowding, so the motor current is easily affected by disturbances when passengers are on board. Therefore, the first acquisition unit 36 can acquire the motor current without being affected by disturbances by acquiring the motor current in a situation where the influence of disturbances is small, such as immediately after the door leaves 3R, 3L are activated.

8 may include a memory unit 39. The memory unit 39 stores a correspondence relationship between at least one of the measured values of the average, median, mode, or integral value of the current value flowing through the motor 11 when the door is driven in the closing direction and there is no door pinch, and a reference threshold value based on the measured value. Since the current flowing through the motor 11 changes depending on the sliding resistance of the door leaves 3R and 3L, for example, multiple weights of different weights are attached to the door hanging devices 5R and 5L in turn to change the sliding resistance in a pseudo manner, and the correspondence relationship between the motor current and the reference threshold value is obtained in advance and stored in the memory unit 39. In this case, the threshold setting unit 37 sets the threshold value based on the correspondence relationship stored in the memory unit 39 and at least one of the average, median, mode, or integral value of the current value flowing through the motor 11 during the first period. In this way, by providing the memory unit 39, it is not necessary to reset the threshold value every time the door leaves 3R and 3L are closed, and the processing load of the door pinch detection device 1 can be reduced.

In this way, in the third embodiment, a threshold value is set based on the motor current acquired during a first period including a constant speed region while the door leaves 3R, 3L are moving in the closing direction, and the occurrence of door entrapment is detected by comparing the set threshold value with the motor current when the door leaves 3R, 3L are positioned near the fully closed position. According to the third embodiment, the threshold value can be optimized taking into account the aging changes of the sliding resistance of the door leaves 3R, 3L, the driving force of the motor 11, etc., so that door entrapment can be accurately detected.

At least a part of the door entrapment detection device 1 and the railway door device described in the above embodiment may be configured as hardware or software. When configured as software, a program that realizes at least a part of the functions of the door entrapment detection device 1 and the railway door device may be stored on a recording medium such as a flexible disk or CD-ROM, and may be read and executed by a computer. The recording medium is not limited to removable ones such as magnetic disks and optical disks, but may be fixed recording media such as hard disk drives and memories.

The program that realizes at least some of the functions of the door entrapment detection device 1 and the railway door device may be distributed via a communication line (including wireless communication) such as the Internet. Furthermore, the program may be encrypted, modulated, or compressed and distributed via a wired or wireless line such as the Internet, or stored on a recording medium.

The aspects of the present disclosure are not limited to the individual embodiments described above, but include various modifications that may be conceived by a person skilled in the art, and the effects of the present disclosure are not limited to the above-described contents. In other words, various additions, modifications, and partial deletions are possible within the scope that does not deviate from the conceptual idea and intent of the present disclosure derived from the contents defined in the claims and their equivalents.

1 Door entrapment detection device, 2 Electric door device, 3R, 3L Door leaf, 4 Guide rail, 5R, 5L Door hanging device, 6 Door roller, 7 Door tip rubber, 8R, 8L Rack gear, 9R, 9L Bracket, 10 Pinion gear, 11 Motor, 12 Rotating shaft, 13 Sun gear, 14 Planetary gear, 15 Controller, 16 Power supply unit, 17 Motor monitor unit, 18 Door opening/closing control unit, 19 Command unit, 21 Power supply voltage detection unit, 22 PWM control unit, 23 Motor drive unit, 24 Hall signal detector, 25 Hall element, 26 Motor current detector, 27 Motor voltage detector, 31 Door entrapment determination unit, 31a First door entrapment determination unit, 31b Second door entrapment determination unit, 32 Position determination unit, 33 Speed detector, 34 Door closing detector, 35 Stroke detector, 36 First acquisition unit, 37 threshold setting unit, 38 second acquisition unit, 39 storage unit

Claims (11)

A door entrapment detection device that detects an obstruction in a door when the door is driven in a closing direction by a driving force of a motor,
a position determination unit that determines whether the door has reached a predetermined position based on at least one of a moving speed, a moving distance, and a moving time during a closing operation of the door;
and a door entrapment determination unit that determines whether or not the door has been entrapped based on a current flowing through the motor during a period from when it is determined that the door has reached the predetermined position until when the door has reached a fully closed position ,
The predetermined position is a position of the door after the door has transitioned from a constant speed region to a deceleration region during a closing operation of the door . The door entrapment detection device according to claim 1, wherein the door entrapment determination unit determines whether the door has been entrapped based on the movement speed of the door in parallel with the door entrapment determination based on the current flowing through the motor during the period from when it is determined that the door has reached the predetermined position until the door has reached the fully closed position. The door entrapment determination unit is
a first door entrapment determination unit that determines whether or not the door has been trapped, based on whether or not a moving speed of the door or a current value flowing through the motor satisfies a first condition, when it is determined that the door has not reached the predetermined position; and
and a second door entrapment determination unit that determines whether or not the door has been trapped based on whether or not the current value satisfies a second condition different from the first condition during the period from when it is determined that the door has reached the predetermined position to when the door has reached a fully closed position. 4. The door entrapment detection device according to claim 3, wherein the second door entrapment determination unit determines that the door has been entrapped during a period from when it is determined that the door has reached the predetermined position to when the door has reached a fully closed position, and further when it is determined that the current value satisfies the second condition, or when it is determined that the door has been entrapped based on a speed of the door. a first acquisition unit that acquires a first current value flowing through the motor during a first period during a closing operation of the door;
a threshold setting unit that sets a threshold for determining whether the object is caught in the door based on the acquired first current value;
a second acquisition unit that acquires a second current value flowing through the motor during a second period that is after the first period during the closing operation of the door,
The door entrapment detection device according to claim 3 or 4, wherein the second door entrapment determination unit determines whether or not the second condition is satisfied by comparing the acquired second current value with the set threshold value. A door entrapment detection device that detects an obstruction in a door when the door is driven in a closing direction by a driving force of a motor,
a position determination unit that determines whether the door has reached a predetermined position based on at least one of a moving speed, a moving distance, and a moving time during a closing operation of the door;
a door entrapment determination unit that determines whether or not the door has been entrapped based on a current flowing through the motor during a period from when it is determined that the door has reached the predetermined position until when the door has reached a fully closed position;
a first acquisition unit that acquires a first current value flowing through the motor during a first period during a closing operation of the door;
a threshold setting unit that sets a threshold for determining whether the object is caught in the door based on the acquired first current value;
a second acquisition unit that acquires a second current value flowing through the motor during a second period that is after the first period during the closing operation of the door,
The door entrapment determination unit is
a first door entrapment determination unit that determines whether or not the door has been trapped, based on whether or not a moving speed of the door or a current value flowing through the motor satisfies a first condition, when it is determined that the door has not reached the predetermined position; and
and a second door entrapment determination unit that determines whether or not the door has been trapped based on whether or not the current value satisfies a second condition different from the first condition by comparing the acquired second current value with the set threshold value during the period from when it is determined that the door has reached the specified position to when the door has reached a fully closed position. 7. The door entrapment detection device according to claim 5, wherein the threshold setting unit sets the threshold based on at least one of an average value, a median value, a mode value, and an integral value of a current value flowing through the motor within the first period. a storage unit that stores a correspondence relationship between at least one of a mean value, a median value, a mode value, and an integral value of a current value flowing through the motor when the door is driven in a closing direction and no object is caught in the door, and a reference threshold value based on the measured value;
8. The door entrapment detection device according to claim 5, wherein the threshold setting unit sets the threshold based on the correspondence relationship stored in the memory unit and at least one of an average value, a median value, a mode value, or an integral value of a current value flowing through the motor within the first period. The door entrapment detection device according to claim 5 , wherein the threshold setting unit sets the threshold based on a drive voltage of the motor during the first period. A door provided in a railroad car;
A motor for opening and closing the door;
A door opening/closing control unit that controls the motor;
A door entrapment detection device that detects an obstruction when the door is driven in a closing direction by the driving force of the motor,
The door entrapment detection device is
a position determination unit that determines whether the door has reached a predetermined position based on at least one of a moving speed, a moving distance, or a moving time of the door in a closing direction during a closing operation of the door;
a first door entrapment determination unit that determines whether or not the door has been trapped, based on whether or not a moving speed of the door or a current value flowing through the motor satisfies a first condition, when it is determined that the door has not reached the predetermined position; and
and a second door entrapment determination unit that determines whether or not the door has been trapped based on whether or not the current value satisfies a second condition different from the first condition during a period from when it is determined that the door has reached the predetermined position until when the door has reached a fully closed position ,
The railway door device , wherein the predetermined position is a position of the door after the door has transitioned from a constant speed region to a deceleration region during a closing operation of the door . A program for causing a computer to detect an object caught in a door when the door is driven in a closing direction by a driving force of a motor,
a step of determining whether or not the door has reached a predetermined position based on at least one of a moving speed, a moving distance, or a moving time of the door in a closing direction during a closing operation of the door;
a step of determining whether or not the door has been caught, based on whether or not a moving speed of the door or a value of a current flowing through the motor satisfies a first condition, when it is determined that the door has not reached the predetermined position;
determining whether or not the door has been caught based on whether or not the current value satisfies a second condition different from the first condition during a period from when it is determined that the door has reached the predetermined position until when the door has reached a fully closed position ;
The predetermined position is a position of the door after the door transitions from a constant speed region to a deceleration region during a closing operation of the door .

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