JP7611765B2 - Early warning devices and platform door devices - Google Patents

Description

The present disclosure relates to an early detection device and a platform door device.

A platform door system is a type of automatic door device that is installed on the platforms of railway stations. A platform door system has a door pocket that is fixed to the platform and a door body that is attached to the door pocket and can move forward and backward. When a train arrives at the track adjacent to the platform, the door body is retracted into the door pocket, allowing passengers to board and disembark. Once passengers have finished boarding and disembarking, the door body is retracted out of the door pocket and the boarding and alighting entrance is closed.

To ensure passenger safety, platform door devices are fitted with sensors that check for the presence or absence of objects. The platform door device described in Patent Document 1 is equipped with a three-dimensional distance image sensor to detect passengers or obstacles such as obstacles near the platform doors. Based on the detection results of the three-dimensional distance image sensor, the opening and closing of door panels or the operation of trains is controlled to improve safety.

Some 3D range image sensors are equipped with a scanning device that mechanically scans the sensor. For example, the 3D environment measuring device equipped on a mobile robot described in Patent Document 2 tilts and rotates the sensor that acquires the 2D shape using a motor. In other words, the 3D environment measuring device described in Patent Document 2 achieves vertical scanning of the sensor by mechanically rotating the sensor using a motor.

JP 2021-11224 A JP 2008-139035 A

In a scanning device that is driven by a motor to perform a mechanical scan on a sensor, there is a problem in that the motor is more prone to failure than the electronic circuit that constitutes the sensor body. Therefore, there is a need for a method or device that can detect phenomena that are a sign of motor failure before an actual failure occurs. If it is possible to detect phenomena that are a sign of motor failure, the motor can be replaced or repaired before an actual failure occurs.

The present disclosure has been made in consideration of the above problems, and provides a device and method for detecting phenomena that are predictive of failure of the motor that drives the scanning device that is installed in the platform door system and mechanically scans the sensor, and a platform door system equipped with the device.

In order to achieve the above object, an indication detection device according to the present disclosure is installed in a platform door device and detects indications of failure of an electric motor that drives a scanning device that mechanically scans a sensor that detects the presence or absence of an obstacle in the vicinity of the platform door device. The indication detection device has a data collection unit that collects the amount of fluctuation in a control variable of the electric motor that fluctuates while the sensor is performing a scanning operation , a data analysis unit that determines the number of pieces of data that fall outside a preset tolerance range among the data collected by the data collection unit, and an alarm output unit that notifies the user when the number of pieces of data that fall outside the tolerance range determined by the data analysis unit satisfies a preset condition. Furthermore, the precursor detection device has a P point detection means for detecting that the sensor is at one end point of the scanning operation and pointing at azimuth angle P, a Q point detection means for detecting that the sensor is at the other end point of the scanning operation and pointing at azimuth angle Q, and an origin detection means for detecting that the sensor is pointing at an origin O of the scanning operation which is set between one end point and the other end point of the scanning operation, and the data collection unit collects the amount of variation in the control variable that varies while the sensor moves from either end point of the scanning operation to a position where it points at the origin O of the scanning operation, and the amount of variation in the control variable that varies while the sensor moves from the position where it points at the origin O of the scanning operation to either end point of the scanning operation.

According to the present disclosure, phenomena that are a sign of motor failure are detected and an alarm is output. This makes it easier to take measures such as replacing or repairing the motor before a failure actually occurs.

FIG. 1A is a front view of a platform door device that is a target of sign detection according to an embodiment of the present disclosure, and FIG. 1B is a plan view of the platform door device shown in FIG. FIG. 2A is a front view of a scanning device provided in the platform door device in FIG. 1 , and FIG. 2B is a plan view of the scanning device. A diagram showing the hardware configuration of the control system of the platform door device shown in FIG. 1. 4 is a flowchart of a data collection process executed by a data collection unit included in a predictive detection unit for a stepping motor of the control system described in FIG. 3. 4 is a flowchart of a data analysis process executed by a data analysis unit included in a predictive detection unit for a stepping motor of the control system described in FIG. 3. 4 is a flowchart of a warning output process executed by a warning output unit included in a stepping motor symptom detection unit of the control system described in FIG. 3 . 4 is a flowchart of a data collection process executed by a data collection unit included in a DC motor symptom detection unit of the control system described in FIG. 3 . 4 is a flowchart of a data analysis process executed by a data analysis unit included in a DC motor symptom detection unit of the control system described in FIG. 3. 4 is a flowchart of an alarm output process executed by an alarm output unit included in a DC motor symptom detection unit of the control system described in FIG. 3 .

The configuration and operation of the symptom detection device and method according to the embodiment of the present disclosure will be described in detail below with reference to the drawings. Note that in each drawing, the same or equivalent parts are denoted by the same reference numerals.

Figure 1 (A) is a front view showing the configuration of a platform door device 1 that is the subject of the sign detection according to the embodiment of the present disclosure. Figure 1 (B) is a plan view of the platform door device 1. The platform door device 1 is a type of automatic door device installed on the platform of a railway station, and includes a door pocket 3 that is fixed to the platform floor surface 2 as shown in Figure 1 (A). As shown in Figures 1 (A) and 1 (B), a door body 4 is supported in the door pocket 3 so that it can move forward and backward freely. Note that Figures 1 (A) and 1 (B) show the state in which the door body 4 is pulled out from the door pocket 3. In this state, the boarding and alighting passage between the two door pockets 3 is closed. When the door body 4 is pulled into the door pocket 3, the boarding and alighting passage is opened. Note that the configuration of the control system that controls the platform door device 1 will be described later.

As shown in Figures 1(A) and 1(B), the platform door device 1 is equipped with a sensor 5. In this embodiment, the sensor 5 is a sensor that uses laser light to detect the presence or absence of a foreign object near the platform door device 1. The sensor 5 can measure the distance to the detection object by comparing the phase of the emitted laser light wave with the phase of the laser light wave that is reflected by the surface of the detection object and returns to the sensor 5.

As shown in Fig. 1(A) and Fig. 1(B), the sensor 5 is attached to one of the two door pockets 3 via the scanning device 6. The scanning device 6 is a two-axis scanning device. The scanning device 6 allows the sensor 5 to rotate around the rotation axis, i.e., the T-axis shown in Fig. 1(A), to scan the direction of the sensor 5 in a horizontal plane, and to direct the laser light of the sensor 5 to the sector-shaped range shown in Fig. 1(B). The scanning device 6 also allows the sensor 5 to swing around the swing axis, i.e., the E-axis shown in Fig. 1(B), to scan the direction of the sensor 5 in a vertical plane, and to direct the laser light of the sensor 5 to the sector-shaped range shown in Fig. 1(A). In this way, the sensor 5 is scanned around the T-axis and E-axis by the scanning device 6, and therefore functions as a three-dimensional sensor that measures the direction and distance of an object in the sector-shaped range shown in Fig. 1(A) and Fig. 1(B). Note that the scanning operation around the T-axis and the scanning operation around the E-axis are performed, for example, in parallel and independently.

1(A) and 1(B), the point marked with the symbol O is the origin fixed to the platform door device 1. The rotation of the scanning device 6 around the T axis is controlled with reference to the origin O. Therefore, the motor that drives the scanning device 6 to rotate around the T axis must be aligned with the origin O. The flat plate 7a is a part used for aligning the origin of the motor, and is a part that causes the sensor 5 to function as an origin detector 7 (not shown in FIG. 1) described later. As shown in FIG. 1(A) and FIG. 1(B), the flat plate 7a is fixed to the other door pocket 3 that is located on the opposite side of the door pocket 3 to which the scanning device 6 is fixed, sandwiching the door body 4. The flat plate 7a also has slits (not shown) that extend vertically above and below the origin O. The function of the flat plate 7a will be described later.

Figure 2 (A) is a front view of the scanning device 6, and Figure 2 (B) is a plan view of the scanning device 6. As shown in Figures 2 (A) and 2 (B), the scanning device 6 is equipped with a fixed part 8 and a swivel base 9 that is supported by the fixed part 8 and rotates around the T axis. As shown in Figure 2 (A), a stepping motor 10 is fixed to the underside of the fixed part 8. The swivel base 9 is driven by the stepping motor 10 and rotates around the T axis. The stepping motor 10 is equipped with an angle detector that detects the rotation angle of its rotation shaft. Details of the angle detector will be described later.

As shown in Fig. 2(A) and Fig. 2(B), a DC motor 11 is fixed to the swivel base 9. The sensor 5 is driven by the DC motor 11 to swing around the E axis. Therefore, as shown in Fig. 2(A), the orientation of the sensor 5, i.e., the emission direction of the laser light, moves back and forth between an upper limit U and a lower limit D in the vertical plane.

As shown in FIG. 2B, two limit switches 12p and 12q are fixed to the fixed portion 8 with a gap therebetween. A dog 13 is also fixed to the swivel base 9. When the swivel base 9 is rotated counterclockwise in FIG. 2B, the dog 13 abuts against the limit switch 12p and the swivel base 9 stops there. The swivel base 9 then starts rotating clockwise. When the swivel base 9 is rotated clockwise, the dog 13 abuts against the limit switch 12q and the swivel base 9 stops there. The swivel base 9 then starts rotating counterclockwise. In this way, the rotation range of the swivel base 9 is limited by the limit switches 12p and 12q. In other words, the swivel base 9 reciprocates between the rotation angle at which the dog 13 abuts against the limit switch 12p and the rotation angle at which the dog 13 abuts against the limit switch 12q.

As a result, the pointing direction of the sensor 5 in the horizontal plane, i.e., the emission direction of the laser light in the horizontal plane, is scanned between the pointing direction when the dog 13 abuts against the limit switch 12p and the pointing direction when the dog 13 abuts against the limit switch 12q.

In the following explanation, the rotation angle of the swivel table 9 when the dog 13 abuts against the limit switch 12p is called the azimuth angle P, and the rotation angle when the dog 13 abuts against the limit switch 12q is called the azimuth angle Q. When the rotation angle of the swivel table 9 reaches the azimuth angle P, the limit switch 12p operates, and when the rotation angle of the swivel table 9 reaches the azimuth angle Q, the limit switch 12q operates.

Now, as described above, the flat plate 7a is fixed to the other door pocket 3 arranged on the opposite side of the door body 4 of the door pocket 3 to which the scanning device 6 is fixed. The flat plate 7a also has a slit extending vertically above and below the origin O. Therefore, when the sensor 5 is directed to the origin O in the process of scanning the scanning device 6 around the T axis, that is, when the sensor 5 is directed in the direction shown in FIG. 2(B), the laser light emitted from the sensor 5 passes through the slit, and the reflected light of the laser light that had returned to the sensor 5 until then does not reach the sensor 5, so that it is possible to detect that the sensor 5 is directed to the origin O. The rotation angle of the stepping motor 10 at this time is used as the origin of the rotation angle of the stepping motor 10 in the subsequent control of the stepping motor 10. In this way, by providing the flat plate 7a, the sensor 5 itself functions as an origin detector 7 (not shown in FIG. 2) that detects that the sensor 5 is directed to the origin O.

The origin detector 7 is not limited to the sensor 5 itself detecting that the sensor 5 is directed to the origin O. A photoelectric sensor that detects laser light may be placed at the origin O, and the photoelectric sensor may detect that the sensor 5 is directed to the origin O. In this case, the photoelectric sensor functions as the origin detector 7. Alternatively, the platform door device 1 may be provided with a mechanical switch that operates when it comes into contact with the sensor 5 when it is directed to the origin O, and the mechanical switch may function as the origin detector 7. Alternatively, the platform door device 1 may be provided with a magnetic switch that operates when the sensor 5 is directed to the origin O, and the magnetic switch may function as the origin detector 7.

Figure 3 is a diagram showing the hardware configuration of the control system 15 equipped in the platform door device 1. As shown in Figure 3, the control system 15 is composed of a computer, and has a central processing unit 16, a storage device 17, and an input/output interface (I/F) 18. Programs are recorded in the storage device 17, and the central processing unit 16 executes various processes according to the programs read from the storage device 17. In addition, the results of the processes are written to the storage device 17 by the central processing unit 16.

The control system 15 is also connected to the sensor 5, the origin detector 7, the driver 10a of the stepping motor 10, the rotation angle detector 10b of the stepping motor 10, the driver 11a of the DC motor 11, the limit switches 12p and 12q, and the higher-level device 19 via the input/output interface 18. The higher-level device 19 is a control device that controls all the platform door devices 1 on the platform or all the platform door devices 1 installed in the railway station.

The origin detector 7 and limit switches 12p, 12q output detection signals indicating the detection results to the control system 15. The detection positions of the origin detector 7 and limit switches 12p, 12q are physically fixed to the platform door device 1, and positional deviations due to aging, etc. can be ignored.

The control system 15 functions as a control unit for the sensor 5 of the platform door device 1 by having the central processing unit 16 read out the program stored in the storage device 17 and execute the program. The control system 15 performs normal control of the sensor 5, such as drive control of the stepping motor 10 and the DC motor 11, creation of a distance image showing the distribution of distances to obstacles based on the detection signal of the sensor 5, detection of obstacles, and other processes. Furthermore, the control system 15 also functions as an indication detection unit 20 that detects indications of failure of the stepping motor 10 and an indication detection unit 30 that detects indications of failure of the DC motor 11. The indication detection unit 20 and the indication detection unit 30 are examples of an indication detection device according to the present disclosure.

The symptom detection unit 20 for the stepping motor 10 also includes a data collection unit 21, a data analysis unit 22, and an alarm output unit 23. The data collection unit 21 collects data indicating the control variables of the stepping motor 10, and records the collected data in the storage device 17. The data analysis unit 22 analyzes the data recorded in the storage device 17 by the data collection unit 21, detects whether there are any symptoms of failure, and outputs the result to the alarm output unit 23. The alarm output unit 23 operates in response to the analysis result of the data analysis unit 22, and outputs an alarm if necessary.

The data collection unit 21, data analysis unit 22, and alarm output unit 23 are realized by the central processing unit 16 reading a program from the storage device 17 and executing the program. In other words, by executing processing according to the program described below, the control system 15 functions as the data collection unit 21, data analysis unit 22, or alarm output unit 23.

As shown in FIG. 3, the DC motor 11 symptom detection unit 30 includes a data collection unit 31, a data analysis unit 32, and an alarm output unit 33. The data collection unit 31 collects data indicating the control variables of the DC motor 11, and records the collected data in the storage device 17. The data analysis unit 32 analyzes the data recorded in the storage device 17 by the data collection unit 31, detects whether there are any symptoms of failure, and outputs the result to the alarm output unit 33. The alarm output unit 33 operates in response to the analysis result of the data analysis unit 32, and outputs an alarm if necessary.

The data collection unit 31, data analysis unit 32, and alarm output unit 33 are realized by the central processing unit 16 reading a program from the storage device 17 and executing the program. In other words, by executing processing according to the program described below, the control system 15 functions as the data collection unit 31, data analysis unit 32, or alarm output unit 33.

The original function of the control system 15 is to control the platform door device 1 and operate the platform door device 1. Here, we will briefly explain the operation of the platform door device 1 controlled by the control system 15.

First, when a train arrives, in response to an instruction from the upper device 19, the control system 15 operates the drive unit (not shown) to retract the door body 4 into the door pocket 3 and open the boarding/alighting passage. The control system 15 also activates the sensor 5 to emit laser light and receive the reflected light from the obstacle, and obtains the phase difference between the emitted light and the reflected light to obtain the distance to the obstacle. The control system 15 also controls the drivers 10a and 11a to rotate the stepping motor 10 and the DC motor 11 back and forth within their respective set ranges, thereby scanning the direction of the sensor 5. The control system 15 obtains a distance image within the scanning area from the distance to the obstacle obtained by the sensor 5 and the direction of the sensor 5 obtained from the drivers 10a, 11a and the rotation angle detector 10b, and determines whether or not an obstacle is present in the boarding/alighting passage or in its vicinity. When the control system 15 determines that an obstacle exists in or near the boarding/alighting passageway, the control system 15 stops the door body 4. When the door body 4 is retracted into the door pocket 3 and the boarding/alighting passageway is opened, the control system 15 stops the operation of the sensor 5, the stepping motor 10, and the DC motor 11.

When passengers have finished boarding and alighting, in response to an instruction from the higher-level device 19, the control system 15 operates the drive unit (not shown) to pull the door body 4 out of the door pocket 3 and close the boarding and alighting passage. While the operation of closing the boarding and alighting passage is being performed, the control system 15 operates the sensor 5, stepping motor 10, and DC motor 11 to obtain a distance image of the scan area and determine whether or not there is an obstacle in the boarding and alighting passage or in its vicinity. When the control system 15 determines that there is an obstacle in the boarding and alighting passage or in its vicinity, the control system 15 stops the door body 4. When the door body 4 is pulled out and the boarding and alighting passage is closed, the control system 15 stops the operation of the sensor 5, stepping motor 10, and DC motor 11.

In this way, the control system 15 functions as a control device that controls the platform door device 1 and operates the platform door device 1. As described above, the control system 15 also functions as an indication detection unit 20 that detects indications of failure in the stepping motor 10 and an indication detection unit 30 that detects indications of failure in the DC motor 11. The specific processing executed by the indication detection unit 20 and the indication detection unit 30 will be described in detail below.

Figure 4 is a flowchart of the data collection process executed by the central processing unit 16 as the data collection unit 21. The data collection process is started when the sensor 5 is started, and ends when the operation of the sensor 5 ends.

As shown in FIG. 4, when the data collection unit 21 starts the data collection process, it waits until the rotation angle of the swivel table 9 reaches the azimuth angle P (step S1: No). Driven by the stepping motor 10, the swivel table 9 rotates, and when the rotation angle matches the azimuth angle P, the dog 13 abuts against the limit switch 12p. This causes the limit switch 12p to output a detection signal to the control system 15. The control system 15 responds to the detection signal (step S1: Yes) and proceeds to step S2.

In step S2, the data collection unit 21 acquires from the driver 10a the number of pulses _Ap of the pulse voltage applied to the stepping motor 10 up to that point. The data collection unit 21 subtracts the number of pulses _Ao acquired from the driver 10a and stored in the internal memory when the sensor 5 was previously pointed to the origin O from the acquired number of pulses Ap, calculates the number of pulses _Aop of the pulse voltage applied to the stepping motor 10 while the swivel table 9 rotates from the position where the sensor 5 is pointed to the origin _O to the position where the swivel angle of the swivel table 9 coincides with the azimuth angle P, and records this in the storage device 17. The data collection unit 21 also stores the currently acquired number of pulses _Ap in the internal memory.

The data collection unit 21 also acquires the rotation angle _θp of the stepping motor 10 detected by the rotation angle detector 10b. The data collection unit 21 subtracts the rotation angle θo acquired when the sensor 5 was previously oriented to the origin O and stored in the internal memory from the acquired rotation angle _θp to calculate the angle _θop by which the stepping motor 10 rotates while the swivel base 9 rotates from the position where the sensor 5 is oriented to the origin O to the position where the swivel angle of the swivel base 9 coincides with the azimuth angle _P , and records this in the storage device 17. The data collection unit 21 also stores the currently acquired rotation angle _θp in the internal memory.

When step S2 is completed, the data collection unit 21 waits until the sensor 5 points to the origin O (step S3: No). When the sensor 5 points to the origin O, the origin detector 7 outputs a detection signal. In response to this detection signal (step S3: Yes), the control system 15 advances the process to step S4.

In step S4, the data collection unit 21 calculates the number of pulses Apo of the pulse voltage applied to the stepping motor 10 while the swivel table 9 rotates from the position where the swivel angle of the swivel table 9 coincides with the azimuth angle _P to the position where the sensor 5 points to the origin O, in the same procedure as in step S2, and records this in the storage device 17. In addition, the data collection unit 21 obtains the angle θpo by which the stepping motor 10 rotates while the swivel table 9 rotates from the position where the swivel angle of the swivel table 9 coincides with the azimuth angle _P to the position where the sensor 5 points to the origin O, in the same procedure as in step S2, and records this in the storage device 17.

When step S4 is completed, the data collection unit 21 waits until the rotation angle of the swivel table 9 reaches the azimuth angle Q (step S5: No). When the rotation angle of the swivel table 9 reaches the azimuth angle Q, the dog 13 abuts the limit switch 12q, which outputs a detection signal. The control system 15 responds to this detection signal (step S5: Yes) and proceeds to step S6.

In step S6, the data collection unit 21 calculates the number of pulses A oq of the pulse voltage applied to the stepping motor 10 while the swivel table 9 rotates from the position where the sensor 5 points to the origin O to the position where the rotation angle of the swivel table 9 coincides with the azimuth angle Q, in the same procedure as in step S2, and records it in the storage device 17. In addition, the data collection unit 21 obtains the angle θ _oq by which the stepping motor 10 has rotated from the time when the sensor 5 points to the origin O until the rotation angle of the swivel table 9 coincides with the azimuth angle _Q , in the same procedure as in step S2, and records it in the storage device 17.

When step S6 is completed, the data collection unit 21 waits until the sensor 5 points to the origin O (step S7: No). When the sensor 5 points to the origin O, the origin detector 7 outputs a detection signal. In response to this detection signal (step S7: Yes), the control system 15 advances the process to step S8.

In step S8, the data collection unit 21 calculates the number of pulses A qo of the pulse voltage applied to the stepping motor 10 while the swivel table 9 rotates from the position where the rotation angle of the swivel table 9 coincides with the azimuth angle Q to the position where the sensor 5 points to the origin O, in the same procedure as in step S2, and records it in the storage device 17. In addition, the data collection unit 21 obtains the angle θ _qo by which the stepping motor 10 rotates while the swivel table 9 rotates from the position where the rotation angle of the swivel table 9 coincides with the azimuth angle _Q to the position where the sensor 5 points to the origin O, in the same procedure as in step S2, and records it in the storage device 17.

After completing step S8, the data collection unit 21 returns to step S1 and repeats the same process.

In this way, when the data collection process is executed, data on the pulse numbers A _op , A _po , A _oq , and A _qo and the rotation angles θ _op , θ _po , θ _oq , and θ _qo are sequentially recorded and accumulated in the storage device 17 .

The data analysis unit 22 analyzes the data stored in the storage device 17 by the data collection unit 21 and detects whether there are any signs of a failure in the stepping motor 10.

5 is a flowchart of the data analysis process executed by the data analysis unit 22. The data analysis unit 22 executes the data analysis process at a preset timing, for example, at the end of the day's work, every hour, etc. Note that FIG. 5 shows the data analysis process from the position where the sensor 5 points to the origin O to the position where the rotation angle of the swivel base 9 coincides with the azimuth angle P.
An example will be shown in which data on the number of pulses A _op of the pulse voltage applied to the stepping motor 10 while the swivel base 9 is rotating is analyzed.

When the data analysis unit 22 starts the data analysis process, it first resets the count number N _A of data within the allowable range and the count number N _NA of data outside the allowable range to 0 (step S11). Next, it reads out one of the data of the pulse number A _op stored in the storage device 17 (step S12). Then, it calculates the difference d between the pulse number A _op and the reference value A _sop set in advance (step S13). The method of setting the reference value A _sop is not particularly limited. When designing the scanning device 6, a theoretical value or a design value of the pulse number A _op may be calculated, and the theoretical value or the design value may be set as the reference value A _sop . Alternatively, when the platform door device 1 is newly installed, the data collection unit 21 may be operated to calculate a plurality of actual values of the pulse number A _op , and the arithmetic mean, median, or mode of these values may be set as the reference value A _sop .

If the difference d is within a preset allowable range (step S14: Yes), the count number _NA of data within the allowable range is incremented by 1 (step S15), and the process then proceeds to step S17.

If the difference d exceeds the preset allowable range (step S14: No), the count number _NNA of data outside the allowable range is incremented by 1 (step S16), and the process proceeds to step S17.

In step S17, if unprocessed data on the pulse number A _op remains in the storage device 17, the process returns to step S12 (step S17, Yes). If unprocessed data does not remain in the storage device 17, the process ends (step S17, No).

The data analysis unit 22 performs similar processing on the pulse numbers A _po , A _oq , and A _qo and the rotation angles θ _op , θ _po , θ _oq , and θ _qo stored in the storage device 17 .
When the data analysis section 22 has completed the analysis process for all the data, it activates the alarm output section 23 and then stops it.

6 is a flow chart of the alarm output process executed by the alarm output unit 23. When the alarm output process is started, the alarm output unit 23 compares the count number N NA of the data in which the difference d calculated for each of the pulse numbers A _op , A _po , A _oq , A _qo and the rotation angles θ _op , θ _po , θ _oq , _{θ qo} exceeds the allowable range with a preset threshold value (step S21). If there is even one pulse number or rotation angle having a count number N _NA that is equal to or greater than the threshold value (step S21: Yes), it is predicted that the stepping motor 10 will fail, and outputs an alarm to that effect, i.e., indicating the detection of a sign of failure, to the upper device 19 (step S22). Then, the process ends.

On the other hand, if the count number _NNA of data for which the difference d exceeds the allowable range for any of the pulse _numbers Aop, _Apo , _Aoq , _Aqo and the rotation angles _θop , _θpo , _θoq , _θqo does not exceed the threshold value (step S21: No), the processing ends without outputting an alarm.

Next, the operation of the symptom detection unit 30 to detect a symptom of a failure of the DC motor 11 will be described. FIG. 7 is a flowchart of the data collection process executed by the data collection unit 31 of the symptom detection unit 30. The data collection process is started when the sensor 5 is started, and ends when the operation of the sensor 5 ends.

As shown in FIG. 7, when the data collection unit 31 starts the data collection process, it monitors the driver 11a of the DC motor 11 and waits for the rotation direction of the DC motor 11 to be switched between forward and reverse (step S31: No). When the rotation direction of the DC motor 11 is switched (step S31: Yes), the data collection unit 31 reads the time T from the internal timer and records it in the storage device 17 (step S32).

Next, the data collection unit 31 calculates the difference dT between the time T and the time _T0 recorded when the rotation direction of the DC motor 11 was switched between forward and reverse (step S33). The timing when the rotation direction of the DC motor 11 is switched between forward and reverse is when the sensor 5 reaches one end of the scanning range around the E axis, so dT corresponds to the time required for one scan. The data collection unit 31 calculates the average motion speed or average rotation speed _Vmean of the scanning operation based on this scanning time dT and records it in the storage device 17 (step S34). When step S34 is completed, the process returns to step S31 and continues the same process. By repeatedly executing the data collection process, data on the average motion speed _Vmean is accumulated in the storage device 17.

The data analysis unit 32 analyzes the data of the average operating speed _Vmean stored in the storage device 17 by the data collection unit 31, and detects the presence or absence of a sign of a failure of the stepping motor 10. The data analysis unit 32 is started at approximately the same timing as the start-up of the data analysis unit 22.

When the data analysis process shown in FIG. 8 is started, the data analysis unit 32 first resets the count number _{N_NA} of data within the allowable range and the count number _{NN_NA} of data outside the allowable range to 0 (step S41).

Next, the data analysis unit 32 reads out one of the data on the average movement speed _Vmean stored in the storage device 17 (step S42), and obtains the difference dV between the average movement speed _Vmean and a preset reference speed _Vs (step S43).

If the difference dV is within a preset allowable range (step S44: Yes), the data analysis unit 32 adds 1 to the count number NN _A of data within the allowable range (step S45), and then proceeds to step S47.

If the difference dV exceeds the preset allowable range (step S44: No), the data analysis unit 32 adds 1 to the count number _{NN_NA} of data outside the allowable range (step S46), and then proceeds to step S47.

If unprocessed data of the average motion speed V _mean remains in the storage device 17 in step S47, the data analysis unit 32 returns the process to step S42 (step S47: Yes). On the other hand, if unprocessed data of the average motion speed V _mean does not remain in the storage device 17, the data analysis unit 32 moves the process to step S48. In this manner, the processes from step S42 to step S47 are continued until the processing of all data of the average motion speed V _mean stored in the storage device 17 is completed.

In step S48, the data analysis unit 32 activates the alarm output unit 33 (step S48) and ends the process.

Figure 9 is a flowchart of the alarm output process executed by the alarm output unit 33.

As shown in FIG. 9, when the warning output process is started, the warning output unit 33 compares the count number NN _NA of data in which the difference dV is outside the allowable range, which is recorded in the storage device 17, with a preset threshold value (step S51).

If the count number NN _NA is equal to or greater than the threshold value (step S51: Yes), the alarm output unit 33 predicts that a failure of the DC motor 11 will occur, and outputs an alarm indicating this to the higher-level device 19 (step S52). Then, the process ends. On the other hand, if the count number NN _NA is less than the threshold value (step S51: No), the alarm output unit 33 ends the process without issuing an alarm.

As described above, the control system 15 collects data on control variables such as the number of pulses applied to the stepping motor 10 of the platform door device 1, the rotation angle, and the operating speed of the DC motor 11, compares the collected data with preset reference values, and tallys up the number of pieces of data whose difference between the two falls outside a preset tolerance range. It can then detect when data that falls outside the tolerance range appears at or above a preset level, and issue an external alarm to that effect. As a result, signs of failure in the stepping motor 10 and DC motor 11 can be detected, making preventive maintenance easier.

The technical scope of this disclosure is not limited by the above-mentioned embodiments. This disclosure can be freely applied, modified, or improved within the scope of the technical ideas set forth in the claims.

In the above embodiment, the control variables that change while the swivel base 9 of the scanning device 6 rotates between the three reference scanning directions, i.e., the direction in which the sensor 5 points to the origin O, the direction in which the rotation angle of the swivel base 9 coincides with the azimuth angle P, and the direction in which the rotation angle of the swivel base 9 coincides with the azimuth angle Q, are used as the control variables that form the basis of the sign detection. Then, the amount of change in the control variables while the swivel base 9 rotates between the three reference scanning directions is compared with a reference value. That is, the numbers of applied pulses A _op , A _po , A _oq , and A _qo applied to the stepping motor 10 while the swivel base 9 of the scanning device 6 rotates between the three reference scanning directions, and the rotation angles θ _op , θ _po , θ _oq , and θ _qo of the stepping motor 10 during that time are compared with the reference values.

However, the selection of the control variable that is the basis of the sign detection is arbitrary. The selection of the reference scan direction is also arbitrary. For example, the direction in which the rotation angle of the swivel table 9 coincides with the azimuth angle P and the direction in which the rotation angle of the swivel table 9 coincides with the azimuth angle Q may be set as the reference scan direction, and the applied pulse numbers A _qp , A _pq applied to the stepping motor 10 while the swivel table 9 of the scanning device 6 rotates between the two reference scan directions, and the rotation angles θ _qp , θ _pq of the stepping motor 10 during that time may be compared with the reference value. In addition, the average operating speed V _mean of the DC motor 11 is shown as an example of the control variable that is the basis of the sign detection, but the time dT required for one scan may also be used as the basis of the sign detection.

In addition, for example, the operating speed, operating time, magnitude of pulse current, power consumption, temperature, and magnitude of vibration of the stepping motor 10 may be used as the basis for detecting signs. Also, the magnitude of direct current, power consumption, temperature, and magnitude of vibration of the DC motor 11 may be used as the basis for detecting signs.

In addition, for example, in the above embodiment, the condition for outputting an alarm was exemplified as the presence of data outside the acceptable range equal to or greater than a predetermined reference value, but the condition for outputting an alarm, i.e., the criterion for determining whether an alarm is necessary, is not limited to this. For example, the ratio of the number of data outside the acceptable range to the number of data within the acceptable range may be calculated, and an alarm may be output if this ratio is equal to or greater than a predetermined reference value. Alternatively, the ratio of the number of data outside the acceptable range to the total number of data collected by data collection unit 21 or data collection unit 31 may be calculated, and an alarm may be output if this ratio is equal to or greater than a predetermined reference value.

In the above embodiment, a stepping motor and a DC motor are given as examples of electric motors for scanning the sensor 5, but other types of motors, such as AC motors, can also be used.

The configuration of the scanning device 6 that causes the sensor 5 to scan is not limited to the configuration shown in FIG. 2. For example, in the above embodiment, an example was shown in which the orientation direction of the sensor 5 is scanned in two directions, the horizontal direction and the vertical direction, using two motors, but it may be configured to scan in two directions using one motor, or to scan in only one direction, the horizontal direction or the vertical direction. In addition, the configuration for limiting the scanning range is not limited to the embodiment. The scanning device according to the present disclosure may be provided with at least one scan axis and one motor.

The process performed by the higher-level device 19 upon receiving the alarm is not limited. The higher-level device 19 may turn on a warning light on the control panel, or may output a report encouraging maintenance personnel to perform repairs and inspections. The output destination of the alarm is not limited to the higher-level device 19. The platform door device 1 or the scanning device 6 may be provided with a warning light, and the warning light may be turned on when an alarm is output.

The processing steps shown in each operation flow are not limited to the embodiment as long as similar results can be obtained.

In the above, an example was shown in which the data collection units 21, 31 accumulate multiple sets of data in the storage device 17, and the accumulated data is analyzed by the data analysis units 22, 32 in batch processing. However, each time the data collection units 21, 31 acquire a set or piece of data, the data analysis units 22, 32 may analyze that data.

The timing and frequency of operation of the data analysis units 22, 32 and the alarm output units 23, 33 are not limited by the description of the above embodiment. The timing and frequency of operation of these units can be set arbitrarily as needed.

As a specific example of the sensor 5, a sensor that uses laser light to generate a distance image has been given, but the type or operating principle of the sensor is not limited as long as it is a sensor that can be mounted on the scanning device 6.

Although the above describes an example of a stepping motor 10 equipped with an angle detector 11b, the motor equipped in the scanning device according to the present disclosure may not be equipped with an angle detector.

The specific or mechanical form or configuration of the platform door device and scanning device disclosed herein is not limited to the descriptions in the drawings.

1 Platform door device, 2 Platform floor, 3 Door pocket, 4 Door body, 5 Sensor, 6 Scanning device, 7 Origin detector, 7a Flat plate, 8 Fixed part, 9 Swivel base, 10 Stepping motor, 10a Driver, 10b Rotation angle detector, 11 DC motor, 11a Driver, 12p, 12q Limit switch, 13 Dog, 15 Control system, 16 Central processing unit, 17 Storage device, 18 Input/output interface (I/F), 19 Upper device, 20 Premonition detection unit, 21 Data collection unit, 22 Data analysis unit, 23 Alarm output unit, 30 Premonition detection unit, 31 Data collection unit, 32 Data analysis unit, 33 Alarm output unit.

Claims (9)

A sign detection device that detects signs of failure of a motor that drives a scanning device that is installed in a platform door device and mechanically scans a sensor that detects the presence or absence of an obstacle in the vicinity of the platform door device,
a data collection unit that collects a fluctuation amount of a control variable of the electric motor that fluctuates while the sensor performs a scanning operation ;
a data analysis unit that determines the number of data items that fall outside a preset allowable range among the data items collected by the data collection unit;
an alarm output unit that notifies a user when the number of data items outside the allowable range determined by the data analysis unit satisfies a preset condition; and
P point detection means for detecting that the sensor is at one end point of a scanning operation and points at an azimuth angle P;
a Q point detection means for detecting that the sensor is at the other end point of the scanning operation and pointing at an azimuth angle Q;
an origin detection means for detecting that the sensor is pointing to an origin O of the scanning operation set between the one end point and the other end point of the scanning operation;
With
The data collection unit collects a fluctuation amount of the control variable that fluctuates while the sensor moves from any one of the end points of the scan operation to a position pointing to an origin O of the scan operation, and a fluctuation amount of the control variable that fluctuates while the sensor moves from the position pointing to the origin O of the scan operation to any one of the end points of the scan operation.
Early warning detection device. the predetermined condition being that the number of data items outside the allowable range obtained by the data analysis unit is equal to or greater than a reference value;
The symptom detection device according to claim 1 . the predetermined condition being that a ratio of the number of data items outside the allowable range to the number of data items within the allowable range, the ratio being equal to or greater than a reference value;
The symptom detection device according to claim 1 . the predetermined condition being that a ratio of the number of data items outside the allowable range obtained by the data analysis unit to a total number of data items collected by the data collection unit is equal to or greater than a reference value;
The symptom detection device according to claim 1 . The electric motor is a stepping motor,
The amount of change in the control variable is the number of pulses applied to the stepping motor while the sensor performs a scanning operation .
The symptom detection device according to any one of claims 1 to 4. a rotation angle detector for detecting a rotation angle of the electric motor,
The amount of change in the control variable is a rotation angle of the motor that changes while the sensor performs a scanning operation .
The symptom detection device according to any one of claims 1 to 5. The sensor is a laser sensor that projects a laser beam toward an object and receives the laser beam reflected by a surface of the object,
a flat plate for receiving the laser light, the flat plate having a slit formed at a position corresponding to the origin O;
The origin detection means is the laser sensor itself, and detects that the laser light emitted from the laser sensor has passed through the slit, and detects that the laser sensor is directed to the origin O of the scanning operation.
The symptom detection device according to claim 1 . The P point detection means and the Q point detection means are a dog fixed to a swivel base of the scanning device and limit switches fixed to positions corresponding to the azimuth angle P and the azimuth angle Q of a fixed part of the scanning device, respectively, and detect that the dog abuts against either of the limit switches to detect that the sensor is at either of the end points of the scanning operation.
The symptom detection device according to claim 1 . A sensor that detects the presence or absence of an obstacle near the platform door device;
a scanning device driven by an electric motor to mechanically scan the sensor;
The symptom detection device according to any one of claims 1 to 8,
Platform door device.