JP7740925B2 - State estimation device, platform door system, and state estimation method - Google Patents

Description

The present invention relates to a platform door device state estimation device, a platform door system, and a state estimation method.

Patent Document 1 discloses a technology for monitoring the status of door devices used to open and close train doors. Specifically, the technology described in Patent Document 1 records the current profile of the motor used to open and close the doors, and if the current value falls outside the allowable range, it issues a warning that the door device is in a potential fault state.

U.S. Patent Publication No. 2017/0310261

Changes in the environment around or inside the platform door device cause changes in the load on the door drive mechanism, which in turn causes changes in, for example, the current value of the motor in the drive mechanism. However, with conventional technology such as that described in Patent Document 1, if the current value fell outside the allowable range, it could be mistakenly determined that this was due to an abnormality in the drive mechanism, even if the cause was actually a change in the environment. Therefore, there was room for improvement in the accuracy of estimating the state of the drive mechanism.

In consideration of the above issues, the object of the present invention is to provide technology that can accurately estimate the state of the driving mechanism of a platform door device.

In order to solve the above problem, one aspect of the present invention provides a state estimation device for a platform door system that includes a drive mechanism that drives an opening/closing member that opens and closes platform entrances and exits, and includes: a drive data acquisition unit that acquires drive data for the drive mechanism at a predetermined time when the opening/closing member is driven by the drive mechanism; an environmental data acquisition unit that acquires environmental data indicating at least one of the temperature and humidity around or inside the platform door system and the amount of solar radiation around the platform door system at the predetermined time; and a state estimation unit that estimates the state of the drive mechanism based on the drive data and environmental data acquired at the predetermined time.

A platform door system according to another aspect of the present invention comprises a platform door device including a drive mechanism that drives an opening/closing member that opens and closes platform entrances and exits, and an external device capable of communicating with the platform door device. The platform door device comprises: a drive data acquisition unit that acquires drive data of the drive mechanism at a predetermined time when the opening/closing member is driven by the drive mechanism; an environmental data acquisition unit that acquires environmental data indicating at least one of the temperature, humidity, and amount of solar radiation around or inside the platform door device at the predetermined time; and a transmission unit that transmits the acquired drive data and environmental data to the external device. The external device comprises: a receiving unit that receives the drive data and environmental data from the platform door device; and a state estimation unit that estimates the state of the drive mechanism based on the received drive data and environmental data.

A state estimation method according to yet another aspect of the present invention is a state estimation method for a platform door device including a drive mechanism that drives an opening/closing member that opens and closes a platform entrance/exit, and includes the steps of: acquiring drive data for the drive mechanism at a predetermined time when the opening/closing member is driven by the drive mechanism; acquiring environmental data indicating at least one of the temperature and humidity around or inside the platform door device and the amount of solar radiation around the platform door device at the predetermined time; and estimating the state of the drive mechanism based on the drive data and environmental data acquired at the predetermined time.

In addition, any combination of the above, or mutual substitution of the components or expressions of the present invention between methods, devices, programs, temporary or non-temporary storage media on which programs are recorded, systems, etc., are also valid aspects of the present invention.

This invention makes it possible to accurately estimate the state of the platform door device's drive mechanism.

Figure 1(a) is a front view of the platform door device when the sliding door is in the fully closed position, and Figure 1(b) is a front view of the platform door device when the sliding door is in the fully open position. FIG. 3 is a cross-sectional view taken along line AA in FIG. 2. This is a functional block diagram of a platform door control device. 10 is a flowchart illustrating processing by a platform door control device. 10 is a flowchart illustrating processing by a platform door control device. 10 is a flowchart illustrating processing by a platform door control device. 10 is a flowchart illustrating processing by a platform door control device. This is a functional block diagram of a platform door control device. 10 is a flowchart illustrating processing by a platform door control device. 10A and 10B are diagrams for explaining a method for estimating failure timing of a drive mechanism. FIG. 1 is a block diagram showing a platform door system equipped with a platform door device. This is a functional block diagram of the platform door control device and the general control panel. This is a sequence diagram illustrating processing by a platform door control device and a general control panel. This is a functional block diagram of the platform door control device and the general control panel. This is a sequence diagram illustrating processing by a platform door control device and a general control panel.

In the following embodiments and variants, identical or equivalent components and parts are given the same reference numerals, and redundant explanations are omitted where appropriate. Furthermore, the dimensions of the parts in each drawing are enlarged or reduced as appropriate to facilitate understanding. Furthermore, some parts that are not important for explaining the embodiments are omitted from each drawing.

[First embodiment]
The platform door device 100 will be described with reference to Figures 1 to 3. The platform door device 100 includes a door pocket 10, a door body 11 that is movable from the door pocket 10 in the opening and closing direction Dx, a door-edge support section 12 into which the door edge of the door body 11 can be inserted and that supports the door body 11 via the inserted door edge, a drive mechanism 13 that drives the door body 11 to open and close, and a platform door control device 30. The platform door device 100 is installed on a platform. The platform door device 100 of this embodiment is a waist-high type platform door device.

The platform door device 100 opens and closes the boarding/alighting opening E, which is the space between the door pocket 10 and the door-tip-side support portion 12, by moving the door body 11. The platform door device 100 closes the boarding/alighting opening E by moving the door tip of the door body 11 away from the door pocket 10 and inserting the door tip of the door body 11 into the door-tip-side support portion 12 (see Figure 1(a)). The platform door device 100 opens the boarding/alighting opening E by moving the door tip of the door body 11 toward the door pocket 10 (see Figure 1(b)).

The door pocket 10 is configured with its longitudinal direction aligned with the opening/closing direction Dx when viewed from the front. The door pocket in this embodiment is an example of a housing. The door pocket 10 houses a panel-shaped door element 11 that can move back and forth. The door element 11 in this embodiment is a sliding door. The door pocket 10 is placed on the platform. The door pocket 10 is provided with a drive mechanism 13, a platform door control device 30, and various sensors. The drive mechanism 13 includes a motor 13m that opens and closes the door element 11 in accordance with the control of the platform door control device 30, a pair of rotors 13p connected to the motor 13m on both sides of the opening/closing direction Dx, a connecting portion 13c that transmits the driving force of the motor 13m to the door element 11, a timing belt 13t that is wrapped around the pair of rotors 13p, and linear guides 20U and 20L that guide the door element 11 in the opening/closing direction Dx. The connecting portion 13c is provided on the trailing edge of the door element 11.

Refer to Figure 2. The door pocket 10 includes a pair of support posts 17 spaced apart in the opening/closing direction Dx, and a connecting post 18 that connects the pair of support posts 17 in the opening/closing direction Dx. A drive mechanism 13 and a platform door control device 30 are attached to the connecting post 18.

When viewed from the front, the door body 11 is configured with its longitudinal direction in the opening/closing direction Dx. The door body 11 opens and closes the platform entrance E. The door body 11 includes a transparent panel portion 14 that forms part of the surface of the door body 11, a pair of upper and lower frames 15U and 15L that extend in the opening/closing direction Dx and support both ends of the transparent panel portion 14 in the up-down direction Dy, and vertical frames 16 that hold both ends of the transparent panel portion 14 in the opening/closing direction Dx. The transparent panel portion 14 is configured, for example, to be made of a glass plate, a translucent resin plate, or a glass plate sandwiched between translucent resin plates. The transparent panel portion 14 is positioned closer to the platform side in the thickness direction of the upper and lower frames 15U and 15L. The platform-side front surface of the transparent panel portion 14 is configured to be roughly flush with the platform-side front surfaces of the upper and lower frames 15U and 15L. The door body 11 in this embodiment is an example of an opening and closing member.

The linear guides 20U and 20L support and guide the pair of upper and lower frames 15U and 15L, respectively, in the opening/closing direction Dx when the door body 11 moves in the opening/closing direction Dx. The linear guides 20U and 20L are attached to the pair of upper and lower frames 15U and 15L, respectively. The linear guides 20U and 20L are positioned on the back side of the transparent panel portion 14.

The linear guides 20U and 20L each include a linear rail 21U or 21L that extends in the opening/closing direction Dx, and a guide block 22U or 22L that is slidable relative to the linear rails 21U or 21L in the opening/closing direction Dx. The linear rails 21U or 21L are fixed downward to the upper and lower frames 15U and 15L of the door body 11, respectively, and extend parallel to the upper and lower frames 15U and 15L. The linear rails 21U or 21L have a length that spans almost the entire door body 11 in the opening/closing direction Dx.

Guide blocks 22U and 22L are attached to linear rails 21U and 21L, respectively. Guide blocks 22U and 22L are supported by linear rails 21U and 21L in two directions perpendicular to the opening and closing direction Dx. Therefore, the relative movement of guide blocks 22U and 22L with respect to linear rails 21U and 21L is restricted in two directions perpendicular to the opening and closing direction Dx. In this embodiment, guide blocks 22U and 22L are provided within door pocket 10. Hereinafter, linear rails 21U and 21L may be referred to as linear rails 21. Furthermore, guide blocks 22U and 22L may be referred to as guide blocks 22.

The number of guide blocks 22U and 22L in each of the linear guides 20U and 20L can be set as desired. For example, the number of guide blocks 22U and 22L in each of the linear guides 20U and 20L may differ from each other. Furthermore, one of the linear guides 20U and 20L may be omitted.

The guide block 22 includes a lubricant supply unit (not shown) filled with lubricant to supply lubricant between the linear rail 21 and the guide block 22. The lubricant in this embodiment is semi-solid, such as grease, but is not limited to this and may be liquid, such as oil, or solid, such as wax. In the linear guide 20, when the guide block 22 moves on the linear rail 21, the lubricant in the lubricant supply unit is automatically supplied between the linear rail 21 and the guide block 22. This allows the lubricant to spread between the linear rail 21 and the guide block 22, allowing the guide block 22 to move smoothly on the linear rail 21.

Please refer to Figure 4. Each functional block shown in Figure 4 and other figures can be realized in hardware terms using electronic elements and mechanical parts, such as a computer CPU, and in software terms using computer programs, etc. However, here we will depict functional blocks realized by the cooperation of these elements. Therefore, those skilled in the art will understand that these functional blocks can be realized in various ways using a combination of hardware and software.

The platform door device 100 of this embodiment includes a fully closed position sensor 41, a temperature sensor 42, and a current sensor 43. The fully closed position sensor 41 is a sensor that detects whether the door body 11 is in the fully closed position, and transmits a fully closed position signal indicating that the door body 11 is in the fully closed position. For example, a magnetic detection type proximity sensor or a photoelectric sensor is used as the fully closed position sensor 41. The temperature sensor 42 is attached to the surface of the linear rail 21 and measures the surface temperature of the linear rail 21. In this embodiment, the temperature sensor 42 is a thermocouple. The current sensor 43 measures the drive current when driving the motor 13m.

The platform door control device 30 includes an acquisition unit 110, a door control unit 120, a state estimation unit 130, a transmission unit 140, and a memory unit 150. The acquisition unit 110 includes an opening/closing command acquisition unit 111, a drive data acquisition unit 112, an environmental data acquisition unit 113, and a position signal acquisition unit 114.

The opening/closing command acquisition unit 111 acquires an opening command or closing command for the door body 11 from, for example, an operator's work terminal. The drive data acquisition unit 112 acquires drive data for the drive mechanism 13. In this embodiment, the drive data is the drive current value of the motor 13m. The environmental data acquisition unit 113 acquires environmental data around or inside the platform door device 100. In this embodiment, the environmental data is the temperature of the linear rail 21. In this embodiment, the inside of the waist-high platform door device 100 refers to the inside of the door pocket 10. The position signal acquisition unit 114 acquires a fully closed position signal from the fully closed position sensor 41. The door control unit 120 controls the motor 13m of the drive mechanism 13 in response to an opening command or a closing command for the door body 11 to move the door body 11 in the opening or closing direction. The state estimation unit 130 estimates the state of the drive mechanism 13 based on the drive data and environmental data acquired at a predetermined time. The transmission unit 140 transmits the estimated state of the drive mechanism 13. The storage unit 150 stores, for example, a history of past driving data and environmental data, the reference driving data and reference environmental data described below, various thresholds, etc.

It is anticipated that the state of the drive mechanism 13 will be estimated based on the drive data of the drive mechanism 13. For example, if the drive current value of the motor 13m is abnormal, this may be due to an increase in sliding resistance caused by deterioration of the lubricant in the linear guide 20 or deterioration of the motor 13m itself.

Here, for example, the temperature around or inside the platform door device 100 changes depending on factors such as the air temperature and the amount of heat generated by the platform door control device 30. Meanwhile, the load on the drive mechanism 13 changes due to changes in the environment around or inside the platform door device 100. When the load on the drive mechanism 13 changes, the drive data for the drive mechanism 13 also changes. For example, when the temperature around or inside the platform door device 100 is high, the lubricant in the linear rail 21 or guide block 22 or the door edge rubber (not shown) attached to the door edge of the door body 11 may soften, or the timing belt 13t may expand and reduce its tension. These changes occur some time after the temperature change. As a result, the load on the drive mechanism 13, such as the sliding resistance of the door body 11 and the load required to crush the door edge rubber during closing, becomes relatively small, and the drive current of the motor 13m decreases. On the other hand, when the temperature around or inside the platform door device 100 is low, the load on the drive mechanism 13 is relatively large, as opposed to when the temperature is high, and the drive current of the motor 13m becomes large. Therefore, when the state of the drive mechanism 13 is estimated based solely on the drive data of the drive mechanism 13, even if the drive data changes due to a change in the environment around or inside the platform door device 100, the change in the drive data may be attributed to an abnormality in the drive mechanism 13, leading to an erroneous judgment of the state of the drive mechanism 13.

Based on the above, we will now explain the operation of the platform door device 100 of this embodiment.

Processing S100 by the platform door control device 30 of this embodiment will be explained with reference to the flowchart in Figure 5. The following is an example of the timing process for obtaining a close command when the door body 11 is fully open. Processing S100 is repeatedly executed at regular intervals (e.g., every 10 milliseconds).

In step S101, the opening/closing command acquisition unit 111 determines whether a close command for the door body 11 has been acquired. In this embodiment, the opening/closing command acquisition unit 111 receives a close command from an external device, such as an operator's work terminal (not shown) or the integrated control panel 50 (see FIG. 12, etc.) described below. If a close command has not been acquired (N in step S101), processing S100 ends. If a close command has been acquired (Y in step S101), the opening/closing command acquisition unit 111 supplies a close command to the door control unit 120, and processing S100 proceeds to S102.

In step S102, the door control unit 120 drives the door body 11 to close. In response to the close command, the door control unit 120 drives the motor 13m to execute the closing drive of the door body 11. After the closing drive is completed, the door control unit 120 supplies a data acquisition command to the drive data acquisition unit 112 and the environmental data acquisition unit 113, and processing S100 proceeds to S103.

In step S103, the drive data acquisition unit 112 and the environmental data acquisition unit 113 acquire drive data and environmental data at the current time when the door body 11 is driven by the drive mechanism 13. The current time is an example of a predetermined time and a second time. The drive data acquisition unit 112 acquires, as drive data at the current time, the average drive current value (hereinafter sometimes simply referred to as the drive current value) of the motor 13m when the door body 11 is driven to close. The environmental data acquisition unit 113 acquires, as environmental data at the current time, the temperature of the linear rail 21 when a fully closed position signal is acquired from the fully closed position sensor 41 via the position signal acquisition unit 114. The acquired drive data and environmental data at the same time are stored in association with each other in the memory unit 150. The drive data acquisition unit 112 and the environmental data acquisition unit 113 supply the acquired drive data and environmental data to the state estimation unit 130, and processing S100 proceeds to step S104.

In step S104, the driving data acquisition unit 112 and the environmental data acquisition unit 113 acquire driving data and environmental data from a past point in time as reference driving data and reference environmental data. The reference driving data indicates a reference for the driving data, and the reference environmental data indicates a reference for the environmental data. The past point in time is an example of a first point in time. The first point in time is, for example, a point in time that is the same as the second point in time on a different date (e.g., one month ago) before the second point in time. The driving data acquisition unit 112 and the environmental data acquisition unit 113 read out from the memory unit 150 the driving data and environmental data stored in association with each other at a past point in time, and acquire them as reference driving data and reference environmental data. The driving data acquisition unit 112 and the environmental data acquisition unit 113 supply the acquired reference driving data and reference environmental data to the state estimation unit 130, and processing S100 proceeds to step S105.

In step S105, the state estimation unit 130 corrects the reference drive data based on the comparison result between the current environmental data and the reference environmental data. Specifically, the state estimation unit 130 corrects the drive current value of the motor 13 at a past point in time based on the absolute value of the difference between the temperature of the linear rail 21 at a past point in time and the temperature of the linear rail 21 at a current point in time.

Here, if the temperature difference of the linear rail 21 is a positive value, the temperature of the linear rail 21 at the second time point is higher than the temperature of the linear rail 21 at the first time point. Therefore, the load on the drive mechanism 13 is smaller at the second time point than at the first time point, and the drive current value is likely to be smaller. Therefore, an increase in the temperature of the linear rail 21 makes it more likely that the drive data is not equal to or greater than the reference drive data in step S106, described below, regardless of the state of the drive mechanism 13, and it is more likely that the drive mechanism 13 is in an abnormal state. To suppress the effects of this temperature increase, the state estimation unit 130 corrects the reference drive data to be smaller when the temperature difference of the linear rail 21 is a positive value. By reducing the reference drive data, it becomes possible to more appropriately determine whether the drive mechanism 13 is in a normal state, even if the drive current value is reduced due to an increase in the temperature of the linear rail 21. On the other hand, if the temperature difference of the linear rail 21 is a negative value, the drive current value is likely to be larger. In this case, the state estimation unit 130 corrects the reference drive data to be larger. By increasing the reference drive data, it becomes possible to more appropriately determine whether the drive mechanism 13 is in a normal state, even if the drive current value increases due to a decrease in the temperature of the linear rail 21. After step S105, processing S100 proceeds to step S106.

In step S106, the state estimation unit 130 determines whether the drive data at the current time point is equal to or greater than the corrected reference drive data. Specifically, the state estimation unit 130 determines whether the drive current value of the motor 13 at the current time point is equal to or greater than the corrected drive current value of the motor 13 at a previous time point. If the drive data is equal to or greater than the corrected reference drive data (Y in step S106), the state estimation unit 130 supplies the transmission unit 140 with an estimation result indicating that the current state of the drive mechanism 13 is abnormal, and processing S100 proceeds to step S107. If the drive data is not equal to or greater than the corrected reference drive data (N in step S106), the state estimation unit 130 supplies the transmission unit 140 with an estimation result indicating that the current state of the drive mechanism 13 is normal, and processing S100 proceeds to step S108.

In step S107, the transmission unit 140 transmits an estimation result indicating that the state of the drive mechanism 13 is abnormal. In this embodiment, the transmission unit 140 transmits the estimation result indicating that the state is abnormal to the work terminal and displays it. This allows the worker carrying the work terminal to understand in real time that the current state of the drive mechanism 13 is abnormal. After step S107, processing S100 ends.

In step S108, the transmission unit 140 transmits an estimation result indicating that the state of the drive mechanism 13 is normal. In this embodiment, the transmission unit 140 transmits the estimation result indicating that the state is normal to the work terminal and displays it. This allows the worker carrying the work terminal to understand in real time that the state of the drive mechanism 13 at the current time is normal. After step S108, processing S100 ends.

The following explains the functions and effects of the present invention.

In this embodiment, the state estimation unit 130 estimates the state of the drive mechanism 13 of the platform door device 100 installed on the platform based on drive data and environmental data acquired at a predetermined time. With this configuration, the state of the drive mechanism 13 can be estimated taking environmental data into consideration, making it possible to more accurately estimate the state of the drive mechanism 13 even if the drive data changes due to changes in the environment.

In this embodiment, the state estimation unit 130 estimates the current state of the drive mechanism 13 based on the results of comparing drive data and environmental data acquired at a past point in time with drive data and environmental data acquired at the current point in time. This configuration makes it possible to more accurately estimate the state of the drive mechanism 13 by taking into account the results of comparing drive data and environmental data acquired at different points in time.

In this embodiment, the first point in time is, for example, a point in time that is earlier than the second point in time but on a different date. With this configuration, since the first and second points in time are in the same time zone, it is expected that the environmental data at the first and second points in time will essentially have similar values. Therefore, changes in the environmental data can be kept small, making it possible to more accurately estimate the state of the drive mechanism 13.

In this embodiment, the state estimation unit 130 corrects the reference drive data based on the results of comparing the acquired environmental data at the current time with the reference environmental data, and estimates the state of the drive mechanism 13 based on the results of comparing the acquired drive data at the current time with the corrected reference drive data. With this configuration, by correcting the reference drive data based on the results of the comparison of environmental data, it is possible to reduce the impact on the estimation results of the state of the drive mechanism 13 caused by changes in the environmental data. As a result, it is possible to estimate the state of the drive mechanism 13 with greater accuracy.

In this embodiment, the environmental data indicates the temperature of the linear rail 21. Here, because the lubricant used in the linear guide 20 is supplied between the linear rail 21 and the guide block 22, the temperature of the linear rail 21 significantly affects the temperature of the lubricant. With this configuration, the temperature of the lubricant, which affects the load on the drive mechanism 13, can be appropriately taken into account based on the temperature of the linear rail 21, making it possible to more accurately estimate the state of the drive mechanism 13.

In this embodiment, the environmental data acquisition unit 113 acquires environmental data in response to acquisition of a fully closed position signal. If environmental data were acquired at the fully open position, for example, when the door body 11, which has become hot due to sunlight as a result of the opening drive, is placed in the door pocket 10, the temperature inside the door pocket 10 may temporarily change, which could result in an erroneous determination of the state of the drive mechanism 13. By acquiring environmental data at the fully closed position, the effects of this temporary temperature change can be suppressed.

[Modification]
In the embodiment, the opening and closing member is a door body 11 such as a sliding door, but this is not limited to this and may be, for example, a rope or bar for opening and closing the boarding and alighting entrance E, or a lift-up type.

In the embodiment, the environmental data indicates the temperature of the linear rail 21, but this is not limited to this and may be the temperature of at least one of the linear rail 21 and the guide block 22. If the temperature of the guide block 22 is used as the environmental data, a temperature sensor 42 can be attached to the guide block to measure the temperature of the guide block.

The environmental data may also indicate at least one of the surface temperature of a housing such as the door pocket 10 (for example, the surface temperature of the inside of the housing) and the temperature of the air inside the housing. This makes it possible to determine the temperature of the drive mechanism 13 inside the platform door device 100 from the temperature of the entire housing, thereby making it possible to accurately estimate the state of the drive mechanism 13.

In the embodiment, the environmental data indicates temperature, but is not limited to this. For example, the environmental data may indicate at least one of the temperature and humidity around or inside the platform door device 100, and the amount of solar radiation around the platform door device 100. This is because the hardness of the lubricant and door tip rubber, and the tension of the timing belt 13t also change depending on the humidity around or inside the platform door device 100. Furthermore, the amount of solar radiation around the platform door device 100 changes the temperature around or inside the platform door device 100, which in turn changes the hardness of the lubricant and door tip rubber, and the tension of the timing belt 13t. If humidity is used as environmental data, a humidity sensor may be attached around or inside the platform door device 100. If humidity is used as environmental data, a solar radiation sensor may be attached around the platform door device 100.

The temperature sensor 42, the humidity sensor, and the solar radiation sensor may be provided for each platform door device 100, or one or more may be provided for each platform where multiple platform door devices 100 are installed.

In the embodiment, the drive data is the drive current value of motor 13m, but this is not limited to this. For example, the drive data may indicate at least one of the drive current, drive voltage, and rotation speed of motor 13m. Furthermore, the drive data may indicate at least one of the movement time and movement speed between specified positions (e.g., from the fully closed position to the fully open position) when driving the door body 11 to open or close.

The drive mechanism 13 in Figure 1 is a waist-high drive mechanism that uses a linear guide 20, but is not limited to this. For example, the drive mechanism 13 may be a full-height drive mechanism that uses a door hanger, a door roller built into the door hanger, a guide rail along which the door roller runs, etc. instead of the linear guide 20.

When using the above-mentioned lift-up type opening/closing member or full-height drive mechanism, for example, a header box may be used as the housing instead of the door pocket 10. In this case, the interior of the platform door device 100 refers to the interior of the header box.

In the embodiment, the drive data acquisition unit 112 acquires the average value of the drive data, but this is not limited to this, and it may also acquire, for example, a moving average value of the drive data.

In the embodiment, the state estimation unit 130 estimates whether the drive mechanism 13 is in an abnormal state or a normal state in step S106 described above, but this is not limited to this. The state estimation unit 130 may estimate the degree of deterioration of the drive mechanism 13 based on the difference between the drive data at the current time and the corrected reference drive data. In this case, for example, if the difference in the drive data is relatively large, the state estimation unit 130 may estimate the degree of deterioration of the drive mechanism 13 to be greater than if the difference in the drive data is relatively small.

In the embodiment, the reference driving data and reference environmental data are driving data and environmental data acquired at a previous point in time, but this is not limited to this. The reference driving data and reference environmental data may be arbitrarily set reference values, or may be driving data and environmental data when the device is driven to open or close in response to user input via a work terminal, for example. In this case, the storage unit 150 simply stores these values as the reference driving data and reference environmental data.

In the embodiment, the environmental data acquisition unit 113 acquires environmental data at the fully closed position in response to acquisition of a fully closed position signal, but this is not limited to this. For example, the environmental data acquisition unit 113 may acquire environmental data at the fully open position in response to acquisition of a fully open position signal indicating that the door body 11 is in the fully open position from a fully open position sensor (not shown) that detects whether the door body 11 is in the fully open position. In this case, in step S101, instead of determining whether a close command has been acquired, it may determine whether an open command has been acquired, and in step S102, instead of driving the door body 11 to close, it may drive the door body 11 to open. Furthermore, environmental data may be acquired at a point halfway between the fully closed position and the fully open position.

Also, for example, the time point for acquiring the driving data and environmental data may be predetermined to be the same as a predetermined past time point, and the driving data acquisition unit 112 and the environmental data acquisition unit 113 may acquire the driving data and environmental data at the same time point as the predetermined past time point. In this case, the platform door control device 30 may further include a time determination unit that determines whether the current time is the same as the predetermined past time point. Process S100' in this case will be explained with reference to the flowchart of Figure 6. The flowchart of Figure 6 will mainly explain the differences from the flowchart of Figure 5. Process S100' is executed periodically without linking with the driving of the door body 11. In step S101', the time determination unit determines whether the current time is the same as the predetermined past time point. Here, the same time as the predetermined past time point may be the time when the driving data and environmental data were acquired, for example, one month ago. If it is determined that the times are the same (Y in step S101'), the time determination unit supplies a data acquisition command to the drive data acquisition unit 112 and the disturbance data acquisition unit 113, and process S100' proceeds to step S103. If it is determined that the times are not the same (N in step S101'), process S100' ends. In step S103, the drive data acquisition unit 112 and the environmental data acquisition unit 113 acquire the drive current value of the motor 13m as drive data and the temperature of the linear rail 21 as environmental data, respectively. Steps S104 to S108 similar to those in FIG. 5 are then executed. The drive data and environmental data acquired in step S103 were acquired at the same time as a predetermined past point in time, such as one month ago. This minimizes changes in the environmental data between the first and second points in time, enabling more accurate estimation of the state of the drive mechanism 13.

The platform door control device 30 may further include a track presence signal acquisition unit that acquires a track presence signal indicating that a railway vehicle is present at the platform. In this case, the platform door control device 30 may further include a time determination unit that determines whether a predetermined time has elapsed since acquiring the track presence signal, and the environmental data acquisition unit 113 may acquire the environmental data after the predetermined time has elapsed since acquiring the track presence signal. Process S100'' in this case will be described with reference to the flowchart of Figure 7. The flowchart of Figure 7 will mainly explain the differences from the flowchart of Figure 5. Process S100'' is executed periodically without being linked to the driving of the door body 11. In step S101'', the track presence signal acquisition unit determines whether a track presence signal has been acquired. For example, a QR code (registered trademark) or the like may be affixed to the door of the railway vehicle, and a code reader may be installed in the platform door device 100. As a result, when a railway vehicle is present at the platform, the code reader reads the QR code (registered trademark) or the like, and a track presence signal may be supplied from the code reader to the track presence signal acquisition unit. When the track occupancy signal acquisition unit acquires the track occupancy signal, it supplies a time determination command to the time determination unit. In step S101-2, the time determination unit determines whether a predetermined time has elapsed since the track occupancy signal was acquired. If the predetermined time has elapsed (Y in step S101-2), the time determination unit supplies a data acquisition command to the drive data acquisition unit 112 and the disturbance data acquisition unit 113, and processing S100'' proceeds to step S103. If the predetermined time has not elapsed (N in step S101-2), the process returns to step S101-2, and step S101-2 is repeated until the predetermined time has elapsed. In step S103, the drive data acquisition unit 112 and the environmental data acquisition unit 113 acquire the drive current value of the motor 13m as drive data and the temperature of the linear rail 21 as environmental data, respectively. Thereafter, steps S104 to S108 similar to those in FIG. 5 are executed. Here, when a railway vehicle is present at a platform or immediately after it departs or arrives, airflow near the platform door device 100 is often turbulent, which is thought to affect environmental data such as the temperature near the platform door device 100. On the other hand, after a predetermined time has elapsed since the railway vehicle's presence signal was acquired, the railway vehicle departs and is generally no longer present at the platform. Therefore, the environmental data acquisition unit 113 can acquire environmental data while suppressing the impact on the environmental data caused by turbulence in the airflow due to the railway vehicle. This configuration suppresses the impact on the environmental data caused by turbulence in the airflow due to the railway vehicle, thereby enabling accurate estimation of the state of the drive mechanism 13. Note that the example is not limited to one in which environmental data is acquired a predetermined time after the presence signal was acquired; for example, environmental data may be acquired a predetermined time after the presence signal is no longer acquired (after the presence signal is no longer supplied from the code reader).

In the embodiment, the second point in time is the present point in time, but this is not limited to this. Both the first point in time and the second point in time may be past points in time. In this case, the driving data acquisition unit 112 and the environmental data acquisition unit 113 may acquire driving data and environmental data for the first point in time and the second point in time, respectively, from the storage unit 150.

The state estimation unit 130 may estimate the state of the drive mechanism 13 at the second time point further based on the transition of environmental data over time between the first and second time points. For example, the state estimation unit 130 may correct the reference drive data based on whether the average temperature of the linear guide 20 between the first and second time points is higher than a predetermined average temperature reference value. For example, the state estimation unit 130 may correct the reference drive data to be smaller if the average temperature is higher than a predetermined average temperature reference value, and may correct the reference drive data to be larger if the average temperature is equal to or lower than the predetermined average temperature reference value. With this configuration, even if the hardness of the lubricant or door edge rubber (not shown) changes due to the influence of temperature and humidity some time after the temperature change, the state of the drive mechanism 13 at the second time point can be estimated taking into account the transition of environmental data over time, thereby enabling more accurate estimation of the state of the drive mechanism 13.

The state estimation unit 130 may identify, from among the environmental data stored in the memory unit 150, environmental data acquired at a previous time that deviates from the disturbance data acquired at the current time by a predetermined range, and estimate the current state of the drive mechanism 13 based on the results of comparing the drive data acquired at the current time with the drive data acquired at the previous time and stored in association with the identified environmental data. For example, the state estimation unit 130 may identify, from among the temperatures of the linear rail 21 stored in the memory unit 150, the temperature that is the same as the temperature of the linear rail 21 at the current time. For example, the state estimation unit 130 may estimate the state of the drive mechanism 13 based on whether the drive current value of the motor 13m at the current time is equal to or greater than the drive current value of the motor 13m at the previous time and stored in the memory unit 150 in association with the temperature of the linear rail 21 at the identified previous time. Here, since the temperatures of the linear rail 21 at the current time and the identified previous time are similar, if there is no abnormality in the drive mechanism 13, the drive data at the current time and the identified previous time should also be similar. This configuration makes it possible to accurately estimate the state of the drive mechanism 13 based on the results of a comparison between drive data at the current time and a specified past time.

In the embodiment, in step S106, the state estimation unit 130 determines whether the drive data at the current time point is equal to or greater than the corrected reference drive data. However, this is not limited to this. For example, the state estimation unit 130 may determine whether the difference between the drive data at the current time point and the corrected reference drive data is within a predetermined range, and determine that the drive mechanism 13 is in a normal state if the difference is within the predetermined range, and determine that the drive mechanism 13 is in an abnormal state if the difference is outside the predetermined range. In this case, the state estimation unit 130 may determine, for example, whether the difference between the drive data at the current time point and the corrected reference drive data is equal to or greater than a threshold value. Process S100'' in this case will be described with reference to the flowchart in Figure 8. The flowchart in Figure 8 will mainly describe the differences from the flowchart in Figure 5. After steps S101 to S104, in step S105', the state estimation unit 130 determines whether the difference between the drive data acquired at the current time point and the reference drive data is equal to or greater than a predetermined value. If the difference between the drive data and the reference drive data is equal to or greater than a predetermined value (Y in step S105'), process S100''' proceeds to step S106'. If the difference between the drive data and the reference drive data is not equal to or greater than the predetermined value (N in step S105'), process S100''' proceeds to step S108. In step S106', the state estimation unit 130 determines whether the difference between the reference environmental data and the environmental data acquired at the current time is equal to or less than the environmental threshold. If the difference between the disturbance data and the reference disturbance data is not equal to or less than the environmental threshold (N in step S106'), process S100''' ends. Therefore, if the difference between the environmental data and the reference environmental data is not equal to or less than the environmental threshold, the influence of the environment is large, and therefore determination of the state of the drive mechanism 13 is suspended. If the difference between the environmental data and the reference environmental data is equal to or less than the environmental threshold (Y in step S106'), process S100''' proceeds to step S107. After steps S107 and S108, process S100''' ends.

If the difference between the drive data at a past time point and the drive data at the current time point is equal to or greater than a predetermined value, the state estimation unit 130 may estimate the state of the drive mechanism 13 at the current time point further based on the results of comparing the environmental data at the past time point with the environmental data at the current time point. If the difference between the drive data at a past time point and the drive data at the current time point is equal to or greater than a predetermined value, the state estimation unit 130 may determine that the state of the drive mechanism 13 at the current time point is abnormal if the difference between the environmental data at the past time point and the environmental data at the current time point is equal to or less than a threshold value. With this configuration, if an abnormality in the drive mechanism 13 is suspected based on the comparison between the drive data at a past time point and the drive data at the current time point, it is possible to accurately estimate the state of the drive mechanism 13 based on the comparison between the environmental data at the past time point and the environmental data at the current time point.

In the embodiment, the driving data and environmental data of the platform door device 100 itself, the state of which is to be estimated for the drive mechanism 13, are used, but this is not limiting. For example, other driving data and other environmental data of another platform door device 100, different from the platform door device 100 that is installed on the same or an adjacent platform as the platform door device 100 that is to be estimated, may be used. For example, the driving data acquisition unit 112 may acquire the driving current value of the other motor 13m transmitted from the other platform door device 100 as reference driving data, and the environmental data acquisition unit 113 may acquire the temperature of the other linear rail 21 transmitted from the other platform door device 100 as reference environmental data. Furthermore, the state estimation unit 130 may estimate the state of the drive mechanism 13 of the platform door device 100 based on the results of comparing the driving current value and temperature of the linear rail 21 at the current time with the driving current value of the other motor 13m (reference driving data) and the temperature of the other linear rail 21 (reference environmental data).

In the embodiment, the transmitter 140 transmitted the estimated result of the state of the drive mechanism 13 to the work terminal, but this is not limited to this and the transmitter 140 may also transmit the estimated result of the state of the drive mechanism 13 to another external device such as the integrated control panel 50 described below. Furthermore, for example, the transmitter 140 may transmit the estimated result of the state of the drive mechanism 13 to a light installed on or around the platform door device 100, and turn on the light in a different manner depending on the estimated result.

In the embodiment, the linear rail 21 is fixed to the door body 11, but this is not limited thereto, and the linear rail 21 may also be fixed to the door pocket 10.

Second Embodiment
A second embodiment of the present invention will be described below. In the drawings and description of the second embodiment, components and members that are the same as or equivalent to those in the first embodiment will be denoted by the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

See Figure 9. The platform door control device 30 of this embodiment further includes a change estimation unit 160 and a failure timing estimation unit 170.

In this embodiment, the state estimation unit 130 estimates the degree of deterioration of the drive mechanism 13 as the state of the drive mechanism 13. The state estimation unit 130 estimates the degree of deterioration of the drive mechanism 13 at the third time point based on the results of comparing drive data and environmental data acquired at a third time point after the second time point with drive data and environmental data acquired at a time point before the third time point. The change estimation unit 160 estimates a change in the degree of deterioration of the drive mechanism 13 based on the results of comparing the degree of deterioration at the second time point with the degree of deterioration at the third time point. The failure timing estimation unit 170 estimates the timing of a failure of the drive mechanism 13 based on the change in the estimated degree of deterioration.

The processing S200 performed by the platform door control device 30 of this embodiment will be explained with reference to the flowchart in Figure 10. Steps S201 and S202 are essentially the same as steps S101 and S102 described above, and therefore will not be explained again unless otherwise noted.

In step S201, the opening/closing command acquisition unit 111 determines whether a command to close the door body 11 has been acquired. Then, in step S202, the door control unit 120 drives the door body 11 to close.

In step S203, the drive data acquisition unit 112 and the environmental data acquisition unit 113 acquire drive data and environmental data at the current time point. In this embodiment, the current time point is an example of the third time point.

In step S204, the drive data acquisition unit 112 and the environmental data acquisition unit 113 acquire drive data and environmental data at the first and second time points. In this embodiment, the second time point is a time point earlier than the current time point (third time point), and the first time point is a time point earlier than the second time point. The drive data acquisition unit 112 and the environmental data acquisition unit 113 acquire the drive data and environmental data at the first and second time points earlier than the current time point by reading them from the memory unit 150. In this embodiment, the drive data acquisition unit 112 and the environmental data acquisition unit 113 acquire the drive current value and the temperature of the linear rail 21 at the first time point as reference drive data and reference environmental data, respectively. The drive data acquisition unit 112 and the environmental data acquisition unit 113 supply the acquired drive current value and the temperature of the linear rail 21 at the first, second, and third time points, respectively, to the state estimation unit 130, and processing S200 proceeds to step S205.

In step S205, the state estimation unit 130 corrects the drive current value (reference drive data) at the first time point based on the difference between the temperature of the linear rail 21 at the first time point (reference environmental data) and the temperature of the linear rail 21 at the second and third time points. For example, the state estimation unit 130 corrects the drive current value (reference drive data) at the first time point based on the difference between the temperature of the linear rail 21 at the first time point and the temperature of the linear rail 21 at the second time point (reference environmental data). The state estimation unit 130 also corrects the drive current value (reference drive data) at the first time point based on the difference between the temperature of the linear rail 21 at the first time point and the temperature of the linear rail 21 at the third time point.

In step S206, the state estimation unit 130 estimates the degree of deterioration of the drive mechanism 13 at the second and third time points based on the differences between the corrected drive current value (reference drive data) at the first time point and the drive current values at the second and third time points. For example, the state estimation unit 130 estimates the degree of deterioration of the drive mechanism 13 at the second time point based on the difference between the drive current value at the second time point and the drive current value (reference drive data) at the first time point corrected using the temperature of the linear rail 21 at the second time point. The state estimation unit 130 also estimates the degree of deterioration of the drive mechanism 13 at the third time point based on the difference between the drive current value at the third time point and the drive current value (reference drive data) at the first time point corrected using the temperature of the linear rail 21 at the third time point. The state estimation unit 130 supplies the estimated results of the degree of deterioration of the drive mechanism 13 at the second and third time points to the change estimation unit 160, and processing S200 proceeds to step S207.

In step S207, the change estimation unit 160 estimates the change in the degree of deterioration of the drive mechanism 13 based on the degree of deterioration of the drive mechanism 13 at the second and third points in time. For example, the change estimation unit 160 calculates the degree of deterioration of the drive mechanism 13 over time by dividing the difference between the degree of deterioration of the drive mechanism 13 at the second point in time and the degree of deterioration of the drive mechanism 13 at the third point in time by the elapsed time from the second point in time to the third point in time. The change estimation unit 160 calculates an approximation curve of the degree of deterioration of the drive mechanism 13 over time (see FIG. 11). This approximation curve represents the change in the degree of deterioration of the drive mechanism 13 over time. The change estimation unit 160 supplies the calculated approximation curve of the degree of deterioration of the drive mechanism 13 over time to the failure timing estimation unit 170 as an estimated result of the change in the degree of deterioration of the drive mechanism 13, and processing S200 proceeds to step S208.

In step S208, the failure timing estimation unit 170 estimates the failure timing of the drive mechanism 13 based on the estimated result of the change in the deterioration degree of the drive mechanism 13. For example, as shown in FIG. 11, the failure timing estimation unit 170 determines the intersection point between the approximate curve of the deterioration degree of the drive mechanism 13 over time and the failure threshold. The failure timing estimation unit 170 estimates the time at that intersection as the failure timing. The failure timing estimation unit 170 supplies the estimated result of the failure timing of the drive mechanism 13 to the transmission unit 140, and processing S200 proceeds to step S209.

In step S209, the transmitter 140 transmits the estimated failure timing of the drive mechanism 13. Step S209 is similar to step S107 or S108 except that the estimated failure timing of the drive mechanism 13 is transmitted instead of the estimated state of the drive mechanism 13 at the second time point, and therefore its description will be omitted.

After step S209, process S200 ends.

In the embodiment, the failure timing estimation unit 170 is provided, but the failure timing estimation unit 170 does not have to be provided. In this case, the change estimation unit 160 may supply the calculated approximation curve of the deterioration degree of the drive mechanism 13 over time to the transmission unit 140 as an estimation result of the change in the deterioration degree of the drive mechanism 13, and the transmission unit 140 may transmit this approximation curve.

In the embodiment, the third point in time is the present point in time, but it may also be a past point in time.

In the embodiment, the environmental data for the second and third time points are both compared with the environmental data for the first time point, but this is not limiting. The environmental data for the second time point may be compared with the environmental data for the first time point, while the environmental data for the third time point may be compared with the environmental data for any time point prior to the third time point.

[Third embodiment]
A third embodiment of the present invention will be described below. In the drawings and description of the third embodiment, components and members that are the same as or equivalent to those in the first embodiment are designated by the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

The platform screen door system 1 will be described with reference to Figure 12. The platform screen door system 1 comprises a general control panel 50 and multiple platform door devices 100. The general control panel 50 in this embodiment is an example of an external device capable of communicating with the platform door devices 100.

Multiple platform door devices 100 are installed on each of the inbound and outbound tracks of the station platform. When a train stops at a predetermined position on the platform, the multiple platform door devices 100 are each positioned at the boarding and alighting entrances E located at positions corresponding to each of the train doors of the train.

One integrated control panel 50 is provided on each platform and is connected to each platform door control device 30 of multiple platform door devices 100. The integrated control panel 50 controls the opening and closing of the door bodies 11 of the platform door devices 100 via the platform door control devices 30.

The general control panel 50 and each platform door control device 30 can communicate with each other. For example, the general control panel 50 sends an open or close command for the door body 11 to each platform door control device 30. Each platform door control device 30 can send driving data, environmental data, etc. to the general control panel 50.

Figure 13 is a functional block diagram of the platform door control device 30 and integrated control panel 50 of this embodiment. The platform door control device 30 includes an acquisition unit 110, a transmission unit 140, and a memory unit 150. The integrated control panel 50 includes an opening/closing command transmission unit 210, a reception unit 220, a state estimation unit 230, an output unit 240, and a memory unit 250. The state estimation unit 230 of the integrated control panel 50 has the same function as the state estimation unit 130 of the platform door control device 30 in the first embodiment. In this embodiment, the state estimation unit 230 of the integrated control panel 50 estimates the state of the drive mechanism 13 of each platform door device 100 based on the drive data and environmental data of each of one or more platform door devices 100 on the platform.

Figure 14 is a sequence diagram of processing S300 by the platform door control device 30 and integrated control panel 50 of this embodiment. Steps S302 to S304 and S307 to S310 are essentially the same as steps S102 to S104 and S105 to S108 described above, and therefore will not be described unless otherwise noted.

In step S301, the opening/closing command transmission unit 210 of the general control panel 50 transmits a close command to the platform door control device 30. In this embodiment, for example, when the opening/closing command transmission unit 210 of the general control panel 50 receives a close request signal from an operator via the station staff operation panel 66, it transmits a close command to each platform door control device 30.

In step S302, the door control unit 120 of the platform door control device 30 drives the door body 11 to close.

In step S303, the driving data acquisition unit 112 and environmental data acquisition unit 113 of the platform door control device 30 acquire environmental data and driving data at the current time. In step S304, the driving data acquisition unit 112 and environmental data acquisition unit 113 of the platform door control device 30 acquire driving data and environmental data at a past time as reference environmental data and reference driving data. The driving data acquisition unit 112 and environmental data acquisition unit 113 supply the acquired environmental data, driving data, reference environmental data, and reference driving data to the transmission unit 140.

In step S305, the transmitter 140 of the platform door control device 30 transmits the environmental data, driving data, reference environmental data, and reference driving data to the general control panel 50.

In step S306, the receiving unit 220 of the integrated control panel 50 receives environmental data, driving data, reference environmental data, and reference driving data from each platform door control device 30. The memory unit 250 of the integrated control panel 50 stores the received environmental data, driving data, reference environmental data, and reference driving data. The receiving unit 220 of the integrated control panel 50 supplies the received environmental data, driving data, reference environmental data, and reference driving data to the state estimation unit 230 of the integrated control panel 50.

In step S307, the state estimation unit 230 of the integrated control panel 50 corrects the reference driving data based on the results of comparing the reference environmental data with the environmental data at the current time.

In step S308, the state estimation unit 230 of the integrated control panel 50 determines whether the drive data at the current time point is equal to or greater than the corrected reference drive data. If the drive data is equal to or greater than the corrected reference drive data (Y in step S308), the state estimation unit 230 of the integrated control panel 50 supplies an estimation result indicating that the drive mechanism 13 is in an abnormal state to the output unit 240 of the integrated control panel 50, and processing S300 proceeds to step S309. If the drive data is not equal to or greater than the corrected reference drive data (N in step S308), the state estimation unit 230 of the integrated control panel 50 supplies an estimation result indicating that the drive mechanism 13 is in a normal state to the output unit 240 of the integrated control panel 50, and processing S300 proceeds to step S310.

In step S309, the state estimation unit 230 of the general control panel 50 outputs an estimation result that the drive mechanism 13 is in an abnormal state. In step S310, the output unit 240 of the general control panel 50 outputs an estimation result that the drive mechanism 13 is in a normal state. For example, the output unit 240 of the general control panel 50 displays the estimation result of the state of the drive mechanism 13 of each platform door device 100 on a display device provided on the station office display device 64 or the station staff operation panel 66, or on the general command room display device 65 in the general command room.

After steps S309 and S310, process S300 ends.

In this embodiment, it is possible to monitor the status of the drive mechanism 13 of the platform door device 100 in cooperation with the general control panel 50.

In this embodiment, the platform door control device 30 has a memory unit 150 for storing environmental data, operating data, etc., but this is not limited to this, and the general control panel 50 may have a memory unit 250 for storing environmental data, operating data, etc. In this case, the memory unit 250 of the general control panel 50 stores the environmental data and operating data each time it is received in step S306, and the state estimation unit 230 of the general control panel 50 reads the environmental data and operating data from the memory unit 250 of the general control panel 50 as reference environmental data and reference operating data in step S307. With this configuration, there is no need to provide a separate memory unit in the platform door control device 30 for storing environmental data, operating data, etc., making it possible to reduce the cost of the platform door control device 30.

[Fourth embodiment]
A fourth embodiment of the present invention will be described below. In the drawings and description of the fourth embodiment, components and members that are the same as or equivalent to those of the third embodiment will be denoted by the same reference numerals. Explanations that overlap with the third embodiment will be omitted as appropriate, and the following description will focus on the configuration that differs from the second embodiment.

See Figure 15. In this embodiment, the platform door control device 30 further includes a feature calculation unit 180 that calculates feature quantities of the acquired drive data and environmental data. The transmission unit 140 transmits the calculated feature quantities to the general control panel 50. The state estimation unit 230 of the general control panel 50 estimates the state of the drive mechanism 13 based on the received feature quantities.

Processing S400 by the platform door control device 30 of the platform door system 100 of this embodiment will be described with reference to the flowchart in Figure 16. In processing S400, steps S401 to S404 and S410 to S411 are basically the same as steps S301 to S304 and S309 to S310 described above unless otherwise noted, and therefore their description will be omitted.

After steps S401 to S403, in step S404, the drive data acquisition unit 112 and the environmental data acquisition unit 113 acquire drive data, environmental data, reference environmental data, and reference drive data and supply them to the feature calculation unit 180.

In step S405, the feature calculation unit 180 calculates feature quantities for the drive data, environmental data, reference environmental data, and reference drive data. The feature quantities include, for example, at least one of the following: mean value, maximum value, minimum value, standard deviation, root mean square level (RMS), skewness (asymmetry of the signal distribution), kurtosis (length of the tail of the signal distribution), peak value divided by RMS (crest factor), band power (99 percent occupied bandwidth), frequency mean, frequency median, occupied bandwidth, and power bandwidth. The feature calculation unit 180 supplies the calculated feature quantities to the transmission unit 140, and processing S400 proceeds to step S406.

In step S406, the transmission unit 140 transmits the calculated driving data, environmental data, reference environmental data, and reference driving data features to the general control panel 50.

In step S407, the receiving unit 220 of the integrated control panel 50 receives the features of the driving data, environmental data, reference environmental data, and reference driving data. The receiving unit 220 of the integrated control panel 50 supplies the received features to the state estimation unit 230, and processing S400 proceeds to step S408.

In step S408, the state estimation unit 230 corrects the features of the reference driving data based on the difference between the features of the reference environmental data and the features of the environmental data at the current time.

In step S409, the state estimation unit 230 determines whether the feature quantities of the drive data at the current time are equal to or greater than the feature quantities of the corrected reference drive data. If the feature quantities of the drive data are equal to or greater than the feature quantities of the corrected reference drive data (Y in step S409), processing S400 proceeds to step S410. If the feature quantities of the drive data are not equal to or greater than the feature quantities of the corrected reference drive data (N in step S409), processing S400 proceeds to step S411.

After steps S410 and S411, process S400 ends.

In this embodiment, the platform door control device 30 has the feature calculation unit 180, but this is not limited to this, and the general control panel 50 may have the feature calculation unit. In this case, the transmitter 140 of the platform door control device 30 may transmit driving data and environmental data instead of transmitting feature amounts. The feature calculation unit of the general control panel 50 may calculate feature amounts of the received driving data and environmental data and supply them to the state estimation unit 230.

In this embodiment, the feature calculation unit 180 calculates feature amounts of the drive data and environmental data, but this is not limited to this, and the feature amount may be calculated for at least one of the drive data and environmental data.

In this embodiment, the feature calculation unit 180 calculates the feature amounts of the reference driving data and the reference environmental data, but this is not limited to this, and the feature amounts of the reference driving data and the reference environmental data may be stored in advance in the storage unit 250.

Any combination of the above-described embodiments and variations is also useful as an embodiment of the present invention. New embodiments resulting from such combinations combine the effects of the combined embodiments and variations.

1 Platform screen door system, 10 Door pocket, 11 Door body, 13 Drive mechanism, 20 Linear guide, 21 Linear rail, 22 Guide block, 30 Platform door control device, 50 General control panel, 100 Platform door device, 110 Acquisition unit, 120 Door control unit, 130 State estimation unit, 140 Transmission unit, 150 Memory unit, 160 Change estimation unit, 170 Failure timing estimation unit, 180 Feature calculation unit.

Claims (24)

A state estimation device for a platform door device including a drive mechanism that drives an opening/closing member that opens and closes a platform door,
a drive data acquisition unit that acquires drive data of the drive mechanism at a predetermined time when the opening/closing member is driven by the drive mechanism;
an environmental data acquisition unit that acquires environmental data indicating at least one of the temperature and humidity around or inside the platform door device and the amount of solar radiation around the platform door device at the predetermined time;
a state estimation unit that estimates a state of the drive mechanism based on the drive data and the environmental data acquired at the predetermined time point;
Including,
the state estimation unit estimates a state of the drive mechanism at a second time point based on a comparison result between drive data and environmental data acquired at a first time point and drive data and environmental data acquired at a second time point after the first time point;
when a difference between the drive data acquired at the first time point and the drive data acquired at the second time point is equal to or greater than a predetermined value, the state estimation unit estimates the state of the drive mechanism at the second time point further based on a comparison result between the environmental data acquired at the first time point and the environmental data acquired at the second time point;
State estimator. a storage unit that stores the driving data and the environmental data acquired at the same time in association with each other;
the state estimation unit identifies the environmental data acquired at the first time point from the environmental data stored in the storage unit, the deviation of which from the environmental data acquired at the second time point is within a predetermined range, and estimates the state of the drive mechanism at the second time point based on a comparison result between the drive data acquired at the first time point, which is stored in association with the identified environmental data, and the drive data acquired at the second time point.
The state estimation device according to claim 1 . the state estimation unit estimates a degree of deterioration of the drive mechanism as the state of the drive mechanism;
the state estimation unit estimates a degree of deterioration of the drive mechanism at a third time point based on a comparison result between the drive data and the environmental data acquired at a third time point after the second time point and the drive data and the environmental data acquired at a time point before the third time point;
a change estimation unit that estimates a change in the degree of deterioration of the drive mechanism based on a comparison result between the degree of deterioration at the second time point and the degree of deterioration at the third time point,
The state estimation device according to claim 1 or 2 . a failure timing estimation unit that estimates a failure timing of the drive mechanism based on the degree of deterioration;
The state estimation device according to claim 3 . the second point in time is a point in time on a different date later than the first point in time and is the same time as the first point in time,
the drive data acquisition unit and the environmental data acquisition unit acquire the drive data and the environmental data at a predetermined time;
The state estimation device according to claim 1 . a time determination unit that determines whether a current time is the same as the first time point;
the drive data acquisition unit and the environmental data acquisition unit acquire the drive data and the environmental data when the time determination unit determines that the current time is the same as the first time point;
The state estimation device according to claim 5 . a storage unit that stores the driving data and the environmental data acquired at the same time in association with each other;
the driving data acquisition unit and the environmental data acquisition unit acquire the driving data and the environmental data of the first time point, which is a different date prior to the second time point and is the same time as the second time point, from the environmental data stored in the storage unit;
The state estimation device according to claim 1 . The state estimation device according to claim 1 , wherein the state estimation unit estimates the state of the drive mechanism at the second time point further based on a time-varying change in the environmental data between the first time point and the second time point. A state estimation device for a platform door device including a drive mechanism that drives an opening/closing member that opens and closes a platform door,
a drive data acquisition unit that acquires drive data of the drive mechanism at a predetermined time when the opening/closing member is driven by the drive mechanism;
an environmental data acquisition unit that acquires environmental data indicating at least one of the temperature and humidity around or inside the platform door device and the amount of solar radiation around the platform door device at the predetermined time;
a state estimation unit that estimates a state of the drive mechanism based on the drive data and the environmental data acquired at the predetermined time point;
a storage unit that stores reference environment data indicating a standard for the environment data and reference drive data indicating a standard for the drive data;
The state estimation unit
correcting the reference driving data based on a comparison result between the acquired environmental data and the reference environmental data;
estimating a state of the drive mechanism based on a comparison result between the corrected reference drive data and the acquired drive data;
State estimator. the reference driving data and the reference environmental data are driving data and environmental data acquired at a first time point, respectively;
the driving data and the environmental data are respectively acquired at a second time point which is later than the first time point;
The state estimation device according to claim 9 . the drive data acquisition unit and the environmental data acquisition unit acquire the drive data and the environmental data, respectively, in response to a user input;
the storage unit stores the drive data and environmental data acquired in response to the user input as the reference environmental data and the reference drive data;
The state estimation device according to claim 9 . the drive data acquisition unit acquires other drive data of other drive mechanisms of other platform door devices that are installed on the same or adjacent platform as the platform door device and are different from the platform door device,
The environmental data acquisition unit acquires other environmental data of the other platform door devices,
The state estimation unit estimates the state of the platform door device drive mechanism based on a comparison result between the drive data and the environmental data and the other drive data and the other environmental data.
The state estimation device according to claim 1 . The opening and closing member is a door body,
a position signal acquiring unit that acquires a fully closed position signal indicating that the door body has reached the fully closed position;
the environmental data acquisition unit acquires the environmental data in response to acquisition of the fully closed position signal.
The state estimation device according to claim 1 . a train presence signal acquisition unit that acquires a train presence signal indicating that a railway vehicle is present at the platform;
the environmental data acquisition unit acquires the environmental data after a predetermined time has elapsed since the train occupancy signal was acquired or since the train occupancy signal was no longer acquired.
The state estimation device according to any one of claims 1 to 13 . The opening and closing member is a door body,
the drive mechanism includes a guide block attached to one of the door body and the platform and a linear rail attached to the other of the door body and the platform;
the environmental data indicates a temperature of at least one of the guide block and the linear rail;
The state estimation device according to any one of claims 1 to 14 . The opening and closing member is a door body,
The platform door device further has a housing that accommodates the door body,
the environmental data indicates at least one of an inner surface temperature of the enclosure and an air temperature within the enclosure;
The state estimation device according to any one of claims 1 to 15 . the drive mechanism includes a motor that supplies a drive force to the opening/closing member,
The drive data indicates at least one of a drive current when driving the motor, a drive voltage when driving the motor, and a rotation speed of the motor.
The state estimation device according to any one of claims 1 to 16 . the drive data indicates at least one of a movement time and a movement speed between predetermined positions when driving the opening/closing member to open or close;
The state estimation device according to any one of claims 1 to 17 . A platform door system comprising: a platform door device including a drive mechanism that drives an opening/closing member that opens and closes a platform door; and an external device that can communicate with the platform door device,
The platform door device is
a drive data acquisition unit that acquires drive data of the drive mechanism at a predetermined time when the opening/closing member is driven by the drive mechanism;
an environmental data acquisition unit that acquires environmental data indicating at least one of temperature, humidity, and solar radiation around or inside the platform door device at the predetermined time;
a transmitting unit that transmits the acquired drive data and environmental data to the external device;
Equipped with
The external device is
a receiving unit that receives the driving data and the environmental data from the platform door device;
a state estimation unit that estimates a state of the drive mechanism based on the received drive data and environmental data;
Equipped with
the state estimation unit estimates a state of the drive mechanism at a second time point based on a comparison result between drive data and environmental data acquired at a first time point and drive data and environmental data acquired at a second time point after the first time point;
when a difference between the drive data acquired at the first time point and the drive data acquired at the second time point is equal to or greater than a predetermined value, the state estimation unit estimates the state of the drive mechanism at the second time point further based on a comparison result between the environmental data acquired at the first time point and the environmental data acquired at the second time point;
Platform door system. A platform door system comprising: a platform door device including a drive mechanism that drives an opening/closing member that opens and closes a platform door; and an external device that can communicate with the platform door device,
The platform door device is
a drive data acquisition unit that acquires drive data of the drive mechanism at a predetermined time when the opening/closing member is driven by the drive mechanism;
an environmental data acquisition unit that acquires environmental data indicating at least one of temperature, humidity, and solar radiation around or inside the platform door device at the predetermined time;
a transmitting unit that transmits the acquired drive data and environmental data to the external device;
Equipped with
The external device is
a receiving unit that receives the driving data and the environmental data from the platform door device;
a state estimation unit that estimates a state of the drive mechanism based on the received drive data and environmental data;
a storage unit that stores reference environment data indicating a reference for the environment data and reference drive data indicating a reference for the drive data;
Equipped with
The state estimation unit
correcting the reference driving data based on a comparison result between the acquired environmental data and the reference environmental data;
estimating a state of the drive mechanism based on a comparison result between the corrected reference drive data and the acquired drive data;
Platform door system. the external device is a general control panel that controls opening and closing of a plurality of platform door devices for opening and closing each of a plurality of boarding and alighting doors provided on the platform,
The state estimation unit estimates a state of the drive mechanism of each of the plurality of platform door devices based on the drive data and the environmental data of each of the plurality of platform door devices.
A platform door system as described in claim 19 or 20 . The platform door device further includes a feature calculation unit that calculates a feature of at least one of the acquired driving data and environmental data,
the transmitting unit transmits the feature to the external device;
the state estimation unit estimates a state of the drive mechanism based on the feature amount;
A platform door system according to any one of claims 19 to 21 . A method for estimating the state of a platform door device including a drive mechanism that drives an opening/closing member that opens and closes a platform door,
acquiring drive data of the drive mechanism at a predetermined time when the opening/closing member is driven by the drive mechanism;
acquiring environmental data indicating at least one of the temperature and humidity around or inside the platform door device and the amount of solar radiation around the platform door device at the predetermined time;
estimating a state of the drive mechanism based on the drive data and the environmental data acquired at the predetermined time point;
Including,
the estimating step estimates the state of the drive mechanism at a second time point based on a comparison result between drive data and environmental data acquired at a first time point and drive data and environmental data acquired at a second time point after the first time point;
the estimating step estimates the state of the drive mechanism at the second time point further based on a comparison result between the environmental data acquired at the first time point and the environmental data acquired at the second time point when a difference between the drive data acquired at the first time point and the drive data acquired at the second time point is equal to or greater than a predetermined value;
State estimation methods. A method for estimating the state of a platform door device including a drive mechanism that drives an opening/closing member that opens and closes a platform door,
acquiring drive data of the drive mechanism at a predetermined time when the opening/closing member is driven by the drive mechanism;
acquiring environmental data indicating at least one of the temperature and humidity around or inside the platform door device and the amount of solar radiation around the platform door device at the predetermined time;
estimating a state of the drive mechanism based on the drive data and the environmental data acquired at the predetermined time point;
Including,
The estimating step includes:
correcting reference driving data indicating a standard for the driving data based on a comparison result between the acquired environmental data and reference environmental data indicating a standard for the environmental data;
estimating a state of the drive mechanism based on a comparison result between the corrected reference drive data and the acquired drive data;
State estimation methods.