JP7740926B2 - 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

Platform door systems may be subject to external disturbances such as sunlight, rain and wind, temperature, and wind. These disturbances change the load on the door drive mechanism, which in turn changes the current value of the motor in the drive mechanism, for example. However, with conventional technology such as that described in Patent Document 1, if the current value falls outside the allowable range, it may be erroneously determined that this is due to the state of the drive mechanism, even if the cause is actually the influence of an external disturbance. As a result, there is 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 including a drive mechanism that drives an opening/closing member that opens and closes a platform entrance/exit gate, and includes: 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; a disturbance data acquisition unit that acquires disturbance data indicating at least one of the tilt angle of at least one of the platform and the drive mechanism relative to the other, the amount of expansion/contraction, amount of twist of at least one of the platform and the drive mechanism, the wind speed on the platform, and the amount of vibration on the platform at the predetermined time; and a state estimation unit that estimates the state of the drive mechanism based on the drive data and disturbance 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 a platform entrance/exit gate, 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; a disturbance data acquisition unit that acquires disturbance data indicating at least one of the tilt angle of at least one of the platform and the drive mechanism relative to the other, the amount of expansion/contraction and twist of at least one of the platform and the drive mechanism, the wind speed on the platform, and the amount of vibration on the platform at the predetermined time; and a transmitter that transmits the acquired drive data and disturbance data to the external device. The external device comprises: a receiver that receives the drive data and the disturbance 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 disturbance 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 gate, 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 disturbance data indicating at least one of the tilt angle of at least one of the platform and the drive mechanism relative to the other, the amount of expansion/contraction or twist of at least one of the platform and the drive mechanism, the wind speed on the platform, and the amount of vibration on the platform, at the predetermined time; and estimating the state of the drive mechanism based on the drive data and the disturbance 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. 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. 10 is a flowchart illustrating processing by a platform door control device. 10 is a flowchart illustrating processing by a platform door control device. A diagram for explaining the processing by the platform door control device of the sixth embodiment.

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 the platform.

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)).

When viewed from the front, the door pocket 10 is configured with the opening/closing direction Dx as its longitudinal direction. 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 pulleys 13p provided on the output shaft of the motor 13m on both sides of the opening/closing direction Dx, a timing belt 13t that is wound around the pair of pulleys 13p, a connecting member 13c that transmits the driving force of the motor 13m to the door element 11, and linear guides 20U and 20L that guide the door element 11 in the opening/closing direction Dx. The connecting member 13c is provided on the trailing edge of the door body 11 so as to connect the door body 11 and the timing belt 13.

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 than 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.

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 strain sensor 42, and a current sensor 43. The fully closed position sensor 41 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 proximity sensor or a photoelectric sensor is used as the fully closed position sensor 41. The strain sensor 42 measures the amount of expansion and contraction at the location where it is installed by measuring the amount of strain at that location. In this embodiment, the strain sensor 42 is a strain gauge and is attached to the linear rail 21. 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, a disturbance data acquisition unit 113, and a position signal acquisition unit 114.

The opening/closing command acquisition unit 111 acquires an open command or a close 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 disturbance data acquisition unit 113 acquires disturbance data indicating the degree of disturbance to at least one of the drive mechanism 13 and the platform door device 100. In this embodiment, the disturbance data is the amount of expansion and contraction of the linear rail 21. 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 open command or a close command for the door body 11 to move the door body 11 in the open or closed direction. The state estimation unit 130 estimates the state of the drive mechanism 13 based on the drive data and disturbance data acquired at a predetermined time point. The transmission unit 140 transmits the estimated state of the drive mechanism 13. The storage unit 150 stores, for example, a history of past drive data and disturbance data, the reference drive data and reference disturbance data described below, various thresholds, etc.

The condition of the drive mechanism 13 can 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, it is possible that the linear guide 20 has deteriorated, causing an increase in sliding resistance, or that the motor 13m itself has deteriorated. However, on an actual platform, disturbances occur due to factors such as sunlight, rain and wind, temperature, and wind. These disturbances can cause deformation of the platform or the drive mechanism 13, or can apply strong forces to the drive mechanism 13, which can change the sliding resistance of the drive mechanism 13. As a result, the load on the drive mechanism 13 changes, and ultimately the drive data of the drive mechanism 13 also changes. For example, the sliding resistance of the drive mechanism 13 changes depending on the amount of expansion and contraction of the linear rail 21. For example, if the amount of expansion and contraction of the linear rail 21 is large, the shape of the linear rail 21 may be distorted by the amount of expansion and contraction, causing its longitudinal center axis to slightly deviate from the opening and closing direction Dx. As a result, the sliding resistance between the guide block 22 and the linear rail 21 increases, increasing the load on the drive mechanism 13 and causing the drive current of the motor 13m to increase. Therefore, even if the drive mechanism 13 is in a normal state, if the drive data indicates an abnormal value due to the influence of an external disturbance on the platform door device 100, it may be erroneously determined that the drive mechanism 13 is in an abnormal state.

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. 10, 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 perform 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 disturbance data acquisition unit 113, and processing S100 proceeds to S103.

In step S103, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire drive data and disturbance 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 disturbance data acquisition unit 113 acquires, as disturbance data at the current time, the amount of extension and contraction (hereinafter sometimes simply referred to as the extension and contraction amount) 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 disturbance 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 disturbance data acquisition unit 113 supply the acquired drive data and disturbance data to the state estimation unit 130, and processing S100 proceeds to step S104.

In step S104, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire drive data and disturbance data from a past point in time as reference drive data and reference disturbance data. The reference drive data indicates a reference for the drive data, and the reference disturbance data indicates a reference for the disturbance 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) prior to the second point in time. For example, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 read out from the memory unit 150 the drive current values and expansion/contraction amounts that are associated and stored at past points in time, and acquire them as reference drive data and reference disturbance data. The drive data acquisition unit 112 and the disturbance data acquisition unit 113 supply the acquired reference drive data and reference disturbance 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 disturbance data and the reference disturbance 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 current amount of expansion/contraction and the past amount of expansion/contraction.

Here, if the absolute value of the difference in the amount of expansion/contraction is relatively large, the linear rail 21 expands or contracts significantly from its state at the first time point at the second time point, resulting in distortion. As a result, the load on the drive mechanism 13 is greater at the second time point than at the first time point, and the drive current value is likely to increase. Therefore, expansion or contraction of the linear rail 21 makes it more likely that the drive data is determined to be 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 expansion or contraction, the state estimation unit 130 corrects the reference drive data so that it is larger when the absolute value of the difference in the amount of expansion or contraction is large compared to when the absolute value of the difference in the amount of expansion or contraction is small. 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 expansion or contraction 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 disturbance data acquired at a predetermined time. With this configuration, the state of the drive mechanism 13 can be estimated taking disturbance data into account, making it possible to more accurately estimate the state of the drive mechanism 13 even if the drive data changes due to the influence of a disturbance.

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 disturbance data acquired at a previous point in time with drive data and disturbance data acquired at the current point in time. With this configuration, by taking into account the results of comparing drive data and disturbance data acquired at different points in time, it is possible to more accurately estimate the state of the drive mechanism 13.

In this embodiment, the first point in time is, for example, a point in time that occurs on a different date before the second point in time but is the same time as the second point in time. With this configuration, the first point in time and the second point in time occur in the same time period, which reduces the discrepancy between the environment, such as temperature and solar radiation, between the first and second points in time. This minimizes changes in disturbance data between the first and second points in time, 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 disturbance data at the current time with the reference disturbance 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 comparing the disturbance data, it is possible to reduce the influence of the influence of disturbances on the results of estimating the state of the drive mechanism 13. As a result, it is possible to estimate the state of the drive mechanism 13 with greater accuracy.

[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 disturbance data is the amount of expansion and contraction of the linear rail 21, but this is not limited to this. The disturbance data may also be the amount of expansion and contraction of the drive mechanism 13. For example, the disturbance data may be the amount of expansion and contraction of the guide block 22 of the drive mechanism 13. This is because, for example, expansion and contraction of the guide block 22 distorts the sliding surface of the guide block 22 against the linear rail 21, changing the sliding resistance between the linear rail 21 and the guide block 22, and changing the load on the drive mechanism 13. Furthermore, the disturbance data may also be the amount of expansion and contraction of the timing belt 13t of the drive mechanism 13. This is because expansion and contraction of the timing belt 13t changes the tension of the timing belt 13t, changing the sliding resistance in the drive mechanism 13 and changing the load on the drive mechanism 13.

Furthermore, the disturbance data is not limited to the amount of expansion and contraction of the drive mechanism 13, but may also be the amount of expansion and contraction of the platform. This is because expansion and contraction of the platform distorts the drive mechanism 13, changing the sliding resistance in the drive mechanism 13 and changing the load on the drive mechanism 13. In this case, the disturbance data indicates the amount of twisting of at least one of the platform and drive mechanism around the axis in the opening and closing direction Dx of the door body 11.

The disturbance data may also be the amount of twist of at least one of the platform and the drive mechanism 13. This is because twisting of the platform distorts the drive mechanism 13, changing the sliding resistance in the drive mechanism 13 and the load on the drive mechanism 13. In this case, the disturbance data indicates the amount of twist around the axis of the opening/closing direction Dx of the door body 11 for at least one of the platform and the drive mechanism. For example, when the amount of twist is large, the state estimation unit 130 may correct the reference drive data to be larger than when the amount of twist is small.

Furthermore, if a strain sensor 42 is attached to the pulley 13p of the drive mechanism 13, the disturbance data may be the measurement value of the strain sensor 42 attached to the pulley 13p of the drive mechanism 13. For example, if the pulley 13p is distorted, the longitudinal center axis of the timing belt 13t wound around the pulley 13p may become slightly misaligned from the opening/closing direction Dx. As a result, the sliding resistance between the guide block 22 and the linear rail 21 increases, and the load on the drive mechanism 13 increases.

Furthermore, if a strain sensor 42 is attached to the connecting member 13c of the drive mechanism 13, the disturbance data may be the measurement value of the strain sensor 42 attached to the connecting member 13c. For example, if the connecting member 13c is distorted, the longitudinal center axis of the timing belt 13t connected to the connecting member 13c may become slightly misaligned from the opening/closing direction Dx. As a result, the sliding resistance between the guide block 22 and the linear rail 21 increases, and the load on the drive mechanism 13 increases.

The disturbance data may be the tilt angle of at least one of the platform and drive mechanism 13 relative to the other. This is because when the relative tilt between the platform and drive mechanism 13 is large, the sliding resistance between the linear rail 21 and guide block 22 changes in accordance with this relative tilt, and the load on the drive mechanism 13 also changes. If the disturbance data is this tilt angle, tilt sensors can be provided on both the platform and drive mechanism 13, and the tilt angle of at least one of the platform and drive mechanism 13 relative to the other can be determined based on the difference between the measured values of the two tilt sensors. For example, when the tilt angle is large, the state estimation unit 130 can correct the reference drive data so that it is larger than when the tilt angle is small.

The disturbance data may also be the wind speed on the platform. This is because when a strong wind blows against the platform door device, the wind pressure increases the load on the drive mechanism 13. If the disturbance data is the wind speed on the platform, an anemometer may be installed near the platform door device 100. If the disturbance data is the wind speed on the platform, the state estimation unit 130 may estimate the state of the drive mechanism 13 based on the area of a surface extending in a direction parallel to the opening and closing direction of the door body 11 and the wind speed. Specifically, the state estimation unit 130 may calculate the force that the door body 11 receives from the wind based on the product of the area of the door body 11 and the wind speed, and estimate the state of the drive mechanism 13 based on this force. For example, when the wind speed or the force received from the wind is large, the state estimation unit 130 may correct the reference drive data to be larger than when the wind speed or the force received from the wind is small.

The disturbance data may also be the amount of vibration on the platform. This is because if the amount of vibration on the platform is large, the sliding resistance in the drive mechanism 13 increases due to the up and down movement, and the load on the drive mechanism 13 increases. If the amount of vibration is used as the disturbance data, an acceleration sensor can be installed near the platform door device 100. For example, when the amount of vibration is large, the state estimation unit 130 can correct the reference drive data to be larger than when the amount of vibration is small.

To summarize the disturbance data, it is sufficient if it indicates at least one of the following: the tilt angle of at least one of the platform and the drive mechanism relative to the other, the amount of expansion and contraction or twist of at least one of the platform and the drive mechanism, the wind speed above the platform, and the amount of vibration above the platform.

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 the embodiment, the drive data acquisition unit acquired the average value of the drive data during the closing drive of the door body 11, but this is not limited to this, and for example, a moving average value may be acquired.

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 drive data and reference disturbance data are drive data and disturbance data acquired at a previous point in time, but this is not limited to this. The reference drive data and reference disturbance data may also be arbitrarily set reference values.

In the embodiment, the disturbance data acquisition unit 113 acquires disturbance 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 disturbance data acquisition unit 113 may acquire disturbance 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 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, disturbance data may be acquired at a point halfway between the fully closed position and the fully open position.

In the embodiment, the second time point is the present time point, but this is not limited to this. The second time point may also be a time point in the past.

In the embodiment, the drive data and disturbance data are acquired in response to a close command, but this is not limited to this. For example, the time for acquiring the drive data and disturbance data may be predetermined to be the same as a predetermined past time, and the drive data acquisition unit 112 and the disturbance data acquisition unit 113 may acquire the drive data and disturbance data at the same time as the predetermined past time. 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. Process S100' in this case will be explained with reference to the flowchart in Figure 6. The flowchart in Figure 6 will mainly explain the differences from the flowchart in Figure 5. Process S100' is executed periodically, independently of the drive 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. In this case, if the drive data and disturbance data were acquired one month ago, the same time as the predetermined past time may be the time when they were acquired. 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 disturbance data acquisition unit 113 acquire the drive current value as drive data and the expansion/contraction amount as disturbance data, respectively. Steps S104 to S108 similar to those in FIG. 5 are then executed. The drive data and disturbance data acquired in step S103 were acquired at the same time as a predetermined past point in time, such as one month ago. Therefore, the change in the disturbance data between the first and second points in time can be minimized, enabling more accurate estimation of the state of the drive mechanism 13.

The state estimation unit 130 may identify, from the disturbance data stored in the memory unit 150, disturbance data acquired at a previous time point whose deviation from the disturbance data acquired at the current time point is within a predetermined range, and estimate the state of the drive mechanism 13 at the current time point based on the results of comparing the drive data acquired at the current time point with the drive data acquired at the previous time point that is stored in association with the identified disturbance data. For example, the state estimation unit 130 may identify, from the expansion/contraction amounts stored in the memory unit 150, the expansion/contraction amount that is the same as the expansion/contraction amount at the current time point. For example, the state estimation unit 130 estimates the state of the drive mechanism 13 based on whether the drive current value at the current time point is equal to or greater than the drive current value at the previous time point that is stored in association with the identified expansion/contraction amount at the previous time point. The state estimation unit 130 compares the drive data at the current time point with the drive data at the previous time point that is stored in association with the identified disturbance data at the previous time point. Here, because the expansion/contraction amounts at the current time and the specified past time are similar values, if there is no abnormality in the drive mechanism 13, the drive data at the current time and the specified past time should also be similar values. Therefore, with this configuration, it is possible to accurately estimate the state of the drive mechanism 13 based on the results of comparing the drive data at the current time and the 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, but this is not limited to this. For example, the state estimation unit 130 may determine whether the deviation 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 deviation is within the predetermined range, and determine that the drive mechanism 13 is in an abnormal state if the deviation is outside the predetermined range. In this case, the state estimation unit 130 may, for example, determine 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.

In the embodiment, the drive data and disturbance 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 drive data and other disturbance data of another platform door device 100 that is installed on the same or an adjacent platform as the platform door device 100 that is the subject of estimation but is different from the platform door device 100 that is the subject of estimation, may be used. For example, the drive data acquisition unit 112 may acquire another drive current value transmitted from the other platform door device 100 as reference drive data, and the disturbance data acquisition unit 113 may acquire another expansion/contraction amount transmitted from the other platform door device 100 as reference disturbance data. Furthermore, the state estimation unit may estimate the state of the drive mechanism 13 of the platform door device 100 based on the results of comparing the drive data and disturbance data at the current time with the other drive current value (reference drive data) and other expansion/contraction amount (reference disturbance data).

In this embodiment, the linear rail 21 is attached to the door body 11, but this is not limited thereto, and the linear rail 21 may also be attached to the platform. Also, in this embodiment, the guide block 22 is attached to the door pocket 10, but this is not limited thereto. When the linear rail 21 is attached to one of the door body 11 and the platform, the guide block 22 may be attached to the other of the door body 11 and the platform.

The platform door control device 30 may further include an environmental data acquisition unit that acquires environmental data indicating at least one of the temperature, humidity, and solar radiation around or inside the platform door device 100 at a predetermined time when the door body 11 is driven by the drive mechanism 13. In this case, the disturbance data acquisition unit 113 may acquire the disturbance data at a second time when the acquired environmental data deviates within a predetermined range from the environmental data acquired at the first time. Alternatively, the memory unit 150 may further store the environmental data acquired at the first time as reference environmental data, and the disturbance data acquisition unit may acquire the disturbance data at a second time when the acquired environmental data deviates within a predetermined range from the reference environmental data. The inside of the platform door device 100 refers, for example, to the inside of the door pocket 10 in the case of a waist-high platform door device, or to the inside of the header box in the case of a lift-type opening/closing member or a full-height drive mechanism. For example, if the environmental data indicates temperature, the disturbance data acquisition unit acquires the disturbance data at a time when the temperature is within ±5°C of the temperature indicated by the reference environmental data. Here, the load on the drive mechanism 13 changes due to changes in the environment around or inside the platform door device 100, such as temperature, humidity, and solar radiation, and thus the drive data of 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 and guide block 22 and 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 tension. As a result, the load on the drive mechanism 13, such as the sliding resistance of the drive mechanism 13 and the load required to crush the door edge rubber during closing, becomes relatively small, and the drive current of the motor 13m decreases. With this configuration, disturbance data is acquired at the second time point when environmental data that deviates from the reference environmental data within a predetermined range is acquired, thereby suppressing the impact of environmental changes around or inside the platform door device 100 on the state estimation of the drive mechanism 13. As a result, the state of the drive mechanism 13 can be estimated more accurately.

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 7. 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 disturbance data acquired at a third time point after the second time point with drive data and disturbance data acquired at a time point prior to the third time point. The change estimation unit 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 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 8. 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 disturbance data acquisition unit 113 acquire drive data and disturbance 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 disturbance data acquisition unit 113 acquire drive data and disturbance 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 disturbance data acquisition unit 113 acquire the drive data and disturbance 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 disturbance data acquisition unit 113 acquire the drive current value and expansion/contraction amount at the first time point as reference drive data and reference disturbance data, respectively. The drive data acquisition unit 112 and the disturbance data acquisition unit 113 supply the acquired drive current value and expansion/contraction amount 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 expansion/contraction amount (reference disturbance data) at the first time point and the expansion/contraction amount 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 expansion/contraction amount (reference disturbance data) at the first time point and the expansion/contraction amount at the second time point. In addition, the state estimation unit 130 corrects the drive current value (reference drive data) at the first time point based on the difference between the expansion/contraction amount (reference disturbance data) at the first time point and the expansion/contraction amount 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 at the first time point (reference drive data) corrected using the expansion/contraction amount 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 at the first time point (reference drive data) corrected using the expansion/contraction amount 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. 9). 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. 9, 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 disturbance data at the second and third time points are both compared with the disturbance data at the first time point, but this is not limited to this. The disturbance data at the second time point may be compared with the disturbance data at the first time point, while the disturbance data at the third time point may be compared with disturbance data at 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 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.

The platform screen door system 1 will be described with reference to Figure 10. 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 drive data, disturbance data, etc. to the general control panel 50.

Figure 11 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 disturbance data of each of one or more platform door devices 100 on the platform.

Figure 12 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 again 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 the disturbance data acquisition unit 113 of the platform door control device 30 acquire disturbance data and driving data at the current time. In step S304, the driving data acquisition unit 112 and the disturbance data acquisition unit 113 of the platform door control device 30 acquire driving data and disturbance data at a past time as reference disturbance data and reference driving data. The driving data acquisition unit 112 and the disturbance data acquisition unit 113 supply the acquired disturbance data, driving data, reference disturbance 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 disturbance data, drive data, reference disturbance data, and reference drive data to the general control panel 50.

In step S306, the receiving unit 220 of the integrated control panel 50 receives disturbance data, drive data, reference disturbance data, and reference drive data from each platform door control device 30. The memory unit 250 of the integrated control panel 50 stores the received disturbance data, drive data, reference disturbance data, and reference drive data. The receiving unit 220 of the integrated control panel 50 supplies the received disturbance data, drive data, reference disturbance data, and reference drive 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 drive data based on the results of comparing the reference disturbance data with the disturbance 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.

Steps S309 and S310 output an estimated state of the drive mechanism 13 of each platform door device 100. After steps S309 and S310, processing 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 disturbance data, drive data, etc., but this is not limited to this, and the general control panel 50 may have a memory unit 250 for storing disturbance data, drive data, etc. In this case, the memory unit 250 of the general control panel 50 stores the disturbance data and drive data each time it is received in step S306, and the state estimation unit 230 of the general control panel 50 reads the disturbance data and drive data from the memory unit 250 of the general control panel 50 as reference disturbance data and reference drive 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 disturbance data, drive 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 configurations that differ from the second embodiment.

See Figure 13. 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 disturbance 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 14. 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 disturbance data acquisition unit 113 acquire drive data, disturbance data, reference disturbance 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, disturbance data, reference disturbance data, and reference drive data. The feature quantities include, for example, at least one of the 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 transmitter 140 transmits the calculated drive data, disturbance data, reference disturbance data, and feature quantities of the reference drive data to the general control panel 50.

In step S407, the receiver 220 of the integrated control panel 50 receives the features of the drive data, disturbance data, reference disturbance data, and reference drive data. The receiver 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 disturbance data and the features of the disturbance 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 drive data and disturbance data instead of transmitting feature amounts. The feature calculation unit of the general control panel 50 may calculate feature amounts of the received drive data and disturbance data and supply them to the state estimation unit 230.

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

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

Fifth Embodiment
A fifth embodiment of the present invention will be described below. In the drawings and description of the fifth embodiment, components and members that are the same as or equivalent to those of 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 configuration that differs from the second embodiment.

In the fifth embodiment, if the difference between the drive data at the first time point and the drive data at the second time point is equal to or greater than a predetermined value, the state estimation unit 130 estimates the state of the drive mechanism 13 at the second time point further based on the comparison result between the disturbance data at the first time point and the disturbance data at the second time point. For example, if the difference between the drive data at the first time point and the drive data at the second time point is equal to or greater than a predetermined value, or if the difference between the disturbance data at the first time point and the disturbance data at the second time point is equal to or less than a disturbance threshold, the state estimation unit 130 determines that the state of the drive mechanism 13 at the second time point is abnormal.

Processing S500 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 15. In processing S500, steps S501 to S504 and S507 to S508 are basically the same as steps S101 to S104 and S107 to S108 described above unless otherwise noted, and therefore their description will be omitted.

After executing steps S501 to S504, in step S505, the state estimation unit 130 determines whether the difference between the reference driving data and the driving data acquired at the current time is equal to or greater than a predetermined value. If the difference between the reference driving data and the driving data is equal to or greater than the predetermined value (Y in step S505), processing S500 proceeds to step S506. If the difference between the reference driving data and the driving data is not equal to or greater than the predetermined value (N in step S505), processing S500 proceeds to step S508.

In step S506, the state estimation unit 130 determines whether the difference between the reference disturbance data and the disturbance data acquired at the current time point is equal to or less than the disturbance threshold. If the difference between the reference disturbance data and the disturbance data is not equal to or less than the disturbance threshold (N in step S506), processing S500 ends. Therefore, if the difference between the reference disturbance data and the disturbance data is not equal to or less than the disturbance threshold, the influence of the disturbance is large, and the determination of the state of the drive mechanism 13 is put on hold. If the difference between the reference disturbance data and the disturbance data is equal to or less than the disturbance threshold (Y in step S506), processing S500 proceeds to step S507.

After steps S507 and S508, process S500 ends.

According to the fifth embodiment, if an abnormality in the drive mechanism 13 is suspected based on a comparison between drive data from a past time point and drive data from the current time point, the presence or absence of an abnormality in the drive mechanism 13 at the current time point is determined based on a comparison between disturbance data from a past time point and disturbance data from the current time point. This makes it possible to appropriately determine the state of the drive mechanism 13.

Sixth Embodiment
A sixth embodiment of the present invention will be described below. In the drawings and description of the fifth embodiment, components and members that are the same as or equivalent to those of 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 second embodiment.

In the sixth embodiment, wind speed is used as disturbance data. Therefore, in the sixth embodiment, a wind speed sensor is used instead of the strain sensor 42 of the first embodiment.

The processing S600 performed 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 S600, steps S601 to S603 are basically the same as steps S101 to S103 described above unless otherwise noted, and therefore will not be described again.

After steps S601 to S603 are executed, in step S604, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire reference drive data and reference disturbance data, respectively. See FIG. 17. The reference drive data in this embodiment includes a deterioration curve in which reference drive data values are determined for each number of opening and closing operations of the door body 11, a failure warning reference value that serves as a reference for warning of a failure in the drive mechanism 13, and a failure determination reference value that serves as a reference for determining whether a failure has occurred in the drive mechanism 13. The failure determination reference value is greater than the failure warning reference value. The reference disturbance data includes a wind speed reference value that serves as a reference for the wind speed that sufficiently affects the sliding resistance of the drive mechanism 13.

In step S605, the state estimation unit 130 determines whether the number of opening and closing operations of the door body 11 is equal to or greater than a predetermined number of failure warnings. In the sixth embodiment, the memory unit 150 increments and stores the number of opening and closing operations each time the door body 11 is opened or closed. The memory unit 150 also stores a failure warning count that is used to warn of a failure of the drive mechanism 13 if the number of opening and closing operations exceeds that count. The state estimation unit 130 reads the number of opening and closing operations of the door body 11 and the failure warning count from the memory unit 150 and compares the number of opening and closing operations of the door body 11 with the failure warning count. If the number of opening and closing operations is equal to or greater than the failure warning count (Y in step S605), processing S600 proceeds to step S610. If the number of opening and closing operations is not equal to or greater than the failure warning count (N in step S605), processing S600 proceeds to step S6065.

In step S606, the state estimation unit 130 determines whether the deviation of the drive data from the deterioration curve is greater than or equal to a predetermined range. As shown in FIG. 17, the deterioration curve grows nonlinearly as the number of openings and closings increases. If the deviation of the drive data from the deterioration curve is not greater than or equal to the predetermined range (N in step S606), the state estimation unit 130 determines that the drive mechanism 13 is not in a state where it is malfunctioning or a state that predicts an impending malfunction of the drive mechanism 13, and process S600 ends. If the deviation of the drive data from the deterioration curve is greater than or equal to the predetermined range (Y in step S606), process S600 proceeds to step S607.

In step S607, the state estimation unit 130 determines whether the drive data exceeds the failure determination reference value. If the drive data exceeds the failure determination reference value (Y in step S607), processing S600 proceeds to step S611. If the drive data does not exceed the failure determination reference value (N in step S607), processing S600 proceeds to step S608.

In step S608, the state estimation unit 130 determines whether the drive data exceeds the failure prediction reference value. If the drive data exceeds the failure prediction reference value (Y in step S608), processing S600 proceeds to step S609. If the drive data does not exceed the failure prediction reference value (N in step S608), the state estimation unit 130 determines that the drive mechanism 13 is not in a state where it is malfunctioning or is not in a state that would predict a failure of the drive mechanism 13, and processing S600 ends.

In step S609, the state estimation unit 130 determines whether the disturbance data is equal to or greater than the reference disturbance data. In this embodiment, the state estimation unit 130 determines whether the wind speed as disturbance data is equal to or greater than the reference wind speed value. If the wind speed is equal to or greater than the reference wind speed value (Y in step S609), processing S600 ends. Therefore, if the wind speed is equal to or greater than the reference wind speed value, the influence of the disturbance is large, and the determination of the state of the drive mechanism 13 is put on hold. If the wind speed is not equal to or greater than the reference wind speed value (N in step S609), the state estimation unit 130 supplies the transmission unit 140 with an estimation result indicating that the state of the drive mechanism 13 is in a failure warning state, in which a failure of the drive mechanism 13 should be warned, because a failure of the drive mechanism 13 is imminent, and processing S600 proceeds to step S610.

In step S610, the transmission unit 140 transmits failure warning information indicating that a failure of the drive mechanism 13 is imminent. In this embodiment, the transmission unit 140 transmits the failure warning information to the work terminal, causing the work terminal to display the failure warning information. This allows the worker carrying the work terminal to understand in real time that a failure of the drive mechanism 13 is imminent. After step S610, processing S600 ends.

In step S611, the state estimation unit 130 determines whether the disturbance data is equal to or greater than the reference disturbance data. In this embodiment, the state estimation unit 130 determines whether the wind speed as disturbance data is equal to or greater than the reference wind speed value. If the wind speed is equal to or greater than the reference wind speed value (Y in step S611), processing S600 ends. Therefore, if the wind speed is equal to or greater than the reference wind speed value, the influence of the disturbance is large, and the determination of the state of the drive mechanism 13 is put on hold. If the wind speed is not equal to or greater than the reference wind speed value (N in step S611), the state estimation unit 130 supplies the transmission unit 140 with an estimation result indicating that the state of the drive mechanism 13 is in a faulty state where the drive mechanism 13 is malfunctioning, and processing S600 proceeds to step S612.

In step S612, the transmission unit 140 transmits failure information indicating that the drive mechanism 13 has failed. In this embodiment, the transmission unit 140 transmits the failure information to the work terminal, causing the work terminal to display the failure information. This allows the worker carrying the work terminal to know in real time that the drive mechanism 13 has failed. After step S612, processing S600 ends.

A method for determining the state of the drive mechanism in the sixth embodiment will be described with reference to Figure 17. For example, when the door body 11 has been opened and closed N1 times, the drive data exceeds the failure warning reference value, while the wind speed exceeds the wind speed reference value. In this case, the influence of disturbances is significant, so determination of the state of the drive mechanism 13 is put on hold. For example, when the door body 11 has been opened and closed N2 times, the drive data exceeds the failure warning reference value and is below the failure judgment reference value, while the wind speed is below the wind speed reference value. In this case, the disturbance is not large enough to affect the estimation determination of the drive mechanism 13, so the state estimation unit 130 executes a process for estimating the state of the drive mechanism 13 and estimates that the state of the drive mechanism 13 is in a failure warning state.

In the sixth embodiment, if the disturbance data is equal to or greater than the reference disturbance data (Y in steps S609 and S611), processing S600 is terminated, but this is not limited to this. For example, processing S600 may be restarted after temporarily suspending the opening and closing control of the door body 11. When temporarily suspending the opening and closing control of the door body 11, it is preferable to transmit information to the announcement system on the platform and the railway vehicle operation system that the opening and closing control of the door body 11 will be temporarily suspend, and notify passengers and others that the door body 11 will not be opening or closing.

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 (27)

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;
a disturbance data acquisition unit that acquires disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform at the predetermined time point;
a state estimation unit that estimates a state of the drive mechanism based on the drive data and the disturbance data acquired at the predetermined time point;
Equipped with
the state estimation unit estimates a state of the drive mechanism at a second time point based on a comparison result between the drive data and the disturbance data acquired at a first time point and the drive data and the disturbance data acquired at a second time point after the first time point;
the state estimation unit estimates the state of the drive mechanism at the second time point further based on a comparison result between the disturbance data acquired at the first time point and the disturbance 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 estimator. the drive mechanism includes a motor and a pulley provided on an output shaft of the motor;
the disturbance data indicates a measurement value of a strain sensor attached to the pulley;
The state estimation device according to claim 1 . the disturbance data indicates a torsion amount of at least one of the platform and the drive mechanism about an axis in the opening/closing direction of the opening/closing member;
The state estimation device according to claim 1 or 2. The opening and closing member is a door body,
The drive mechanism includes a motor that supplies a drive force to the door body, a pulley provided on an output shaft of the motor, a belt that is wound around the pulley, and a connecting member that connects the belt and the door body,
the disturbance data indicates a measurement value of a strain sensor attached to the connecting member;
The state estimation device according to claim 1 . 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 disturbance data indicates a measurement value of at least one of an inclination sensor and a strain sensor attached to at least one of the guide block and the linear rail;
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 or a fully open position signal indicating that the door body has reached a fully closed position or a fully open position,
the disturbance data acquisition unit acquires the disturbance data in response to acquisition of the fully closed position signal or the fully open position signal.
The state estimation device according to claim 1 . An opening/closing command acquisition unit that acquires an opening command or a closing command for driving the opening/closing member to open or close from an external device that can communicate with the platform door device,
the disturbance data acquisition unit acquires the disturbance data in response to acquisition of the open command or the close command.
The state estimation device according to claim 1 . The opening and closing member is a door body,
the disturbance data indicates the wind speed;
the state estimation unit estimates the state of the drive mechanism based on the area of the door body and disturbance data indicating the wind speed;
The state estimation device according to claim 1 . a storage unit that stores the drive data and the disturbance data acquired at the same time in association with each other,
the state estimation unit identifies, from the disturbance data stored in the storage unit, disturbance data acquired at the first time point whose deviation from the disturbance 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 disturbance 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 the third time point based on a comparison result between the drive data and the disturbance data acquired at a third time point after the second time point and the drive data and the disturbance data acquired at the first time point or the second 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 . a failure timing estimation unit that estimates a failure timing of the drive mechanism based on a change in the degree of deterioration,
The state estimation device according to claim 10 . 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 disturbance data acquisition unit acquire the drive data and the disturbance data at a predetermined time.
The state estimation device according to any one of claims 1 to 11 . 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 disturbance data acquisition unit acquire the drive data and the disturbance 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 12 . 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;
a disturbance data acquisition unit that acquires disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform at the predetermined time point;
a state estimation unit that estimates a state of the drive mechanism based on the drive data and the disturbance data acquired at the predetermined time point;
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;
Equipped with
the state estimation unit estimates a state of the drive mechanism at a second time point based on a comparison result between the drive data and the disturbance data acquired at a first time point and the drive data and the disturbance data acquired at a second time point after the first time point;
the disturbance data acquisition unit acquires the disturbance data at the second time point when the environmental data acquired at the first time point has a deviation within a predetermined range.
State estimator. 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;
a disturbance data acquisition unit that acquires disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform at the predetermined time point;
a state estimation unit that estimates a state of the drive mechanism based on the drive data and the disturbance data acquired at the predetermined time point;
a storage unit that stores reference disturbance data indicating a reference for the disturbance data and reference drive data indicating a reference for the drive data ;
Equipped with
The state estimation unit
correcting the reference drive data based on a comparison result between the acquired disturbance data and the reference disturbance 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. 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 point,
the storage unit further stores reference environment data indicating a reference for the environment data;
the disturbance data acquisition unit acquires the disturbance data at a time when the environmental data whose deviation from the reference environmental data is within a predetermined range is acquired.
The state estimation device according to claim 15 . 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 disturbance data acquisition unit acquires other disturbance data of the other platform door device,
The state estimation unit estimates the state of the drive mechanism of the platform door device based on a comparison result between the drive data and the disturbance data and the other drive data and the other disturbance data.
The state estimation device according to claim 1 . 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 voltage when driving the motor, and a rotation speed of the motor.
The state estimation device according to any one of claims 1 to 17 . 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 18 . 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;
a disturbance data acquisition unit that acquires disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other at the predetermined time point, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform;
a transmitter that transmits the acquired drive data and disturbance data to the external device;
Equipped with
The external device is
a receiving unit that receives the drive data and the disturbance 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 disturbance 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 the drive data and the disturbance data acquired at a first time point and the drive data and the disturbance data acquired at a second time point after the first time point;
the state estimation unit estimates the state of the drive mechanism at the second time point further based on a comparison result between the disturbance data acquired at the first time point and the disturbance 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;
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;
a disturbance data acquisition unit that acquires disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other at the predetermined time point, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform;
a transmitter that transmits the acquired drive data and disturbance data to the external device;
Equipped with
The external device is
a receiving unit that receives the drive data and the disturbance 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 disturbance data;
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;
Equipped with
the state estimation unit estimates a state of the drive mechanism at a second time point based on a comparison result between the drive data and the disturbance data acquired at a first time point and the drive data and the disturbance data acquired at a second time point after the first time point;
the disturbance data acquisition unit acquires the disturbance data at the second time point when the environmental data acquired at the first time point has a deviation within a predetermined range.
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;
a disturbance data acquisition unit that acquires disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other at the predetermined time point, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform;
a transmitter that transmits the acquired drive data and disturbance data to the external device;
Equipped with
The external device is
a receiving unit that receives the drive data and the disturbance 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 disturbance data;
a storage unit that stores reference disturbance data indicating a reference for the disturbance data and reference drive data indicating a reference for the drive data;
Equipped with
The state estimation unit
correcting the reference drive data based on a comparison result between the acquired disturbance data and the reference disturbance 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 provided in the integrated control panel estimates the state of the drive mechanism of each of the plurality of platform door devices based on the drive data and the disturbance data of each of the plurality of platform door devices.
A platform door system according to any one of claims 20 to 22 . The platform door device further includes a feature calculation unit that calculates a feature of at least one of the acquired drive data and disturbance data,
the transmitting unit included in the platform door device transmits the feature amount to the external device;
the state estimation unit included in the external device estimates the state of the drive mechanism based on the feature amount;
A platform door system according to any one of claims 20 to 23 . 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 disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform at the predetermined time;
estimating a state of the drive mechanism based on the drive data and the disturbance 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 the drive data and the disturbance data acquired at a first time point and the drive data and the disturbance 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 disturbance data acquired at the first time point and the disturbance 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 disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform at the predetermined time;
acquiring environmental data indicating at least one of temperature, humidity, and solar radiation around or inside the platform door device at the predetermined time;
estimating a state of the drive mechanism based on the drive data and the disturbance 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 the drive data and the disturbance data acquired at a first time point and the drive data and the disturbance data acquired at a second time point after the first time point;
the step of acquiring the disturbance data includes acquiring the disturbance data at the second time point when the environmental data acquired at the first time point has a deviation within a predetermined range from the environmental data acquired at the second time point.
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 disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform at the predetermined time;
estimating a state of the drive mechanism based on the drive data and the disturbance data acquired at the predetermined time point;
Including,
The estimating step includes:
correcting reference drive data indicating a reference for the drive data based on a comparison result between the acquired disturbance data and reference disturbance data indicating a reference for the disturbance 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.