JP2022049525A - Door pinch detection device, railroad door device and program - Google Patents

Abstract

To easily and accurately detect whether or not there is a door pinch.SOLUTION: A door pinch detection device that detects a door pinch when a door is driven in a closed direction by driving force of a motor includes: a first acquisition unit that acquires a first current value flowing through the motor during a first period when the door is in a closing operation; a threshold setting unit that sets a threshold for determining a door pinch based on the acquired first current value; a second acquisition unit that acquires a second current value flowing through the motor in a second period after the first period when the door is in the closing operation; and a determination unit that determines whether or not a door pinch has occurred by comparing the acquired second current value with the set threshold.SELECTED DRAWING: Figure 5

Description

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

The electric door device includes a door pinch detection device that detects that a person or an object has come into contact with the door end of the door leaf. The conventional door pinch detection device includes a method of detecting the door pinch by the moving speed of the door leaf and a method of detecting the door pinch by the current flowing through the motor (hereinafter referred to as motor current) that generates the driving force for moving the door leaf. be.

When the door pinch is detected by the moving speed of the door leaf, the moving speed of the door leaf becomes zero when the door pinching occurs. Therefore, when the moving speed becomes zero, it is determined that the door pinching has occurred. Further, when the door pinch is detected by the motor current, it is determined that the door pinch has occurred when the motor current exceeds a predetermined threshold value because the motor current rapidly increases when the door pinch occurs.

Japanese Unexamined Patent Publication No. 2019-93901

A door rubber is attached to the door of the door leaf to soften contact with humans and objects, and even if a human or object comes into contact with the rubber, the speed of movement of the door leaf does not become zero immediately. , The door leaf moves at a low speed within the range where the door rubber can shrink. Similarly, when the door leaf is fully closed, the door leaf moves at a low speed for a while even if the rubber ends of the left and right door leaves come into contact with each other. Therefore, it may not be possible to accurately determine whether or not the door is pinched only by the moving speed of the door.

On the other hand, the motor current is also liable to fluctuate due to various factors, and even if an attempt is made to detect a door pinch by comparing the motor current with a threshold value, accurate door pinch detection cannot be performed in a situation where the motor current fluctuates greatly. For example, the motor current changes according to the sliding resistance of the door leaf and the driving force of the motor, but the sliding resistance of the door leaf and the driving force of the motor are not always constant and cause a secular change. When detecting a door pinch in, it is necessary to keep in mind that the motor current changes with aging.

Therefore, in one embodiment of the present invention, there is provided a door pinch detection device, a railroad door device, and a program that can easily and accurately detect whether or not a door pinch has occurred.

In order to solve the above problems, according to one embodiment of the present invention, there is a door pinch detection device that detects a door pinch when the door is driven in the closed direction by the driving force of the motor.
A first acquisition unit that acquires a first current value flowing through the motor during the first period during the closing operation of the door, and a first acquisition unit.
A threshold value setting unit for setting a threshold value for determining the door pinch based on the acquired first current value, and a threshold value setting unit.
A second acquisition unit that acquires a second current value flowing through the motor in a second period after the first period during the closing operation of the door, and a second acquisition unit.
Provided is a door pinch detection device including a determination unit for determining whether or not the door pinch has occurred by comparing the acquired second current value with the set threshold value.

The first period may include a period in which the door is moving at a constant speed after the door starts moving in the closing direction.

The first period may be a period in the acceleration region after the door starts moving in the closing direction or a period in the constant speed region shifted from the acceleration region.

The threshold setting unit may set the threshold value based on at least one of an average value, a median value, a mode value, or an integrated value of the current values flowing through the motor within the first period.

Based on at least one measured value of the average value, median value, mode value, or integrated value of the current value flowing through the motor when the door is driven in the closed direction and the door is not pinched, and the measured value. Equipped with a storage unit that stores the correspondence between the reference threshold and
The threshold setting unit is based on the correspondence relationship stored in the storage unit and at least one of an average value, a median value, a mode value, or an integrated value of the current values flowing through the motor during the first period. The threshold value may be set.

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

A period specifying unit that specifies the first period and the second period may be provided based on at least one of the moving speed, the moving distance, or the moving time during the closing operation of the door.

The first acquisition unit acquires the first current value in the first period each time the door is moved from the fully open position to the closing direction.
The threshold value setting unit may reset the threshold value based on the first current value acquired by the first acquisition unit each time the door is moved from the fully open position to the closing direction.

The first acquisition unit acquires the first current value during the first period when the door is driven in the closing direction immediately after the door is activated.
The threshold value setting unit may set the threshold value based on the first current value acquired by the first acquisition unit when driving the door in the closing direction immediately after the door is activated.

When the determination unit determines that the door is pinched by the current flowing through the motor within the second period, or is determined that the door is pinched based on the speed of the door. It may be determined that the door is pinched at at least one of the above.

In another aspect of the present invention, there is a door pinch detection device that detects a door pinch when the door is driven in the closed direction by the driving force of the motor.
A storage unit that stores the first current value flowing through the motor when the door is closed in the past,
A threshold value setting unit that sets a threshold value based on the first current value stored in the storage unit, and a threshold value setting unit.
An acquisition unit that acquires the second current value flowing through the motor when the door is closed, and
A door pinch detection device may be provided, comprising a determination unit for determining whether or not the door pinch has occurred by comparing the acquired second current value with the set threshold value.

In another aspect of the invention, a door provided in a railroad vehicle,
A motor that opens and closes the door,
A door open / close control unit that controls the motor,
A railroad door device including a door pinch detecting unit for detecting a door pinch when the door is driven in the closed direction by the driving force of the motor.
The door pinch detection unit is
A first acquisition unit that acquires a first current value flowing through the motor during the first period during the closing operation of the door, and a first acquisition unit.
A threshold value setting unit for setting a threshold value for determining the door pinch based on the acquired first current value, and a threshold value setting unit.
A second acquisition unit that acquires a second current value flowing through the motor in a second period after the first period during the closing operation of the door, and a second acquisition unit.
Provided is a railroad door device having a determination unit for determining whether or not the door pinch has occurred by comparing the acquired second current value with the set threshold value.

In one aspect of the present invention, the program causes a computer to detect a door pinch when the door is driven in the closed direction by the driving force of the motor.
The procedure for acquiring the first current value flowing through the motor during the first period during the closing operation of the door, and
A procedure unit for setting a threshold value for determining the door pinch based on the acquired first current value, and a procedure unit.
A procedure for acquiring a second current value flowing through the motor in a second period after the first period during the closing operation of the door, and a procedure for acquiring the value of the second current flowing through the motor.
A program for causing the computer to execute a procedure for determining whether or not the door pinching has occurred by comparing the acquired second current value with the set threshold value is provided.

When the door resumes driving in the closing direction after it is determined that the door is pinched, the first current value is reacquired and the threshold value is reset until the door moves to the fully closed position. And may be canceled.

FIG. 6 is an external view of an electric door device having a built-in door pinch detection device according to the first embodiment. The figure which shows the structure around a motor more concretely. The block diagram which shows the schematic structure of the control system of the electric door apparatus of FIG. A graph showing changes in stroke amount, moving speed, and motor current. The block diagram which shows the internal structure of the door pinch detection apparatus by this embodiment. The flowchart which shows the processing procedure of the door pinch detection apparatus by this embodiment.

Hereinafter, embodiments of a door pinch detection device, a railroad door device, and a program will be described with reference to the drawings. In the following, the main components of the door pinch detection device, railroad door device and program will be mainly described, but the components and functions not shown or described in the door pinch detection device, railroad door device and program. Can exist. The following description does not exclude components or functions not shown or described.

(First Embodiment)
FIG. 1 is an external view of an electric door device 2 incorporating a door pinch detection device 1 according to the first embodiment. The electric door device 2 of FIG. 1 is mounted on a railroad vehicle. The electric door device 2 according to the present embodiment can be widely used for applications other than railway vehicles. For example, the electric door device 2 according to the present embodiment can be applied not only to automatic door devices for vehicles, buildings, and facilities, but also to platform doors of houses and the like. In the following, the electric door device 2 mainly mounted on a railroad vehicle will be described in the present specification.

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

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

As shown by the broken line in FIG. 1, a plurality of door rollers 6 are provided inside the door suspension devices 5R and 5L. Each door roller 6 rolls while contacting the upper surface or the lower surface of the guide rail 4.

A door tip rubber 7 made of a soft synthetic rubber material is attached to the door tips of each door leaf 3R and 3L. When the pair of door leaf 3Rs and 3Ls are fully closed, the door leaf rubbers 7 come into contact with each other, and the door leaf rubbers 7 contract with each other to some extent in the contacted state, and then the door leaf 3Rs and 3L stop.

Above the guide rail 4, a right rack gear 8R and a left rack gear 8L are provided along the extending direction of the guide rail 4. The right side bracket 9R is connected to the right rack gear 8R, and when the right rack gear 8R moves left and right, the right side connecting bracket 9R moves left and right along with the movement. Similarly, the left bracket 9L is connected to the left rack gear 8L, and when the left rack gear 8L moves left and right, the left side connecting bracket 9L moves left and right along with the movement. The door suspension device 5R is connected to the right side connection bracket 9R, and the door suspension device 5R and the door leaf 3R move integrally to the left and right in accordance with the left and right movement of the right side connection bracket 9R. Further, the door suspension device 5L is connected to the left side connection bracket 9L, and the door suspension device 5L and the door leaf 3L move integrally to the left and right in accordance with the left and right movement of the left side connection bracket 9L.

The right rack gear 8R and the left rack gear 8L mesh with the pinion gear 10 and perform an action of converting the rotational motion of the pinion gear 10 into a linear motion. The pinion gear 10 is rotated by the driving force of the motor 11.

FIG. 2 is a diagram showing a more specific structure around the motor 11. A sun gear 13 attached to the rotating shaft 12 of the motor 11, a plurality of planetary gears 14 arranged around the sun gear 13 and meshing with the sun gear 13, and a plurality of planetary gears 14 arranged outside the plurality of planetary gears 14. A pinion gear 10 which is an outer gear that meshes with the pinion gear 10 is provided.

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

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

FIG. 3 is a block diagram showing a schematic configuration of the control system of the electric door device 2 of FIG. The control system of the electric door device 2 according to the present embodiment includes a controller 15 including a door pinch detection device 1, a power supply unit 16, and a motor monitor unit 17.

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

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

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

The motor drive unit 23 controls on or off of the transistor that drives the motor 11 based on the PWM signal. For example, when the motor 11 is a three-phase motor 11, the motor drive unit 23 generates a gate signal for turning on or off each of the U-phase, V-phase, and W-phase transistors.
A Hall element 25 is attached in the vicinity of the rotation shaft 12 of the motor 11, and the rotation speed of the motor 11 is detected by the Hall element 25. Further, a motor monitor unit 17 is provided in the vicinity of the motor 11. In addition to the Hall element 25 described above, the motor monitor unit 17 includes a motor current detector 26 for detecting the motor current and a motor voltage detector 27 for detecting the voltage applied to the motor 11.

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

The door pinch detection device 1 detects that a door pinch has occurred at the door tip of the door leaf 3R, 3L when the door leaf 3R, 3L is driven in the closing direction by the driving force of the motor 11.

The electric door device 2 according to the present embodiment may include a transmission unit 28. When the door pinch detection device 1 detects the door pinch, the transmission unit 28 notifies a management device (not shown), a mobile terminal owned by a maintenance worker, or the like that the door pinch has occurred.

FIG. 4 is a graph showing changes in the stroke amount w1, the moving speed w2, and the motor currents w3a, w3b, and w3c of the door leaf 3R and 3L while the door leaf 3R and 3L move from the fully open position to the fully closed position. The horizontal axis of FIG. 4 indicates the position of the door tip of the door leaf 3R and 3L, the waveform w1 on the vertical axis indicates the stroke amount, the waveform w2 indicates the moving speed, and the waveforms w3a, w3b, and w3c indicate the motor current. The stroke amount indicates the distance traveled by the door leaves 3R and 3L. Regarding the motor current, the waveform w3a when the sliding resistance of the door leaf 3R and 3L is the first resistance value, the waveform w3b when the sliding resistance is the second resistance value, and the waveform w3c when the sliding resistance is the third resistance value are shown.

As shown in the waveform w2, the moving speeds of the door leaves 3R and 3L are in the acceleration region immediately after the door leaves 3R and 3L start moving, and the moving speeds linearly increase with time. After that, when it reaches a certain speed, it shifts to a constant speed range in which the speed is maintained for a predetermined period, and then shifts to a deceleration range in which the moving speed decreases with time. In the deceleration range, the speed gradually decreases. The strokes of the door leaves 3R and 3L change in a non-linear curve as shown in the waveform w1 because the moving speed changes.

The waveforms w3a, w3b, and w3c in FIG. 4 are changes in the respective motor current values when the electric door device 2 is closed when the sliding resistances are different. The sliding resistance varies depending on the cant of the stop station of the railway vehicle and the degree of congestion of passengers.

Immediately after the motor current starts moving from the door leaf 3R and 3L fully open positions toward the closing direction, the motor current fluctuates greatly due to the influence of disturbance. After that, the motor current gradually decreases, and once the moving speeds of the door leaves 3R and 3L shift to the deceleration region, the motor current fluctuates greatly once, and then gradually decreases. When the door leaf 3R and 3L reach the vicinity of full closure, the door rubbers of the door leaf 3R and 3L come into contact with each other, so that the motor current rapidly increases. As can be seen from the waveforms w3a, w3b, and w3c, the motor current differs depending on the sliding resistance, but the tendency of the motor current to change is the same. Regardless of the sliding resistance, the motor current suddenly increases just before the door leaves 3R and 3L are fully closed.

Although not shown in the graph of FIG. 4, if the door is pinched near the fully closed door leaves 3R and 3L, the motor current further increases. Therefore, the door pinch detection device 1 according to the present embodiment sets a threshold value for detecting the door pinch in the vicinity of the fully closed door leaf 3R and 3L. The threshold value to be set is set to a value larger than the motor current when the door is not pinched. However, as can be seen from the waveforms w3a, w3b, and w3c, the motor current changes according to the sliding resistance of the door leaf 3R and 3L, so a threshold value is set in consideration of the sliding resistance of the door leaf 3R and 3L.

FIG. 4 shows a threshold value w4a corresponding to the motor current of the waveform w3a, a threshold value w4b corresponding to the motor current of the waveform w3b, and a threshold value w4c corresponding to the motor current of the waveform w3c. The door pinch detection device 1 according to the present embodiment determines that the door pinch has occurred when the motor current in the vicinity of the fully closed door leaf 3R and 3L exceeds the threshold value.

FIG. 5 is a block diagram showing an internal configuration of the door pinch detection device 1 according to the present embodiment. As shown in FIG. 5, the door pinch detection device 1 includes a first acquisition unit 31, a threshold value setting unit 32, a second acquisition unit 33, and a determination unit 34.

The first acquisition unit 31 acquires the first current value flowing through the motor 11 during the first period during the closing operation of the door leaf 3R and 3L. The first period is, for example, a period including a constant speed range of the moving speeds of the door leaves 3R and 3L shown in FIG. 4, and may be referred to as a current collecting area in the present specification. As shown in FIG. 5, the motor current is relatively stable during the period of the constant speed range, and by acquiring the motor current within this period, it is possible to acquire the motor current with less influence of disturbance.

The first period may be a period within the acceleration region after the door starts moving in the closing direction or a period within the constant speed region after shifting from the acceleration region. As shown in FIG. 4, since the motor current fluctuates greatly immediately after the start of the acceleration region, it is better not to acquire the motor current during this period, but the fluctuation of the motor current is small from the middle to the end of the acceleration region. Therefore, the acceleration region may be included in the first period. Similarly, when the moving speed shifts from the constant speed range to the deceleration range, as shown in FIG. 4, the fluctuation of the motor current is small for a while after shifting to the deceleration range. A part of the deceleration range of the moving speed of 3 L may be included.

The first acquisition unit 31 may acquire the first current value within the first period each time the door leaves 3R and 3L are moved from the fully open position to the closing direction. In this case, the threshold value setting unit 32 may reset the threshold value based on the first current value acquired by the first acquisition unit 31 each time the door leaf 3R or 3L is moved from the fully open position to the closing direction. .. In this way, by resetting the threshold value each time the door leaves 3R and 3L are closed, the optimum threshold value can be set without being affected by the aged deterioration of the electric door device 2.

The first acquisition unit 31 may acquire the first current value in the first period when the door leaf 3R and 3L are driven in the closing direction immediately after the door leaf 3R and 3L (electric door device 2) are started. The threshold value setting unit 32 may set the threshold value based on the first current value acquired by the first acquisition unit 31 when driving the door leaf 3R and 3L in the closing direction immediately after the door leaf 3R and 3L are activated. .. In the case of the electric door device 2 for railways, the sliding resistance fluctuates because there are passengers leaning against the door leaves 3R and 3L and passengers pressed against the door leaves 3R and 3L due to congestion. Therefore, the motor current is easily affected by the fluctuation of the sliding resistance when the passenger is on board. In addition, the sliding resistance of the door leaves 3R and 3L may fluctuate due to the height difference of the cant that differs from station to station. Therefore, the first acquisition unit 31 acquires the motor current in a situation where the influence of the fluctuation of the sliding resistance is small, such as immediately after the door leaf 3R and 3L are started, so that the motor is not affected by the fluctuation of the sliding resistance. You can get the current.

The threshold value setting unit 32 sets a threshold value for determining the door pinch based on the first current value acquired by the first acquisition unit 31. The threshold value set by the threshold value setting unit 32 is provided for comparison with the motor current in the vicinity of the door leaf 3R and 3L fully closed. As described above, the threshold value setting unit 32 is the motor when the door leaf 3R and 3L are located near the fully closed state based on the actual value of the motor current in the state where the door leaf 3R and 3L have not reached the fully closed state yet. Set the current threshold.

The reason for providing the threshold value setting unit 32 is as follows. In the electric door device 2, the sliding resistance gradually changes during operation, the driving force of the motor 11 decreases, and even if the door leaves 3R and 3L are moved at the same speed, the motor current Are not always the same. Therefore, the threshold value of the motor current is set based on the actual value of the motor current at the present time.

The threshold value setting unit 32 sets the threshold value based on at least one of the average value, the median value, the mode value, or the integrated value of the current values flowing through the motor 11 within the first period. The motor current fluctuates not only with the sliding resistance of the door leaves 3R and 3L and the driving force of the motor 11, but also with environmental conditions such as temperature and power supply voltage. Therefore, the threshold value setting unit 32 determines the motor current to be compared with the threshold value in anticipation that the motor current will change within the first period. For example, if the motor current does not fluctuate significantly temporarily within the first period, the average value may be taken. On the contrary, when the motor current fluctuates greatly temporarily within the first period, if the average value is taken, it is affected by the temporary fluctuation of the motor current. Therefore, in such a case, it is desirable to take the median or mode. Further, when the motor current itself is small, an integrated value may be taken.

If the power supply voltage supplied to the motor 11 fluctuates, the motor current may also be affected. Therefore, the threshold value setting unit 32 may set the threshold value in consideration of the power supply voltage detected by the voltage detector. That is, the threshold value setting unit 32 may set the threshold value based on the drive voltage of the motor 11 within the first period. In general, the larger the drive voltage of the motor 11, the larger the motor current. Therefore, it is desirable that the threshold setting unit 32 sets the threshold value larger as the drive voltage increases.

The second acquisition unit 33 acquires the second current value flowing through the motor 11 in the second period after the first period during the closing operation of the door leaf 3R and 3L. The second period is, for example, as shown in FIG. 4, a period in which the door leaves 3R and 3L are located near the fully closed position and the motor current rapidly increases. Since the position where the motor current suddenly increases before the door leaf 3R and 3L are fully closed differs for each electric door device 2, it is recommended to set the second period individually for each electric door device 2. desirable. The second period is, for example, a period located in the range of several tens of mm to several mm before being fully closed.

The determination unit 34 determines whether or not door pinching has occurred by comparing the acquired second current value with the set threshold value. More specifically, the determination unit 34 determines that the door is pinched by the current flowing through the motor 11 within the second period, or that the door is pinched based on the speed of the door. It is determined that the door is pinched at least in one of the cases.

The door pinch detection device 1 according to the present embodiment may include a period specifying unit 35. The period specifying unit 35 specifies the first period and the second period based on at least one of the moving speed, the moving distance, or the moving time during the closing operation of the door leaf 3R and 3L. For example, the period specifying unit 35 may specify the first period and the second period based on the stroke amounts of the door leaves 3R and 3L detected by the stroke detector (not shown). The stroke detector detects the stroke based on, for example, the rotation speed of the motor 11 detected by the hall signal detector 24. Alternatively, the period specifying unit 35 may specify the first period and the second period according to the movement time from the fully opened position of the door leaf 3R and 3L. Alternatively, the period specifying unit 35 may specify the first period and the second period according to the moving speeds of the door leaves 3R and 3L.

The door pinch detection device 1 according to the present embodiment may include a storage unit 36. The storage unit 36 measures at least one measured value of the average value, the median value, the mode value, or the integrated value of the current values flowing through the motor 11 when the door is driven in the closed direction and the door is not pinched. The correspondence between the reference threshold value based on the value and the value is stored. Since the current flowing through the motor 11 changes due to the sliding resistance of the door leaves 3R and 3L, for example, a plurality of weights having different weights are attached to the door suspension devices 5R and 5L instead to simulate the sliding resistance. The correspondence between the motor current and the reference threshold value is obtained in advance and stored in the storage unit 36. In this case, the threshold setting unit 32 sets the correspondence relationship stored in the storage unit 36 to at least one of the average value, the median value, the mode value, or the integrated value of the current values flowing through the motor 11 within the first period. Based on that, the threshold is set. By providing the storage unit 36 in this way, the threshold value previously set by the threshold value setting unit 32 can be stored in the storage unit 36 and reused.

As described above, in the door pinch detection device 1 according to the present embodiment, the door leaf 3R and 3L start to move in the closing direction, a threshold value is set based on the motor current acquired within the first period, and the set threshold value is used. It is assumed that the threshold value will be compared with the motor current within the second period thereafter, but it is the process of the electric door device 2 to reset the threshold value each time the door leaf 3R and 3L are moved from the fully open position to the closed direction. Since the burden is heavy, the threshold value setting unit 32 resets the threshold value once every time the door leaf 3R and 3L are closed a plurality of times, and the threshold value set by the threshold value setting unit 32 is stored in the storage unit 36. Then, if necessary, the threshold value stored in the storage unit 36 may be read out and compared with the motor current. By providing the storage unit 36 in this way, it is not necessary to reset the threshold value each time the door leaves 3R and 3L are closed, and the processing load of the door pinch detection device 1 can be reduced.

Further, the storage unit 36 may store the current flowing through the motor 11 (hereinafter, referred to as a first current value) when the door is pinched in the past. In this case, the threshold value setting unit 32 sets the threshold value based on the first current value stored in the storage unit 36. For example, the threshold value setting unit 32 may use a value obtained by multiplying the first current value by a coefficient larger than 0 and smaller than 1 as the threshold value. During actual operation of the electric door device 2, the second acquisition unit 33 acquires the current flowing through the motor 11 (hereinafter referred to as a second current value) when the door is closed. The determination unit 34 determines whether or not door pinching has occurred by comparing the acquired second current value with the threshold value set by the threshold value setting unit 32. As a result, it is not necessary to reset the threshold value each time the door leaves 3R and 3L are moved from the fully open position to the closed direction, and the processing operation of the door pinch detection can be simplified.

FIG. 6 is a flowchart showing a processing procedure of the door pinch detection device 1 according to the present embodiment. The processing of this flowchart is started when the door leaves 3R and 3L start to move from the fully open position to the closing direction. More specifically, when a closing command is received from a higher-level device of a railroad vehicle, the electric door device 2 starts the closing operation of the door leaf 3R and 3L, and the door pinch detection device 1 starts the processing of FIG. ..

First, the first acquisition unit 31 determines whether or not the door leaves 3R and 3L have reached the start position of the first period (step S1). The process of step S1 is repeated until the door leaves 3R and 3L reach the start position of the first period. When the start position of the first period is reached, the acquisition of the motor current is started, and the motor current is continuously acquired within the first period (step S2). The process of step S2 is performed by the first acquisition unit 31.

Next, it is determined whether or not the first period has ended (step S3). When it is determined that the first period has ended, the first acquisition unit 31 stops acquiring the motor current (step S4).

Subsequently, the threshold value setting unit 32 sets the threshold value based on the motor current acquired by the first acquisition unit 31 (step S5). For example, the threshold setting unit 32 may set the threshold value based on at least one of the average value, the median value, the mode value, or the integrated value of the motor currents in the first period. For example, a value obtained by multiplying the average value of the cumulatively added values of the motor currents in the first period by a predetermined coefficient may be used as the threshold value. The predetermined coefficient is a value larger than 0 and less than 1, and is a value set from, for example, the past operation results of the electric door device 2. Alternatively, the threshold value may be a value obtained by multiplying the median value of the motor current within the first period by a predetermined coefficient. Alternatively, the current values of the motor currents in the first period may be classified in order of frequency, and the value obtained by multiplying the most frequent motor current by a predetermined coefficient may be used as the threshold value. Alternatively, a value obtained by multiplying the cumulative addition value (integral value) of the motor current within the first period by a predetermined coefficient may be used as the threshold value. The coefficient in this case should be smaller than the coefficient for obtaining the threshold value from the average value.

After that, it is determined whether or not the door leaves 3R and 3L have reached the start position of the second period (step S6). The process of step S6 is repeated until the door leaves 3R and 3L reach the start position of the second period. When the start position of the second period is reached, the second acquisition unit 33 detects the motor current. Then, the determination unit 34 compares with the threshold value set in step S5 (step S7). If the motor current exceeds the threshold value, it is detected that the door is pinched (step S8). In this case, a predetermined notification process for notifying a management device (not shown) or a maintenance worker that a door pinch has occurred is performed.

If the motor current does not exceed the threshold value in step S7, it is determined that the door pinching has not occurred, and it is determined whether or not the second period has ended (step S9). If the second period has not ended yet, the process returns to step S7, and when the second period ends, the process of FIG. 6 ends.

As described above, in the present embodiment, after the door leaves 3R and 3L start to move in the closing direction, the motor current is acquired and the threshold value is set within the first period. After that, within the second period before the door leaves 3R and 3L reach the fully closed position, the motor current is acquired again and compared with the threshold value. If the motor current exceeds the threshold value, it is determined that the door is pinched. do. According to the present embodiment, the threshold value for detecting the door pinch is set by the motor current within the first period shortly after the door leaves 3R and 3L are closed, so that the motor current fluctuates due to aging, environmental conditions, and the like. Even in this case, the threshold value can be set by the motor current after the fluctuation, and the threshold value can be set so that it can be accurately determined whether or not the door is pinched.

At least a part of the door pinch detection device 1 and the railroad door device described in the above-described embodiment may be configured by hardware or software. When configured with software, a program that realizes at least a part of the functions of the door pinch detection device 1 and the railroad door device is stored in a recording medium such as a flexible disk or CD-ROM, and is read by a computer and executed. You may. The recording medium is not limited to a removable one such as a magnetic disk or an optical disk, and may be a fixed recording medium such as a hard disk device or a memory.

Further, a program that realizes at least a part of the functions of the door pinch detection device 1 and the railroad door device may be distributed via a communication line (including wireless communication) such as the Internet. Further, the program may be encrypted, modulated, compressed, and distributed via a wired line or a wireless line such as the Internet, or stored in a recording medium.

The aspects of the present disclosure are not limited to the individual embodiments described above, but also include various modifications that can be conceived by those skilled in the art, and the effects of the present disclosure are not limited to the above-mentioned contents. That is, various additions, changes and partial deletions are possible without departing from the conceptual idea and purpose of the present disclosure derived from the contents specified in the claims and their equivalents.

1 Door pinch detector, 2 Electric door device, 3R, 3L door leaf, 4 guide rail, 5R, 5L door suspension device, 6 door car, 7 door tip rubber, 8R, 8L rack gear, 9R, 9L bracket, 10 pinion gear, 11 motor, 12 rotary shaft, 13 sun gear, 14 planetary gear, 15 controller, 16 power supply unit, 17 motor monitor unit, 18 door open / close control unit, 19 command unit, 21 power supply voltage detection unit, 22 PWM control unit, 23 motor Drive unit, 24-hole signal detector, 25-hole element, 26 motor current detector, 27 motor voltage detector, 31 1st acquisition unit, 32 threshold setting unit, 33 2nd acquisition unit, 34 judgment unit, 35 period identification unit , 36 Memory

Claims (14)

It is a door pinch detection device that detects a door pinch when the door is driven in the closed direction by the driving force of the motor.
A first acquisition unit that acquires a first current value flowing through the motor during the first period during the closing operation of the door, and a first acquisition unit.
A threshold value setting unit for setting a threshold value for determining the door pinch based on the acquired first current value, and a threshold value setting unit.
A second acquisition unit that acquires a second current value flowing through the motor in a second period after the first period during the closing operation of the door, and a second acquisition unit.
A door pinch detection device including a determination unit for determining whether or not the door pinch has occurred by comparing the acquired second current value with the set threshold value. The door pinch detection device according to claim 1, wherein the first period includes a period in which the door is moving at a constant speed after the door starts moving in the closing direction. The door pinch detection device according to claim 2, wherein the first period is a period in the acceleration region after the door starts moving in the closing direction or a period in the constant speed region shifted from the acceleration region. The threshold setting unit sets the threshold value based on at least one of an average value, a median value, a mode value, or an integrated value of current values flowing through the motor within the first period. The door pinch detection device according to any one of 3. Based on at least one measured value of the average value, median value, mode value, or integrated value of the current value flowing through the motor when the door is driven in the closed direction and the door is not pinched, and the measured value. Equipped with a storage unit that stores the correspondence between the reference threshold and
The threshold setting unit is based on the correspondence relationship stored in the storage unit and at least one of an average value, a median value, a mode value, or an integrated value of the current values flowing through the motor during the first period. The door pinch detection device according to any one of claims 1 to 4, wherein the threshold value is set. The door pinch detection device according to any one of claims 1 to 5, wherein the threshold value setting unit sets the threshold value based on the drive voltage of the motor within the first period. One of claims 1 to 6, comprising a period specifying unit that specifies the first period and the second period based on at least one of the moving speed, the moving distance, or the moving time during the closing operation of the door. The door pinch detection device according to item 1. The first acquisition unit acquires the first current value in the first period each time the door is moved from the fully open position to the closing direction.
The threshold setting unit sets the threshold value again based on the first current value acquired by the first acquisition unit each time the door is moved from the fully open position to the closing direction, according to claims 1 to 7. The door pinch detection device according to any one of the items. The first acquisition unit acquires the first current value during the first period when the door is driven in the closing direction immediately after the door is activated.
The threshold setting unit sets the threshold value based on the first current value acquired by the first acquisition unit when the door is driven in the closing direction immediately after the door is activated. The door pinch detection device according to any one of 7. When the determination unit determines that the door is pinched by the current flowing through the motor within the second period, or is determined that the door is pinched based on the speed of the door. The door pinch detection device according to any one of claims 1 to 9, wherein it is determined that the door pinch has occurred at at least one of the above. It is a door pinch detection device that detects a door pinch when the door is driven in the closed direction by the driving force of the motor.
A storage unit that stores the first current value flowing through the motor when the door is closed in the past,
A threshold value setting unit that sets a threshold value based on the first current value stored in the storage unit, and a threshold value setting unit.
An acquisition unit that acquires the second current value flowing through the motor when the door is closed, and
A door pinch detection device including a determination unit for determining whether or not the door pinch has occurred by comparing the acquired second current value with the set threshold value. Doors on railroad cars and
A motor that opens and closes the door,
A door open / close control unit that controls the motor,
A railroad door device including a door pinch detecting unit for detecting a door pinch when the door is driven in the closed direction by the driving force of the motor.
The door pinch detection unit is
A first acquisition unit that acquires a first current value flowing through the motor during the first period during the closing operation of the door, and a first acquisition unit.
A threshold value setting unit for setting a threshold value for determining the door pinch based on the acquired first current value, and a threshold value setting unit.
A second acquisition unit that acquires a second current value flowing through the motor in a second period after the first period during the closing operation of the door, and a second acquisition unit.
A railroad door device comprising a determination unit for determining whether or not the door pinch has occurred by comparing the acquired second current value with the set threshold value. It is a program that causes a computer to detect a door pinch when the door is driven in the closed direction by the driving force of the motor.
The procedure for acquiring the first current value flowing through the motor during the first period during the closing operation of the door, and
A procedure unit for setting a threshold value for determining the door pinch based on the acquired first current value, and a procedure unit.
A procedure for acquiring a second current value flowing through the motor in a second period after the first period during the closing operation of the door, and a procedure for acquiring the value of the second current flowing through the motor.
A program for causing the computer to execute a procedure for determining whether or not the door pinching has occurred by comparing the acquired second current value with the set threshold value. When the door resumes driving in the closing direction after it is determined that the door is pinched, the first current value is reacquired and the threshold value is reset until the door moves to the fully closed position. The program according to claim 13, which discontinues the operation.

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