Door object detection device, railway door device and storage medium

Abstract

The present invention provides a door jam detection device, a railway door device, and a storage medium. It is simple and accurate to detect whether a door jam has occurred. The door jam detection device for detecting a door jam when a door is driven in a closing direction by the driving force of a motor comprises: a first acquisition unit, which acquires a first current value flowing through the motor during a first period of the door closing action; a threshold setting unit, which sets a threshold for determining door jam based on the acquired first current value; a second acquisition unit, which acquires a second current value flowing through the motor during a second period of the door closing action, the second period being a period after the first period; and a determination unit, which determines whether a door jam has occurred by comparing the acquired second current value with the set threshold value.

Description

Technical Field

[0001] One embodiment of the present invention relates to a door jam detection device, a railway door device, and a storage medium. Background Art

[0002] The electric door device is equipped with a door jam detection device for detecting the contact between a person or an object and the closed end of the door leaf. In the conventional door jam detection devices, there are a method of detecting the door jam based on the moving speed of the door leaf, and a method of detecting the door jam based on the current flowing through the motor that generates the driving force for moving the door leaf (hereinafter referred to as the motor current).

[0003] In the case of detecting door jams based on the moving speed of the door leaf, when door jams occur, the moving speed of the door leaf becomes zero, so if the moving speed becomes zero, it is determined that door jams occur. In addition, in the case of detecting door jams based on the motor current, when door jams occur, the motor current increases sharply, so when the motor current exceeds a specified threshold, it is determined that door jams occur.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-93901 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] The closed end of the door leaf is equipped with a closed end rubber to make the contact between the closed end and a person or object soft. Even if a person or an object touches the closed end rubber, the moving speed of the door leaf will not immediately become zero, but the door leaf will move at a low speed within the range that the closed end rubber can shrink. Similarly, when the door leaf is fully closed, even if the closed end rubbers of the left and right door leaves touch each other, the door leaf will move at a low speed for a period of time. Therefore, if only the moving speed of the door is used, it may not be possible to accurately determine whether a door jam has occurred.

[0009] On the other hand, the motor current is also prone to change due to various reasons. Even if the motor current is compared with the threshold value to detect the door jam, it is impossible to accurately detect the door jam when the motor current changes greatly. For example, the motor current changes according to the sliding resistance of the door leaf and the driving force of the motor. However, the sliding resistance of the door leaf and the driving force of the motor are not always fixed and will change over the years. Therefore, when detecting the door jam based on the motor current, it is necessary to consider the change of the motor current due to the degradation over the years.

[0010] Therefore, in one embodiment of the present invention, a door jam detection device, a railway door device, and a storage medium are provided, which are capable of simply and accurately detecting whether door jam has occurred.

[0011] Solutions for solving problems

[0012] In order to solve the above-mentioned problem, according to one embodiment of the present invention, a door jam detection device is provided, which detects door jam when a door is driven in a closing direction by a driving force of a motor, and the door jam detection device comprises:

[0013] a first acquisition unit for acquiring a first current value flowing through the motor during a first period of a closing operation of the door;

[0014] a threshold setting unit, which sets a threshold for determining whether the door jam exists based on the first current value obtained;

[0015] a second acquisition unit that acquires a second current value flowing through the motor during a second period during the closing operation of the door, the second period being a period after the first period; and

[0016] A determination unit determines whether the door jam has occurred by comparing the acquired second current value with the set threshold value.

[0017] The first period may include a period during which the door moves at a constant speed after the door starts moving in the closing direction.

[0018] The first period may be a period in an acceleration region after the door starts moving in the closing direction, or a period in a constant speed region after transition from the acceleration region.

[0019] The threshold setting unit may set the threshold based on at least one of an average value, a median value, a mode value, and an integrated value of the current value flowing through the motor during the first period.

[0020] Alternatively, the device further comprises a storage unit, wherein the storage unit stores a correspondence between a measurement value and a reference threshold value based on the measurement value, wherein the measurement value is a measurement value of at least one of an average value, a median value, a mode value, and an integral value of a current value flowing through the motor when no door jam occurs when the door is driven in a closing direction,

[0021] The threshold setting unit sets the threshold based on at least one of an average value, a median value, a mode value, and an integrated value of the current value flowing through the motor in the first period and the correspondence relationship stored in the storage unit.

[0022] The threshold setting unit may set the threshold based on a drive voltage of the motor during the first period.

[0023] The invention may further include a period determination unit that determines the first period and the second period based on at least one of a moving speed, a moving distance, and a moving time of the door during a closing operation.

[0024] Alternatively, the first acquisition unit may acquire the first current value during the first period every time the door is moved from the fully open position to the closing direction.

[0025] The threshold setting unit resets the threshold based on the first current value acquired by the first acquisition unit every time the door is moved from the fully open position to the closing direction.

[0026] Alternatively, 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 started.

[0027] The threshold setting unit sets the threshold 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.

[0028] Alternatively, the determination unit determines that door jam has occurred in the door when at least one of the following situations occurs: determining that door jam has occurred based on the current flowing through the motor during the second period; and determining that door jam has occurred based on the speed of the door.

[0029] In another aspect of the present invention, a door jam detection device is provided for detecting door jam when a door is driven in a closing direction by a driving force of a motor, the door jam detection device comprising:

[0030] a storage unit that stores a first current value that flowed through the motor in the past when the door was closed;

[0031] a threshold value setting unit that sets a threshold value based on the first current value stored in the storage unit; an acquisition unit that acquires a second current value flowing through the motor when the door is closed; and

[0032] A determination unit determines whether the door jam has occurred by comparing the acquired second current value with the set threshold value.

[0033] In another aspect of the present invention, there is provided a railway door device comprising:

[0034] Doors, which are provided on railway vehicles;

[0035] a motor, which causes the door to open and close;

[0036] a door opening and closing control unit that controls the motor; and

[0037] a door jam detector for detecting door jams when the door is driven in a closing direction by the driving force of the motor,

[0038] In the railway door device,

[0039] The door object detection unit comprises:

[0040] a first acquisition unit for acquiring a first current value flowing through the motor during a first period of a closing operation of the door;

[0041] a threshold setting unit, which sets a threshold for determining whether the door jam exists based on the first current value obtained;

[0042] a second acquisition unit that acquires a second current value flowing through the motor during a second period during the closing operation of the door, the second period being a period after the first period; and

[0043] A determination unit determines whether the door jam has occurred by comparing the acquired second current value with the set threshold value.

[0044] In one embodiment of the present invention, a computer-readable storage medium is provided, storing a computer program for detecting an object stuck in a door when the door is driven in a closing direction by a driving force of a motor, wherein the storage medium is characterized in that when the program is executed by a processor, the following steps are performed:

[0045] acquiring a first current value flowing through the motor during a first period of a closing action of the door;

[0046] Setting a threshold for determining whether the door is jammed based on the first current value obtained;

[0047] acquiring a second current value flowing through the motor during a second period during the closing operation of the door, the second period being a period after the first period; and

[0048] By comparing the acquired second current value with the set threshold value, it is determined whether the door jam has occurred.

[0049] Alternatively, when the door starts to be driven in the closing direction again after it is determined that the door jam has occurred, re-acquisition of the first current value and re-setting of the threshold may be suspended until the door moves to the fully closed position. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is an external view showing an electric door device in which the door jam detection device according to the first embodiment is built-in.

[0051] Figure 2 This is a diagram showing the structure of the periphery of the motor in more detail.

[0052] Figure 3 It is shown Figure 1 A block diagram showing the schematic structure of a control system for an electric door device.

[0053] Figure 4 It is a graph showing changes in the stroke amount, the moving speed, and the motor current.

[0054] Figure 5 1 is a block diagram showing the internal structure of the door jam detection device according to the present embodiment.

[0055] Figure 6 1 is a flowchart showing the processing procedure of the door jam detection device according to the present embodiment.

[0056] Description of Reference Numerals

[0057] 1: Door jam detection device; 2: Electric door device; 3R, 3L: Door leaf; 4: Guide rail; 5R, 5L: Door suspension device; 6: Pulley; 7: Closing end rubber; 8R, 8L: Rack; 9R, 9L: Bracket; 10: Pinion; 11: Motor; 12: Rotating shaft; 13: Sun gear; 14: Planetary gear; 15: Controller; 16: Power supply unit; 17: Motor monitor unit; 18: Door opening and closing control unit; 19: Command unit; 21: Power supply voltage detection unit; 22: PWM control unit; 23: Motor drive unit; 24: Hall signal detector; 25: Hall element; 26: Motor current detector; 27: Motor voltage detector; 31: First acquisition unit; 32: Threshold setting unit; 33: Second acquisition unit; 34: Determination unit; 35: Period determination unit; 36: Storage unit. DETAILED DESCRIPTION

[0058] The following describes the implementation of the door jam detection device, the railway door device, and the program with reference to the accompanying drawings. The following description focuses on the main components of the door jam detection device, the railway door device, and the program, but the door jam detection device, the railway door device, and the program may contain components and functions that are not shown or described. The following description does not exclude components and functions that are not shown or described.

[0059] (First Embodiment)

[0060] Figure 1This is an external view of an electric door device 2 in which the door jam detection device 1 according to the first embodiment is incorporated. Figure 1 The electric door device 2 is installed in a railway vehicle. In addition, the electric door device 2 of this embodiment can be widely used for purposes other than railway vehicles. For example, the electric door device 2 of this embodiment can be applied to the doors of houses, etc. in addition to being applied to automatic door devices of vehicles, buildings, and facilities. Below, in this specification, the electric door device 2 installed in a railway vehicle is mainly described.

[0061] Figure 1 The electric door device 2 has a pair of door leaves 3R and 3L as sliding doors. The door leaves 3R and 3L are arranged to be movable in the left and right directions shown in the figure. A guide rail 4, a door suspension device 5R supporting the right door leaf 3R, and a door suspension device 5L supporting the left door leaf 3L are arranged above the door leaves 3R and 3L.

[0062] The door suspension device 5R and the door leaf 3R are provided so as to be integrally movable along the guide rail 4. In addition, the door suspension device 5L and the door leaf 3L are provided so as to be integrally movable along the guide rail 4. In this specification, at least one of the pair of door leaves 3R and 3L may be referred to as simply a door.

[0063] like Figure 1 As shown by the dotted line, a plurality of pulleys 6 are provided inside the door suspension devices 5R and 5L. Each pulley 6 rolls while contacting the upper surface or the lower surface of the guide rail 4.

[0064] A closed end rubber 7 made of a soft synthetic rubber material is installed at the closed end of each door leaf 3R, 3L. When a pair of door leaves 3R, 3L are completely closed, the closed end rubbers 7 contact each other, and after the closed end rubbers 7 shrink to a certain extent while in contact with each other, the door leaves 3R, 3L stop.

[0065] Above the guide rail 4, a right rack 8R and a left rack 8L are provided along the direction in which the guide rail 4 extends. A right bracket 9R is connected to the right rack 8R, and when the right rack 8R moves left and right, the right bracket 9R moves left and right along with the movement. Similarly, a left bracket 9L is connected to the left rack 8L, and when the left rack 8L moves left and right, the left bracket 9L moves left and right along with the movement. A door suspension device 5R is connected to the right bracket 9R, and the door suspension device 5R and the door leaf 3R move left and right as a whole in coordination with the left and right movement of the right bracket 9R. In addition, a door suspension device 5L is connected to the left bracket 9L, and the door suspension device 5L and the door leaf 3L move left and right as a whole in coordination with the left and right movement of the left bracket 9L.

[0066] The right rack 8R and the left rack 8L mesh with the pinion 10 and play a role of converting the rotational motion of the pinion 10 into a linear motion. The pinion 10 is rotated by the driving force of the motor 11.

[0067] Figure 2 1 is a diagram showing more specifically the structure of the periphery of the motor 11. A sun gear 13 mounted on 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 pinion gear 10 which is an external gear arranged outside the plurality of planetary gears 14 and meshing with the plurality of planetary gears 14 are provided.

[0068] As described above, when the motor 11 rotates, its rotational force is transmitted to the racks 8R and 8L via the pinion 10. When the racks 8R and 8L move left and right according to the rotation of the motor 11, the pair of door leaves 3R and 3L move left and right along the guide rail 4 with the help of the right bracket 9R and the left bracket 9L. Figure 3 The controller 15 is controlled.

[0069] The opening and closing method of the electric door device 2 does not necessarily need to be the rack and pinion method described above, but may be any other method (eg, belt method, screw method, linear motor method, etc.).

[0070] Figure 3 It is shown Figure 1 The control system of the electric door device 2 of the present embodiment includes a controller 15 having a built-in door jam detection device 1, a power supply unit 16, and a motor monitor unit 17.

[0071] The power supply unit 16 has a built-in power supply device that converts the AC voltage supplied from the installed electric wire into a DC voltage. The controller 15 has a door opening and closing control unit 18 and an instruction unit 19. The instruction unit 19 outputs an instruction signal for opening and closing the door leaves 3R and 3L to the door opening and closing control unit 18. The door opening and closing control unit 18 controls the opening and closing of the door leaves 3R and 3L based on the instruction signal.

[0072] The door opening and closing control unit 18 includes a power supply voltage detection unit 21 , a PWM control unit 22 , a motor drive unit 23 , and a Hall signal detector 24 .

[0073] The power supply voltage detection unit 21 detects the voltage level of the DC voltage output from the power supply unit 16. The PWM control unit 22 generates a PWM signal for driving the motor 11 based on the voltage level of the DC voltage detected by the power supply voltage detection unit 21 and the command signal from the command unit 19. More specifically, the PWM control unit 22 generates a PWM signal for controlling the duty ratio of the voltage supplied to the motor 11 based on a reference voltage command pattern corresponding to the command signal and the voltage level of the DC signal detected by the power supply voltage detection unit 21.

[0074] The motor driver 23 controls the on / off of transistors for driving the motor 11 based on the PWM signal. For example, if the motor 11 is a three-phase motor 11, the motor driver 23 generates gate signals for turning on / off transistors of the U-phase, V-phase, and W-phase.

[0075] A Hall element 25 is installed near the rotating shaft 12 of the motor 11, and the Hall element 25 detects the number of revolutions of the motor 11. In addition, a motor monitor unit 17 is provided near the motor 11. The motor monitor unit 17 includes a motor current detector 26 for detecting a motor current and a motor voltage detector 27 for detecting a voltage applied to the motor 11 in addition to the Hall element 25 described above.

[0076] 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 driving unit 23 can feedback control the control timing of turning on or off each transistor driving the motor 11 based on the rotation speed of the motor 11 detected by the Hall signal detector 24 .

[0077] When the door leaves 3R, 3L are driven in the closing direction by the driving force of the motor 11, the door jam detection device 1 detects that a door jam has occurred at the closed ends of the door leaves 3R, 3L.

[0078] The electric door device 2 of this embodiment may include a transmitter 28. When the door jam detection device 1 detects door jam, the transmitter 28 notifies a management device (not shown) or a mobile terminal held by a maintenance worker that door jam has occurred.

[0079] Figure 4 It is a graph showing changes in the stroke amount w1, the moving speed w2, and the motor currents w3a, w3b, and w3c of the doors 3R and 3L while the doors 3R and 3L move from the fully open position to the fully closed position. Figure 4The horizontal axis represents the position of the closed end of the door leaf 3R, 3L, and the vertical axis represents the waveform w1, the waveform w2 represents the moving speed, and the waveforms w3a, w3b, and w3c represent the motor current. The stroke represents the distance moved by the door leaf 3R, 3L. Regarding the motor current, the waveform w3a when the sliding resistance of the door leaf 3R, 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.

[0080] As for the moving speed of the door leaves 3R and 3L, as shown in the waveform w2, the door leaves 3R and 3L enter the acceleration zone immediately after they start to move, and the moving speed increases linearly with time. After that, when a certain speed is reached, it changes to the constant speed zone where the speed is maintained for a predetermined period, and then changes to the deceleration zone where the moving speed decreases with time. In the deceleration zone, the speed decreases gradually. As the moving speed changes, the stroke of the door leaves 3R and 3L changes in a nonlinear curve as shown in the waveform w1.

[0081] Figure 4 Waveforms w3a, w3b, and w3c show changes in the motor current values ​​when the electric door device 2 is closed at different sliding resistances. The sliding resistance varies depending on the rail cant at the station where the railway vehicle stops and the degree of passenger congestion.

[0082] Immediately after the door leaves 3R and 3L start to move from the fully open position to the closed direction, the motor current changes greatly due to the influence of external interference. After that, the motor current gradually decreases, and when the moving speed of the door leaves 3R and 3L changes to the deceleration area, it changes greatly for a short time and then gradually decreases. When the door leaves 3R and 3L are close to being fully closed, the motor current increases sharply because the rubbers of the closed ends of the door leaves 3R and 3L are in contact with each other. As can be seen from the waveforms w3a, w3b, and w3c, although the motor current varies depending on the sliding resistance, the tendency of the motor current change is the same. Regardless of the sliding resistance, the motor current will increase sharply just before the door leaves 3R and 3L are fully closed.

[0083] exist Figure 4 Although not recorded in the graph, when a door jam occurs near the fully closed state of the door leaves 3R, 3L, the motor current further increases. Therefore, the door jam detection device 1 of the present embodiment sets a threshold value for detecting a door jam near the fully closed state of the door leaves 3R, 3L. The set threshold value is set to a value greater than the motor current when no door jam occurs. However, as can be seen from waveforms w3a, w3b, and w3c, since the motor current varies according to the sliding resistance of the door leaves 3R, 3L, a threshold value obtained by taking the sliding resistance of the door leaves 3R, 3L into consideration is set.

[0084] Figure 4 The threshold w4a corresponding to the motor current of waveform w3a, the threshold w4b corresponding to the motor current of waveform w3b, and the threshold w4c corresponding to the motor current of waveform w3c are shown. The door jam detection device 1 of this embodiment determines that door jam has occurred when the motor current near the fully closed state of the door leaves 3R, 3L exceeds the threshold.

[0085] Figure 5 1 is a block diagram showing the internal structure of the door jam detection device 1 of this embodiment. Figure 5 As shown, the door jam detection device 1 includes a first acquisition unit 31 , a threshold setting unit 32 , a second acquisition unit 33 , and a determination unit 34 .

[0086] The first acquisition unit 31 acquires a first current value flowing through the motor 11 during a first period of the closing operation of the doors 3R and 3L. The first period is, for example, Figure 4 The period including the constant speed area of ​​the moving speed of the door leaves 3R and 3L shown in FIG. 1 is sometimes referred to as the current collection area in this specification. Figure 5 As shown, during the constant speed region, the motor current is relatively stable, and by acquiring the motor current during this period, it is possible to acquire the motor current that is less affected by external disturbances.

[0087] The first period may also be a period in the acceleration region after the door starts to move in the closing direction, or a period in the constant speed region after the door changes from the acceleration region. Figure 4 As shown in FIG. 1 , the motor current changes greatly just after the acceleration zone begins, so it is better not to obtain the motor current during this period. The motor current changes less in the middle stage to the final stage of the acceleration zone. Therefore, the acceleration zone can also be included in the first period. Similarly, when the moving speed changes from the constant speed zone to the deceleration zone, as shown in FIG. Figure 4 As shown, since the motor current fluctuates little in a period after the transition to the deceleration region, the first period may include a portion of the deceleration region of the moving speed of the doors 3R and 3L.

[0088] The first acquisition unit 31 may also acquire the first current value in the first period each time the door leaves 3R, 3L are moved from the fully open position to the closing direction. In this case, the threshold setting unit 32 may also reset the threshold value based on the first current value acquired by the first acquisition unit 31 each time the door leaves 3R, 3L are moved from the fully open position to the closing direction. In this way, by resetting the threshold value each time the door leaves 3R, 3L are closed, the optimal threshold value can be set without being affected by the aging degradation of the electric door device 2.

[0089] The first acquisition unit 31 may also acquire the first current value during the first period when the door leaves 3R and 3L are driven in the closing direction immediately after the door leaves 3R and 3L (electric door device 2) are started. The threshold setting unit 32 may also set the threshold value based on the first current value acquired by the first acquisition unit 31 when the door leaves 3R and 3L are driven in the closing direction immediately after the door leaves 3R and 3L are started. In the case of the electric door device 2 for railways, the sliding resistance changes due to the presence of passengers leaning against the door leaves 3R and 3L and passengers pushing the door leaves 3R and 3L due to congestion. Therefore, when passengers are on the train, the motor current is easily affected by the change in sliding resistance. In addition, the sliding resistance of the door leaves 3R and 3L may also change due to the height difference of the rail bottom slope at each station. Therefore, the first acquisition unit 31 can acquire the motor current without being affected by the change in sliding resistance by acquiring the motor current under the condition where the influence of the change in sliding resistance is small, such as immediately after the door leaves 3R and 3L are started.

[0090] The threshold setting unit 32 sets a threshold value for determining door jam based on the first current value acquired by the first acquisition unit 31. The threshold value set by the threshold setting unit 32 is provided for comparison with the motor current when the door leaves 3R and 3L are near fully closed. In this way, the threshold setting unit 32 sets the threshold value of the motor current when the door leaves 3R and 3L are near fully closed based on the actual value of the motor current when the door leaves 3R and 3L are near fully closed.

[0091] The reason for setting the threshold setting unit 32 is as follows. During the operation of the electric door device 2, the sliding resistance gradually changes, or the driving force of the motor 11 decreases, so even if the door leaves 3R and 3L are moved at the same speed, the motor current may not be the same. Therefore, the threshold value of the motor current is set based on the actual value of the motor current at the current time point.

[0092] The threshold setting unit 32 sets the threshold value based on at least one of the average value, median value, mode value and integral value of the current value flowing through the motor 11 during the first period. The motor current varies according to the sliding resistance of the door leaves 3R and 3L, the driving force of the motor 11, and also varies according to environmental conditions such as temperature and power supply voltage. Therefore, the threshold setting unit 32 estimates the change in the motor current during the first period to determine the motor current to be compared with the threshold value. For example, in the case where the motor current does not change significantly for a short period of time during the first period, it is sufficient to take the average value. On the contrary, in the case where the motor current changes significantly for a short period of time during the first period, if the average value is taken, it will be affected by the short-term change of the motor current. Therefore, in this case, it is desirable to take the median value or the mode value. In addition, in the case where the motor current itself is small, the integral value can also be taken.

[0093] When the power supply voltage supplied to the motor 11 changes, the motor current may also be affected. Therefore, the threshold setting unit 32 may also set the threshold value by considering the power supply voltage detected by the voltage detector. That is, the threshold setting unit 32 may also set the threshold value based on the drive voltage of the motor 11 during the first period. Generally speaking, the greater the drive voltage of the motor 11, the greater the motor current. Therefore, it is desirable that the threshold setting unit 32 is set so that the threshold value becomes larger as the drive voltage becomes larger.

[0094] The second acquisition unit 33 acquires a second current value flowing through the motor 11 during a second period after the first period during the closing operation of the door leaves 3R, 3L. Figure 4 As shown, the second period is a period when the door leaves 3R and 3L are near full closure and the motor current increases sharply. Since the position at which the motor current increases sharply before the door leaves 3R and 3L are fully closed is different in each electric door device 2, it is desirable to set the second period individually for each electric door device 2. The second period is, for example, a period ranging from tens of millimeters (mm) to several millimeters (mm) before full closure.

[0095] The determination unit 34 determines whether a door jam has occurred by comparing the acquired second current value with a set threshold value. More specifically, the determination unit 34 determines that a door jam has occurred when at least one of the following situations occurs: a door jam has occurred based on the current flowing through the motor 11 during the second period; and a door jam has occurred based on the speed of the door.

[0096] The door jam detection device 1 of the present embodiment may also include a period determination unit 35. The period determination unit 35 determines the first period and the second period based on at least one of the moving speed, moving distance, and moving time during the closing action of the door leaves 3R, 3L. For example, the period determination unit 35 may also determine the first period and the second period based on the stroke amount of the door leaves 3R, 3L detected by a stroke detector not shown. The stroke detector detects the stroke based on the number of revolutions of the motor 11 detected by the Hall signal detector 24, for example. Alternatively, the period determination unit 35 may also determine the first period and the second period based on the moving time of the door leaves 3R, 3L from the fully open position. Alternatively, the period determination unit 35 may also determine the first period and the second period based on the moving speed of the door leaves 3R, 3L.

[0097] The door jam detection device 1 of the present embodiment may also include a storage unit 36. The storage unit 36 ​​stores the correspondence between the average value, median value, mode value, and integral value of at least one of the measured values ​​of the current value flowing through the motor 11 when the door is driven in the closing direction without door jam and the reference threshold value based on the measured value. Since the current flowing through the motor 11 changes according to the sliding resistance of the door leaves 3R and 3L, for example, by rotating a plurality of weights of different weights on the door suspension devices 5R and 5L to simulate the change of 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 threshold value based on at least one of the average value, median value, mode value, and integral value of the current value flowing through the motor 11 during the first period and the correspondence stored in the storage unit 36. In this way, by providing the storage unit 36, the threshold value previously set by the threshold setting unit 32 can be stored in the storage unit 36 ​​for reuse.

[0098] As described above, it is assumed that the door jam detection device 1 of the present embodiment sets a threshold value based on the motor current obtained in the first period after the door leaves 3R and 3L start to move in the closing direction, and uses the set threshold value to compare with the motor current in the second period thereafter. However, resetting the threshold value each time the door leaves 3R and 3L are moved from the fully open position to the closing direction places a heavy processing burden on the electric door device 2. Therefore, the threshold value setting unit 32 may be set to re-set the threshold value at a ratio of once for each multiple closing actions of the door leaves 3R and 3L. The threshold value set by the threshold value setting unit 32 is stored in the storage unit 36, and the threshold value stored in the storage unit 36 ​​is read out as needed to compare with the motor current. In this way, by providing the storage unit 36, it is not necessary to re-set the threshold value each time the door leaves 3R and 3L are closed, and the processing burden of the door jam detection device 1 can be reduced.

[0099] In addition, the storage unit 36 ​​may also store the current (hereinafter referred to as the first current value) flowing through the motor 11 when door jams occurred in the past. In this case, the threshold setting unit 32 sets the threshold value based on the first current value stored in the storage unit 36. For example, the threshold setting unit 32 may also set the value obtained by multiplying the first current value by a coefficient greater than 0 and less than 1 as the threshold value. When the electric door device 2 is actually applied, the second acquisition unit 33 acquires the current (hereinafter referred to as the second current value) flowing through the motor 11 when the door is closed. The determination unit 34 determines whether door jams have occurred by comparing the acquired second current value with the threshold value set by the threshold setting unit 32. As a result, there is no need to reset the threshold value each time the door leaves 3R, 3L are moved from the fully open position to the closing direction, thereby simplifying the processing action of detecting door jams.

[0100] Figure 61 is a flowchart showing the processing procedure of the door jam detection device 1 of the present embodiment. The processing of the flowchart starts when the door leaves 3R, 3L start to move from the fully opened position to the closing direction. More specifically, when a closing instruction is received from the upper device of the railway vehicle, the electric door device 2 causes the door leaves 3R, 3L to start closing, and the door jam detection device 1 starts Figure 6 processing.

[0101] First, the first acquisition unit 31 determines whether the door leaves 3R, 3L have reached the start position of the first period (step S1). The process of step S1 is repeated until the door leaves 3R, 3L reach the start position of the first period. When the door leaves 3R, 3L reach the start position of the first period, the motor current is acquired and the motor current is continuously acquired during the first period (step S2). The process of step S2 is the process performed by the first acquisition unit 31.

[0102] Next, it is determined whether the first period has ended (step S3). If it is determined that the first period has ended, the first acquisition unit 31 stops acquiring the motor current (step S4).

[0103] Next, the threshold setting unit 32 sets a threshold value based on the motor current acquired by the first acquisition unit 31 (step S5). For example, the threshold setting unit 32 can set the threshold value based on at least one of the average value, median value, mode value and integral value of the motor current in the first period. For example, the value obtained by multiplying the average value of the values ​​obtained by cumulatively adding the motor currents in the first period by a prescribed coefficient can be set as the threshold value. The prescribed coefficient is a value greater than 0 and less than 1, for example, a value set based on the past practical application of the electric door device 2. Alternatively, the value obtained by multiplying the median value of the motor current in the first period by a prescribed coefficient can be set as the threshold value. Alternatively, the current values ​​of the motor current in the first period can be classified in order of frequency, and the value obtained by multiplying the motor current as the mode value by the prescribed coefficient can be set as the threshold value. Alternatively, the value obtained by multiplying the cumulative addition value (integral value) of the motor current in the first period by a prescribed coefficient can be set as the threshold value. The coefficient in this case is set to a value smaller than the coefficient in the case of calculating the threshold value based on the average value.

[0104] Afterwards, determine whether the door leaves 3R, 3L have reached the start position of the second period (step S6). Repeat the process of step S6 until the door leaves 3R, 3L reach the start position of the second period. When reaching the start position of the second period, the second acquisition unit 33 detects the motor current. Then, the determination unit 34 compares it with the threshold value set in step S5 (step S7). If the motor current exceeds the threshold value, it is detected that a door jam has occurred (step S8). In this case, a prescribed notification process is performed to notify the management device (not shown) and maintenance personnel of the occurrence of a door jam, etc.

[0105] In step S7, if the motor current does not exceed the threshold, it is determined that there is no door jam, and it is determined whether the second period has ended (step S9). If the second period has not ended, return to step S7. If the second period has ended, end Figure 6 processing.

[0106] As described above, in the present embodiment, after the door leaves 3R, 3L start to move in the closing direction, the motor current is acquired in the first period to set the threshold. Thereafter, in the second period before the door leaves 3R, 3L reach the fully closed position, the motor current is acquired again and compared with the threshold, and if the motor current exceeds the threshold, it is determined that a door jam has occurred. According to the present embodiment, since the threshold for detecting a door jam is set using the motor current in the first period shortly after the door leaves 3R, 3L start to close, even if the motor current changes due to age changes, environmental conditions, etc., the changed motor current can be used to set the threshold, thereby enabling a threshold to be set that can accurately determine whether a door jam has occurred.

[0107] At least a part of the door jam detection device 1 and the railway door device described in the above-mentioned embodiment can be composed of hardware or software. In the case of being composed of software, the program for realizing at least a part of the functions of the door jam detection device 1 and the railway door device can be saved in a recording medium such as a floppy disk or a CD-ROM, so that a computer can read and execute the program. The recording medium is not limited to a recording medium that can be installed and removed, such as a magnetic disk or an optical disk, but can also be a fixed recording medium such as a hard disk device or a memory.

[0108] In addition, a program for realizing at least a part of the functions of the door jam detection device 1 and the railway door device may be distributed via a communication line such as the Internet (including wireless communication). Furthermore, the program may be distributed in an encrypted, modulated, or compressed state via a wired line such as the Internet, a wireless line, or by storing it in a recording medium.

[0109] The method of the present disclosure is not limited to the above-mentioned embodiments, but also includes various modifications that can be thought of by those skilled in the art, and the effect of the present disclosure is not limited to the above-mentioned contents. That is, various additions, changes and partial deletions can be made within the scope of the conceptual ideas and the main purpose of the present disclosure derived from the contents specified in the claims and their equivalents.

Claims

1. A door jam detection device for detecting an object jam in a door when a door is driven in a closing direction by a driving force of a motor, the door jam detection device comprising: a first acquisition unit for acquiring a first current value flowing through the motor during a first period of a closing operation of the door; a threshold setting unit, which sets a threshold for determining the door jam based on the acquired first current value, wherein the threshold is set for comparison with the current flowing through the motor near when the door is fully closed; a second acquisition unit configured to acquire a second current value flowing through the motor during a second period during a closing operation of the door, the second period being a period after the first period during one closing operation of the door; as well as a determination unit, which determines whether the door jam occurs by comparing the acquired second current value with the set threshold value, The first period is a period in the acceleration region after the door starts to move in the closing direction, or a period in the constant speed region after transition from the acceleration region.

2. The door jam detection device according to claim 1, wherein: The threshold setting unit sets the threshold based on at least one of an average value, a median value, a mode value, and an integrated value of the current value flowing through the motor during the first period.

3. The door jam detection device according to claim 1, wherein: The invention also includes a storage unit that stores a correspondence between a measurement value and a reference threshold value based on the measurement value, wherein the measurement value is a measurement value of at least one of an average value, a median value, a mode value, and an integral value of a current value flowing through the motor when no door jam occurs when the door is driven in a closing direction, The threshold setting unit sets the threshold based on at least one of an average value, a median value, a mode value, and an integrated value of the current value flowing through the motor in the first period and the correspondence relationship stored in the storage unit.

4. The door jam detection device according to claim 1, wherein: The threshold setting unit sets the threshold based on a drive voltage of the motor during the first period.

5. The door jam detection device according to claim 1, wherein: The invention further includes a period determination unit that determines the first period and the second period based on at least one of a moving speed, a moving distance, and a moving time of the door during a closing operation.

6. The door jam detection device according to claim 1, wherein: The first acquisition unit acquires the first current value during the first period every time the door is moved from the fully open position to the closing direction. The threshold setting unit resets the threshold based on the first current value acquired by the first acquisition unit every time the door is moved from the fully open position to the closing direction.

7. The door jam detection device according to claim 1 or 2, wherein: 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 started. The threshold setting unit sets the threshold 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.

8. The door jam detection device according to claim 1 or 2, wherein: The determination unit determines that door jam has occurred in the door when at least one of determining that door jam has occurred based on the current flowing through the motor during the second period and determining that door jam has occurred based on the speed of the door.

9. A railway door device, comprising: Doors, which are provided on railway vehicles; a motor, which causes the door to open and close; a door opening and closing control unit that controls the motor; and a door jam detector for detecting door jams when the door is driven in a closing direction by the driving force of the motor, In the railway door device, The door object detection unit comprises: a first acquisition unit for acquiring a first current value flowing through the motor during a first period of a closing operation of the door; a threshold setting unit, which sets a threshold for determining the door jam based on the acquired first current value, wherein the threshold is set for comparison with the current flowing through the motor near when the door is fully closed; a second acquisition unit configured to acquire a second current value flowing through the motor during a second period during a closing operation of the door, the second period being a period after the first period during one closing operation of the door; as well as a determination unit, which determines whether the door jam occurs by comparing the acquired second current value with the set threshold value, The first period is a period in the acceleration region after the door starts to move in the closing direction, or a period in the constant speed region after transition from the acceleration region.

10. A computer-readable storage medium storing a computer program for detecting an object stuck in a door when the door is driven in a closing direction by a driving force of a motor, wherein the storage medium is characterized in that when the program is executed by a processor, the following steps are performed: acquiring a first current value flowing through the motor during a first period of a closing action of the door; Based on the first current value obtained, a threshold value for determining whether the door is jammed is set, wherein the threshold value is set for comparison with the current flowing through the motor when the door is near fully closed; acquiring a second current value flowing through the motor during a second period during the closing operation of the door, the second period being a period after the first period during one closing operation of the door; and By comparing the acquired second current value with the set threshold value, it is determined whether the door jam occurs. The first period is a period in the acceleration region after the door starts to move in the closing direction, or a period in the constant speed region after transition from the acceleration region.

11. The storage medium according to claim 10, wherein: When the door starts to be driven in the closing direction again after it is determined that the door jam has occurred, re-acquisition of the first current value and re-setting of the threshold value are suspended until the door moves to the fully closed position.

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